JPH08103126A - Rice transplanter - Google Patents

Abstract

PURPOSE: To avoid an inexpedience in which control operation based on furrow trace depth information from the furrow trace depth detecting means having caused abnormality is continued without abnormality being recognized by an operator. CONSTITUTION: In a rice transplanter loaded with a control device 12 provided with an automatic lifting and lowering controlling means 12C for automatically lifting and lowering a seedling planting device based on float displacement information from a float sensor 37 and an automatic lifting and lowering control means 12E for automatically selecting the target value of sensitivity of the float sensor 37 and automatically adjusting detecting sensitivity of the float sensor 37, the control device 12 is equipped with an abnormality judging means 12F for operating an alarming means A to inform abnormality of a right a left furrow depth detecting means 42 when there is difference between pieces of information from the right and the left furrow trace depth detecting means 42, detected during practice of control operation by the automatic sensitivity adjusting means 12E and in lifting of the seedling transplanting device.

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 ground leveling float so that the ground leveler can swing up and down. Automatic lift control means for automatically moving the seedling planting device up and down based on the float displacement information from the float sensor for detecting the vertical swing displacement of the float, and formed after the mud surface of the leveled floats located on the left and right The mud hardness is detected based on the groove depth information from the left and right groove depth detection means for detecting the depth of each groove, and the sensitivity target value of the float sensor is automatically set according to the mud hardness. The present invention relates to a rice transplanter equipped with a controller equipped with an automatic sensitivity adjusting means for selecting and automatically adjusting the sensing sensitivity of the float sensor.

[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, during the seedling planting work during the control operation by the automatic sensitivity adjusting means, the mud with respect to the first grounding body or the second grounding body of the groove depth detecting means. Even if an abnormality occurs that prevents the vertical swings due to clogging, etc., since there is no means for detecting the abnormality and notifying the operator, the automatic sensitivity adjustment means While detecting the mud hardness of the field based on the groove trace depth information from the groove trace depth detection means in the state of abnormality,
The sensitivity target value of the float sensor according to the mud hardness is automatically selected and adjusted. Further, the automatic raising / lowering control means raises / 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, even if an abnormality occurs due to mud clogging or the like in the groove trace depth detecting means during execution of the control operation by the automatic sensitivity adjusting means, the abnormality is not recognized by the operator, and the abnormal groove occurs. The control operation based on the groove trace depth information from the trace depth detecting means has been continued, and the seedling planting device cannot stably plant seedlings.

An object of the present invention is to enable an operator to be notified of an abnormality when the groove trace depth detecting means has an abnormality during execution of the control operation by the automatic sensitivity adjusting means. Another object is to avoid the inconvenience that the control operation based on the groove trace depth information from the groove trace depth detection means in which the abnormality has occurred is continued without the operator recognizing the abnormality.

[0006]

In order to achieve the above object, in the first aspect of 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 vertically movable. During the seedling planting work, an automatic lifting control means for automatically lifting the seedling planting device based on the float displacement information from the float sensor for detecting the vertical swing displacement of the leveled float located in the center, and the left and right positions. The mud hardness is detected based on the groove trace depth information from the left and right groove trace depth detection means that detects the depth of each groove trace formed after passing through the mud surface of the leveling float. In a rice transplanter equipped with a controller equipped with an automatic sensitivity adjusting means for automatically selecting a sensitivity target value of the float sensor according to the automatic sensitivity adjusting means and automatically adjusting the sensing sensitivity of the float sensor,
In the control means, during execution of the control operation by the automatic sensitivity adjusting means, and to the respective groove trace depth information from the left and right groove trace depth detection means detected when the seedling planting device is raised. When a difference occurs, an abnormality determining means is provided for activating an informing means for informing an abnormality of the left and right groove trace depth detecting means.

According to the second aspect of the present invention, a rearing section of the traveling body is connected to a seedling planting device equipped with a leveling float so as to be vertically swingable so as to be vertically movable. Based on the float displacement information from the float sensor that detects the vertical swing displacement, the automatic raising and lowering control means for automatically raising and lowering the seedling planting device, and the sensitivity target value set by the manually operated setting means. Manual sensitivity adjusting means for adjusting the sensing sensitivity of the float sensor and groove depths from the left and right groove trace depth detecting means for detecting the depth of each groove trace formed after the mud surface of the leveled floats located on the left and right Sensitivity adjustment that automatically detects the sensitivity of the float sensor by automatically detecting the sensitivity target value of the float sensor according to the soil hardness Equipped with a control device that includes a stage,
And, in a rice transplanter equipped with a mode switching means for switching the execution mode of the control device to a state in which the control operation by the manual sensitivity adjusting means is executed and a state in which the control operation by the automatic sensitivity adjusting means is executed, The control means is executing the control operation by the automatic sensitivity adjusting means, and the difference between the respective groove trace depth information from the left and right groove trace depth detection means detected when the seedling planting device is raised Occurs, the notifying means for notifying the abnormality of the left and right groove trace depth detecting means is operated, the control operation by the automatic sensitivity adjusting means is stopped, and the control operation by the manual sensitivity adjusting means is executed. A judging means was provided.

[0008]

According to the first aspect of the present invention, when the seedling planting device is raised so as to be separated from the mud surface of the field during the seedling planting work while the control operation by the automatic sensitivity adjusting means is being executed, the left and right sides are respectively increased with the rise. The first grounding body and the second grounding body of the groove trace depth detection means are separated from the field mud surface. At this time, since the left and right groove trace depth detecting means have the same configuration, when the groove trace depth detecting means is functioning normally without any abnormality such as clogging of the first grounding body or the second grounding body Means that the relative swing displacement amounts of the first grounding body and the second grounding body detected by the respective potentiometers in the left and right groove trace depth detecting means become the same displacement amount. There is no difference in the voltage level output as the groove trace depth information. However, if an abnormality such as mud clogging occurs in the first grounding body or the second grounding body and the groove trace depth detection means is not functioning normally, use the potentiometers in the left and right groove trace depth detection means. The detected relative swing displacement amounts of the first grounding body and the second grounding body are different displacement amounts, and a difference occurs in the voltage level output as groove trace depth information from the left and right groove trace depth detecting means. Like When there is a difference in the voltage levels output as groove trace depth information from the left and right groove trace depth detection means, the abnormality determination means determines that the first grounded body or the second grounded body is clogged with mud, etc. It is judged that the abnormality due to the groove trace depth detecting means has occurred, and the alarm means such as a blinking lamp or a buzzer is operated to notify the operator of the abnormality in the groove trace depth detecting means.

That is, when an abnormality occurs due to mud clogging in the groove depth detecting means during execution of the control operation by the automatic sensitivity adjusting means, the abnormality does not become recognized by the operator, and the abnormal groove mark is generated. The control operation based on the groove trace depth information from the depth detection means is not continued and the control operation is switched to the manual sensitivity adjustment means based on the sensitivity target value artificially set by the setting means, or It becomes possible to promptly take measures against the abnormality such as removing clogging of the first grounding body and the second grounding body.

According to the second aspect of the present invention, similarly to the first aspect of the present invention, when there is a difference in the voltage levels output as groove trace depth information from the left and right groove trace depth detection means, an abnormality determination is made. The means determines that an abnormality caused by clogging of the first grounding body or the second grounding body has occurred in the groove trace depth detecting means,
A notification device such as a flashing lamp or buzzer is activated to notify the operator of an abnormality in the groove depth detection means, and the control operation by the automatic sensitivity adjustment means is stopped, and the control operation by the manual sensitivity adjustment means is stopped. To get it to run.

That is, when an abnormality such as mud clogging occurs in the groove depth detecting means during execution of the control operation by the automatic sensitivity adjusting means, the abnormality does not become recognized by the operator, and the abnormal groove mark is generated. The control operation based on the groove trace depth information from the depth detecting means is not continued, and the automatic sensitivity adjusting means based on the groove trace depth information from the abnormal groove trace depth detecting means Instead of the control operation, the control operation of the manual sensitivity adjusting means is executed based on the sensitivity target value artificially set by the setting means.

[0012]

According to the first aspect of the present invention, therefore, when an abnormality such as mud clogging occurs in the groove mark depth detecting means during the execution of the control operation by the automatic sensitivity adjusting means, the abnormality is promptly corrected. In addition to being able to recognize it, it is possible to promptly take measures against the abnormality, so that good seedlings can be stably planted by the seedling planting device.

According to the second aspect of the present invention, when an abnormality due to mud clogging or the like occurs in the groove mark depth detecting means during execution of the control operation by the automatic sensitivity adjusting means, the abnormality can be promptly recognized. At the same time, the control operation by the automatic sensitivity adjusting means is automatically switched to the control operation by the manual sensitivity adjusting means, so that good seedlings can be stably planted by the seedling planting device without the trouble of taking measures against the abnormality. It became so.

[0014]

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.

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 extends laterally across the planted transmission cases 15 on the left and right.
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 12B 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.

Incidentally, 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 transmitted 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 lifting control means 12B moves the seedling planting device 5 up and down based on a 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 in the center due to the fluctuation of the ground contact pressure (undulation of the mud surface in the field) 1
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 operating 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 provided.
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 standard posture. Is provided as a control program, and this automatic lifting control means 12C
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 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 a setting means for manually setting the reference voltage level of the float sensor 37 as the sensitivity target value according to the mud hardness of the field that is artificially determined. Further, the control device 12 is provided with a manual sensitivity adjusting means 12D as a control program for adjusting the sensing sensitivity of the float sensor 37 to the sensitivity target value manually set by the setting device 40.

As shown in FIGS. 3, 6 and 7, the seedling planting device 5 includes a first grounding body for converting the change in the mud surface level into a vertical swing displacement by following the ground contact with the surface of the field mud. 42A,
A second grounding body 42B that changes the level of the bottom surface of the groove trace into a vertical swing displacement by following the ground contact with the bottom surface of the groove trace formed after the mud surface of the leveling float 18 located on the left and right, and the grounding bodies 42A. , 42B is provided with a pair of left and right groove trace depth detecting means 42 constituted by a rotation sensor 42C which is a potentiometer which detects a relative swing displacement amount and outputs a voltage level corresponding to the relative swing displacement amount. There is.

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 detecting means 42, and sets the sensitivity target value of the float sensor 37 according to the mud hardness. An automatic sensitivity adjusting means 12E 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, and when the changeover switch 47 is set to the "manual" position, the control device 12 is manually operated. The "manual sensitivity adjustment mode" is executed by the control operation of the sensitivity adjusting means 12D, 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 12E, 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. That is, the changeover switch 47 is a mode changeover unit that changes the execution mode of the control device 12 between the “manual sensitivity adjustment mode” and the “automatic sensitivity adjustment mode”. Also, the automatic sensitivity adjusting means 12E
The lamp 48 is turned on during execution of the "automatic sensitivity adjustment mode" by the control operation described above, so that the operator can easily recognize that the "automatic sensitivity adjustment mode" is being executed. ing.

The control device 12 includes an automatic sensitivity adjusting means 12
During the seedling planting operation during execution of the "automatic sensitivity adjustment mode" by the control operation of E, the operation lever 26 or the planting clutch lever 35 issues a command to raise the seedling planting device 5, and the seedling planting device 5 is set in the field. When it comes to be separated from the mud surface, the first grounding body 42A is based on the groove trace depth information detected by the left and right groove trace depth detection means 42 which is accordingly separated from the field mud surface. And second grounding body 42B
Abnormality determining means for determining whether or not an abnormality such as mud clogging has occurred in the groove trace depth detecting means 42 and, if such an abnormality has occurred, notifying the operator of the abnormality. 12F is provided as a control program.

Next, based on the flowchart of FIG.
"Abnormality determination control" by the control operation of the abnormality determination means 12F
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 12E 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 the execution of the "automatic sensitivity adjustment mode" is instructed, the raising / lowering switch 27 or the planting clutch lever 35 is used to drive the seedling planting device 5.
Whether or not an increase command for
2]. If the command to raise the seedling planting device 5 is not issued, the process waits until the command to raise is issued. Seedling planting device 5
If a rising command is issued, the respective groove trace depth information (output voltage level) detected by the left and right groove trace depth detecting means 42 is compared, and whether the comparison difference exceeds the set range. It is determined whether or not [step # 3]. When the comparison difference does not exceed the set range, it is determined that the groove depth detection means 42 is not in abnormal condition such as mud clogging of the first grounding body 42A and the second grounding body 42B, and the automatic sensitivity adjustment is performed. Means 1
Execution of the "automatic sensitivity adjustment mode" by the control operation of 2E is continued [step # 4]. If the comparison difference exceeds the set range, it is determined that an abnormality such as mud clogging of the first grounding body 42A or the second grounding body 42B has occurred in the groove trace depth detection means 42, and the automatic sensitivity adjustment is performed. Means 12
By blinking the lamp 48 that is lit during execution of the "automatic sensitivity adjustment mode" by the control operation of E, the operator is informed that an abnormality has occurred in the groove mark depth detection means 42 and [step # 5], "Automatic sensitivity adjustment mode" by control operation of the automatic sensitivity adjustment means 12E
Immediately stop the execution of [step # 6], and perform the "manual sensitivity adjustment mode" by the control operation of the manual sensitivity adjustment means 12D.
Is executed [step # 7].

That is, the lamp 48 notifies the operator that the groove trace depth detecting means 42 has an abnormality such as clogging of the first grounding body 42A or the second grounding body 42B. It is supposed to function as.
Further, the abnormality determining means 12F detects the respective groove trace depths from the left and right groove trace depth detecting means 42 which are detected during the control operation by the automatic sensitivity adjusting means 12E and when the seedling planting device 5 is raised. If it is determined that there is a difference in the depth information and the groove trace depth detection means 42 has an abnormality such as clogging of the first grounding body 42A or the second grounding body 42B, the notification means A including the lamp 48 is activated. By doing so, the operator is notified of the abnormality, and the control operation by the automatic sensitivity adjusting means 12E is stopped to execute the control operation by the manual sensitivity adjusting means 12D.
It is possible to avoid the inconvenience that the control operation based on the groove trace depth information from the groove trace depth detection unit 42 in which the abnormality has occurred is continued while the abnormality of the groove trace depth detection unit 42 is not recognized by the operator. -ing

[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. In the above embodiment, the lamp 48 that lights up during execution of the "automatic sensitivity adjustment mode" by the control operation of the automatic sensitivity adjustment means 12E is also used as the notification means A. It is also possible to newly provide such as the notification means A. The abnormality determining means 12F is the automatic sensitivity adjusting means 1
When the control operation by 2E is being performed, and the groove trace depth information from the left and right groove trace depth detection means 42 detected when the seedling planting device 5 is raised, a difference is generated between the groove trace depths. A structure in which it is determined that the detection unit 42 has an abnormality such as a clogging of the first grounding body 42A or the second grounding body 42B and the abnormality is notified to the operator by operating the notification unit A. May be

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures 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 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 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]

 DESCRIPTION OF SYMBOLS 1 Traveling machine 5 Seedling planting device 12 Control device 12C Automatic lifting control means 12D Manual sensitivity adjusting means 12E Automatic sensitivity adjusting means 12F Abnormality determining means 18 Leveling float 37 Float sensor 40 Setting means 42 Groove depth detecting means 47 Mode switching means A notification means

Claims (2)

[Claims] 1. A rear part of the traveling machine body (1) is connected with a seedling planting device (5) equipped with a leveling float (18) so as to be vertically swingable so as to be vertically movable, and is centered during seedling planting work. An automatic lifting control means (12C) for automatically moving the seedling planting device (5) up and down based on the float displacement information from the float sensor (37) that detects the vertical swing displacement of the located leveling float (18). , Soil mud hardness based on the groove trace depth information from the left and right groove trace depth detection means (42) for detecting the respective groove trace depths formed after passing the mud surface of the leveling floats (18) located on the left and right. And an automatic sensitivity adjusting means (12E) for automatically adjusting the sensing sensitivity of the float sensor (37) by automatically selecting the sensitivity target value of the float sensor (37) according to the hardness of the mud. Control device (12 ) Is mounted on the rice transplanter, wherein the control means (12) includes the automatic sensitivity adjusting means (12).
While the control operation by E) is being performed, and there is a difference in the groove trace depth information from the left and right groove trace depth detection means (42) detected when the seedling planting device (5) is raised. When it happens,
A rice transplanter equipped with an abnormality determining means (12F) for operating an informing means (A) for informing an abnormality of the left and right groove trace depth detecting means (42). 2. A rear part of the traveling machine body (1) is connected with a seedling planting device (5) equipped with a leveling float (18) so as to be vertically swingable so as to be vertically movable, and is centered during seedling planting work. Automatic lifting control means (12C) for automatically moving the seedling planting device (5) up and down based on the float displacement information from the float sensor (37) that detects the vertical swing displacement of the ground leveling float (18). , Manual sensitivity adjusting means (12D) for adjusting the sensing sensitivity of the float sensor (37) to the sensitivity target value set by the manually operated setting means (40), and leveled floats (1) located on the left and right
8) The mud hardness is detected based on the groove trace depth information from the left and right groove trace depth detection means (42) for detecting the depth of each groove trace formed after passing through the mud surface, and the mud hardness is detected. A control device (12) having an automatic sensitivity adjusting means (12E) for automatically selecting a sensitivity target value of the float sensor (37) according to the height and automatically adjusting the sensing sensitivity of the float sensor (37). And a manual sensitivity adjusting means (12
Rice transplanter equipped with a mode switching means (47) for switching the execution mode of the control device (12) between a state in which the control operation by D) is executed and a state in which the control operation by the automatic sensitivity adjusting means (12E) is executed. And a control means (12) for the automatic sensitivity adjusting means (12).
While the control operation by E) is being performed, and there is a difference in the groove trace depth information from the left and right groove trace depth detection means (42) detected when the seedling planting device (5) is raised. When it happens,
The notifying means (A) for notifying the abnormality of the left and right groove trace depth detecting means (42) is operated, and the control operation by the automatic sensitivity adjusting means (12E) is stopped, and the manual sensitivity adjusting means (12D). ) A rice transplanter equipped with an abnormality determination means (12F) for executing the control operation by