JPH08103123A - Rice transplanter - Google Patents

Abstract

PURPOSE: To provide a rice transplanter capable of stably transplanting seedlings properly corresponding to hardness of mud in a field even during practice of control operation by an automatic sensitivity adjusting means. CONSTITUTION: In a rice transplanter loaded with a control device 12 provided with an automatic lifting and lowering control means 12D for automatically lifting and lowering a seedling transplanting device based on float displacement information from a float sensor 37 for detecting vertical racking displacement of a ground making float 18 and an automatic sensitivity adjusting means 12F which detects hardness of mud based on furrow trace depth information from a furrow trace depth detecting means 42, automatically selects the target value of sensitivity of the float sensor 37 corresponding to the hardness of mud and automatically adjusts detecting sensitivity of the float sensor 37, the control device 12 is equipped with a correcting means 12G which corrects furrow trace depth detected by the furrow trace detecting means 42 during practice of control operation by the automatic sensitivity adjusting means 12F according to the traveling speed of a traveling machine body detected by a speed sensor S to a value at a shallower side with higher traveling speed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rear part of a traveling machine body, which is connected to a seedling planting device equipped with a leveling float so as to be vertically swingable so as to be vertically movable. Automatic lift control means for automatically moving the seedling planting device up and down based on the float displacement information from the float sensor that detects the swing displacement, and detects the depth of the groove trace formed after the soil float passes through the mud surface. The mud hardness is detected based on the groove depth information from the groove depth detecting means, and the sensitivity target value of the float sensor according to the mud hardness is automatically selected to detect the sensitivity of the float sensor. The present invention relates to a rice transplanter equipped with a control device having an automatic sensitivity adjusting means for automatically adjusting.

[0002]

2. Description of the Related Art Conventionally, in the above rice transplanter,
The groove trace depth detecting means, the first grounding body arranged between the leveling float and the leveling float so as to convert the change in the mud surface level into a vertical swing displacement by following the grounding of the mud surface in the field.
A second grounding body arranged immediately after the leveling float so as to follow the ground contact with the bottom surface of the leveling groove formed after the leveling float has passed through the mud surface and convert the level change of the bottom surface of the leveling groove into vertical swing displacement. And a potentiometer which detects the relative swing displacement amount of these grounding bodies and outputs a voltage level corresponding to the relative swing displacement amount as groove trace depth information from the groove trace depth detecting means. For example, when the potentiometer is configured to output a higher voltage level as the relative swing displacement amount of the grounding bodies is larger, the sensitivity adjusting means is softer as the voltage level output from the potentiometer is higher. Is detected, the sensitivity target value on the sensitive side is selected according to its softness, and the sensing sensitivity of the float sensor is automatically adjusted to the sensitive side. The lower the voltage level output from the controller, the harder the mud is detected, and the sensitivity target value on the insensitive side is selected according to the hardness to automatically adjust the sensitivity of the float sensor to the insensitive side. Was configured as.

[0003]

However, in the above-mentioned prior art, the first grounding body of the groove trace depth detecting means arranged between the ground leveling float and the ground leveling float is arranged immediately after the ground leveling float. It is more susceptible to buoyancy due to the component force of the speed component during traveling of the seedling planting work than the second grounding body of the groove trace depth detecting means provided, and if the traveling speed during the seedling planting work is high. As the buoyancy against the first grounding body becomes larger than the buoyancy against the second grounding body, the relative distance between the first grounding body and the second grounding body obtained from the actual depth of the groove trace formed on the mud surface in the field. The faster the traveling speed, the larger the relative swing displacement between the first grounding body and the second grounding body expressed by the potentiometer, rather than the swing displacement. The groove trace depth detected by the detection means is actually Deeper than the Mizoato depth. or,
The automatic sensitivity adjustment means detects that the mud is softer than the actual mud hardness based on the groove trace depth information from the groove trace depth detection means that is erroneously detected on the deeper side than the actual groove trace depth. , The sensing sensitivity of the float sensor is adjusted to the sensitivity target value on the sensitive side according to the mud hardness on the softer side than the actual mud hardness. Then, the automatic elevating / lowering control means elevates and lowers the seedling planting device based on the float displacement information from the float sensor whose sensing sensitivity is adjusted in such a manner to maintain the set ground level.

That is, during the execution of the control operation by the automatic sensitivity adjusting means, the higher the traveling speed during the seedling planting work, the more appropriate the sensitivity adjustment of the float sensor according to the mud hardness of the field should be adjusted. It became impossible to plant the seedlings stably on the mud surface of the field by the seedling planting device.

An object of the present invention is to adjust the sensing sensitivity of the float sensor in consideration of the buoyancy force that affects the groove trace depth information of the groove trace depth detection means in relation to the traveling speed during seedling planting work. Therefore, it is possible to stably and appropriately plant seedlings according to the mud hardness of the field even while the control operation by the automatic sensitivity adjusting means is being performed.

[0006]

In order to achieve the above object, according to the present invention, a seedling planting device equipped with a leveling float so as to be vertically swingable is connected to a rear portion of a traveling machine body so as to be driven up and down. During planting work, automatic lifting control means for automatically raising and lowering the seedling planting device based on float displacement information from a float sensor that detects vertical swing displacement of the leveling float, and after passing the mud surface of the leveling float. The mud hardness is detected based on the groove depth information from the groove depth detection means that detects the depth of the formed groove, and the sensitivity target value of the float sensor is automatically selected according to the mud hardness. Then, in a rice transplanter equipped with a control device having an automatic sensitivity adjusting means for automatically adjusting the sensing sensitivity of the float sensor, in the control device, the actual control operation by the automatic sensitivity adjusting means is performed. Correction means for correcting the groove trace depth detected by the groove trace depth detecting means to a shallower side as the traveling speed becomes faster according to the traveling speed of the traveling machine body detected by the vehicle speed sensor. Equipped with.

[0007]

According to the present invention, during execution of the control operation by the automatic sensitivity adjusting means, the correcting means is such that the groove trace depth detecting means becomes deeper than the actual groove trace depth as the traveling speed of the traveling machine body is higher. It is determined that the erroneous detection is made, and the groove trace depth detected by the groove trace depth detecting means is corrected to a shallow side according to the traveling speed of the traveling machine body detected by the vehicle speed sensor. Further, the automatic sensitivity adjusting means detects the mud hardness based on the groove depth corrected by the correcting means, and adjusts the sensing sensitivity of the float sensor to the sensitivity target value according to the mud hardness. become. Then, the automatic lifting control means raises and lowers the seedling planting device based on the float displacement information from the float sensor whose sensing sensitivity is adjusted based on the groove trace depth corrected by the correction means, and sets the ground height. Will keep on. That is, it becomes possible to adjust the sensing sensitivity of the float sensor in consideration of the buoyancy that affects the groove trace depth information of the groove trace depth detection means in relation to the traveling speed during seedling planting work.

[0008]

Therefore, according to the present invention, the sensing of the float sensor in consideration of the buoyancy which affects the groove trace depth information of the groove trace depth detecting means in relation to the traveling speed during seedling planting work. Since the sensitivity can be adjusted, suitable seedlings can be stably planted according to the mud hardness of the field even during the execution of the control operation by the automatic sensitivity adjusting means.

[0009]

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 is a riding type traveling machine body 1.
And a lift mechanism that can be lifted and lowered by the operation of a hydraulic lift cylinder 3 at the rear of the traveling machine body 1 via a four-link mechanism 2.
It is constituted by a seedling planting device 5 connected so as to be freely rolled around the front-rear axis center by the operation of an electric rolling motor 4.

An engine 6 is mounted on the front part of the traveling machine body 1, and the power taken out from the engine 6 is transmitted through a belt type continuously variable transmission 7 and a transmission case 8 to front wheels 9 and rear wheels 10. , And to the seedling planting device 5. As shown in FIG. 2, the belt type continuously variable transmission 7 includes a split pulley type drive pulley 7 a attached to the output shaft 6 a of the engine 6 and a split pulley type driven unit attached to the input shaft 8 a of the transmission case 8. A pulley 7b, a transmission belt 7c wound around a driving pulley 7a and a driven pulley 7b, and an electric cylinder for changing the split width interval between the driving pulley 7a and the driven pulley 7b via cam mechanisms 7d and 7e. 7f, etc., based on a target speed manually set by a manually operated speed setter 11 such as a potentiometer provided in the control section of the traveling machine body 1, a controller 12 equipped with a microcomputer is provided. By controlling the operation of the electric cylinder 7f, stepless speed change operation can be performed. That is, the control device 12 is provided with a vehicle speed control means 12A for controlling the traveling speed of the traveling machine body 1 as a control program based on the target speed set by the speed setting device 11. The electric cylinder 7f includes a stroke sensor 7s that detects the actual expansion / contraction amount of the electric cylinder 7f.
The vehicle speed control means 12A is provided with the electric cylinder 7f according to the target speed set by the speed setter 11.
The feedback control for controlling the operation of the electric cylinder 7f is performed so that the target operation expansion / contraction amount of 1 and the actual operation expansion / contraction amount of the electric cylinder 7f detected by the stroke sensor 7s match.

The engine 6 is provided with an engine rotation speed detection sensor 6s for detecting the rotation speed of the output shaft 6a thereof, and the control device 12 is provided with the engine rotation speed detection sensor 6s.
based on the engine output speed detected by s and the actual operation expansion / contraction amount of the electric cylinder 7f detected by the stroke sensor 7s of the belt type continuously variable transmission 7.
The vehicle speed detecting means 12B for calculating the traveling speed of is provided as a control program. That is, the engine speed detection sensor 6s, the stroke sensor 7s, and the vehicle speed detection means 12B constitute a vehicle speed sensor S that detects the traveling speed of the traveling vehicle body 1.

As shown in FIGS. 1 and 3, the seedling planting device 5
Is a feed case 13 to which power from the engine 6 is transmitted, a support frame 14 extending from the feed case 13 to the left and right, and a frame-combined plant extending from the support frame 14 in parallel rearward. Transmission case 15,
A pair of left and right planting mechanisms 16 pivotally supported at the rear of each planting transmission case 15, a seedling stand 17 that reciprocates laterally with a constant stroke with respect to the planting transmission case 15, and a planting transmission case 15. The ground leveling float 18 is provided so that its relative height can be adjusted relative to.

As shown in FIGS. 3 to 6, at the front of each planted transmission case 15, there is a float fulcrum pipe 19 which is laid across the left and right planted transmission cases 15.
It is pivotally connected so as to be rotatable around 1. On the float fulcrum pipe 19, a swing arm 20 that integrally rotates with the float fulcrum pipe 19 is extended in parallel rearward. A leveling float 18 is connected to a swing end of each swing arm 20 via a support shaft 21 so as to be vertically swingable around a shaft center P2. An operating lever 22 extending toward the traveling machine body 1 is integrally and rotatably connected to and fixed to the float fulcrum pipe 19. The operation lever 2 is attached to the support frame 14 by engagement with the operation lever 22.
The locking plate 23 that locks and holds 2 at an arbitrary position is the support plate 24.
It is connected and fixed via. That is, the operating lever 22
Is operated around the axis P1 of the float fulcrum pipe 19 and locked and held at an arbitrary position by engaging with the locking plate 23, thereby adjusting the relative height of the leveling float 18 with respect to the planted transmission case 15. The planting depth of seedlings can be changed according to the hardness of mud in the field.

As shown in FIG. 1, the steering section of the traveling machine body 1 is provided with a steering handle 25, and a neutral return type operation lever 26 is provided on the lower left side of the steering handle 25. As shown in FIG. 2, when the operation lever 26 is swung upward, the elevating switch 27 for instructing the control device 12 to elevate the seedling planting device 5 is pressed. Switch 27
Every time the pressing operation is performed, the raising / lowering switch 27 instructs the control device 12 to raise the seedling planting device 5 to separate it from the surface of the field mud, and the ground leveling float 18 moves the seedling planting device 5 to the field mud. A descending command for contacting the surface and descending until the reference posture is obtained is alternately issued. When the raising / lowering switch 27 issues a command to raise the seedling planting device 5, the control device 12 controls the operation of the electromagnetic control valve 28 that switches the flow state of the hydraulic oil to the lift cylinder 3 to extend the lift cylinder 3. While operating to raise the seedling planting device 5 to the maximum rising position, the operation of the electric clutch motor 30 is controlled via the relay circuit 29, and the seedling planting device 5 is planted via the gear type reduction mechanism 31 and the operating rod 32. It is configured to perform the disengagement operation of the auxiliary clutch 33, and the planting operation of the seedling planting device 5 is stopped when the raising of the seedling planting device 5 based on the raising command from the elevating switch 27 is started. ing. Moreover, when the descending command of the seedling planting device 5 is instructed from the elevating switch 27, the control device 12 controls the operation of the electromagnetic control valve 28 to shorten the lift cylinder 3 to operate the seedling planting device 5. The leveling float 18 is configured to come in contact with the mud surface of the field and descend until the reference posture is obtained. On the other hand, the operating lever 26
When the rocking operation is performed downward, the clutch switch 34 for instructing the control device 12 to start planting by the seedling planting device 5 is pressed. When a command to start planting by the seedling planting device 5 is issued from the clutch switch 34, the control device 12 controls the operation of the electric clutch motor 30 via the relay circuit 29, and the gear type speed reducing mechanism 31 and Planted clutch 3 via operating rod 32, etc.
3 is performed so that the planting operation of the seedling planting device 5 is started. That is, the control device 12 includes the lifting switch 2
7 or a manual raising / lowering control means 12C for controlling the raising / lowering and planting operation of the seedling planting device 5 based on a command from the clutch switch 34 is provided as a control program.

By the way, each command to the control device 12 from the elevating switch 27 and the clutch switch 34 by the rocking operation of the operation lever 26 is sent to the control device 12 by the rocking operation to each operation position shown in FIG. On the right side of the control unit of the traveling machine body 1, which issues an ascending command, a descending command, a raising / lowering stop command of the planting device 5, a start planting command to the seedling planting device 5, and a stop planting command. The command can be issued only when the planted clutch lever 35, which is provided with a potentiometer or the like, is in the "automatic" position. That is, when the planting clutch lever 35 is not located at the “automatic” position, the manual raising / lowering control means 12C performs the raising / lowering and planting operations of the seedling planting device 5 based on the command from the planting clutch lever 35. Is configured to control.

As shown in FIGS. 2, 4 and 5, at the upper front part of the leveling float 18 located at the center, the leveling float 1 at the center due to the fluctuation of the ground contact pressure (undulation of the mud surface in the field)
A potentiometer type float sensor 37 for detecting the vertical swing displacement of 8 through a link mechanism 36 is provided. The float sensor 37 is supported by a bracket 39 pivotally supported at the ends of a pair of upper and lower links 38 pivotally supported by the support plate 24 so as to be vertically swingable. The other end of the link 38 located on the upper side of the pair of upper and lower links 38 is engaged with the pin 22 a extending from the operation lever 22, and the operation of the operation lever 22 causes the planted transmission case 1 to move.
The float sensor 3 with respect to the planted transmission case 15 is adjusted as the relative height of the leveling float 18 with respect to 5 is adjusted.
The relative height of 7 is adjusted in the same manner.

The float sensor 37 converts the vertical swing displacement of the leveling float 18 located at the center into a voltage level,
The control device 12 uses the voltage level as float displacement information.
It is designed to output to. Based on the float displacement information from the float sensor 37, the control device 12 indicates the float sensor 3 that indicates the reference posture of the ground leveling float 18 at the center.
The operation of the electromagnetic control valve 28 is controlled to move the seedling planting device 5 up and down so that the reference voltage level 7 and the voltage level (float displacement information) output from the float sensor 37 match. .

For example, when the reference position of the operation shaft 37b with respect to the sensor body 37a for obtaining the reference voltage level is the position a in FIGS. 2 and 4, the leveling float 18 is
Assuming that the actual operating position of the operating shaft 37b that has been rotated by the vertical swinging of the sensor is the position b in FIGS. 2 and 4, the controller 12 controls the operation of the electromagnetic control valve 28 to cause the sensor body 37a to operate. By raising the seedling planting device 5 so that the reference position of the operation shaft 37b and the actual operation position match (the reference voltage level and the output voltage level match), the leveling float 18 is returned to the reference posture. is there. Further, assuming that the actual operation position of the operation shaft 37b rotated by the vertical swing of the leveling float 18 is the c position in FIGS. 2 and 4, the control device 12 controls the electromagnetic control valve 2
8 by controlling the operation of the seedling planting device 5 so that the reference position of the operation shaft 37b with respect to the sensor body 37a and the actual operation position match (the reference voltage level and the output voltage level match).
The ground leveling float 18 is returned to the reference posture by lowering.

That is, the control device 12 automatically raises and lowers the seedling planting device 5 based on the float displacement information from the float sensor 37 so that the ground leveling float 18 returns to the reference posture. Is provided as a control program, and this automatic lifting control means 12D
By the control operation of, the seedling planting device 5 can be moved up and down along the ups and downs of the field while maintaining the ground height of the seedling planting device 5 during the planting work at the set ground height.
As a result, seedlings can be stably planted at the planting depth set by the operation lever 22.

In the control section of the traveling machine body 1, a manually operated setting device 4 such as a potentiometer as shown in FIG.
0 is provided, and the reference voltage level of the float sensor 37 indicating the reference attitude of the leveling float 18 is set by setting the setting device 40 to the operation position according to the mud hardness of the field that is artificially determined. The voltage level can be changed according to the hardness of the mud in the field. The changed reference voltage level is input to the control device 12, and the control device 12 controls the electromagnetic control valve 28 so that the changed reference voltage level of the float sensor 37 matches the output voltage level. The operation is controlled to raise and lower the seedling planting device 5.

For example, when it is determined that the mud in the field is hard, the setting device 40 is set at the operation position on the "hard" side according to the hardness.
Set. Then, the operation shaft 37 with respect to the sensor body 37a for obtaining the reference voltage level according to the operation position.
The reference position of b is changed in the b position direction in FIGS. 2 and 4, and the controller 12 is changed in accordance with the change.
Controls the operation of the electromagnetic control valve 28 so that the sensor main body 37
The seedling planting device 5 is lowered so that the changed reference position and the actual operation position of the operation shaft 37b with respect to a match (the changed reference voltage level and the output voltage level match). Then, by this control operation, the leveling float 18
The reference posture of No. 1 is changed to the forward rising posture according to the changed reference voltage level. By changing the reference posture, the ground contact length of the leveling float 18 with respect to the mud surface in the field in the machine front-rear direction is changed. The compression spring 41, which shortens according to the reference voltage level and biases the leveling float 18 toward the ground side, has a relatively strong compression state according to the changed reference voltage level (the ground pressure of the leveling float 18 is changed after the change). The state becomes relatively large according to the reference voltage level), and the sensing sensitivity of the float sensor 37 is changed to the insensitive sensing sensitivity according to the operation position of the setting device 40.

When it is determined that the mud in the field is soft, the setting device 40 is set at the operation position on the "soft" side according to the softness. Then, the reference position of the operation shaft 37b with respect to the sensor main body 37a for obtaining the reference voltage level corresponding to the operation position is changed in the direction of the c position in FIGS. 2 and 4, and the control is accompanied by the change. Device 1
2 controls the operation of the electromagnetic control valve 28 to control the sensor body 3
The seedling planting device 5 is raised so that the changed reference position of the operation shaft 37b with respect to 7a and the actual operation position match (the changed reference voltage level and output voltage level match). Then, by this control operation, the leveling float 1
The reference posture of No. 8 is changed to the front-lowering posture according to the changed reference voltage level. By changing the reference posture, the ground contact length of the leveling float 18 in the machine front-rear direction with respect to the mud surface of the field is changed. The compression spring 41, which biases the ground leveling float 18 toward the ground side, becomes relatively weak in accordance with the reference voltage level after the change (the ground pressure of the ground leveling float 18 is changed after the change). (It becomes relatively small according to the reference voltage level of)
Therefore, the sensing sensitivity of the float sensor 37 is changed to the sensing sensitivity on the sensitive side according to the operation position of the setting device 40.

That is, the setting device 40 is for manually setting the reference voltage level of the float sensor 37 as a sensitivity target value according to the mud hardness of the field that is artificially determined, and the control device 12 has A manual sensitivity adjusting means 12E for adjusting the sensing sensitivity of the float sensor 37 to the sensitivity target value manually set by the setting device 40 is provided as a control program.

As shown in FIG. 3, FIG. 6 and FIG. 7, the seedling planting device 5 has a central portion so as to convert a change in the mud surface level into a vertical swing displacement by following the ground contact with the surface of the field mud. A first grounding body 42A disposed between each of the leveling float 18 and the left and right leveling floats 18, and a groove that follows the bottom surface of a ditch formed after the leveling floats 18 located on the left and right pass through the mud surface to follow the ground. Detects the second grounding body 42B disposed immediately behind the left and right ground float 18 so as to convert the change in the trace bottom level into vertical swinging displacement, and the relative swinging displacement amount of these grounding bodies 42A, 42B. Further, a pair of left and right groove trace depth detecting means 42 constituted by a rotation sensor 42C composed of a potentiometer that outputs a voltage level corresponding to the relative swing displacement amount is provided.

The structure of the groove trace depth detecting means 42 will be described in detail. As shown in FIGS. 6 and 7, the respective support shafts 21 that pivotally connect the left and right ground leveling floats 18 to the rocking ends of the rocking arms 20 have their inward end portions at the center ground leveling on the axis P2. It is extended toward the float 18. At this extended end,
A tubular body 43 is rotatably fitted and supported around a shaft center P2 via a bearing, and a second grounding body 42B and a sensor main body 42a of a rotation sensor 42C are supported on the tubular body 43 around the shaft center P2. Is connected so as to be integrally rotatable.
The rotation sensor 42C is provided on the operation shaft 42b of the rotation sensor 42C.
The first support member 44 connected to the sensor body 42a of C and the second support member 45 extending from the brackets 18a of the left and right ground floats 18 are pivotally supported by the first support member 44 and the first support member 44. The grounding body 42A is connected so as to be integrally rotatable around the axis P2. With the above configuration, the operation shaft 42b of the rotation sensor 42C is rotated by the vertical swing displacement of the first grounding body 42A, and the rotation sensor 42C is rotated by the vertical swinging displacement of the second grounding body 42B.
The sensor main body 42a of FIG.
The relative swing displacement amount of 2A and the second grounding body 42B can be detected.

As shown in FIG. 2, the relative swing displacement amount detected by the rotation sensor 42C is converted into a voltage level corresponding to the relative swing displacement amount by the rotation sensor 42C, and then the groove trace depth is obtained. The groove trace depth information from the detection means 42 is output to the control device 12, and the control device 1
2 detects mud hardness based on the groove depth information from the groove depth detecting means 42, and automatically selects a sensitivity target value (reference voltage level) of the float sensor 37 according to the mud hardness. Then, the sensing sensitivity of the float sensor 37 is automatically adjusted.

For example, when the rotation sensor 42C is configured to output a higher voltage level as the relative swing displacement amount between the first grounding body 42A and the second grounding body 42B increases, the control device 12 Detects that the higher the voltage level as the groove trace depth information output from the rotation sensor 42C is, the softer the mud is, and automatically selects the sensitivity target value on the sensitive side according to the softness. The sensing sensitivity of the float sensor 37 is automatically adjusted to the selected sensitivity target value on the sensitive side. Also, the rotation sensor 42C
The lower the voltage level output from, the harder the mud is detected, and the sensitivity target value on the insensitive side is automatically selected according to the hardness, and the float sensor is set to the sensitivity target value on the selected insensitive side. The sensing sensitivity of 37 is automatically adjusted.

That is, the control device 12 detects the mud hardness based on the groove trace depth information from the groove trace depth detection means 42, and sets the sensitivity target value of the float sensor 37 according to the mud hardness. An automatic sensitivity adjusting means 12F for automatically selecting and automatically adjusting the sensing sensitivity of the float sensor 37 is provided as a control program.

The control section of the traveling vehicle body 1 is provided with a manually operated changeover switch 47 as shown in FIG. 2. When the changeover switch 47 is set to the "manual" position, the control device 12 is set to the manual operation mode. The "manual sensitivity adjustment mode" is executed by the control operation of the sensitivity adjusting means 12E, and the seedling planting device 5 is automatically moved up and down based on the float displacement information from the float sensor 37 adjusted to the manually set sensitivity target value. It is designed to let you. On the other hand, set the changeover switch 47 to "automatic".
When set to the position, the control device 12 executes the "automatic sensitivity adjustment mode" by the control operation of the automatic sensitivity adjusting means 12F, and based on the float displacement information from the float sensor 37 adjusted to the automatically selected sensing sensitivity. Seedling planting device 5
Is automatically raised and lowered.

The first grounding body 42A of the groove trace depth detecting means 42
Is arranged between the ground leveling floats 18, so that the second grounding body 4 disposed immediately behind the ground leveling float 18 is
Since it is more susceptible to buoyancy due to the component force of the velocity component during traveling of the seedling planting work than 2B, the higher the traveling speed of the traveling machine body 1 during the seedling planting work is, the more it depends on the component force of the velocity component. Buoyancy is the second grounding body 42B
It acts on the first grounding body 42A more than the above. That is, the relative swing displacement amount of the first grounding body 42A and the second grounding body 42B detected by the rotation sensor 42C is obtained from the actual depth of the groove traces formed on the mud surface of the field. The traveling speed becomes larger than the relative swing displacement amount of 42A and the second grounding body 42B by the amount that the traveling speed is faster, and the detected groove trace depth which is the groove trace depth information from the groove trace depth detecting means 42 is seedling planting. The higher the traveling speed of the traveling body 1 at the time of work, the more the erroneous detection is made on the side deeper than the actual groove trace depth. Then, when the automatic sensitivity adjusting means 12F detects the mud hardness of the field and selects and adjusts the sensing sensitivity of the float sensor 37 based on the erroneously detected groove trace depth information, the actual sensitivity is actually adjusted. It is detected that the mud is softer than the mud hardness, and the sensing sensitivity of the float sensor 37 is adjusted to the sensitivity target value on the sensitive side according to the mud hardness on the softer side than the actual mud hardness.
Further, the automatic lifting control means 12D raises and lowers the seedling planting device 5 based on the float displacement information from the float sensor 37 whose sensing sensitivity is adjusted as described above, and maintains the set ground level. Will occur.

Therefore, the control device 12 uses the vehicle speed sensor to detect the groove trace depth (groove trace depth information) detected by the groove trace depth detecting means 42 during the execution of the control operation by the automatic sensitivity adjusting means 12F. According to the traveling speed of the traveling vehicle body 1 detected at S, the correction means 12 for correcting to a shallower side as the traveling speed increases.
G is provided as a control program.

Next, based on the flowchart of FIG.
"Groove trace depth correction control" by control operation of the correction means 12G
Will be described.

First, it is judged whether or not the changeover switch 47 is set to the "automatic" position and the execution of the "automatic sensitivity adjusting mode" by the control operation of the automatic sensitivity adjusting means 12F is instructed [step # 1]. "Automatic sensitivity adjustment mode"
If execution of is not instructed, it waits until execution of "automatic sensitivity adjustment mode" is instructed. When execution of the "automatic sensitivity adjustment mode" is instructed, the groove trace depth detected by the groove trace depth detecting means 42 is read [Step # 2], and the vehicle speed sensor S detects traveling. The traveling speed of the aircraft 1 is read [step # 3]. And
A correction value (a value for correcting the groove trace depth to a shallow side) is calculated according to the traveling speed detected by the vehicle speed sensor S [step # 4], and the correction value is calculated.
Is added to the groove trace depth detected in step (correcting the groove trace depth to a shallower side) [Step # 5], and the groove trace depth after the correction is obtained from the groove trace depth detecting means 42. It is output to the automatic lifting control means 12D as the information [step # 6].

That is, the control means 12 is provided with the correction means 12G, and the float in consideration of the buoyancy which influences the groove trace depth information of the groove trace depth detection means 42 in relation to the traveling speed during seedling planting work. By making it possible to automatically adjust the sensing sensitivity of the sensor 37, the automatic sensitivity adjusting means 12
Based on the groove trace depth information erroneously detected by the groove trace depth detecting means 42, F detects that the mud is softer than the actual mud hardness, and the mud hardness on the softer side than the actual mud hardness. The sensitivity sensitivity of the float sensor 37 is adjusted to the sensitivity target value on the sensitive side according to the height, and the automatic lifting control means 1
The 2D automatically avoids the inconvenience of raising and lowering the seedling planting device 5 to maintain the set ground height based on the float displacement information from the float sensor 37 whose sensing sensitivity is adjusted as described above. Even during the execution of the control operation by the sensitivity adjusting means 12F, suitable seedlings can be stably planted according to the mud hardness of the field.

[Other Embodiments] Other embodiments of the present invention will be listed below. The rice transplanter may have any form such as four-row planting, five-row planting, six-row planting, or eight-row planting. The configuration of the vehicle speed sensor S can be changed in various ways.

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 configurations 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 block diagram showing a control configuration.

FIG. 3 is a schematic plan view of a seedling planting device.

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

FIG. 5 is a cross-sectional front view of the lower part of the seedling planting device showing the support structure of the float sensor.

FIG. 6 is a lateral 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 rear view of the ground leveling float showing the configuration of the groove mark depth detecting means.

FIG. 8 is a flowchart showing the operation of provisional sensitivity selection control.

[Explanation of symbols]

 1 Traveling Aircraft 5 Seedling Planting Device 12 Control Device 12D Automatic Elevating Control Means 12F Automatic Sensitivity Adjusting Means 12G Correction Means 18 Leveling Float 37 Float Sensor 42 Groove Depth Detection Means S Vehicle Speed Sensor

Claims (1)

[Claims] 1. A rearing part of the traveling body (1) is connected with a seedling planting device (5) equipped with a ground leveling float (18) capable of swinging up and down so as to move up and down, and at the time of seedling planting work, the ground leveling is performed. An automatic lifting control means (12D) for automatically moving the seedling planting device (5) up and down based on the float displacement information from a float sensor (37) that detects vertical swing displacement of the float (18); Float (18)
The mud hardness is detected based on the groove trace depth information from the groove trace depth detecting means (42) for detecting the groove trace depth formed after passing through the mud surface, and the float corresponding to the mud hardness is detected. A rice transplanter equipped with a control device (12) equipped with an automatic sensitivity adjusting means (12F) for automatically selecting a sensitivity target value of the sensor (37) and automatically adjusting the sensing sensitivity of the float sensor (37). The control device (12) includes the automatic sensitivity adjusting means (12).
The vehicle speed sensor (S) indicates the groove trace depth detected by the groove trace depth detecting means (42) during the control operation by F).
A rice transplanter equipped with a correction means (12G) for correcting to a shallower side as the traveling speed becomes faster, according to the traveling speed of the traveling machine body (1) detected at.