KR20230014080A - Package working machine - Google Patents

Abstract

Provided is a paving machine that allows an operator to determine that the number of seedling blocks scraped from a seedling mat is in a workable state. The paving machine (1) comprises: a planting section part (3) that transplants a seedling mat on a seedling loading stand into a packaging, a select dial (66) that sets the vertical extraction amount of seedlings and the horizontal extraction amount of seedlings; and a monitor (67) that is provided to display the set vertical and horizontal extraction amounts of the seedlings. The monitor (67) graphically displays blocks of the seedling mat (M) scraped from the vertical and horizontal extraction amounts.

Description

Packaging working machine {PACKAGE WORKING MACHINE}

The present invention relates to a pavement work machine for transplanting seedlings from a seedling mat to a field.

Conventional planting work is disclosed in Unexamined-Japanese-Patent No. 2015-112069 (Patent Document 1). In Patent Literature 1, in the field work machine, the seedling block to be scraped in the planting work is determined by the setting of the seedling planting section.

Japanese Unexamined Patent Publication No. 2015-112069

Conventional planting work was performed as described above. In addition, the operator set the amount of seedling extraction and the amount of horizontal transfer, and the number of seedling blocks was operated within the set range.

However, there is a problem that the number of seedling blocks to be scraped from the seedling mat may deviate from the set range in some cases, and the set range may be difficult for the operator to understand. In view of this situation, the main object of the present invention is to provide a pavement work machine in which an operator can determine that the number of seedling blocks scraped from the seedling mat is in a workable state.

The field work machine according to the present invention includes a planting unit for transplanting a seedling mat on a seedling loading table to a field, a vertical extraction amount setting unit for setting a vertical extraction amount of seedlings, and a horizontal extraction amount setting for setting a horizontal extraction amount for seedlings. and a display device for displaying the amount of vertical extraction and the horizontal extraction of the set seedling. According to this configuration, by displaying the amount of vertical extraction and the horizontal extraction of seedlings, the operator can determine whether or not the planting work as scheduled is possible. Preferably, the display unit of the display device displays the vertical extraction amount and the horizontal extraction amount of the seed by changing the figure. According to this configuration, since the vertical extraction amount and the horizontal extraction amount are displayed according to the change of the figure, the operator can intuitively determine the setting of the seedling block. More preferably, the displayed size of the parent block is changed by setting the vertical and horizontal extraction amounts. According to this configuration, it is easy for the operator to determine that the size of the displayed seedling block changes. According to one embodiment of the present invention, the aspect ratio of the parent block is determined from the settings of the vertical and horizontal extraction amounts, and if the settings are outside the first predetermined setting range, it is displayed on the display device.

According to this structure, since it is displayed on the display device when setting is outside the predetermined 1st setting range, an operator can judge whether planting work is possible. According to another embodiment of the present invention, when setting the number of seedling mats to be used for the set pavement area, if the vertical and horizontal extraction amounts are outside the predetermined second set range, the display device displays. . If the number of seedling mats used by the operator for the pavement area is set to extremes, there are cases where planting work cannot be performed as set in the vertical and horizontal extraction amounts, but according to this configuration, in that case displayed on the display device.

More preferably, the pavement working machine according to the present invention includes a seedling input amount measuring unit for measuring the input amount of the seedling mat on the seedling loading table, a seedling consumption amount measuring unit for measuring the consumption of the seedling mat on the seedling loading table, and A seedling mat remaining amount calculator that calculates the remaining amount of seedling mat on the seedling loading table from the amount of input and consumption of the mat, a storage unit that stores the calculated remaining amount of seedling mat, and moves the seedling loading table to the left and right in the transverse transfer direction. It is characterized by having a stepping control unit that performs a stepping operation to stop and then deletes the remaining amount of seedling mats stored in the storage unit when the stepping control unit performs the stepping operation. According to this structure, the burden on a work vehicle at the time of working on another field can be reduced. Preferably, a compression rate calculating unit for calculating the compression rate of the seedling mat on the seedling loading table is further provided, and the stepping control unit stores the calculated compression rate, and when the stepping operation is performed, the compression rate of the stored seedling mat is provided. It is characterized by deleting. According to this configuration, since the compression ratio depends on the condition of the mat, the stored compression ratio is deleted. As a result, it is possible to reduce the burden on the work vehicle when working on other fields. More preferably, it is characterized by further comprising an artificial operation tool for deleting the stored remaining amount of the seedling mat or the compression rate of the seedling mat. According to this configuration, the remaining amount and compression rate of the seedling mat can be deleted even with an artificial operating tool.

1 is a side view of a pavement work machine.
Fig. 2 is a plan view of a pavement work machine.
Fig. 3 is a side view (right side view of the body) of the planting part.
4 : is another side view (substrate left side view) of a planting part.
5 is a diagram showing a dashboard.
6 (a) is a diagram showing icons appearing on the monitor, and (b) is a graphical representation of a block of the seedling mat M scraped from the amount of vertical and horizontal extraction in the seedling extraction assist control. A diagram showing a state indicated by , and (c) is a diagram showing a state changed by setting.
Fig.7 (a) is a rear view of the placement surface of each set of seedling loading stands, and (b) is a side view of the placement surface of each set of seedling loading stands.
8 : is a side view of the main part of the placement surface of each set of seedling loading stand.
Fig. 9 is a perspective view of the presence/absence detector viewed from the rear side.
Fig. 10 is an exploded perspective view of the presence/absence detection unit viewed from the rear side.
Fig. 11 is a perspective view of the movement amount detector viewed from the rear side.
12 is a diagram schematically showing a cross section of a movement amount detection unit.
13 is a control block diagram of a control device.
14 : is a figure which shows detection of the remaining amount of a seedling mat.
Fig. 15 is a diagram showing a control flow of seed replenishment alarm control.
Fig. 16 is a block diagram showing seedling extraction amount control (scraping area control).
Fig. 17 (a) is a side view showing the amount of settlement of the rear wheel on the pavement, and (b) is a side view showing the height from the contact surface of the rear wheel to the float bottom surface.
Fig. 18 is a side view showing the height from the contact surface of the rear wheel to the bottom of the rice field.
Fig. 19 is a graph showing the correlation between the amount of settlement of the rear wheel on the pavement and the slip rate.
20 : is a figure which shows detection of the number of used seedling mats.
21 : is a figure which shows detection of the number of used seedling mats.
22 : is a figure which shows the control flow of seedling extraction amount control (scraping area control).
Fig. 23 is a diagram showing items displayed on the information terminal.
Fig. 24 is a diagram showing another embodiment of the movement amount detection unit.

EMBODIMENT OF THE INVENTION Embodiment of the packaging work machine which concerns on this invention is described based on drawing.

[First Embodiment]

＜Overall configuration＞

With reference to Figs. 1 and 2, the overall configuration of the packaging work machine 1 will be described. The pavement working machine 1 includes a traveling machine 2 and a planting machine (planting part) 3 attached to the rear part, and the planting machine 3 performs planting while traveling by the traveling machine 2. It is configured to do the work. In addition, in this embodiment, although the case where the number of planting tides of the pavement work machine 1 is 6 sets is shown as an example, of course, several sets of planting tides of the pavement work machine 1 may be sufficient.

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

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

In addition, power from the engine 4 and the transmission 5 is transmitted to the planting machine 3 via the day setter 9a (see Fig. 13). The weekly setter 9a is comprised so that the planting interval of seedlings planted along the traveling direction of the traveling body 2 can be changed steplessly. The control device 70 described later is connected to the weekly setter 9a, and is configured such that acquisition of the planting interval of the seedling is possible. In addition, for the positioning of the traveling body 2 within the pavement and calculation of the actual vehicle speed, the traveling body 2 is provided with a GNSS receiver 49 as a positioning device.

A driver's seat 12 is disposed in the front and middle part of the traveling body 2, and a steering wheel 13, operation pedals 14, a dashboard 15, and the like are installed in front of the driver's seat 12. On the dashboard 15, in addition to the steering wheel 13, operation tools for various operations and display devices are disposed. Here, the GNSS receiver 49 is described. A GNSS receiver ( 49) is placed. In the traveling body 2, the GNSS receiver 49 enables positioning within the field and calculation of the actual vehicle speed.

The planting machine 3 is connected to the traveling body 2 via a lifting link mechanism 20 . The lifting link mechanism 20 includes a pair of left and right upper links 21 and lower links 22, a lifting cylinder, and the like. The lower link 22 and the upper link 21 are rotated by the lifting cylinder, and the planting machine 3 is moved up and down.

The planting machine 3 is a horizontal transfer mechanism that reciprocates the planting arm 31, the planting claw 32, the seedling loading table 33, and the seedling loading table 33 in the horizontal direction (body width direction), and seedling loading. A longitudinal conveying mechanism, a float 34, and the like are provided for conveying the seedling mat M (see Fig. 7) placed on the table 33 in the longitudinal direction toward the lower end side (the front-end direction of the machine body). The planting claws 32 are attached to the planting arm 31 . In this embodiment, since the number of planting assistants of the pavement work machine 1 is 6 sets, it is provided with 6 planting arms 31 and 12 planting claws 32. The planting implement 3 is driven by a PTO shaft 16 extending rearward from the transmission 5 . More specifically, power is transmitted from the PTO shaft 16 through the planting center case 35 to the three planting transmission cases 36 installed in the planting machine 3, and the three planting transmission cases 36 Power is distributed from each to a pair of left and right planting arms 31 and a pair of left and right planting claws 32 for every planting transmission case 36 . A planting clutch is installed in the planting center case 35, and the planting clutch is configured to connect/disconnect transmission of power from the engine 4 to the planting machine 3.

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

The seedling mounting table 33 is constituted by a plate-shaped member and is arranged so as to be inclined in a front-height-bottom state when viewed from the body side. On the rear surface of the seedling loading table 33, the mounting surfaces on which the seedling mats M are placed are arranged side by side in the body width direction according to the number of planting arms 31 (assistant of the pavement work machine 1). Since the number of planting tides is 6 sets in the pavement working machine 1 of this embodiment, 6 mounting surfaces are formed. On the mounting surface, a seedling mat M (see Fig. 7) is placed in an inclined state.

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

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

A horizontal transfer mechanism for reciprocating the seedling mounting table 33 in the body width direction will be described using FIG. 3 . As shown in FIG. 3, the feed screw 41 extends from the planting center case 35 toward one side (the left side of the body) in the body width direction. Cross-shaped grooves are formed on the outer circumferential surface of the feed screw 41 along the axial direction. The feed screw 41 is provided with a slider 42 that can slide along the groove and a slider receiving 43 that supports the slider 42 . The slider receiving 43 is formed in a substantially T-shape. Along the groove of the feed screw 41, the slider 42 is accommodated in the slider receiving 43 so that a slide is possible while the feed screw 41 is penetrated.

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

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

On the side surface of the planting center case 35 to which the feed screw 41 extends, there is provided a lateral feed changeover lever 48 for adjusting the amount of lateral feed of the seedling loading stand 33 . The horizontal feed switching lever 48 is provided with a horizontal feed frequency detection sensor 48a (see Fig. 13) that detects the number of horizontal feeds of the seedling loading table 33 by detecting the position of the horizontal feed selector lever 48. do. Control device 70 is connected to sensor 48a for detecting number of lateral transfers, configured to be capable of detecting the number of lateral transfers of seedling loading table 33, and configured to be capable of detecting an amount of horizontal extraction described later from the number of lateral transfers. do. In addition, an actuator 48b (see Fig. 13) is attached to the horizontal feed switching lever 48. By drive-controlling the actuator 48b, the lateral feed switching lever 48 is configured to be operable. Therefore, by operating the lateral feed switching lever 48 by the actuator 48b, the amount of lateral feed of the seedling mounting table 33 can be adjusted, and the frequency of horizontal feeding of the seedling mounting table 33 can be changed. By changing the number of horizontal feeds of the seedling loading table 33, the amount of horizontal feeding (lateral feeding speed) of the seedling mounting table 33 is changed, and the amount of horizontal extraction from the seedling mat M by the planting claws 32 is reduced. can be changed The horizontal extraction amount here refers to the width|variety which scrapes the seedling mat M with the planting claw 32 in the body width direction of the traveling body 2 in planar view. By adjusting the amount of horizontal extraction, the amount of extraction of the seedlings from the seedling mat M by the planting claws 32 is configured to be changeable.

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

As shown in FIG. 4, the vertical feed camshaft 52 to which the vertical feed cam 51 is fixed extends from the planting center case 35 toward the other side in the body width direction (body right side). The vertical feed camshaft 52 is connected to the feed screw 41 and comes into contact with the driven cam 53 when reaching the stroke end. The follower cam 53 is below the seedling mounting table 33 and is provided on a conveyance belt drive shaft 55 that drives the conveyance belt 54. When the vertical feed cam 51 and the driven cam 53 come into contact with each other as the vertical feed cam shaft 52 rotates, the driven cam 53 rotates. With the rotation of the driven cam 53, the transport belt drive shaft 55 is rotated, so that the transport belt 54 is circulated and the seedling mat M placed on the transport belt 54 is transported by a predetermined distance. .

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

By drive-controlling the actuator 56a, the seedling stand rail support shaft 56 is comprised rotatably. Therefore, when the support frame 57 is rotated along with the rotation of the seedling stand rail support shaft 56, the guide rail 46 (seedling loading table 33) moves up and down (structured so as to be able to move up and down), and planting The distance between the planting transmission case 36 supporting the claw 32 and the seedling loading table 33 can be changed. Therefore, the amount of vertical extraction from the seedling mat M by the planting claws 32 can be changed. The vertical extraction amount here refers to the width|variety which scrapes the seedling mat M in the advancing direction of the traveling body 2 in planar view. By adjusting the amount of vertical extraction, the amount of extraction of the seedlings from the seedling mat M by the planting claws 32 is configured to be changeable.

Moreover, the seedling stand rail support shaft 56 is connected to the follower cam 53 via the interlocking wire 60. In accordance 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, so that the seedling mat M is conveyed according to the vertical extraction amount. The feed amount by the belt 54 is adjusted.

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

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

The dashboard 15 will be described using FIG. 5 . A steering wheel 13 is disposed in the left and right center portions of the dashboard 15, a main transmission lever 61 is provided on the left side of the steering wheel 13, and a planting lift lever is installed on the right side of the steering wheel 13. (62) is installed. Below the steering wheel 13, there is a jaw stop switch 63 for stopping the driving of the planting claws 32 for each predetermined set, a speed setting volume 64 for setting the maximum speed, and hydraulic pressure sensitivity of the float 34. Sensitivity setting volume 65 for setting, select dial 66 for setting various items such as planting depth and seedling extraction amount from the seedling mat (M) (vertical extraction amount and horizontal extraction amount (number of horizontal feeds)), etc. is installed In front of the steering wheel 13, a monitor 67 that displays settings such as a select dial 66, speed of the traveling body 2, and the like is provided.

The select dial 66 can set planting depth, seedling extraction amount (vertical extraction amount, horizontal extraction amount (number of horizontal feeds)), various work conditions related to work contents such as work speed, and notification reference values for seedling replenishment alarms. it's a dial The operator selects an item to be set from various items by rotating the select dial 66 left and right, and presses the select dial 66 to make a decision. For example, if you want to set the vertical extraction amount as the seedling extraction amount, rotate the select dial 66 left and right to select the vertical extraction amount item, press the select dial 66 to determine that item, The vertical extraction amount is selected by rotating the select dial 66 left and right, and the vertical extraction amount is set by the adjusted amount by pressing the select dial 66. The select dial 66 is connected to the control device 70 (see Fig. 13). That is, in this embodiment, based on the input of the field area and the number of seedling mats to be used, the field work machine (control device 70) automatically controls the amount of vertical extraction and horizontal feed to plant the seedlings in the field. Specifically, the field working machine 1 includes a planting unit (planting machine 3) that scrapes seedlings from the seedling mat M on the seedling loading table 33 and transplants them to the field, and the amount of vertical extraction of the seedlings. A vertical extraction amount setting unit for setting the horizontal extraction amount of seedlings, a horizontal extraction amount setting unit (select dial 66) for setting the horizontal extraction amount of seedlings, and vertical extraction of seedlings set in the vertical extraction amount setting unit and the horizontal extraction amount setting unit. A display device (monitor 67) for displaying the amount and the amount of horizontal extraction is provided. According to this configuration, by displaying the amount of vertical extraction and the horizontal extraction of seedlings, the operator can determine whether planting work as scheduled is possible. The display unit (monitor 67) of the display device may display a certain amount of vertical extraction and horizontal extraction by changing a figure. Fig. 6 is a diagram (Fig. 6(a)) showing a plurality of icons appearing on the monitor 67, and in seedling extraction assist control in which the packaging machine automatically controls the vertical extraction amount and the horizontal transfer amount, which will be described later, vertically It is a figure (FIG. 6(b)) showing the state where the blocks of the seedling mat M to be scraped from the amount of extraction and the amount of horizontal extraction are graphically displayed (FIG. 6(b)), and a diagram (c) showing the state changed by setting. That is, in the seedling removal assist control, the monitor 67 displays blocks of the seedling mat M to be scraped from the vertical and horizontal extraction amounts. As shown in Fig. 6(b), the seedling extraction assist icon 26 indicating the seedling extraction assist control and the block of the seedling mat M to be scraped are displayed as a rectangle 69, and the vertical sides of the rectangle are displayed. is displayed as the vertical extraction amount, and the horizontal side of the rectangle as the horizontal extraction amount. In the seedling extraction assist control, seedling amount can be set at intervals of 0.5 sheets per 10 a, for example, and displayed on the monitor 67 in the form of a table from a settable lower limit to a settable upper limit for each number of horizontal feeds, and a desired one among them is displayed. When selected and set, the set value is detected, and the rectangle is deformed and displayed based on the detected vertical and horizontal extraction amounts. For example, as shown in Fig. 6(c), the original setting was a rectangle 69, but by increasing the amount of vertical extraction, a vertically long rectangle 69a (left arrow of the rectangle 69) is displayed or a horizontally long rectangle 69b (right arrow of the rectangle 69) is displayed by increasing the horizontal extraction amount. In this way, by graphically displaying the blocks of the seedling mat M to be scraped, the operator can grasp the work intuitively.

In addition, this seedling extraction assist icon 26 lights up in the seedling extraction assist control mode, and turns off when not in that mode. According to this configuration, since the vertical extraction amount and the horizontal extraction amount are displayed according to the change of the figure, the operator can intuitively determine the setting of the seedling block. The displayed size of the parent block displayed may be changed by setting the amount of vertical extraction and the amount of horizontal extraction. According to this configuration, since the size of the seedling block to be displayed changes, it becomes easy for the operator to judge. The aspect ratio of the seedling block is determined from the settings of the vertical and horizontal extraction amounts, and if the settings are outside the predetermined first set range, it may be displayed on the display device. According to this configuration, when the combination of the vertical extraction amount and the horizontal extraction amount is outside the predetermined first set range, the display device displays it, so the operator can determine whether or not planting work is possible. When setting the number of seedling mats to be used for the set pavement area, if the vertical extraction amount and the horizontal extraction amount are outside the predetermined second set range, they may be displayed on the display device. In such a seedling extraction assist in which the pavement work machine automatically controls the amount of vertical extraction and the amount of horizontal transfer, when the number of used sheets of the seedling mat M exceeds the theoretical value, the display format of the block size may be changed. In this change, the color may change or the block may flicker. This makes it clear at a glance that the number of sheets used is a value that is not recommended. In addition, although here, the case where the paving machine (control device 70) automatically controls the amount of vertical extraction and the amount of horizontal feed based on the input of the pavement area and the number of sheets of seedling mats used has been described, it is not limited to this. , The packaging working machine may be automatically controlled based on the input of the number of seedling mats per unit area (for example, 10 a). Moreover, when setting the number of sheets of seedling mats to be used for the set pavement area, the number of used seedling mats M per stage 10a is displayed on the monitor 67. In addition, the number of seedling mats used and the seedling mat compression rate described later are displayed on the monitor similarly to the above-described "display of the number of sheets used per stage (per 10 a) of seedlings" and the like. That is, the control device 70 has a compression rate calculation unit 89, and stores the compression rate calculated by the compression rate calculation unit 89 in the storage unit 86 (see Fig. 13).

＜Seedling replenishment alarm control＞

Next, the seedling replenishment alarm control executed based on the calculation of the remaining amount of the seedling mat M placed on the seedling mounting stand 33 will be described using FIGS. 7 to 12 . As shown in FIG. 7 and FIG. 8 , on the mounting surface on which the seedling mat M for each set is placed on the seedling loading table 33, there is an existence detection unit capable of detecting the presence or absence of the seedling mat M (seedling input amount measuring unit) 90 and the movement amount detection part 80 which can detect the downward movement amount (transfer amount) of the seedling mat M are provided. In addition, the control device 70 functions as a seedling consumption measurement unit that measures the consumption of the seedling mat on the seedling loading table. Then, as shown in FIG. 13 , the control device 70 of the packaging work machine 1 sends the seedling mat M based on the detection state of the presence/absence detection unit 90 and the detection state of the movement amount detection unit 80. A remaining amount calculation unit 72 for detecting the remaining amount of the seedling mat is provided.

The remaining amount of the seedling mat calculated by the remaining amount calculation unit 72 of the seedling mat is stored in the storage unit 86 (Fig. 13).

(Presence/absence detection unit)

As shown in Fig. 7, for example, the existence/absence detection unit 90 arranges the seedling mat M when one sheet of the seedling mat M is placed on the mounting surface of each set of the seedling loading table 33. It is installed on the upper side of the first area (A) to be used, and when one sheet of the seedling mat (M) is placed on the mounting surface of the seedling mounting table (33), by contacting the seedling mat (M), the It is configured to be able to detect presence. Moreover, when one seedling mat M is not placed on the mounting surface of the seedling loading table 33, it is comprised so that the absence of the seedling mat M can be detected by not contacting the seedling mat M. For example, the presence/absence detection unit 90 detects the first area (A) when the length of one sheet of the seedling mat (M) in the vertical direction is 580 mm and the length of the first area (A) is 580 mm. It is installed in a position 510 mm above the lower end (the lower end of the mounting surface of the seedling loading table 33).

In this embodiment, as shown in Figs. 1 Mounting bracket 91, a limit sensor 92 fixed to the first mounting bracket 91 with a fixing means 94 such as a bolt or screw, and a through hole in the mounting surface of the seedling mounting table 33 ( 33b) (refer to FIG. 8), the proximal end side of the first mounting bracket 91 in a posture protruding upward from the mounting surface through (see FIG. It consists of

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

As shown in FIG. 8 , the presence/absence detection unit 90 configured in this way comes into contact with the seedling mat M placed on the mounting surface of the seedling loading stand 33, and the weight of the seedling mat M is transferred to the rocking portion 93. When loaded, the rocking part 93 swings downward and the switch part 92a of the limit sensor 92 is pressed by the lever member 93b of the rocking part 93, so that the presence of the seedling mat M can be detected. Contrary to this, when the weight of the seedling mat M is not loaded on the rocking portion 93, the switch portion 92a of the limit sensor 92 is not pressed, so that the seedling mat M The absence of can be detected.

(Movement amount detection unit) As shown in FIG. 7 , the movement amount detection unit 80, when placing one seedling mat M on the mounting surface of each set of the seedling loading table 33, the seedling mat M It is installed below the existence detection unit 90 in the first area A to be disposed, and at least one seedling mat M is placed on the mounting surface of the seedling mounting table 33, and the seedling mat M is placed below the seedling mat M. It is configured to be able to detect the amount of movement (vertical transfer amount) to . For example, the movement amount detection part 80 is installed in the position 180 mm above the lower end of the 1st area|region A (lower end of the mounting surface of the seedling mounting table 33).

In the present embodiment, as shown in FIGS. 8 and 11 , the movement amount detection unit 80 is a second mounting bracket fixed to the back side of the mounting surface of the seedling mounting table 33 with fixing means such as bolts and screws. (82) and a rocking arm (84) mounted to the second mounting bracket (82) so as to be freely rockable around the horizontal axis in a state of being rocked elastically supported upward by the spring (83), and the rocking arm A star wheel as a rotating body 81 mounted on the distal end side of the rotatable body 84 so as to be freely rotatable around the horizontal axis, and a star wheel mounted on the distal side of the rocking arm 84 to detect the number of revolutions of the rotating body 81. It is composed of a proximity sensor 85 and the like. Further, a mud removal member 81d is installed on the second shaft portion 84b of the rocking arm 84 . This is provided in order to prevent the sensing from being malfunctioned due to the accumulation of mud on the boss portion 81b. Since the rotating body rotates relative to the mud removing member 81d, the mud adhering to the rotating body comes into contact with the mud removing member and is separated from the rotating body. Further, a boss portion 81b is provided adjacent to the rotating body 81 on the second shaft portion 84b of the rocking arm 84 . A member to be detected is inserted into the boss portion 81b.

The outer circumferential portion of the rotating body 81 is provided with a plurality of protrusions 81a arranged radially with respect to the center of rotation as a reference. The rotating body 81 is installed so that the protrusion 81a protrudes upward from the mounting surface through the through hole 33a (see Fig. 8) from the rear side of the mounting surface. The rotating body 81 is configured so that the protrusions 81a penetrate (engage) into the bottom surface of the seedling mat M vertically transported on the mounting surface, and rotate in conjunction with the vertical feeding of the seedling mat M. do. The surface of the protrusion 81a on the side of contact with the seedling mat M is constituted by a shape bent upstream in the rotational direction of the rotating body 81 . If described from the relationship between the seedling mounting table 33 and the rotating body 81, the surface of the protrusion 81a on the side of contact with the seedling mat M has a shape bent toward the transfer source of the seedling mat M composed by In the present embodiment, the protrusion 81a is formed by being curved in the upstream direction of the rotational direction of the rotating body 81 from the proximal end to the distal end when viewed from the side.

As described above, the surface of the protrusion 81a of the rotating body 81 on the side of contact with the seedling mat M is configured by a shape bent in the upstream direction in the rotational direction, so that the material near the upper side of the rotating body 81 When the seedling mat M is conveyed to the tooth surface, the seedling mat M tends to come into contact with the projections 81a (easy to get caught). Therefore, slipping of the rotary body 81 can be prevented, and as shown in FIG. 8, the rotary body 81 can be rotated in conjunction with the longitudinal feed of the seedling mat M.

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

At the center of rotation of the rotating body 81, a boss portion 81b is provided. A screw 81c (see Fig. 12) is provided in the boss portion 81b every 90 degrees in the rotational direction, and the rotational speed of the rotating body 81 is detected by detecting the screw by the proximity sensor 85. has been By detecting the number of revolutions of the rotating body 81 with the proximity sensor 85, the downward movement amount (vertical conveyance amount) of the seedling mat M can be detected. Rotating body 81 is rocking and elastically supported on the upper side of seedling loading table 33 by elastic support spring 83, and when seedling mat M is not placed on seedling loading table 33, , The boss portion of the rotating body (in FIG. 12, the boss portion located on the opposite side of the screw 81c with the rotating body therebetween) is made of resin, and between the boss portion of the rotating body and the back surface of the seedling mounting table 33 The rotation of the rotating body 81 is restrained by the generated frictional force, as shown in Fig. 12(a). As shown in Fig. 12(b), when the seedling mat M is placed on the seedling mounting table 33, the rotating body 81 resists the elastic supporting force of the elastic supporting spring 83, and the seedling mat M ), and the rotation body 81 becomes rotatable. With the above structure, when the seedling mat M is not placed on the seedling mounting table 33, the rotating body 81 rotates, and the movement amount detection unit 80 erroneously determines the downward movement amount of the seedling mat M. detection can be prevented, and the amount of downward movement of the seedling mat M can be appropriately detected.

(Calculation of remaining amount of seedling mat) As shown in FIG. 14 , the remaining amount of seedling mat M decreases in the remaining amount of seedling mat in the seedling mat calculation unit 72, and the presence or absence detection unit 90 shown in FIG. From the state in which the presence of the seedling mat M is detected, to the state in which the absence of the seedling mat M is detected (in other words, the state in which the existence of the seedling mat M is not detected) shown in FIG. 14(b). If this is done, the remaining amount of the seedling mat M (hereinafter sometimes referred to as "remaining amount of seedling mat") is estimated from the number of replenishment of seedlings described later and the amount of movement of the seedling mat M detected by the movement amount detection unit 80, etc. ) is corrected to a preset remaining amount (the remaining amount corresponding to the position near the lower side of the presence/absence detection unit 90). Then, as shown in Fig. 14(c), the seedling mat remaining amount calculation unit 72 subtracts the movement amount of the seedling mat M detected by the movement amount detection unit 80 from the set remaining amount at any time, so that the seedling mat Calculate the remaining amount at any time.

(Seedling replenishment alarm control) As shown in FIG. 13 , in the pavement work machine 1, the remaining amount of seedling mat calculated by the remaining amount of seedling mat calculation unit 72 of the control device 70 is a notification reference value RV ( FIG. 14( c)), an alarm unit 68 such as an alarm buzzer capable of notifying an operator of a seed replenishment alarm prompting an operator to replenish seedlings is provided. In addition, the control device 70 is provided with a notification standard setting unit 73 capable of changing the notification reference value RV. As described above, the seedling mat remaining amount calculation unit 72 calculates the remaining amount of the seedling mat between the upper presence detection unit 90 and the lower movement amount detection unit 80 on the placement surface of the seedling mounting table 33. Since it is calculated at any time, the notification standard setting unit 73 determines the area L between the upper existence detection unit 90 and the lower movement amount detection unit 80 on the placement surface of the seedling mounting table 33 (Fig. 7) 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 of the detection range of the upper existence detection unit 90 and the upper end of the detection range of the lower movement amount detection unit 80. , and it is an area in the range of about 200 mm to about 400 mm from the lower end of the mounting surface of the seedling mounting table 33.

The notification standard setting unit 73 is configured to be able to automatically change the notification standard value RV. The control device 70 is provided with a job setting unit 74 capable of changing work conditions related to work contents such as the working speed of the planting machine 3, and the notification standard setting unit 73 automatically sets the notification standard value. It is configured to automatically change the notification reference value RV according to the working condition of the planting machine 3 when changing RV. For example, the notification standard setting unit 73 sets the notification reference value (upper position in FIG. 7 ) so that the notification reference value RV becomes a larger value (upward position in FIG. RV) is configured to automatically change. The notification standard setting unit 73 can also manually change the notification reference value RV. In that case, notification is made manually by, for example, an operator inputting the notification reference value RV using the select dial 66. configured to change the reference value (RV). Therefore, the notification reference value RV can be set to an appropriate value according to the operator's wishes and work conditions such as the planting work speed, and the seedling replenishment alert is issued at an appropriate timing according to the planting work conditions and the operator's wishes. can be notified.

A description is added to the control flow of seed replenishment alarm control executed by the control device 70. As shown in FIG. 15 , in the case where the planting clutch is “on” (Yes in step #10), the control device 70 during the planting operation detects the existence of the seedling mat M in the presence/absence detection unit 90 is detected to a state where the presence of the seedling mat M is not detected, and when the non-existence of the seedling mat M is detected, the remaining amount of the seedling mat is calculated at any time by the remaining amount of seedling mat 72 (step Yes to #11, step #12). Then, when the remaining amount of seedling mats calculated by the remaining amount of seedling mats calculation unit 72 is less than the notification reference value RV and the remaining amount of seedling mats is less than the notification reference value RV, the control device 70, from the alarm unit 68 Notify seed supplementary warning (Yes in step #13, step #14). In addition, when notifying the seedling replenishment alert, the control device 70 determines the distance at which the planting work can be continued from the setting of the remaining amount of the seedling mat calculated by the remaining amount of the seedling mat calculated by the seedling mat calculation unit 72 and the working conditions of the planting machine 3 It may be configured to calculate and display to the operator.

After that, in the state where the seedling replenishment alarm is notified, the first stop condition in which the remaining amount of seedling mats calculated by the remaining amount of seedling mats calculated by the seedling mat calculation unit 72 is equal to or greater than the notification reference value RV, and the presence/absence detecting unit 90 of the seedling mats If at least one of the second stop conditions in which the existence of (M) is detected is met, control device 70 stops the seed replenishment alarm (Yes at step #15, step #16). Therefore, there is no need to separately provide a means for stopping the seed replenishment alert, and the seed replenishment alert can be stopped only by the operator performing the seed replenishment. Here, if the second stop condition can be satisfied when one seedling mat M is placed on the mounting surface of the seedling mounting table 33, the seedling replenishment alarm can be stopped simply by the operator replenishing the seedlings. there is. Therefore, the presence/absence detection unit 90 is located in the first area A where the seedling mat M is placed when one sheet of the seedling mat M is placed on the mounting surface of each set of the seedling mounting table 33. When one seedling mat M is placed on the mounting surface of the seedling loading stand 33, such as the upper end side of the inside, it is installed in a position where the presence of the seedling mat M can be detected by contacting the seedling mat M. desirable.

<Control of seedling extraction amount> Next, in the planting work, using FIGS. 16 to 22 , the amount of seedlings scraped from the seedling mat M placed on the seedling loading table 33 to the planting machine 3 Seedling removal amount control for controlling (amount of removal of seedlings) will be described. In the present embodiment, it is configured to control the amount of seedling scraping based on the seedling scraping area (the amount of vertical extraction and the amount of horizontal extraction).

(Calculation and Change of Standard Seedling Extraction Amount) In this pavement work machine 1, the controller 70 determines the standard seedling removal amount for planting by the planting machine 3 from the input field area and the number of seedling mats. It is configured to be able to calculate. The standard seedling extraction amount refers to the seedling extraction amount serving as a standard when planting work is performed on a predetermined field using a predetermined number of seedling mats M. Here, the control device 70 is configured to be capable of calculating a standard scraping area, and by extension, a standard vertical extraction amount and a standard horizontal extraction amount (standard horizontal feed amount) as the standard seedling extraction amount. In addition, during the planting work, the control device 70 calculates a correction amount of the standard seedling removal amount based on the actual work area in which the planting work was performed and the number of seedling mats used for the actual work area, and adds the correction amount It is configured to be able to change the standard seedling extraction amount. The control device 70 determines the timing after conveying the seedling mat M in the vertical direction by the vertical conveying mechanism when the standard horizontal pulling amount (standard horizontal conveying amount) is changed along with changing the standard seedling pulling amount. It is configured to change the standard transverse extraction amount (standard transverse feed amount) to. For example, when the standard lateral extraction amount or the corrected standard lateral extraction amount is selected from a plurality of prescribed values, since the width of one sheet of the seedling mat M is roughly determined, the prescribed value of the standard lateral extraction amount is , it becomes a value which can scrape all without leaving one sheet of the seedling mat M with the corresponding predetermined|prescribed number of scrapings. In this case, the planting work from the vertical feed of the seedling mat M to the next vertical feed is performed as one stroke, and the planting work is carried out until halfway with the standard horizontal extraction amount set as a specific prescribed value between one stroke. , If the standard horizontal stripping amount is changed to another specified value, there is a possibility that the remaining amount of the seedling mat after the change may become an intermediate width that cannot be completely scraped without leaving the changed specified specified value. Therefore, in order to scrape all the seedling mats M at a specified value between strokes, the standard horizontal extraction amount in the middle of the stroke is not changed, and the seedling mats M are scraped by the vertical conveying mechanism. The standard lateral feed amount (standard lateral feed amount) is changed at the timing after conveying in the vertical direction (timing of start or end of stroke).

Hereinafter, calculation and change of the amount of extraction of standard seedlings will be described with reference to FIG. 16 .

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

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

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

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

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

When the planting work is started, the control device 70 determines the standard seedling extraction amount (standard vertical extraction amount or standard horizontal extraction amount) based on the actual work area where the actual planting work has been performed and the number of seedling mats used in the actual planting work. amount) is corrected from time to time. Specifically, the control device 70 calculates the actual scraping area based on the actual work area and the number of seedling mats used (the number of seedling mats M consumed), and from the actual scraping area and the target aspect ratio Calculate the actual vertical extraction amount and the actual horizontal extraction amount (actual transverse transfer amount). In addition, the controller 70 determines the target scraping area based on the remaining work area calculated by subtracting the actual work area from the work area and the remaining number of seedling mats calculated by subtracting the number of seedling mats used from the number of seedling mats. is calculated, and a target vertical cutting amount and a target horizontal cutting amount (target horizontal feed amount) are calculated from the target scraping area and the target aspect ratio.

Then, the control device 70 corrects the standard vertical extraction amount by adding the value obtained by subtracting the actual vertical extraction amount from the target vertical extraction amount to the standard vertical extraction amount as a correction amount of the reference vertical extraction amount, and corrects the target horizontal extraction amount. By adding the value obtained by subtracting the actual lateral cutting amount (actual lateral feed amount) from the amount of cutting (target lateral feed amount) to the standard lateral cutting amount (standard lateral feed amount) as a correction amount of the standard lateral cutting amount (standard lateral feed amount), the standard lateral cutting amount is obtained. The planting machine 3 (specifically, the actuators 48b and 56a) is driven and controlled so that the amount (standard lateral feed amount) is corrected and the corrected standard vertical cutting amount and standard lateral cutting amount (standard lateral feed amount) are obtained. At this time, as described above, in the case of changing the standard horizontal extraction amount (standard horizontal feed amount), the control device 70 sets the standard horizontal extraction at the timing after conveying the seedling mat M in the vertical direction by the vertical transport mechanism. Change the amount (standard transverse feed amount). In addition, when changing the reference vertical extraction amount, the reference vertical extraction amount may be changed at the timing at which the standard vertical extraction amount is corrected, or the reference vertical extraction amount at the same timing as the timing at which the standard horizontal extraction amount (reference horizontal feed amount) is changed. may be changed.

(Calculation of an actual work area) As another method, you may calculate the actual travel distance of the pavement work machine 1 with a GNSS receiver etc. That is, the actual vehicle speed of the traveling body 2 can be calculated by a positioning device such as a GNSS receiver. The actual working area is calculated using the actual vehicle speed of the traveling body 2 calculated by the GNSS receiver. When the actual vehicle speed is calculated by the GNSS receiver, calculation of the slip rate becomes unnecessary. When the reception accuracy of the GNSS receiver decreases or when the GNSS receiver is not used, the controller 70 is configured to be connected to the rear wheel rotation speed detection sensor 8a and detect the rotation speed of the rear wheel 8 do. In addition, the configuration for detecting the rotational speed of the rear wheel 8 is not limited to the above-described configuration, and the rotational speed of an appropriate point that rotates in synchronization with the rotation of the rear wheel 8 is detected, and the rotational speed is calculated as a gear ratio or the like. It is good also as a structure which converts into rotation speed of the rear wheel 8 using .

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

As shown in Fig. 17, the amount of settlement of the rear wheel 8 on the pavement is determined by a planter position detection sensor 71a (see Fig. 13) composed of an appropriate sensor such as a potentiometer sensor installed in the elevating link mechanism 20 and It is calculated from the planting depth detection sensor 39a (refer FIG. 13) which consists of appropriate sensors, such as a potentiometer sensor installed in the link mechanism 39 of the float 34 or the rotation support shaft 38. The planting machine position detection sensor 71a is installed in the lifting link frame 71 to which the rear ends of the left and right pairs of upper links 21 and lower links 22 are attached, respectively. The control device 70 is connected to the planting implement position detection sensor 71a, and can detect the height (distance) of the lowest point of the planting implement 3, specifically, the planting claw 32, relative to the traveling body 2. It consists of The control apparatus 70 is connected to the planting depth detection sensor 39a, and is comprised so that the height from the bottom surface of the float 34 of the planting machine 3 can be detected. The planting depth detection sensor 39a is configured to be able to detect the claw protruding amount h1 of the planting claws 32 (the distance between the tip of the planting claws 32 and the bottom surface of the float, see FIG. 17(b)). . Next, the function of the potentiometer sensor will be described. Since this potentiometer sensor has a function of detecting the elevation angle of the elevation link mechanism 20 of the planting implement 3 within the elevation range, it calculates the amount of settlement of the rear wheel 8 on the pavement, as well as a predetermined elevation. By positioning the planting machine 3 at an angle, it can be used for lifting/stopping the planting machine 3 at a non-working position, lifting/stopping at an arbitrary reverse position, and the like. In addition, since it is possible to detect that the planting machine 3 is in the working position during planting work (such as the variable speed of planting), the operator can be notified of a problem when the planting machine 3 is not in the working position during planting work. .

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

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

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

In the above configuration, when measuring the travel distance with the GNSS receiver 49, calculation of the slip ratio or the like calculated from the amount of settlement of the rear wheels 8 on the pavement becomes unnecessary. Then, the actual work area is calculated from the travel distance measured by the GNSS receiver 49 and the working width set according to the tide at which the planting work is performed. By displaying the actual work area calculated by the above method on the display meter of the packaging machine 1, etc., the operator can grasp the work area during work. At this time, when calculating the actual work area, you may set the actual vehicle speed from the division between the vehicle speed of the pavement work machine calculated from the GNSS receiver and the axle rotation speed of the rear wheel 8.

(Calculation of the number of uses of the seedling mat M) Using FIGS. 20 and 21 , a description is given of the calculation of the number of uses of the seedling mat M. Control device 70 determines the number of replenishment of seedlings, based on the detection state of presence/absence detection unit 90 and the detection state of movement amount detection unit 80 provided on the seedling loading surface of seedling loading table 33. It is detected at any time, and the number of used seedling mats is calculated at any time based on the detected number of seedling replenishment times and the separately calculated compression rate of the seedling mat M. Here, when the planting clutch is operated, the control device 70 detects the presence or absence of the seedling mat M in the presence/absence detection unit 90 and detects the movement amount of the seedling mat M in the movement amount detection unit 80. It consists of

As an example of calculating the number of seedling mats used, as shown in FIG. 20 , a case where planting work is started by actuating the planting clutch in a state where two seedling mats M are placed on the mounting surface of the seedling loading table 33 is taken as an example. listen and explain As shown in Fig. 20(a) , when the planting operation is started and the existence of the seedling mat M is detected by the presence/absence detection unit 90, the controller 70 adds one number of seedling replenishment counts (1 The second seedling mat (M) is detected).

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

As shown in Fig. 20(c), when the second seedling mat M is vertically conveyed downward of the presence/absence detection unit 90, the seedling mat M is detected from the state in which the presence/absence detection unit 90 detects the seedling mat. (M) is not detected, and the absence of the seedling mat (M) is detected. At this time, the control device 70 determines the length of the seedling mat M placed on the seedling mounting stand 33 in the transport direction (the length from the lower end of the mounting surface measured in advance to the presence/absence detection unit 90, and the above-described setting corresponding to the remaining amount) and the movement amount (transfer amount) of the seedling mat M calculated from the rotational speed of the movement amount detection unit 80, the length of the seedling mat M before compression for the number of times of seedling replenishment (the length of the seedling mat M before compression By dividing by the designed length of the seedling mat M), the compressibility of the seedling mat M is calculated. Further, as shown in FIG. 21 , the control device 70 is in a state in which the existence of the seedling mat M is not detected by the presence/absence detection unit 90 during planting work (the state in FIG. 21(a) ). , the number of replenishment of seedlings is added by one even when the transition is made to the state where the seedling mat M is detected by the presence/absence detection unit 90 (the state shown in Fig. 21(b)) because the operator replenishes seedlings or the like. .

In the above configuration, the control device 70 uses the compression rate to determine the seedling mat M's length before compression based on the movement amount (transfer amount) of the seedling mat M calculated by the movement amount detecting unit 80. The number of mats used can be calculated. A more specific setting method will be described. Here, by inputting the number of used seedling mats per unit area (for example, 10 a), the pavement work machine automatically performs seedling planting work. In order to realize this, in this embodiment, a mechanism for detecting the amount of usage of a seedling and a mechanism for detecting the number of times of horizontal feed are provided. First, a mechanism for detecting a certain usage amount will be described. The number of used seedlings can be calculated by integrating standard scraping areas. Specifically, it is conceivable to make the product of the set seedling extraction amount (a combination of the vertical extraction amount and the horizontal extraction amount) by the constant cycle of horizontal transfer of the seedling loading table 33 as the number of seedling mats used. Further, more simply, it is conceivable to set the product of the set vertical extraction amount and the transverse dimension of the seedling mat at a constant cycle of horizontal feed of the seedling loading table 33 as the number of used seedling mats. For example, when the seedling loading table 33 is horizontally transported from one end of one of the left and right to the other end as a constant period of transverse transfer of the seedling loading stand 33, until it reaches one end once again. , the constant period of transverse transfer is a value obtained by doubling the transverse direction dimension of the seedling mat. That is, the amount of seedlings used = Σ (vertical extraction amount × 2 × horizontal dimension of the seedling mat). As another method, to calculate the number of seedling mats used, a weight sensor (strain gauge or the like) is installed on the seedling mounting table 33 on the entire surface of the seedling mounting table 33, and the seedlings of the seedling mat are placed. It is conceivable to detect a change in the weight of the mounting surface of the seedling mounting table 33 in association with replenishment to the mounting table 33, and to calculate the number of used seedling mats.

(Calculation of the amount of seedlings harvested)

The controller 70 calculates the actual scraping area (actual seedling extraction amount) based on the actual working area and the number of seedling mats used in all sets. The control device 70 calculates the actual number of mats (the number of seedling mats used per predetermined area) from the number of used seedling mats obtained by adding all the numbers of used seedling mats for each set and the actual work area. Then, the control device 70 calculates the actual scraping area from the number of running mats in consideration of the number of mats and the number of horizontal transfers of the seedling loading table 33 and the slip rate.

(Calculation of target seedling extraction amount) The control device 70 calculates the remaining work area calculated by subtracting the actual work area from the pavement area and the remaining number of seedling mats calculated by subtracting the number of used seedling mats from the number of seedling mats. to calculate the target scraping area (target seedling extraction amount). The control device 70 calculates the target number of mats (the number of seedling mats per predetermined area) from the remaining work area and the remaining number of seedling mats. Then, the control device 70 calculates a target scraping area from the number of times of horizontal transfer of the target number of mats and the number of times of horizontal transfer of the seedling loading table 33 and the slip rate, and the number of times of injection.

(Calculation of Correction Amount of Standard Seedling Extraction) The controller 70 calculates the actual vertical extraction amount and the actual horizontal extraction amount (actual horizontal feed amount) from the actual scraping area and the target aspect ratio, as well as the target scraping amount. From the ping area and the target aspect ratio, the target vertical extraction amount and the target horizontal extraction amount (target horizontal feed amount) are calculated. Then, the control device 70 corrects the standard vertical extraction amount by adding the value obtained by subtracting the actual vertical extraction amount from the target vertical extraction amount to the standard vertical extraction amount as a correction amount of the reference vertical extraction amount, and corrects the target horizontal extraction amount. By adding the value obtained by subtracting the actual horizontal cutting amount (actual horizontal feeding amount) from the cutting amount (target lateral feed amount) to the standard lateral cutting amount (standard lateral feed amount) as a correction amount of the standard lateral cutting amount (standard lateral feed amount), the standard lateral extraction The planting machine 3 (specifically, the actuators 48b and 56a) is driven and controlled by correcting the amount (standard lateral feed amount).

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

In this case, the control device 70 calculates the actual number of mats for each set from the actual working area for each set and the number of seedling mats used for each set, and the actual number of mats for each set and the number of seedling mats used for each set. The actual scraping area for each set is calculated from the number of runs considering the number of horizontal transfers and the slip rate, and the actual vertical scraping amount and the actual horizontal scraping amount for each set from the actual scraping area for each set and the target aspect ratio. transfer amount) is calculated. Further, the control device 70 calculates the target number of mats for each set from the remaining work area for each set and the remaining number of seedling mats for each set, and calculates the target number of mats for each set and the width of the seedling loading table 33. The target scraping area for each set is calculated from the number of cycles considering the number of transfers and the slip rate, and the target vertical scraping amount and target horizontal cutting amount for each set (target horizontal feed amount) are calculated from the target scraping area for each set and the target aspect ratio. ) is calculated. Then, the control device 70 determines the correction amount of the standard lateral extraction amount (standard lateral feed amount) for each set by subtracting the actual lateral extraction amount (actual lateral feed amount) from the target lateral extraction amount (target lateral feed amount) calculated for each set. and based on the correction amount of the standard lateral cutting amount (standard lateral feeding amount) calculated for each set, the correction amount of the standard lateral cutting amount (standard lateral feeding amount) of all sets is calculated. In addition, the control device 70 calculates the correction amount of the standard vertical extraction amount for each set by subtracting the actual vertical extraction amount from the target vertical extraction amount calculated for each set, and calculates the correction amount of the standard vertical extraction amount calculated for each set. Based on this, the correction amount of the standard vertical extraction amount of the entire coarse meal is calculated.

As described above, during the planting work, the standard scraping area (standard seedling removal amount) is corrected by making it possible to calculate the actual work area where the actual planting work was performed and the number of seedling mats used in the actual planting work. can do. Therefore, planting work can be performed appropriately with the desired number of seedling mats with respect to a desired field. Therefore, the consumption efficiency of the seedling mat M can be improved. Next, the stepping mechanism of the seedling mounting table 33 is demonstrated. A stepping detection sensor 87 is attached to the seedling loading stand 33 (see Fig. 13). The step detection sensor 87 detects whether or not the seedling loading stand has reached the left or right moving end. The stepping operation tool (stepping switch) 96 can be operated near the steering wheel so as to be operable from the driver's seat, and by operating it, the stepping mode described later can be switched on/off. The main speed lever 61 can switch the transmission 5 of the pavement work machine to any one of planting speed, on-road running speed, reverse speed, and neutral speed. The neutral speed is a mode in which power can be transmitted to the seedling loading platform and the pavement working machine does not travel. Moreover, the planting clutch which transmits motive power to a seedling loading stand automatically turns on the planting clutch "on" in the stepping mode. In order to step the seedling loading stand, first, the main gear is set to the neutral position with the main gear lever. Further, the stepping mode is set to "on" by the stepping operation tool 96. The stepping mode is executed by doing in this way, and when the planting clutch is "off", the planting clutch is operated "on". When an operation of the control pedal is detected in a state in which the stepping mode is being executed, the horizontal transfer movement of the seedling loading table is started. The step attachment detection sensor detects that the seedling loading table has reached one of the left and right moving ends. When reaching the left and right moving end of the seedling loading platform is detected, the transverse transfer movement of the seedling loading platform is stopped, and the stepping of the seedling loading platform is ended. Usually, in a seedling planting operation, stepping of the seedling loading table is performed first. By doing in this way, a seedling mat can be scraped from the edge part of one of the right and left, and a seedling mat can be completely consumed. Next, the reset of the remaining amount of the mat is explained. It is necessary to delete the remaining amount of the seedling mat calculated in accordance with the operation of removing the seedling mat M from the seedling mounting table by the operator. This is because, for control purposes, a seedling replenishment alarm is notified based on the remaining amount of seedling mats, or the number of used sheets of seedling mats is measured. However, there are cases where the control device 70 cannot recognize only by removing the seedling mat from the seedling loading table. Control device 70 detects that stepping is executed (specifically, when stepping mode is executed and stepping control unit (control device) 70 (see FIG. 13) performs stepping control, Detect arrival at one of the left and right moving ends of the transverse transfer of the seedling loading table) Delete the calculated remaining amount of the seedling mat. In this way, when the operator newly places the seedling mat on the seedling loading table and starts work, the calculated seedling mat is only performed by stepping the seedling loading table, which is normally performed when placing the seedling mat on the seedling loading table. Remnants can be deleted. That is, the remaining amount of the seedling mat in the storage unit storing the remaining amount of the seedling mat calculated by the remaining amount of the seedling mat calculating unit 72 is deleted. As another embodiment, based on the following method, you may configure so that the remaining amount of a seedling mat may be similarly deleted. Further, a configuration may be adopted in which the compression rate of the parent mat calculated simultaneously with deletion of the residual amount of the seed mat is deleted, or a configuration in which both the residual amount and compression rate of the seed mat are deleted. Next, a configuration for deleting the residual amount of a seedling mat will be described. An operation tool for clearing the remaining amount of the seedling mat is installed in an operation column or the like. Although the operation of the operator is intervened, the remaining amount of the seedling mat can be deleted when the seedling mat is newly placed without using the stepping of the seedling loading stand. For example, after turning off the power key of the pavement work machine 1, the remaining amount of the seedling mat is deleted after a certain period of time. As a certain amount of time, it is a time (for example, 8 hours) to the extent that it is determined that the packaging work machine has moved between fields or the next day. In the control device 70, even after the power key is turned off, the ECU stores the remaining amount of the mat for less than a certain period of time, but deletes the remaining amount of the mat after a certain amount of time has elapsed. In another example, the remaining amount of the seedling mat is deleted based on operating an unillustrated seedling mat presser. A seedling mat presser that presses the seedling mat so that the seedling mat is normally placed may be mounted on the seedling loading stand. The seedling mat holding device has a body portion that presses the seedling mat and a base portion mounted on the seedling loading table, and by rotating the body portion relative to the base portion, the main body portion can be switched from/to the seedling loading table. When separating the seedling mat holder from the seedling loading table, usually, the seedling mat is removed from the seedling mounting table. It is possible to delete the residual amount of the seed mat by operating the sphere. As another example, when there are many assistants on the seedling loading stand (for example, 8 sets of packaging machines), there is a case where a part of the seedling loading stand is separated and the rest of the seedling loading stand is stored in the upper part of the seedling loading stand. When this operation is performed, since it is usually determined that the operation has been completed, the seedling mat is detected by a sensor (not shown) that detects when a part of the seedling loading stand is separated or that the rest of the seedling loading stand is accommodated on top of the rest of the seedling loading stand. Remnants can be deleted. Moreover, you may make it delete the remaining amount of a seedling mat when the main transmission lever 61 is operated at the moving speed. When the main transmission lever 61 is set to the moving speed, since it can be judged that the work on the field is usually finished, when the main transmission lever 61 is operated at the moving speed, the remaining amount of seedling mats is deleted. That is, the main transmission lever 61 operates as an artificial operation tool for deleting the stored residual amount of the seedling mat or the compression rate of the seedling mat.

The control flow of seedling amount control (scraping area control) is demonstrated using FIG. 22. FIG. In the following, it is assumed that the planting clutch is connected and the planting machine 3 is operating. When seedling removal amount control is started, the actual work area is calculated at any time from the travel distance and work width of the rear wheel 8 in consideration of the slip rate. In addition, the number of replenishment of seedlings is detected at any time from the detection states of the presence/absence detection unit 90 and the movement amount detection unit 80, and the movement amount (transfer amount) of the seedling mat M is calculated at any time from the detection state of the movement amount detection unit 80. . Next, a method for setting the seedling extraction amount will be described. The operator grasps the pavement area to be worked on before work, and detects the number of seedling mats M used in the pavement area. In addition, the operator arbitrarily sets the planting machine 3 (setting the amount of vertical extraction, the number of horizontal feeds, and the week). There is an adjustable range for the number of used seedling mats (M), but since the number of seedling mats (M) is several tens to more than a hundred, waste is likely to occur, such as eventually unused seedling mats (M) coming out . The limit value of the number of seedling mats used is calculated by the setting of the planting machine 3 and the pavement area. The control device 70 notifies with a display meter or the like when the number of seedling mats used by the operator before work exceeds a threshold value. At this time, since the seedling mat M used by planting work compresses and exceeds 0% of compression ratio, you may add the condition of a predetermined compression ratio to calculation of a threshold value. For example, at the time of the amount of vertical extraction ○, the amount of horizontal feed ●, and the weekly △, even if the compression rate is set to 0%, the number of seedling mats used per 10 a of pavement area becomes ◇ sheet. At this time, if the operator wants to set the number of sheets exceeding ◇ sheets, it is displayed on the monitor 67.

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

In step #22, the controller 70 calculates a standard scraping area based on the pavement area and the number of seedling mats, and calculates the standard vertical scraping amount and standard width based on the standard scraping area and target aspect ratio. Calculate the extraction amount (standard transverse feed amount). And drive control of the planting machine 3 (specifically, actuators 48b and 56a) is carried out so that it may become a standard vertical extraction amount and a standard horizontal extraction amount (standard horizontal feed amount), and it transfers to step #23. The calculated standard vertical and horizontal extraction amounts are reflected on the monitor 67, and the square of the block of the seedling mat M displayed is deformed. The operator can select whether to use a standard vertical extraction amount, a standard horizontal extraction amount, or a random vertical extraction amount or horizontal extraction amount. Regardless of whether the calculated standard vertical extraction amount, standard horizontal extraction amount, or arbitrary vertical extraction amount or horizontal extraction amount is set, the controller 70 determines the aspect ratio of the block of the seedling mat M to be scraped. It is calculated, and it is determined whether the aspect ratio is within a predetermined first set range. The setting range here is a range for determining whether the aspect ratio is extreme when the planting claw scrapes the seedling mat M. When the aspect ratio is extreme, the planting work may not be performed normally due to, for example, blocks coming off from the planting claw. If this is out of the first set range, the operator is notified via the display monitor 67 or the like. If it is outside the predetermined first set range, the following may be considered as the display form.

• An attention-calling mark is displayed next to the block of the seedling mat M to be scraped displayed on the display monitor 67.

・A vertical icon is displayed next to the block when the vertical extraction amount (vertical side) is outside the set range. Similarly, if the horizontal extraction amount (horizontal side) is out of the set range, a horizontal icon is displayed.

・The displayed block is blinked or the color is changed.

・In the displayed block, only blocks outside the setting range are blinked or the color is changed. In addition, the control device 70 determines the number of seedling mats M to be used for the pavement area set by the operator, the set vertical extraction amount, the horizontal extraction amount, and the set amount of horizontal extraction from the weekly setting. It is determined whether it is within the second set range of . That is, it is determined from the vertical extraction amount, horizontal extraction amount, and daytime setting set by the operator that consumption is not possible in the paved area where the number of sheets of the set seedling mat M is set. When it is out of the predetermined second set range, the operator is notified through the display monitor 67 or the like.

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

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

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

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

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

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

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

In step #30, the control device 70 determines whether or not the actual work area is the pavement area. When the actual working area is the pavement area, it is terminated. If the actual work area is not the pavement area, proceed to step #23. In addition, in this seedling extraction amount control (scraping area control), correction values of the standard vertical extraction amount and the standard horizontal extraction amount are calculated from the remaining work area and the number of remaining seedling mats, so that, for example, If only the work area suddenly becomes 0, the control device 70 calculates the correction value to the maximum, and there is a fear that the driving load of the actuators 48b and 56a for correcting the standard vertical and horizontal extraction amounts increases there is Therefore, the control device 70, when the remaining work area or the remaining number of seedling mats becomes 0 at the end of the work, the target vertical and horizontal cutting amount (target lateral feed amount) is calculated, a correction value of the standard vertical feed amount is calculated based on the actual vertical feed amount and the target vertical feed amount, and the actual lateral feed amount (actual lateral feed amount) and target lateral feed amount (target lateral feed amount) are calculated. Based on this, the correction value of the standard lateral extraction amount (standard lateral feed amount) is calculated. By doing this, it is possible to avoid a problem that the correction values of the standard vertical extraction amount and the standard horizontal extraction amount are maximally calculated at the end of work, etc., and the driving load of the actuators 48b and 56a can be reduced.

Using FIG. 23, grasping|ascertainment of planting work by the information terminal 100 and a plan are demonstrated. The communication unit of the packaging machine 1 transmits and receives various data through a wide area communication network such as the Internet, and is configured to be able to perform data communication between an external information terminal 100 connected through a wide area communication network .

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

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

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

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

[Other Embodiments]

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

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

For example, as shown in Fig. 24, the rotary body 81 includes an elliptical cam 88A that rotates together with the rotary body 81, and is repeatedly turned on and off as the cam 88A rotates. A micro switch 88B is installed. The micro switch 88B is turned on in a state where the short end of the cam 88A and the arm 88b are in contact, and the long end of the cam 88A and the arm 88b are turned on. ) is arranged so that it is off in a state where it is in contact with each other. In the above configuration, the number of rotations of the rotating body 81 can be detected by repeating the on and off of the micro switch 88B every 90 degrees.

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

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

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

(2) The specific configuration of the existence detection unit 90 is not limited to the configuration shown in the above-described embodiment, and various configuration changes are possible. For example, the presence/absence detection unit 90 may have the same configuration as the movement amount detection unit 80 . In that case, the existence detection unit 90 can detect the existence of the seedling mat M by detecting the movement of the seedling mat M, and detects the movement of the seedling mat M by not detecting the movement of the seedling mat M. The absence of can be detected. Next, another embodiment of the automatic adjustment function of the amount of seedlings taken is described. Normally, the movement amount detection unit 80 is operating normally. However, there are cases where the movement amount detection unit 80 fails due to mud clogging or the like. For backup at such times, an automatic control function of seedling extraction amount is provided. Even if the movement amount detection part 80 fails, planting work is possible, but it becomes impossible to detect the transport amount of the seedling mat.

As described above, the standard vertical extraction amount is calculated from the pavement area to be worked, the number of seedling mats used, the setting of the amount of horizontal transfer, and the setting of the week, and the actuator is controlled to raise and lower the seedling loading table 33 to set the amount of vertical extraction do. As a control during the planting work, the actual work area and the number of seedling mats used are calculated, and the standard vertical extraction amount is corrected, but if the movement amount detection unit 80 is out of order, the transfer amount of the seedling mats cannot be calculated. Therefore, as a backup control, if it is detected that the movement amount detector 80 is out of order, the control device 70 ignores the detection of the transfer amount of the seedling mats and calculates the number of seedling mats used at the timing of seedling replenishment. Correction of the standard vertical extraction amount is performed. Before and after the distance at which the proximity sensor 85 detects the vis 81c, the detection and non-detection of the seedling mat M are repeated due to the vibration of the paving machine 1, etc., and an error occurs in calculating the number of seedling mats used do. It is assumed that the transfer amount of the seedling mat M calculated by the moving amount detection unit 80 is not detected by setting a threshold value for the increase in the actual working area from detection of the seedling mat M to the next detection. In the above embodiment, the actual work area and the number of seedling mats used are calculated during the planting work, but the number of used seedling mats is not calculated if a problem with the movement amount detection unit 80 occurs. The control device 70 determines that the number of seedling mats used does not increase with respect to an increase in the actual work area and detects a problem in the movement amount detection unit 80. Specifically, if the increase in the actual work area with respect to the amount of vertical movement of the movement amount detection unit 80 (rotating body) exceeds the threshold value, it is regarded as a problem of the movement amount detection unit 80. In the above embodiment, the actual work area and the number of seedling mats used are calculated during the planting work, but the number of used seedling mats is not calculated if a problem with the movement amount detection unit 80 occurs. The control device 70 determines that the number of seedling mats used does not increase with respect to an increase in the actual work area and detects a problem in the movement amount detection unit 80. Specifically, if the increase in the actual work area with respect to the amount of vertical movement of the movement amount detection unit 80 (rotating body) exceeds the threshold value, it is regarded as a problem of the movement amount detection unit 80. Before and after the distance at which the proximity sensor 85 detects the vis 81c, detection and non-detection of the seedling mat M are repeated due to vibration of the paving machine 1, etc., and an error occurs in calculating the number of seedling mats used There are times when Therefore, a threshold value may be set for the increase in the actual working area from the detection of the seedling mat M to the next detection in the movement amount detection unit 80, and the transfer amount of the seedling mat calculated by the threshold value may not be detected. In the above embodiment, as control during planting work, the actual work area and the number of seedling mats used are calculated, and the standard vertical extraction amount is corrected, but if the movement amount detection unit 80 is out of order, the transfer amount of the seedling mat can be calculated. can't Therefore, as a backup control, if it is detected that the movement amount detector 80 is out of order, the control device 80 ignores the detection of the transfer amount of the seedling mats and calculates the number of seedling mats used at the timing of replenishment of seedlings. The standard vertical extraction amount may be corrected. As described above, the embodiment of the present invention is summarized as follows. The amount of seedlings used may be measured using the stepping detection sensor 87 and the amount of vertical extraction. A weight sensor may be installed in the seedling mounting stand, and the number of sheets of the seedling mat may be measured by the weight. The conventional slip rate calculation method and the slip rate calculation method obtained by a calibration curve from the depth of the warp may be used together, and the usage amount of the seedling mat may be measured by making it switchable. It is also possible to provide a potentiometer that detects a change in the number of times of horizontal conveying, and thereby measure the amount of seedling mat used. The actual vehicle speed may be calculated from the proportion of the moving distance of the GNSS receiver 49 and the axle rotation speed. The amount of work may be measured by inputting the number of used seedlings per unit area (for example, 10 a). It is also possible to detect the amount of longitudinal transfer of the seedling mat with a star wheel, and detect replenishment of seedlings with a presence/absence sensor. It is also possible to make this machine recognize the horizontal feed, the number of injections, the amount of vertical extraction, and (the compression ratio of the seedling), and display the number of sheets used per single layer (per 10a) of the seedling. By recognizing the usage amount of the seedlings, the height of the seedlings remaining in the seedling stand may be calculated, an arbitrary threshold value may be set, and when the remaining amount of the seedling stand exceeds the threshold value, a seedling replenishment alarm may be transmitted. When ON and OFF are repeated by vibration of this machine, a threshold value may be set for the working area from ON to ON, and the reaction of ON within that range may be ignored to recognize the seedling usage amount. The compression rate of the seedlings and the number of used seedlings may be calculated by the seedling presence/absence sensor and the seedling usage sensor, and the information may be displayed on the meter. A potentiometer may be installed in the lifting link to also function as a switch at the lifting end.

1: Paving machine
3: planting machine (planting part)
17a: main body part of preliminary seedling loading stand
17b: preliminary seedling loading frame
33: seedling loading stand
49: GNSS receiver
50: GNSS receiver support frame
61: artificial control tool
66: select dial (vertical extraction amount setting part, horizontal extraction amount setting part)
67: monitor (display part)
68: alarm department
70: control device (seedling consumption measurement unit, stepping control unit)
72: seedling mat remaining amount calculation unit
73: notification standard setting unit
74: work setting unit
80: movement amount detection unit
86: storage unit
87: step detection sensor
89: compression ratio calculation unit
90: Presence detection unit (seedling input amount measurement unit)
96: stepped control tool
M: seedling mat

Claims (5)

A planting unit that scrapes seedlings from the seedling mat on the seedling loading table and transplants them to the field, a vertical extraction amount setting unit that sets the vertical extraction amount of the seedlings, and a horizontal extraction amount setting that sets the horizontal extraction amount of the seedlings. And a display device for displaying the vertical extraction amount and the horizontal extraction amount of the seedlings set in the vertical extraction amount setting unit and the horizontal extraction amount setting unit. According to claim 1,
The packaging work machine, characterized in that the display unit of the display device displays the vertical extraction amount and the horizontal extraction amount of the seedling by a change in a figure. According to claim 1 or 2,
Paving machine, characterized in that the displayed size of the seedling block displayed by the setting of the vertical extraction amount and the horizontal extraction amount changes. According to claim 2 or 3,
The pavement work machine, characterized in that the aspect ratio of the seedling block is determined from the setting of the vertical extraction amount and the horizontal extraction amount, and displayed on the display device when it is outside a predetermined first set range. According to any one of claims 2 to 4,
When setting the number of seedling mats to be used for the pavement area set by the vertical extraction amount setting unit and the horizontal extraction amount setting unit, the setting of the vertical extraction amount and the horizontal extraction amount is within a predetermined second set range. In the case of the outside, the packaging work machine characterized in that the display on the display device.

Images