JPS59232010A - Seedling detecting sensor in rice planter - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION (1) The present invention relates to a seedling detection sensor in a rice transplanter that controls planting by following the rows of already planted seedlings in order to plant seedlings in a straight line with a constant width k.

Conventionally, as a seedling detection sensor in a riding rice transplanter, there are those using an optical sensor that emits light downward and those using a contact arm. However, those using optical sensors,
Since the seedlings are detected from above, it is impossible to accurately detect the planting position (root) of the seedlings due to the shape and form of the seedlings, such as spreading or lodging. there were.

Therefore, in the present invention, the sensor is mounted by arranging a large number of sensor covers on the arm in a comb-like shape, and furthermore, these sensor covers are provided with light emitting lights so that the planted seedlings passing between the sensor covers can cross over. It is an object of the present invention to provide a seedling detection sensor for a rice transplanter, which is constructed by arranging elements and/or light receiving elements, thereby eliminating the above-mentioned drawbacks.

Hereinafter, examples according to the present invention will be explained along with the drawings (9S I will explain.

As shown in FIG. 1, the riding rice transplanter 1 has a body 3 supported by wheels 2, and a rice transplanter 1 is attached to the rear of the body 3 through a parallel link 5 so as to be able to swing freely in the left and right direction. The device 6 is connected and supported, and a hydraulic cylinder 7 is disposed between the link 5 and the fixed side of the body 3, so that the horizontal position of the planting device 6 can be adjusted. In addition, the planting device 6 has a seedling stand 9, a plurality of planting rods 10, and a float 11. A sensor mounting arm 12 is fixedly installed so as to protrude from the front.

The sensor is attached to the tip of the arm 12,
As shown in FIG. 2, four sensor covers 13 are fixed to each other by bolts 15 in a comb-tooth shape at predetermined equal intervals l. As shown in FIGS. 3 and 4 in detail, the sensor cover 13 is formed by bending a steel plate so that its tip ends at an acute angle, and its lower part protrudes forward with respect to the horizontal plane XK. It is installed at a predetermined angle a. Furthermore, a thin divider 15 made of piano wire or the like is fixed to the tip of the sensor cover 13 and protrudes forward and downward, and a light emitting diode L, which constitutes the seedling detection sensor S, is located at a predetermined height H from the water surface A. A light-emitting element and a light-receiving element such as a transistor p-, etc. are attached. That is, as shown in FIG. 2, the cover 13aK on the left end, that is, the inner end side, is the light emitting element L1 that emits light in the right direction.
is arranged, and the second cover 13b has a light receiving element P1 that receives the light of the element L1 and a light emitting element L that emits light in the right direction.
Similarly, a light receiving element P2 and a light emitting element L3 are arranged on the third cover 13c, and an element P3 that receives light from the light emitting element L3 is arranged on the fourth cover 13d, that is, the rightmost cover 13d. There is. In addition, as shown in detail in FIG. 3, the light emitting element P and the light receiving element P are each fixed to the inner wall of the cover 13 that is farthest from the other element, and a hole of a predetermined diameter d is formed in the surface of the cover 13 that is closer to the other element. 16, and the hole 1
A predetermined distance W is formed from the element 6 to the lens surface of the element P.

Then, as shown in FIG. 6, each light receiving element P1 is connected to a comparator 17, and outputted from the comparator 17 to the control section 19. Furthermore, the control unit 19 controls the expansion side solenoid 20a or the line side solenoid 20b of the electromagnetic pulp 20.
The solenoids 20&, 20b control the expansion and contraction of the hydraulic cylinder 7.

Since the present embodiment has the external configuration as described above, as the riding rice transplanter 1 travels, the sensor cover 13 and the divider 15, which are inclined at a predetermined angle a, can be used as shown in FIG. The planted seedlings N in the outermost row of the already planted seedlings N are raised,
It is guided between the covers 13 corresponding to where the root is located. Then, the light from the light-emitting element is blocked from the planted seedling NK, and the light-receiving element P detects the light to detect which of the comb-shaped covers the seedling N is located between. For example, when the seedling N is located between the inner end 13a and the second cover 13b, the light from the light emitting element L1 is filtered out, and the voltage of the light receiving element P1 drops. Then, the comparator 17 outputs an output, and the expansion side solenoid 20m of the electromagnetic pulp 20 is energized via the control unit 19.

The cylinder 7 (5) is extended, and the planting device 6 is swung to the left via the parallel link 5, and is removed from the row of already planted seedlings. And seedling N is 2
When the third cover 13b passes between the third cover 13b and the third cover 13c, the light receiving element P2 detects this state. In this state, the control section 19 does not output any output to the electromagnetic valve 20, and the state is maintained and the planting operation proceeds. Conversely, when the seedling N passes between the third cover 13c and the outer end cover 13b, the light receiving element P3
voltage drops, the line side solenoid 20b of the electromagnetic valve 20 is energized via the control unit 19, and the cylinder 7 is contracted.

Okay, the planting device 6 is swung and corrected to the right.
It is returned to the appropriate explant width.

In addition, in the above-mentioned embodiment, four sensor covers 13 are provided,
Therefore, although three light-emitting and light-receiving elements P are provided, it is also possible to install a larger number of elements so that the position of the central sensor (sensors L2 and P2 in the above embodiment) can be freely set. Also, the sensor may be mounted in a manner such that the protruding length of the arm 12 can be freely adjusted, so that the width of the image can be adjusted. Further, in the above embodiment, the planting device 6 is connected to the body 3.
The rice transplanter was controlled to the appropriate planting width by swinging left and right against the rice transplanter, but this was done by controlling the direction of movement of the rice transplanter 3 by automatically piloting the rice transplanter or by instructing the driver to move in the direction of movement. Good too.

As explained above, according to the present invention, light emitting elements are arranged in a large number of sensor covers 13 disposed in a tooth shape, and/or light emitting elements are arranged so as to be blocked by planted seedlings N passing between the sensor covers. Alternatively, since the light-receiving elements P are arranged respectively, the spread of the seedlings is not affected by falling, lodging, etc., and the seedlings are raised by the sensor cover 13, etc., so that the seedling planting position can be accurately determined. The detection accuracy of the seedling detection sensor S can be greatly improved, and the sensor cover 13
Since this only guides the planted seedlings N to the cover gap 2, the already planted seedlings will not be pushed down. Furthermore, by arranging the light emitting element and the light receiving element P so that the lens has a predetermined distance W from the hole 16, the incident angle of disturbance light is limited, so the influence of disturbance can be reduced, and muddy water does not reach the lens. In addition, the width B of the sensor cover 13 can be reduced, making it easier for seedlings to pass through.

[Brief explanation of the drawing]

FIG. 1 is a plan view showing a riding rice transplanter to which the present invention is applied, FIG. 2 is a plan view showing a part of the seedling detection sensor, FIG. 3 is a partial front view, FIG. 4 is a side view, and FIG. The figure is a front view of a portion of the seedling detection sensor, and FIG. 6 is a diagram showing an example of control by the seedling detection sensor of the present invention. 1...(riding) rice transplanter, 6...planting device, 1
2...Sensor installation is A, 13 (13a
~13d)...sensor cover, 15...divider, 16...hole, L(L1-L3)・
...Light emitting element, P (Pi~P3)...Light receiving element
, N: Planted seedlings, S: Seedling detection sensor Applicant: Mitsubishi Agricultural Machinery Co., Ltd.

Claims (1)

[Claims] α) To install a sensor that protrudes laterally at a predetermined position of the rice transplanter 1, an arm 12 is provided, and a large number of sensor covers 13 are arranged at the tip of the arm (in an L-shape, Furthermore, a seedling detection sensor in a rice transplanter is formed by disposing a light emitting element and/or a light receiving element P on each of these sensor covers so as to be blocked by a planted seedling N passing between the sensor covers. (2) Sensor The cover 43 is constructed by bending a steel plate so that the tip direction is an acute angle, and furthermore, the light emitting element and the light receiving element are each fixed to the inner wall of the cover that is farthest from the other element, and the cover surface that is closer to the other element is fixed to the inner wall of the cover. Seedling detection sensor 0 in a rice transplanter according to claim 1, which is formed with a predetermined hole.