KR20210082148A - Seedling transplanter - Google Patents

Abstract

The present invention provides a seedling transplanting device capable of notifying a seedling supplement alarm at timing depending on a work condition such as a work speed of planting work and hope of a worker. The seedling transplanting device comprises: a planting working device (3) which is planted in packaging by scraping a seedling from a seedling mat (M) placed on a seedling loading stand (33); a seedling mat residual amount calculating unit (72) which calculates a residual amount of the seedling mat (M) placed on the seedling loading stand (33) as a residual amount of the seedling mat; an alarm unit (58) which notifies the seedling supplement alarm when a residual amount of the seedling mat falls below a notification reference value (RV); and a notification reference setting unit (73) which changes the notification reference value (RV).

Description

Seedling Transplanter {SEEDLING TRANSPLANTER}

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

In Patent Document 1, a vertical feeding mechanism for intermittently conveying a seedling mat placed on a seedling loading stand to the lower end side, a horizontal feeding mechanism for reciprocating the seedling loading table in the left-right direction, and a seedling loading table The seedling transplanting machine which has a planting operation machine provided with the planting claw which scrapes the seedling of a seedling mat from the lower end side and plant|plants in a field is disclosed. When the seedling loading table reaches the left and right reciprocating end during reciprocating movement in the left and right direction by the horizontal feeding mechanism, the vertical feeding mechanism transfers the seedling mat to the lower end of the seedling loading table by a predetermined interval, The placed seedling mat can be stably supplied to the planting claw.

On the seedling loading stand of this seedling transplanter, the movement amount detection part which detects the movement amount (transfer amount) in the longitudinal direction of the seedling mat mounted on the seedling loading stand is provided on the downstream side of the conveyance direction of the seedling loading table. In this seedling transplanter, a position (a position in the vicinity of the downstream side of the movement amount detection unit in the conveying direction by the vertical transfer mechanism) at which the movement amount of the seedling mat is not detected by the movement amount detection unit on the seedling loading stand is the notification reference value, and the movement amount When the amount of movement of the seedling mat is not detected by the detection part, it is comprised so that a seedling replenishment warning may be notified from an alarm part.

Japanese Patent Publication No. 5113484

In the said prior art, the residual amount of a seedling mat decreases and a seedling replenishment warning is notified to an operator only when the movement amount of a seedling mat is no longer detected by the movement amount detection part of the conveyance direction downstream of a seedling loading stand.

However, depending on working conditions, such as the working speed of a planting operation, consumption of a seedling mat may advance considerably rapidly. In such a case, the remaining amount of the seedling mat decreases, and even if a seedling replenishment warning is notified at the time when the movement amount detection unit on the downstream side in the conveyance direction of the seedling loading stand does not detect the movement amount of the seedling mat, the operator is All the seedling mats are consumed by the time it replenishes, and there exists a possibility of causing a loss.

In view of this situation, the main subject of this invention is providing the seedling transplanter which can notify a seedling replenishment warning at the timing according to working conditions, such as the work speed of a planting work, or the desire of an operator.

A first characteristic configuration of the present invention is a planting machine capable of scraping a seedling from a seedling mat placed on a seedling loading table and planting it in a pavement;

a seedling mat remaining amount calculating unit capable of calculating the remaining amount of the seedling mat placed on the seedling loading stand as the seedling mat remaining amount;

an alarm unit capable of notifying a seedling replenishment warning when the seedling mat remaining amount is less than a notification reference value;

It is characterized in that a notification standard setting unit capable of changing the notification reference value is provided.

According to this configuration, during the planting operation of scraping the seedling from the seedling mat placed on the seedling loading stand with the planting machine and planting it in the pavement, the remaining amount of the seedling mat calculated by the seedling mat remaining amount calculation unit is lower than the notification standard value A seedling supplement warning can be notified by the warning part at this time.

And since the notification reference value can be changed in the notification standard setting unit, the notification reference value can be set to an appropriate value according to the operation conditions such as the operation speed of the planting operation, the desire of the operator, etc., It becomes possible to notify a seedling replenishment warning at an appropriate timing according to the etc.

A second characteristic configuration of the present invention comprises: a vertical transfer mechanism for vertically transporting the seedling mat placed on the seedling loading stand;

A work setting unit capable of changing the working conditions of the planting machine is additionally provided,

It is comprised so that the conveyance speed of the seedling mat by the said vertical conveyance mechanism may be changed with the change of the said operation condition of the said planting machine by the said operation setting part,

The said notification standard setting part changes the said notification standard value according to the said operation condition of the said planting work machine, It exists in the point characterized by the above-mentioned.

According to this configuration, since the conveyance speed of the seedling mat by the vertical feeding mechanism is automatically changed with the change of working conditions, such as the working speed by the job setting unit, the conveying speed of the vertical feeding mechanism with the change of the working conditions We can perform planting work appropriately on the working conditions after the change, without forgetting the change of .

And a notification standard setting part can change a notification standard value according to operation conditions, such as the operation speed of a planting working machine. Therefore, for example, when the working condition of the planting machine is changed to the working condition with a fast working speed, the seedling supplement alarm can be changed to a notification reference value that can be notified at an early timing, and when the working condition is changed, the appropriate timing according to the working condition It becomes possible to notify seedling replenishment alert on.

A third characteristic configuration of the present invention is a vertical transport mechanism for transporting the seedling mat placed on the seedling loading stand in the longitudinal direction;

a presence/absence detection unit which is disposed and formed in the first area where the seedling mat is disposed when only one seedling mat is placed on the seedling loading table, and capable of detecting the presence or absence of the seedling mat in contact with the seedling mat;

In the first area, a movement amount detection unit capable of detecting the movement amount of the seedling mat in a state in contact with the seedling mat and disposed on a downstream side of the presence/absence detection unit in the conveyance direction of the seedling mat by the vertical transfer mechanism is additionally provided ,

The notification standard setting unit is configured to be able to set the notification reference value at a position between the presence/absence detection unit and the movement amount detection unit in the conveyance direction of the seedling mat by the vertical transfer mechanism in the first area. is at the point

According to this structure, when a seedling mat residual amount calculation part becomes the state which is not detected from the state which the residual amount of a seedling mat decreases, for example, and the presence/absence detection part is detecting the presence of a seedling mat, the residual amount of a seedling mat is presence or absence It is computable with the residual quantity corresponded to the position which fell below the detection limit by a detection part. Then, the residual amount of the seedling mat calculated in this way is set as the set residual amount, and the residual amount line is moved downward by subtracting the movement amount detected by the movement amount detection unit from the set residual amount, in the conveyance direction of the seedling mat in the first area Between the presence/absence detection unit and the movement amount detection unit, the remaining amount of the seedling mat can be calculated at any time.

And, since the notification standard setting unit can set the notification reference value at a position between the presence/absence detection unit and the movement amount detection unit in the conveyance direction of the seedling mat in the first area, the notification reference value is set at an appropriate position between the presence/absence detection unit and the movement amount detection unit, , it becomes possible to notify the worker of the seedling replenishment alarm at an appropriate timing.

A fourth characteristic configuration of the present invention is that when the warning unit notifies the seedling replenishment warning, when the presence or absence detection unit detects the presence of the seedling mat, or the remaining amount of the seedling mat is greater than the notification reference value At the time, there is a point characterized by stopping the seedling replenishment warning.

When the seedling replenishment warning is notified because the remaining amount of the seedling mat is less than the notification standard value, when the worker replenishes the seedling, the presence or absence detection unit detects the presence of the seedling mat, or the remaining amount of the seedling mat becomes more than the notification standard value, so this According to a structure, it is not necessary to provide separately the means for stopping a seedling replenishment warning, and an operator can stop a seedling replenishment warning only by replenishing a seedling.

1 is a side view of a rice transplanter.
Figure 2 is a plan view of the rice transplanter.
It is one side view (gas|gas right side view) of a planting part.
The other side view (gas|gas left side view) of a planting part.
Fig. 5 is a diagram showing a dashboard;
Fig.6 (a) is a rear view of the mounting surface for every set of a seedling loading table, (b) is a side view of the mounting surface for every set of a seedling loading table.
It is a side view of the principal part of the mounting surface for every set of seedling loading table.
Fig. 8 is a perspective view of a presence/absence detection unit seen from the back side;
Fig. 9 is an exploded perspective view of a presence/absence detection unit seen from the rear side;
Fig. 10 is a perspective view of a movement amount detecting unit as seen from the rear side;
Fig. 11 is an exploded perspective view of a movement amount detecting unit as seen from the rear side;
Fig. 12 is a diagram schematically showing a cross section of a movement amount detecting section;
Fig. 13 is a control block diagram of a control device;
Fig. 14 is a diagram showing detection of the remaining amount of the seedling mat;
It is a figure which shows the control flow of seedling supplemental warning control.
Fig. 16 is a block diagram showing seedling withdrawal amount control (scraping area control);
Fig. 17 (a) is a side view showing the amount of subsidence of the rear wheel to the pavement, and (b) is a side view showing the height from the rear wheel tread to the bottom of the float.
Fig. 18 is a side view showing the height from the ground surface of the rear wheel to the paddy field;
Fig. 19 is a graph showing the correlation between the amount of settling on the pavement of the rear wheel and the slip rate;
Fig. 20 is a diagram showing detection of water used for seedling mats;
Fig. 21 is a diagram showing detection of water used for seedling mats;
Fig. 22 is a diagram showing a control flow of seedling withdrawal amount control (scraping area control);
Fig. 23 is a diagram showing items displayed on an information terminal;
Fig. 24 is a block diagram showing seedling withdrawal amount control (vertical withdrawal amount control);
Fig. 25 is a diagram showing a control flow of seedling withdrawal amount control (vertical withdrawal amount control);
Fig. 26 is a diagram showing another embodiment of a movement amount detecting unit;

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

[First Embodiment]

<Overall composition>

With reference to FIG.1 and FIG.2, the whole structure of the rice transplanter 1 which is an example of a seedling transplanter is demonstrated. The rice transplanter 1 is equipped with the traveling body 2 and the planting work machine 3 attached to the rear part, and it is comprised so that a planting work may be performed by the planting work machine 3 while traveling by the traveling body 2 . has been In addition, in this embodiment, although the case where the number of planting tides of the rice transplanter 1 is 6 sets is shown as an example, of course, several sets of planting tides of the rice transplanter 1 may be sufficient.

The traveling body 2 includes an engine 4, a transmission 5 for changing power from the engine 4, a body frame 6 supporting the engine 4 and the transmission 5, an engine 4 and A front wheel 7, a rear wheel 8, etc. driven by power transmitted from the transmission 5 are provided.

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 by the front part of the body frame 6, and the front wheel 7 is supported by the left and right both ends. Similarly, while the rear axle case 10 is supported by the rear part of the body frame 6, the rear wheel 8 is supported by the left and right both ends. The upper part of the base frame 6 is coat|covered by the step 11, and an operator (operator) is movable on the step 11 top.

Moreover, the motive power from the engine 4 and the transmission 5 is transmitted to the planting work machine 3 via the daytime setting machine 9a (refer FIG. 13). The weekly setter 9a is comprised so that the planting space|interval of the seedling planted along the advancing direction of the traveling body 2 can be changed steplessly. The control apparatus 70 mentioned later is connected with the weekly setting machine 9a, and is comprised so that acquisition of the planting space|interval of a seedling is possible.

The driver's seat 12 is arrange|positioned in the front-back and intermediate part of the traveling body 2, and the steering wheel 13, the operation pedal 14, the dashboard 15, etc. are provided in front of it. On the dashboard 15 , in addition to the steering wheel 13 , an operation tool for various operations and a display device are disposed.

The planting work machine 3 is connected to the traveling body 2 via the raising/lowering link mechanism 20 .

The lifting link mechanism 20 includes a pair of left and right upper links 21 and lower links 22 , a lifting cylinder, and the like. The lower link 22 and the upper link 21 are rotated by the raising/lowering cylinder, and the planting work machine 3 is raised and lowered.

The planting work machine 3 is the transverse feed mechanism which reciprocates the planting arm 31, the planting claw 32, the seedling loading stand 33, and the seedling loading table 33 in a lateral direction (body width direction), and seedling loading. A vertical transfer mechanism, a float 34, and the like are provided for conveying the seedling mat M (refer to FIG. 6) placed on the stand 33 in the longitudinal direction (the body front-back direction) toward the lower end side. The planting claw 32 is attached to the planting arm 31 . In this embodiment, since the number of planting assistants of the rice transplanter 1 is 6 sets, it is equipped with the six planting arms 31 and the planting claw 32 of 12.

The planting work machine 3 is driven by the PTO shaft 16 extended from the transmission 5 toward the rear.

In more detail, power is transmitted from the PTO shaft 16 to the three planting transmission cases 36 installed in the planting machine 3 through the planting center case 35, and of the three planting transmission cases 36 Power is distributed from each to the planting arm 31 of a pair of right and left for every planting transmission case 36, and the planting claw 32 of a pair of right and left. A planting clutch is provided in the planting center case 35, and the planting clutch is comprised so that transmission of the motive power from the engine 4 to the planting work machine 3 may be connected/interrupted.

The planting arm 31 rotates with the motive power transmitted from the planting transmission case 36. A seedling is supplied to the planting claw 32 from the seedling loading stand 33. With the rotational movement of the planting arm 31, the planting claw 32 is inserted in a package, and a seedling is planted so that it may become a predetermined planting depth. In addition, in this embodiment, although the rotary type planting claw is employ|adopted, you may use the thing of a crank type.

The seedling loading stand 33 is comprised by the plate-shaped member, and is arrange|positioned so that it may incline in the front-to-back-bottom shape when it sees from the base side side. On the back surface of the seedling loading stand 33, the mounting surface which mounts the seedling mat M is arrange|positioned side by side in the body width direction according to the number of the planting arms 31 (the number of the rice transplanters 1). As for the rice transplanter 1 of this embodiment, since the number of planting tides is 6 rows, six mounting surfaces are formed. On the mounting surface, the seedling mat M (refer FIG. 6) is set in the inclined state.

The float 34 is attached to the planting frame 37 (refer FIG.17(b)). Specifically, the front end of the float 34 is supported so that it can rock|fluctuate in an up-down direction with respect to the planting frame 37, and the rear end of the float 34 is rotation provided in the planting frame 37. It is mounted on the support shaft 38 via a link mechanism 39 so as to be able to move up and down.

In the float 34, the sensor 40 (refer FIG. 18) which detects a pavement surface (field floor) is provided in the immediate front of the planting position of the planting claw 32. The sensor 40 extends from the front toward the rear. The sensor 40 is supported by the planting frame 37 so that it can swing freely around the axial center along the pitching direction (that is, it can swing freely in the up-down direction), and sags by gravity centering on the swinging point. For this reason, the state in which the front-end|tip part contacted the pavement surface is maintained. That is, the rice transplanter 1 advances in the state which the front-end|tip part of the sensor 40 always follows the pavement surface.

The horizontal transfer mechanism which reciprocates the seedling loading stand 33 to the body width direction using FIG. 3 is demonstrated.

As shown in FIG. 3, the feed screw 41 extends from the planting center case 35 toward the body width direction one side (the body left side). A cross-shaped groove is formed in the outer peripheral surface of the feed screw 41 along the axial direction. The feed screw 41 is provided with a slider 42 slidable along the groove and a slider receiver 43 for supporting the slider 42 . The slider receiver 43 is formed in a substantially T-shape. While the feed screw 41 is provided in the slider receiving 43, the slider 42 is accommodated so that sliding along the groove|channel of the feed screw 41 is possible.

The lower rail 44 is attached to the lower part of the front surface (the back surface of a mounting surface) of the seedling loading table 33. As shown in FIG. The lower rail 44 is arrange|positioned making the body width direction into a longitudinal direction. A slider receiver 43 is fixed to the lower rail 44 via a support arm 45 .

Below the lower rail 44, the guide rail 46 which supports the lower rail 44 slidably in the body width direction is provided. The guide rail 46 is arrange|positioned making the base|substrate width direction a longitudinal direction. The guide rail 46 includes an engaging portion 46a that engages with the lower rail 44, and an extension portion 46b extending from the engaging portion 46a along the shape of the bottom of the seedling loading stand 33. composed by By engaging the lower rail 44 with the engaging portion 46a of the guide rail 46 , the lower rail 44 is configured to be slidable along the guide rail 46 in the body width direction. On the guide rail 46, a stopper 47 for preventing the lower rail 44 from deviating from the guide rail 46 is detachably mounted with a bolt.

The horizontal feed switching lever 48 which adjusts the horizontal feed amount of the seedling mounting stand 33 is provided in the side surface to which the feed screw 41 of the planting center case 35 extends. The horizontal feed switching lever 48 is provided with a horizontal feeding frequency detection sensor 48a (refer to FIG. 13) which detects the horizontal feeding frequency of the seedling loading table 33 by detecting the position of the horizontal feeding switching lever 48. do.

The control device 70 is connected to the transverse feed count detection sensor 48a, is configured to detect the transverse feed count of the seedling loading table 33, and detects the later-described transverse pull-out amount from the transverse feed count. do. Moreover, the actuator 48b (refer FIG. 13) is provided in the horizontal feed switching lever 48. As shown in FIG. By the actuator 48b being drive-controlled, the transverse feed switching lever 48 is comprised so that operation is possible.

Therefore, when the horizontal feed switching lever 48 is operated by the actuator 48b, the horizontal feed amount of the seedling loading stand 33 can be adjusted, and the frequency|count of horizontal feeding of the seedling loading stand 33 can be changed.

By changing the number of horizontal feeds of the seedling loading table 33, the horizontal feeding amount (lateral feeding speed) of the seedling loading table 33 is changed, and the horizontal drawing amount from the seedling mat M by the planting claw 32 is can be changed The horizontal withdrawal amount here refers to the width|variety scraped by the planting claw 32 in the body width direction of the traveling body 2 when the seedling mat M is planarly viewed. By adjusting the amount of horizontal withdrawal, it is comprised so that the amount of seedling withdrawal from the seedling mat M by the planting claw 32 can be changed.

The vertical feed mechanism which feeds the seedling mat M set|placed on the seedling loading stand 33 downward using FIG. 4 is demonstrated.

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

The driven cam 53 is provided on the conveyance belt drive shaft 55 which is the lower part of the seedling mounting table 33 and drives the conveyance belt 54. As shown in FIG. When the longitudinal feed cam 51 and the driven cam 53 come into contact with rotation of the longitudinal feed camshaft 52, the driven cam 53 will rotate. As the conveyance belt drive shaft 55 rotates with the rotation of the driven cam 53, the conveyance belt 54 circulates and conveys the seedling mat M mounted on the conveyance belt 54 by a predetermined distance. .

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

When the actuator 56a is driven and controlled, the seedling stand rail support shaft 56 is comprised rotatably. Therefore, when the support frame 57 rotates with rotation of the seedling stand rail support shaft 56, the guide rail 46 (seedling loading stand 33) moves up and down (it is comprised so that raising/lowering is possible), and planting The distance between the planting transmission case 36 and the seedling loading stand 33 which support the claw 32 can be changed.

Therefore, the amount of vertical withdrawal from the seedling mat M by the planting claw 32 can be changed. The vertical withdrawal amount here refers to the width|variety which scrapes the seedling mat M in the advancing direction of the traveling body 2 when planarly view. By adjusting the amount of vertical withdrawal, it is comprised so that the amount of seedling withdrawal from the seedling mat M by the planting claw 32 can be changed.

Moreover, the seedling stand rail support shaft 56 is connected with the driven cam 53 via the interlocking wire 60. As shown in FIG. With the rotation of the seedling stand rail support shaft 56, the driven cam 53 is rotated by a predetermined angle by the tension applied to the interlocking wire 60, and conveyed according to the vertical withdrawal amount from the seedling mat M The feed amount by the belt 54 is adjusted.

The above structure WHEREIN: The slider 42 slides with respect to the groove|channel of the feed screw 41 by the motive power from the engine 4 being transmitted to the feed screw 41 via the planting center case 35, and this The slider receiving 43 slides in the width direction of the body together with it. When the slider receiver 43 slides, the lower rail 44 slides along the guide rail 46 via the support arm 45, and the seedling loading stand 33 slides with this in the body width direction. And when the seedling loading table 33 reaches the stroke end of the body width direction, the vertical feed cam 51 comes into contact with the driven cam 53, and the conveyance belt drive shaft 55 rotates, so that the conveyance belt 54 is cycled

When the slider 42 reciprocates along the groove of the feed screw 41 , the seedling loading table 33 reciprocates along the guide rail 46 . When the seedling loading table 33 reciprocates along the guide rail 46 by a horizontal feed mechanism, it is body width from the body width direction one side (the body left side) of the seedling mat M mounted on the seedling loading table 33. The planting claw 32 scrapes a seedling from the other side (body right side) or the body width direction other side (body right side) toward the body width direction one side (body left side), and it makes it possible to transplant. When the planting claw 32 scrapes the seedlings on one side of the body width direction (the right side of the body) or the other side (the left side of the body) of the seedling mat M, the conveyance belt 54 is It operates and makes it possible to convey the seedling mat M toward the lower end (rear end) of a mounting surface. As mentioned above, scraping of a seedling is made possible from the seedling mat M mounted on the seedling loading stand 33 by reciprocating the seedling mat M in the base width direction, and conveying below suitably.

The dashboard 15 will be described with reference to FIG. 5 .

The steering wheel 13 is arrange|positioned in the right and left central part of the dashboard 15, the main gear lever 61 is provided in the left side of the steering handle 13, In the right side of the steering wheel 13, a planting lifting lever (62) is installed. Below the steering wheel 13, the nail stop switch 63 which stops the drive of the planting claw 32 for every predetermined jaw, the speed setting volume 64 which sets the maximum speed, the hydraulic sensitivity of the float 34 Sensitivity setting volume (65) to set , the planting depth and the select dial (66) to set various items such as the amount of seedlings pulled out from the seedling mat (M) (vertical withdrawal amount or horizontal withdrawal amount (number of horizontal feeds)), etc. this is installed In front of the steering wheel 13 , a monitor 67 that displays the settings of the select dial 66 and the like, the speed of the traveling body 2 , and the like is provided.

The select dial 66 is capable of setting various work conditions related to work contents such as planting depth, seedling withdrawal amount (vertical withdrawal amount, horizontal withdrawal amount (horizontal feed count)), work speed, notification standard value of seedling replenishment warning, etc. it's a dial The operator rotates the select dial 66 left and right to select an item to be set from various items, and determines by pressing the select dial 66 . For example, if you want to set the vertical withdrawal amount as the seedling withdrawal amount, rotate the select dial 66 left and right to select the vertical withdrawal amount item, and press the select dial 66 to determine the item, By rotating the select dial 66 left and right, the adjustment amount of the vertical withdrawal amount is selected, and by pressing the select dial 66, the vertical withdrawal amount is set by the adjustment amount. The select dial 66 is connected to the control device 70 (refer to FIG. 13).

<seedling supplement warning control>

Next, the seedling replenishment warning control performed based on calculation of the residual quantity of the seedling mat M set|placed on the seedling loading stand 33 is demonstrated using FIGS. 6-12.

6, 7, the presence/absence detection part 90 which can detect the presence or absence of the seedling mat M on the mounting surface on which the seedling mat M for every set in the seedling loading stand 33 is placed, and a seedling A movement amount detection unit 80 capable of detecting a movement amount (transfer amount) of the mat M downward is provided.

And as shown in FIG. 13, in the control apparatus 70 of the rice transplanter 1, based on the detection state of the presence or absence detection part 90, and the detection state of the movement amount detection part 80, the residual amount of the seedling mat M A seedling mat remaining amount calculation unit 72 for detecting .

(presence detection unit)

As for the presence or absence detection part 90, as shown, for example in FIG. 6, when the seedling mat M in the mounting surface for every set of the seedling loading stand 33 is set|placed one piece, seedling mat M is arrange|positioned When it is provided on the upper end side in the 1st area|region A used, and puts one seedling mat M on the mounting surface of the seedling loading stand 33, by contacting the seedling mat M, the seedling mat M The presence is configured to be detectable. Moreover, when not putting one seedling mat M on the mounting surface of the seedling loading stand 33, it is comprised so that absence of the seedling mat M is detectable by not contacting the seedling mat M. For example, the presence/absence detection unit 90 is the first area A when the length of one sheet of the seedling mat M in the longitudinal direction is 580 mm and the length of the first area A is 580 mm. It is installed in the position 510 mm above from the lower end (lower end of the mounting surface of the seedling loading table 33).

In the present embodiment, the presence/absence detection unit 90 is, as shown in Figs. 7 to 9 , the second fixed by fixing means K1 such as bolts or screws to the back side of the mounting surface of the seedling loading table 33 . 1 A mounting bracket 91, a limit sensor 92 fixed to the first mounting bracket 91 with fixing means 94 such as bolts or screws, and a through hole in the mounting surface of the seedling loading table 33; 33b) (refer to Fig. 7) via a swinging part 93, etc. which is mounted to the first mounting bracket 91 with the tip side protruding upward from the mounting surface so that the proximal side can freely swing around the horizontal axis. is composed

The swinging portion 93 includes a shaft member 93a rotatably mounted to the first mounting bracket 91 about a transverse axis, and the shaft member 93a in a posture in which the tip side is upright toward the front side of the mounting surface. A lever member 93b made of a plate spring having a substantially L shape when viewed from the side to be mounted, a cover member 93c attached to the shaft member 93a in a state where the lever member 93b is covered from the front side of the mounting surface, etc. is composed of In addition, an anti-removal tool 95 or the like for preventing the shaft member 93a from coming off from the first mounting bracket 91 is provided.

The presence/absence detection part 90 comprised in this way contacts the seedling mat M placed on the mounting surface of the seedling loading table 33, and the weight of the seedling mat M moves to the swinging part 93, as shown in FIG. When loaded, the swinging portion 93 swings downward and the switch portion 92a of the limit sensor 92 is pressed by the lever member 93b of the swinging portion 93, whereby the seedling mat M is present. can be detected. Moreover, contrary to this, when the weight of the seedling mat M is not loaded on the rocking|fluctuation part 93, the switch part 92a of the limit sensor 92 is not pressurized, and the seedling mat M can detect the absence of

(Movement amount detection unit)

When the movement amount detection part 80 puts one seedling mat M in the mounting surface for every set of the seedling loading stand 33, as shown in FIG. 6, the 1st seedling mat M is arrange|positioned It is installed below the presence/absence detection unit 90 in the area (A), and in a state where at least one seedling mat (M) is placed on the mounting surface of the seedling loading table (33), the amount of movement downward of the seedling mat (M) ( vertical feed amount) can be detected. For example, the movement amount detection part 80 is provided in the position 180 mm above from the lower end of the 1st area|region A (lower end of the mounting surface of the seedling mounting table 33).

In this embodiment, as shown in FIG. 7, FIG. 10, and FIG. 11, the movement amount detection part 80 is fixed means K2, such as a bolt and a screw, on the back side of the mounting surface of the seedling loading table 33. A second mounting bracket (82) fixed thereto, and a swinging arm (84) mounted to the second mounting bracket (82) so as to be freely swingable about a transverse axis in a state in which it is oscillated and elastically supported upward by an elastic support spring (83). and a rotating body 81 mounted on the tip side of the swing arm 84 so as to be able to rotate freely about a transverse axis, and a rotational speed of the rotation body 81 mounted on the tip side of the swing arm 84. It is comprised by the proximity sensor 85 etc. which detect. In addition, the locking mechanism 86 for preventing the first shaft portion 84a of the swinging arm 84 from coming off from the second mounting bracket 82, and the second shaft portion 84b of the swinging arm 84 are separated from each other. A drop-out prevention tool 87 or the like for preventing the rotation body 81 from coming off is provided.

A plurality of projections 81a are provided on the outer periphery of the rotating body 81 radially with respect to the rotation center. The rotating body 81 is provided so that the projection 81a protrudes upward from the mounting surface through the through-hole 33a (refer FIG. 7) from the back surface side of a mounting surface. The rotating body 81 is configured to rotate in association with the longitudinal feed of the seedling mat M while the projection 81a digs into the bottom surface of the seedling mat M vertically fed on the mounting surface (while engaging). . The surface of the protrusion 81a on the abutting side with the seedling mat M is constituted by a shape bent to the upstream side of the rotational direction of the rotating body 81 . If it describes from the relationship between the seedling loading stand 33 and the rotating body 81, the surface of the contact|abutting side with the seedling mat M of the protrusion 81a is curved toward the feed source of the seedling mat M. composed by In the present embodiment, the protrusion 81a is formed while being curved from the base end to the front end in the upstream direction of the rotational direction of the rotating body 81 when viewed from the side.

As mentioned above, the surface of the protrusion 81a of the rotation body 81 on the abutting side with the seedling mat M is comprised by the shape bent to the upstream side of the rotation direction, so that the ash in the vicinity of the upper side of the rotation body 81 is formed. When the seedling mat M has been fed to the tooth surface, the seedling mat M tends to come into contact with the projection 81a (it is easy to get caught). Therefore, the sliding of the rotating body 81 can be prevented, and as shown in FIG. 7, it can link with the longitudinal feed of the seedling mat M, and the rotating body 81 can be rotated.

In addition, the projection 81a may be formed as a star wheel without being curved in the upstream side of the rotational direction from the base end to the front end when viewed from the side, and when viewed from the side, from the base end to the front end in the rotational direction. It may be formed to be inclined to the upstream side, and the tip may be formed in a pointed shape. The projection 81a becomes easy to hang on the downstream side surface or the bottom surface of the seedling mat M by forming a front-end|tip part in pointed shape. Therefore, sliding of the rotating body 81 can be prevented, and the rotating body 81 can be rotated in association with the longitudinal feed of the seedling mat M.

A boss portion 81b is provided at the rotation center of the rotating body 81 . The boss part 81b is provided with the screw 81c for every 90 degree rotation direction, The rotation speed of the rotating body 81 is detected by detecting the screw 81c with the proximity sensor 85. . By detecting the rotation speed of the rotating body 81 with the proximity sensor 85, the downward movement amount (vertical feed amount) of the seedling mat M can be detected.

Moreover, as shown in FIGS. 10-12, the O-ring 81d is provided in the site|part opposing the front surface (the back surface of a mounting surface) of the seedling loading stand 33 in the rotation body 81. As shown in FIG. 12 : is a schematic diagram for demonstrating the function of the O-ring 81d.

When the rotation body 81 is rocking|fluctuating and elastically supported by the upper seedling loading table 33 side by the elastic support spring 83, and the seedling mat M is not mounted on the seedling loading table 33, As shown to Fig.12 (a), the O-ring 81d contact|abuts with the front surface of the seedling loading stand 33, and rotation of the rotating body 81 is restrained by frictional force.

As shown in FIG.12(b), when the seedling mat M is mounted on the seedling loading stand 33, the rotating body 81 resists the elastic support force of the elastic support spring 83, and the seedling mat M ), the O-ring 81d is separated from the seedling loading table 33, and the rotating body 81 is rotatable.

By setting it as the above structure, when the seedling mat M is not mounted on the seedling loading stand 33, the rotating body 81 rotates and the movement amount detection part 80 miscalculates the movement amount below of the seedling mat M. It can prevent detecting and the amount of movement to the downward direction of the seedling mat M can be appropriately detected. In addition, the member which restrains the rotation of the rotating body 81 is not limited to the O-ring 81d.

(Calculation of seedling mat residual quantity)

As shown in FIG. 14, the residual amount of the seedling mat M decreases, and the seedling mat residual amount calculation part 72 detects the presence of the seedling mat M by the presence or absence detection part 90 shown to FIG. 14(a). Seedling replenishment mentioned later when it shifts to the state (in other words, the state which does not detect the presence of the seedling mat M) which is detecting the absence of the seedling mat M shown in FIG. 14(b) from the state currently doing. The number of times and the remaining amount of the seedling mat M (hereinafter sometimes referred to as "remaining amount of seedling mat") estimated at any time from the number of times and the movement amount of the seedling mat M detected by the movement amount detecting unit 80, etc. The residual amount corresponding to the position near the lower side of the presence/absence detection unit 90) is corrected. And, as shown in FIG.14(c), the seedling mat residual amount calculation part 72 subtracts the movement amount of the seedling mat M detected by the movement amount detection part 80 from the set residual amount from time to time in the form which subtracts, a seedling mat, Calculate the remaining amount from time to time.

(seedling replenishment alarm control)

As shown in FIG. 13, in the rice transplanter 1, the seedling mat residual amount calculated by the seedling mat residual amount calculation part 72 of the control apparatus 70 would have been less than the notification reference value RV (refer FIG. 14(c)) Alarm parts 68, such as an alarm buzzer, which can notify the seedling replenishment alarm which urges an operator to replenish a seedling at this time are provided. Moreover, the control apparatus 70 is equipped with the notification standard setting part 73 which can change the notification reference value RV. As described above, the seedling mat residual amount calculation unit 72 calculates the seedling mat remaining amount between the upper presence/absence detection unit 90 and the lower movement amount detection unit 80 on the mounting surface of the seedling loading table 33 . Since it is calculated from time to time, the notification standard setting part 73 is the area|region L between the presence/absence detection part 90 of the upper side in the mounting surface of the seedling loading table 33, and the movement amount detection part 80 of the downward side (FIG. 6) is configured to be able to set the notification reference value (RV) at an appropriate position. Specifically, the area L in which the notification reference value RV can be set is the area between the lower end position of the detection range of the upper presence/absence detection unit 90 and the upper end position of the detection range of the lower movement amount detection unit 80 . It is an area|region in the range of about 200 mm - about 400 mm from the lower end of the mounting surface of the seedling loading table 33.

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

The control apparatus 70 is equipped with the work setting part 74 which can change the working conditions regarding work content, such as the work speed of the planting work machine 3, and the notification standard setting part 73 automatically sets a notification standard value. When changing (RV), it is comprised so that notification reference value RV may be automatically changed according to the operation condition of the planting work machine 3 . For example, the notification standard setting unit 73 may set the notification reference value (upper position in FIG. 6) so that the notification reference value (RV) becomes a larger value (upper position in FIG. 6) as the operation condition of the planting working machine 3 is set at a faster operation speed. RV) is configured to change automatically.

The notification standard setting unit 73 can also manually change the notification reference value RV, and in that case, for example, the operator inputs the notification reference value RV using the select dial 66 to manually notify and change the reference value RV.

Therefore, the notification reference value (RV) can be set to an appropriate value according to the operation conditions such as the operation speed of the planting operation, the wishes of the operator, etc., and a seedling replenishment alarm is issued at an appropriate timing according to the operation conditions of the planting operation and the wishes of the operator. can notify

An explanation is added about the control flow of the seedling supplemental warning control executed by the control device 70 .

As shown in FIG. 15, the control apparatus 70 during a planting operation|work is presence of the seedling mat M in the presence/absence detection part 90 in the case where a planting clutch is "on" (the example of step #10). When the presence of the seedling mat M is not detected from the detected state, and the absence of the seedling mat M is detected, the seedling mat residual amount calculation unit 72 calculates the seedling mat residual amount at any time (step Example of #11, step #12).

And when the seedling mat residual amount calculated by the seedling mat residual amount calculation part 72 becomes less than the notification reference value RV, and the seedling mat residual amount is less than the notification reference value RV, the control device 70 sends the alarm part 68 A seedling replenishment warning is notified (example of step #13, step #14). Moreover, when the control apparatus 70 notifies a seedling replenishment warning, the distance which can continue a planting operation from the setting of the seedling mat residual amount calculated by the seedling mat residual amount calculation part 72, and the working condition of the planting work machine 3 It may be comprised so that it may calculate and display to an operator.

After that, in the state in which the seedling replenishment warning is notified, the first stop condition in which the seedling mat residual amount calculated by the seedling mat residual amount calculation unit 72 is equal to or greater than the notification reference value RV, and the presence or absence detection unit 90 in the seedling mat When at least one of the second stop conditions in which the presence of (M) is detected is satisfied, the control device 70 stops the seedling replenishment warning (Yes of Step #15, Step #16). Therefore, it is not necessary to provide separately the means for stopping a seedling replenishment warning, and an operator can stop a seedling replenishment warning only by replenishing a seedling.

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

Therefore, the presence/absence detection part 90 is the 1st area|region A in which the seedling mat M is arrange|positioned, when the seedling mat M in the mounting surface for every set of the seedling loading stand 33 is set|placed 1 piece. When one seedling mat M is placed on the mounting surface of the seedling loading table 33, such as on the upper end side, it is provided in a position where the presence of the seedling mat M can be detected by contacting the seedling mat M. desirable.

＜Controlling the amount of seedling withdrawal＞

Next, using FIGS. 16-22, it is a planting operation. WHEREIN: The quantity (seedling withdrawal amount) of the seedling scraped with the planting machine 3 from the seedling mat M placed on the seedling loading stand 33 is calculated. The controlled seedling withdrawal amount control is demonstrated. In this embodiment, it is comprised so that the seedling withdrawal amount may be controlled based on the scraping area (a vertical withdrawal amount and a horizontal withdrawal amount) of a seedling.

(Calculation and change of reference seedling withdrawal amount)

In this rice transplanter 1, the control apparatus 70 is comprised so that calculation of the reference seedling withdrawal amount for the planting working machine 3 to plant from the input pavement area and the number of seedling mats is possible. A reference seedling withdrawal amount refers to the seedling withdrawal amount used as a reference|standard, when planting operation|work to a predetermined|prescribed pavement using the seedling mat M of a predetermined number. Here, the control apparatus 70 is comprised so that calculation of a reference|standard scraping area, furthermore, a reference|standard vertical withdrawal amount, and a reference|standard horizontal withdrawal amount (standard horizontal feeding amount) is possible as a reference|standard seedling withdrawal amount.

Moreover, in the planting operation|work, the control apparatus 70 calculates the correction amount of the reference seedling extraction amount based on the actual working area which the planting operation was carried out, and the number of use of the seedling mat used with respect to the actual working area, and adds the correction amount. It is configured so that the reference seedling withdrawal amount can be changed.

When the control device 70 changes the standard horizontal withdrawal amount (standard horizontal feed amount) with changing the reference seedling withdrawal amount, the timing after conveying the seedling mat M in the vertical direction by the vertical feeding mechanism is configured to change the reference horizontal withdrawal amount (reference horizontal feed amount) to . For example, when the standard horizontal draw-out amount or the corrected standard horizontal draw-out amount is selected from a plurality of prescribed values, since the width dimension of one sheet of the seedling mat M is approximately determined, the prescribed value of the standard horizontal pull-out amount is , becomes a value that can be scraped without leaving one sheet of the seedling mat M at the corresponding predetermined number of scrapings. In this case, the planting operation from the vertical transfer of the seedling mat (M) to the next vertical transfer is one stroke, and the planting operation is carried out until the middle with the standard horizontal withdrawal amount set as a specific specified value between one strokes. , if the standard horizontal withdrawal amount is changed to another specified value, the remaining amount of the seedling mat after the change may have an intermediate width that cannot be scraped without leaving the changed other specified value. Therefore, in order to scrape the seedling mat M with a specified value between one stroke, the seedling mat M is transferred with a vertical transfer mechanism without changing the standard horizontal withdrawal amount in the middle of the stroke. The reference transverse feed amount (standard transverse feed amount) is changed at the timing (timing of the start or end of the stroke) after conveying in the vertical direction.

Hereinafter, calculation and change of the reference seedling withdrawal amount are demonstrated using FIG.

First, an operator inputs the number of seedling mats to be used and a pavement area into the control apparatus 70 using the select dial 66, before performing the planting operation|work of a seedling in pavement. That is, the select dial 66 is provided as a pavement area input means and a seedling mat number setting means. In addition, the pavement area input means and the seedling mat number setting means are not limited to the structure mentioned above, For example, the control apparatus 70 The number of seedling mats and the pavement area received by the communication unit of the rice transplanter 1 via an external server. ), or input to the control device 70 the number of seedling mats and pavement area received from the communication unit of the rice transplanter 1 from an information terminal such as a smart phone or tablet owned by a user such as an operator, a management company, or the like. It can be configured to do so.

The control device 70 calculates the reference scraping area based on the input seedling mat number and the pavement area, and the planting work machine 3 (specifically, the actuator 56a which sets the vertical feeding mechanism) Actuator 48b etc. which set the transverse feed mechanism) are driven and controlled.

The control apparatus 70 is comprised so that the number of plantings (the number of plantings per predetermined area computed from the planting space|interval which an operator sets) can be detected from the detection value of the weekly setter 9a. And the control apparatus 70 is comprised so that calculation of the number of injections in consideration of the slip rate mentioned later is possible. The slip ratio here is set from the amount of subsidence of the rear wheel 8 to the pavement at the work start point or a predetermined reference value.

The control device 70 calculates the target number of mats (the number of seedling mats per predetermined area) from the pavement area and the number of seedling mats. Then, the control device 70 calculates the reference scraping area from the target number of mats and the number of sheets (the number of sheets taking the slip rate into account), and further calculates the reference scraping area from the reference scraping area and the target aspect ratio, and A standard horizontal withdrawal amount (standard horizontal feed amount) is calculated.

By the above structure, when the control apparatus 70 performs a planting operation, while driving-controls the actuator 56a so that it may become a reference|standard vertical withdrawal amount, the actuator 48b is moved so that it may become a reference|standard horizontal withdrawal amount (standard horizontal feed amount). By controlling the drive, a planting operation can be performed on a desired pavement with a desired number of seedling mats, without depending on the operator's experience or sense.

When the planting operation is started, the control device 70 controls the standard seedling withdrawal amount (standard vertical withdrawal amount or standard horizontal withdrawal amount) based on the actual working area where the actual planting operation was performed and the number of seedling mats used for the actual planting operation. withdrawal amount) from time to time.

Specifically, the control device 70 calculates the performance scraping area based on the actual working area and the number of use of the seedling mat (the number of consumption of the seedling mat M), and from the result scraping area and the target aspect ratio The amount of vertical withdrawal of results and the amount of horizontal withdrawal of results (the amount of horizontal transfer) are calculated. Further, the control device 70 is configured to configure the target scraping area based on the remaining working area calculated by subtracting the actual working area from the working area and the remaining seedling mat number calculated by subtracting the number of seedling mats used from the number of seedling mats. , and a target vertical withdrawal amount and a target horizontal withdrawal amount (target horizontal transfer amount) are calculated from the target scraping area and the target aspect ratio.

Then, the control device 70 corrects the standard vertical withdrawal amount by adding a value obtained by subtracting the actual vertical withdrawal amount from the target vertical withdrawal amount to the reference vertical withdrawal amount as a correction amount of the reference vertical withdrawal amount, and the target horizontal withdrawal amount The standard horizontal withdrawal amount (standard horizontal transfer amount) is added to the standard horizontal withdrawal amount (standard horizontal transfer amount) as a correction amount of the standard horizontal withdrawal amount (standard horizontal transfer amount) by subtracting the horizontal withdrawal amount (performance horizontal transfer amount) from the withdrawal amount (target horizontal transfer amount) The amount (standard horizontal feed amount) is corrected, and the planting work machine 3 (specifically, actuators 48b and 56a) is driven and controlled so that it may become the reference|standard vertical withdrawal amount and reference horizontal withdrawal amount (standard horizontal feed amount) after correction|amendment.

At this time, as above-mentioned, when changing the reference|standard horizontal withdrawal amount (standard horizontal feeding amount), the control apparatus 70 draws out reference horizontally at the timing after conveying the seedling mat M in the vertical direction by a vertical feeding mechanism as mentioned above. Change the amount (standard horizontal feed amount). In addition, in the case of changing the reference vertical withdrawal amount, the reference vertical withdrawal amount may be changed at the timing at which the reference vertical withdrawal amount is corrected, and the reference vertical withdrawal amount may be changed at the same timing as the timing of changing the reference horizontal withdrawal amount (standard horizontal transfer amount) may be changed.

(Calculation of actual working area)

17 to 19, the above-described calculation of the actual working area will be explained.

The actual working area is calculated from the vehicle speed of the traveling body 2 taking the slip rate into account and the working width (adjustment position) set from the tide at which the planting operation is performed. The vehicle speed of the traveling body 2 is calculated using the rotation speed of the traveling wheels. In this embodiment, it calculates using the rotation speed of the rear wheel 8. As shown in FIG. A rear wheel rotation speed detection sensor 8a (see FIG. 13 ) for detecting the rotation speed is provided on the rotation shaft of the rear wheel 8 . The control device 70 is connected to the rear wheel rotation speed detection sensor 8a and is configured to be capable of detecting the rotation speed of the rear wheel 8 . In addition, the configuration for detecting the rotation speed of the rear wheel 8 is not limited to the above-described configuration, and the rotation speed of an appropriate point to rotate in synchronization with the rotation of the rear wheel 8 is detected, and the rotation speed is used as a gear ratio or the like. It is good also as a structure converted into the rotation speed of the rear wheel 8 using it.

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

As shown in FIG. 17 , the amount of subsidence to the pavement of the rear wheel 8 is a planting work machine position detection sensor 71a (refer to FIG. 13 ) comprising an appropriate sensor such as a potential sensor provided in the elevating link mechanism 20 and It computes from the planting depth detection sensor 39a (refer FIG. 13) which consists of suitable sensors, such as the potential sensor provided in the link mechanism 39 of the float 34, or the rotation support shaft 38.

The planting work machine position detection sensor 71a is provided in the raising/lowering link frame 71 to which the rear end of a pair of right and left upper link 21 and the lower link 22 are attached, respectively.

The control apparatus 70 is connected with the planting work machine position detection sensor 71a, and can detect the height (distance) of the planting work machine 3 with respect to the traveling body 2, specifically, the lowest point of the planting claw 32. it is composed

The control apparatus 70 is connected with the planting depth detection sensor 39a, and is comprised so that the height from the bottom surface of the float 34 of the planting work machine 3 can be detected. By the planting depth detection sensor 39a, the claw protrusion amount h1 of the planting claw 32 (refer the distance between the front-end|tip part of the planting claw 32, and a float bottom, FIG.17(b)) is comprised so that detection is possible.

The control device 70 detects the length from the planting work machine position detection sensor 71a and the planting depth detection sensor 39a to the bottom surface of the float 34 with respect to the traveling body 2 . The control device 70 subtracts the length from the length to the lowest point (ground plane) of the rear wheel 8 with respect to the traveling body 2 to the bottom surface of the float 34 with respect to the traveling body 2, whereby the rear wheel ( 8) The amount of settlement h0 (refer to Fig. 17(b)) to the pavement is calculated. Moreover, you may calculate the settlement amount to the pavement of the rear wheel 8 in consideration of the settlement amount d to the pavement of the float 34 (refer FIG. 18).

As shown in FIG. 18, the amount of settling h2 of the rear wheel 8 to the pavement can be calculated by further using the sensor 40, taking into account the amount d of settling of the float 34 to the pavement. By measuring the rocking|fluctuation angle (theta) of the sensor 40, the pavement surface height in which a seedling is planted can be detected. Thus, by detecting the pavement surface height with the sensor 40, the settlement amount d of the float 34 can be measured. The control apparatus 70 is connected with suitable pavement surface detection sensors 40a (refer FIG. 13), such as a potential sensor provided in the rotation point of the sensor 40, and is comprised so that pavement surface height is detectable. As mentioned above, by using the sensor 40 provided so that it may follow the pavement surface, the settlement amount to the pavement of the rear wheel 8 in consideration of the settlement amount d to the pavement of the float 34 can be calculated accurately.

A working width points out the length of the base body width direction set from the planting space|interval of the base body width direction of the rice transplanter 1, and the tide with which a planting work is performed. The tide to which a planting operation|work is performed is detected by the connection/blocking state of the unit clutch which connects/interrupts the power transmission to the planting arm 31 for every set. The control apparatus 70 is connected with the unit clutch sensor 63a (refer FIG. 13) which detects connection/disconnection of a unit clutch, and is comprised so that a planting operation can detect the tide.

In the above configuration, the running distance of the rear wheels 8 in consideration of the slip ratio can be calculated from the slip ratio calculated from the amount of settling of the rear wheels 8 on the pavement and the rotation speed of the rear wheels 8 . And the actual working area is computed from the running distance of the rear wheel 8 taking the slip rate into consideration, and the working width set according to the tide with which the planting operation is performed.

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

Using FIG. 20, FIG. 21, description is added about calculation of the use number of the seedling mat M.

The control device 70 determines the number of times the seedlings are replenished based on the detection state of the presence/absence detection unit 90 provided on the seedling loading surface of the seedling loading table 33 and the detection state of the movement amount detection unit 80 . It was detected at any time, and based on the detected seedling replenishment frequency|count and the compression rate of the seedling mat M separately computed, the seedling mat use number is computed from time to time. Here, when the planting clutch is actuated, the control device 70 performs presence/absence detection of the seedling mat M in the presence or absence detection unit 90 and detection of the movement amount of the seedling mat M in the movement amount detection unit 80 . is composed

As a calculation example of the number of use of seedling mat, as shown in FIG. 20, the case where a planting clutch is actuated and a planting operation is started from the state in which the seedling mat M was put on the mounting surface of the seedling loading stand 33 is an example listen and explain

As shown in Fig. 20(a) , when the planting operation is started and the presence or absence detection unit 90 detects the presence of the seedling mat M, the control device 70 adds one seedling replenishment count (1). The long seedling mat (M) is detected).

And as shown in Fig. 20(b), as the seedling mat M of the first sheet is vertically fed, the seedling mat M of the second sheet on the upper side of the seedling mat M of the first sheet is vertical to the lower end side. are transported Even if the upper end position of the seedling mat M of the first sheet is positioned below the presence/absence detection unit 90, the lower end side of the seedling mat M of the second sheet contacts the presence/absence detection unit 90, so that the presence/absence detection unit 90 remains detecting the presence of the seedling mat M. At this time, the control device 70 determines whether the upper end position (remaining amount of the seedling mat) of the first seedling mat M is determined from the movement amount (transfer amount) of the seedling mat M detected by the movement amount detection unit 80 . Even if it is estimated that it is located further downward, when the presence/absence detection unit 90 detects the presence of the seedling mat M, the number of times of seedling replenishment is added by one (the seedling mat M of the second sheet is detected) .

As shown in Fig. 20(c), when the second seedling mat M is vertically transferred to the lower side of the presence or absence detection unit 90, the presence or absence detection unit 90 detects the seedling mat M from the state in which the seedling mat is detected. It transitions to the state which is not detecting (M), and absence of the seedling mat (M) is detected. At this time, the control device 70 is the length (from the lower end of the mounting surface measured in advance to the presence/absence detection part 90) in the conveyance direction of the seedling mat M mounted on the seedling loading stand 33, The above-mentioned setting The length (before compression) of the seedling mat M before compression for the number of times of seedling replenishment is the sum of the amount of movement (transfer amount) of the seedling mat M calculated from the rotation speed of the movement amount detection unit 80 ) By dividing by the design length of the seedling mat M), the compressibility of the seedling mat M is calculated.

Moreover, as shown in FIG. 21, the control apparatus 70 is in the planting operation|work, WHEREIN: From the state (state of FIG. 21(a)) which does not detect presence of the seedling mat M by the presence or absence detection part 90 , the number of times of seedling replenishment is added even when the operator transitions to the state in which the seedling mat M is detected by the existence or non-existence detection unit 90 (the state shown in Fig. 21(b)) by, for example, replenishing the seedlings. .

The above structure WHEREIN: The control apparatus 70 uses the compression rate, and the seedling based on the length of the seedling mat M before compression from the movement amount (transfer amount) of the seedling mat M calculated by the movement amount detection part 80 as a reference. The number of mats used can be calculated.

(Calculation of performance seedling withdrawal amount)

The control device 70 calculates a performance scraping area (amount of performance seedling withdrawal) based on an actual working area and the number of use of seedling mats of all sets. The control apparatus 70 calculates the number of performance mats (the number of use of seedling mat per predetermined area) from the number of use of seedling mat which added all the number of use of seedling mat for every group, and an actual work area.

And the control apparatus 70 calculates a performance scraping area from the number of seedings which considered the number of performance mats, the frequency|count of transverse feeding of the seedling loading stand 33, and the slip rate.

(Calculation of target seedling withdrawal amount)

The control device 70 controls the target scraping area (target) based on the remaining working area calculated by subtracting the actual working area from the pavement area and the remaining seedling mat number calculated by subtracting the number of seedling mats used from the number of seedling mats. Seedling withdrawal amount) is calculated. The control device 70 calculates the target number of mats (the number of seedling mats per predetermined area) from the remaining working area and the number of remaining seedling mats. And the control apparatus 70 calculates a target scraping area from the number of sprinkling which considered the target number of mats, the frequency|count of transverse feeding of the seedling loading stand 33, and a slip rate.

(Calculation of correction amount of reference seedling withdrawal amount)

The control device 70 calculates the result vertical withdrawal amount and the result horizontal withdrawal amount (performance horizontal transfer amount) from the performance scraping area and the target aspect ratio, and the target vertical withdrawal from the target scraping area and the target aspect ratio The amount and the target horizontal withdrawal amount (target horizontal feed amount) are calculated.

Then, the control device 70 corrects the standard vertical withdrawal amount by adding a value obtained by subtracting the actual vertical withdrawal amount from the target vertical withdrawal amount to the reference vertical withdrawal amount as a correction amount of the reference vertical withdrawal amount, and the target horizontal withdrawal amount The standard horizontal withdrawal amount (standard horizontal transfer amount) is added to the standard horizontal withdrawal amount (standard horizontal transfer amount) as a correction amount of the standard horizontal withdrawal amount (standard horizontal transfer amount) by subtracting the horizontal withdrawal amount (performance horizontal transfer amount) from the withdrawal amount (target horizontal transfer amount) The amount (standard horizontal feed amount) is corrected, and the planting work machine 3 (specifically, actuators 48b, 56a) is drive-controlled.

Further, in the above configuration, the performance scraping area (output seedling withdrawal amount) is calculated from the actual working area of the entire coarse meal and the number of seedling mats used, and the target scraping is performed from the remaining working area of the entire coarse meal and the number of remaining seedling mats. The area (target seedling withdrawal amount) is calculated, and the corrected amount of the standard seedling withdrawal amount of the entire set is calculated from the performance scraping area and the target scraping area, but it is not limited to this, and the corrected amount is calculated for each set, You may calculate the amount of correction of all the pieces of hair based on the amount of correction for each set.

In that case, the control device 70 calculates the number of performance mats for each group from the actual working area for each group and the number of seedling mats used for each group, and the number of performance mats for each group and the seedling loading stand 33 of the The performance scraping area for each group is calculated from the number of rounds taking into account the number of horizontal transfers and the slip rate, and the performance vertical withdrawal amount for each group and the performance horizontal withdrawal amount for each group (performance horizontal withdrawal amount) from the performance scraping area for each group and the target aspect ratio transfer amount) is calculated.

Moreover, the control apparatus 70 calculates the target number of mats for every set from the remaining working area for every set and the number of remaining seedling mats for each set, and the target number of mats for each set and the width of the seedling loading stand 33 . The target scraping area for each group is calculated from the number of feeds taking into account the number of feeds and the slip rate, and the target vertical withdrawal amount and the target horizontal withdrawal amount (target horizontal feed amount) for each group from the target scraping area for each group and the target aspect ratio. ) is calculated.

Then, the control device 70 subtracts the result horizontal withdrawal amount (performance horizontal transfer amount) from the target horizontal withdrawal amount (target horizontal transfer amount) calculated for each group, thereby determining the correction amount of the standard horizontal withdrawal amount (standard horizontal transfer amount) for each group. calculation, and based on the correction amount of the standard horizontal withdrawal amount (standard horizontal transfer amount) calculated for each set, the correction amount of the reference horizontal withdrawal amount (standard horizontal transfer amount) of the entire set is calculated. Further, the control device 70 calculates the correction amount of the standard vertical withdrawal amount for each group by subtracting the actual vertical withdrawal amount from the target vertical withdrawal amount calculated for each group, and adds the corrected amount of the standard vertical withdrawal amount calculated for each group to the corrected amount. Based on this, the correction amount of the standard vertical withdrawal amount of the entire set is calculated.

As mentioned above, during planting operation, the reference scraping area (standard seedling extraction amount) is corrected by making it possible to calculate the number of use of the seedling mat used for the actual operation area in which the actual planting operation was performed and the actual planting operation. can do. Therefore, a planting operation can be performed suitably with the desired seedling mat number with respect to a desired pavement. Therefore, the consumption efficiency of the seedling mat M can be improved.

The control flow of seedling withdrawal amount control (scraping area control) is demonstrated using FIG. Below, a planting clutch is connected, and the planting work machine 3 shall act. When the seedling withdrawal amount control is started, the actual working area is calculated at any time from the running distance and working width of the rear wheel 8 taking the slip rate into consideration. In addition, the number of times of seedling replenishment is detected at any time from the detection state of the presence or absence detection unit 90 and the movement amount detection unit 80, and the movement amount (transfer amount) of the seedling mat M is calculated from the detection state of the movement amount detection unit 80 at any time. .

In step #21, the control device 70 determines whether the pavement area and the number of seedling mats have been input using the select dial 66 . When the pavement area and the number of seedling mats are input, it moves to step #22.

In step #22, the control device 70 calculates a standard scraping area based on the pavement area and the number of seedling mats, and based on the standard scraping area and the target aspect ratio, the standard vertical withdrawal amount and the standard width The withdrawal amount (standard horizontal feed amount) is calculated. And the planting work machine 3 (specifically, actuators 48b, 56a) is drive-controlled so that it may become a reference|standard vertical withdrawal amount and a reference|standard horizontal withdrawal amount (standard horizontal transfer amount), and it is made to shift to step #23.

In Step #23, the control device 70 determines whether or not the presence/absence detection unit 90 has transitioned from the state in which the seedling mat M is detected to the state in which the seedling mat M is not detected. If the presence/absence detection part 90 detects the state which is not detecting the seedling mat M, it will transfer to step #24.

In step #24, the control device 70 calculates the number of use of the seedling mat for each group from the compression rate calculated based on the feed amount of the seedling mat M for each group and the number of times of seedling replenishment of the seedling mat M, , shift to step #25.

In step #25, the control device 70 determines whether the number of use of the seedling mat for every set was computed. When the number of use of seedling mat for every group is calculated, it is made to shift to step #26.

In step #26, the control unit 70 calculates the performance scraping area based on the actual working area and the number of seedling mats used, and based on the performance scraping area and the target aspect ratio, the vertical withdrawal amount and The amount of horizontal withdrawal of results (the amount of horizontal transfer of results) is calculated, and the flow advances to step #27.

In step #27, the control device 70 calculates a target scraping area based on the remaining working area and the number of remaining seedling mats, and based on the target scraping area and the target aspect ratio, the target vertical withdrawal amount and The target horizontal withdrawal amount (target horizontal feed amount) is calculated, and the flow advances to step #28.

In step #28, the control device 70 calculates the correction amount of the standard vertical withdrawal amount based on the actual vertical withdrawal amount and the target vertical withdrawal amount, and calculates the corrected horizontal withdrawal amount (performance horizontal transfer amount) and the target horizontal withdrawal amount ( Based on the target horizontal feed amount), the amount of correction of the reference horizontal withdrawal amount (standard horizontal feed amount) is calculated, and the flow advances to step #29.

In step #29, the control device 70 corrects the standard vertical pull-out amount and the standard horizontal pull-out amount (standard horizontal feed amount) based on the respective correction amounts of the standard vertical pull-out amount and the standard horizontal pull-out amount (standard horizontal feed amount), , the planting work machine 3 (specifically, the actuators 48b and 56a) is driven and controlled so as to become the standard vertical withdrawal amount and the reference horizontal withdrawal amount (standard horizontal feed amount) after correction, and the process proceeds to Step #30.

In step #30, the control device 70 determines whether the actual working area is a pavement area. If the actual working area is the pavement area, it is finished. If the actual working area is not the pavement area, proceed to step #23.

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

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

The grasp|acquisition and plan of the planting operation by the information terminal 100 are demonstrated using FIG.

The communication unit of the rice transplanter 1 transmits/receives various data through a wide area communication network such as the Internet, and is configured to perform data communication with an external information terminal 100 connected through a wide area communication network.

As shown in Fig. 23(a) , the information terminal 100 detects during the planting operation in a certain pavement, the elapsed time, the number of injections, the number of traverses, the amount of settling of the rear wheel 8, the slip rate, the per share Data such as the number of stems, the number of stems per predetermined area, the remaining working area, and the number of remaining seedling mats are received and displayed. Various data may be displayed in real time during a planting operation, and may be displayed at the time of completion|finish of a planting operation.

As mentioned above, by making it possible to receive various detailed data in the information terminal 100, the manager etc. who are managing a some package can grasp|ascertain the work condition etc. for each pavement using the information terminal 100.

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

Moreover, when predicting the quantity per predetermined area of a pavement in advance, and setting the number of seeds per predetermined area and the number of seedling mats, various types of information are input into the information terminal 100, and simulations such as the required number of mats and number of seeds can be performed. . Therefore, a manager can make a plan from the transplantation stage of a seedling or the growth stage of the seedling mat M, and can set the required number of mats, the number of watering, etc. suitably.

[Second embodiment]

In the above-described first embodiment, when the control device 70 changes the reference scraping area (standard seedling withdrawal amount), the change of the standard vertical withdrawal amount and the change of the reference horizontal withdrawal amount (the reference horizontal transfer amount) Although no particular priority is set between the two, in the second embodiment, when the control device 70 changes the standard scraping area (standard seedling withdrawal amount), the standard horizontal withdrawal amount (standard horizontal feed amount) It is configured to give priority to the change of the standard vertical withdrawal amount over the change.

In addition, the rice transplanter 1 of 2nd Embodiment is the same as that of 1st Embodiment except the change method of the reference|standard scraping area (standard seedling withdrawal amount), and during a planting operation, working conditions, such as the operation speed of a planting operation. In addition, a seedling supplement warning can be notified from the warning part 68 at the timing according to the request|requirement of an operator, etc. FIG.

Hereinafter, description of the same part as 1st Embodiment is abbreviate|omitted, and only the part different from 1st Embodiment is demonstrated.

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

Here, the predetermined range of the vertical withdrawal amount is, for example, set based on the driving range (range of the upper limit and lower limit) of the actuator 56a for setting the vertical withdrawal amount, or the horizontal withdrawal amount is extreme with respect to the vertical withdrawal amount , or because the horizontal withdrawal amount is extremely large with respect to the vertical withdrawal amount, the scraping shape can be set based on the range of the aspect ratio that is closer to a rectangle than a square. If the vertical withdrawal amount exceeds a predetermined range, for example, the calculated target vertical withdrawal amount exceeds the settable upper limit of the vertical withdrawal amount, and the vertical withdrawal amount cannot be set as the target vertical withdrawal amount, or the vertical withdrawal amount cannot be set horizontally The setting of the withdrawal amount is extremely large or extremely small, and the scraping of the seedling mat M by the planting claw 32 is not good, so that the seedlings are omitted, This is because there is a possibility that harmful effects such as poor posture may occur.

When the control apparatus 70 calculates the corrected amount of a reference|standard vertical withdrawal amount and a reference|standard horizontal withdrawal amount during a planting operation, for example, the reference|standard horizontal extraction amount actually set at that time is a fixed state, Calculate the target vertical withdrawal amount that can realize the ping area.

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

On the other hand, when the target vertical withdrawal amount calculated in this way exceeds the predetermined range, the control device 70 uses the same calculation method as in the above-described first embodiment, the reference vertical withdrawal amount and the reference horizontal withdrawal amount (standard horizontal transfer amount) Calculate each correction amount of , and correct the standard vertical pull-out amount by adding the correction amount of the standard vertical pull-out amount to the standard vertical pull-out amount, and set the correction amount of the standard horizontal pull-out amount (standard horizontal feed amount) to the standard horizontal pull-out amount (standard horizontal withdrawal amount) By adding to the feed amount), the standard horizontal withdrawal amount (the standard horizontal feed amount) is corrected, and the planting work machine 3 (specifically, the actuators 48b and 56a) is driven and controlled.

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

[Third embodiment]

In the first and second embodiments described above, as the seedling withdrawal amount control executed by the control device 70, the seedling withdrawal amount is controlled based on the scraping area (vertical withdrawal amount and horizontal withdrawal amount) of the seedling. Although the control method was shown as an example, in this 3rd Embodiment, the control method which controls the seedling withdrawal amount based only on the vertical withdrawal amount of a seedling is employ|adopted.

In addition, the rice transplanter 1 of 3rd Embodiment is the same as that of 1st Embodiment except seedling withdrawal amount control, In planting operation|work, working conditions, such as the work speed of a planting operation, and the timing according to an operator's desire, etc., the alarm part 68 ) from the seedling replenishment warning can be notified.

Hereinafter, description of the same part as 1st Embodiment is abbreviate|omitted, and only the part different from 1st Embodiment is demonstrated.

First, using FIG. 24, description is added about the seedling withdrawal amount control (vertical withdrawal amount control) which controls the seedling withdrawal amount based only on the vertical withdrawal amount of a seedling.

An operator inputs the number of seedling mats to be used and a pavement area into the control apparatus 70 using the select dial 66 before performing the planting operation|work of a seedling in pavement. The control apparatus 70 calculates the reference|standard vertical withdrawal amount based on the input seedling mat number and the pavement area, and drives and controls the actuator 56a. The control apparatus 70 is comprised so that the number of plantings (the number of plantings per predetermined area computed from the planting space|interval which an operator sets) can be detected from the detection value of the weekly setter 9a. And the control apparatus 70 is comprised so that calculation of the number of injections in consideration of the slip rate mentioned later is possible. The slip ratio here is set from the amount of subsidence of the rear wheel 8 to the pavement at the work start point, or a predetermined reference value.

The control device 70 calculates the target number of mats (the number of seedling mats per predetermined area) from the pavement area and the number of seedling mats. And the control apparatus 70 calculates the reference|standard vertical withdrawal amount from the target number of mats, and the frequency|count and number of lateral feeding of the seedling loading stand 33 (the number of vines taking a slip rate into consideration may be sufficient).

The above configuration WHEREIN: By driving and controlling the actuator 56a so that it may become a reference|standard vertical withdrawal amount, the vertical withdrawal amount required when performing a planting operation with respect to a desired pavement with a desired number of seedling mats, without depending on the experience or sense of an operator can be set.

When a planting operation is started, the control apparatus 70 will correct|amend a reference|standard vertical withdrawal amount from time to time based on the actual working area in which the actual planting operation was implemented, and the number of use of the seedling mat used for the actual planting operation. Specifically, the control device 70 calculates the actual vertical withdrawal amount based on the actual working area and the number of use of the seedling mat. Then, the control device 70 determines the target vertical withdrawal amount based on the remaining working area calculated by subtracting the actual working area from the working area and the remaining seedling mat number calculated by subtracting the number of seedling mats used from the number of seedling mats. Calculate. The control device 70 corrects the reference vertical withdrawal amount by adding the value obtained by subtracting the actual vertical withdrawal amount from the target vertical withdrawal amount to the reference vertical withdrawal amount as the correction amount.

The control flow of seedling withdrawal amount control (vertical withdrawal amount control) is demonstrated using FIG. Below, a planting clutch is connected, and the planting work machine 3 shall act. When the seedling withdrawal amount control is started, the actual working area is calculated at any time from the running distance and working width of the rear wheel 8 taking the slip rate into consideration. In addition, the number of times of seedling replenishment is detected at any time from the detection state of the presence or absence detection unit 90 and the movement amount detection unit 80, and the movement amount (transfer amount) of the seedling mat M is calculated from the detection state of the movement amount detection unit 80 at any time. .

In step #31, the control device 70 determines whether the pavement area and the number of seedling mats have been input using the select dial 66 . When the pavement area and the number of seedling mats are input, it moves to step #32.

In step #32, the control device 70 drives and controls the actuator 56a so that it may become the reference|standard vertical withdrawal amount computed based on a pavement area and the number of seedling mats, and makes it transfer to step #33.

In Step #33, the control device 70 determines whether or not the presence/absence detection unit 90 has transitioned from the state in which the seedling mat M is detected to the state in which the seedling mat M is not detected. If the presence/absence detection part 90 detects the state which is not detecting the seedling mat M, it will transfer to step #34.

In step #34, the control device 70 calculates the number of use of the seedling mat for each group from the compression rate calculated based on the feed amount of the seedling mat M for each group and the number of times of seedling replenishment of the seedling mat M, , shift to step #35.

In step #35, the control apparatus 70 determines whether the number of use of seedling mat for every set was computed. When the number of use of seedling mat is calculated, it moves to step #36.

In Step #36, the control device 70 calculates the vertical withdrawal amount based on the actual working area and the number of use of the seedling mat, and moves to Step #37.

In Step #37, the control device 70 calculates the target vertical withdrawal amount based on the remaining working area and the number of remaining seedling mats, and moves to Step #38.

In Step #38, the control device 70 calculates the correction amount of the reference vertical withdrawal amount based on the actual vertical withdrawal amount and the target vertical withdrawal amount, and proceeds to Step #39.

In Step #39, the control device 70 corrects the reference vertical withdrawal amount based on the corrected amount of the reference vertical withdrawal amount, drives and controls the actuator 56a so as to become the corrected reference vertical withdrawal amount, and proceeds to Step #40. carry out

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

[Another embodiment]

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

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

For example, as shown in FIG. 26 , the rotating body 81 has an elliptical cam 88A that rotates together with the rotating body 81 , and the on/off cycle is repeated along with the rotation of the cam 88A. A micro switch 88B is installed. The micro switch 88B is turned on when the short-terminal end of the cam 88A and the arm 88b are in contact, and the long-terminal end and the arm 88b of the cam 88A are turned on. ) is arranged so that it is turned off in the state in which it is in contact. In the above configuration, the rotation speed of the rotating body 81 can be detected by repeatedly turning the micro switch 88B on and off every 90 degrees.

In addition to the above configuration, a rotary encoder may be attached to the rotating shaft of the rotating body 81 to calculate the number of rotations (rotational angle) of the rotating body 81 , and a potential sensor is mounted on the rotating shaft of the rotating body 81 . Thus, the number of rotations (rotation angle) of the rotating body 81 may be calculated.

Moreover, although the rotation body 81 is used for comprising the movement amount detection part 80 of the seedling mat M, it is not limited to this. In the contact-type measuring method, a capacitive gauge, a load cell, etc. are considered. The capacitance-type gauge can measure accurately the feed amount and residual amount of the seedling mat M of the seedling loading stand 33, for example by being installed in the whole mounting surface. Moreover, a load cell can detect the feed amount of the seedling mat M based on the load of the seedling mat M mounted on a mounting surface by being attached to the support member of the seedling mounting stand 33, for example.

Moreover, as a non-contact measuring method, a laser rangefinder, image processing of the captured image of a camera, an optical sensor, a brightness sensor, etc. are considered. A laser rangefinder can detect the feed amount of the seedling mat M by being installed so that the distance to the upper end surface of the seedling mat M mounted from the upper side of a mounting surface can be measured, for example. Moreover, a camera can detect the conveyance amount of the seedling mat M by image-processing the image|photographed image by providing the seedling mat M mounted on a mounting surface so that image|photography is possible, for example. The optical sensor can detect the conveyance amount of the seedling mat M by being comprised with the light receiving part which detects that the light emitting part and the light ray from the light emitting part were blocked by the seedling mat M, for example.

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

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

Claims (4)

A planting machine capable of scraping seedlings from the seedling mat placed on the seedling loading table and planting them in the pavement;
a seedling mat remaining amount calculating unit capable of calculating the remaining amount of the seedling mat placed on the seedling loading stand as the seedling mat remaining amount;
an alarm unit capable of notifying a seedling replenishment warning when the seedling mat remaining amount is less than a notification reference value;
A seedling transplanter, characterized in that a notification standard setting unit capable of changing the notification reference value according to the operating conditions of the planting machine is provided. The method of claim 1,
a vertical conveying mechanism for conveying the seedling mat placed on the seedling loading stand in the vertical direction;
A work setting unit capable of changing the work conditions of the planting machine is additionally provided,
The seedling transplanter comprised so that the conveyance speed of the seedling mat by the said vertical feeding mechanism may be changed with the change of the said working condition of the said planting working machine by the said work setting part. 3. The method according to claim 1 or 2,
a vertical conveying mechanism for conveying the seedling mat placed on the seedling loading stand in the vertical direction;
a presence/absence detection unit which is disposed and formed in the first area where the seedling mat is disposed when only one seedling mat is placed on the seedling loading table, and capable of detecting the presence or absence of the seedling mat in contact with the seedling mat;
In the first area, a movement amount detection unit capable of detecting the movement amount of the seedling mat in a state of contact with the seedling mat and disposed on a downstream side of the presence/absence detection unit in the conveyance direction of the seedling mat by the vertical transfer mechanism is additionally provided ,
The notification standard setting unit is configured to be able to set the notification reference value at a position between the presence/absence detection unit and the movement amount detection unit in the conveyance direction of the seedling mat by the vertical transfer mechanism in the first area. seedling transplanter. 4. The method of claim 3,
The warning unit is configured to stop the seedling replenishment warning when the seedling replenishment warning is notified, when the existence or non-existence detection unit detects the presence of the seedling mat, or when the remaining amount of the seedling mat exceeds the notification reference value Seedling transplanter, characterized in that.

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