JPH08298828A - Sulky rice transplanter - Google Patents

Abstract

PURPOSE: To provide a sulky rice transplanter capable of planting rice seedling by constituting an automatically sensitivity adjusting means so as to select a preset fixed value as the target sensitivity value of a float sensor in a time from a reopening point of a seedling planting operation after the forced rise of a seedling planting device and stably planting the rice seedling. CONSTITUTION: An automatically sensitivity adjusting means 12E is constituted so as to select a preset fixed value as the target sensitivity value of a float sensor 37 for detecting the vertical rocking displacement of a ground making float 18 in a time from a reopening point of a seedling planting operation after the forced rise of a seedling planting device in a control operation action of the automatic sensitivity adjusting means 12E. A control device 12 is equipped with a memory means 12F for housing mud hardness information during seedling planting operation and the automatically sensitivity adjusting means 12E is preferably constituted so as to automatically select the target sensitivity value of the float sensor 37 after the forced rise of the seedling planting device during the control operation action of the automatically sensitivity adjusting means 12E and immediately after the lapse of a fixed time from the reopening point of the seedling planting operation based on the mud hardness information of the memory means 12F.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a seedling planting device equipped with a leveling float so that it can be swung up and down. Automatic lifting control means for automatically lifting the seedling planting device based on the float displacement information from the float sensor for detecting the dynamic displacement, and the mud hardness information from the mud hardness detecting means for detecting the mud hardness of the field. On the basis of this, when the sensitivity target value of the float sensor is automatically selected, an automatic sensitivity adjusting unit that automatically adjusts the sensing sensitivity of the float sensor to the sensitivity target value, and a forced lift command is issued from the manual lift command unit. A control device equipped with a forced elevating means for forcibly raising the seedling planting device to a state of being separated from the ground in preference to the control operation of the automatic sensitivity adjusting means. It was on the riding-type rice planting machine.

[0002]

2. Description of the Related Art Conventionally, a riding type rice transplanter as described above issues a forced raising command by a manual raising / lowering commanding device for turning a headland in a seedling planting work during a control operation by an automatic sensitivity adjusting device. When the seedling planting device is forcibly separated from the field and the seedling planting work is interrupted, and then the seedling planting device is again grounded to the ground and the seedling planting work is restarted, the The sensitivity adjusting means selects the sensitivity target value of the float sensor based on the mud hardness information from the mud hardness detecting means, and restarts the automatic sensitivity adjustment control for adjusting the sensing sensitivity of the float sensor to the sensitivity target value. Was configured as.

[0003]

However, since the headland mud immediately after turning turns into a state of being considerably roughened by turning and the surface of the mud becomes uneven, the mud hardness detecting means uses the mud immediately after turning headland. As the hardness, there is a risk of detecting a mud hardness that is far from the original mud hardness. That is, when the control operation by the automatic sensitivity adjusting means is restarted from the point of time when the seedling planting work is restarted immediately after turning the headland as in the above-mentioned conventional technique, the automatic sensitivity adjusting means causes the mud soil hardness greatly separated from the original mud hardness of the field. The sensitivity target value of the float sensor is selected based on the mud hardness information from the depth detection means, and there is a risk that the sensing sensitivity of the float sensor may be adjusted to the selected sensitivity target value.
In such a case, for a while after the seedling planting work is restarted immediately after turning the headland, the automatic raising / lowering control means can automatically control the proper raising / lowering of the seedling planting device according to the mud hardness of the field. There is a problem that the seedling planting device cannot stably plant seedlings on the mud surface of the field.

The object of the present invention is to detect the mud hardness detecting means which has a sensitivity target value of the float sensor, which is largely different from the original mud hardness of the field, for a while after the restart of the seedling planting work immediately after turning the headland. It is intended to eliminate the risk of being automatically selected based on the mud hardness information, and to enable stable seedling planting by the seedling planting device from the time of restarting the seedling planting work immediately after turning the headland.

[0005]

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 seedling planting work, automatic lifting control means for automatically moving the seedling planting device up and down based on float displacement information from a float sensor for detecting vertical swing displacement of the ground leveling float, and mud for detecting mud hardness in the field. Based on the mud hardness information from the hardness detection means, the sensitivity target value of the float sensor is automatically selected, and the sensitivity sensitivity of the float sensor is automatically adjusted to the sensitivity target value. When a forced raising command is issued from the commanding device, the seedling planting device is forcibly lifted to a state of being separated from the ground in preference to the control operation of the automatic sensitivity adjusting device. In a riding type rice transplanter equipped with a control device having a forcible lifting means, during a predetermined time from the restarting of the seedling planting work after the forcible raising of the seedling planting device during the control operation of the automatic sensitivity adjusting means. The automatic sensitivity adjusting means is configured to select a preset predetermined value as the sensitivity target value of the float sensor.

According to the second aspect of the present invention, in addition to the first aspect,
A storage means for storing mud hardness information during seedling planting work is provided in the control device, after forcibly raising the seedling planting device during execution of control operation of the automatic sensitivity adjusting means, and,
The automatic sensitivity adjusting means is configured to automatically select the sensitivity target value of the float sensor immediately after a lapse of a predetermined time from the restart of seedling planting work, based on the mud hardness information in the storage means.

According to a third aspect of the present invention, in the above second aspect,
The storage means is configured to store the mud hardness information immediately before the forced rise command is issued.

[0008]

According to the first aspect of the present invention, in the seedling planting operation during the control operation by the automatic sensitivity adjusting means, the manual raising / lowering command means issues a forcible raising instruction to forcibly turn the headland, and the seedling planting apparatus is forcibly forced. When the seedling planting work is temporarily separated from the field and the seedling planting work is interrupted, and then the seedling planting device is again grounded to the ground to restart the seedling planting work, a predetermined time (for example, 5 seconds) from that time point is reached. During the period, the automatic sensitivity adjusting means selects a predetermined value as the sensitivity target value of the float sensor and adjusts the sensing sensitivity of the float sensor to the sensitivity target value. Further, the automatic lifting control means controls the seedling planting based on the float displacement information from the float sensor whose sensing sensitivity is adjusted to a predetermined value (sensitivity target value) for a predetermined time from the restart of the seedling planting work. The attached device will be automatically moved up and down. In other words, the automatic sensitivity adjustment means sets the sensitivity target value of the float sensor based on the mud hardness information that is far from the original mud hardness of the field that may be detected by the mud hardness detection means immediately after turning the headland. Immediately after turning the headland, there will be no inconvenience to select, and there will be no inconvenience to adjust the sensitivity of the float sensor to the sensitivity target value selected based on the mud hardness information that is far from the original mud hardness of the field. When the seedling planting work is restarted, the automatic raising / lowering control means does not raise / lower the seedling planting device based on the float displacement information from the float sensor adjusted to the sensitivity that is far from the original mud hardness of the field. Therefore, for a while after the seedling planting work is restarted, automatic raising / lowering control of the seedling planting device depending on the mud hardness of the field cannot be performed. Turned in, it becomes possible to eliminate a disadvantage that it becomes impossible stable planting seedlings by seedling planting apparatus.

By the way, for example, if a predetermined value which is a sensitivity target value of the float sensor during a predetermined time period from the restart of seedling planting work is set to an intermediate value of the sensitivity adjustment range,
There is no inconvenience that the sensitivity target value of the float sensor for a predetermined time from the restart of the seedling planting work is significantly different from the sensitivity target value selected by the automatic sensitivity adjusting means from the original mud hardness of the field. In addition, the sensitivity target value of the float sensor for a predetermined time from the restart of seedling planting work is manually set to the sensitivity target value selected based on the artificially determined rough mud hardness in the field. By doing so, the sensitivity target value of the float sensor during the predetermined time from the restart of the seedling planting work is set to a value close to the sensitivity target value automatically selected by the control operation of the automatic sensitivity adjusting means from the original mud hardness of the field. be able to.
Furthermore, by setting the predetermined value, which is the sensitivity target value of the float sensor during the predetermined time from the restart of the seedling planting work, to the value on the insensitive side in the sensitivity adjustment range, the ground leveling is performed during the predetermined time from the restart of the seedling planting work. Since the float can be strongly pressed against the field, it becomes possible to level the field mud that has been damaged by turning.

According to the second aspect of the present invention, the automatic sensitivity adjusting means sets the sensitivity target value of the float sensor immediately after the lapse of a predetermined time from the restart of the seedling planting operation before the forced increase stored in the storage means, in other words, the pillow. It will be selected based on the mud hardness information before turning the ground. That is, the automatic sensitivity adjusting means, the sensitivity target value of the float sensor immediately after the predetermined time has elapsed, immediately after the turning detected by the mud hardness detecting means from the time when the seedling planting work is restarted until the predetermined time elapses. The inconvenience of selecting based on the mud hardness information of a rough field (the mud hardness information that is largely different from the original mud hardness of the field) is eliminated, and the sensitivity of the float sensor for mud hardness of the rough field immediately after turning is eliminated. Since there is no inconvenience to adjust to the sensitivity target value selected based on the information, the automatic lifting control according to the mud hardness of the field immediately after the predetermined time has elapsed from the restart of the seedling planting work after turning the headland. It is possible to solve the inconvenience that the seedling planting device cannot be automatically raised and lowered by the means and stable seedling planting cannot be performed by the seedling planting device.

According to the third aspect of the present invention, the automatic sensitivity adjusting means sets the sensitivity target value of the float sensor immediately after a predetermined time elapses from the restart of seedling planting work immediately before the forced increase stored in the storage means, in other words, the seedling seedling. Selection will be made based on the mud soil hardness information immediately before turning the headland close to the field immediately after the predetermined time has elapsed from the time when the planting operation was restarted.
That is, the automatic sensitivity adjustment means, when selecting the sensitivity target value of the float sensor immediately after the predetermined time has elapsed from the time when the seedling planting work was restarted, so that the mud hardness information close to the original mud hardness of the field part can be obtained. Therefore, a value close to the sensitivity target value of the float sensor, which is selected based on the original mud hardness information of the field immediately after the prescribed time has elapsed from the point when the seedling planting work was restarted, was set from the point when the seedling planting work was restarted. The sensitivity target value of the float sensor immediately after the elapse of time can be selected.

[0012]

According to the first aspect of the present invention, therefore, the sensitivity target value of the float sensor during a predetermined time from the restart of the seedling planting operation immediately after turning the headland is far from the original mud hardness of the field. Since the inconvenience of being automatically selected based on the mud hardness information from the mud hardness detection means can be eliminated, stable seedling planting by the seedling planting device can be performed from the time when the seedling planting work is restarted immediately after turning the headland. It was

According to the second aspect of the present invention, the sensitivity target value of the float sensor immediately after a predetermined time has elapsed from the point of time when the seedling planting operation was restarted after turning the headland, the mud soil hardness which is far from the original mud hardness of the field. Since it is possible to eliminate the inconvenience of being automatically selected based on the mud hardness information from the depth detection means, more stable planting of seedlings can be performed by the seedling planting device from the time when the seedling planting work is restarted immediately after turning the headland. It was

According to the third aspect of the present invention, a value close to the sensitivity target value of the float sensor, which is selected based on the original mud hardness information of the field immediately after the predetermined time has elapsed since the restart of the seedling planting operation, Since it becomes possible to select it as the sensitivity target value of the float sensor immediately after the prescribed time has elapsed from the time when the seedling planting work was restarted, more stable planting of seedlings by the seedling planting device from the time when the seedling planting work was restarted immediately after turning the headland. Can be suitably performed.

[0015]

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.
Is connected to the rear part of the traveling machine body 1 via a lifting link mechanism 2 so as to be driven up and down by the operation of a hydraulic lift cylinder 3 and to be freely rotatable around the front-rear axis center by the operation of an electric rolling motor 4. It is configured by the seedling planting device 5.

An engine 6 is mounted on the front part of the traveling vehicle 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 an output shaft 6 a of the engine 6 and a transmission case 8.
Driven pulley 7b of a split pulley type attached to the input shaft 8a, a transmission belt 7c wound around the drive pulley 7a and the driven pulley 7b, and each pulley 7a, 7b.
It is constituted by an electric cylinder 7f for changing the respective split width intervals of the drive pulley 7a and the driven pulley 7b via the riding type cam mechanisms 7d and 7e provided in the. A control device 12 including a microcomputer controls the operation of the electric cylinder 7f based on a target speed artificially set by a manually operated speed setting device 11 including a potentiometer and the like, thereby performing a stepless speed change operation. You can do it. 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 is provided with a stroke sensor 7s for detecting the actual operation expansion / contraction amount of the electric cylinder 7f, and the vehicle speed control means 12A includes the speed setter 1.
The electric cylinder 7f is operated so that the target operation expansion / contraction amount of the electric cylinder 7f according to the target speed set in 1 and the actual operation expansion / contraction amount of the electric cylinder 7f detected by the stroke sensor 7s match. It is configured to perform feedback control.

As shown in FIGS. 1 and 3, the seedling planting device 5 includes 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 support. A transmission case with a plant 1 that extends in parallel from the frame 14 toward the rear and also serves as a frame
5, 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. The ground level float 18 is provided so that the relative height of the case 15 can be adjusted.

As shown in FIGS. 3 to 6, at the front of each planted transmission case 15, a float fulcrum pipe 19 which is laterally extended across the left and right planted transmission cases 15 is provided.
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. At the swing end of each swing arm 20, a spindle 21 is attached.
The leveling float 18 is connected through the shaft so as to be vertically swingable around the axis P2. Float fulcrum pipe 1
9 includes an operation lever 22 extending toward the traveling machine body 1.
Are integrally connected and fixed so as to be rotatable. Support frame 14
A locking plate 23 that locks and holds the operation lever 22 at an arbitrary position by engagement with the operation lever 22 is fixedly connected to the operation lever 22 via a support plate 24. That is, the operation lever 22
By operating around the axis P1 of the float fulcrum pipe 19 and engaging and retaining the locking plate 23, the leveling float 18 for the planted transmission case 15 is retained.
The relative height of the seedlings can be adjusted, and the planting depth of seedlings can be changed according to the hardness of mud in the field.

As shown in FIG. 1, a steering handle 25 is provided in the steering section of the traveling machine body 1, 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 elevating switch 27 instructs the control device 12 to forcibly raise the seedling planting device 5 to separate it from the field mud surface, and the seedling planting device 5 to the leveling float. Forcibly descending commands are alternately issued by 18 for coming into contact with the field mud and forcibly descending until the reference posture is obtained. When a command for forcibly raising the seedling planting device 5 is issued from the elevating switch 27, the control device 12
By controlling the operation of the electromagnetic control valve 28 that switches the flow state of the hydraulic oil to the lift cylinder 3,
By extending the lift cylinder 3 to raise the seedling planting device 5 to the maximum raised position, and controlling the operation of the electric clutch motor 30 via the relay circuit 29, the gear type reduction mechanism 31 and the operating rod. It is configured to perform the disengagement operation of the planting clutch 33 via 32 or the like. That is, the seedling planting operation of the seedling planting apparatus 5 is stopped when the raising of the seedling planting apparatus 5 based on the forcible rising command from the elevating switch 27 is started. When the raising / lowering switch 27 issues a command to forcibly lower the seedling planting device 5, the control device 12 controls the operation of the electromagnetic control valve 28 to shorten the lift cylinder 3 to shorten the seedling planting device. The ground leveling float 18 is configured to descend until the ground level float 18 contacts the mud surface of the field and the reference posture is obtained. On the other hand, when the operation lever 26 is swung downward, the clutch switch 34 for instructing the control device 12 to start planting is pressed. When a command to start planting is issued from the clutch switch 34, the control device 12 controls the operation of the clutch motor 30 via the relay circuit 29, so that the planting is performed via the gear type speed reduction mechanism 31, the operation rod 32, or the like. It is configured to perform an on / off operation of the auxiliary clutch 33, whereby the seedling planting operation of the seedling planting apparatus 5 is started. That is, the control device 12 is provided with a manual elevating control means 12B for controlling the elevating and lowering of the seedling planting device 5 and the seedling planting operation based on a command from the elevating switch 27 or the clutch switch 34 as a control program.

Control device 1 from lift switch 27 and clutch switch 34 by swinging operation lever 26
Each command for 2 is transmitted from the potentiometer type lever sensor 35s to the control device 12 by swinging operation to each of the "up", "neutral", "down", "on" and "off" operating positions shown in FIG. The planting clutch lever 35 configured to issue a command to forcibly raise the planting device 5, a lifting stop command, a forced lowering command, and a planting start command and a planting stop command by the seedling planting device 5 is "automatic". It is possible to issue a command only when it is in the position. That is, when the planting clutch lever 35 is not located at the "automatic" position, the manual lifting control means 12B raises and lowers the seedling planting device 5 and seedling planting based on a command from the planting clutch lever 35. It is configured to control the operation.

As shown in FIG. 2, FIG. 4 and FIG. 5, at the upper front part of the leveling float 18 located in the center, the leveling float 18 in the center due to the fluctuation of the ground contact pressure (undulation of the field mud surface) A potentiometer-type float sensor 37 that detects vertical swing displacement via 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 adjusts the leveling to the planted transmission case 15. As the relative height of the float 18 is adjusted, the relative height of the float sensor 37 with respect to the planted transmission case 15 is also adjusted.

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. The control device 12 sequentially reads the voltage level output from the float sensor 37 and sequentially calculates the moving average of the voltage level, and indicates the reference attitude of the central leveling float 18 based on the latest moving average of the voltage level. 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 (control target value) of the float sensor 37 and the moving average of the voltage level output from the float sensor 37 match. It is like this.

For example, when the reference rotation operation position of the operation shaft 37b with respect to the sensor main body 37a for obtaining the reference voltage level is the position a in FIGS. 2 and 4, the float is moved based on the vertical swing of the leveling float 18. The average rotation operation position of the operation shaft 37b corresponding to the moving average of the voltage level detected by the sensor 37 is b in FIGS.
If the position is the position, the control device 12 determines that the seedling planting device 5 has descended too much, and the operation shaft 37b moves from the average rotation operation position (b position) to the reference rotation operation position (a position). By controlling the operation of the electromagnetic control valve 28 and raising the seedling planting device 5 so that the reference voltage level and the moving average of the voltage level output from the float sensor 37 coincide with each other, The float 18 is returned to the reference posture. Further, assuming that the average rotation operation position of the operation shaft 37b corresponding to the moving average of the voltage level detected by the float sensor 37 based on the vertical swing of the leveling float 18 is the position c in FIGS. 2 and 4. The control device 12 determines that the seedling planting device 5 has moved up too much, and the operation shaft 37b rotates from the average rotation operation position (c position) to the reference rotation operation position (a position) (reference voltage). The leveling float 18 is set to the standard posture by controlling the operation of the electromagnetic control valve 28 and lowering the seedling planting device 5 so that the level and the moving average of the voltage level output from the float sensor 37 match). It will be restored.

That is, the control device 12 is controlled by the automatic raising / lowering control means 12C for automatically raising / lowering the seedling planting device 5 so that the ground leveling float 18 returns to the standard posture, based on the float displacement information from the float sensor 37. It is provided as a program, and by the control operation of the automatic raising / lowering control means 12C, the seedling planting device 5 is maintained in the field while the seedling planting device 5 is maintained at the set ground height during seedling planting work. It can be moved up and down along the ups and downs, and seedlings can be stably planted at the planting depth set by the operation lever 22.

As shown in FIG. 2, the maneuvering section of the traveling machine body 1 is provided with a manually operated setting device 40 such as a potentiometer. The setting device 40 is artificially judged to be mud / hard soil in the field. By setting the operation position according to the height, the reference voltage level of the float sensor 37 indicating the reference posture of the ground leveling float 18 can be changed to the voltage level according to the mud hardness of the field. The changed reference voltage level is input to the control device 12, and the control device 12 calculates the changed reference voltage level of the float sensor 37 and the moving average of the voltage level output from the float sensor 37. Solenoid control valve 28 to match
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 rotation operation position of b is changed to the b position direction in FIGS. 2 and 4, and the control device 12 controls the operation of the electromagnetic control valve 28 to change the operation shaft 37b with respect to the sensor body 37a. Reference rotation operation position and operation shaft 37b
The seedling planting device 5 is lowered so that the average rotation operation position of (1) matches (the changed reference voltage level and the moving average of the voltage level output from the float sensor 37 match). By this control operation, the reference posture of the leveling float 18 is changed to the forward rising posture according to the changed reference voltage level, and by changing the reference posture, the field of the leveling float 18 in the machine front-back direction is changed. The ground length for the mud surface becomes shorter according to the changed reference voltage level, and the compression spring 41 for urging the ground 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 ground leveling float 18 becomes relatively large according to the changed reference voltage level), and the sensitivity of the float sensor 37 is set by the setting device 4.
The sensitivity is changed to the insensitive side according to the operation position of 0.

On the other hand, when it is judged that the mud in the field is soft, the setting device 40 is set to the operation position on the "soft" side according to the softness. Then, the reference rotation operation position of the operation shaft 37b with respect to the sensor body 37a for obtaining the reference voltage level according to the operation position is changed to the c position direction in FIGS. By controlling the operation of the control valve 28, the changed reference rotation operation position of the operation shaft 37b with respect to the sensor body 37a and the average rotation operation position of the operation shaft 37b match (the changed reference voltage level and the float sensor 37). The seedling planting device 5 is raised so that the moving average of the voltage level output from the device matches. By this control operation, the standard posture of the leveling float 18 is changed to the front-lowering posture according to the changed reference voltage level, and the leveling float 1 in the machine front-back direction is changed by the change of the reference position.
The ground contact length of the field 8 against the mud surface of the field becomes longer according to the changed reference voltage level, and the compression spring 41 for urging the leveling float 18 toward the ground side is relatively weak according to the changed reference voltage level. The compressed state (the ground pressure of the ground leveling float 18 becomes relatively small according to the changed reference voltage level), and the sensitivity of the float sensor 37 becomes the sensitivity on the sensitive side according to the operating position of the setting device 40. It will be changed.

That is, the setting device 40 is for manually setting the reference voltage level of the float sensor 37 as the sensitivity target value in accordance with 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 FIG. 3, FIG. 6 and FIG. 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. 42
A, a second grounding body 42B that converts a change in the level of the bottom of the groove trace into a vertical swing displacement by following the contact with the bottom surface of the groove trace formed after passing the mud surface of the leveling floats 18 located on the left and right, and those groundings The rotation sensor 42C, which is a potentiometer that detects the relative swing displacement amount of the bodies 42A and 42B and outputs a voltage level corresponding to the relative swing displacement amount, is formed after the leveling floats 18 located on the left and right sides pass through the mud surface. A pair of left and right mud hardness detecting means 42 configured to detect the mud hardness of the field from the depth of the groove trace is provided.

The structure of the mud hardness detecting means 42 will be described in detail. As shown in FIGS. 6 and 7, the support shaft 21 that pivotally connects the left and right ground leveling floats 18 to the rocking ends of the rocking arms 20, The inward end of the shaft extends toward the central leveling float 18 on the axis P2. A cylindrical body 43 is externally fitted and supported on the extended end so as to be rotatable around a shaft center P2 via a bearing, and the second grounding body 4 is attached to the cylindrical body 43.
2B and the sensor main body 42a of the rotation sensor 42C include the axis P.
It is connected so as to be integrally rotatable around two. The rotation sensor 42C is attached to the operation shaft 42b of the rotation sensor 42C.
Via a rotary shaft 46 pivotally supported by a first support member 44 connected to the sensor body 42a and a second support member 45 extending from the brackets 18a of the left and right ground floats 18. 42A is connected so as to be integrally rotatable around the axis P2. That is, the first grounding body 4
The operation shaft 42b of the rotation sensor 42C is rotated by the vertical swing displacement of 2A, and the sensor body 4 of the rotation sensor 42C is rotated by the vertical swing displacement of the second grounding body 42B.
2a is configured to be rotated, whereby the rotation sensor 42C causes the relative swing displacement amount of the first grounding body 42A and the second grounding body 42B (formed after the left and right ground leveling floats 18 pass through the mud surface). It is possible to detect the depth of the groove trace.

As shown in FIG. 2, the relative swing displacement amount detected by each rotation sensor 42C is converted by the rotation sensor 42C to a voltage level corresponding to the relative swing displacement amount, and then the left and right mud soil hardened. The mud hardness information from the depth detecting means 42 is output to the control device 12. The control device 12 sequentially reads the voltage levels output from the left and right mud hardness detection means 42, sequentially calculates the moving average of the voltage levels from the left and right mud hardness detection means 42, and calculates the calculated left and right two. The average value of the moving averages of the voltage levels from the one mud hardness detecting means 42 is sequentially calculated. Then, based on the calculated latest average value, the sensitivity target value (reference voltage level) of the float sensor 37 corresponding to the mud hardness of the field at that time is automatically selected, and the sensing sensitivity of the float sensor 37 is set to that value. It is designed to automatically adjust to the sensitivity target value.

For example, the rotation sensor 42C has a large amount of relative swing displacement between the first grounding body 42A and the second grounding body 42B (the depth of the groove formed after the left and right leveling floats 18 have passed through the mud surface is deep. ) Is configured to output a voltage level as high as the above, the control device 12 determines that the average value of the moving average calculated based on the voltage level as the mud hardness information output from each rotation sensor 42C. The higher it is, the softer the mud is detected, and the sensitivity target value on the sensitive side is automatically selected according to the softness, and the sensing sensitivity of the float sensor 37 is automatically adjusted to the selected sensitivity target value on the sensitive side. Of. Further, the lower the average value of the moving average calculated based on the voltage level output from each rotation sensor 42C, the harder the mud is detected, and the sensitivity target value on the insensitive side is automatically selected according to the hardness. In addition, the sensing sensitivity of the float sensor 37 is automatically adjusted to the selected sensitivity target value on the insensitive side.

That is, the control device 12 automatically selects the sensitivity target value of the float sensor 37 corresponding to the mud hardness information based on the mud hardness information from the mud hardness detection means 42 and also causes the float sensor 37 to operate. An automatic sensitivity adjusting means 12E for automatically adjusting the sensing sensitivity of (1) to its sensitivity target value 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 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 has become. On the other hand, when the changeover switch 47 is set to the "automatic" position, the control device 12 causes the automatic sensitivity adjusting means 12 to operate.
Execute the "automatic sensitivity adjustment mode" by the control operation of E,
Float sensor 3 adjusted to automatically selected sensing sensitivity
The seedling planting device 5 is automatically moved up and down based on the float displacement information from 7.

The controller 12 is an automatic lifting control means 12C.
In the seedling planting work during the control operation of the manual sensitivity adjusting unit 12D or the automatic sensitivity adjusting unit 12E, when the headland is turned, the operation lever 26 is swung upward or the planting clutch lever 35 is moved. When a compulsory raising command is issued from the raising / lowering switch 27 or the lever sensor 35s by the swinging operation to the "elevation" position, the automatic raising / lowering control means 12C and the manual sensitivity adjusting means 12D or the automatic sensitivity adjusting means are based on the instruction. The control operation of 12E is interrupted, the planting clutch 33 is disengaged and the seedling planting apparatus 5 is forcibly lifted to a state of being separated from the mud surface of the field. Has become. That is, the lifting switch 2
7 and the lever sensor 35s function as a manual elevating / lowering command means A for instructing a compulsory ascending command based on a manual operation of the operation lever 26 or the planted clutch lever 35. Further, when the manual raising / lowering command means A issues a forced raising command, the manual raising / lowering control means 12B takes precedence over the control operation of the automatic raising / lowering control means 12C and the manual sensitivity adjusting means 12D or the automatic sensitivity adjusting means 12E, and the seedlings. The planting device 5 functions as a forced elevating means B that raises the planting device 5 in a state of being separated from the muddy surface of the field. And
After turning the headland, re-swing operation of the operation lever 26 upward,
Alternatively, the raising / lowering switch 27 or the lever sensor 3 is operated by swinging the planted clutch lever 35 to the “down” position.
A command for forcibly descending is issued from 5s to the control device 12, and the seedling planting device 5 is forcibly descended until the ground leveling float 18 comes into contact with the mud surface of the field to obtain the reference posture, and after that descending, the operation lever is operated. 26, or the swinging operation of the planted clutch lever 35 to the “ON” position, the clutch switch 34 or the lever sensor 35.
By issuing a planting start command from s to the control device 12 and performing a series of control operations by the manual raising and lowering control means 12B such as engaging and disengaging the planting clutch 33, the automatic raising and lowering control means 12C and the manual sensitivity. The seedling planting work can be restarted by the control operation of the adjusting means 12D or the automatic sensitivity adjusting means 12E.

As shown in FIGS. 2 and 8, the automatic sensitivity adjusting means 12E is used to restart the seedling planting operation after the seedling planting operation is interrupted by the headland turning in the seedling planting operation during the control operation thereof. When an instruction to start planting is issued from the clutch switch 34 or the lever sensor 35s, the timer 1 built in the control means 12 is accompanied by the instruction.
The measurement by 2T is started, and is preset and stored in the storage unit 12F provided in the control unit 12 for a predetermined time (for example, 5 seconds) from the start time of the seedling planting work instructed by the planting start command. An intermediate value of the sensitivity adjustment range as a predetermined value (sensitivity target value obtained when the setter 40 is located at an intermediate position of the sensitivity adjustment operation range) is provisionally set as the sensitivity target value of the float sensor 37 in the meantime. The sensitivity target value provisional selection control for automatic selection is executed.

By configuring the automatic sensitivity adjusting means 12E as described above, from the time when the seedling planting work is restarted immediately after turning the headland, which is in a state of being considerably damaged by turning, the mud hardness detecting means 42 detects As in the case where the control operation of the automatic sensitivity adjusting unit 12E based on the mud hardness information is restarted, the mud hardness detecting unit 42 sets the mud hardness immediately after turning the headland as a mud hardness largely different from the original mud hardness. The hardness is detected, and the automatic sensitivity adjusting means 12E automatically selects the sensitivity target value of the float sensor 37 based on the mud hardness information from the mud hardness detecting means 42 which is largely different from the original mud hardness, and The sensing sensitivity of the float sensor 37 is automatically adjusted to the selected sensitivity target value, and the automatic raising / lowering control means 12C adjusts the sensing sensitivity that is far from the original mud hardness. And to be able to avoid a disadvantage elevating the seedling planting apparatus 5 based on the float displacement information from the float sensor 37 that is. In other words, the seedling planting device 5 starts from the time when the seedling planting work is resumed immediately after turning the headland.
Stable seedlings can be planted by

As shown in FIGS. 2 and 8, the automatic sensitivity adjusting means 12E is used for raising and lowering the switch 27 or the lever sensor 35s in the seedling planting work during the control operation thereof.
When a forced rise command for turning a headland is issued from, the sensitivity target value of the latest float sensor 37 selected immediately before that is stored in the storage means 12F as mud hardness information. Immediately after a predetermined time (for example, 5 seconds) has elapsed from the restart of the seedling planting work after the headland turning, the sensitivity target value stored in the storage unit 12F is set as the sensitivity target value of the float sensor 37 at that time. Temporary automatic selection is designed. By configuring the automatic sensitivity adjusting unit 12E in this manner, the automatic sensitivity adjusting unit 12E sets the sensitivity target value of the float sensor 37 immediately after the predetermined time has elapsed until the predetermined time elapses after the seedling planting work is restarted. The mud hardness of the float sensor 37 is automatically selected based on the mud hardness information of the rough field immediately after turning detected by the mud hardness detecting means 42 (mud hardness information largely different from the original mud hardness). The sensing sensitivity is automatically adjusted to the selected sensitivity target value, and the automatic raising / lowering control means 12C attaches seedlings on the basis of the float displacement information from the float sensor 37 which is adjusted to a sensing sensitivity which is far from the original mud hardness. The inconvenience of raising and lowering the device 5 can be avoided. In other words, the seedling planting device 5 starts from the time when the seedling planting work is resumed immediately after turning the headland.
Therefore, more stable planting of seedlings can be suitably performed.

The automatic lifting control means 12C and the automatic sensitivity adjusting means 12E calculate the moving average of the voltage level output from the float sensor 3 or the moving average of the voltage level output from the mud hardness detecting means 42. Is changed according to the vehicle speed set by the speed setter 11 (the faster the vehicle speed, the shorter the sampling time). That is, the automatic lifting control and the automatic sensitivity adjustment can be performed at an appropriate timing according to the vehicle speed.

[Other Embodiments] Other embodiments of the present invention will be listed below. The seedling planting device 5 may be in any form such as for four-row planting, five-row planting, six-row planting, or eight-row planting. The preset predetermined value which is the sensitivity target value of the float sensor 37 during the predetermined time from the restart of the seedling planting operation may be, for example, the sensitivity target value manually set by the setter 40. It may be a value on the insensitive side in the sensitivity adjustment range. By the way, the preset value set as the sensitivity target value of the float sensor during the predetermined time from the restart of the seedling planting operation is set by the setter 4
If the sensitivity target value is manually set at 0, the sensitivity target value of the float sensor during the predetermined time from the restart of seedling planting work is automatically adjusted from the original mud hardness of the field by the control operation of the automatic sensitivity adjusting means. The value can be close to the sensitivity target value selected. Also, if the value is set to the insensitive side in the sensitivity adjustment range, the ground level float can be pressed strongly toward the field for a predetermined time from the restart of the seedling planting work, so that the field mud damaged by the turning motion is leveled. become able to. The storage means 12F stores all the mud hardness information (voltage level) output from the mud hardness detection means 42 during the seedling planting work, and the automatic sensitivity adjustment means 12E causes the post-turning headland to rotate. The sensitivity target value of the float sensor 37 immediately after a predetermined time has elapsed from the resumption of the seedling planting work is automatically selected based on the average value of the mud hardness information stored in the storage means 12F up to that point. May be. The automatic sensitivity adjusting means 12E automatically selects the sensitivity target value of the float sensor 37 based on the mud hardness information from the mud hardness detecting means 42 immediately after a predetermined time has elapsed from the restart of the seedling planting work after turning the headland. It may be configured as follows. The mud hardness detecting means 42 includes a sensing rod body that is pivotally supported by the seedling planting device 5 so as to be swingable back and forth, and a lower end of the sensing rod body that extends into the field, and sensing generated by running. You may make it employ | adopt the so-called fit sensor comprised with the potentiometer which detects the amount of rocking displacement (tilt angle) of the sensing rod body by the pressing force of the mud against the rod body.

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 configuration of the float sensor.

FIG. 5 is a cross-sectional front view of the lower part of the seedling planting device showing the configuration 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 mud hardness detecting means.

FIG. 7 is a rear view of the ground leveling float showing the structure of the mud hardness detecting means.

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

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling machine 5 Seedling planting device 12 Control device 12C Automatic lifting control means 12E Automatic sensitivity adjusting means 12F Storage means 18 Leveling float 37 Float sensor 42 Mud hardness detection means A Manual lifting command means B Forced lifting means

Claims (3)

[Claims] 1. A seedling planting device (5) equipped with a leveling float (18) swingable up and down is connected to a rear part of a traveling machine body (1) so as to be able to drive up and down, and at the time of seedling planting work, the leveling float is provided. 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) for detecting the vertical swing displacement of (18), and the mud hardness of the field. The float sensor (3) based on the mud hardness information from the mud hardness detecting means (42) for detecting
7) The sensitivity target value of 7) is automatically selected, and the sensitivity sensitivity of the float sensor (37) is automatically adjusted to the sensitivity target value. Commanded, the automatic sensitivity adjusting means (12E) is prioritized to control operation, and the forced raising and lowering means (B) for forcibly raising the seedling planting device (5) to a state of being separated from the ground. A riding-type rice transplanter equipped with a control device (12) equipped with the control device (12), when restarting seedling planting work after forcibly raising the seedling planting device (5) during execution of control operation of the automatic sensitivity adjusting means (12E). The riding type rice transplanter in which the automatic sensitivity adjusting means (12E) is configured to select a preset predetermined value as the sensitivity target value of the float sensor (37) for a predetermined time from. 2. The control unit (12) is provided with a storage unit (12F) for storing mud hardness information during a seedling planting operation, and the seedling planting is carried out during execution of control operation of the automatic sensitivity adjusting unit (12E). The sensitivity target value of the float sensor (37) after the device (5) is forcibly raised and immediately after a predetermined time has elapsed from the time when the seedling planting operation is restarted is based on the mud hardness information of the storage means (12F). The riding type rice transplanter according to claim 1, wherein the automatic sensitivity adjusting means (12E) is configured to automatically select. 3. The riding-type rice transplanter according to claim 2, wherein the storage means (12F) is configured to store the mud hardness information immediately before the forced rise command is issued.