Work vehicle

Abstract

To provide a work vehicle which can achieve ease of use when using convenient functions, since in prior arts, work vehicles cannot always achieve ease of use when using the functions, and since, it is considered that, in considering various needs of users of the vehicle, a trend in which convenient functions are mounted on the work vehicles such as vegetable transplanters, may be enhanced.SOLUTION: There is provided a vegetable transplanter which performs work travel for transplanting by following ridges 900 on which a multi film 910 carrying a magnetic material is laid. The vegetable transplanter comprises: a magnetic detecting element 200 detecting a magnetic of the multi film 910, and being fitted to a vehicle body 100; and a controller 300 for, on the basis of a magnetic detection result of the magnetic detecting element 200, acquiring a distance between the magnetic detecting element 200 and the multi film 910, and performing control for following the ridges 900.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to work vehicles such as vegetable transplanters. [Background technology]

[0002] A work vehicle such as a transplanter is known which has a traveling vehicle body that travels through a field and a seedling planting unit that plants seedlings in the field, and which is equipped with a growth environment information acquisition means that acquires growth environment information at the planting point from the field, a seedling removal amount adjustment mechanism that adjusts the seedling removal amount in the seedling planting unit, a plant spacing adjustment mechanism that adjusts the planting depth in the seedling planting unit, and a control device that acquires the growth environment information from the growth environment information acquisition means, and which is configured so that when seedlings are planted by the seedling planting unit, the control device can adjust the seedling removal amount by controlling the seedling removal amount adjustment mechanism, the plant spacing adjustment mechanism by controlling the planting depth adjustment mechanism, and the planting depth by controlling the planting depth adjustment mechanism, for each planting point, based on the acquired growth environment information (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2022-175618 A Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, the present inventor believes that the trend of implementing convenient functions one after another in work vehicles such as vegetable transplanters will continue to accelerate in consideration of the various needs of work vehicle users.

[0005] However, the present inventors have noticed that conventional work vehicles are not necessarily easy to use when using convenient functions.

[0006] More specifically, the present inventors have noticed that, for example, with conventional work vehicles, reliable and accurate following of furrows during furrow planting work travel is sometimes not achieved.

[0007] SUMMARY OF THE PRESENT DISCLOSURE In consideration of the above-mentioned problems with the conventional technology, an object of the present invention is to provide a work vehicle that can improve usability. [Means for solving the problem]

[0008] The first aspect of the present invention is a work vehicle that performs ridge planting work while following a ridge on which a mulch film carrying a magnetic material is laid, a magnetic detector attached to a vehicle body for detecting magnetism of the multi-film; a controller that acquires a distance between the magnetic detector element and the mulch film based on a magnetic detection result of the magnetic detector element and controls the film to follow the ridges; The present invention relates to a work vehicle.

[0009] The second aspect of the present invention includes a vehicle body height adjustment mechanism for adjusting the height of the vehicle body, The mulch film is laid so as to cover the upper surface of the ridges, The magnetic detector detects the magnetism of the mulch film at least on the upper surface of the ridge, The first present invention is a work vehicle characterized in that the controller obtains the distance between the magnetic detector element and the mulch film on the top surface of the ridge based on the magnetic detection result, and controls the vehicle height adjustment mechanism.

[0010] The third aspect of the present invention includes a mulch film pressing device that presses the mulch film so that the mulch film is in close contact with the ridge top surface, A second aspect of the present invention is a work vehicle, characterized in that the magnetic detector element detects the magnetism of the mulch film when the mulch film pressing device is pressing the mulch film.

[0011] A fourth aspect of the present invention is the work vehicle according to the third aspect of the present invention, characterized in that the mulch film pressing device has air ejection holes through which air is ejected to press the mulch film.

[0012] The fifth aspect of the present invention is a vehicle having a rotatable roller member attached to a lower surface of the vehicle body, The magnetic detector element is disposed behind the roller member. A fourth aspect of the present invention is a work vehicle, characterized in that the lower end of the roller member is lower than the lower end of the magnetic detector element so that even if the roller member comes into contact with the mulch film, the magnetic detector element does not come into contact with the mulch film.

[0013] A sixth aspect of the present invention is the work vehicle according to the fifth aspect of the present invention, characterized in that said air ejection holes are disposed in front of said roller members.

[0014] The seventh aspect of the present invention is a roller member, wherein the air ejection holes are arranged on a roller surface of the roller member, The air jet presses the mulch film and rotates the roller member, The fifth aspect of the present invention is a work vehicle characterized in that the direction in which the roller member is rotated by the air ejection is a direction in which the roller member is rotated according to the direction of travel for the furrow planting work when the roller member comes into contact with the mulch film.

[0015] The eighth aspect of the present invention is a seedling cup device having a seedling cup for receiving seedlings put in by an operator to be planted by the seedling planting device; A seedling state detection device that detects the state of the seedlings received in the seedling cup; The present invention relates to a work vehicle.

[0016] The 9th invention is the work vehicle of the 8th invention, characterized in that the detected condition of the seedlings is used to water or fertilize the seedlings when they are planted, or is written onto a field map together with the planting position of the seedlings and used to manage cultivation after the seedlings are planted.

[0017] The tenth aspect of the present invention is a seedling state detection device having an image pickup element for picking up an image of the state of the seedling received in the seedling cup from above, A ninth aspect of the present invention is a work vehicle, characterized in that a mirror element is provided on the inner surface or inner bottom surface of the seedling cup. Effect of the Invention

[0018] According to the first aspect of the present invention, it is possible to improve usability.

[0019] According to the second aspect of the present invention, in addition to the effect of the first aspect of the present invention, it is possible to reduce the burden on the worker.

[0020] According to the third aspect of the present invention, in addition to the effect of the second aspect of the present invention, it is possible to improve convenience.

[0021] According to the fourth aspect of the present invention, in addition to the effect of the third aspect of the present invention, it is possible to further improve usability.

[0022] According to the fifth aspect of the present invention, in addition to the effect of the fourth aspect of the present invention, it is possible to simplify the configuration.

[0023] According to the sixth aspect of the present invention, in addition to the effect of the fifth aspect of the present invention, it is possible to further simplify the configuration.

[0024] According to the seventh aspect of the present invention, in addition to the effect of the fifth aspect of the present invention, it is possible to further simplify the configuration.

[0025] According to the eighth aspect of the present invention, it is possible to improve usability.

[0026] According to the ninth aspect of the present invention, in addition to the effect of the eighth aspect of the present invention, it is possible to reduce the burden on the worker.

[0027] According to the tenth aspect of the present invention, in addition to the effect of the ninth aspect of the present invention, it is possible to improve convenience. [Brief description of the drawings]

[0028] [Figure 1] FIG. 1 is a left side view of a vegetable transplanter according to an embodiment of the present invention. [Diagram 2] FIG. 1A is a schematic left side view of a mulch film pressing device and its vicinity in a vegetable transplanter according to a first modified example of an embodiment of the present invention; FIG. 1B is a schematic cross-sectional view of a mulch film pressing device and its vicinity in a vegetable transplanter according to a second modified example of an embodiment of the present invention; [Diagram 3] FIG. 1A is a schematic plan view of a ridge guide roller and its vicinity in a vegetable transplanter according to a third modified example of an embodiment of the present invention; FIG. 1B is a schematic left side view of a ridge guide roller and its vicinity in a vegetable transplanter according to a third modified example of an embodiment of the present invention; [Figure 4] (a) A schematic plan view of the vicinity of a seedling cup device of a vegetable transplanter according to an embodiment of the present invention, (b) a schematic left side view of the vicinity of the seedling cup device of a vegetable transplanter according to an embodiment of the present invention, (c) a schematic plan view of the vicinity of the seedling cup of a vegetable transplanter according to an embodiment of the present invention, and (d) a schematic left side view of the vicinity of the seedling cup of a vegetable transplanter according to an embodiment of the present invention. [Diagram 5] FIG. 13A is a schematic left side view of a fourth modified example of a vegetable transplanter according to an embodiment of the present invention, and FIG. 13B is a schematic left side view of a fifth modified example of a vegetable transplanter according to an embodiment of the present invention, and [Figure 6] FIG. 1 is an explanatory diagram of the configuration of a fully automatic two-row narrow-space vegetable transplanter according to an embodiment of the present invention (part 1) [Figure 7] FIG. 2 is an explanatory diagram of the configuration of a fully automatic two-row narrow-space vegetable transplanter according to an embodiment of the present invention. [Figure 8](a) An explanatory diagram (part 3) of the configuration of a fully automatic two-row narrow-space vegetable transplanter according to an embodiment of the present invention; (b) An explanatory diagram (part 4) of the configuration of a fully automatic two-row narrow-space vegetable transplanter according to an embodiment of the present invention [Figure 9] FIG. 1A is an explanatory diagram (part 1) of a configuration of a rice planter-attached vegetable transplanter according to an embodiment of the present invention; FIG. 1B is an explanatory diagram (part 2) of a configuration of a rice planter-attached vegetable transplanter according to an embodiment of the present invention; [Figure 10] FIG. 1 is an explanatory diagram of an automatic rotating front wheel configuration of a vegetable transplanter according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0029] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS With reference to the drawings, an embodiment of the present invention will be described in detail.

[0030] The same applies below, but some components may not be shown in the drawings, or may be shown in a perspective or simplified manner.

[0031] While explaining the operation of the vegetable transplanter of this embodiment, a work vehicle operation control method according to an invention related to the present invention, which is realized by the controller 300 and the like, will also be explained.

[0032] The vegetable transplanter of this embodiment is a specific example of a work vehicle of the present invention, which travels for ridge planting work, for example, by following a ridge 900 on which a mulch film 910 carrying a magnetic material is laid.

[0033] (1) First, the configuration and operation of a vegetable transplanter according to an embodiment of the present invention will be specifically described with reference to FIGS. 1, 2(a) and 2(b), and 3(a) and 3(b).

[0034] Here, Figure 1 is a left side view of a vegetable transplanter of an embodiment of the present invention, Figure 2(a) is a schematic left side view of the vicinity of the mulch film pressing device 400 of a vegetable transplanter of a first modified embodiment of the present invention, Figure 2(b) is a schematic cross-sectional view of the vicinity of the mulch film pressing device 400 of a vegetable transplanter of a second modified embodiment of the present invention, Figure 3(a) is a schematic plan view of the vicinity of the ridge guide roller 1101 of a vegetable transplanter of a third modified embodiment of the present invention, and Figure 3(b) is a schematic left side view of the vicinity of the ridge guide roller 1101 of a vegetable transplanter of the third modified embodiment of the present invention.

[0035] The magnetic detector element 200 is an element attached to the vehicle body 100 and detects the magnetism of the multi-film 910 .

[0036] A so-called ferromagnetic material can be suitably used, and both a temporary magnet such as soft iron and a permanent magnet such as ferrite can be used for the magnetic material carried by the multi-film 910. For the magnetic detector element 200, when the magnetic material carried by the multi-film 910 is a permanent magnet, both a temporary magnet and a permanent magnet can be used, and when the magnetic material carried by the multi-film 910 is a temporary magnet, a permanent magnet can be used.

[0037] The controller 300 obtains the distance between the magnetic detector element 200 and the mulch film 910 based on the magnetic detection result of the magnetic detector element 200 , and controls the following of the ridges 900 .

[0038] For example, in an embodiment in which permanent magnets are used for both the magnetic material carried by the multi-film 910 and the magnetic detection element 200, the polarities of the two permanent magnets are selected to be different from each other so that a magnetic repulsive force is generated, and the magnitude of such magnetic repulsive force can be measured to obtain the distance between the magnetic detection element 200 and the multi-film 910.

[0039] It is possible to mechanically control the following of the ridge 900 by front wheel steering wire traction utilizing the magnetic repulsion force described above, but by electronically controlling the following of the ridge 900 by hydraulic motor drive utilizing the controller 300, reliable following of the ridge 900 during ridge planting work can often be achieved more accurately.

[0040] The vehicle body height adjustment mechanism 110 is a mechanism for adjusting the height of the vehicle body 100 .

[0041] The vehicle body 100 follows the ridges 900 so as to correct any yawing that would cause the vehicle body 100 to misalign left and right, but by adjusting the height of the vehicle body 100, the fertilization depth and position can be properly grasped, even if a mulch film 910 is laid, thereby achieving efficient fertilization.

[0042] The mulch film 910 is laid so as to cover the upper surface of the ridges 900.

[0043] Of course, the mulch film 910 is usually laid so as to cover not only the top surfaces of the ridges 900 but also the side surfaces of the ridges 900.

[0044] The magnetic detector element 200 detects the magnetism of at least the mulch film 910 on the upper surface of the ridge.

[0045] It is also possible to consider an embodiment in which the magnetic detector element 200 detects not only the magnetism of the mulch film 910 on the top surface of the ridges, but also the magnetism of the mulch film 910 on the side surfaces of the ridges.

[0046] The controller 300 obtains the distance between the magnetic detector element 200 and the mulch film 910 on the top surface of the ridge based on the magnetic detection result, and controls the vehicle body height adjustment mechanism 110.

[0047] By detecting the magnetism of the mulch film 910 that is laid so as to cover the upper surface of the ridges 900, it is possible to reliably and more accurately obtain the distance between the magnetic detector element 200 and the mulch film 910 on the upper surface of the ridges. Of course, it is also possible to consider an embodiment in which the magnetic detector element 200 also detects the magnetism of the mulch film 910 on the side surface of the ridges, thereby taking into account the cross-sectional shape of the ridges and more accurately obtaining the distance between the magnetic detector element 200 and the mulch film 910 on the upper surface of the ridges.

[0048] As will be described below, obtaining the distance between such a preferred magnetic sensing element 200 and the mulch film 910 on the upper surface of the ridges is significantly facilitated by pressing the mulch film 910 so that it is in intimate contact with the upper surface of the ridges.

[0049] The mulch film pressing device 400 is a device that presses the mulch film 910 so that the mulch film 910 is in close contact with the upper surface of the ridges (see FIGS. 2(a) and 2(b), and 3(a) and 3(b)).

[0050] As described later, the pressing by the multi-film pressing device 400 is performed so that the multi-film 910 is unlikely to be damaged as a result of the pressing of the multi-film 910.

[0051] The magnetic detector element 200 detects the magnetism of the multi-film 910 in a state in which the multi-film pressing device 400 is pressing the multi-film 910 .

[0052] Although the mulch film pressing device 400 is not essential, the pressing of the mulch film 910 by such a mulch film pressing device 400 significantly prevents the mulch film 910 from lifting up from the top surface of the ridges, thereby enabling more accurate detection of the magnetism of the mulch film 910.

[0053] The multi-film pressing device 400 has air ejection holes 410 through which air is ejected to press the multi-film 910 .

[0054] There may be a mode in which air is ejected from a single air ejection hole 410, or a mode in which air is ejected from a plurality of air ejection holes 410. There may be a mode in which air is ejected from directly above the top surface of the ridge, or a mode in which air is ejected from diagonally above the top surface of the ridge.

[0055] A rotatable roller member 500 is attached to the underside of the vehicle body 100 .

[0056] In some embodiments, a single roller member 500 is attached, and in other embodiments, a plurality of roller members 500 are attached. In other embodiments, the roller member 500 is a driven roller member, and in other embodiments, the roller member 500 is a driven roller member.

[0057] The magnetic detector element 200 is disposed behind the roller member 500 .

[0058] Since the vehicle body 100 is traveling forward, the magnetic detector element 200 disposed behind the roller member 500 can reliably detect the magnetism of the multi-film 910 when the roller member 500 is pressing against the multi-film 910.

[0059] The lower end of the roller member 500 is lower than the lower end of the magnetic detector element 200 so that even if the roller member 500 comes into contact with the multi-film 910 , the magnetic detector element 200 does not come into contact with the multi-film 910 .

[0060] Even if vehicle body vibrations occur when the vehicle body 100 is moving and the roller member 500 comes into contact with the multi-film 910, the rotating roller member 500 is unlikely to damage the multi-film 910, and the magnetic detector element 200, whose lower end is higher than the lower end of the roller member 500, is unlikely to damage the multi-film 910 because it hardly comes into contact with the multi-film 910 due to the effect of the roller member 500 in contact with the multi-film 910 lifting the bumper of the vehicle body 100.

[0061] The air ejection holes 410 are disposed in front of the roller member 500 (see FIG. 2(a)).

[0062] The vehicle body 100 travels forward, and air ejected from the air ejection holes 410 disposed in front of the roller member 500 presses against the multi-film 910, so that the roller member 500 hardly comes into contact with the multi-film 910.

[0063] The air ejection holes 410 are disposed on the roller surface of the roller member 500 (see FIG. 2(b)).

[0064] Since air is ejected from air ejection holes 410 arranged on the roller surface of roller member 500 and presses multi-film 910 , roller member 500 hardly comes into contact with multi-film 910 .

[0065] The ejected air presses the multi-film 910 and causes the roller member 500 to rotate.

[0066] For example, by setting the direction of air ejection to be different from the normal direction of the roller surface of the roller member 500, it is possible to achieve desired rotation of the roller member 500 according to the strength of the air ejection, etc.

[0067] The direction in which the roller member 500 is rotated by the ejection of air is the direction in which the roller member 500 is rotated when it comes into contact with the mulch film 910, according to the direction of travel for ridge planting work.

[0068] Even if the traveling vehicle body 100 vibrates and the roller member 500 comes into contact with the mulch film 910, the roller member 500, which is rotated by ejecting air according to the direction of travel for ridge planting work when it comes into contact with the mulch film 910, is unlikely to damage the mulch film 910.

[0069] It is also possible to use the ridge guide rollers 1101 to perform ridge planting work while following the ridges 900 on which the mulch film 910 is laid (see Figures 3(a) and 3(b)).

[0070] The left and right ridge guide rollers 1101 are capable of rotating around the left and right ridge guide roller rotation vertical axes 1103, respectively, and the left and right front wheels 1102, which serve as steering wheels, are rotated around the left and right front wheel rotation vertical axes 1104 in the same rotational direction as the left and right ridge guide rollers 1101, respectively, to mechanically control following of the ridges 900 by traction of the front wheel steering wire.

[0071] The left and right ridge guide rollers 1101 are connected and rotate in the same direction, so that even if the ridges 900 are not straight, the machine can follow the ridges 900 while traveling for ridge planting work.

[0072] A mode in which the ridge guide roller 1101 is provided as a non-contact sensor is also conceivable. Since such a non-contact sensor is not the ridge 900, the ridge planting work can be performed while following the ridge 900 so that the distance to the side of the ridge 900 matches a predetermined distance that can be arbitrarily set.

[0073] It is desirable to carry out adjustment maintenance work before the start of furrow planting work so that the tread width of the left and right front wheels 1102, etc. are adjusted in conjunction with the width between the left and right furrow guide rollers 1101, so that the distance between the so-called vehicle height sensor plate of the vehicle height adjustment mechanism 110 and the top surface of the furrow matches a predetermined distance.

[0074] It is also possible to consider an embodiment in which the above-mentioned control of following the ridges 900 can be performed more precisely in cooperation with a GNSS (Global Navigation Satellite System) system such as a GPS (Global Positioning System) system, which is used to measure distances between adjacent ridges 900, etc.

[0075] (2) Next, referring primarily to Figures 4(a), 4(b), 4(c) and 4(d), as well as 5(a) and 5(b), the configuration and operation of the vegetable transplanter according to an embodiment of the present invention will be described in more detail.

[0076] Here, Figure 4(a) is a schematic plan view of the vicinity of seedling cup device 700 of a vegetable transplanter of an embodiment of the present invention, Figure 4(b) is a schematic left side view of the vicinity of seedling cup device 700 of a vegetable transplanter of an embodiment of the present invention, Figure 4(c) is a schematic plan view of the vicinity of seedling cup 710 of a vegetable transplanter of an embodiment of the present invention, Figure 4(d) is a schematic left side view of the vicinity of seedling cup 710 of a vegetable transplanter of an embodiment of the present invention, Figure 5(a) is a schematic left side view of the vicinity of seedling cup 710 of a vegetable transplanter of a fourth variant of an embodiment of the present invention, and Figure 5(b) is a schematic left side view of the vicinity of seedling cup 710 of a vegetable transplanter of a fifth variant of an embodiment of the present invention.

[0077] The seedling cup device 700 is a device having a seedling cup 710 that receives the seedlings inserted by the worker and planted by the seedling planting device 600.

[0078] In order to prevent so-called missing seedlings when planting seedlings, it is desirable to prevent the occurrence of an event in which the seedlings are not received into the seedling cup 710.

[0079] The seedling state detection device 800 is a device that detects the state of the seedlings received in the seedling cup 710.

[0080] For example, the seedling sensor unit 1201 of the seedling status detection device 800 not only has an ultrasonic sensor that can detect the absence of seedlings in the seedling cup 710, which would cause a missing seedling, but also has an imaging element 810 that can detect the thickness, size or color of onions or potatoes, etc.

[0081] The seedling sensor unit 1201 is provided immediately before the seedling dropping position of the seedling cup rotating table mechanism of the seedling cup device 700, which drives a plurality of seedling cups 710 in a circular motion to successively supply seedlings to the seedling planting device 600.

[0082] In order to effectively detect the seedling condition, the seedling sensor unit placement α [degrees], which determines the seedling sensor unit placement range for placing the seedling sensor unit 1201, is set to match a predetermined angle for the seedling cup rotating table driving direction.

[0083] The detected state of the seedlings is used to water or fertilize the seedlings when they are planted, or is written onto a field map together with the planting positions of the seedlings and used to manage cultivation after the seedlings are planted.

[0084] By compiling the growth status of the seedlings detected for each of the multiple seedling cups 710 into a database, it is possible to link it to a cultivation information management system using field map data, for example, and promote multi-purpose use of cultivation data through AI (Artificial Intelligence) data optimization, etc.

[0085] By using data on the condition of planted seedlings together with accumulated data on temperature and the like and data on external factors such as precipitation, a pre-registered fertilization database is precisely corrected to take into account the individual differences of the cup seedlings in the seedling cups 710, which are not uniform like mat seedlings, so that fertilization management can be carried out optimally.

[0086] In order to optimally control the irrigation or fertilization equipment when the seedlings are planted, real-time use of data is also performed as necessary, utilizing the detected state of the seedlings almost at the time of detection.

[0087] The seedling state detection device 800 has an imaging element 810 that captures an image of the state of the seedling received in the seedling cup 710 from above.

[0088] The placement position of the seedling sensor unit 1201 in plan view is near the center position of the seedling cup 710, and the imaging element 810 accurately captures images from above.

[0089] When the seedling sensor unit 1201 detects the absence of seedlings in the cup 710, an alert is output to prevent missing seedlings.

[0090] The operation of the seedling condition detection device 800 is turned on in conjunction with the on operation of a so-called seedling planting lever for traveling for furrow planting work.

[0091] The mirror element 711 may be provided on the inner side or the inner bottom surface of the seedling cup 710 (see FIG. 5(a)).

[0092] Since an image without blind spots according to the arrangement of the multiple mirror elements 711 can be obtained with a single imaging element 810, a compact configuration can be realized at low cost. For example, a configuration in which the bottom surface of the seedling cup 710 is made of a transparent material so that a small number of mirror elements 711 is sufficient can also be considered.

[0093] It is also possible to provide the seedling cup flat portion 1202 on the inner surface or inner bottom surface of the seedling cup 710 (see FIG. 5(b)). The seedling cup flat portion 1202 suppresses image quality degradation such as image distortion caused by flat light reflection, etc., and therefore improves the quality of the image captured by the imaging element 810, which is expected to result in high detection accuracy of the seedling condition.

[0094] (3) Next, the configuration and operation of the vegetable transplanter according to the embodiment of the present invention will be described in more detail.

[0095] (3A) A specific description will be given of the configuration of the fully automatic two-row narrow-row vegetable transplanter.

[0096] The configuration of the narrow-row-spacing seedling tank and planting section in a fully automatic vegetable transplanter is important.

[0097] As shown in Figure 6, which is an explanatory diagram (part 1) of the configuration of a fully automatic two-row narrow-space specification vegetable transplanter according to an embodiment of the present invention, a seedling tank configuration is adopted in which two cell trays are installed side by side in parallel, and one cell tray 1301 is used per row, making it possible to accommodate narrow row spacing.

[0098] For vertical feeding, a vertical feed bar member 1302 is used to simultaneously feed two cell trays 1301 arranged side by side, making it possible to accommodate narrow gaps between rows.

[0099] As shown in FIG. 7, which is an explanatory diagram (part 2) of the configuration of a fully automatic two-row narrow-spacing vegetable transplanter according to an embodiment of the present invention, the planting section hopper adopts a configuration in which members of a general-purpose link configuration are arranged symmetrically, making it possible to accommodate narrow row spacing.

[0100] The planting section hopper is configured so that the two rows can be adjusted separately, allowing fine adjustments to be made to each row.

[0101] The drive for two-row planting is branched off from the rear transmission shaft case 1303, making it possible to accommodate narrow row spacing.

[0102] The row spacing position in the hopper section is based on the cell tray width of 30 cm as the standard position, and if a narrower spacing is required, a configuration is adopted in which the seedling guide section is adjusted by sliding it sideways using the sliding row spacing adjustment mechanism 1304, making it possible to accommodate even narrower row spacing.

[0103] By positioning the link section on the inside, a configuration is adopted that makes it possible to accommodate row spacing narrower than the tray width of 30 cm, and even narrower row spacing can be accommodated.

[0104] A stepless structure is used for row spacing adjustment, allowing for fine adjustments to be made.

[0105] A wide seedling guide is installed on the top of the hopper, and a configuration is adopted that allows row spacing adjustment while keeping the removal position in the same position, making it possible to adjust row spacing without changing the removal section position.

[0106] The seedling removal section also uses a universal link configuration arranged symmetrically, making it possible to accommodate narrow row spacing.

[0107] As shown in Figures 8(a) and 8(b), which are explanatory diagrams (part 3 and 4) of the configuration of a fully automatic two-row, narrow-row spacing vegetable transplanter according to an embodiment of the present invention, a configuration is adopted in which a correction plate 1306 for correcting the seedling release trajectory is provided at a position below the position at which the extracted seedlings are released by the extraction claw 1305, thereby making it possible to deal with cases in which the shift in the seedling release position due to row spacing adjustment cannot be fully absorbed even by the seedling guide.

[0108] The correction plate 1306 is a flat plate whose angle can be adjusted using the angle adjustment mechanism 1307. It is configured to be at an oblique angle to the direction of release, and the released seedlings are placed against the correction plate 1306 to correct their trajectory. This can be used to deal with cases where the seedling release position shifts due to row-to-row adjustment cannot be fully absorbed by the seedling guide.

[0109] The correction plate 1306 has an arcuate shape, and adopts a shape configuration that makes it easier for the seedlings that hit it to move to the center, and the trajectory of the seedlings after they hit the correction plate 1306 can be stabilized.

[0110] The angle can be adjusted steplessly by the angle adjustment mechanism 1307, and a structure that corresponds to steplessly adjustable row spacing is adopted, making it possible to accommodate fine adjustments.

[0111] (3B) A specific description will be given of aspects relating to the configuration of a rice planter-attached vegetable transplanter.

[0112] As shown in Figures 9(a) and 9(b), which are explanatory diagrams (part 1 and part 2) of the configuration of a rice planter-attached vegetable transplanter according to an embodiment of the present invention, a configuration is adopted in which a two-row planting unit is mounted in a rice planter-based, attached-type fully automatic vegetable transplanter that uses a rice planter as a traveling body.

[0113] In the above-mentioned vegetable transplanter, the seedling tank frame is located at the rear of the vehicle body above the left and right rear wheels 1401, and a configuration is adopted in which the seedling tray insertion portion faces forward, which makes it easy to insert the seedlings.

[0114] The seedling tank frame is configured as an integrated frame with two planting rows, the power drive unit is located in the center of the frame, and a configuration is adopted in which power is obtained from the PTO drive shaft 1402 of the main unit, so that the two rows can be driven by a single power source.

[0115] A configuration is adopted in which the spare seedling tray loading section 1403 is arranged in a manner connected to the seedling tank frame, so that a seedling supply section can be secured without straining the space.

[0116] The seedling tank frame is equipped with a seedling-break sensor that detects when the cell tray on the seedling tank advances beyond a certain level. When the seedling-break sensor detects this, seedling trays are replenished from the spare seedling tray loading section 1403 to the seedling tank frame, making it possible to determine the timing for replenishing seedling trays.

[0117] The seedling trays are refilled when the seedling tank is slid all the way to the edge.

[0118] The spare seedling tray loading section 1403 is also equipped with a spare seedling detection sensor, and if the seedling break sensor detects that there are no spare seedlings in the spare seedling tray loading section 1403, a configuration is adopted in which the vehicle body 100 stops moving after a certain time lag, thereby preventing missing seedlings due to seedling breakage.

[0119] The seedling tank frame slides sideways to remove seedlings from the tray, but the spare seedling tray loading section 1403 is configured to be installed in a fixed position, and the seedling tray insertion section is fixed for easy insertion.

[0120] A spare seedling tray stopper 1404 is installed between the spare seedling tray loading section 1403 and the seedling tank, and is configured so that when the seedling break sensor detects a break, the spare seedling tray stopper 1404 is released, thereby preventing the seedlings from falling unintentionally.

[0121] When refilling the seedling tank with seedling trays, the robot stops moving for a certain period of time, and when the spare seedling sensor detects that refilling is complete, it begins moving again.

[0122] (3C) Aspects relating to the automatic turning front wheel configuration will now be specifically described.

[0123] As shown in FIG. 10, which is an explanatory diagram of the automatic swivel front wheel configuration of a vegetable transplanter according to an embodiment of the present invention, in addition to the left and right front wheels 1102, the vegetable transplanter employs a front wheel configuration that utilizes a pivotable swivel front wheel 1501 for automatic rotation.

[0124] A configuration is adopted in which only one turning front wheel 1501, which is a front wheel for turning, is provided below the bumper in the center of the front side of the aircraft.

[0125] The swivel front wheel 1501 is configured to be positioned below the left and right front wheels 1102, which are the two front working wheels, after rotation.

[0126] During planting work, the machine travels on four wheels, the left and right front wheels 1102 and the left and right rear wheels 1401, as is the current system, and at the end of the ridge the swiveling front wheel arm rotates to form a three-wheel configuration, the swiveling front wheel 1501 and the left and right rear wheels 1401. Having three wheels during turning work makes it easier to turn, and since it has four wheels at other times, it is less likely that the wheels will run over the ridges.

[0127] A configuration is adopted in which the detection of hydraulic operation for raising the vehicle height to the maximum at the end of a ridge is used as a trigger to rotate the swivel wheel arm of the swivel front wheel 1501.

[0128] A configuration is adopted in which the swivel front wheel arm is pulled up by a swivel front wheel lifting hydraulic pump 1502.

[0129] A caster mechanism 1503 is implemented for the swivel front wheel 1501, and a configuration is adopted in which the caster direction is automatically changed to the direction in which the user wants to turn the vehicle by using a caster drive motor 1504, which is a rotation motor provided above the swivel front wheel 1501.

[0130] A configuration is adopted in which the front wheels 1501 only rotate when turning, and only the rear wheels 1401 are driven.

[0131] (3D) A specific embodiment relating to the configuration of a fully automatic vegetable transplanter will be described.

[0132] In a fully automatic vegetable transplanter, (a1) a configuration in which a sensor capable of measuring sound pressure, such as a microphone, is mounted within a structural component of the machine, and the operating status of the planting unit, the traveling drive unit, and the engine are detected from vibrations, (a2) a configuration in which a sensor capable of measuring the voltage supplied to the ECU and the voltage generated during engine recoil is mounted and the start of operation of the transplanter is detected, (a3) ​​a configuration in which multiple sound pressure measurement sensors or voltage sensors are mounted within each component of the machine, and the onboard ECU records and controls the status, and (a4) a configuration in which power can be supplied to the onboard ECU from an external device such as a smartphone, enabling the onboard ECU to operate even when the engine is stopped, thereby enabling automatic control.

[0133] In the above-mentioned configuration, (b1) a configuration capable of communicating with an external terminal through communication such as Bluetooth (registered trademark), (b2) a configuration in which an ECU mounted on the transplant machine can receive commands from the terminal through mutual communication with an external device, (b3) a configuration in which the mounted ECU detects through mutual communication that the external terminal is in a video recording state and controls the ECU to record the operating status of the machine at the time of recording in terms of vibration, voltage, etc., and (b4) a configuration in which the information recorded in (b3) above is controlled to be transmitted to the external terminal, enabling communication control with an external terminal.

[0134] In the above-mentioned configuration, a configuration is adopted in which drive data within a certain period of time is linked to video data and compared with pre-measured data on failure and wear, thereby performing control to enable failure determination, and a configuration is adopted in which control is performed to enable determination of wear and failure of the unit by taking video with an external terminal, thereby enabling failure determination through self-diagnosis.

[0135] In the above-described configuration, a configuration is adopted in which data at the time of failure and wear determination is uploaded to the web, such as the cloud, via an external terminal, making it possible to acquire data online, and a configuration is adopted in which communications are controlled within the external terminal, making it possible to perform failure diagnosis from a remote location.

[0136] In the above-mentioned configuration, a system configuration is adopted that can automatically diagnose uploaded data and notify the terminal from which the data was uploaded of likely fault cases or malfunction judgments, and a cloud system configuration is adopted that can obtain maintenance judgments online by uploading videos, making it easier to carry out maintenance work in field operations.

[0137] In addition, the program of the invention related to the present invention is a program for causing a computer to execute all or part of the steps (or processes, operations and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with a computer.

[0138] In addition, the recording medium of the invention related to the present invention is a recording medium having recorded thereon a program for causing a computer to execute all or part of the operations of all or part of the steps (or processes, operations and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with a computer.

[0139] In addition, the above-mentioned "some steps (or processes, operations, actions, etc.)" means one or some steps among the multiple steps.

[0140] In addition, the above-mentioned "operation of a step (or process, operation, action, etc.)" means the operation of all or a part of the above-mentioned steps.

[0141] Furthermore, one mode of use of the inventive program related to the present invention may be in the form of being transmitted through a transmission medium such as the Internet, light, radio waves, or sound waves, being read by a computer, and operating in cooperation with the computer.

[0142] Furthermore, the recording medium includes a ROM (Read Only Memory) and the like.

[0143] Furthermore, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), and may also include firmware, an OS (Operating System), and even peripheral devices.

[0144] As described above, the configuration of the present invention may be realized in software or in hardware. [Industrial Applicability]

[0145] The work vehicle of the present invention can improve usability and is useful for use as a work vehicle such as a vegetable transplanter. [Explanation of symbols]

[0146] 100 Body 110 Body height adjustment mechanism 200 Magnetic sensing element 300 Controller 400 Multi-film pressing device 410 Air outlet 500 Roller member 600 Seedling planting device 700 Seedling Cup Device 710 Seedling Cup 711 Mirror element 800 Seedling condition detection device 810 Image sensor 900 ridges 910 Multi Film 1101 Ridge guide roller 1102 Front wheel 1103 Ridge guide roller rotating vertical shaft 1104 Front wheel rotation vertical axis 1201 Seedling sensor unit 1202 Seedling cup flat part 1301 Cell Tray 1302 Vertical feed bar member 1303 Transmission shaft case 1304 Slide spacing adjustment mechanism 1305 Extraction Claw 1306 Correction plate 1307 Angle adjustment mechanism 1401 Rear wheel 1402 PTO drive shaft 1403 Spare seedling tray loading section 1404 Spare seedling tray stopper 1501 Swivel front wheels 1502 Front slewing wheel lift hydraulic pump 1503 Caster mechanism 1504 Caster drive motor α Seedling sensor unit arrangement angle

Claims

1. A work vehicle that performs ridge planting work while following a ridge on which a mulch film carrying a magnetic material is laid, a magnetic detector attached to a vehicle body for detecting magnetism of the multi-film; a controller that acquires a distance between the magnetic detector element and the mulch film based on a magnetic detection result of the magnetic detector element and controls the film to follow the ridges; A work vehicle comprising:

2. A vehicle height adjustment mechanism for adjusting the height of the vehicle body is provided. The mulch film is laid so as to cover the upper surface of the ridges, The magnetic detector detects the magnetism of the mulch film at least on the upper surface of the ridge, The work vehicle according to claim 1, characterized in that the controller obtains the distance between the magnetic detector element and the mulch film on the top surface of the ridge based on the magnetic detection result, and controls the vehicle height adjustment mechanism.

3. A mulch film pressing device is provided to press the mulch film so that the mulch film is in close contact with the upper surface of the ridges, 3. The work vehicle according to claim 2, wherein the magnetic detector element detects the magnetism of the mulch film in a state in which the mulch film pressing device is pressing the mulch film.

4. 4. The work vehicle according to claim 3, wherein the mulch film pressing device has an air ejection hole through which air is ejected to press the mulch film.

5. A rotatable roller member is attached to an underside of the vehicle body; The magnetic detector element is disposed behind the roller member.

5. The work vehicle according to claim 4, wherein a lower end of the roller member is lower than a lower end of the magnetic detector element so that the magnetic detector element does not come into contact with the mulch film even when the roller member comes into contact with the mulch film.

6. 6. The work vehicle according to claim 5, wherein the air ejection holes are disposed in front of the roller member.

7. The air ejection holes are disposed on a roller surface of the roller member, The air jet presses the mulch film and rotates the roller member, The work vehicle according to claim 5, characterized in that the direction in which the roller member is rotated by the air ejection is a direction in which the roller member is rotated according to the direction of travel for the furrow planting work when the roller member comes into contact with the mulch film.

8. A seedling cup device having a seedling cup for receiving seedlings put in by an operator and planted by the seedling planting device; A seedling state detection device that detects the state of the seedlings received in the seedling cup; A work vehicle comprising:

9. The work vehicle described in claim 8, characterized in that the detected condition of the seedlings is used to water or fertilize the seedlings when they are planted, or is written onto a field map together with the planting position of the seedlings and used to manage cultivation after the seedlings are planted.

10. The seedling state detection device has an image pickup element that picks up an image of the state of the seedling received in the seedling cup from above, The work vehicle according to claim 9, characterized in that a mirror element is provided on an inner surface or an inner bottom surface of the seedling cup.

Images