JPS5945806A - 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 The present invention relates to a rice transplanter, and more specifically, during planting work, an embankment is formed on the side of the travel area, and this embankment is used as a guide to automatically steer the rice transplanter. This proposed a rice transplanter that is highly efficient and economical.

The present invention will be described in detail below based on drawings showing embodiments thereof.

FIG. 1 is a left side view of the rice transplanter according to the present invention, and its steering is performed using a bent-body structure in which the front body F and the rear body R are horizontally rotated around their connecting shafts. The steering can be performed manually by rotating the wheels 101 or automatically by the steering sensor 30.

FIG. 2 is a hydraulic circuit diagram of the steering device of the aircraft of the present invention. The steering system of the aircraft of the present invention uses a double-acting hydraulic cylinder 92 to connect a part of the drag rond 102' interposed between the pitman arm 102 and the rear fuselage R, which are rotated back and forth by the rotation of the steering wheel 101. During manual steering, the supply and discharge of pressure oil to the hydraulic cylinder 92 is prohibited and the operation of the steering wheel 101 is transmitted to the rear body R.

One oil chamber of the hydraulic cylinder 92 is connected to one port on the load side of a 4-point/3-position switching type solenoid valve 91 via a parallel circuit of a flow rate adjustment valve V1 sealed with a pressure compensation valve and a check valve V2. Similarly, the other oil chamber of the hydraulic cylinder 92 is connected to the other boat on the load side of the solenoid valve 91 via a parallel circuit of a flow rate adjustment valve V sealed with a pressure compensation valve and a check valve v4. It is connected to The electromagnetic valve 91 has a solenoid 911 (or 91
r) is excited, the pressure oil from the hydraulic pump P is sent to one oil chamber of the hydraulic cylinder 92 via the check valve V (or V4), and the pressure oil in the other oil chamber is flow rate adjustment valve v3
(or V, ), and the rond 102' of the hydraulic cylinder 92 is driven in one direction to
It is orange so that it can be rotated with respect to the front body F and steered to the left (or right).

FIG. 3 is a perspective view schematically showing the front part of the planting section of the machine of the present invention. Support rod 10 at the center of the bumper 103' of the planting section 103
A steering sensor 30 is attached to 4m. As will be described later, this steering sensor 30 targets soil raised during the pre-planting process, and is mounted on a mounting rod 302 of about 30 to 40 mm installed in the center of the bumper 103'. The sensor box 301 is attached to the upper end so as to be tilted forward. The steering sensor 30 uses one light emitting diode 34 and two photodiodes 35 and 36 as light receiving elements, respectively, as will be described later.
．． 36 are arranged on the left and right sides of the lower side of the light emitting diode 34, respectively, and the light emitting diode 34 is connected to the two 7th first diodes 3.
5.36, and the converging lenses are located in front of the light emitting diode 34 and in front of the two photodiodes 35 and 36, respectively, with each projection and light receiving surface facing forward.

The light emitting/receiving surface is tilted forward so that the projected light emitted from the light emitting diode 34 is reflected at a distance of about 1.5 m in front of the bumper 103' and the reflected light is reliably captured.

Left and right support rods 1 that support the front part of the bumper 103'
041.104r, instead of a line marker for drawing a steering target line on the field surface in conventional rice transplanters, one end of the support rod 717.71r of the land member 731.73r, which will be described later, is placed on the left side of the machine. , is pivoted so as to be rotatable to the right and upward, and one end of the connecting rod 721.72r is attached to the other end.
When each support rod 711° 71r is in a horizontal state, it is fixed vertically, and the other end is attached to the land member 731.
The front end portions of 73r are attached respectively.

FIGS. 3(a) and 3(b) are perspective views of one land member 73;
A front view is shown respectively. The land member 73 has a boat-shaped upper part, and an embankment space 732 is formed by a protrusion 733 formed to protrude upward. On both left and right sides of the lower surface of the flat plate portion 731 are raised tools 7341 and 734 that penetrate into the soil, scoop up soil, bring it to the center, and heave it into the embankment space 732.
r is provided.

Each raised tool 7341.734r has its upper edge connected to the flat plate part 73.
1 and extending in the front-rear direction, each having a plate shape curved toward the center downward, and the rear end of the protrusion 733 forming an embankment space.

It is attached to the lower right side, and each front end portion expands slightly outward, and the lower surface of the rear end is located above the lower surface of the front end. Then, when each raised tool 7341, 734r is penetrated into the soil and moved forward, the soil is removed from the raised tool 7341, 734r.
The soil is raised up into the embankment space 732 by r, and its upper surface protrudes above the water surface in the field.

Each land and soil member 73I! .

Support rod 711 with 73r attached! , 71r is rotated by an operating lever (not shown) provided near the driver's seat, and its length is determined so that the embankment formed by the land members 731 and 73r will be used during planting work in the next step. It is determined to be approximately at the center in the width direction of the aircraft.

FIG. 4 is an electronic circuit diagram of the main part of the machine of the present invention. In the figure, 31 is a battery whose negative pole is body grounded, and its positive pole is connected to a pulse oscillator 33 via a key switch 32.
is connected, and the output of the pulse oscillator 33 is given to a light emitting diode 34, and the light emitting diode 34 is connected so that the photodiode 35, 36 can distinguish it from sunlight or illumination light (120 or 100 Hz). 9.8kHz
It is modulated and driven with a pulse of about

The light emitted from the light emitting diode 34 is reflected toward the aircraft at the top of the embankment that protrudes from the water surface (the light projected onto the water surface is reflected forward in the aircraft's traveling direction), and the 6.4V voltage of the comparator 20, which will be described later, is reflected toward the aircraft. Two photodiodes 35 whose respective cathodes are connected to a terminal O that outputs a reference potential.
．． The light is received at 36. Output currents corresponding to the amount of incident light are obtained from the photodiodes 35 and 36, and each output current is sent to the AC amplifier circuit 4 via buffer amplifiers 37 and 38.
1.42, amplified by each AC amplifier circuit 41.42, and output to band pass filters 43.44. Each bandpass filter 43°44 has a frequency of 9.8kHz.
It passes only frequencies within a predetermined range centered on That is 6.4/2V
(=3.2V) as a reference potential, a potential corresponding to the amount of received light is obtained. And one peak hold circuit 46
The output is inverted with respect to the reference potential of 3.2V by the inverting circuit 47, added to the output potential of the other peak hold circuit 45, and input to the DC amplifier circuit 51.

In the DC amplifier circuit 51, a potential difference with respect to a reference potential of 3.2 V is applied to an input terminal (2) to which a voltage defining the midpoint between the window and the window of a window comparator 20, which will be described later, is to be applied. Therefore, a signal having information related to the difference in the amount of light reflected from the embankment captured by the photodiodes 35 and 36 is input to the terminal (2) of the window comparator 20.

In addition, the output of the peak hold circuits 45 and 46 is output from the comparator 52.
．． Each comparator is 52.5
The single power terminal 3 is a window comparator 20 which will be described later.
Ω to 4 and 3 inserted between the terminal @ and body ground.
The connection point between the resistor R1 of 5.1 and the resistor R2 of Ω, 4.3
are connected to the connection points of the resistor R3 of 5.1 Ω and the resistor R4 of 5.1 Ω, respectively, and are connected to the terminal O of the window comparator 20.
A potential slightly higher than the reference potential (6.4 V) A outputted by the comparators 52 and 53 is the single power of each comparator 52 and 53. Comparator 5
2.53 outputs a high-level signal when the ten-man power becomes stronger than the one-man power, and each high-level output is given to the switch circuits 54 and 55 to turn them on. , the embankment detection lamps 56 and 57 provided on the operation column in front of the driver's seat are turned on, respectively. Also comparator 5
The anodes of diodes 58 and 59 are connected to the output terminals of 2.53, respectively, and the connection point between the two power swords is connected to the comparator 6.
It is connected to the single power terminal of 1. An electrolytic capacitor 62 connected to the positive line of the battery 31 is connected to the single power terminal of the comparator 61, and is also body grounded through a series circuit of a resistor R5 and a variable resistor R6 for setting a time constant. The power terminal of the comparator 61 is connected to the connection point between the resistors R1 and R2, and receives a potential slightly higher than the reference potential A output from the terminal O of the window comparator 20.

The output terminal of the comparator 61 is connected via a resistor to the base of a transistor 63 whose emitter is body grounded, and the collector of the transistor is connected to the base of a transistor 83 whose emitter is body grounded, and via a resistor. Wind comparator 1 nota inductor ■, O, which will be described later
The collector of the transistor 83 is connected to the diodes 81 and 82 and the limit switch 68 via a buzzer 64, respectively.

The window comparator 20 is a semiconductor device that discriminates a changing input voltage by comparing it with two comparison reference voltages that can be set freely.
A965 is used.

In the figure, 0 is a power supply terminal, which is connected to the positive terminal of a battery 31 via a switch 32 which is to be closed when automatic steering is selected. Terminal O of window comparator 20
is a terminal that emits a constant voltage of 6.4■ with respect to the ground terminal ■ as the reference potential when a predetermined voltage is applied to the power supply terminal 0. It is also connected to one end of the sensor 69 . The steering sensor 69 is composed of a potentiometer connected to a terminal of a hydraulic cylinder 92, and the other end is grounded via a resistor. Output voltage v6 of steering sensor 69. varies depending on the advance/retreat position of the hydraulic cylinder 92 and serves as a signal representing the steering angle, but the output voltage V6. is applied to the terminals ■ and ■ as signals to be compared and identified. Note that the steering sensor 69 is set to V6. when the steering angle is 0 degrees (the aircraft is moving straight). = 3.2V (=6.4/2V
). Also, when steering to the left, V6. rises and on the other hand steers to the right ■6. It is interlocked and connected to the rond of the hydraulic cylinder so that the pressure decreases.

As shown in FIG. 6, the terminal ■ of the window comparator 20 is an input terminal to which a voltage defining the midpoint of the window should be applied, and is connected to the output terminal of the DC amplifier circuit 51, and its potential v51 is applied to the terminal ■It is given to.

The aforementioned terminal O is also connected to a fixed resistor R7 of 9, 1 to Ω and 1 to Ω.
It is grounded through a series circuit with the variable resistor R8, and the intermediate terminal potential of the variable resistor R8 is connected to the window comparator 20.
It is given to the terminal ■. The input voltage to terminal ■ is the sixth
The A width of the window is defined as shown in the figure.

Terminals ■ and O are terminals that inhibit the output operation of the window comparator 20 when they are set to ground potential.
, ◎ are connection points between the input terminal of the transistor 63 and the output terminal of the comparator 61 via diodes 81 and 82, respectively;
As described above, it is connected to the collector of the transistor 63 and the buzzer 64 via a resistor.

Terminals ■ and 0 are output terminals of the window comparator 20, and are connected to drive circuits 19r and 19/ each formed by connecting two transistors in Darlington, and when the respective outputs become low level, the solenoid 91r mentioned above is connected. ,9
1f is respectively excited.

Between the positive line, which is opened and closed by the switch 32, and the body ground, there is a series circuit in parallel consisting of an automatic selection lamp 65, which indicates the closing of the switch 32 by its lighting, a normally open limit switch contact 66, and a straight forward indicator lamp 67. connected. This limit switch is pitman arm 102
The normally open contact 66 closes in the narrow rotation angle range (approximately 1 degree) of the pitman arm when the aircraft is moving approximately straight, and the aircraft is The fact that the vehicle is traveling substantially straight is indicated by the lighting of the straight-ahead indicator lamp 67. Further, the positive electrode line is connected to the buzzer 64 via a limit switch 68. The limit switch 68 is disposed near the steering wheel 101, and the limit switch 68 is closed when the steering wheel 101 is moved forward as in the case of seedling succession.

Next, the operation of the window comparator 20 will be briefly explained based on FIG.

Figure 6 (a), ←) shows the binary output V2°VS4 of terminals ■ and 14, respectively, on the horizontal axis. This is what is shown. ■14 is v6. < vst v, low level,
``69 > VS2 V9 high level and ■2 is VS9 < VS2 + V9 te/% irregularity, V2O > Vst + V9 and low level tonal.

The range from vst v9 to v51 to v9 is called a window, and v5. defines the midpoint, and v9 defines its width A. In the device of the present invention, v9, which defines width A, is fixed at an appropriately set value using variable resistor R1l, but v5° changes depending on the relative position between the fuselage and the embankment, and v6.
It also changes depending on the steering condition. Depending on the relative positional relationship between the embankment and the fuselage and the steering condition, the bifurcated V14 becomes low level and the solenoid 91r or 91J is energized, resulting in steering to the right or left. . And v6. is inside the window, i.e. VS2
If it is in the range of v, ~ V51 + V, steering is not performed as a dead zone for steering control.The midpoint of the wind, that is, v5, is used as information representing the relative position of the embankment and the aircraft. This has a meaning, which I will explain.

The light emitted from the light emitting diode 34 is reflected by the embankment and received by the photodiodes 35 and 36.
When the embankment is located in front of the center of both photodiodes 35° and 36 and the amount of light reflected by the embankment is equal, the output potential v51 of the DC amplifier circuit 51 is 3.2V (6
, 2/2V). The embankment has both photodiodes 35.
If the aircraft is offset to the left (or right) side from the center front of 36 (i.e. the aircraft is offset to the right (or left) from the embankment), the right (or left) photodiode 36
(or 35), the potential v51 becomes higher (or lower) in proportion to the amount of deviation.

Therefore, v5I is 3.2V for ideal running conditions l), if it is larger than this, the aircraft is drifting to the right from the embankment, and the larger the voltage, the greater the deviation, and if it is smaller than 3.2V In this case, the aircraft was shifted to the left from the embankment,
The smaller the difference, the larger the deviation.

In this way, v51 includes information indicating the position of the aircraft relative to the embankment, but there is a limit to the detection range of the steering sensor 30. However, as described below, as long as the switch to automatic steering is performed while the aircraft is moving straight and the embankment is detected by the sensor 30, the steering control will not become uncontrollable. .

The apparatus of the present invention having such a configuration is used and operates as follows. That is, the first stroke of planting is performed by manual steering using the steering wheel 101. In this case, the support rod 71f on the side to be planted in the next step, for example the left side, is rotated to a horizontal state, and the land soil member 731! The land implements 7341 and 734r are inserted into the soil. After the required planting is done, the land material 73I is on the left side of the aircraft! A linear embankment is formed.

- When the planting process is completed, the steering sensor 3 will be used from the next process.
0 automatic steering becomes possible. That is, when the automatic steering selection switch 32 is closed while manual steering is performed using the steering wheel 101 to cause the steering sensor 30 to follow the embankment, the automatic lamp 65 is turned on.

5 When the photodiode 35 (or 36) of the steering sensor 30 captures the light emitted by the light emitting diode 34 and reflected on the embankment, the peak hold circuit 45 (or 46)
) output is a potential depending on the amount of light received, and this is the output of comparator 5.
2 (or 53), the comparator 52 (or 53) outputs a Heylepel signal to the switch circuit 54 (or 55), turns it on, and turns on the embankment detection lamp 56 (
or 57) lights up. Under these circumstances, when the aircraft is able to travel straight, the limit switch 66 is turned on and the straight travel indicator lamp 67 lights up. The driver now knows that it is now possible to switch to automatic steering, or more precisely, the aircraft can safely switch to automatic steering without the aircraft traveling in an unexpected direction. Knowing this, the steering wheel 101 is moved forward at this point. Then, the limit switch 68 turns on and the steering sensor 30
automatic steering is performed. At this time, rotate the land soil member 73r on the opposite side to the right side where the row of already planted seedlings exists, that is, the left side, and insert the land tool 7341, 734r into the soil. Form an embankment that will be imitated in the next step.

If the aircraft shifts to the right (or left) for some reason, the amount of reflected light emitted by the light emitting diode 34 and reflected by the embankment, captured by the photodiode 35 (or 36), will be 36. (or 35), the output potential of the DC amplifier circuit 51 v5
□ becomes larger (or smaller) than 3.2v, and the window moves to the high (or low) voltage side. Output potential of steering sensor 69 v6. Since we switched to automatic steering from the state where the beam switch 66 was on, the voltage of 3.2V (
) or a value close to this, but due to the movement of the window to the high voltage side (or low voltage side), V7. (Mataha Vz
) is a low level shisolenoid 911! (or 91r
) is excited, the aircraft corrects its direction of travel to the left (or right) and returns to the state following the embankment. This operation is the same when the aircraft deviates significantly to the right (or left), but in this case, the amount of movement of the wind toward the high (or low) voltage side is large, so the temporary rudder sensor 6
Even if the output of V9 is slightly higher (or lower) than 3.2V, that is, even if the direction is being corrected to the left (or right), V14 (or V2) When the level becomes low, the solenoid 91e (or 91r) is energized, and the hydraulic cylinder 92 is activated to increase the amount of steering to the left (or right) and quickly return to the straight-ahead state. Become.

The embankment to be imitated is the flow located at the front of the aircraft) 110
(See Figures 1 and 3).
No traces are left and there is no problem with planting work.
In the aircraft of the present invention, if neither of the photodiodes 35 and 36 is able to capture the reflected light from the embankment, for example, when the aircraft reaches a headland, both photodiodes 35 and 36 are activated.
36 is able to detect the embankment, and if the falling state continues for a predetermined period of time or more, an alarm is issued. That is, the potential of the comparators 52.53 becomes low, and the voltage of the comparators 52.53 becomes low.
When the output of the comparator 61 becomes a low level, the capacitor 62 starts discharging, and when this low level time continues for a time determined by the capacitor 62, the resistor R5, and the variable resistor R6, the output of the comparator 61 becomes a low level, and the output of the comparator 61 becomes a low level.
is turned off, transistor 83 is turned on, and buzzer 64 sounds. In addition, when the transistor 63 is turned off, the terminal ■ of the window comparator 20 is turned off.

When O is at ground potential 9, the output operation of the window comparator 20 is prohibited, automatic travel is prohibited, and there is no possibility that the aircraft will travel in an unexpected direction.

FIG. 7(A) is a perspective view showing another embodiment of the land earth member 73, and FIG. 7(B) is a cross-sectional view of an embankment formed thereby. This land member 73' has two protrusions 733' and 733'' formed to protrude upward, and each protrusion 733'.

733" to form two embankment spaces 732' and 732", and two sets of protrusions 734'l, 734'r, 734"1.734" are provided on the lower surface of the flat plate part 731'.
Then, as shown in (b), this protruding tool 73' forms two linear embankments that protrude above the water surface, and between these two embankments, The water surface portion is used as a tracing guide for the steering sensor 30.The electronic circuit in this case is different from the electronic circuit described above.
What is necessary is just to configure it so that it follows the water surface area in the center of the book embankment, where the reflectance toward the aircraft body is low.

In the machine of the present invention, since the embankment located in front of the center of the machine body is the steering target, the row alignment is easy and the steering can be performed reliably, and it is only necessary to install one steering sensor in the center of the machine body. It is also economically superior, and since the embankment is leveled with floats, it leaves no traces.

As described in detail above, the present invention includes a means for forming an embankment on the side of the travel area as the aircraft travels, projects light onto an area including the embankment formed by the means, and uses the reflected light to Since the relative positional relationship between the base embankment and the aircraft body is detected and the machine travels along the embankment, work efficiency and automatic steering accuracy are significantly improved, and it is also economically superior.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, and FIG. 1 is a left side view of the machine of the present invention, FIG. 2 is a hydraulic circuit diagram of the main part thereof, and FIG. 3 is a perspective view schematically showing the planting part. Figures 4 (a) and (b) are respectively a perspective view and a front view of the protruding member, Figure 5 is a main electronic circuit diagram, Figure 6 is an explanatory diagram of the operation of the window comparator, and Figure 7 (a) is A perspective view showing another example of the land earth member, and (b) a cross-sectional view of an embankment formed thereby. 20...Window comparator 30...Steering sensor 33...Pulse oscillator 34...Light emitting diode 35.36...Photodiode 41.42...
AC amplifier circuit 43.44... Bandpass filter 4
5.46... Peak hold circuit 47... Inversion circuit 51... DC amplifier circuit 69... Steering sensor 7
3...Land soil member 911, 91r...Nrenoid 9
2... Hydraulic cylinder 103'... Bumper patent applicant Yanmar Agricultural Machinery Co., Ltd. Representative Patent Attorney Noboru Kono 1N Kaisho 59-45806 (8)

Claims (1)

[Claims] 1. It has a means for forming an embankment on the side of the travel area as the aircraft travels, and projects light onto the area including the embankment formed by the means, and detects the relationship between the embankment and the aircraft based on the reflected light. A rice transplanter characterized by detecting relative positional relationships and causing the machine to travel along embankments.