KR20190087946A - Seedling transplanter - Google Patents

Abstract

The present invention relates to a seedling transplanter which can notify a seedling replenishment alarm at the timing according to the working conditions such as the work speed of the planting operation, an operator′s desire, and the like. The seedling transplanter comprises: a planting work machine (3) capable of being planted in packaging by scraping the seedlings from a seedling mat (M) placed on a seedling loading table (33); a seedling mat remaining amount calculating unit (72) capable of calculating the remaining amount of the seedling mat (M) placed on the seedling loading table (33) as the seedling mat remaining amount; an alarm unit (58) capable of notifying the seedling replenishment alarm when the seedling mat remaining amount is less than a notification reference value (RV); and a notification reference setting unit (73) capable of changing the notification reference value (RV).

Description

SEEDLING TRANSPLANTER

The present invention relates to a seedling transplanting machine for transplanting a seedling into a package from a seedling mat.

Patent Document 1 discloses a vertical transfer mechanism for intermittently transferring (transferring) a seedling mat placed on a seedling pallet to a lower end, a lateral transfer mechanism for reciprocating the seedling pallet in a lateral direction, There is disclosed a seedling transplanting machine having a food processing machine provided with a food claw for scraping seedlings of a seedling mat from a lower end thereof to be packaged in a package. The vertical conveying mechanism transports the seedling mat to the lower side of the seedling rack by a predetermined distance when the seedling rack reaches the right and left reciprocating ends (moving ends) during the reciprocating movement in the lateral direction by the transverse feeding mechanism, It is possible to stably supply the placed seedlings to the food chloe.

A transfer amount detecting portion for detecting the transfer amount (transfer amount) in the longitudinal direction of the seedling mat placed on the seedling stocker is provided on the seedling stocker of the seedling transferer on the downstream side in the transfer direction of the seedling stocker. In this seedling transplanting machine, the position at which the movement amount of the seedling mat is not detected by the movement amount detecting section (the position near the downstream side of the movement amount detecting section in the transport direction by the vertical feed mechanism) becomes the notification reference value, And notify the seedling replenishment alarm from the warning unit when the detection unit does not detect the movement amount of the seedling mat.

Japanese Patent Publication No. 5113484

In the above conventional technique, when the remaining amount of the seedling mat is small and the movement amount detection portion on the downstream side in the transport direction of the seedling stockyard is no longer able to detect the movement amount of the seedling mat, the operator is notified of the seedling supplementary warning.

However, depending on the working conditions such as the working speed of the food processing, consumption of the seedling mat may progress considerably rapidly. In such a case, even if the remaining amount of the seedling mat is small and the movement amount detecting unit on the downstream side in the transport direction of the seedling bearing stand does not detect the movement amount of the seedling mat, even if the seedling supplement warning is notified, The seedling mat may be consumed during the period until the seedling is replenished, which may result in jujube.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances and provides a seedling transplanting machine capable of notifying a seedling replenishment alert at a timing according to working conditions such as working speed of a food processing operation or a worker's desire.

A first aspect of the present invention is a food processing machine including a food processing machine capable of scraping a seedling from a seedling mat placed on a seedling rack,

A seedling mat remaining amount calculating section capable of calculating the remaining amount of the seedling mat placed on the seedling growing stage as the seedling mat residual amount;

An alarm section capable of notifying the seedling replenishment alarm when the seedling mat remaining amount is less than the notification reference value,

And a notification reference setting unit capable of changing the notification reference value.

According to this configuration, the seedling mat residual amount calculated by the seedling mat residual amount calculating section is lower than the notification reference value during the cooking operation in which the seedling mat is scraped from the seedling mat placed on the seedling rack by the food processing machine and the seedling is fed into the package It is possible to notify the seedling replenishment alarm by the warning section.

Since the notification reference value can be changed by the notification reference setting unit, the notification reference value can be set to an appropriate value according to the operation condition such as the operation speed of the food part work, the operator's desire, etc., It is possible to notify the seedling replenishment alarm at an appropriate timing according to, for example,

A second aspect of the present invention is a method of manufacturing a seedling mat comprising a vertical conveying mechanism for conveying a seedling mat placed on the seedling bearing stand in a longitudinal direction,

Further comprising a job setting unit operable to change a working condition of the food processor,

The transfer speed of the seedling mat by the vertical transfer mechanism is changed in accordance with the change of the working condition of the food processing machine by the job setting unit,

And the notification reference setting section changes the notification reference value in accordance with the working condition of the food processing machine.

According to this configuration, since the conveying speed of the seedling mat by the vertical conveying mechanism is automatically changed in accordance with the change of the working condition such as the working speed by the work setting unit, the conveying speed of the vertical conveying mechanism It is possible to appropriately perform the cooking operation according to the post-change working conditions without forgetting the change of the food.

Then, the notification reference setting unit can change the notification reference value according to the working condition such as the working speed of the food processing machine. Therefore, for example, when the working condition of the food processing machine is changed to a working condition with a high working speed, it is possible to change the seeding replenishment alarm to a noticeable reference value that can be notified at a quick timing. When the working condition is changed, It is possible to notify the seedling replenishment alarm.

A third aspect of the present invention is summarized as a vertical distribution system comprising a vertical conveying mechanism for conveying a seedling mat placed in the seedling bearing stand in the vertical direction,

A presence detecting section that is arranged in a first area in which a seedling mat is disposed when the seedling mat is placed on the seedling bearing stand and the presence or absence of the seedling mat is detectable in a state in contact with the seedling mat;

Further comprising a movement amount detecting unit which is disposed downstream of the presence detecting unit in the conveying direction of the seedling mat by the vertical conveying mechanism in the first region and is capable of detecting the amount of movement of the seedling mat in a state in contact with the seedling mat ,

Wherein the notification reference setting section is configured to set the notification reference value at a position between the presence detecting section and the movement detecting section in the transport direction of the seedling mat by the vertical transfer mechanism in the first area It is in point.

According to this configuration, when the remaining amount of the seedling mat is small, for example, when the remaining amount of the seedling mat is detected from the state of detecting the presence of the seedling mat to the state of not detecting it, It is possible to calculate the remaining amount corresponding to the position below the detection limit by the detection unit. Then, the remaining amount of the seedling mat calculated in this manner is set as the set remaining amount, the amount of movement detected by the travel amount detecting section is subtracted from the set remaining amount, and the remaining amount line is moved downward. The remaining amount of the seedling mat can be calculated at any time between the presence detection unit and the movement amount detection unit.

Since the notification reference setting unit can set the notification reference value at the position between the existing portion detection unit and the movement amount detection unit in the transport direction of the seedling mat in the first region, the notification reference value is set at a proper position between the existing portion detection unit and the movement amount detection unit , It becomes possible to notify the worker of the seedling supplement warning at an appropriate timing.

In a fourth aspect of the present invention, in the case where the presence or absence of the seedling mat is detected by the presence detecting unit when the seedling replenishment alarm is notified, or when the seedling mat remaining amount is more than the notification reference value , The seedling replenishment alarm is stopped.

When the operator performs the seedling replenishment when the remaining amount of the seedling mat is less than the notification reference value and the seedling replenishing is performed, the presence or absence of the seedling mat is detected or the residual amount of the seedling mat becomes larger than the notification reference value. According to the configuration, it is not necessary to separately provide a means for stopping the seedling replenishing alarm, and the operator can stop the seedling replenishing alarm only by performing the seedling replenishment.

1 is a side view of a rice miller.
2 is a plan view of a rice milling machine.
Fig. 3 is a side view (right side view of the gas) of the molding part. Fig.
4 is a left side view (left side view of the body) of the molding part.
5 shows a dashboard;
Fig. 6 (a) is a rear view of the placement surface of each seedling tray, and Fig. 6 (b) is a side view of the placement surface of each seedling tray.
Fig. 7 is a side view of the main part of the placement surface for each group of the seedling stage. Fig.
8 is a perspective view of the presence detection portion as viewed from the rear side.
FIG. 9 is an exploded perspective view of the presence detection portion viewed from the back side. FIG.
10 is a perspective view of the movement amount detection unit as viewed from the rear side.
11 is an exploded perspective view of the movement amount detection unit as viewed from the rear side.
12 is a diagram schematically showing a cross section of a movement amount detecting section;
13 is a control block diagram of the control device.
14 is a diagram showing the detection of the remaining amount of the seedling mat.
15 is a view showing a control flow of seedling replenishment alert control;
Fig. 16 is a block diagram showing seedling removal amount control (scraping area control). Fig.
Fig. 17A is a side view showing the settlement amount of the rear wheel in the package, and Fig. 17B is a side view showing the height from the ground surface of the rear wheel to the float bottom.
18 is a side view showing the height from the ground surface of the rear wheel to the bottom of the rice paddy;
19 is a graph showing the correlation between the amount of settlement of the rear wheel on the package and the slip ratio.
20 is a view showing the detection of the number of seedlings used;
21 is a diagram showing the detection of the number of seedlings used;
FIG. 22 is a view showing a control flow of seedling drawing amount control (scraping area control); FIG.
23 is a diagram showing an item displayed on an information terminal;
Fig. 24 is a block diagram showing the seedling extraction amount control (vertical extraction amount control). Fig.
25 is a view showing a control flow of seedling drawing-out amount control (vertical drawing-out amount control);
26 is a view showing another embodiment of the movement amount detecting section;

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of seedling implants according to the present invention will be described with reference to the drawings.

[First Embodiment]

<Overall configuration>

1 and 2, the overall configuration of the herbicide 1, which is an example of a seedling transplanting machine, will be described. The rice planting machine 1 is provided with a traveling base 2 and a food processing machine 3 mounted on the rear portion thereof and is configured to perform a food processing operation by the food processing machine 3 while traveling by the traveling base 2 . In the present embodiment, a case where the number of food groups of the rice-making unit 1 is six sets is shown as an example. Of course, the number of food-beating functions of the rice-making unit 1 may be several.

The traveling vehicle 2 includes an engine 4, a transmission 5 for shifting the power from the engine 4, a base frame 6 for supporting the engine 4 and the transmission 5, an engine 4, And a front wheel 7 and a rear wheel 8 driven by the power transmitted from the transmission 5 and the like.

The power from the engine 4 and the transmission 5 is transmitted to the front axle case 9 and the rear axle case 10, respectively. The front axle case 9 is supported on the front portion of the base frame 6 and the front wheels 7 are supported on both left and right ends thereof. Likewise, the rear axle case 10 is supported on the rear portion of the base frame 6, and the rear wheels 8 are supported on both left and right ends thereof. The upper part of the base frame 6 is covered by the step 11 and the operator (operator) is movable on the step 11.

The power from the engine 4 and the transmission 5 is transmitted to the food processing machine 3 via the inter-week setting machine 9a (see FIG. 13). The daytime setting device 9a is configured so as to be able to steplessly change the distance between the food portions to be eaten along the traveling direction of the traveling base 2. The control device 70, which will be described later, is connected to the daytime setting device 9a, and is configured to be able to acquire a certain kind of food interval.

A driver's seat 12 is disposed in the front and rear intermediate portions of the traveling vehicle 2 and a steering handle 13, an operation pedal 14, a dashboard 15, and the like are provided in front of the driver's seat 12. In addition to the steering wheel 13, the dashboard 15 is provided with various operating mechanisms and display devices.

The food processing machine (3) is connected to the traveling base (2) via a lifting link mechanism (20).

The elevating link mechanism 20 includes a pair of left and right upper links 21 and a lower link 22, an elevating cylinder, and the like. The lower link 22 and the upper link 21 are rotated by the lifting cylinder to raise and lower the food processing machine 3.

The food processing machine 3 includes a food feeding arm 31, a food claw 32, a seedling rack 33, a transverse feeding mechanism for reciprocating the seedling rack 33 in the lateral direction (gas width direction) A vertical conveying mechanism for conveying the seedling mat M (see FIG. 6) placed on the stand 33 in the vertical direction (gas longitudinal direction) toward the lower end, a float 34, and the like. The food compartment claw 32 is attached to the food arm 31. In the present embodiment, since the number of food tanks of the rice-making machine 1 is six, six food arms 31 and 12 are provided.

The food processing machine 3 is driven by the PTO shaft 16 extending rearward from the transmission 5.

More specifically, the power is transmitted from the PTO shaft 16 to the three food-feeding transmission cases 36 provided in the food processing machine 3 through the food center case 35, and the three food- The power is distributed to the right and left pair of food arms 31 and the right and left pair of food claws 32 for each food-borne transmission case 36 from each of them. The food part center case 35 is provided with a food part clutch and the food part clutch is configured to connect / cut off the transmission of the power from the engine 4 to the food part 3.

The food arm (31) rotates by the power transmitted from the eating-part transmission case (36). A seedling is supplied to the food claw 32 from the seedling rack 33. With the rotational movement of the food arm 31, the food claw 32 is inserted into the package, and the seedling is fed so as to have a predetermined depth of food. In the present embodiment, a rotary type food compartment claw is employed, but a crank type may be used.

The seedling bearing stand 33 is constituted by a plate-like member and is arranged so as to be inclined toward the front and rear lower faces when viewed from the side of the base. The placement surface on which the seedling mat (M) is placed is arranged on the rear surface of the seedling rack (33) side by side in the gas width direction in accordance with the number of the food arms (31). In the fastener 1 of the present embodiment, since the number of food tanks is six tanks, six placement surfaces are formed. On the placement surface, the seedling mat M (see Fig. 6) is placed in an inclined state.

The float 34 is mounted on the eating frame 37 (see Fig. 17 (b)). Specifically, the front end of the float 34 is supported so as to be vertically swingable with respect to the cooking chamber frame 37, and the rear end of the float 34 is rotatably supported by the cooking chamber frame 37 And is mounted to the shaft 38 via a link mechanism 39 so as to be able to move up and down.

In the float 34, a sensor 40 (see Fig. 18) for detecting the packaging surface (rice bottom) is provided in a room just before the food portion of the food claw 32. The sensor 40 extends from the front to the rear. The sensor 40 is supported by the eating frame 37 so as to be freely swingable around the axis along the pitching direction (in other words, so as to freely swing in the vertical direction) Therefore, the state in which the distal end portion is in contact with the packaging surface is maintained. In other words, in the herbicide 1, the distal end portion of the sensor 40 always follows the packaging surface.

3, a description will be given of a transverse feed mechanism for reciprocally moving the seedling bearing stand 33 in the machine body width direction.

As shown in Fig. 3, the feed screw 41 extends from the food center case 35 toward one side in the widthwise direction of the body (the left side of the body). On the outer circumferential surface of the feed screw 41, a cross-shaped groove is formed along the axial direction. The feed screw 41 is provided with a slider 42 capable of sliding along the groove and a slider receiver 43 for supporting the slider 42. The slider receiver 43 is formed in a substantially T shape. A feed screw 41 is inserted through the slider holder 43 and the slider 42 is accommodated in the slider holder 43 so as to be slidable along the groove of the feed screw 41.

A lower rail 44 is mounted on a lower portion of the front surface (rear surface of the placement surface) of the seedling bearing stand 33. The lower rail 44 is disposed in the gas width direction in the longitudinal direction. The slider receiver 43 is fixed to the lower rail 44 through the support arm 45.

Below the lower rail 44, there is provided a guide rail 46 for slidably supporting the lower rail 44 in the gas width direction. The guide rails 46 are arranged in the machine body width direction in the longitudinal direction. The guide rail 46 has an engaging portion 46a for engaging with the lower rail 44 and an extending portion 46b extending from the engaging portion 46a along the shape of the bottom of the seedling bearing 33 . The lower rail 44 is engaged with the engaging portion 46a of the guide rail 46 so that the lower rail 44 is slidable along the guide rail 46 in the gas width direction. A stopper 47 for preventing the lower rail 44 from coming off the guide rail 46 is detachably mounted on the guide rail 46 by a bolt.

A lateral feed switching lever 48 for adjusting the lateral feed amount of the seedling rack 33 is provided on a side surface of the feeding center case 35 on which the feed screw 41 extends. The lateral transfer switching lever 48 is provided with a lateral transfer number detection sensor 48a (see FIG. 13) for detecting the lateral transfer number of the seedling platform 33 by detecting the position of the lateral transfer switching lever 48 do.

The control device 70 is connected to the transverse feed number detecting sensor 48a and is configured to be capable of detecting the number of transverse feeds of the seedling table 33. The control device 70 is configured to detect the transverse feed amount, do. The lateral transfer switching lever 48 is provided with an actuator 48b (see Fig. 13). The actuator 48b is driven and controlled, whereby the lateral transfer switching lever 48 is configured to be operable.

Therefore, the transverse feeding switching lever 48 can be operated by the actuator 48b to change the transverse feeding amount of the seedling rack 33, thereby changing the number of transverse feeding times of the seedling rack 33.

The transverse feeding amount (transverse feeding speed) of the seedling rack 33 is changed by changing the number of transverse feeding times of the seedling rack 33 and the amount of transverse feeding from the seedling mat M by the feeding claw 32 is Can be changed. The amount of transverse drawing here refers to the width of scraping in the widthwise direction of the traveling base 2 when the seedling mat (M) is viewed in plan by the food compartment claws 32. The amount of seedlings to be drawn from the seedling mat M by the food claw 32 can be changed by adjusting the amount of transverse drawing.

The vertical transfer mechanism for transferring the seedling mat M placed on the seedling rack 33 downward will be described with reference to Fig.

As shown in Fig. 4, the vertical feed cam shaft 52, from which the vertical feed cams 51 are fixed, extends from the food center case 35 toward the other side in the width direction of the substrate (right side of the base). The vertical transfer camshaft 52 is connected to the feed screw 41, and when it reaches the stroke end, it comes into contact with the follower cam 53.

The driven cams 53 are provided on a conveyor belt drive shaft 55 which drives the conveyor belt 54 under the seedling tray 33. When the vertical conveyance cam 51 and the follower cam 53 come into contact with each other as the vertical conveyance camshaft 52 rotates, the follower cam 53 rotates. The conveyor belt driving shaft 55 is rotated in accordance with the rotation of the follower cam 53 so that the conveyor belt 54 is circulated and the seedling mat M placed on the conveyor belt 54 is conveyed by a predetermined distance .

A seed-to-rail support shaft (56) is rotatably supported in the front upper portion of each food-borne transmission case (36) in the left-right direction. A plurality of support frames 57 are projected rearward and upward at appropriate intervals from the seed support rail 56 and the guide rails 46 are supported in the left and right horizontal directions on the support frame 57. Further, the arm 58 is mounted forwardly and upwardly from the seedling-to-rail support shaft 56. At the other end of the arm 58, a rotation angle detecting sensor 59 for detecting the rotation angle of the seedling-to-rail support shaft 56 is provided. The rotation angle detecting sensor 59 is mounted on the eating frame 37. An actuator 56a (see Fig. 13) is provided on the seedling-to-rail support shaft 56. [ The control device 70 is connected to the rotation angle detection sensor 59 so as to be capable of detecting the vertical drawing amount from the seedling mat M. [

The actuator 56a is driven and controlled so that the seed-to-rail support shaft 56 is rotatable. Therefore, the guide rail 46 (the seedling rack 33) is moved up and down (configured to be able to move up and down) by the rotation of the support frame 57 with the rotation of the seedling-rail support shaft 56, The distance between the seedling transmission case 36 supporting the claw 32 and the seedling bearing stand 33 can be changed.

Therefore, the vertical draw amount from the seedling mat M by the food claw 32 can be changed. Here, the vertical draw-out amount refers to a width for scraping the seedling mat M in the traveling direction of the traveling base 2 in plan view. The amount of seedlings to be drawn from the seedling mat M by the food claw 32 can be changed by adjusting the vertical drawing amount.

The seedling-to-rail support shaft 56 is connected to the driven cam 53 via the interlocking wire 60. The driven cam 53 is rotated by a predetermined angle by the tension applied to the interlocking wire 60 in accordance with the rotation of the seedling-to-rail support shaft 56, The amount of conveyance by the belt 54 is controlled.

The power from the engine 4 is transmitted to the feed screw 41 through the feeder center case 35 so that the slider 42 slides with respect to the groove of the feed screw 41, The slider receiver 43 slides in the widthwise direction of the base body. The lower rail 44 is slid along the guide rail 46 through the support arm 45 by sliding the slider receiver 43 and the seedling rack 33 slides along with the guide rail 46 in the widthwise direction of the substrate. When the seedling bearing 33 reaches the stroke end in the machine width direction, the vertical transfer cam 51 comes into contact with the driven cam 53 and the transfer belt drive shaft 55 rotates, Lt; / RTI &gt;

The slider 42 reciprocates along the groove of the feed screw 41 so that the seedling bearing stand 33 reciprocally moves along the guide rail 46. The transverse feed mechanism reciprocates the seedling bearing 33 along the guide rail 46 so that the width of the seedling mat M placed on the seedling bearing stand 33 from one side in the widthwise direction of the substrate The food claw 32 can scrape and implant a seedling from the other side (the gas right side) or the other side in the gas width direction (the gas right side) toward the gas width direction side (the gas left side). When the food claw 32 scrapes the seedlings at one side of the seedling mat M in the gas width direction (the gas right side) or the other side in the gas width direction (the gas left side), the transport belt 54 Thereby enabling the seedling mat M to be transported toward the lower end (rear end) of the placement surface. As described above, the seedling mat (M) is reciprocally moved in the machine body width direction and is transported downward as appropriate, so that the seedlings can be scraped from the seedling mat (M) placed on the seedling bearing stand (33).

The dashboard 15 will be described with reference to Fig.

A steering wheel 13 is disposed on the left and right central portion of the dashboard 15 and a peripheral speed lever 61 is provided on the left side of the steering wheel 13, (62). A coarse stop switch 63 for stopping the driving of the food claw 32 for each of the predetermined groups and a speed setting volume 64 for setting the maximum speed are provided at the lower portion of the steering handle 13, A selection dial 66 for setting various items such as a seeding depth (a vertical drawing amount and a horizontal drawing amount (transverse feeding number)) from a depth of field or seedling mat M Respectively. On the front of the steering wheel 13, there is provided a monitor 67 for displaying settings of the select dial 66 and the like, the speed of the traveling vehicle 2, and the like.

The selection dial 66 can set various working conditions related to the work contents such as the depth of the food portion and the amount of drawing the seedlings (the vertical drawing amount, the horizontal drawing amount (transverse feeding number)) and the working speed, Dial. The operator rotates the select dial 66 to the left or right to select an item to be set from various items, and determines by pressing the select dial 66. For example, when it is desired to set the vertical draw-out amount as the seedling draw-out amount, the selection dial 66 is turned to the left or right to select the vertical draw-out amount item and the selection dial 66 is pressed, The select dial 66 is turned to the left or right to select the adjustment amount of the vertical draw amount and the vertical draw amount is set by the adjustment amount by pressing the select dial 66. [ The select dial 66 is connected to the control device 70 (see Fig. 13).

<Seedling supplemental alarm control>

Next, the seedling replenishing alarm control executed based on the calculation of the remaining amount of the seedling mat M placed on the seedling rack 33 will be described with reference to Figs. 6 to 12. Fig.

As shown in Figs. 6 and 7, the placement surface on which the seedling mat M for each tank is placed in the seedling rack 33 includes a zone detecting portion 90 capable of detecting the zone of the seedling mat M, A moving amount detecting section 80 capable of detecting a moving amount (feeding amount) of the mat M downward is provided.

13, on the basis of the detection state of the presence detection section 90 and the detection state of the movement amount detection section 80, the remaining amount of the seedling mat M is stored in the control device 70 of the perennial plant 1, Seedling mat residual amount calculating unit 72 that detects seed seed matting amount.

(Presence / absence detector)

6, when the seedling mat M is laid on a placement surface of each seedling mat M on the placement surface of each seedling rack 33, And one seedling mat (M) is placed on the placement surface of the seedling mat (M) by being brought into contact with the seedling mat (M) Is detected. When the seedling mat (M) is not placed on the placement surface of the seedling rack (33), the seedling mat (M) is not in contact with the seedling mat (M). For example, in the case where the longitudinal length of one seedling mat M in the longitudinal direction is 580 mm and the length of the first area A is 580 mm, (The lower end of the placement surface of the seedling rack 33).

7 to 9, the presence detecting section 90 is provided with a fixing section K1 fixed to the back side of the placement surface of the seedling bearing stand 33 by a fixing means K1 such as a bolt or a screw. In this embodiment, A limit sensor 92 fixed to the first mounting bracket 91 by fixing means 94 such as bolts or screws to the mounting bracket 91 and a through hole And an oscillating portion 93 or the like mounted on the first mounting bracket 91 so as to freely swing the proximal end side around the transverse shaft center in a posture in which the leading end side is projected upward from the mount surface through the first mounting bracket 91 (see FIG. 7) .

The swinging part 93 includes a shaft member 93a mounted on the first mounting bracket 91 so as to be rotatable around the transverse shaft center and a shaft member 93b having a tip end in a posture that stands upright toward the front side of the placement surface A leaf spring member 93b of a generally L-shaped plate spring viewed from the side to be mounted and a cover member 93c mounted on the shaft member 93a so as to cover the lever member 93b from the table side . Further, there is provided a releasing projection 95 for preventing the shaft member 93a from coming off from the first mounting bracket 91, and the like.

As shown in Fig. 7, the presence detecting portion 90 thus configured is brought into contact with the seedling mat M placed on the placement surface of the seedling rack 33 and the weight of the seedling mat M is applied to the oscillating portion 93 The swinging portion 93 is pivoted downward and the switch portion 92a of the limit sensor 92 is pressed by the lever member 93b of the swinging portion 93 so that the presence of the seedling mat M Can be detected. Conversely, when the weight of the seedling mat M is not loaded on the swinging part 93, the switch part 92a of the limit sensor 92 is not pressed, Can be detected.

(Movement amount detecting unit)

6, when the seedling mat M is laid on each placement surface of the seedling rack 33, the movement amount detecting unit 80 detects the movement amount of the seedling mat M, The amount of movement of the seedling mat M in the downward direction of the seedling mat M in a state in which at least one seedling mat M is placed on the placement surface of the seedling growing stand 33, Vertical feed amount) can be detected. For example, the movement amount detecting unit 80 is provided 180 mm above the lower end of the first area A (the lower end of the placement surface of the seedling bearing stand 33).

7, 10, and 11, the movement amount detecting unit 80 is provided with a fixing means K2 such as a bolt or a screw on the back side of the placement surface of the seedling bearing stand 33 A swinging arm 84 which is mounted so as to freely swing about the transverse shaft center to the second mounting bracket 82 in a state in which the swinging arm 84 is pivotally supported by the elastic support spring 83 upwardly and elastically, A rotating body 81 mounted on the leading end side of the swinging arm 84 so as to be freely rotatable around the transverse shaft center and a rotating body 81 mounted on the leading end side of the swinging arm 84, And a proximity sensor 85 for detecting the proximity sensor. It is also possible to prevent the first shaft portion 84a of the swinging arm 84 from coming off from the second mounting bracket 82 from coming off from the second shaft portion 84b of the swinging arm 84 A dropping prevention zone 87 for preventing the rotation body 81 from coming off, and the like.

The outer periphery of the rotating body 81 is provided with a plurality of projections 81a radially arranged with respect to the center of rotation. The rotary body 81 is provided so that the projection 81a projects upward from the rear surface of the placement surface through the through hole 33a (see Fig. 7). The rotating body 81 is configured to rotate in conjunction with vertical feeding of the seedling mat M while grasping (engaging) with the bottom surface of the seedling mat M vertically conveyed on the placement surface of the projection 81a . The surface of the projection 81a on the side of the seedling mat M is formed in a shape that is bent toward the upstream side in the rotating direction of the rotating body 81. [ The surface of the protrusion 81a on the side of the seedling mat M facing the seedling mat M is formed into a warped shape toward the transferring source of the seedling mat M . In the present embodiment, the projection 81a is curved toward the upstream side in the rotational direction of the rotating body 81 from the base end to the tip when viewed from the side.

As described above, the surface of the protrusion 81a of the rotating body 81, which is in contact with the seedling mat M, is formed in a shape that is bent toward the upstream side in the rotating direction, When the seedling mat M is transported to the tooth surface, the seedling mat M is liable to be caught on the protrusion 81a (easy to catch). Therefore, slipping of the rotating body 81 can be prevented, and the rotating body 81 can be rotated in conjunction with vertical feeding of the seedling mat M, as shown in Fig.

The projection 81a may be formed as a star wheel without curving toward the upstream side in the rotational direction from the base end to the tip end when viewed from the side, It may be formed so as to be inclined to the upstream side, and the tip end portion may be formed in a tapered shape. The projections 81a are easily formed on the downstream side surface or the bottom surface of the seedling mat M by forming the tip end portion into a tapered shape. Therefore, slipping of the rotating body 81 can be prevented, and the rotating body 81 can be rotated in conjunction with vertical feeding of the seedling mat M.

A boss portion 81b is provided at the center of rotation of the rotating body 81. [ The boss 81b is provided with a screw 81c in the rotational direction 90 degrees and the screw 81c is detected by the proximity sensor 85 to detect the rotational speed of the rotor 81 . The amount of movement to the downward direction of the seedling mat M (vertical feed amount) can be detected by detecting the rotation number of the rotating body 81 from the proximity sensor 85. [

10 to 12, an O ring 81d is provided at a portion of the rotating body 81 opposite to the front surface (rear surface of the placement surface) of the seedling bearing table 33. As shown in Fig. 12 is a schematic diagram for explaining the function of the O-ring 81d.

When the seedling mat M is not placed on the seedling bearing stand 33, the rotary body 81 is pivotally supported on the seedling bearing stand 33 side by the elastic support spring 83, As shown in Fig. 12 (a), the O-ring 81d abuts against the front face of the seedling bearing table 33, and rotation of the rotating body 81 is restrained by the frictional force.

12 (b), when the seedling mat M is placed on the seedling rack 33, the rotating body 81 is pressed against the elastic force of the elastic support spring 83, So that the O ring 81d is separated from the seedling tray 33 and the rotating body 81 is rotatable.

With the above configuration, when the seedling mat M is not placed on the seedling rack 33, the rotational body 81 rotates and the movement amount detecting unit 80 incorrectly determines the amount of movement of the seedling mat M downward It is possible to properly detect the amount of movement of the seedling mat M downward. Further, the member for restraining 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 seedling mat residual amount calculating section 72 calculates the seedling mat residual amount M in the presence of the seedling mat M in the presence / absence detecting section 90 shown in Fig. 14 (a) (That is, a state in which the presence of the seedling mat M is not detected) from the state in which the seedling mat M is not present as shown in Fig. 14 (b) (Hereinafter sometimes referred to as &quot; seedling mat remaining amount &quot;) estimated from time to time from the number of seedling mat M detected from the movement amount detecting unit 80, The residual amount corresponding to the position near the lower side of the presence detection section 90). 14 (c), the seedling mat remaining amount calculating section 72 calculates the seedling mat residual amount calculating section 72 in such a manner that the moving amount of the seedling mat M detected by the movement amount detecting section 80 is subtracted from the setting remaining amount, The remaining amount is calculated at any time.

(Seedling supplemental alarm control)

As shown in Fig. 13, the rice seedling mat residual amount calculated by the seedling mat remaining amount calculating section 72 of the control device 70 is lower 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 seedling supplemental alarm for urging the operator to replenish the seedlings is provided. The control device 70 is provided with a notification reference setting section 73 that can change the notification reference value RV. As described above, the seedling mat residual amount calculating section 72 calculates the seedling mat residual amount between the upper-side presence detecting section 90 and the lower-side moving distance detecting section 80 on the placement surface of the seedling bearing stand 33 The notification criterion setting section 73 sets the notification criterion setting section 73 to set the area L (also referred to as &quot; road &quot;) between the presence detection section 90 on the upper side and the movement detection section 80 on the lower side in the placement surface of the seedling tray 33 6) at a proper position of the notification reference value RV. More specifically, the region L in which the notification reference value RV can be set is an area between the lower end position of the detection range of the upper side presence detection section 90 and the upper end position of the detection range of the lower side movement amount detection section 80 And is in a range of about 200 mm to about 400 mm from the lower end of the placement surface of the seedling bearing stand 33.

The notification criterion setting section 73 is configured to automatically change the notification reference value RV.

The control device 70 is provided with a job setting section 74 capable of changing working conditions relating to work contents such as working speed of the food processing machine 3 and the notification criterion setting section 73 automatically sets the notification reference value (RV) is automatically changed according to the working conditions of the food processing machine (3) when the user changes the notification reference value (RV). For example, the notification criterion setting section 73 sets the notification reference value RV so that the operation condition of the food processing machine 3 becomes faster as the operation speed is set higher, such that the notification reference value RV becomes larger (the upper side in FIG. 6) RV) automatically.

The notification reference value setting section 73 can manually change the notification reference value RV. In this case, for example, when the operator inputs the notification reference value RV using the select dial 66, And is configured to change the reference value RV.

Therefore, the notification reference value RV can be set to an appropriate value according to the working conditions such as the working speed of the food processing operation, the operator's desire, etc., and the alarm can be provided at appropriate timings according to the working conditions of the food processing operation, Can be notified.

The control flow of the seedling supplemental alarm control executed by the control device 70 will be described.

As shown in Fig. 15, in the case where the food part clutch is in the ON state (YES in step # 10), the control part 70 determines that the presence / absence of the seedling mat M The presence of the seedling mat M is not detected and the absence of the seedling mat M is detected, the seedling mat remaining amount calculating section 72 calculates the seedling mat remaining amount at any time Step # 12 in the example of # 11).

When the seedling mat residual amount calculated by the seedling mat residual amount calculating section 72 becomes less than the notification reference value RV and the seedling mat residual amount falls below the notification reference value RV, the control device 70 And notifies the seedling replenishment alarm (step # 13, step # 14). The control device 70 also determines from the setting of the seedling mat remaining amount calculated by the seedling mat remaining amount calculating section 72 and the working conditions of the cooking implement 3 when notifying the seedling replenishing alert, May be calculated and displayed on the operator.

Thereafter, in a state in which the seedling replenishment alarm is being notified, the first stop condition in which the seedling mat residual amount calculated by the seedling mat remaining amount calculating section 72 is equal to or greater than the notification reference value RV, The control device 70 stops the seedling replenishment alarm (YES in step # 15, step # 16). Therefore, it is not necessary to separately provide a means for stopping the seedling replenishment alarm, and the operator can stop the seedling replenishing alarm only by performing the seedling replenishment.

If the second stop condition can be satisfied when one seedling mat (M) is laid on the placement surface of the seedling rack (33), the operator can stop the seedling supplemental alarm only by performing the seedling replenishment have.

For this reason, the presence detection section 90 is provided with a first region A in which the seedling mat M is disposed when one seedling mat M is laid on the placement surface of each seedling rack 33, The seedling mat M is placed at a position where the seedling mat M can be detected by making contact with the seedling mat M when one seedling mat M is laid on the placement surface of the seedling rack 33, desirable.

<Control of seedlings extraction>

Next, referring to Figs. 16 to 22, the amount of the seedlings (seedlings) to be scraped from the seedling mat M placed on the seedling rack 33 into the food processing machine 3 The seedling amount control to be controlled will be described. In this embodiment, the seedling drawing amount is controlled on the basis of the scraping area (longitudinal drawing amount and transverse drawing amount) of a seed.

(Calculation and change of standard seedling withdrawal amount)

The control device 70 is configured to be able to calculate the reference seedling withdrawing amount for the food processing machine 3 to perform the food processing based on the input packaging area and the seedling mat number. The reference seedling drawing amount refers to a seedling drawing amount which becomes a standard when a food processing is performed on a predetermined package using a predetermined number of seedling mat (M). Here, the control device 70 is configured to be able to calculate the reference scraping area as well as the reference vertical draw-out amount and the reference horizontal draw-out amount (reference lateral feed amount) as the reference seedling drawing amount.

The control device 70 calculates the correction amount of the reference seedling drawing amount based on the actual working area of the food portion during the cooking operation and the number of the seedling mat used for the actual working area, So that the reference seedling withdrawal amount can be changed.

The control device 70 controls the timing at which the seedling mat M is transported in the vertical direction by the vertical conveying mechanism in the case of changing the reference traverse withdrawing amount (reference transverse conveying amount) in accordance with the change of the reference seedling withdrawing amount (Reference lateral feed amount) to the reference lateral feed amount. For example, in the case of selecting the reference widthwise drawing amount or the corrected reference widthwise drawing amount from a plurality of prescribed values, since the width dimension of one sheet of the seedling mat M is approximately determined, the specified value of the reference widthwise drawing amount is , It becomes a value that can be scribed without leaving one of the seed mat (M) with the corresponding predetermined scraping number. In this case, the food processing from the vertical feeding of the seedling mat M to the next vertical feeding is performed as one stroke, the feeding operation is performed halfway with the reference lateral feeding amount set at a specified specified value between one stroke , It is possible that the remaining amount of the seedling mat after the change is changed to another prescribed value and the remaining width of the mat can not be scraped without being changed to another prescribed value. Therefore, in order to scrape the seedling mat (M) with a specified value between one stroke, the reference traverse amount in the middle of the stroke is not changed, and the seedling mat (M) The reference lateral feed amount (reference lateral feed amount) is changed at the timing (start and end timing of the stroke) after the feeding in the vertical direction.

Hereinafter, the calculation and change of the reference seedling drawing amount will be described with reference to Fig.

First, the operator inputs the seedling mat number and the packaging area to be used into the control device 70 by using the select dial 66 before carrying out some kinds of food processing in the packaging. In short, the select dial 66 is provided as a packaging area input means and a seedling mat number setting means. The number of seedlings mat and the size of the seedlings received by the communicating unit of the herbicide 1 via the external server are not limited to the above-described configuration, Or inputs the seedling mat number and the packaging area received by the communication unit of the herbicide 1 from an information terminal or a management company such as a smart phone or a tablet owned by a user such as an operator into the control device 70 .

The control device 70 calculates the reference scraping area based on the number of the seedlings mat and the packaging area to be inputted and controls the operation of the food processing machine 3 (specifically, the actuator 56a, An actuator 48b for setting the horizontal transfer mechanism, and the like).

The control device 70 is configured to be able to detect the number of notes (the number of notes per predetermined area calculated from the interval of the food items set by the operator) from the detection value of the daytime setting device 9a. The control device 70 is configured to be able to calculate the number of weeks in consideration of the slip rate to be described later. Here, the slip ratio is set from the settling amount of the rear wheel 8 at the work starting point in the package or a predetermined reference value.

The control device 70 calculates the target mat number (the number of the seedling mat per predetermined area) from the packed area and the seedling mat number. Then, the control device 70 calculates the reference scraping area from the target mat number and the number of weeks (which may also be the main consideration in consideration of the slip ratio), and also calculates the reference vertical drawing amount from the reference scraping area and the target aspect ratio And calculates the reference lateral take-up amount (reference lateral feed amount).

With the above arrangement, when the control device 70 performs the feeding operation, the actuator 56a is driven and controlled so as to be the reference vertical draw-out amount, and the actuator 48b is controlled to be the reference horizontal draw- By performing the drive control, it is possible to perform the food processing on the desired package with the desired seedling mat number without depending on the experience or feeling of the operator.

When the food processing operation is started, the control device 70 determines whether or not the reference seedling extraction amount (the reference vertical extraction amount or the standard horizontal extraction amount based on the actual working area where the actual food processing has been performed and the number of the seedling mat used in the actual food processing) Out amount) is corrected at any time.

Specifically, the control device 70 calculates the actual scraping area based on the actual working area and the seedling mat use number (seedling mat (M) consumption number), and calculates the actual scraping area from the actual scraping area and the target aspect ratio And the amount of actual vertical take-out and the amount of actual horizontal take-out (transverse amount of actual performance) are calculated. The control device 70 also calculates the target scraping area based on the remaining seedling mat number calculated by subtracting the seedling mat usage number from the seedling mat number and the remaining work area calculated by subtracting the actual working area from the working area And calculates the target vertical draw-out amount and the target horizontal draw-out amount (target lateral feed amount) from the target scraping area and the target aspect ratio.

Then, the control device 70 corrects the reference vertical take-out amount by adding the value obtained by subtracting the actual vertical take-out amount from the target vertical take-out amount to the reference vertical take-out amount as the correction amount of the reference vertical take-out amount, A value obtained by subtracting the actual lateral draw-out amount (actual lateral feed amount) from the drawn-out amount (target lateral feed amount) is subtracted from the reference lateral feed amount (reference lateral feed amount) (Specifically, the actuators 48b and 56a) so as to be the reference vertical take-out amount after correction and the reference lateral takeout amount (reference lateral feed amount).

At this time, as described above, when the reference lateral take-up amount (reference lateral feed amount) is changed, the control device 70 determines that the seedling mat M is transported in the vertical direction by the vertical feed mechanism, (Reference lateral feed amount) is changed. When the reference vertical take-out amount is changed, the reference vertical take-out amount may be changed at the timing at which the reference vertical take-out amount is corrected, or may be changed at the same timing as the reference take- May be changed.

(Calculation of actual working area)

The calculation of the above-mentioned actual working area will be described with reference to Figs. 17 to 19. Fig.

The actual working area is calculated from the vehicle speed of the running vehicle 2 considering the slip ratio and the working width (the adjusted position) set from the tide in which the cooking work is performed. The vehicle speed of the traveling vehicle 2 is calculated using the number of revolutions of the traveling wheel. In the present embodiment, calculation is made using the number of revolutions of the rear wheel 8. A rear wheel speed sensor 8a (see Fig. 13) for detecting the number of revolutions is provided on the rotating shaft of the rear wheel 8. The control device 70 is connected to the rear wheel rpm detection sensor 8a so as to be able to detect the number of revolutions of the rear wheel 8. [ The configuration for detecting the number of revolutions of the rear wheel 8 is not limited to the configuration described above. The configuration may be such that the number of revolutions at an appropriate point that rotates in synchronization with the rotation of the rear wheels 8 is detected, The number of revolutions of the rear wheel 8 may be used.

As shown in Fig. 19, the slip ratio and the settlement amount of the traveling wheel (the rear wheel 8 in this embodiment) in the package have a linear function correlation. The amount of settlement of the rear wheel 8 in the package refers to the height from the ground surface to the package of the rear wheel 8 to the rice paddy (packaging surface). As the settling amount of the rear wheels 8 in the package increases, the slip ratio increases linearly.

17, the amount of settling of the rear wheel 8 in the package is determined by a food processing machine position detection sensor 71a (refer to FIG. 13) formed of an appropriate sensor such as a potentiometer sensor installed in the elevation link mechanism 20, (See Fig. 13) composed of a suitable sensor such as a potentiometer provided on the link mechanism 39 of the float 34 or the pivot shaft 38. [

The food processing machine position detection sensor 71a is installed in a lift link frame 71 on which a pair of left and right upper links 21 and a rear end of the lower link 22 are respectively mounted.

The control device 70 is connected to the food processing machine position detection sensor 71a to detect the height (distance) of the lowest point of the food processing machine 3, specifically the food processing claw 32, with respect to the traveling body 2 .

The control device 70 is connected to the food depth detection sensor 39a so as to be capable of detecting the height of the food processing machine 3 from the bottom surface of the float 34. [ The food depth detecting sensor 39a is configured to be capable of detecting the claw protruding amount h1 of the food claw 32 (the distance between the front end of the food claw 32 and the bottom surface of the float, see Fig. 17 (b)).

The control device 70 detects the length from the food processing machine position detection sensor 71a and the food 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 vehicle 2 to the bottom surface of the float 34 with respect to the traveling vehicle 2, (See Fig. 17 (b)) on the package is calculated. The settlement amount of the rear wheel 8 in the package may be calculated in consideration of the settlement amount d of the float 34 to be packed (see Fig. 18).

It is possible to calculate the settlement amount h2 in the package of the rear wheel 8 considering the settlement amount d of the float 34 in the package by using the sensor 40 additionally as shown in Fig. By measuring the swing angle [theta] of the sensor 40, it is possible to detect the package surface height at which the seedling is fed. As described above, the settlement amount d of the float 34 can be measured by detecting the height of the packaging surface by the sensor 40. [ The control device 70 is connected to an appropriate packaging surface detection sensor 40a (see Fig. 13) such as a potentiometer sensor provided at a turning point of the sensor 40, and is configured to be able to detect the packaging surface height. As described above, by using the sensor 40 provided so as to follow the packaging surface, the settlement amount of the rear wheel 8 in the package in consideration of the settlement amount d to the packing of the float 34 can be accurately calculated.

The working width refers to the distance between the food portion in the widthwise direction of the machine and the length in the machine width direction which is set from the number of tides in which the vegetable work is performed. The fresh water to be subjected to the cooking operation is detected by the connection / disconnection state of the unit clutch for connecting / disconnecting the power transmission to the food arm (31) for each tank. The control device 70 is connected to a unit clutch sensor 63a (see Fig. 13) that detects connection / disconnection of the unit clutch, and is configured to be able to detect the fresh water to be subjected to the cooking operation.

With the above arrangement, it is possible to calculate the travel distance of the rear wheels 8 considering the slip ratio from the slip ratio calculated from the settling amount of the rear wheels 8 to the package and the rotational speed of the rear wheels 8. Then, the actual working area is calculated from the running distance of the rear wheel 8 considering the slip ratio and the working width set according to the number of tides in which the cooking operation is performed.

(Calculating seedling mat (M) number of use)

The calculation of the number of seedlings M to be used will be described with reference to Figs. 20 and 21. Fig.

The control device 70 calculates the seedling replenishment number supplemented with the seedling on the basis of the detection state of the presence detection section 90 and the detection state of the movement amount detection section 80 provided on the seedling bearing surface of the seedling bearing stand 33 And the number of seedling mat uses is often calculated on the basis of the detected seedling replenishment count and the compression ratio of the seedling mat (M) separately calculated. Here, when the food part clutch operates, the control device 70 performs the detection of the presence of the seedling mat M in the presence detection section 90 and the detection of the movement amount of the seedling mat M in the movement amount detection section 80 .

As an example of the calculation of the seedling mat usage number, there is shown a case in which the food portion clutch is operated from the state in which two seedlings M are laid on the placement surface of the seedling rack 33, I will explain it.

As shown in Fig. 20 (a), when detecting presence of seedling mat M in presence / absence detecting section 90 at the start of the food processing operation, control device 70 adds one seedling replenishing number (1 The seedling mat (M) of the first seed is detected).

20 (b), as the first seedling mat (M) is fed vertically, the second seedling mat (M) on the upper side of the first seedling mat (M) Lt; / RTI &gt; Even if the upper end position of the first seedling mat M is positioned below the first seeding detecting section 90, the lower end of the second seedling mat M comes into contact with the seed detecting section 90, Is kept in a state of detecting the presence of the seedling mat (M). At this time, the control device 70 determines whether or not the top position (seedling mat remaining amount) of the first seedling mat M is greater than the movement amount (feed amount) of the seedling mat M detected by the movement amount detecting section 80, The presence of the seedling mat M is detected by the presence detection section 90, and the number of the seedling replenishment is added by one (the second seedling mat M is detected) .

20 (c), when the second seedling mat M is fed vertically to the lower side of the zone detecting section 90, the presence detecting section 90 detects the seedling mat M from the state in which the seedling mat M is detected, (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 in the seedling rack 33 (the length from the lower end of the placement surface measured beforehand to the zone detecting portion 90) And the movement amount (feed amount) of the seedling mat M calculated from the rotation number of the movement amount detecting section 80 are added to the length of the seedling mat M before compression (Design length of the seedling mat (M)) to calculate the compression ratio of the seedling mat (M).

21, the control device 70 determines whether or not the presence / absence of the seedling mat M is detected in the presence detection section 90 (the state in FIG. 21 (a)) , And when the operator changes state to the state of detecting the seedling mat M (state shown in Fig. 21 (b)) by the presence detecting section 90, for example, by adding the seedling replenishment or the like .

In the above configuration, the control device 70 calculates the seedling mat M based on the length of the seedling mat M before compression from the movement amount (feed amount) of the seedling mat M calculated by the movement amount detecting section 80, The number of mat uses can be calculated.

(Calculation of yield of seedling yield)

The control device 70 calculates the actual scraping area (the yield of the seedling yielding) based on the actual working area and the number of the seedling mats in the entire tank. The control device 70 calculates the number of performance mat (number of seedlings mat used per a predetermined area) from the number of seedlings matted by adding the number of seedlings mat used for each group and the actual working area.

Then, the control device 70 calculates an actual scraping area from the number of weeks taking into account the number of performance mats and the number of traversing times and the slip rate of the seedling rack 33.

(Calculation of target seedling withdrawal amount)

The control device 70 calculates the target scraping area (target area) based on the remaining seedling mat number calculated by subtracting the seedling mat usage number from the seedling mat number and the remaining work area calculated by subtracting the actual working area from the packaging area Seedling withdrawal amount) is calculated. The control device 70 calculates the target mat number (the number of the seedling mat per predetermined area) from the remaining working area and the remaining seedling mat number. Then, the control device 70 calculates the target scraping area from the number of weeks in consideration of the target mat number and the transverse feeding frequency and the slip rate of the seedling bearing block 33. [

(Calculation of correction amount of reference seedling withdrawing amount)

The control device 70 calculates the actual vertical draw-out amount and the actual horizontal draw-out amount (the actual lateral feed-through amount) from the actual scraping area and the target aspect ratio and calculates the target vertical draw- And the lateral draw-out amount (target lateral feed amount) is calculated.

Then, the control device 70 corrects the reference vertical take-out amount by adding the value obtained by subtracting the actual vertical take-out amount from the target vertical take-out amount to the reference vertical take-out amount as the correction amount of the reference vertical take-out amount, A value obtained by subtracting the actual lateral draw-out amount (actual lateral feed amount) from the drawn-out amount (target lateral feed amount) is subtracted from the reference lateral feed amount (reference lateral feed amount) (The reference transverse feed amount) is corrected so as to drive and control the food processing machine 3 (specifically, the actuators 48b and 56a).

In the above construction, the actual scraping area (yield seedling yield) from the actual working area of the entire coarse fraction and the seedling mat use number is calculated, and the target scraping area The target amount of seedlings is calculated and the amount of correction of the total seedling extraction amount is calculated from the actual scraping area and the target scraping area. However, the present invention is not limited to this, The correction amount of the entire tare may be calculated on the basis of the correction amount for each tare.

In this case, the control device 70 calculates the number of performance mat for each group from the actual working area for each group and the number of seedlings mat used per group, and calculates the number of performance mat for each group, The actual scraping area is calculated from the number of weeks taking into account the number of transverse traverses and the slip rate, and the actual vertical traverse amount and the horizontal traverse amount Transfer amount).

The control device 70 calculates the target mat number for each group based on the remaining working area for each group and the number of remaining seedling mat for each group and calculates the target mat number for each group and the width of the side of the seedling rack 33 The target scraping area for each group is calculated from the week number considering the number of feeds and the slip ratio, and the target vertical scraping amount for each group and the target horizontal scraping amount ).

Then, the control device 70 subtracts the correction amount of the reference lateral take-out amount (reference lateral feed amount) from the target lateral take-out amount (target lateral feed amount) calculated by subtracting the actual lateral take-out amount And calculates the amount of correction of the reference traverse amount (reference traverse feed amount) of the entire tread on the basis of the correction amount of the reference traverse amount (reference traverse feed amount) calculated for each tank. Further, the control device 70 calculates the correction amount of the reference vertical take-out amount for each group by subtracting the actual vertical take-out amount from the target vertical take-out amount calculated for each group, and calculates the correction amount of the reference vertical take- The correction amount of the reference vertical take-out amount is calculated.

As described above, by making it possible to calculate the actual working area where the actual food part work has been performed and the number of the seedling mat used in the actual food part during the food part work, the reference scraping area (reference seedling drawing amount) can do. Therefore, it is possible to appropriately perform the feeding operation with the desired seedling mat number for the desired packaging. Therefore, the consumption efficiency of the seedling mat M can be improved.

The control flow of the seedling drawing amount control (scraping area control) will be described with reference to Fig. Hereinafter, it is assumed that the food part clutch is connected and the food part working machine 3 is operating. When the seedling drawing amount control is started, the actual working area is calculated from the running distance and the working width of the rear wheel 8 considering the slip ratio at any time. The number of times of seedling replenishment is frequently detected from the detection state of the presence detection section 90 and the movement amount detection section 80 and the amount of movement (the amount of delivery) of the seedling mat M is calculated from the detection state of the movement amount detection section 80 .

In step # 21, the control device 70 determines whether or not the packaging area and the seedling mat number have been input by using the select dial 66. If the packed area and the seedling mat number are input, the process proceeds to step # 22.

In step # 22, the control device 70 calculates the reference scraping area based on the packed area and the number of the seedling mats, and calculates the reference vertical take-out amount and the reference lateral length based on the reference scraping area and the target aspect ratio (Reference lateral feed amount) is calculated. Then, the machine 3 (specifically, the actuators 48b and 56a) is driven and controlled so as to become the reference vertical draw-out amount and the reference horizontal draw-out amount (reference lateral feed amount), and the process proceeds to step # 23.

In step # 23, the control device 70 determines whether or not the presence detection section 90 has transitioned from a state in which the seedling mat M is detected to a state in which the seedling mat M is not detected. If the seed detection unit 90 detects that the seedling mat M is not detected, the process proceeds to step # 24.

In step # 24, the control device 70 calculates the seedling mat usage count for each group from the compression ratio calculated based on the feed amount of the seedling mat (M) per group and the seedling mat (M) replenishment frequency , The process proceeds to step # 25.

In step # 25, the control device 70 determines whether or not the seedling mat usage number for each group has been calculated. When the number of the seedling mat uses per group is calculated, the process proceeds to step # 26.

In step # 26, the control device 70 calculates the actual scraping area based on the actual working area and the seedling mat usage number, and calculates the actual vertical drawing amount and the actual vertical drawing amount based on the actual scraping area and the target aspect ratio And the transverse traverse amount (the traverse transverse traverse amount) is calculated, and the process proceeds to step # 27.

In step # 27, the control device 70 calculates the target scraping area based on the remaining working area and the remaining number of the seedling mat, and calculates the target vertical drawing amount and the target vertical drawing amount based on the target scraping area and the target aspect ratio The target lateral draw-out amount (target lateral feed amount) is calculated, and the process proceeds to step # 28.

In step # 28, the control device 70 calculates the correction amount of the reference vertical take-out amount based on the actual vertical take-out amount and the target vertical take-out amount, The target lateral feed amount), and then the process proceeds to step # 29.

In step # 29, the control device 70 corrects the reference vertical draw-out amount and the reference horizontal draw-out amount (reference lateral feed amount) based on the respective correction amounts of the reference vertical draw-out amount and the reference horizontal draw-out amount (Specifically, the actuators 48b and 56a) so as to be the corrected vertical take-out amount and the reference lateral takeout amount (the reference lateral feed amount).

In step # 30, the control device 70 determines whether or not the actual working area is a packaging area. If the actual working area is a pavement area, it is terminated. If the actual working area is not the packaging area, the process proceeds to step # 23.

In this seedling drawing amount control (scraping area control), since the correction values of the reference vertical drawing amount and the reference horizontal drawing amount are calculated from the remaining working area and the remaining seedling mat number, for example, When only the working area suddenly becomes 0, the control device 70 calculates the correction value to the maximum, and the driving load of the actuators 48b, 56a for correcting the reference vertical drawing amount and the reference horizontal drawing amount is likely to increase .

Therefore, when the remaining working area or remaining seedling mat number becomes 0 at the end of the work, the controller 70 calculates the target vertical draw-out amount and the target lateral draw-out amount (target (Actual transverse feed amount) and the target transverse feed amount (target transverse feed amount) are calculated based on the actual vertical draw-out amount and the target vertical draw-out amount, (Reference lateral feed amount) is calculated based on the reference lateral feed amount (reference lateral feed amount). By doing so, it is possible to avoid a problem that the corrected values of the reference vertical draw-out amount and the reference horizontal draw-out amount are maximally calculated at the end of the work, and the driving loads of the actuators 48b and 56a can be reduced.

With reference to Fig. 23, the identification and planning of the food part by the information terminal 100 will be described.

The communication unit of the rice milling machine 1 is configured to transmit and receive various data through a wide area communication network such as the Internet and to perform data communication with an external information terminal 100 connected via a wide area communication network.

As shown in Fig. 23 (a), the information terminal 100 stores information such as the elapsed time, the number of weeks, the number of lateral feeds, the settling amount of the rear wheels 8, the slip rate, The number of stalks, the number of stalks per a predetermined area, the remaining working area, and the number of remaining seedlings mat are received and displayed. The various data may be displayed in real time during the food processing, or may be displayed at the end of the food processing.

As described above, by allowing various detailed data to be received in the information terminal 100, a manager or the like who manages a plurality of packages can use the information terminal 100 to grasp the work situation for each package.

As shown in Fig. 23 (b), the relationship between the number of stems per unit area and the number of stems and the relationship between the number of stems and the number of stems may be displayed. In this case, by showing the ratio of the quantity and the quantity of the quantity, it can be usefully used for the next plan.

When estimating the quantity per predetermined area of the packaging in advance and setting the number of mats and seedling matte per a predetermined area, various kinds of information can be input to the information terminal 100 to simulate the number of required mats and the number of weeks . Therefore, the manager can plan the plant from the seedling stage or the growing stage of the seedling mat (M), so that the number of necessary mat and the number of weeks can be appropriately set.

[Second Embodiment]

In the first embodiment described above, when the control device 70 changes the reference vertical drawing amount and the change in the reference horizontal drawing amount (reference lateral feeding amount) in the case of changing the reference scraping area (reference seedling drawing amount) In the second embodiment, when the control device 70 changes the reference scraping area (reference seedling drawing amount), the control device 70 determines that the reference horizontal traverse amount The change of the reference vertical take-out amount is prioritized over the change.

The second embodiment is the same as the first embodiment except for the method of changing the reference scraping area (reference seedling drawing amount), and during the cooking operation, the working conditions such as the working speed of the food processing operation It is possible to notify the alarm part 68 of the seedling supplement warning at the timing according to the operator's request or the like.

Hereinafter, the same parts as those in the first embodiment will not be described, and only the parts different from the first embodiment will be described.

When changing the reference scraping area (reference seedling drawing amount), the control device 70 can change only the reference vertical drawing amount in the reference seedling drawing amount when the reference vertical drawing amount does not exceed the predetermined range And the reference vertical draw-out amount and the reference horizontal draw-out amount (reference lateral feed amount) in the reference seedling drawing amount can be changed when the reference vertical draw-out amount exceeds the predetermined range.

Here, the predetermined range of the vertical draw-out amount may be set based on, for example, a drive range (range of upper and lower limits) of the actuator 56a for setting the vertical draw-out amount, or the horizontal draw- The scraping shape can be set based on the range of the aspect ratio that is closer to the rectangular shape than the square shape because the amount of transverse drawing is extremely large relative to the vertical drawing amount. If the vertical draw-out amount exceeds the predetermined range, for example, the calculated target vertical draw-out amount exceeds the set upper limit value of the vertical draw-out amount and the vertical draw-out amount can not be set as the target vertical drawing amount, The setting of the draw-out amount becomes extremely large or extremely small, so that the scooping of the seedling mat M by the food claw 32 is not performed well, so that the omission of the seedling mat, the oozing by the escape of the seedling, This is because there is a possibility that harmful effects such as a bad attitude of seedlings may occur.

For example, in the case of calculating the correction amounts of the reference vertical draw-out amount and the reference horizontal draw-out amount during the cooking operation, the control device 70 sets the reference horizontal draw- The target vertical draw-out amount capable of realizing the ping area is calculated.

When the target vertical take-up amount thus calculated does not exceed the predetermined range, the control device 70 sets the value obtained by subtracting the actual vertical take-out amount from the target vertical take-out amount as the correction amount of the reference vertical take-out amount, And corrects only the reference vertical draw-out amount by adding to the drawing amount, and drives and controls the food processing machine 3 (more specifically, the actuator 56a).

On the other hand, when the target vertical draw-out amount calculated in this way exceeds the predetermined range, the control device 70 calculates the reference vertical draw-out amount and the reference horizontal draw-out amount (reference lateral feed amount) by the same calculation method as the above- And corrects the reference vertical take-out amount by adding the correction amount of the reference vertical take-out amount to the reference vertical take-out amount to correct the correction amount of the reference take-out amount (reference lateral feed amount) (The reference transverse feed amount), and drives and controls the food processing machine 3 (specifically, the actuators 48b and 56a).

When the calculated target vertical draw-out amount exceeds the predetermined range, for example, the control device 70 performs a horizontal draw-out operation in which the reference horizontal draw-out amount (reference lateral feed amount) actually set at that time is increased by one step The target vertical draw-out amount capable of realizing the target scraping area may be calculated while the target lateral draw-out amount (target lateral feed amount) is fixed to the amount (lateral feed amount). Further, for example, the target lateral draw-out amount (target lateral feed amount) capable of realizing the target scraping area may be calculated while the target vertical draw-out amount is fixed to the maximum amount. In these cases, the amount of correction of the reference vertical draw-out amount and the reference horizontal draw-out amount (reference lateral feed amount) from the target vertical draw-out amount and the target horizontal draw-out amount (target lateral feed amount), the actual vertical draw- And corrects the reference vertical draw-out amount and the reference horizontal draw-out amount (reference lateral feed amount), and drives and controls the food processing machine 3 (specifically, the actuators 48b and 56a).

[Third embodiment]

In the first and second embodiments described above, as the seedling drawing amount control executed by the control device 70, the seedling drawing amount is controlled based on the scraping area (vertical drawing amount and horizontal drawing amount) The control method is shown as an example. In the third embodiment, a control method of controlling the seedling drawing amount based only on the vertical drawing amount of the seedling is adopted.

The rice hatching machine 1 according to the third embodiment is the same as the first embodiment except for the control of the seedling draw-out amount and is provided with an alarm section 68 at the timing according to the working conditions such as the working speed of the food- To inform the seedling replenishment alarm.

Hereinafter, the same parts as those in the first embodiment will not be described, and only the parts different from the first embodiment will be described.

First, with reference to Fig. 24, a description will be given of a seedling take-out amount control (vertical take-out amount control) for controlling the seedling takeout amount based only on the vertical takeout amount of some seed.

The operator inputs the number of seedlings mat and the packed area to be used into the control device 70 by using the select dial 66 before carrying out some kinds of food processing in the packaging. The control device 70 calculates the reference vertical draw-out amount based on the input seedling mat number and the packaging area, and drives and controls the actuator 56a. The control device 70 is configured to be able to detect the number of notes (the number of notes per predetermined area calculated from the interval of the food items set by the operator) from the detection value of the daytime setting device 9a. The control device 70 is configured to be able to calculate the number of weeks in consideration of the slip rate to be described later. The slip ratio here is set from the settling amount of the rear wheel 8 at the work starting point in the package or a predetermined reference value.

The control device 70 calculates the target mat number (the number of the seedling mat per predetermined area) from the packed area and the seedling mat number. Then, the control device 70 calculates the reference vertical draw-out amount from the target mat number and the number of transverse feeding times of the seedling stock 33 and the number of weeks (which may also be a main sum considering the slip rate).

In the above configuration, the actuator 56a is driven and controlled so as to be the reference vertical draw-out amount, whereby the vertical draw-out amount required for performing the cooking operation for the desired package with the desired seedling mat number Can be set.

When the food processing operation is started, the control device (70) corrects the reference vertical extraction amount at any time based on the actual working area where the actual food processing has been performed and the number of the seedling mat used in the actual food processing. Specifically, the control device 70 calculates an actual vertical draw-out amount based on the actual working area and the seedling mat use number. Then, the control device 70 calculates the target vertical drawing amount on the basis of the remaining seedling mat number calculated by subtracting the seedling mat usage number from the seedling mat number, and the remaining working area calculated by subtracting the actual working area from the working area . The control device 70 corrects the reference vertical draw-out amount by adding the value obtained by subtracting the actual vertical draw-out amount from the target vertical draw-out amount to the reference vertical draw-out amount as the correction amount.

The control flow of the seedling drawing amount control (vertical drawing amount control) will be described with reference to Fig. Hereinafter, it is assumed that the food part clutch is connected and the food part working machine 3 is operating. When the seedling drawing amount control is started, the actual working area is calculated from the running distance and the working width of the rear wheel 8 considering the slip ratio at any time. The number of times of seedling replenishment is frequently detected from the detection state of the presence detection section 90 and the movement amount detection section 80 and the amount of movement (the amount of delivery) of the seedling mat M is calculated from the detection state of the movement amount detection section 80 .

In step # 31, the control device 70 determines whether or not the package area and the seedling mat number have been input by using the select dial 66. When the packed area and seedling mat number are input, the process proceeds to step # 32.

In step # 32, the control device 70 controls the actuator 56a to move to the reference vertical take-off amount calculated on the basis of the package area and the seedling mat number, and then proceeds to step # 33.

In step # 33, the control device 70 determines whether or not the presence detection section 90 has transitioned from a state in which the seedling mat M is detected to a state in which the seedling mat M is not detected. If the seed detection unit 90 detects the seedling mat M as not being detected, the process proceeds to step # 34.

In step # 34, the control device 70 calculates the seedling mat usage count for each group from the compression ratio calculated based on the feed amount of the seedling mat (M) per group and the seedling mat (M) replenishment frequency , The process proceeds to step # 35.

In step # 35, the control device 70 determines whether or not the seedling mat usage count for each tank has been calculated. When the seedling mat use number is calculated, the process proceeds to step # 36.

In step # 36, the control device 70 calculates an actual vertical draw-out amount based on the actual working area and the seedling mat usage number, and then proceeds to step # 37.

In step # 37, the control device 70 calculates the target vertical draw-out amount based on the remaining working area and the remaining seedling mat number, and then proceeds to step # 38.

In step # 38, the control device 70 calculates the correction amount of the reference vertical take-out amount based on the actual vertical take-out amount and the target vertical take-out amount, and shifts to step # 39.

In step # 39, the control device 70 corrects the reference vertical take-out amount based on the correction amount of the reference vertical take-out amount, drives and controls the actuator 56a so as to become the corrected reference vertical take-out amount, .

In step # 40, the control device 70 determines whether the actual working area is a packaging area. If the actual working area is a pavement area, it is terminated. If the actual working area is not the packaging area, the process proceeds to step # 33.

[Other Embodiments]

Other embodiments of the present invention will be described. The configurations of the embodiments described below are not limited to being solely applied to them, and they may be applied in combination with the configurations of other embodiments.

(1) In the above-described embodiment, the proximity sensor 85 detects the screw 81c provided in the boss 81b of the rotating body 81 in the movement amount detecting unit 80, ), But the present invention is not limited to this.

26, the rotating body 81 is provided with an elliptical cam 88A that rotates together with the rotating body 81, and an elliptical cam 88A that repeats turning on and off with the rotation of the cam 88A A micro switch 88B is installed. The micro switch 88B is turned on when the short diameter end of the cam 88A and the arm 88b are in contact with each other and the long diameter end of the cam 88A and the arm 88b Are in an abutting relationship with each other. In the above configuration, the number of revolutions of the rotating body 81 can be detected by repeating turning on and off the microswitch 88B every 90 degrees.

In addition to the above configuration, a rotary encoder may be mounted on the rotating shaft of the rotating body 81 to calculate the rotating speed (rotating angle) of the rotating body 81, or the potentiometer may be mounted on the rotating shaft of the rotating body 81 (Rotation angle) of the rotating body 81 may be calculated.

The rotating body 81 is used to construct the moving amount detecting portion 80 of the seedling mat M, but the present invention is not limited to this. In the contact type measuring method, a capacitance type gauge, a load cell and the like are considered. The capacitance type gauge can be installed in the entire region of the placement surface, for example, to accurately measure the feed amount and the remaining amount of the seedling mat (M) of the seedling platform (33). Further, the load cell can be detected on the basis of the load of the seedling mat M placed on the placement surface, for example, by being mounted on the supporting member of the seedling rack 33.

As a non-contact type measurement method, a laser rangefinder, image processing of a photographed image of a camera, an optical sensor, a brightness sensor, and the like are considered. The laser rangefinder can detect the feed amount of the seedling mat M by, for example, being provided so as to measure the distance from the upper side of the placement surface to the upper end surface of the seedling mat M to be placed. Further, the camera can detect the feed amount of the seedling mat M by, for example, photographing the photographed image by installing the seedling mat M to be placed on the placement surface. The optical sensor is constituted by, for example, a light emitting portion and a light receiving portion for detecting that light rays from the light emitting portion are blocked by the seedling mat (M), thereby detecting the feed amount of the seedling mat (M).

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

1: rice planting (seedling transplanting machine)
3: Food processor
33: Seedlings
68: Alarm section
70: Control device
72: seedling mat remaining amount calculating section
73: Notification criterion setting section
74:
80:
90:
A:
RV: Notification reference value

Claims (4)

A food processing machine capable of scraping seedlings from the seedling mat placed on the seedling rack and feeding the seedlings to the package,
A seedling mat remaining amount calculating section capable of calculating the remaining amount of the seedling mat placed on the seedling growing stage as the seedling mat residual amount;
An alarm section capable of notifying the seedling replenishment alarm when the seedling mat remaining amount is less than the notification reference value,
And a notification reference setting unit capable of changing the notification reference value. The method according to claim 1,
A vertical conveying mechanism for conveying the seedlings placed on the seedling rack in the vertical direction,
Further comprising a job setting unit operable to change a working condition of the food processor,
The transfer speed of the seedling mat by the vertical transfer mechanism is changed in accordance with the change of the working condition of the food processing machine by the job setting unit,
And changes the notification reference value according to the working condition of the food processing machine. 3. The method according to claim 1 or 2,
A vertical conveying mechanism for conveying the seedlings placed on the seedling rack in the vertical direction,
A presence detecting section that is arranged in a first area in which a seedling mat is disposed when the seedling mat is placed on the seedling bearing stand and the presence or absence of the seedling mat is detectable in a state in contact with the seedling mat;
Further comprising a movement amount detecting unit which is disposed downstream of the presence detecting unit in the conveying direction of the seedling mat by the vertical conveying mechanism in the first region and is capable of detecting the amount of movement of the seedling mat in a state in contact with the seedling mat ,
Wherein the notification reference setting section is configured to set the notification reference value at a position between the presence detecting section and the movement detecting section in the transport direction of the seedling mat by the vertical transfer mechanism in the first area Seedling transplant. The method of claim 3,
When the presence detecting section detects the presence of the seedling mat or when the remaining amount of the seedling mat becomes larger than the notification reference value in the case of notifying the seedling replenishment alarm, the warning section stops the seedling replenishing alarm A seedling transplanting machine.

Images