JPH07274637A - Controller of rice transplanter - Google Patents

Abstract

PURPOSE:To make it possible to carry out good planting of seedlings even if a means for detecting furrow depth unexpectedly stops the function. CONSTITUTION:The controller of a rice transplanter provided with a manual sensitivity controlling means 18B for controlling detecting sensitivity of a sensor float SF based on an order mode from a sensitivity-ordering means 17 and an automatic sensitivity controlling means 18C for automatically controlling detecting sensitivity of the sensor float SF, is provided with a judging means 18D for judging whether a furrow depth-detecting means 20 is normally functioned or not and a order mode-changing means 18A for changing over each order mode other than super flexible order mode and super hard order mode in a sensitivity-ordering means 17 to an automatic order mode based on the automatic sensitivity controlling means 18C when the furrow depth- detecting means 20 normally functions and changing over each order mode of the sensitivity-ordering means 17 to arbitrary manual order mode when the furrow depth detecting means 20 does not normally function.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a manual sensitivity adjusting means for adjusting the sensing sensitivity of a sensor for detecting a variation in ground pressure applied to the float based on a command mode from a manually operated sensitivity commanding means. Automatic sensitivity adjusting means for automatically adjusting the sensing sensitivity of the sensor float based on detection information from the groove trace depth detecting means for detecting the groove trace depth formed after the float has passed through the mud surface. Control device for rice transplanter.

[0002]

2. Description of the Related Art Conventionally, in a control device for a rice transplanter as described above, switching between the sensitivity adjustment of the sensor float by the manual sensitivity adjustment means and the sensitivity adjustment of the sensor float by the automatic sensitivity adjustment means is performed by operating a dedicated changeover switch. Alternatively, the sensitivity command means is used to command the automatic mode. By adjusting the sensing sensitivity of the sensor float, it is possible to control the raising and lowering of a suitable seedling planting device according to the situation of the field, thereby enabling the planting of good seedlings according to the situation of the field. I am trying.

[0003]

However, according to the above-mentioned prior art, during the sensitivity adjustment of the sensor float by the automatic sensitivity adjusting means, unexpected damage such as disconnection is detected as the groove mark depth. When it occurs in the means, the sensitivity of the sensor float is kept at the sensitivity that was adjusted last regardless of the situation of the subsequent field mud, unless the changeover switch or the sensitivity command means is used to switch to the manual sensitivity adjustment means. It became impossible to control the raising and lowering of the seedling planting device according to the situation of the field,
It had an adverse effect on the planting of seedlings. For example, if the sensitivity before the damage such as wire breakage is adjusted to the insensitive side, when the mud becomes soft, the mud pushing by the float becomes stronger as the float sinks more. , There is a possibility that seedlings may fall due to pushing mud. If the sensing sensitivity before damage such as wire breakage is adjusted to the sensitive side,
When the mud becomes hard, the float moves up and down along the ups and downs of the mud surface in the field. Therefore, it becomes difficult to plant seedlings at a stable depth, and there is a possibility that seedlings may fall due to shallow planting.

An object of the present invention is to enable good seedling planting even if the groove trace depth detecting means unexpectedly stops functioning.

[0005]

In order to achieve the above object, according to the present invention, a sensor float sensing sensitivity for detecting a variation in ground pressure applied to a float based on a command mode from a manually operated sensitivity command means. Based on the detection information from the manual sensitivity adjusting means for adjusting, and the groove trace depth detecting means for detecting the groove trace depth formed after passing the mud surface of the float, the sensing sensitivity of the sensor float is automatically adjusted. In the control device of the rice transplanter equipped with the automatic sensitivity adjusting means for adjusting, with the determining means for determining whether the groove trace depth detecting means is functioning normally, the groove trace depth detecting means is When functioning normally, each command mode other than the super soft command mode and the cemented carbide command mode in the sensitivity command means is switched to the automatic command mode based on the automatic sensitivity adjusting means. And, when the Mizoato depth detecting unit is not functioning normally, it provided a command mode switching means for switching the command mode of the sensitivity command means any manual command mode.

[0006]

According to the present invention, when the determining means determines that the groove trace depth detecting means is functioning normally, each command mode other than the super soft command mode and the cemented carbide command mode in the sensitivity command means is commanded. The mode switching means switches to the automatic command mode so that the sensitivity of the sensor float is automatically adjusted by the automatic sensitivity adjusting means.
While performing the sensitivity adjustment of the sensor float by the automatic sensitivity adjustment means, unexpected damage (for example, wire breakage or sensor failure) occurs, and the groove trace depth detection means functions normally by the determination means. If it is determined that the sensitivity is not satisfied, each command mode of the sensitivity command means is switched to the manual command mode by the command mode switching means, and the sensitivity adjustment of the sensor float is automatically performed by the manual sensitivity adjusting means based on the arbitrarily set command mode. Therefore, even if the groove trace depth detection means unexpectedly stops functioning, the sensitivity of the sensor float will be maintained at a sensitivity extremely different from that of the field mud. Will be avoided,
It is possible to control the raising and lowering of the seedling planting apparatus according to the situation of the field mud as much as possible.

[0007]

Therefore, according to the present invention, even if the groove trace depth detecting means unexpectedly stops functioning while the sensitivity of the sensor float is being adjusted by the automatic sensitivity adjusting means, the manual sensitivity adjustment is performed. By adjusting the sensitivity of the sensor float by means,
Since it is possible to control the raising and lowering of the seedling planting device according to the situation of the field mud as much as possible, it is possible to plant good seedlings without being affected by the unexpected stoppage of the groove trace depth detection means. I can do it now.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows the entire side surface of a riding type rice transplanter. This riding type rice transplanter includes a riding type traveling machine body 3 having front and rear wheels 1 and 2 and four parallel parallel units at the rear of the traveling machine body 3. It is constituted by a seedling planting device 6 for eight-row planting, which is connected via a link mechanism 4 so as to be movable up and down by the operation of a hydraulic lift cylinder 5.

As shown in FIGS. 2 and 3, in the seedling planting device 6, the power from the driving part of the traveling machine body 3 is transmitted after being distributed by a bevel case 7 having a bevel mechanism (not shown). A pair of left and right feed cases 8, a planting frame 9 extending from each feed case 8 to the left and right, and a plant serving as a frame extending in two rows rearward from each planting frame 9. Attached transmission case 10, a pair of left and right planting mechanisms 11 pivotally supported at the rear of each planted transmission case 10, and a pair of left and right seedling mounts 12 that reciprocate laterally with a constant stroke with respect to the planted transmission case 10. , And a float 13 for leveling, which is pivotally connected so as to be swingable up and down around a horizontal axis P. The parallel four-link mechanism 4 and the left and right feed cases 8 are connected to each other via the left and right link mechanisms 14. The seedling planting device 6 is configured to be switchable between the working posture shown in FIG. 2 and the storage posture shown in FIG. 3 by the operation of a drive device (not shown). Further, in the storage posture of the seedling planting device 6, as shown in FIG. 3, the center float 13A located in the center of the float 13 is configured to belong to the right seedling planting device 6.

As shown in FIG. 4, the center float 13
Above the front part of A, a potentiometer type float sensor Fs for detecting the vertical swing displacement amount of the left center float 13A based on the fluctuation of the ground pressure via the link mechanism 15.
Is provided. The float sensor Fs is fixed to a bracket 16 supported by the planting frame 9. In this rice transplanter, as shown in FIG. 5, the detection value detected by the float sensor Fs and the control target value set by the potentiometer-type setting device 17 provided in the control section of the traveling body 3 are set. In order to match, the control device 18 including the microcomputer controls the operation of the electromagnetic control valve 19 that switches the flow of the hydraulic oil to the lift cylinder 5, so that the height of the seedling planting device 6 over the ground during the planting work. It is possible to perform lifting control to maintain the height at the set ground level.

That is, the center float 13A, the link mechanism 15, and the float sensor Fs constitute a sensor float SF for detecting the ground height of the seedling planting device 6.

As shown in FIG. 5, the sensing sensitivity of the sensor float SF is adapted to be manually or automatically adjusted based on any command mode commanded by the setter 17 as the sensitivity command means. . The setting device 17 can instruct a nine-step manual command mode including a super-hard command mode and a super-soft command mode according to the hardness of the field mud by its operation. Of the nine command modes,
Each manual command mode other than the super-soft command mode and the cemented carbide command mode is normally switched by the command mode switching means 18A provided as a control program in the control device 18 so as to function as the automatic command mode. Further, the control device 18 has a manual sensitivity adjusting means 18B for adjusting the sensing sensitivity of the sensor float SF based on the manual command mode commanded by the setting device 17, and a groove when the automatic command mode is commanded by the setting device 17. An automatic sensitivity adjusting unit 18C that automatically adjusts the sensing sensitivity of the sensor float SF based on the detection information from the trace depth detecting unit 20 is provided as a control program.

The sensitivity adjustment of the sensor float SF by the manual sensitivity adjusting means 18B will be described. For example, when the cement command mode is instructed by the setter 17, the control target value of the float sensor Fs is a in FIGS. 4 and 5. Is changed to the maximum value of the direction, and the manual sensitivity adjusting means 18B causes the float sensor Fs to change based on the changed control target value.
The operation of the electromagnetic control valve 19 is controlled so that the detected value of 1 and the control target value of the setter 17 match. Then, by the operation control, the reference attitude of the center float 13A is changed to the forward rising attitude according to the changed control target value, and the change of the reference attitude compresses the center float 13A toward the ground side. Spring 21 (bracket 16 for fixing float sensor Fs and sensor float SF
(Which is interposed between the link mechanism 15 and the link mechanism 15), is in the strongest compression state according to the changed control target value (the state in which the ground contact pressure of the center float 13A becomes the largest according to the changed control target value). ), Which changes the sensing sensitivity of the sensor float SF to super insensitive.
When the setter 17 commands the super-soft command mode, the control target value of the float sensor Fs is changed to the maximum value in the b direction in FIGS. 4 and 5, and based on the changed control target value, The manual sensitivity adjusting means 18B controls the operation of the electromagnetic control valve 19 so that the detection value of the float sensor Fs and the control target value of the setter 17 match. And
By the operation control, the reference attitude of the center float 13A is changed to the front-lowering attitude according to the changed control target value, and the compression spring 21 for urging the center float 13A to the ground side is changed by the change of the reference attitude. But,
The weakest compression state (the state where the ground pressure of the center float 13A becomes the smallest according to the changed control target value) according to the changed control target value is set, which makes the sensing sensitivity of the sensor float SF extremely sensitive. It will be changed.

As shown in FIGS. 2, 3 and 5 to 7, the groove trace depth detecting means 20 includes four side floats 1.
T-shaped side float 1 located inside 3B
The first grounding body 20A, which is provided in each of the 3Bs, follows the ground mud surface in the field by vertically swinging about the axis P in the left-right direction, and the T-shape by vertically swinging about the axis P in the left-right direction. Potentiometer type which detects the relative swing displacement amount of the second grounding bodies 20B that follow the groove traces after passing through the side floats 13B and the grounding bodies 20A and 20B are interlocked and linked. Rotation sensor 2
It is composed of 0C.

The structure of the groove trace depth detecting means 20 will be described in detail. Each of the support shafts 22 that pivotally support the T-shaped side float 13B has an inward end on a left-right axis P. It extends toward the center float 13A, and the tubular body 23 is externally fitted to the extended end via a bearing. The second grounding body 20B and the main body portion 20a of the rotation sensor 20C are interlockingly connected to the cylindrical body 23 so as to be integrally rotatable around an axis P extending in the left-right direction. On the other hand, the operation shaft 20b of the rotation sensor 20C includes a first support member 24 connected to the main body portion 20a of the rotation sensor 20C and a second support member 25 extending from the bracket 13a of the T-shaped side float 13B. The first grounding body 20A is interlockingly connected via the rotation shaft 26 pivotally supported by the first grounding body 20A so that the first grounding body 20A can be integrally rotated about the left and right axis P. With the above configuration, the operation shaft 20b of the rotation sensor 20C is rotated by the vertical swing displacement of the first grounding body 20A, and the main body portion 20a of the rotation sensor 20C is moved by the vertical swinging displacement of the second grounding body 20B. The rotation sensor 20C is rotated, and the first grounding body 20A and the second grounding body 20
The relative swing displacement amount of B can be detected. Further, as shown in FIG. 5, the relative swing displacement amount, which is the detection information of the rotation sensor 20C, is output to the automatic sensitivity adjusting means 18B of the control device 18 as the groove mark depth.

That is, in the sensitivity adjustment of the sensor float SF by the automatic sensitivity adjusting means 18C, the automatic sensitivity adjusting means 18B detects T detected by the groove mark depth detecting means 20.
The hardness of the field is determined based on the depth of the groove traces after passing the character-shaped side float 13B, the control target value of the float sensor Fs is automatically set according to the determination result, and the detected value of the float sensor Fs is set. The operation of the electromagnetic control valve 19 is controlled so that the control target value matches, whereby the sensing sensitivity of the sensor float SF is automatically adjusted to the sensing sensitivity according to the hardness of the field mud. .

As shown in FIG. 5, the control device 18 is provided with a judging means 18D as a control program for judging whether or not the groove trace depth detecting means 20 is functioning normally. The determination unit 18D may be, for example, a state in which the detection information from the groove trace depth detection unit 20 is not input to the control device 18 even though the seedling planting operation is being performed, or the groove is obtained while the seedling planting operation is being performed. When the relative swing displacement amount of the first grounding body 20A and the second grounding body 20B input to the control device 18 as detection information from the trace depth detecting means 20 does not change within a predetermined time, or the like occurs. It is determined that the groove trace depth detecting means 20 is not functioning normally. When the determining means 18D determines that the groove trace depth detecting means 20 is not functioning normally, the command mode switching means 18A normally determines based on the determination result.
Each manual command mode other than the super-soft command mode and the cemented carbide command mode, which function as the automatic command mode, is switched to function as an arbitrary manual command mode. As a result, the sensitivity adjustment of the sensor float SF by the automatic sensitivity adjusting means 18C based on the detection information from the groove trace depth detecting means 20 is automatically stopped and the setting device 17 gives an instruction at that time. The sensitivity adjustment of the sensor float SF by the manual sensitivity adjustment means 18B based on the manual command mode is automatically executed.

That is, even if the groove trace depth detecting means 20 unexpectedly stops its function while the sensitivity of the sensor float SF is being adjusted by the automatic sensitivity adjusting means 18C, the sensor float by the manual sensitivity adjusting means 18B is used. By adjusting the sensitivity of the SF, it is possible to control the raising and lowering of the seedling planting device 6 according to the situation of the field mud as much as possible.

Further, the groove mark depth detecting means 20 is restored by the restoration work.
Is determined to function normally, the determination means 18D determines that the groove trace depth detection means 20 is functioning normally, and based on the determination result, the command mode switching means 18A arbitrarily determines. Each of the manual command modes other than the super soft command mode and the carbide command mode, which had been functioning as the manual command mode, is switched to function as the automatic command mode. As a result, the sensitivity adjustment of the sensor float SF by the manual sensitivity adjustment means 18B based on the manual instruction mode instructed by the setter 17 is automatically stopped, and the detection information from the groove mark depth detection means 20 is stopped. The sensitivity of the sensor float SF is automatically adjusted by the automatic sensitivity adjusting means 18C based on.

As shown in FIGS. 2, 3 and 6, the T-shaped side float 13B is formed in a short shape so that its rear end is located immediately after the left-right axis P which is the swing fulcrum. The groove trace depth is prevented from fluctuating due to the sinking of the rear end of the float when the T-shaped side float 13B is in the forward rising posture, and the groove trace depth detecting means 20 can be easily installed. I can do it.

As shown in FIGS. 2 and 3, of the pair of left and right seedling mounting tables 12, the rear end on the left side of the seedling mounting table 12 located on the right side has a seedling on the left side with respect to the right seedling mounting table 12. A limit switch 27 that is turned on only when the platform 12 is located at a predetermined position is provided, and only when this limit switch 27 outputs ON, the seedling planting device 6
Can be raised and lowered. That is, only when the seedling planting device 6 is in the work posture shown in FIG.
The seedling planting device 6 is prevented from being accidentally collided with the rear wheel 2 or other objects and damaged by the raising and lowering of the seedling planting device 6 in a position other than the working posture. .

[Other Embodiments] Other embodiments of the present invention will be listed below. The rice transplanter may be in any of four-row planting, five-row planting, six-row planting, or eight-row planting. The seedling planting device 6 may not be capable of changing its posture between the working posture and the storing posture. The determination of the groove trace depth detection means 20 by the determination means 18D is also performed by various methods. For example, the detection information from the groove trace depth detection means 20 is predetermined other than the determination method exemplified in the above embodiment. Even when the state in which the range is exceeded for a predetermined time or more occurs, it is determined that the groove trace depth detection means 20 is not functioning normally.

It should be noted that although reference numerals are given in the claims for convenience of comparison with the drawings, the present invention is not limited to the configuration of the accompanying drawings by the entry.

[Brief description of drawings]

[Fig. 1] Overall side view of the riding rice transplanter

FIG. 2 is a plan view of the seedling planting device in a working position.

FIG. 3 is a plan view of the seedling planting device in the stored posture.

FIG. 4 is a cross-sectional side view of the lower part of the seedling planting device showing the configuration of the sensor float.

FIG. 5 is a block diagram showing a control configuration.

FIG. 6 is a cross-sectional side view of the lower part of the seedling planting device showing the structure of the groove mark depth detecting means.

FIG. 7 is a partially cutaway rear view showing the structure of groove trace depth detection means.

[Explanation of symbols]

 13 Float 17 Sensitivity Command Means 18A Command Mode Switching Means 18B Manual Sensitivity Adjusting Means 18C Automatic Sensitivity Adjusting Means 18D Judging Means 20 Groove Depth Detecting Means SF Sensor Float

Claims (1)

[Claims] 1. A manual sensitivity adjustment for adjusting a sensing sensitivity of a sensor float (SF) for detecting a variation in a ground pressure applied to the float (13) based on a command mode from a manually operated sensitivity command means (17). Of the sensor float (SF) based on the detection information from the means (18B) and the groove trace depth detection means (20) for detecting the groove trace depth formed after the float (13) has passed through the mud surface. A controller of a rice transplanter equipped with an automatic sensitivity adjusting means (18C) for automatically adjusting the sensing sensitivity, wherein it is determined whether or not the groove trace depth detecting means (20) is functioning normally. With the determination means (18D),
When the groove trace depth detecting means (20) is functioning normally, the automatic sensitivity adjusting means changes the command modes other than the super soft command mode and the cemented carbide command mode in the sensitivity command means (17). (18C) is switched to the automatic command mode, and when the groove trace depth detecting means (20) is not functioning normally, each command mode of the sensitivity command means (17) is manually commanded. A rice transplanter control device provided with a command mode switching means (18A) for switching to a mode.