KR20170037529A - Rice transplanter - Google Patents

Abstract

Provided is a rice transplanter capable of automatically adjusting the extracting capacity of seedlings or the transplantation depth. The rice planter comprises: a seedling extracting capacity control apparatus (4) adjusting the extracting capacity of seedlings when seedlings loaded in a seedling stack (12) is extracted by a transplantation hook (301); a seedling extracting capacity hand-operated control unit (6) manually controlling the extracting capacity of seedlings by the seedling extracting capacity control apparatus (4) based on operation of an operator; and a seedling extracting capacity automated control unit (7) automatically controlling the extracting capacity of seedlings by the seedling extracting capacity control apparatus (4) based on an external signal.

Description

Rice transplantation {RICE TRANSPLANTER}

The present invention relates to a rice plant having a seedling plant for transplanting a seedling on a rice field.

The seedling transplanting apparatus according to Patent Document 1 is characterized in that the seedling transplanting apparatus includes a seedling rack, a sliding rail for movably supporting the seedling rack, and a seedling rack and a sliding rail integrally formed with the seedling rack, To control the seedlings take-out amount adjusting mechanism. When adjusting the amount of seedlings taken out, first, the position of the sliding rail is changed in the vertical direction by artificially operating the seedlings take-out amount adjusting lever provided in the seedling-implanting apparatus. As a result, the position of the seedling shoot-out port relative to the passing locus of the grafting arm is changed in the vertical direction, and the seedling takeoff amount (seedling implantation amount), which is the seedling amount taken out by the grafting arm, is changed.

Further, in the rice planting seedling transplanting apparatus according to Patent Document 2, the ground float is rockably supported through the float supporting shaft and the supporting arm, being connected to the rear portion of the traveling base so as to be able to move up and down. By adjusting the rotation of the float support shaft using an artificial manipulation depth control lever, the height of the ground float with respect to the traveling gas is changed, and as a result, the depth of grafting of the seedlings is controlled.

In conventional pasture stages as disclosed in Patent Document 1 or Patent Document 2, it is possible to change the seedlings extraction amount or the implantation depth by artificial manipulation. However, when the driver neglects the adjustment operation of the seedling extraction amount or the implantation depth, The seedlings are implanted with an inappropriate amount of seedlings to be extracted, and a considerable burden is imposed on the modification. In addition, in recent years, the farming operation tends to be automated by the use of computerized farming. However, even if the driving of the rice planting period is automated, in order to control the critical seedling extraction amount or to control the transplantation depth, It is necessary to directly manipulate the image data.

Japanese Patent Application Laid-Open No. 2008-113623 Japanese Patent Application Laid-Open No. 2001-224212

It is an object of the present invention to provide a rice mill capable of adjusting the amount of seedlings to be extracted or adjusting the depth of grafting from outside.

In one of the rearing units according to the present invention, a seedling-seed-removing-amount adjusting mechanism for controlling the seedling-seeding-out amount when the seedling loaded on the seedling rack is taken out by the grafting hook, A seedling takeout amount manually adjusting unit that manually adjusts the adjustment based on the operation of the operator (driver or an assistant), and a seedling takeout amount adjusting mechanism that automatically adjusts the seedling takeout amount by the seedling takeout amount adjusting mechanism, Amount automatic adjustment unit.

According to this configuration, the amount of the seedlings taken out in the seedling transplanting operation can be controlled by manual operation by the driver, and can be automatically performed based on the external signal. Therefore, since the seedling take-out amount set by the farmer's manager of the package is automatically adjusted and set by using the external signal, the problem that the seedling take-out is carried out with an inappropriate seedling take-out amount due to forgetting adjustment of the seedling takeout amount by the driver is solved. Of course, when there is no such external signal, it is possible for the operator to manually adjust the seedlings extraction amount.

Even if the amount of seedlings set by the farm manager is set in the pasture stage by an external signal, a skilled driver who drives the pasture stage is required to modify it at the packing site according to the state of the packaging, the seedling, There is a better case. In such a case, it is desirable for the driver to contact the agricultural manager to approve the correction of the seedling take-out amount, or to manually modify the seedling take-out amount at the driver's discretion in advance. However, if it is always left to the driver's judgment, a problem as in the past arises, and the agricultural plan by the farm manager is not accurately reflected. Therefore, in one of the preferred embodiments of the present invention, the automatic adjustment of the seedling takeout amount executed by the seedling seedling-amount-automatically-adjusting unit at the time of initial adjustment of the seedling take- After the end of the automatic adjustment of the seedling takeoff amount to be executed by the automatic seedling takeoff amount automatic adjustment unit, the seedling takeoff amount adjusted by the automatic seedling takeoff amount adjusting unit Is allowed to be changed by the seedlings taken out amount manual control unit. Thus, at the start of the operation, the seedling take-off amount is automatically adjusted based on the external signal, so that the basic intention of the farm manager is reflected. Thereafter, depending on the situation, a skilled operator who actually operates a rice-planting machine is modified and changed, so that more suitable planting work can be performed.

After automatic adjustment by an external signal, the manual adjustment performed by the driver is, in principle, fine adjustment. Therefore, it is sufficient that only a certain degree of correction can be performed based on the automatically adjusted position, and it is not necessary to be adjustable over the entire adjustment range of the seedlings removal amount adjusting mechanism. Therefore, in one of the preferred embodiments of the present invention, there is provided a manual fine adjustment unit for manually finely adjusting the seedling take-out amount by the seedling seed takeout amount adjusting mechanism, wherein the seedling take- After the end of the automatic adjustment of the take-out amount, it is permitted to change the seedling take-out amount adjusted by the seedling take-out amount automatic adjustment unit by the manual fine adjustment unit.

It is preferable from the viewpoint of simplification of structure and cost reduction that the adjustment operation necessary for adjustment in the seedling seedling amount adjusting mechanism is performed through the common operating device of the seedling seedling amount manual adjusting unit and the seedling seedling amount automatic adjusting unit . In addition, in order to reduce the space required for the seedling-seeding-amount adjusting mechanism, it is preferable to introduce a bi-wire system as much as possible. Therefore, in one of the preferred embodiments of the present invention, the seedlings take-out amount adjusting mechanism is characterized in that the seedlings take-out amount adjusting mechanism includes a seedling take-out amount adjusting mechanism, And an actuator that is driven based on a drive request output from the adjustment unit. The seedlings take-out amount adjustment by the automatic and manual operations is performed by the movement of the actuator driven by the same drive request (drive control signal or the like), so that the overall configuration of the seedlings take-out amount adjustment mechanism is simplified.

Adjustment of the seedling take-out amount by manual operation is performed by an operator aboard a weeding machine put into the package, for example, a driver who is driving a herringbone machine. On the other hand, the external signal for automatically adjusting the seedling take-out amount is generated based on the agriculture work plan previously prepared by the agricultural manager responsible for the packaging, and is transmitted to the rice miller. Such an agricultural manager typically has one or more factions (pavements), and the farm work plan is supported by a computer system. From this, in one of the preferred embodiments of the present invention, the external signal is a signal from a management computer that manages one or more faults (packages).

Another aspect of the present invention is a method for controlling a transplanting depth of a seedlings loaded on a seedling rack by a transplanting hook, the method comprising: And an automatic depth control unit for automatically controlling the depth of grafting by the grafting depth adjusting mechanism based on an external signal.

According to this configuration, the implantation depth in the seedling-implanting operation can be controlled not only by the manual operation by the driver but also automatically based on the external signal. Therefore, since the implantation depth set by the farming administrator of the package is automatically adjusted and adjusted by using an external signal, the problem that the seedling implantation is carried out at an inadequate implantation depth due to the adjustment of the implantation depth by the driver or the adjustment mistake is eliminated . Of course, in the absence of such an external signal, it is also possible to manually adjust the implantation depth at the discretion of the driver.

Regarding the depth of transplantation, it is better for an experienced driver who operates a transplanting period to modify it on the packaging site depending on the state of the packaging, the seedlings, and the condition of the seedling transplanting apparatus. However, if it is always left to the discretion of the driver, a problem as in the past arises, and the agricultural plan by the farm manager is not accurately reflected. Therefore, in one of the preferred embodiments of the present invention, the automatic adjustment of the implantation depth performed by the implantation depth automatic adjustment unit at the initial adjustment of the implantation depth is performed by the implantation depth manual adjustment unit The grafting depth controlled by the grafting depth automatic adjustment unit is controlled by the grafting depth manual adjustment unit after the end of the manual adjustment of the grafting depth and after the end of the automatic adjustment of the grafting depth performed by the grafting depth automatic adjustment unit Modification is allowed. Thus, at the start of the operation, the seedling extraction depth is automatically adjusted based on the external signal, so that the basic intention of the farm manager is reflected. Thereafter, depending on the situation, a more appropriate seedling transplanting operation can be realized by being modified by the skilled driver who actually operates the transplanting period.

In one of the preferred embodiments of the present invention, the grafting depth adjusting mechanism is configured to adjust the grafting depth by changing the height positions of the plurality of ground floats, and has a function of individually changing the height positions of the plurality of ground floats . In the float system constructed as described above, the center float is used for adjusting the depth of grafting, and the side floats located on the left and right sides of the center float are provided with a difference in height with respect to the center float. For example, Can be coped with. Further, rolling control is realized by raising and lowering the side float so as to be different from left and right.

In this transplanting depth adjusting mechanism, it is preferable from the viewpoint of simplification of structure and cost reduction that the transplanting depth is controlled automatically and manually by a common actuator as in the case of the seedlings take-out amount adjusting mechanism as described above. It is preferable that the external signal is a signal from a management computer that manages one or more receptacles (packages) for the reasons described above.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is an explanatory view for explaining the basic principle of controlling the amount of seedlings taken out in the present invention. Fig.
Fig. 2 is an explanatory view for explaining the basic principle of controlling the transplantation depth in the present invention. Fig.
3 is a side view showing one of the embodiments of the rice-making machine of the present invention.
Fig. 4 is an explanatory diagram schematically showing a control system for controlling the amount of seedlings taken out and the depth of grafting in the pasture stage. Fig.
5 is a flow chart showing an example of a flow of control of seedling seedling amount adjustment.
6 is a flowchart showing an example of the flow of control of the grafting depth control.

Before explaining a specific embodiment of a rice-growing machine according to the present invention, the basic principle concerning the control of the seedling take-out amount, which characterizes the present invention, will be described with reference to Fig. In the pasturing period, the seedling transplanting apparatus 3 is connected to the rear part of the traveling base 1 via the link mechanism 2 so as to be able to ascend and descend, and to roll right and left around the front and rear axis centers. The seedling transplanting apparatus 3 has a well-known basic structure and is equipped with a seedling rack 12, a grounding float 10, a grafting arm 30, and the like. The plant seedling transplanting apparatus 3 is provided with a seedling seedling amount adjusting function for controlling the seedling seedling amount when the seedling loaded on the seedling rack 12 is taken out by the grafting claw 301 provided on the grafting arm 30 And a grafting depth control function for controlling the grafting depth when the seedlings loaded on the seedling rack 12 are grafted to the bottom of the grains by the grafting hooks 301.

Although not shown in detail in FIG. 1, the seedlings take-out amount adjusting mechanism 4 is arranged so that the position of the seedling transfer arms 30 loaded on the seedling rack 12 with respect to the grafting claws 301 is detected by the actuator 41, The amount of seedlings to be taken out by the grafting claw 301 (amount of seedlings taken out) is adjusted.

A seedlings extraction amount manual control unit 6 for performing manual control based on manual operation and an automatic seedling seed extraction amount adjusting unit 7 for performing automatic adjustment by an operation signal from the outside. The seedling seed take-out amount control unit 5A is also provided to control the seedling seed take-out amount control by giving a driving signal to the actuator 41 of the seedling seed take-out amount adjusting mechanism 4. The seedling takeout amount control unit 5A generates drive signals for causing the actuator 41 of the seed takeoff amount adjusting mechanism 4 to move in accordance with the external signal from the seedling takeout amount automatic control unit 7, On the other hand, a drive signal for causing the actuator 41 of the seed takeoff amount adjusting mechanism 4 to move is generated in accordance with a manual signal from the seedling takeoff amount manual control unit 6. [

The seedling takeout amount control unit 5A sets priority conditions for an external signal from the seedling takeout amount automatic control unit 7 and a manual signal from the seedling takeout amount manual adjustment unit 6. [ The content of this preferential condition is that the automatic adjustment of the seedling takeoff amount executed by the seedling takeout amount automatic control unit 7 at the time of initial adjustment of the seed takeout amount performed at the start of the seedling- Manual control of the seedlings taken out by the manual control unit 6 is preferred. Specifically, after the end of the automatic adjustment of the seedling takeoff amount executed by the seedling seedling-amount-automatically-adjusting unit 7, the seedling takeoff amount adjusted by the seedling-seed-off-amount automatic adjusting unit 7 is set to the seedling take- (6). For this reason, the seedling takeout amount control unit 5A is provided with the operation signal determining unit 51 and the seedling takeout amount adjusting control unit 52 first. First, when an external signal and a passive signal are inputted, the operation signal determining unit 51 first determines a signal to be employed based on the condition, and outputs a drive request (drive control data) based on the determined signal to the seedling take- (52). The seedling seedling amount regulating and controlling section 52 generates a driving signal for imparting to the actuator 41 in order to move the actuator 41 of the seedling-seed take-out amount adjusting mechanism 4 in accordance with the driving demand, Thereby, the adjustment of the seedling take-out amount based on the external signal from the seedling-seed-take-out amount automatic controlling unit 7 or the manual signal from the seedling take-out amount manual adjusting unit 6 is carried out.

In the example of Fig. 1, the seedlings seed extraction amount automatic adjustment unit 7 is configured to automatically adjust the seedling seed extraction amount based on the seedling seed amount registered in the farming computer system 100, which is a management computer installed in a management center or the like have. Therefore, the seedling seedling-amount automatic adjustment unit 7 includes an external data communication unit 71 capable of communicating data with the farm computer system 100 via the Internet or a wireless data network, An external operation signal input unit 72 for inputting external operation data sent from the system 100 is provided. The external operation signal input unit 72 generates the external signal described above on the basis of the received external operation data and transfers it to the seedling takeout amount control unit 5A. In this description, the farming computer system (management computer) 100 manages a plurality of farmhouses, that is, a plurality of packages (mainly faucets), and transmits the external operation data to the pasture machines put into each package. However, the present invention is not limited to the form in which the farming computer system 100 manages a plurality of packages (mainly faucets), and the invention is applicable to a farming computer system 100 owned by a private farmhouse, Faucets, etc.) are also managed.

In the example of Fig. 1, the seedling takeout amount manual control unit 6 includes a manual operation member 61 composed of a lever, a dial, and the like, and a manual operation signal input unit 62. [ The operation displacement of the manual operation member 61 is input to the manual operation signal input unit 62 as a manual operation signal. The manual operation signal input unit 62 generates the manual signal described above on the basis of the input manual operation signal and transmits it to the seedling takeout amount control unit 5A.

Next, the basic principle of graft depth control will be described using Fig. Although not shown in detail in FIG. 2, the grafting depth adjusting mechanism 40 changes the height of the ground float 10 supported by the seedling grafting device 3 so as to be able to swing by the movement of the actuator 401, The hooks 301 control the depth of the seedlings (implantation depth) to be transferred to the bottom of the rice field.

As shown in Fig. 2, the grafting depth is also controlled by a grafting depth manually adjusting unit 60 for performing manual adjustment based on a manual operation in the same manner as the seedling removal amount using Fig. 1, An automatic depth control unit 70 for automatic adjustment by a signal is prepared. In addition, an implantation depth control unit 5B is provided to control the seedling takeoff amount adjustment by the implantation depth adjustment mechanism 40. [ On one hand, the implantation depth control unit 5B generates a drive signal for moving the actuator 401 of the implantation depth adjustment mechanism 40 in accordance with an external signal from the implantation depth automatic adjustment unit 70, , And generates a driving signal for moving the actuator 401 of the transplanting depth adjusting mechanism 40 according to a manual signal from the transplantation depth manual adjusting unit 60. [

The implantation depth control unit 5B sets preferential conditions for an external signal from the implantation depth automatic adjustment unit 70 and a manual signal from the implantation depth manual adjustment unit 60. [ The content of this priority condition is that the automatic adjustment of the implantation depth performed by the implantation depth automatic adjustment unit 70 at the initial adjustment of the implantation depth performed at the start of the seedling implantation operation is performed by the implantation depth manual adjustment unit 60), and after the end of the automatic adjustment of the implantation depth performed by the automatic implantation depth adjustment unit (70), the implantation depth adjusted by the implantation depth automatic adjustment unit (70) Is allowed to be changed by the implantation depth manual adjusting unit 60. [ Therefore, the implantation depth control unit 5B is provided with the operation signal determination unit 510 and the implantation depth adjustment control unit 520 first. First, when an external signal and a passive signal are input, the operation signal determining unit 510 determines a signal to be employed based on the priority condition, and outputs a drive request (drive control data) based on the determined signal to the implantation depth control unit 520 ). The implantation depth adjustment control unit 520 generates a drive signal for imparting the actuator 401 of the implantation depth adjustment mechanism 40 to the actuator 401 in order to move the actuator 401 according to the drive request based on the provided drive request. Thereby, adjustment of the implantation depth based on an external signal from the implantation depth automatic adjustment unit 70 or a manual signal from the implantation depth manual adjustment unit 60 is performed.

The automatic depth-of-implantation control unit 70 is configured to generate an external signal based on the depth of implantation registered in the farming computer system 100 installed in a management center or the like. The automatic depth control unit 70 is provided with an external data communication unit 71 that is also used as the seedling seedling amount automatic control unit 7 and a seedling extraction unit And an external operation signal input unit 72 for inputting external operation data. The external operation signal input unit 72 generates the external signal described above on the basis of the received external operation data and transfers it to the implantation depth control unit 5B.

Like the seedling seedling amount manual adjusting unit 6, the grafting depth manual adjusting unit 60 includes a manual operating member 610 and a manual operation signal inputting unit 620, each of which is constituted by a lever or a dial. The operation displacement of the manual operation member 610 is input to the manual operation signal input unit 620 as a manual operation signal. The manual operation signal input unit 620 generates the above-mentioned manual signal based on the input manual operation signal and transmits it to the implantation depth control unit 5B.

Next, one of the concrete embodiments of the rice milling machine according to the present invention will be described using the drawings. Fig. 3 is a side view of a passenger-type sewing machine, which is an example of a rice miller. As shown in Fig. 3, the passenger-type transfer machine includes a traveling vehicle 1 supported by a pair of left and right front wheels 1a and a pair of right and left rear wheels 1b, The seedling transplanting apparatus 3 is supported so as to be able to move up and down via a link mechanism 2 capable of swinging up and down.

3, the seedling plant 3 includes a transmission case 31, a pair of rotation cases 32 supported rotatably on a rear portion of the transmission case 31, a rotary case 32 A pair of grafting arms 30 provided at both ends of the grafting arm 30, a grafting hook 301 provided on the grafting arm 30, a grounding float 10 and a seedling rack 12, and the like. The ground float 10 is made up of a center float and a side float, as is well known.

3, since the engine power is transmitted to the seedling implantation apparatus 3, the rotary case 32 is rotationally driven as the seedling bearing support 12 is reciprocally traversed in the lateral direction, The grafting claws 301 of the grafting arm 30 take out the seedlings from the bottom of the seedling rack 12. The extracted seedlings are implanted at the bottom of the rice paddy at the point of implantation of the transplantation locus of the transplanting claw 301.

Next, with reference to Fig. 4, a seedling takeout amount adjusting mechanism 4 and a grafting depth adjusting mechanism 40 assembled in the seedling transplanting apparatus 3 will be briefly described. The seedling-seed take-out amount adjusting mechanism 4 is configured such that the grafting claws 301 of the grafting arm 30 are moved upward and downward by vertically shifting the seedling rack 12 and the guide rail 121, The amount of the seedlings taken out through the seedling is controlled. The seedlings take-out amount adjusting mechanism 4 includes an electric motor 41 having a deceleration mechanism as an actuator 41 for vertically changing the seedling bearing table 12 and the guide rail 121, And a fan-shaped gear 42 engaged with a pinion gear provided on the output shaft of the sun gear 41. The seedlings take-out amount adjusting mechanism 4 is provided with a support arm 45 inserted in the front portion of the guide rail 121 and a support shaft 44 for supporting the support arm 45 so as to be swingable have. The support arm 45 and the sector gear 42 are linked by a support arm 43. The seedling takeoff amount sensor 47 for detecting the turning angle (seedling takeout amount) of the sector gear 42 is provided on the rotating shaft 46 of the sector gear 42, The detected value (seedling takeout amount) is input to the control device 5. [ The seedling bearing stand 12 and the guide rail 121 are moved to the up side by the driving of the electric motor 41 in one direction and the driving of the electric motor 41 in the other direction causes the seedling bearing stand 12 And the guide rail 121 move to the lower side.

The grafting claw 301 of the grafting arm 30 enters a state in which the grafting port 301 of the grafting arm 30 penetrates the seedling breeding port of the guide rail 121 with a shallow depth, The amount of blowout decreases. When the position of the seedling bearing stand 12 and the guide rail 121 is set to a lower side, the grafting claws 301 of the grafting arm 30 pass through the seedling outlet of the guide rail 121 deeply, The amount of blown out is increased.

The depth of the grounding float 10 is adjusted so as to adjust the depth of implantation when the seedlings loaded on the seedling rack 12 are grafted to the bottom of the grains by the grafting claws 301 Change it. The transfer depth adjusting mechanism 40 includes an electric motor 401 having a speed reduction mechanism that is an actuator 401 for controlling the transfer depth and a sector gear 402 that is engaged with a pinion gear provided on an output shaft of the electric motor 401. [ . The transfer depth adjusting mechanism 40 is provided with a link mechanism 40A for linking the pivot shaft 101 provided on the rear portion of the ground float 10 and the sector gear 402. [ The link mechanism 40A includes a support shaft 404 having a horizontal axis, a first arm 403 connecting the support shaft 404 and the sector gear 402, a support shaft 404 and a ground float 10 And a second arm 405 connecting the pivot shaft 101 of the first arm 405 with the second arm 405. When the sector gear 402 rotates by the driving of the electric motor 401, the rear portion of the ground float 10 moves up and down by the movement of the link mechanism 40A. The lower the height from the ground float 10 to the rotary case 32 of the seedling implantation device 3, the deeper the implantation depth. An engaging depth sensor 407 for detecting the turning angle (engraving depth) of the sector gear 402 is provided on the turning shaft 406 of the sector gear 402. The electric motor 401 is driven and controlled by the control device 5 and the detection signal of the implantation depth sensor 407 is inputted to the control device 5. [

In this transplanting period, seedling-seeding-amount automatic regulating unit 7 for automatically controlling the seedling seeding amount from the outside and automatic seeding depth adjusting unit 70 for automatically controlling the transplanting depth from outside need to be provided However, here, the seedling-seeding-amount automatic regulating unit 7 and the grafting depth automatic regulating unit 70 are used in common. An external operation signal input unit 72 for receiving external operation data via the external data communication unit 71 is provided in the control device 5 so as to automatically control the seedling takeoff amount and the implantation depth from the outside . The external operation signal inputting section 72 converts the received external operation data into an external signal for automatic adjustment of the seedling takeoff amount or an external signal for automatically controlling the implantation depth and transmits the external signal to the function unit of the control device 5.

In this embodiment, the external data communication unit 71 is a smart phone having a wifi function, and the external data communication unit 71 receives external operation data from the farming computer system 100 at a remote location, To the external operation signal input unit 72 provided in the apparatus 5. [

The manual operation signal from the manual operation member 61 constituting the seedling takeoff amount manual adjustment unit 6 and the manual operation member 610 constituting the graft depth manual adjustment unit 60 A manual operation signal of the control unit 10 is inputted.

A manual operation signal input unit 62 constituting a seedling takeoff amount manual control unit 6 is constructed for processing a manual operation signal for adjustment of a seedling extraction amount, ) Is constructed to process a manual operation signal for controlling the depth of implantation.

In addition, the seedling seed takeout amount control unit 5A and the implantation depth control unit 5B are built in the control device 5. [ The seedling takeout amount control unit 5A utilizes the basic principle described using Fig. Further, the implantation depth control unit 5B makes use of the basic principle described using Fig. The priority operation signal determining unit 51 included in the seedling takeout amount control unit 5A selects one of the external signal and the manual signal based on the priority condition described above and controls the corresponding seeding amount adjustment And sends it to the control unit 52. The seedlings extraction amount adjustment control unit 52 generates a drive signal based on the drive request and drives the electric motor 41 of the seedlings extraction amount adjustment mechanism 4 to adjust the seedling extraction amount. The priority operation signal determining unit 510 included in the implantation depth control unit 5B selects either the external signal or the manual signal based on the priority condition described above and sends the drive request to the implantation depth adjustment control unit 520 send. The implantation depth adjustment control unit 520 generates a drive signal based on the drive request and drives the electric motor 401 of the implantation depth adjustment mechanism 40 to adjust the implantation depth.

In this embodiment, a fine adjustment dial 63 is additionally provided for adjusting the seedling takeoff amount. The fine adjustment dial 63 functions as a manual operation member 61 of the manual fine adjustment unit 6a for manually finely adjusting the seedling takeoff amount automatically controlled by the seedling takeout amount automatic control unit 7. [ The manual fine adjustment unit 6a shares the manual operation signal input portion 62 with the seedling takeoff amount manual adjustment unit 6. [

Next, an example of the flow of control in the adjustment of the seedling takeoff amount will be described using the flowchart of Fig. First, it is checked whether or not the seedling implantation is started (# 01). (# 01 "YES" branch), it is again checked whether or not external operation data for setting seedling takeoff amount from the farm computer system 100 can be received (download) (# 02). If the external operation data can be received (Yes in the step # 02), the external data communication unit 71 acquires the external operation data and transfers it to the external operation signal input unit 72 (# 03). The seedling takeout amount control unit 5A generates the drive signal (external drive signal) from the external signal generated by the external operation signal input unit 72 based on the external operation data (# 04). With this drive signal, the seedling takeoff amount is adjusted by driving the electric motor 41 (automatic seedling takeoff amount adjustment) (# 05).

If the external operation data can not be received in the check of step # 02 (# 03 "No" branch), it is judged whether the manual operation is performed That is, whether or not a manual operation signal is input is checked (# 11). If the manual operation is performed (branch # 11 "YES"), the manual operation signal inputting section 62 converts the manual operation signal inputted as the manual operation amount into a manual signal and outputs the manual signal, (# 12). The seedling takeout amount control unit 5A generates a drive signal (external drive signal) from the manual signal (# 13). By this drive signal, the electric motor 41 is driven to adjust the seedling takeoff amount (manual seedling seed takeout amount adjustment) (# 14).

If no manual operation has been performed in the check of step # 11 (# 11 "No" branch), it is again checked whether or not the work is started (# 21). When the operation is started (# 21 "Yes" branch), no external signal or manual signal is input. Thus, an operation amount for predetermined adjustment is acquired (# 22). As this predetermined manipulated variable, for example, an manipulated variable corresponding to the seedling extraction amount at the previous work and an manipulated variable corresponding to the standard seedling extraction amount can be employed. When the drive signal (external drive signal) is generated based on the predetermined manipulated variable (# 13), the electric motor 41 is driven by the drive signal to adjust the seedling takeoff amount (# 14).

After the seedling takeoff amount is adjusted in step # 21 or when the work is not started (# 21 "No" branch), or in step # 05 or step # 14, the fine adjustment operation using the fine adjustment dial 63 Is checked (# 31). (# 32), the seedling-seed-off-quantity control unit 5A generates a drive signal (external drive signal) from the fine adjustment manipulated variable, and when the fine adjustment operation is performed (# 33). With this drive signal, the electric motor 41 is driven to adjust the seedling takeoff amount (manual seedling takeoff amount adjustment) (# 34).

In step # 31, whether or not the seedling-implanting work is finished is checked (# 41). If the work is still being continued (# 41 " No "branch), the flow jumps to step # 11 to monitor whether or not the seedling take-out amount is adjusted by manual operation of the manual operation tool 61 or the fine adjustment dial 63. If the seedling-implanting operation is completed (step # 41 "Yes" branch) in step # 41, the control routine is terminated.

5, the adjustment of the automatic seedling take-out amount by the external signal is carried out only at the start of the seedling implantation operation, and thereafter, the manual seedling seedling 61 or the manual seedling using the fine adjustment dial 63 Can only control the amount of seedlings. Instead, the control of the automatic seedling take-out amount by the external signal and the manual seedling take-out amount adjustment by the manual operation tool 61 are permitted only at the start of the seedling implantation operation, and after the seedling implantation operation, ) May be allowed to be controlled only by hand. When the fine adjustment dial 63 is not provided, the manual seedling takeoff amount adjustment by the manual operation tool 61 may be used as the fine adjustment seedlings takeoff adjustment amount.

Next, a flow chart of Fig. 6 shows an example of the flow of control in controlling the implantation depth. The flow of control in the control of the implantation depth is substantially the same as the flow of control in the adjustment of the seedling take-out amount in Fig. 5, except that the fine adjustment step is omitted. Step # 101 to Step # 105 correspond to Steps # 01 to # 05, Steps # 111 to # 114 correspond to Steps # 11 to # 14, 21 and step # 22.

Here again, it is first checked whether or not the seedling planting operation is started (# 101). When the operation is started (# 101 "Yes" branch), it is again checked whether external operation data for setting the implantation depth from the farm computer system 100 can be received (download) (# 102). When the external operation data can be received (Yes in the step # 102), the external data communication unit 71 acquires the external operation data and transfers it to the external operation signal input unit 72 (# 103). The implantation depth control unit 5B generates a drive signal (external drive signal) from the external signal generated by the external operation signal input unit 72 based on the external operation data (# 104). By this drive signal, the electric motor 401 is driven to adjust the implantation depth (automatic implantation depth adjustment) (# 105).

If no external operation data can be received (# 103 "No" branch) in the check of step # 101 (No in step # 101) That is, whether or not a manual operation signal is input is checked (# 111). The manual operation signal input section 620 outputs a manual operation signal input as a manual operation amount as a manual signal and outputs the manual signal to the implantation depth control unit 5B (step < RTI ID = 0.0 >(# 112). The implantation depth control unit 5B generates a drive signal (external drive signal) from the manual signal (# 113). By this drive signal, the electric motor 401 is driven to adjust the implantation depth (manual implantation depth adjustment) (# 114).

If no manual operation has been performed in the check of step # 111 (# 111 "NO" branch), it is checked whether or not the job is started again (# 121). When the operation is started (# 121 "Yes" branch), it means that no manual signal has been inputted for the external signal. Therefore, the operation amount for predetermined adjustment is acquired (# 122). As the predetermined manipulated variable, for example, an manipulated variable corresponding to the graft depth at the previous work or an manipulated variable corresponding to the standard graft depth can be employed. In this case as well, a drive signal (external drive signal) is generated based on a predetermined manipulated variable (# 113). By this drive signal, the electric motor 41 is driven to adjust the implantation depth (# 114).

If it is not at the start of the work (No in step # 121), or after the implantation depth is adjusted in steps # 105 and # 114, it is checked whether or not the seedling implantation work is completed (step # 141). If the operation is still continued (# 141 "NO" branch), the flow jumps to step # 111 to monitor whether or not the grafting depth is manually controlled by the manual operation tool 610. If the seedling-implanting operation is completed (Yes at step # 141) in step # 141, the control routine is terminated.

In the control of the grafting depth, there is also a control flow chart of the grafting depth described with reference to Fig. 6 in the case where a micro-adjustment operator is provided, as in the control of the seedling take- Is introduced.

[Other Embodiments]

(1) In the above-described embodiment, the rice bran machine capable of adjusting both the seedling brewing amount and the grafting depth has been dealt with, but the rice bran machine capable of controlling either one is also an object of the present invention.

(2) Various forms such as a lever, a dial, a switch, and the like can be employed as the forms of the manual operation openings 61 and 610.

(3) In the above-described embodiment, the height of the ground float 10 is changeable for the depth of implantation. An electric motor 401 is provided to change the height of the center float constituting the ground float 10 and the heights of the left and right side floats located on both sides of the center float. Is controlled by the device (5). Therefore, the electric motor 401 for changing the height of the float to each float can be configured to be manually or automatically driven and controlled through the control device 5 individually. Thereby, the height of the center float and the height of the side floats on the left and right sides can be individually changed. When this configuration is adopted, the rolling control of the seedling implanting apparatus 3 can be realized by controlling the heights of the left and right side floats to be different based on the detection result of the inclination sensor.

(4) In the above-described embodiment, the adjustment of the seedling takeoff amount based on the external signal and the adjustment of the implantation depth are limited to the start of the work. However, even in the course of the work, Or the implantation depth may be adjusted, or both of them may be automatically adjusted. At this time, it is preferable that the order of priority with respect to the manual operation signal is determined in the order of reception. Alternatively, one of the signals may be received and the other signal may not be accepted for a predetermined period of time.

The present invention is applied to a rice plant having a seedling transplanting apparatus.

1: running gas
12: Seedlings
121: Guide rail
3: seedlings transplants
30: Transplant arm
4: Seedling output adjustment mechanism
40: Transplant depth adjustment mechanism
41: Electric motor (actuator)
401: Electric motor (actuator)
5: Control device
5A: Seedling extraction amount control unit
5B: Portion depth control unit
51: First,
510: First operation signal determination unit
52: Seedling extraction amount adjustment control section
520:
6: Seedling output manual control unit
6a: Manual fine adjustment unit
7: Seedling output automatic adjustment unit
10: Ground float
60: Manual immersion depth control unit
61: Manual operation opening
610: Manual operation section
62: Manual operation signal input section
620: Manual operation signal input section
63: Fine adjustment dial
70: Automatic control unit
71: External data communication section
72: External operation signal input section
100: Farming computer system (management computer)

Claims (10)

A seedling take-out amount adjusting mechanism for controlling the amount of seedling taken out when the seedlings loaded on the seedling rack are taken out by the grafting hook,
A seedlings extraction amount manual control unit for manually controlling the seedlings extraction amount by the seedlings extraction amount adjusting mechanism based on an operation of an operator,
And an automatic seedling seedling-amount adjusting unit that automatically adjusts the seedling-seeding-out amount by the seedling-seed-removing-amount adjusting mechanism based on an external signal. The method according to claim 1,
The automatic adjustment of the seedling takeoff amount executed by the seedling seedling takeout amount automatic adjustment unit at the time of initial adjustment of the seedling takeoff amount is prior to the manual adjustment of the seedling takeout amount executed by the seedling takeout amount manual adjustment unit , Also
After the end of the automatic adjustment of the seedling-seed-take-out amount performed by the seedling-seed-take-out amount automatic adjusting unit, it is permitted to change the seedling-seed-take-out amount adjusted by the seedling-seed- , Rice cultivation. 3. The method according to claim 1 or 2,
And a manual fine adjustment unit for manually finely adjusting the seedling take-out amount by the seedling seed take-out amount adjusting mechanism is provided, and after the end of the automatic adjustment of the seedling take-out amount executed by the seedling take- Wherein the manual seedling adjustment unit is permitted to change the seedling seedling amount adjusted by the automatic adjustment unit by the manual fine adjustment unit. 4. The method according to any one of claims 1 to 3,
The seedlings take-out amount adjusting mechanism is characterized in that the seedlings take-out amount adjusting mechanism comprises: a seedling takeoff amount adjusting mechanism for adjusting the seedlings taken out amount, . 5. The method according to any one of claims 1 to 4,
Wherein the external signal is a signal from a management computer that manages a faucet. A grafting depth control device for controlling the grafting depth when the seedlings loaded in the seedling rack are grafted to the bottom of the seedlings by grafting hooks,
A graft depth manually adjusting unit for manually adjusting the graft depth by the graft depth adjusting mechanism based on an operation of an operator,
And an automatic depth control unit for automatically controlling the depth of grafting by the grafting depth adjusting mechanism based on an external signal. The method according to claim 6,
Automatic adjustment of the graft depth performed by the graft depth automatic adjustment unit prior to the manual adjustment of the graft depth takes priority over manual adjustment of the graft depth performed by the graft depth manual adjustment unit,
Wherein after the end of automatic adjustment of the implantation depth performed by the implantation depth automatic adjustment unit, the implantation depth controlled by the implantation depth automatic adjustment unit is permitted to be changed by the implantation depth manual adjustment unit. 8. The method according to claim 6 or 7,
The grafting depth adjusting mechanism may include an actuator that is driven based on a driving request output by manual manipulation of the grafting depth manual adjusting unit and a driving request output from the grafting depth automatic adjusting unit based on the external signal There, a rice miller. 9. The method according to any one of claims 6 to 8,
Wherein the grafting depth adjusting mechanism is configured to adjust a grafting depth by changing a height position of a plurality of ground floats and has a function of individually changing a height position of the plurality of ground floats. 10. The method according to any one of claims 6 to 9,
Wherein the external signal is a signal from a management computer that manages a faucet.

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