KR102470526B1 - Seedling transplanter - Google Patents

Abstract

[Problem] To provide a seedling transplanter capable of carrying out a planting operation with a desired number of seedling mats in a desired field.
[Solution] The seedlings can be scraped from the seedling mat M placed on the seedling loading table 33 and planted in the field, and the amount of seedlings taken out from the seedling mat M can be changed. The configured planting machine 3, and a control device 70 capable of inputting the field area for planting and the number of seedling mats used for the field area, the control device 70 controls the input field area and seedling mats. From the number, the planting machine 3 calculates the standard seedling withdrawal amount for planting.

Description

Seedling transplanter {SEEDLING TRANSPLANTER}

The present invention relates to a seedling transplanter for transplanting seedlings from a seedling mat to a field.

In Patent Document 1, a vertical transport mechanism for intermittently conveying a seedling mat placed on a seedling loading table to the lower end side, a horizontal transport mechanism for reciprocating the seedling loading table in the left and right directions, and a seedling loading table A seedling transplanter having a planting machine equipped with a planting claw that scrapes seedlings of a seedling mat from the lower side and plants them in a field is disclosed. When the seedling loading table reaches the left and right reciprocating movement ends during the left-right reciprocating motion by the horizontal conveying mechanism, the vertical conveying mechanism conveys the seedling mats by a predetermined interval to the lower end of the seedling loading table, so that the seedling loading table is The placed seedling mat can be stably supplied to the planting claw.

In addition, this seedling planter is provided with a vertical drawing amount control lever capable of changing the vertical position of the planting claw relative to the seedling mat in multiple steps by raising and lowering the seedling loading table, and the operator operates the vertical drawing amount adjusting lever. By doing so, it is possible to adjust the vertical pulling amount (the amount of seedling pulling out in the vertical direction) of the seedling mat scraped by the planting claw. In addition, in this seedling transplanter, a lateral feed frequency control lever for changing the number of lateral feed rates (transverse feed speed) of the seedling loading table by the lateral feed mechanism is provided, and when an operator operates the lateral feed frequency control lever, the planting claw is The amount of horizontal pulling out of the seedling mat to be scraped (the amount of pulling out seedlings in the horizontal direction) can be adjusted.

Further, in Patent Document 2, in such a seedling transplanter, a field area is calculated from map data read from a field information storage unit, and seedlings are taken out weekly from the usable amount of agricultural materials prepared in the seedling transplanter. Although it is disclosed to automatically set each operating device in the seedling transplanter, such as amount and number of horizontal transfers, it is not disclosed how to specifically set each operating device.

Japanese Unexamined Patent Publication No. 2010-213638 Japanese Unexamined Patent Publication No. 2015-112069

When carrying out a planting operation of planting seedlings in the field, the operator predicts the yield per field area in advance and plans the number of irrigation per field area and the number of seedling mats to be used for the field area. However, even if the number of irrigation per field area and the number of seedling mats to be used for that field area are planned, the operator appropriately adjusts the amount of seedling removal based on empirical rules so that planting work can be performed with the number of seedling mats as planned. It is difficult to do it, and the situation was that the desired number of seedling mats could not be used for the pavement.

In view of this situation, the main subject of the present invention lies in providing a seedling transplanter capable of appropriately performing a planting operation with a desired number of seedling mats in a desired field.

A first characteristic configuration of the present invention is a planting machine configured to be able to scrape seedlings from a seedling mat placed on a seedling loading table and plant them in a field, and to be able to change the amount of seedlings scraped from the seedling mat. ,

A control device capable of inputting a pavement area for planting and the number of seedling mats used in the pavement area,

The control device is characterized in that it calculates a standard seedling withdrawal amount for planting by the planting machine from the input field area and the number of seedling mats.

According to this configuration, the controller can calculate the standard seedling withdrawal amount for planting by the planting machine from the field area for planting and the number of seedling mats used for the field area. Then, by adjusting the seedling withdrawal amount of the planting machine with the calculated standard seedling withdrawal amount, planting work is appropriately performed with the desired number of seedling mats for the desired field, such as using the seedling mat prepared for the desired field without excess or deficiency. can do.

In the second characteristic configuration of the present invention, the control device calculates the correction amount of the standard seedling withdrawal amount based on the actual work area planted and the number of seedling mats used for the actual work area, and adds the correction amount It is characterized in that the reference seedling withdrawal amount is changed by doing so.

Even if the planting work is performed with the amount of seedling withdrawal calculated from the field area where planting is performed and the number of seedling mats used for the field area, for example, by factors such as the condition of the seedling mat and the condition of the field, planting work It is also conceivable that the number of actual seedling mats used for one actual work area is different from the planned number of seedling mats used.

On the other hand, according to this configuration, the control device calculates the correction amount of the reference seedling withdrawal amount based on the actual work area for planting work and the number of seedling mats used for the actual work area, and adds the correction amount to obtain a reference seedling Since the withdrawal amount is automatically changed, the standard seedling withdrawal amount can be automatically corrected when the actual number of seedling mats used for the actual working area where planting work is different from the scheduled number of seedling mats used. Therefore, planting work can be performed more appropriately with the desired number of seedling mats for a desired field.

The planting machine is capable of changing the vertical withdrawal amount, which is the amount of seedlings taken out in the vertical direction of the seedling loading table, and the horizontal withdrawal amount, which is the amount of seedlings taken out in the horizontal direction of the seedling loading table,

The controller is characterized in that, when changing the standard seedling pulling amount, the standard seedling pulling amount is changed by changing the vertical pulling amount and the horizontal pulling amount.

According to this configuration, when changing the standard seedling pulling amount, both the vertical pulling amount and the horizontal pulling amount are changed, so the standard seedling pulling amount can be changed to an appropriate amount by combining the vertical pulling amount and the horizontal pulling amount. can

In a fourth characteristic configuration of the present invention, the planting machine can change the vertical withdrawal amount, which is the amount of seedlings taken out in the vertical direction of the seedling loading table, and the horizontal withdrawal amount, which is the amount of seedlings taken out in the horizontal direction of the seedling loading table, ,

When the standard seedling pulling amount is changed, the control device is capable of changing only the vertical pulling amount in the standard seedling pulling amount when the vertical pulling amount does not exceed a predetermined range, and the vertical pulling amount is predetermined. When exceeding the range of, it is characterized in that the vertical pulling amount and the horizontal pulling amount in the reference seedling pulling amount can be changed.

In this type of seedling transplanter, the change in the amount of vertical withdrawal can be relatively easily performed by, for example, raising and lowering the seedling loading table to change the vertical position of the planting claw of the seedling planting machine relative to the seedling mat. can On the other hand, the degree of change in the amount of vertical withdrawal cannot be easily implemented, for example, it is necessary to change the number of horizontal transfers (horizontal transfer speed) of the seedling loading platform by the horizontal transfer mechanism to change the amount of horizontal withdrawal. .

According to this configuration, when changing the standard seedling pulling amount, when the vertical pulling amount does not exceed a predetermined range, only the vertical pulling amount can be changed to easily change the standard seedling pulling amount. Still, when the vertical pulling amount exceeds a predetermined range, the standard seedling pulling amount can be changed to an appropriate amount by changing the vertical pulling amount and the horizontal pulling amount.

In a fifth characteristic configuration of the present invention, the planting machine includes a vertical conveying mechanism for intermittently conveying the seedling mat placed on the seedling loading table in the vertical direction, and a horizontal conveying mechanism for reciprocating and reciprocating the seedling loading table in the horizontal direction. to provide,

The planting machine is capable of changing the horizontal withdrawal amount by changing the moving speed of the seedling loading table by the horizontal conveying mechanism,

The control device is capable of driving and controlling the planting machine so that the amount of seedlings taken out by the planting machine for planting is the reference seedlings taken out amount,

When the horizontal pulling amount is changed in association with changing the standard seedling pulling amount, the controller changes the horizontal pulling amount after conveying the seedling mat in the vertical direction by the vertical conveying mechanism. There is a point of doing.

According to this configuration, the planting machine reciprocates the seedling loading stand in the horizontal direction with the horizontal conveying mechanism, scrapes the seedlings from the seedling mat in the horizontal direction sequentially, and plants the seedlings in the horizontal direction by the horizontal conveying mechanism. At the time of reversal of, the seedling mat can be conveyed by a predetermined distance in the vertical direction by the vertical conveying mechanism.

In addition, since the control device can drive and control the planting machine so that the amount of seedlings taken out by the planting machine is the standard seedlings taken out amount, when the standard vertical pulling amount is calculated or changed, the amount of seedlings taken out by the planting machine is automatically standardized. It can be changed by vertical withdrawal amount.

And, since the control device changes the horizontal pulling amount after conveying the seedling mat in the vertical direction by the vertical conveying mechanism when changing the horizontal pulling amount along with changing the reference seedling pulling amount, the horizontal conveying mechanism The amount of horizontal withdrawal does not change in the middle of the horizontal conveying by the horizontal conveying mechanism, and the amount of horizontal pulling out is changed in the middle of the horizontal conveying by the horizontal conveying mechanism. It is possible to avoid problems such as excessive or insufficient in advance.

1 is a side view of a rice transplanter;
2 is a plan view of a rice transplanter.
3 is a side view of a planting part (a right side view of the body).
The other side view of a planting part (the left side view of an aircraft body).
5 is a diagram showing a dashboard;
Fig. 6 (a) is a rear view of the placement surface of each set of the seedling loading stand, and (b) is a side view of the placing surface of each set of the seedling loading stand.
Fig. 7 is a side view of a main part of the mounting surface of each set of the seedling loading stand.
Fig. 8 is a perspective view of the presence/absence detector viewed from the rear side;
Fig. 9 is an exploded perspective view of the presence/absence detector viewed from the rear side.
Fig. 10 is a perspective view of a movement amount detector viewed from the rear side;
Fig. 11 is an exploded perspective view of a movement amount detector viewed from the rear side;
Fig. 12 is a diagram schematically showing a cross section of a movement amount detection unit;
Fig. 13 is a control block diagram of a control device;
Fig. 14 is a diagram showing detection of the remaining amount of a seedling mat;
Fig. 15 is a diagram showing a control flow of seed replenishment alarm control;
Fig. 16 is a block diagram showing seedling withdrawal amount control (scraping area control);
Fig. 17 (a) is a side view showing the amount of settlement of the rear wheel on the pavement, and (b) is a side view showing the height from the contact surface of the rear wheel to the bottom of the float.
Fig. 18 is a side view showing the height from the contact surface of the rear wheel to the paddy field;
Fig. 19 is a graph showing the correlation between the amount of settlement of the rear wheel on the pavement and the slip rate;
Fig. 20 is a diagram showing detection of the number of used seedling mats.
Fig. 21 is a diagram showing detection of the number of used seedling mats.
Fig. 22 is a diagram showing a control flow of seedling withdrawal amount control (scraping area control).
Fig. 23 is a diagram showing items displayed on an information terminal;
Fig. 24 is a block diagram showing seedling pulling amount control (vertical pulling amount control);
Fig. 25 is a diagram showing a control flow of seedling pulling amount control (vertical pulling amount control).
Fig. 26 is a diagram showing another embodiment of a movement amount detection unit;

EMBODIMENT OF THE INVENTION Embodiment of the seedling transplanter which concerns on this invention is described based on drawing.

[First Embodiment]

＜Overall configuration＞

With reference to FIGS. 1 and 2, the overall configuration of rice transplanter 1 as an example of a seedling transplanter will be described. The rice transplanter 1 is configured to include a traveling machine 2 and a planting machine 3 attached to the rear portion, and perform planting work with the planting machine 3 while traveling by the traveling machine 2. has been In addition, in this embodiment, although the case where the number of planting tides of the rice transplanter 1 is 6 sets is shown as an example, of course several sets of planting tides of the rice transplanter 1 may be sufficient as it.

The traveling body 2 includes an engine 4, a transmission 5 for shifting power from the engine 4, a body frame 6 supporting the engine 4 and the transmission 5, an engine 4 and Front wheels 7 and rear wheels 8 driven by power transmitted from the transmission 5 are provided.

Power from the engine 4 and transmission 5 is transmitted to the front axle case 9 and the rear axle case 10, respectively. The front axle case 9 is supported by the front portion of the body frame 6, and front wheels 7 are supported at both left and right ends thereof. Similarly, while the rear axle case 10 is supported by the rear portion of the body frame 6, the rear wheels 8 are supported at both left and right ends thereof. The upper part of the body frame 6 is covered with the step 11, and the operator (worker) can move on the step 11.

In addition, power from the engine 4 and the transmission 5 is transmitted to the planting machine 3 via the day setter 9a (see Fig. 13). The weekly setter 9a is comprised so that the planting interval of seedlings planted along the traveling direction of the traveling body 2 can be changed steplessly. The control device 70 described later is connected to the weekly setter 9a, and is configured such that acquisition of the planting interval of the seedling is possible.

A driver's seat 12 is disposed in the front and middle part of the traveling body 2, and a steering wheel 13, operating pedals 14, a dashboard 15, and the like are installed in front of the driver's seat 12. On the dashboard 15, in addition to the steering wheel 13, operation tools for various operations and display devices are disposed.

The planting machine 3 is connected to the traveling body 2 via a lifting link mechanism 20 .

The lifting link mechanism 20 includes a pair of left and right upper links 21 and lower links 22, a lifting cylinder, and the like. The lower link 22 and the upper link 21 are rotated by the lifting cylinder, and the planting machine 3 is moved up and down.

The planting machine 3 is a horizontal transfer mechanism that reciprocates the planting arm 31, the planting claw 32, the seedling loading table 33, and the seedling loading table 33 in the horizontal direction (body width direction), and seedling loading. A longitudinal conveying mechanism, a float 34, and the like are provided to convey the seedling mat M (see Fig. 6) placed on the table 33 in the vertical direction toward the lower end side (the front-end direction of the aircraft body). The planting claws 32 are attached to the planting arm 31 . In this embodiment, since the number of planting tides of the rice transplanter 1 is 6 sets, it is provided with 6 planting arms 31 and 12 planting claws 32.

The planting implement 3 is driven by a PTO shaft 16 extending rearward from the transmission 5 .

More specifically, power is transmitted from the PTO shaft 16 through the planting center case 35 to the three planting transmission cases 36 installed in the planting machine 3, and the three planting transmission cases 36 Power is distributed from each to a pair of left and right planting arms 31 and a pair of left and right planting claws 32 for every planting transmission case 36 . A planting clutch is installed in the planting center case 35, and the planting clutch is configured to connect/disconnect transmission of power from the engine 4 to the planting machine 3.

The planting arm 31 rotates by the motive power transmitted from the planting transmission case 36. Seedlings are supplied to the planting claws 32 from the seedling loading stand 33 . With the rotational movement of the planting arm 31, the planting claw 32 is inserted into the field, and seedlings are planted so as to reach a predetermined planting depth. In addition, in this embodiment, although the rotary type planting claw is employ|adopted, you may use a crank type thing.

The seedling loading table 33 is constituted by a plate-shaped member and is arranged so as to be inclined in a front-height-bottom state when viewed from the side of the body. On the rear surface of the seedling loading table 33, the mounting surface on which the seedling mat M is placed is arranged side by side in the body width direction according to the number of planting arms 31 (assistant of the rice transplanter 1). Since the rice transplanter 1 of this embodiment has 6 sets of planting tides, 6 mounting surfaces are formed. On the mounting surface, a seedling mat M (see Fig. 6) is placed in an inclined state.

The float 34 is attached to the planting frame 37 (refer to Fig. 17(b)). Specifically, the front end of the float 34 is supported so as to swing in the vertical direction with respect to the planting frame 37, and the rear end of the float 34 rotates provided in the planting frame 37. It is attached to the support shaft 38 via a link mechanism 39 so as to be able to move up and down.

In the float 34, immediately ahead of the planting position of the planting claw 32, the sensor 40 (refer FIG. 18) which detects the surface of a field (paddy field) is installed. The sensor 40 extends from the front toward the rear. The sensor 40 is supported by the planting frame 37 so as to be able to swing freely around the axis along the pitching direction (that is, to be able to swing freely in the vertical direction), and with the swing point as the center, it is not deflected by gravity. Therefore, the state in which the front end is in contact with the packaging surface is maintained. In short, the rice transplanter 1 advances in a state where the front end of the sensor 40 always follows the surface of the field.

A lateral transfer mechanism for reciprocating the seedling mounting table 33 in the body width direction will be described using FIG. 3 .

As shown in FIG. 3, the feed screw 41 extends from the planting center case 35 toward one side (the left side of the body) in the body width direction. Cross-shaped grooves are formed on the outer circumferential surface of the feed screw 41 along the axial direction. The feed screw 41 is provided with a slider 42 that can slide along the groove and a slider receiving 43 that supports the slider 42 . The slider receiving 43 is formed in a substantially T-shape. Along the groove of the feed screw 41, the slider 42 is accommodated in the slider receiver 43 so that a slide is possible while the feed screw 41 is penetrated.

A lower rail 44 is attached to the lower part of the front surface (rear surface of the mounting surface) of the seedling mounting stand 33 . The lower rail 44 is disposed with the body width direction as the longitudinal direction. A slider receiver 43 is fixed to the lower rail 44 via a support arm 45 .

Below the lower rail 44, the guide rail 46 which supports the lower rail 44 slidably in the body width direction is provided. The guide rail 46 is arranged with the body width direction as the longitudinal direction. The guide rail 46 has an engaging portion 46a engaged with the lower rail 44 and an extension portion 46b extending from the engaging portion 46a along the shape of the bottom of the seedling loading table 33. composed by By engaging the lower rail 44 with the engaging portion 46a of the guide rail 46, the lower rail 44 is configured to be slidable along the guide rail 46 in the body width direction. To the guide rail 46, a stopper 47 for preventing the lower rail 44 from coming off the guide rail 46 is detachably mounted with bolts.

On the side surface of the planting center case 35 to which the feed screw 41 extends, there is provided a lateral feed changeover lever 48 for adjusting the amount of lateral feed of the seedling loading table 33 . The horizontal feed switching lever 48 is provided with a horizontal feed frequency detection sensor 48a (see Fig. 13) that detects the number of horizontal feeds of the seedling loading platform 33 by detecting the position of the horizontal feed selector lever 48. do.

Control device 70 is connected to sensor 48a for detecting number of lateral transfers, configured to be capable of detecting the number of lateral transfers of seedling loading table 33, and configured to be able to detect an amount of horizontal withdrawal described later from the number of lateral transfers. do. In addition, an actuator 48b (see Fig. 13) is attached to the horizontal feed changeover lever 48. By drive-controlling the actuator 48b, the horizontal feed switching lever 48 is configured to be operable.

Therefore, by operating the lateral feed switching lever 48 by the actuator 48b, the amount of lateral feed of the seedling mounting table 33 can be adjusted, and the frequency of horizontal feeding of the seedling mounting table 33 can be changed.

By changing the number of horizontal feeds of the seedling loading table 33, the amount of horizontal feeding (lateral feeding speed) of the seedling loading table 33 is changed, and the amount of horizontal withdrawal from the seedling mat M by the planting claws 32 is reduced. can be changed The amount of horizontal pull-out here refers to the width scraped by the planting claws 32 in the body width direction of the traveling body 2 when the seedling mat M is viewed in a planar view. By adjusting the amount of horizontal pull-out, the amount of pull-out of the seedlings from the seedling mat M by the planting claws 32 is configured to be changeable.

A vertical conveying mechanism for downward conveying the seedling mat M placed on the seedling loading stand 33 will be described with reference to FIG. 4 .

As shown in FIG. 4, the vertical feed camshaft 52 to which the vertical feed cam 51 is fixed extends from the planting center case 35 toward the other side in the body width direction (body right side). The vertical feed camshaft 52 is connected to the feed screw 41 and comes into contact with the driven cam 53 when reaching the stroke end.

The follower cam 53 is below the seedling mounting table 33 and is provided on a conveyance belt drive shaft 55 that drives the conveyance belt 54. When the vertical feed cam 51 and the driven cam 53 come into contact with each other as the vertical feed cam shaft 52 rotates, the driven cam 53 rotates. With the rotation of the driven cam 53, the transport belt drive shaft 55 is rotated, so that the transport belt 54 is circulated and the seedling mat M placed on the transport belt 54 is transported by a predetermined distance. .

The seedling stand rail support shaft 56 is supported so that it can rotate freely in the left-right direction at the front upper part of each planting transmission case 36. A plurality of support frames 57 are formed to protrude rearward and upward from the seedling stand rail support shaft 56 at appropriate intervals, and the guide rails 46 are supported by the support frames 57 in the left and right horizontal directions. Moreover, the arm 58 is attached forward and upward from the seedling stand rail support shaft 56. The other end of the arm 58 is provided with a rotation angle detection sensor 59 that detects the rotation angle of the seedling stand rail support shaft 56 . The rotation angle detection sensor 59 is attached to the planting frame 37 . The actuator 56a (refer FIG. 13) is attached to the seedling stand rail support shaft 56. The control device 70 is connected to the rotation angle detection sensor 59, and is configured to be capable of detecting the amount of vertical withdrawal from the seedling mat M.

By drive-controlling the actuator 56a, the seedling stand rail support shaft 56 is comprised rotatably. Therefore, when the support frame 57 is rotated along with the rotation of the seedling stand rail support shaft 56, the guide rail 46 (seedling loading table 33) moves up and down (structured so as to be able to move up and down), and planting The distance between the planting transmission case 36 supporting the claws 32 and the seedling loading table 33 can be changed.

Therefore, the amount of vertical withdrawal from the seedling mat M by the planting claws 32 can be changed. The amount of vertical pull-out here refers to the width scraped in the advancing direction of the traveling body 2 when the seedling mat M is viewed in a plane. By adjusting the vertical pulling amount, the amount of seedling pulling out from the seedling mat M by the planting claws 32 is configured to be changeable.

Moreover, the seedling stand rail support shaft 56 is connected to the follower cam 53 via the interlocking wire 60. With the rotation of the seedling stand rail support shaft 56, the follower cam 53 is rotated by a predetermined angle by the tension applied to the interlocking wire 60, so that the seedling mat M is conveyed according to the amount of vertical withdrawal. The feed amount by the belt 54 is adjusted.

In the above configuration, the power from the engine 4 is transmitted to the feed screw 41 via the planting center case 35, so that the slider 42 slides with respect to the groove of the feed screw 41, and this Along with the slider receiver 43 slides in the body width direction. When the slider receiver 43 slides, the lower rail 44 slides along the guide rail 46 via the support arm 45, and the seedling loading stand 33 slides along with this in the body width direction. Then, when the seedling mounting table 33 reaches the stroke end in the body width direction, the vertical feed cam 51 abuts against the driven cam 53 and the transport belt drive shaft 55 rotates, thereby causing the transport belt 54 to It cycles.

When the slider 42 reciprocates along the groove of the feed screw 41, the seedling mounting table 33 reciprocates along the guide rail 46. When the seedling loading table 33 reciprocates along the guide rail 46 by the horizontal transfer mechanism, the seedling mat M mounted on the seedling loading table 33 is moved from one side (left side of the body) in the body width direction to the base body width. The planting claw 32 scrapes seedlings from the other side (right side of the body) or the other side in the width direction of the body (right side of the body) toward one side in the width direction of the body (left side of the body) to make it possible to transplant the seedlings. When the planting claws 32 scrape the seedlings on one side of the seedling mat M in the body width direction (right side of the body) or the other side of the body width direction (left side of the body), the transport belt 54 is moved by the vertical conveying mechanism. It is operated and it is possible to convey the seedling mat M toward the lower end (rear end) of the mounting surface. As described above, by reciprocating the seedling mat M in the body width direction and conveying downward appropriately, scraping of the seedlings from the seedling mat M placed on the seedling mounting table 33 is enabled.

The dashboard 15 will be described using FIG. 5 .

A steering wheel 13 is disposed in the left and right center portions of the dashboard 15, a main transmission lever 61 is provided on the left side of the steering wheel 13, and a planting lift lever is installed on the right side of the steering wheel 13. (62) is installed. Below the steering wheel 13, there is a jaw stop switch 63 for stopping the driving of the planting claws 32 for each predetermined set, a speed setting volume 64 for setting the maximum speed, and hydraulic pressure sensitivity of the float 34. Sensitivity setting volume 65 for setting, select dial 66 for setting various items such as planting depth and the amount of seedlings taken out of the seedling mat (M) (vertical pulling amount and horizontal pulling amount (number of horizontal feeds)), etc. is installed In front of the steering wheel 13, a monitor 67 that displays settings such as a select dial 66, speed of the traveling body 2, and the like is provided.

The select dial 66 is capable of setting various work conditions related to work contents such as planting depth, seedling withdrawal amount (vertical pulling amount, horizontal pulling amount (number of times of horizontal feeding)), work speed, etc., a notification reference value for seedling replacement alarm, etc. it's a dial The operator selects an item to be set from various items by rotating the select dial 66 left and right, and presses the select dial 66 to make a decision. For example, if you want to set the vertical withdrawal amount as the seedling withdrawal amount, rotate the select dial 66 left and right to select the item of the vertical withdrawal amount, press the select dial 66 to determine that item, By rotating the select dial 66 left and right, an adjustment amount of the vertical pull-out is selected, and by pressing the select dial 66, the vertical pull-out is set by the adjusted amount. The select dial 66 is connected to the control device 70 (see Fig. 13).

＜Seedling replenishment alarm control＞

Next, seedling replenishment alarm control executed based on the calculation of the remaining amount of the seedling mat M placed on the seedling loading stand 33 will be described using FIGS. 6 to 12 .

As shown in FIG. 6 and FIG. 7 , on the mounting surface on which the seedling mat M for each set is placed on the seedling loading table 33, there is an existence detection unit 90 capable of detecting the presence or absence of the seedling mat M, and a seedling A movement amount detection unit 80 capable of detecting the amount of movement (transfer amount) of the mat M downward is provided.

Then, as shown in FIG. 13 , based on the detection state of the presence/absence detection unit 90 and the detection state of the movement amount detection unit 80, the remaining amount of the seedling mat M is determined by the control device 70 of the rice transplanter 1. A seedling mat remaining amount calculator 72 for detecting is provided.

(Presence/absence detection unit)

As shown in Fig. 6, for example, the existence/absence detection unit 90 arranges the seedling mat M when one sheet of the seedling mat M is placed on the mounting surface of each set of the seedling loading table 33. It is installed on the upper side in the first area (A) to be used, and when one sheet of seedling mat (M) is placed on the mounting surface of the seedling mounting table (33), by contacting with the seedling mat (M), the It is configured to be able to detect presence. Moreover, when one sheet of seedling mat M is not placed on the mounting surface of the seedling mounting table 33, it is comprised so that the absence of the seedling mat M can be detected by not contacting the seedling mat M. For example, the presence/absence detection unit 90 detects the first area (A) when the length of one sheet of the seedling mat (M) in the vertical direction is 580 mm and the length of the first area (A) is 580 mm. It is installed in a position 510 mm above the lower end (the lower end of the mounting surface of the seedling loading table 33).

In the present embodiment, as shown in Figs. 7 to 9, the presence/absence detection unit 90 is fixed to the back side of the mounting surface of the seedling mounting stand 33 with a fixing means K1 such as bolts or screws. 1 Mounting bracket 91, a limit sensor 92 fixed to the first mounting bracket 91 with a fixing means 94 such as a bolt or screw, and a through hole in the mounting surface of the seedling mounting table 33 ( 33b) (refer to FIG. 7), the proximal end side of the first mounting bracket 91 in a posture protruding upward from the mounting surface through a swinging portion 93 mounted so as to freely swing around the horizontal shaft center. It consists of

The rocking part 93 is attached to the shaft member 93a rotatably around the horizontal shaft center on the first mounting bracket 91 and to the shaft member 93a in an upright posture with the front end side facing the surface of the mounting surface. A lever member 93b made of a leaf spring having a substantially L-shape when viewed from the side to be attached, and a cover member 93c attached to the shaft member 93a in a state of covering the lever member 93b from the front side of the mounting surface, and the like It consists of In addition, a pull-out prevention tool 95 or the like that prevents the shaft member 93a from being pulled out of the first mounting bracket 91 is provided.

As shown in FIG. 7 , the presence/absence detection unit 90 configured in this way comes into contact with the seedling mat M placed on the mounting surface of the seedling loading stand 33, and the weight of the seedling mat M is transferred to the rocking portion 93. When loaded, the rocking part 93 swings downward and the switch part 92a of the limit sensor 92 is pressed by the lever member 93b of the rocking part 93, so that the presence of the seedling mat M can be detected. Contrary to this, when the weight of the seedling mat M is not loaded on the rocking portion 93, the switch portion 92a of the limit sensor 92 is not pressed, so that the seedling mat M The absence of can be detected.

(Movement detection unit)

As shown in FIG. 6 , the movement amount detection unit 80 is the first on which the seedling mat M is disposed when one sheet of the seedling mat M is placed on the mounting surface of each set of the seedling mounting table 33. The amount of downward movement of the seedling mat M in a state in which at least one seedling mat M is placed on the mounting surface of the seedling mounting table 33, provided below the presence/absence detection unit 90 in the area A ( vertical feed amount) is configured to be detectable. For example, the movement amount detection part 80 is installed in the position 180 mm above the lower end of the 1st area|region A (lower end of the mounting surface of the seedling mounting table 33).

In this embodiment, as shown in FIG. 7, FIG. 10, FIG. 11, the movement amount detection part 80 is fixed to the back surface side of the mounting surface of the seedling mounting table 33 by fixing means K2, such as a bolt and a screw. A rocking arm (84) mounted to the second mounting bracket (82) so as to be freely swingable around the horizontal axis in a state of being pivotally and elastically supported upward by the fixed second mounting bracket (82) and the elastic support spring (83) ), the rotating body 81 mounted on the front end side of the rocking arm 84 so as to freely rotate around the horizontal axis, and the number of revolutions of the rotating body 81 mounted on the front end side of the rocking arm 84 It is composed of a proximity sensor 85 or the like that detects. In addition, the removal prevention tool 86 for preventing the first shaft portion 84a of the rocking arm 84 from the second mounting bracket 82 from coming off, and the second shaft portion 84b of the rocking arm 84. A fall prevention tool 87 or the like is installed to prevent the rotation body 81 from coming off.

The outer circumferential portion of the rotating body 81 is provided with a plurality of protrusions 81a arranged radially with respect to the center of rotation as a reference. The rotating body 81 is installed so that the protrusion 81a protrudes upward from the mounting surface through the through hole 33a (see Fig. 7) from the rear side of the mounting surface. The rotating body 81 is configured to rotate in conjunction with the vertical feeding of the seedling mat M while the protrusion 81a penetrates (engages) into the bottom surface of the seedling mat M vertically conveyed on the mounting surface. . The surface of the protrusion 81a on the side of contact with the seedling mat M is constituted by a shape bent upstream in the rotational direction of the rotating body 81 . If described from the relationship between the seedling mounting table 33 and the rotating body 81, the surface of the protrusion 81a on the side of contact with the seedling mat M has a shape bent toward the transfer source of the seedling mat M composed by In this embodiment, when viewed from the side, the protrusion 81a is formed by being curved in the upstream direction of the rotational direction of the rotating body 81 from the base end to the distal end.

As described above, the surface of the projection 81a of the rotating body 81 on the side of contact with the seedling mat M is configured by a shape bent upstream in the rotational direction, so that the material near the upper side of the rotating body 81 When the seedling mat M is conveyed to the tooth surface, the seedling mat M tends to come into contact with the protrusion 81a (it is easy to get caught). Therefore, slipping of the rotary body 81 can be prevented, and as shown in FIG. 7, the rotary body 81 can be rotated in conjunction with the longitudinal feed of the seedling mat M.

In addition, the protrusion 81a may be formed as a star wheel without curving in the upstream direction in the rotational direction from the proximal end to the distal end when viewed from the side, when viewed from the side, from the proximal end to the distal end in the rotational direction. It may be formed inclined to the upstream side, and the tip may be formed in a pointed shape. The protrusions 81a are easily hooked to the downstream side or bottom of the seedling mat M by forming the tips in a pointed shape. Therefore, slipping of the rotary body 81 can be prevented, and the rotary body 81 can be rotated in conjunction with the longitudinal feed of the seedling mat M.

At the center of rotation of the rotating body 81, a boss portion 81b is provided. The boss part 81b is provided with screws 81c every 90 degrees in the rotational direction, and the number of rotations of the rotating body 81 is detected by detecting the screws 81c by the proximity sensor 85. . By detecting the number of revolutions of the rotating body 81 with the proximity sensor 85, the downward movement amount (vertical conveyance amount) of the seedling mat M can be detected.

Moreover, as shown in FIGS. 10-12, O-ring 81d is provided in the site|part which opposes the front surface (rear surface of a mounting surface) of the seedling loading stand 33 in the rotating body 81. Fig. 12 is a schematic diagram for explaining the function of the O-ring 81d.

When the rotary body 81 is pivotally and elastically supported on the upper side of the seedling loading table 33 by the elastic support spring 83, and the seedling mat M is not placed on the seedling loading table 33, As shown in FIG.12(a), O-ring 81d abuts with the front surface of the seedling mounting table 33, and rotation of the rotating body 81 is restrained by frictional force.

As shown in Fig. 12(b), when the seedling mat M is placed on the seedling mounting table 33, the rotating body 81 resists the elastic supporting force of the elastic supporting spring 83, and the seedling mat M ), the O-ring 81d is separated from the seedling mounting table 33, and the rotating body 81 becomes rotatable.

With the above structure, when the seedling mat M is not placed on the seedling mounting table 33, the rotating body 81 rotates, and the movement amount detection unit 80 erroneously determines the downward movement amount of the seedling mat M. detection can be prevented, and the amount of downward movement of the seedling mat M can be appropriately detected. Also, the member for restraining the rotation of the rotating body 81 is not limited to the O-ring 81d.

(Calculation of remaining amount of seedling mat)

As shown in Fig. 14, the remaining amount of the seedling mat M decreases in the seedling mat remaining amount calculation unit 72, and the existence of the seedling mat M is detected by the existence/absence detection unit 90 shown in Fig. 14(a). When the transition is made from the state in which the seedling mat M is detected to the state in which the absence of the seedling mat M is detected (in other words, the state in which the presence of the seedling mat M is not detected) shown in Fig. 14(b), seedling supplementation described later. The remaining amount of the seedling mat M (hereinafter sometimes referred to as “remaining amount of seedling mat”) estimated at any time from the number of times and the amount of movement of the seedling mat M detected by the movement amount detection unit 80 is a preset remaining amount ( Residual amount corresponding to the position near the lower side of the presence/absence detection unit 90). Then, as shown in Fig. 14(c), the seedling mat remaining amount calculation unit 72 subtracts the movement amount of the seedling mat M detected by the movement amount detection unit 80 from the set remaining amount at any time, so that the seedling mat Calculate the remaining amount at any time.

(Seedling replenishment alarm control)

As shown in Fig. 13, in the rice transplanter 1, when the remaining amount of seedling mat calculated by the residual amount of seedling mat calculation unit 72 of the control device 70 is less than the notification reference value RV (see Fig. 14(c)). An alarm unit 68 such as an alarm buzzer capable of notifying an operator of a seed replenishment alert for urging the seed replenishment when necessary is provided. In addition, the control device 70 is provided with a notification standard setting unit 73 capable of changing the notification reference value RV. As described above, the seedling mat remaining amount calculation unit 72 calculates the remaining amount of the seedling mat between the upper presence detection unit 90 and the lower movement amount detection unit 80 on the placement surface of the seedling mounting table 33. Since it is calculated at any time, the notification standard setting unit 73 determines the area L between the upper existence detection unit 90 and the lower movement amount detection unit 80 on the placement surface of the seedling mounting table 33 (Fig. 6) is configured to be able to set the notification reference value (RV) at an appropriate position. Specifically, the area L in which the notification reference value RV can be set is an area between the lower end of the detection range of the upper existence detection unit 90 and the upper end of the detection range of the lower movement amount detection unit 80. , and it is an area in the range of about 200 mm to about 400 mm from the lower end of the mounting surface of the seedling mounting table 33.

The notification standard setting unit 73 is configured to be able to automatically change the notification standard value RV.

The control device 70 is provided with a job setting unit 74 capable of changing work conditions related to work contents such as the working speed of the planting machine 3, and the notification standard setting unit 73 automatically sets the notification standard value. It is configured to automatically change the notification reference value RV according to the working condition of the planting machine 3 when changing RV. For example, the notification standard setting unit 73 sets the notification standard value (upper position in FIG. 6 ) so that the notification standard value RV becomes a larger value (upward position in FIG. RV) is configured to automatically change.

The notification standard setting unit 73 can also manually change the notification reference value RV. In that case, notification is made manually by, for example, an operator inputting the notification reference value RV using the select dial 66. configured to change the reference value (RV).

Therefore, the notification reference value RV can be set to an appropriate value according to the operator's wishes and work conditions such as the planting work speed, and the seedling replenishment alert is issued at an appropriate timing according to the planting work conditions and the operator's wishes. can be notified.

The control flow of seed replenishment alarm control executed by the control device 70 will be explained.

As shown in FIG. 15 , in the case where the planting clutch is “ON” (YES in step #10), the control device 70 during the planting operation detects the existence of the seedling mat M in the presence/absence detection unit 90 is detected to a state where the presence of the seedling mat M is not detected, and when the non-existence of the seedling mat M is detected, the remaining amount of the seedling mat is calculated at any time by the remaining amount of seedling mat 72 (step Example of #11, step #12).

Then, when the remaining amount of seedling mats calculated by the remaining amount of seedling mats calculation unit 72 is less than the notification reference value RV and the remaining amount of seedling mats is less than the notification reference value RV, the control device 70, from the alarm unit 68 Notify seed supplementary alarm (example of step #13, step #14). In addition, when notifying the seedling replenishment alert, the control device 70 determines the distance at which the planting work can be continued from the setting of the remaining amount of the seedling mat calculated by the remaining amount of the seedling mat calculated by the seedling mat calculation unit 72 and the working conditions of the planting machine 3 It may be configured to calculate and display to the operator.

After that, in the state where the seedling replenishment alarm is being notified, the first stop condition in which the remaining amount of the seedling mat calculated by the seedling mat remaining amount calculation unit 72 is equal to or greater than the notification reference value RV, and the presence/absence detecting unit 90 of the seedling mat If at least one of the second stop conditions in which the presence of (M) is detected is met, control device 70 stops any supplementary alarms (yes of step #15, step #16). Therefore, there is no need to separately provide a means for stopping the seed replenishment alert, and the seed replenishment alert can be stopped only by the operator performing the seed replenishment.

Here, if the second stop condition can be satisfied when one seedling mat M is placed on the mounting surface of the seedling loading stand 33, the seedling replenishment alarm can be stopped simply by the operator replenishing the seedlings. have.

Therefore, the presence/absence detection unit 90 is located in the first area A where the seedling mat M is disposed when one sheet of the seedling mat M is placed on the mounting surface of each set of the seedling mounting table 33. When one seedling mat M is placed on the mounting surface of the seedling loading table 33, such as the upper end side of the inside, it is installed in a position where the existence of the seedling mat M can be detected by contacting the seedling mat M. desirable.

＜Seedling withdrawal amount control＞

Next, using FIGS. 16 to 22, in planting work, the amount of seedlings scraped from the seedling mat M placed on the seedling loading table 33 to the planting machine 3 (seedling withdrawal amount) Controlling the amount of seedlings withdrawn will be described. In the present embodiment, it is configured to control the seedling pulling amount based on the seedling scraping area (vertical drawing amount and horizontal drawing amount).

(Calculation and change of standard seedling withdrawal amount)

In this rice transplanter 1, the control device 70 is configured to be capable of calculating the standard seedling withdrawal amount for the planting machine 3 to plant from the input field area and the number of seedling mats. The reference amount of seedlings taken out refers to the amount of seedlings taken out as a standard when planting work is performed on a predetermined field using a predetermined number of seedling mats M. Here, the control device 70 is configured to be capable of calculating a standard scraping area, a standard vertical pulling amount, and a standard horizontal pulling amount (standard horizontal feed amount) as the standard seedling pulling amount.

In addition, during the planting work, the control device 70 calculates a correction amount of the standard seedling withdrawal amount based on the actual work area in which the planting work was performed and the number of seedling mats used for the actual work area, and adds the correction amount It is configured to be able to change the reference seedling withdrawal amount.

Control device 70 determines the timing after conveying the seedling mat M in the vertical direction by the vertical conveying mechanism when the standard horizontal pulling amount (standard horizontal conveying amount) is changed along with changing the standard seedling pulling amount. It is configured to change the standard lateral withdrawal amount (standard lateral feed amount) in . For example, when the standard lateral drawing amount and the corrected standard lateral drawing amount are selected from a plurality of prescribed values, since the width of one sheet of the seedling mat M is roughly determined, the prescribed value of the standard lateral drawing amount is , it becomes a value which can scrape all without leaving one sheet of the seedling mat M with the corresponding predetermined|prescribed number of scrapings. In this case, the planting work from the vertical feed of the seedling mat M to the next vertical feed is performed as one stroke, and the planting work is carried out halfway with the standard horizontal withdrawal amount set as a specific prescribed value between strokes. , If the standard horizontal drawing amount is changed to another specified value, there is a possibility that the remaining amount of the seedling mat after the change may become an intermediate width that cannot be completely scraped without leaving the changed specified value. Therefore, in order to scrape all the seedling mats M at a prescribed value between strokes, the standard horizontal withdrawal amount in the middle of the stroke is not changed, and the seedling mats M are scraped by the vertical transfer mechanism. The standard lateral feed amount (standard lateral feed amount) is changed at the timing after conveying in the vertical direction (timing of start or end of stroke).

Hereinafter, calculation and change of the amount of reference seedlings taken out will be described using FIG. 16 .

First, the operator inputs the number of seedling mats to be used and the area of the field to the controller 70 using the select dial 66 before carrying out planting of seedlings in the field. In short, the select dial 66 is provided as a pavement area input means and a means for setting the number of seedling mats. In addition, the pavement area input means and the seedling mat number setting means are not limited to the configurations described above, and control the number of seedling mats and the pavement area received by the communication unit of the rice transplanter 1 via an external server, for example. ), or the control device 70 inputs the number of seedling mats and the pavement area received by the communication unit of the rice transplanter 1 from an information terminal such as a smart phone or tablet owned by a user such as an operator or a management company. can be configured to do so.

The controller 70 calculates a standard scraping area based on the input number of seedling mats and the pavement area, and the planting machine 3 (specifically, the actuator 56a for setting the vertical transfer mechanism; Actuators 48b, etc.) that set the horizontal transfer mechanism are driven and controlled.

The control device 70 is configured to be capable of detecting the number of waterings (the number of waterings per predetermined area calculated from the planting intervals set by the operator) from the detected value of the weekly setter 9a. Then, the control device 70 is configured to be capable of calculating the number of injections in consideration of the slip rate described later. The slip ratio here is set based on the settlement amount of the rear wheel 8 on the pavement at the point of starting work or a predetermined reference value.

The control device 70 calculates the target number of mats (the number of seedling mats per predetermined area) from the pavement area and the number of seedling mats. Then, the control device 70 calculates the standard scraping area from the target number of mats and the number of runs (which may be the number of runs taking the slip rate into consideration), and further determines the standard vertical withdrawal amount and the target aspect ratio from the standard scraping area and the target aspect ratio. Calculate the standard lateral withdrawal amount (standard lateral feed amount).

With the above configuration, when the control device 70 performs a planting operation, the actuator 56a is driven and controlled so as to achieve a standard vertical withdrawal amount, and the actuator 48b is driven so as to achieve a standard horizontal withdrawal amount (standard horizontal feed amount). By drive control, it is possible to perform planting work with respect to a desired field with a desired number of seedling mats without depending on the operator's experience or intuition.

When the planting work is started, the control device 70 determines the standard seedling pulling amount (standard vertical pulling amount or standard horizontal drawing amount) based on the actual work area where the actual planting work was performed and the number of seedling mats used in the actual planting work. Withdrawal amount) is corrected from time to time.

Specifically, the control device 70 calculates the actual scraping area based on the actual work area and the number of seedling mats used (the number of seedling mats M consumed), and from the actual scraping area and the target aspect ratio Calculate the actual vertical withdrawal amount and the actual horizontal withdrawal amount (actual horizontal transfer amount). In addition, the controller 70 determines the target scraping area based on the remaining work area calculated by subtracting the actual work area from the work area and the remaining number of seedling mats calculated by subtracting the number of used seedling mats from the number of seedling mats. is calculated, and a target vertical withdrawal amount and a target horizontal withdrawal amount (target lateral feed amount) are calculated from the target scraping area and the target aspect ratio.

Then, the control device 70 corrects the standard vertical withdrawal amount by adding the value obtained by subtracting the actual vertical withdrawal amount from the target vertical withdrawal amount to the reference vertical withdrawal amount as a correction amount of the reference vertical withdrawal amount, and Standard horizontal take-out by adding the value obtained by subtracting the actual horizontal take-out amount (actual lateral feed amount) from the take-out amount (target lateral feed amount) to the standard lateral take-out amount (standard lateral feed amount) as a correction amount for the standard lateral take-out amount (standard lateral feed amount) The amount (standard lateral feed amount) is corrected, and the planting machine 3 (specifically, the actuators 48b and 56a) is driven and controlled so that the corrected standard vertical pull-out amount and the standard lateral pull-out amount (standard lateral feed amount) are obtained.

At this time, as described above, when changing the standard horizontal pulling amount (standard horizontal conveying amount), the control device 70 performs the standard horizontal pulling at the timing after conveying the seedling mat M in the vertical direction by the vertical conveying mechanism. Change the amount (standard transverse feed amount). In addition, when changing the standard vertical withdrawal amount, the standard vertical withdrawal amount may be changed at the timing at which the standard vertical withdrawal amount is corrected, or the standard vertical withdrawal amount at the same timing as the timing at which the standard horizontal withdrawal amount (standard horizontal feed amount) is changed. may be changed.

(calculation of actual working area)

The calculation of the above-mentioned actual work area is explained using FIGS. 17 to 19 .

The actual working area is calculated from the vehicle speed of the traveling body 2 in consideration of the slip rate and the working width (adjustment position) set from the tide at which the planting work is performed. The vehicle speed of the traveling body 2 is calculated using the number of revolutions of the traveling wheels. In this embodiment, it is calculated using the rotational speed of the rear wheel 8. A rear wheel rotation speed detection sensor 8a (see Fig. 13) for detecting the rotation speed is provided on the rotation shaft of the rear wheel 8. The control device 70 is connected to the rear wheel rotation speed detection sensor 8a, and is configured to be able to detect the rotation speed of the rear wheel 8. Further, the configuration for detecting the rotational speed of the rear wheel 8 is not limited to the above-described configuration, and the rotational speed at an appropriate point that rotates in synchronization with the rotation of the rear wheel 8 is detected, and the rotational speed is determined by a gear ratio or the like. It is good also as a structure which converts into rotation speed of the rear wheel 8 using it.

As shown in Fig. 19, the slip ratio and the settlement amount of the running wheels (rear wheels 8 in this embodiment) on the pavement have a linear functional correlation. The amount of settlement of the rear wheel 8 on the pavement refers to the height from the contact surface of the rear wheel 8 to the pavement to the paddy field (surface of the pavement). As the amount of settlement of the rear wheel 8 on the pavement increases, the slip ratio increases linearly.

As shown in Fig. 17, the amount of settlement of the rear wheel 8 on the pavement is determined by a planter position detection sensor 71a (see Fig. 13) composed of an appropriate sensor such as a potentiometer sensor installed in the elevating link mechanism 20 and It is calculated from the planting depth detection sensor 39a (refer FIG. 13) which consists of appropriate sensors, such as a potentiometer sensor installed in the link mechanism 39 of the float 34 or the rotation support shaft 38.

The planting machine position detection sensor 71a is installed in the lifting link frame 71 to which the rear ends of the left and right pairs of upper links 21 and lower links 22 are attached, respectively.

The control device 70 is connected to the planting implement position detection sensor 71a, and can detect the height (distance) of the lowest point of the planting implement 3, specifically, the planting claw 32, relative to the traveling body 2. It consists of

The control device 70 is connected to the planting depth detection sensor 39a, and the height from the bottom surface of the float 34 of the planting work machine 3 is comprised so that detection is possible. By the planting depth detection sensor 39a, the claw protruding amount h1 of the planting claw 32 (distance between the front end of the planting claw 32 and the float bottom surface, see FIG. 17(b)) is configured to be detectable.

The control device 70 detects the length from the planting implement position detection sensor 71a and the planting depth detection sensor 39a to the bottom surface of the float 34 with respect to the traveling body 2 . The control device 70 subtracts the length from the length to the lowest point (ground surface) of the rear wheel 8 with respect to the traveling body 2 to the bottom surface of the float 34 with respect to the traveling body 2, so that the rear wheel ( 8) The settlement amount h0 (see Fig. 17(b)) of the pavement is calculated. In addition, the amount of settlement of the rear wheels 8 in the pavement may be calculated in consideration of the amount of settlement d of the float 34 in the pavement (see Fig. 18).

As shown in Fig. 18, the settlement h2 of the rear wheel 8 in the pavement can be calculated by using the sensor 40 in consideration of the settlement d of the float 34 in the pavement. By measuring the rocking angle θ of the sensor 40, the height of the surface of the field where seedlings are planted can be detected. Thus, by detecting the height of the pavement surface with the sensor 40, the settlement amount d of the float 34 can be measured. The control device 70 is connected to an appropriate pavement surface detecting sensor 40a (see Fig. 13) such as a potentiometer sensor installed at a rotation point of the sensor 40, and is configured to be able to detect the pavement surface height. As described above, by using the sensor 40 installed to follow the surface of the pavement, the settlement amount of the rear wheel 8 into the pavement can be accurately calculated considering the settlement amount d of the float 34 into the pavement.

The working width refers to the length of the body width direction set from the planting interval of the body width direction of the rice transplanter 1 and the tidal current at which the planting work is performed. The tide to which the planting work is performed is detected by the connected/disconnected state of the unit clutch which connects/disconnects power transmission to the planting arm 31 for each set. The control device 70 is connected to a unit clutch sensor 63a (refer to FIG. 13 ) that detects connection/disconnection of the unit clutch, and is configured to be capable of detecting a tide in which planting work is performed.

In the above configuration, the travel distance of the rear wheel 8 can be calculated considering the slip rate from the slip rate calculated from the amount of settlement of the rear wheel 8 on the pavement and the number of revolutions of the rear wheel 8. Then, the actual work area is calculated from the travel distance of the rear wheels 8 in consideration of the slip ratio and the working width set according to the tide at which the planting work is performed.

(Calculation of the number of seedling mats (M) used)

Using Fig. 20 and Fig. 21, explanation is given about the calculation of the number of used seedling mats M.

Control device 70 determines the number of replenishment of seedlings, based on the detection state of presence/absence detection unit 90 and the detection state of movement amount detection unit 80 provided on the seedling loading surface of seedling loading table 33. It is detected at any time, and the number of used seedling mats is calculated at any time based on the detected number of seedling replenishment times and the separately calculated compression rate of the seedling mat M. Here, when the planting clutch is operated, the control device 70 detects the presence or absence of the seedling mat M in the presence/absence detection unit 90 and detects the movement amount of the seedling mat M in the movement amount detection unit 80. It consists of

As an example of calculation of the number of seedling mats used, as shown in FIG. 20 , a case where planting work is started by actuating the planting clutch from the state in which two seedling mats M are placed on the mounting surface of the seedling mounting stand 33 is taken as an example. listen and explain

As shown in Fig. 20(a), when the planting work is started and the existence of the seedling mat M is detected by the presence/absence detection unit 90, the controller 70 adds one number of seedling replenishment counts (1 The second seedling mat (M) is detected).

And as shown in FIG. 20(b), as the first sheet seedling mat M is vertically conveyed, the second sheet seedling mat M on the upper side of the first sheet seedling mat M is vertically lowered. are transferred Even if the position of the upper end of the first seedling mat M is located below the presence/absence detection unit 90, the lower end of the second seedling mat M comes into contact with the presence/absence detection unit 90, and thus the presence/absence detection unit 90 is maintained in a state of detecting the presence of the seedling mat M. At this time, the control device 70 detects whether or not the upper end position of the first seedling mat M (remaining amount of seedling mat) is present or not from the movement amount (transfer amount) of the seedling mat M detected by the movement amount detection unit 80. Even if it is estimated that the seedling mat M is located lower, if the existence of the seedling mat M is detected by the presence/absence detection unit 90, the number of replenishment times of the seedling is added by one (the second seedling mat M is detected). .

As shown in Fig. 20(c), when the second seedling mat M is vertically conveyed downward of the existence detection unit 90, the seedling mat M is detected from the state in which the existence detection unit 90 detects the seedling mat M. (M) is not detected, and the absence of the seedling mat (M) is detected. At this time, the control device 70 determines the length of the seedling mat M placed on the seedling mounting stand 33 in the transport direction (the length from the lower end of the mounting surface measured in advance to the presence/absence detection unit 90, and the above-described setting corresponding to the remaining amount) and the movement amount (transfer amount) of the seedling mat M calculated from the rotational speed of the movement amount detection unit 80, the length of the seedling mat M before compression for the number of times of seedling replenishment (the length of the seedling mat M before compression By dividing by the designed length of the seedling mat M), the compressibility of the seedling mat M is calculated.

Further, as shown in FIG. 21 , the control device 70 is in a state in which the existence of the seedling mat M is not detected by the presence or absence detection unit 90 during the planting work (the state in FIG. 21(a) ). , the number of replenishment of seedlings is added by one even when the transition is made to the state where the seedling mat M is detected by the presence/absence detection unit 90 (the state shown in Fig. 21(b)) because the operator replenishes seedlings or the like. .

In the configuration described above, the control device 70 uses the compression rate to determine the seedling mat M based on the length of the seedling mat M before compression from the movement amount (transfer amount) of the seedling mat M calculated by the movement amount detection unit 80. The number of mats used can be calculated.

(Calculation of actual seedling withdrawal amount)

The controller 70 calculates the actual scraping area (actual seedling withdrawal amount) based on the actual working area and the number of used seedling mats of all sets. The control device 70 calculates the actual number of mats (the number of seedling mats used per predetermined area) from the number of used seedling mats obtained by adding all the numbers of used seedling mats for each set and the actual work area.

Then, the control device 70 calculates the actual scraping area from the number of running mats in consideration of the number of mats and the number of horizontal transfers of the seedling loading table 33 and the slip rate.

(Calculation of target seedling withdrawal amount)

The control device 70 determines the target scraping area (target Seedling withdrawal amount) is calculated. The control device 70 calculates the target number of mats (the number of seedling mats per predetermined area) from the remaining work area and the remaining number of seedling mats. Then, the control device 70 calculates the target scraping area from the target number of mats and the number of horizontal transfers of the seedling loading table 33 and the number of times of injection considering the slip rate.

(Calculation of correction amount of standard seedling withdrawal amount)

The controller 70 calculates the actual vertical retrieval amount and the actual lateral retrieval amount (actual lateral feed amount) from the actual scraping area and the target aspect ratio, and also calculates the target vertical retrieval from the target scraping area and the target aspect ratio. amount and the target lateral withdrawal amount (target lateral feed amount) are calculated.

Then, the control device 70 corrects the standard vertical withdrawal amount by adding the value obtained by subtracting the actual vertical withdrawal amount from the target vertical withdrawal amount to the reference vertical withdrawal amount as a correction amount of the reference vertical withdrawal amount, and Standard horizontal take-out by adding the value obtained by subtracting the actual horizontal take-out amount (actual lateral feed amount) from the take-out amount (target lateral feed amount) to the standard lateral take-out amount (standard lateral feed amount) as a correction amount for the standard lateral take-out amount (standard lateral feed amount) The planting machine 3 (specifically, the actuators 48b and 56a) is driven and controlled by correcting the amount (standard lateral feed amount).

In addition, in the above configuration, the actual scraping area (actual seedling withdrawal amount) is calculated from the actual working area of all the grains and the number of seedling mats used, and the target scraping is performed from the remaining working area of all the grains and the number of remaining seedling mats. The area (target seedling withdrawal amount) is calculated, and the correction amount of the standard seedling withdrawal amount for all the rows is calculated from the actual scraping area and the target scraping area, but is not limited to this. Calculate the correction amount for each group, You may calculate the correction amount of all pieces based on the correction amount for each set.

In this case, the control device 70 calculates the actual number of mats for each set from the actual working area for each set and the number of seedling mats used for each set, and the actual number of mats for each set and the number of seedling mats used for each set. The actual scraping area for each set is calculated from the number of turns considering the number of horizontal transfers and the slip rate, and the actual vertical withdrawal amount and the actual horizontal withdrawal amount for each set (actual horizontal withdrawal amount) from the actual scraping area for each set and the target aspect ratio transfer amount) is calculated.

Further, the control device 70 calculates the target number of mats for each set from the remaining work area for each set and the remaining number of seedling mats for each set, and calculates the target number of mats for each set and the width of the seedling loading table 33. The target scraping area for each set is calculated from the number of cycles considering the number of transfers and the slip rate, and the target vertical withdrawal amount and target horizontal withdrawal amount for each set (target horizontal transfer amount) are calculated from the target scraping area for each set and the target aspect ratio. ) is calculated.

Then, the control device 70 determines the correction amount of the standard lateral take-out amount (standard lateral feed amount) for each set by subtracting the actual lateral take-out amount (actual lateral feed amount) from the target lateral take-out amount (target lateral feed amount) calculated for each set. and based on the correction amount of the standard lateral withdrawal amount (standard lateral feed amount) calculated for each set, the correction amount of the standard lateral withdrawal amount (standard lateral feed amount) for all sets is calculated. In addition, the control device 70 calculates the correction amount of the standard vertical drawing amount for each set by subtracting the actual vertical drawing amount from the target vertical drawing amount calculated for each set, and calculates the correction amount of the standard vertical drawing amount calculated for each set. Based on this, the correction amount of the standard vertical withdrawal amount of all coarse pieces is calculated.

As described above, during the planting work, the standard scraping area (standard seedling withdrawal amount) is corrected by making it possible to calculate the actual work area where the actual planting work was performed and the number of seedling mats used in the actual planting work. can do. Therefore, planting work can be performed appropriately with the desired number of seedling mats with respect to a desired field. Therefore, the consumption efficiency of the seedling mat M can be improved.

The control flow of seedling withdrawal amount control (scraping area control) is demonstrated using FIG. 22. FIG. In the following, it is assumed that the planting clutch is connected and the planting machine 3 is operating. When seedling withdrawal control is started, the actual work area is calculated at any time from the travel distance and work width of the rear wheel 8 in consideration of the slip rate. In addition, the number of replenishment of seedlings is detected at any time from the detection states of the presence/absence detection unit 90 and the movement amount detection unit 80, and the movement amount (transfer amount) of the seedling mat M is calculated at any time from the detection state of the movement amount detection unit 80. .

In step #21, control device 70 determines whether or not the pavement area and the number of seedling mats have been input using select dial 66. When the pavement area and the number of seedling mats are input, it moves to step #22.

In step #22, the controller 70 calculates a standard scraping area based on the pavement area and the number of seedling mats, and calculates the standard vertical pulling amount and standard width based on the standard scraping area and target aspect ratio. Calculate the withdrawal amount (standard transverse feed amount). And drive control of the planting machine 3 (specifically, actuators 48b and 56a) is carried out so that it may become a reference|standard vertical pull-out amount and a standard lateral pull-out amount (standard lateral transfer amount), and it transfers to step #23.

In step #23, the controller 70 determines whether or not the existence detection unit 90 has transitioned from a state where the seedling mat M is detected to a state where the seedling mat M is not detected. If the presence/absence detection part 90 detects the state where seedling mat M is not detected, it transfers to step #24.

In step #24, the controller 70 calculates the number of seedling mats used for each set from the compression ratio calculated based on the transfer amount of the seedling mats M for each set and the number of replenishment times of the seedling mats M, , move to step #25.

In step #25, the controller 70 determines whether or not the number of seedling mats used for each set has been calculated. When the number of seedling mats used for each group is calculated, it transfers to step #26.

In step #26, the control device 70 calculates the actual scraping area based on the actual working area and the number of seedling mats used, and based on the actual scraping area and the target aspect ratio, the actual vertical withdrawal amount and The actual lateral withdrawal amount (actual lateral transfer amount) is calculated, and the process proceeds to step #27.

In step #27, the controller 70 calculates a target scraping area based on the remaining work area and the remaining number of seedling mats, and based on the target scraping area and the target aspect ratio, the target vertical pulling amount and A target lateral withdrawal amount (target lateral feed amount) is calculated, and the process proceeds to step #28.

In step #28, the control device 70 calculates a correction amount for the reference vertical withdrawal amount based on the actual vertical withdrawal amount and the target vertical withdrawal amount, and calculates the actual horizontal withdrawal amount (actual horizontal feed amount) and the target horizontal withdrawal amount ( The correction amount of the standard lateral withdrawal amount (standard lateral feed amount) is calculated based on the target lateral feed amount), and the process proceeds to step #29.

In step #29, the control device 70 corrects the standard vertical withdrawal amount and the standard lateral withdrawal amount (standard lateral feed amount) based on the respective correction amounts of the standard vertical pull amount and the standard lateral feed amount (standard lateral feed amount); , the planting work machine 3 (specifically, the actuators 48b and 56a) is drive-controlled so that the standard vertical withdrawal amount and the standard horizontal withdrawal amount (standard horizontal feed amount) after correction are achieved, and the process proceeds to step #30.

In step #30, the control device 70 determines whether or not the actual work area is the pavement area. When the actual working area is the pavement area, it is terminated. If the actual work area is not the pavement area, proceed to step #23.

In addition, in this seedling pulling amount control (scraping area control), since the correction values of the standard vertical pulling amount and the standard horizontal pulling amount are calculated from the remaining work area and the remaining number of seedling mats, for example, If only the working area suddenly becomes 0, the control device 70 calculates the correction value to the maximum, and there is a fear that the driving load of the actuators 48b and 56a for correcting the standard vertical and horizontal withdrawal amounts increases there is

Therefore, when the remaining work area or the remaining number of seedling mats becomes 0 at the end of the work, the control device 70 determines the target vertical withdrawal amount and the target horizontal withdrawal amount (target horizontal feed amount) is calculated, a correction value of the reference vertical feed amount is calculated based on the actual vertical feed amount and the target vertical feed amount, and the actual horizontal feed amount (actual lateral feed amount) and target lateral feed amount (target lateral feed amount) are calculated. Based on this, the correction value of the standard lateral withdrawal amount (standard lateral feed amount) is calculated. By doing in this way, it is possible to avoid the occurrence of a problem in which the correction values of the standard vertical withdrawal amount and the standard horizontal withdrawal amount are maximally calculated at the end of work, etc., and the driving load of the actuators 48b and 56a can be reduced.

Using FIG. 23, grasping|ascertainment of planting work by the information terminal 100 and a plan are demonstrated.

The communication part of the rice transplanter 1 transmits and receives various data via wide-area communication networks, such as the Internet, and is comprised so that data communication can be performed between the external information terminals 100 connected via wide-area communication networks.

As shown in Fig. 23(a), the information terminal 100 detects elapsed time, number of waterings, number of cross feeds, amount of settlement of the rear wheel 8, slip rate, per week, detected during planting work in a certain field. Data such as the number of stems, the number of stems per predetermined area, the remaining work area, and the number of remaining seedling mats are received and displayed. Various types of data may be displayed in real time during the planting work, or may be displayed at the end of the planting work.

As described above, by enabling the information terminal 100 to receive various types of detailed data, a manager or the like who is managing a plurality of packages can use the information terminal 100 to grasp the work status of each package.

As shown in Fig. 23(b), the relationship between the number of stems and water quantity per predetermined area, or the relationship between the number of injections and water quantity may be displayed. In this case, the details of the quantity can be usefully used for the next plan by showing the ratio of the size and the size of the halibut.

In addition, when predicting the quantity per predetermined area of the pavement in advance and setting the number of waterings and the number of seedling mats per predetermined area, various information can be input into the information terminal 100 to simulate the required number of mats and watering, etc. . Therefore, the manager can make a plan from the stage of transplanting seedlings or the stage of growing seedling mats M, and can appropriately set the required number of mats and the number of waterings.

[Second Embodiment]

In the first embodiment described above, when the control device 70 changes the standard scraping area (standard seedling pulling amount), the standard vertical pulling amount is changed and the standard horizontal pulling amount (standard horizontal feeding amount) is changed In the second embodiment, when the control device 70 changes the standard scraping area (standard seedling pulling amount), the standard horizontal pulling amount (standard horizontal conveying amount) It is configured to prioritize the change in the standard vertical withdrawal amount over the change.

In addition, the rice transplanter 1 of the second embodiment is the same as the first embodiment except for the method of changing the standard scraping area (standard seedling withdrawal amount), and during the planting operation, the working conditions such as the working speed of the planting operation The alarm unit 68 can notify a supplementary alarm at a timing according to the request of the operator or the like.

Hereinafter, descriptions of parts identical to those of the first embodiment will be omitted, and only parts different from those of the first embodiment will be described.

When the standard scraping area (standard seedling pulling amount) is changed, the control device 70 can change only the standard vertical pulling amount in the standard seedling pulling amount when the standard vertical pulling amount does not exceed a predetermined range. And, when the standard vertical pulling amount exceeds a predetermined range, the standard vertical pulling amount and the standard horizontal pulling amount (standard horizontal feeding amount) in the standard seedling pulling amount are configured to be changeable.

Here, the predetermined range of the vertical withdrawal amount is set based on, for example, the drive range (upper and lower limit range) of the actuator 56a in which the vertical withdrawal amount is set, or the horizontal withdrawal amount is extreme compared to the vertical withdrawal amount. It can be set based on a range of aspect ratios in which the scraping shape is closer to a rectangle than a square because the amount of horizontal withdrawal is small or the amount of horizontal withdrawal is extremely large relative to the amount of vertical withdrawal. If the vertical withdrawal amount exceeds a predetermined range, for example, the calculated target vertical withdrawal amount exceeds the settable upper limit of the vertical withdrawal amount, so the vertical withdrawal amount cannot be set as the target vertical withdrawal amount, or the vertical withdrawal amount cannot be set horizontally for setting the vertical withdrawal amount. The setting of the withdrawal amount is extremely large or extremely small, and scraping of the seedling mat M by the planting claw 32 does not work well, and seedlings drop out, seedlings fall out, and planting ends. This is because there is a possibility that adverse effects such as poor posture of the seedlings may occur.

The control device 70, for example, in the case of calculating the correction amount of the standard vertical pulling amount and the standard horizontal pulling amount during planting work, the standard horizontal pulling amount actually set at that time is fixed, and the target screed Calculate the target vertical withdrawal amount that can realize the ping area.

Then, when the target vertical withdrawal amount calculated in this way does not exceed the predetermined range, the control device 70 uses a value obtained by subtracting the actual vertical withdrawal amount from the target vertical withdrawal amount as a correction amount for the reference vertical withdrawal amount, and By adding to the pulling amount, only the standard vertical pulling amount is corrected, and the planting work machine 3 (specifically, the actuator 56a) is driven and controlled.

On the other hand, when the target vertical withdrawal amount calculated in this way exceeds the predetermined range, the control device 70 calculates the standard vertical withdrawal amount and the standard horizontal withdrawal amount (reference lateral feed amount) by the same calculation method as in the first embodiment described above. The standard vertical withdrawal amount is corrected by calculating each correction amount of the standard vertical withdrawal amount and adding the correction amount of the standard vertical withdrawal amount to the standard vertical withdrawal amount, and the correction amount of the standard horizontal withdrawal amount (standard horizontal feed amount) The amount of standard horizontal withdrawal (amount of standard horizontal transport) is corrected by adding to the amount of transport), and the planting machine 3 (specifically, the actuators 48b and 56a) is driven and controlled.

In addition, when the calculated target vertical withdrawal amount exceeds a predetermined range, the control device 70, for example, increases the standard horizontal withdrawal amount (reference horizontal feed amount) actually set at that time by one step to perform horizontal withdrawal. A target vertical withdrawal amount capable of realizing a target scraping area may be calculated in a state where the target lateral withdrawal amount (target lateral feed amount) is fixed to the amount (transverse feed amount). Further, for example, in a state where the target vertical withdrawal amount is fixed to the maximum amount, a target lateral withdrawal amount (target lateral feed amount) capable of realizing the target scraping area may be calculated. In their case, each correction amount of the reference vertical withdrawal amount and the reference lateral withdrawal amount (standard lateral feed amount) from the target vertical withdrawal amount and the target lateral withdrawal amount (target lateral feed amount) and the actual vertical withdrawal amount and the actual lateral withdrawal amount (target lateral feed amount) is calculated, the standard vertical withdrawal amount and the standard horizontal withdrawal amount (standard horizontal feed amount) are corrected, and the planting machine 3 (specifically, the actuators 48b and 56a) is driven and controlled.

[Third Embodiment]

In the first and second embodiments described above, as the seedling pulling amount control executed by the control device 70, the seedling pulling amount is controlled based on the scraping area (vertical pulling amount and horizontal pulling amount). Although the control method has been shown as an example, in this third embodiment, a control method for controlling the amount of seedlings being drawn based only on the amount of vertical pulling out of seedlings is employed.

In addition, the rice transplanter 1 of the third embodiment is the same as that of the first embodiment except for the control of the amount of seedlings taken out, and during the planting work, the alarm unit (68 ) can be notified of any supplementary alerts.

Hereinafter, descriptions of parts identical to those of the first embodiment will be omitted, and only parts different from those of the first embodiment will be described.

First, with reference to Fig. 24, a description will be given of seedling pulling amount control (vertical pulling amount control) that controls the seedling pulling amount based only on the vertical pulling amount of the seedling.

The operator inputs the number of seedling mats to be used and the area of the field into the controller 70 using the select dial 66 before planting the seedlings in the field. The control device 70 calculates a standard vertical pulling amount based on the input number of seedling mats and the pavement area, and drives and controls the actuator 56a. The control device 70 is configured to be capable of detecting the number of waterings (the number of waterings per predetermined area calculated from the planting intervals set by the operator) from the detected value of the weekly setter 9a. Then, the control device 70 is configured to be capable of calculating the number of injections in consideration of the slip rate described later. The slip ratio here is set based on the settlement amount of the rear wheels 8 on the pavement at the point of starting work or a predetermined reference value.

The control device 70 calculates the target number of mats (the number of seedling mats per predetermined area) from the pavement area and the number of seedling mats. Then, the control device 70 calculates the standard vertical withdrawal amount from the target number of mats, the number of horizontal transfers of the seedling loading table 33, and the number of injections (the number of injections considering the slip rate may be sufficient).

In the configuration described above, by driving and controlling the actuator 56a so as to achieve a standard vertical pulling amount, the vertical pulling amount required when planting a desired field with a desired number of seedling mats can be achieved without depending on the operator's experience or feeling. can be set

When the planting work is started, the control device 70 corrects the standard vertical pulling amount at any time based on the actual work area where the actual planting work was performed and the number of seedling mats used in the actual planting work. Specifically, the control device 70 calculates the actual vertical withdrawal based on the actual work area and the number of seedling mats used. Then, the controller 70 calculates a target vertical withdrawal amount based on the remaining work area calculated by subtracting the actual work area from the work area and the remaining number of seedling mats calculated by subtracting the number of seedling mats used from the number of seedling mats. yield Control device 70 corrects the reference vertical withdrawal amount by adding the value obtained by subtracting the actual vertical withdrawal amount from the target vertical withdrawal amount to the reference vertical withdrawal amount as a correction amount.

The control flow of seedling pulling amount control (vertical pulling amount control) is demonstrated using FIG. 25. FIG. In the following, it is assumed that the planting clutch is connected and the planting machine 3 is operating. When seedling withdrawal control is started, the actual work area is calculated at any time from the travel distance and work width of the rear wheel 8 in consideration of the slip rate. In addition, the number of replenishment of seedlings is detected at any time from the detection states of the presence/absence detection unit 90 and the movement amount detection unit 80, and the movement amount (transfer amount) of the seedling mat M is calculated at any time from the detection state of the movement amount detection unit 80. .

In step #31, the control device 70 determines whether or not the pavement area and the number of seedling mats have been input using the select dial 66. When the pavement area and the number of seedling mats are input, it moves to step #32.

In step #32, the control device 70 drives and controls the actuator 56a so that the standard vertical pulling amount calculated based on the pavement area and the number of seedling mats is obtained, and the process proceeds to step #33.

In step #33, the controller 70 determines whether or not the presence/absence detection unit 90 has transitioned from a state where the seedling mat M is detected to a state where the seedling mat M is not detected. If the existence detection part 90 detects the state where seedling mat M is not detected, it transfers to step #34.

In step #34, the control device 70 calculates the number of seedling mats used for each set from the compression rate calculated based on the amount of transfer of the seedling mats M for each set and the number of replenishment times of the seedling mats M, , move to step #35.

In step #35, the controller 70 determines whether or not the number of seedling mats used for each set has been calculated. When the number of seedling mats used is calculated, it shifts to step #36.

In step #36, the controller 70 calculates the actual amount of vertical withdrawal based on the actual work area and the number of seedling mats used, and moves to step #37.

In step #37, the controller 70 calculates a target vertical pulling amount based on the remaining work area and the remaining number of seedling mats, and moves to step #38.

In step #38, the control device 70 calculates the correction amount of the standard vertical drawing amount based on the actual vertical drawing amount and the target vertical drawing amount, and moves to step #39.

In step #39, the control device 70 corrects the standard vertical withdrawal amount based on the correction amount of the standard vertical withdrawal amount, drives and controls the actuator 56a so as to obtain the corrected standard vertical withdrawal amount, and returns to step #40. fulfill

In step #40, the control device 70 determines whether or not the actual work area is a pavement area. When the actual working area is the pavement area, it is terminated. If the actual work area is not the pavement area, proceed to step #33.

[Separate embodiment]

Other embodiments of the present invention are described. In addition, the structure of each embodiment described below is not limited to being applied individually, but can also be applied in combination with the structure of other embodiments.

(1) In the above-described embodiment, in the movement amount detection unit 80, the rotation body 81 is detected by the proximity sensor 85 to detect the screw 81 c provided in the boss portion 81 b of the rotation body 81. ) was detected, but it is not limited to this.

For example, as shown in Fig. 26, the rotary body 81 includes an elliptical cam 88A that rotates together with the rotary body 81, and is repeatedly turned on and off as the cam 88A rotates. A micro switch 88B is installed. The micro switch 88B is turned on in a state where the short end of the cam 88A and the arm 88b are in contact, and the long end of the cam 88A and the arm 88b are turned on. ) is arranged so that it is off in a state where it is in contact with each other. In the above configuration, the number of rotations of the rotating body 81 can be detected by repeating the on and off of the micro switch 88B every 90 degrees.

In addition to the above configuration, a rotary encoder may be attached to the rotating shaft of the rotating body 81 to calculate the number of revolutions (rotational angle) of the rotating body 81, or a potentiometer sensor may be attached to the rotating shaft of the rotating body 81. Thus, the number of revolutions (rotation angle) of the rotating body 81 may be calculated.

In addition, although the rotating body 81 is used to constitute the movement amount detection part 80 of the seedling mat M, it is not limited to this. In the contact-type measuring method, capacitance-type gauges, load cells, and the like are considered. The capacitance-type gauge can accurately measure the transfer amount and residual amount of the seedling mat M of the seedling mounting table 33 by being installed, for example, over the entire surface of the mounting surface. In addition, the load cell can detect the feed amount of the seedling mat M based on the load of the seedling mat M placed on the mounting surface, for example, by being attached to the supporting member of the seedling mounting table 33.

In addition, as a non-contact type measurement method, a laser range finder, image processing of a photographed image of a camera, an optical sensor, a brightness sensor, and the like can be considered. The laser distance meter can detect the conveyance amount of the seedling mat M by being installed so that it can measure the distance from the upper side of a mounting surface to the top surface of the seedling mat M mounted, for example. Moreover, a camera can detect the conveyance amount of the seedling mat M mounted on the mounting surface, for example by image-processing the image|photographed image by being installed so that shooting|photography is possible. The optical sensor is composed of, for example, a light emitting unit and a light receiving unit that detects that light rays from the light emitting unit are blocked by the seedling mat M, so that the transfer amount of the seedling mat M can be detected.

(2) The specific configuration of the existence detection unit 90 is not limited to the configuration shown in the above-described embodiment, and various configuration changes are possible. For example, the existence detection unit 90 may have the same configuration as the movement amount detection unit 80 . In that case, the existence detection unit 90 can detect the existence of the seedling mat M by detecting the movement of the seedling mat M, and detects the movement of the seedling mat M by not detecting the movement of the seedling mat M. The absence of can be detected.

1: Rice transplanter (seedling transplanter)
3: planting machine
33: seedling loading stand
68: alarm department
70: control device
72: seedling mat remaining amount calculation unit
73: notification standard setting unit
74: work setting unit
80: movement amount detection unit
90: existence detection unit
A: first area
RV: notification threshold

Claims (5)

A planting machine configured to be able to scrape seedlings from the seedling mat placed on the seedling loading table and plant them in the field, and to change the amount of seedling scraping from the seedling mat;
A control device capable of inputting the pavement area for the planting work and the number of seedling mats used for the pavement area,
The control device calculates a reference seedling withdrawal amount for planting by the planting machine from the input field area and the number of seedling mats,
The control device is configured to take out target seedlings calculated based on the actual working area for planting and the number of seedling mats used for the actual working area, and the amount of actual seedling withdrawal calculated based on the remaining working area and the number of remaining seedling mats. The seedling transplanter characterized in that the standard seedling withdrawal amount can be changed by adding a correction amount based on the amount. delete According to claim 1,
The planting machine is capable of changing the vertical withdrawal amount, which is the amount of seedlings taken out in the vertical direction of the seedling loading table, and the horizontal withdrawal amount, which is the amount of seedlings taken out in the horizontal direction of the seedling loading table,
The seedling transplanter according to claim 1 , wherein the control device changes the standard seedling pulling amount by changing the vertical pulling amount and the horizontal pulling amount when changing the standard seedling pulling amount. According to claim 3,
When the standard seedling pulling amount is changed, the control device is capable of changing only the vertical pulling amount in the standard seedling pulling amount when the vertical pulling amount does not exceed a predetermined range, and the vertical pulling amount is predetermined. The seedling transplanter characterized in that when the range of is exceeded, the vertical pulling amount and the horizontal pulling amount in the reference seedling pulling amount can be changed. According to claim 4,
The planting machine includes a vertical conveying mechanism for intermittently conveying the seedling mat placed on the seedling loading table in a vertical direction, and a horizontal conveying mechanism for reciprocating and reciprocating the seedling loading table in a horizontal direction,
The planting machine is capable of changing the horizontal withdrawal amount by changing the moving speed of the seedling loading table by the horizontal conveying mechanism,
The control device is capable of driving and controlling the planting machine so that the amount of seedlings taken out by the planting machine for planting is the reference seedlings taken out amount,
When the horizontal pulling amount is changed in association with changing the standard seedling pulling amount, the controller changes the horizontal pulling amount after conveying the seedling mat in the vertical direction by the vertical conveying mechanism. Seedling Transplanter made with.

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