JPS63309111A - Control device in rice transplanting machine - Google Patents

Abstract

PURPOSE:To reduce labor, by detecting consumption of seedling in one stroke and the amount of seedling left at every seedling guide face of seedling stand and judging whether the amount of seedling left is enough to supply seedlings for the next stroke. CONSTITUTION:A control part 21 detects an amount l of seedling raked by a planter 5 by a sensor 19 for the raked amount, detects an amount n of seedling laterally transferred on a seedling stand 7 by a sensor 23 for lateral transportation and detects the times m of transplantations by a rotary sensor 20 for transplantation. A calculating means 21a calculates consumption of seedling (m/n.l) by the raked amount l, the laterally transferred amount n and the times m of transplantation. The consumption of seedling is subtracted from the original retention amount L of seedling to calculate the amount of seedling left (L-m/n.l), which is shown on a display 27. The consumption of seedling in a stroke is compared with the amount of seedling left by a judging means 21b and when the amount of seedling consumed in the next stroke is larger than the amount of seedling left, a seedling supply alarm is started.

Description

[Detailed description of the invention] (a) Industrial application field The present invention is a rice transplanter, particularly a rice transplanter equipped with a long seedling stand, which detects the remaining seedlings on the seedling stand. , relates to a control device that determines whether or not the remaining amount of seedlings can cover the amount of seedlings for the next process, and more specifically, a seedling control that compares the amount of seedlings for one process with the remaining amount of seedlings to determine whether the amount of seedlings for the next process is adequate or insufficient. Regarding equipment.

(B) Conventional technology Conventionally, a rice transplanter plants seedlings on a seedling platform one after another, and when the number of seedlings decreases to a predetermined position on the seedling platform, that is, a seedling replenishment position, the seedling is detected by a seedling detection sensor. After issuing a seedling replenishment alarm and confirming the alarm, the operator went to the ridge to retrieve seedlings for replenishment and replenished the seedlings on the seedling stand.

(c) Problems that the invention aims to solve By the way, with the rice transplanter mentioned above, an alarm is issued only when the number of seedlings has decreased to the replenishment position, so it is necessary to go from inside the field to the ridge to retrieve seedlings for replenishment. However, the time and effort involved is complicated, and as the field grows larger, it requires a great deal of effort.

Therefore, the present invention solves the above-mentioned problems by comparing the amount of seedlings in one stroke and the amount of remaining seedlings when rotating the rice transplanter in the ridge to determine whether the amount of seedlings in the next step is adequate or insufficient. The object of the present invention is to provide a remaining amount detection device.

- Means for Solving the Problem The present invention has been made in view of the above-mentioned circumstances, and as shown in FIGS. 20, Lateral feed amount sensor 2
3 and a planter clutch sensor 25, etc.
a 1-stroke consumption amount detection means for detecting the 1-stroke seedling consumption amount of the seedling guiding surface; and a 1-stroke seedling consumption amount that is calculated from the 1-stroke seedling consumption amount calculated based on the above-mentioned sensors and the number of strokes based on the planter clutch sensor, for example. The amount of remaining seedlings is detected by subtracting the remaining amount of seedlings from the initial seedlings, and the remaining amount of seedlings is determined by comparing the amount of seedlings consumed in one stroke by the one-stroke consumption amount detection means with the remaining amount of seedlings by the remaining amount of seedlings detection means. The present invention is characterized in that it is completely equipped with a determining means 21b for determining whether or not the amount of seedlings for the next process can be covered based on the amount of seedlings.

(E) Function Based on the above-mentioned configuration, when the rice transplanter 1 rotates at the edge of a ridge, the amount of consumed seedlings per stroke and the amount of remaining seedlings are detected every time the seedling table 7 guides the seedlings, and the determining means 21b detects the amount of seedlings remaining. The amount of remaining seedlings is used to determine whether the amount of seedlings to be planted in the next step can be covered. If the amount of remaining seedlings is insufficient, a warning is given to replenish the seedlings, and if there is sufficient amount of remaining seedlings, the amount of seedlings to be planted in the next step is determined. Start the attachment work.

(F) Examples Examples of the present invention will be described below with reference to the drawings.

As shown in FIG. 2, in the rice-transplanting robot 1, a planting section 3 is supported at the rear of a traveling machine via a link 2 so as to be able to rise and fall freely, and the planting section 3 is equipped with a large number of blanks 5... , a float 6 . . . and a seedling mounting stand 7 having multiple seedling guide surfaces on which a large number of mat seedlings are placed vertically. A drive case 9 is disposed on the back side of the seedling stand 7, and a large number of blank cases 11 are disposed through shaft cases 10 extending left and right from the bottom of the drive case 9. It is set up. In addition, the stay 12 extends from the traverse cam case close to the drive case 9 in the left and right direction.
extend, and a seedling stand 7 is fixed to these stays 12, and the seedling stand 12 can move in the left-right direction. Further, a post 13 is erected on the left and right sides of the case, and a slide piece 15 provided on the upper end of the post 13 and a slide piece (not shown) provided on the planter case 11 are used to place the seedlings. A table 7 is supported slidably in the left and right direction. Further, a propeller shaft 16 extends from the traveling body of the drive case 9, and is configured to transmit driving force from an engine (not shown) through this. Further, a seedling feeding roller 17 having a large number of protrusions 1'7a that bite into the mat seedlings on the seedling table 7 is disposed at the lower part of the back surface of the seedling table 7. It passes through a hole (not shown) drilled in the seedling platform 7 and projects onto the surface of the seedling platform 7.

The scraped amount of the planter 5 is near the roller 17! A scraping amount sensor 19 is arranged to detect the
Further, a planting frequency sensor 20 for detecting the planting frequency m of the planter 5 is disposed in the planter case 11. Also,
Although not shown, a transverse feed amount detection sensor that detects the transverse feed amount of the seedling platform 7 and a planter clutch sensor that detects the disconnection and connection of the planter clutch, that is, the start and end of one stroke, are installed in advance. .

On the other hand, as shown in FIG. 1, the rice transplanting robot 1 is equipped with a control section 21, and the control section 21 is composed of a calculation means 21a and a judgment means 21b, and is operated by only one person. The control unit 21 includes, via an input interface 22, the raking collection amount sensor 19, the planting number sensor 20, a lateral feed amount sensor 23 that detects the lateral feed amount n of the seedling stand 7, and a planter. A clutch sensor 25 is connected thereto, and a seedling remaining amount display 27 for each guide surface is also connected via an output-interface 26.

Next, the operation of this practical example will be explained with reference to the flowchart of FIG.

The control unit 21 includes a scraping amount sensor 19 and a planter 5.
The scraping amount I is detected and stored (S1), and the horizontal feed amount n of the seedling stand 7 is detected and stored using the feed amount sensor 23 (S2). Next, rice planting robot! - 1 starts traveling along the ridge and rotates the propeller shaft 16 to start the planting work (33), and the control unit 21 uses the planting number sensor 20 to indicate the number of planting times m9! Detection and memorization (S4), the calculation means 21a calculates the amount of seedling consumption (-'; -) for each seedling guide surface based on the scraping amount 11 lateral feed amount n and the number of planting times m, and also calculates the amount of seedling consumption (-'; The amount of seedlings consumed (-1) is subtracted from the amount L (see Figure 2) to obtain the remaining amount of seedlings (L -"
j) is calculated and displayed on the remaining seedling amount display 27 (S5). Then, the same operation as described above is performed until the end of the ridge is reached, and when the blank clutch is disengaged when performing rotation work at the end of the ridge (S6), based on the signal from the blank clutch sensor 25, the calculation means 21a changes to the previous stroke. The amount of used seedlings X=-1 is calculated (S7). Then, the determining means 21b compares the preceding rod consumption 1x calculated by the calculating means 21a and the remaining amount of seedlings L--1 for each seedling guide surface (38
), (L-÷j) > X, it is determined that the next step of planting work can be continued, and the work is continued (39),
The next step of planting work is performed by the operations from S4 described above. Further, the determining means 21b determines that if (L-÷j)<X,
It determines that the amount of seedlings to be consumed in the next process is greater than the remaining amount of seedlings, and issues a seedling replenishment warning. After confirming the seedling replenishment alarm, the operator then replenishes the seedlings on the seedling guide surface of the seedling platform 7 (step 310).
), the number of plants counted sensor 2 is reset by a reset button (not shown).
Reset 0) and start re-counting 1 (811)
. Thereafter, the field #ti machine 1 performs the next process of planting work by the same operation as described above, and the planting work is completed when the seedlings are planted in the entire field.

Next, a partially modified embodiment will be described.

As shown in FIGS. 4 and 5, the rice transplanter 1' is equipped with seedling detection sensors 29 that detect seedlings at equal intervals (S) from the lower end of the seedling platform 7. 29 are connected to the control unit 21 via the input interface 22.

The operation of this embodiment will be explained along the flowchart of FIG.

When the operator turns on the planter clutch 31) and starts the mounting work (S2), the planter clutch sensor 2
The control unit 21 receiving the ON signal of No. 5 determines whether the seedling detection sensor 29 located at the A position (see FIG. 4) is turned off (S3), and if it determines that the sensor 29 is 0FFI, the A timer starts counting time (S4).

Then, the planting work continued and the plant was planted at the B position (see Figure 4).
When the seedling detection sensor 29 located at is turned off (S5),
The control unit 21 reads the count value (to) of the timer (S6), resets the timer, and starts counting again. Then, the calculation unit 21a displays the seedling detection sensor 29 located at position B at 27 (S7). Furthermore, when the planting work continues and the seedling detection sensor 29 located at the C position iF (see FIG. 4) turns OFF (S8), the control unit 21
reads the count value (1,) between B and C (S9),
Reset the timer and start counting again.

Then, the calculation unit 21a displays on the display 27 the elapsed time (t'2) since the seedling detection sensor 29 located at the C position was turned off (S10). Then, when the planting work continues and the seedling detection sensor 29 located at position D (see FIG. 4) turns off (311), the control unit 21
The count value (t2) between D is read (5121), and the timer is completely reset to start re-counting. In the meantime, the calculation unit 21a displays the D position image on the display 27 (313).

On the other hand, the determining means 21b compares the amount of seedlings remaining at the edge of the ridge with the amount of the rice field wicker 1', and if it determines that the remaining amount of seedlings is less than the amount of seedlings left in the previous stage, it issues a seedling replenishment alarm. Then, the seedling supply warning is
The authorized operator replenishes the seedlings and then carries out the next process of planting. In this way, a plurality of seedling detection sensors 29 are provided,
If the boundary I between the sensors 29 is calculated based on the elapsed time, the remaining amount of seedlings can be calculated even more accurately.

In addition, although the above-mentioned embodiment was explained about a rice transplanting robot, it can also be applied to a normal rice transplanter (of course).

(g) As described in detail, according to the present invention, the amount of bacteria consumed in one row is determined by comparing the amount of seedlings consumed in one row by the detection means and the amount of remaining seedlings determined by the remaining amount of seedlings detection means. Since it is determined whether or not the amount of seedlings for the next process can be covered, it is possible to replenish seedlings when the rice transplanter 1 rotates at the edge of the ridge, thereby saving the trouble of going from inside the field to the ridge to pick up seedlings for replenishment. .

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing means for detecting the amount of seedlings consumed per stroke and determining means according to the present invention. FIG. 2 is a side view showing a planting section of a rice transplanter embodying the present invention. Further, FIG. 3 is a flowchart showing the operation of the present invention. Furthermore, FIG. 4 is a side view showing the planting section of a rice transplanter according to another embodiment, FIG. 5 is a block diagram showing the control section thereof, and FIG. 6 is a flow chart 1 showing its operation. It is.

Claims (3)

[Claims] (1) A seedling stand equipped with a plurality of seedling guide surfaces corresponding to the planter is arranged in the main body of the planting section so as to be able to move back and forth in the left and right direction, and a seedling feeding device is further provided on each seedling guide surface of the seedling stand. In a rice transplanter which moves the seedling platform in the left-right direction and feeds out the seedlings at the left-right moving end of the seedling platform, the seedling guide surface has a line for detecting the amount of seedlings consumed in one stroke. Seedling consumption amount detection means; Seedling remaining amount detection means for detecting the remaining amount of seedlings on the seedling guide surface; One stroke seedling consumption amount by the one stroke seedling consumption amount detection means and the seedling remaining amount by the seedling remaining amount detection means. A control device for a rice transplanter, comprising: a determining means for comparing the remaining amount of seedlings and determining whether the remaining amount of seedlings can cover the amount of seedlings for the next process. (2) The 1-stroke seedling consumption amount detection means and the seedling remaining amount detection means include a planting number detection means for counting the number of rotations of the planter, a scraping amount detection means for detecting the amount of seedlings scraped from the planter, and the 1, comprising a horizontal feed amount detection means for detecting the horizontal feed amount of the seedling platform, and based on signals from the planting number detection means, the scraping amount detection means, and the horizontal feed amount detection means.
A control device for a rice transplanter according to claim 1, which detects the amount of seedlings consumed per process and detects the remaining amount of seedlings by subtracting the amount of seedlings consumed calculated based on the amount of seedlings consumed per process from the seedlings that are already there. . (3) The one-stroke seedling consumption amount detecting means and the remaining seedling amount detecting means are provided with a plurality of seedling detecting means installed on the seedling platform, and measure the seedling passage time between these seedling detecting means, and 2. A control device for a rice transplanter according to claim 1, which detects the amount of seedlings consumed per stroke.