Rice transplanter

Abstract

To provide a rice transplanter that can perform harvesting in the advancing direction of planting and harvesting in the lateral direction orthogonal to the advancing direction smoothly.SOLUTION: A rice transplanter equipped with a planting device 8 that includes planting claws 8a for planting seedlings 2 in a farm field 1 is configured such that a control device 4 records each planting position when the seedlings are planted along a predetermined travel path 3 for teaching, and the control device 4 causes the planting device 8 to perform planting at positions located on respective planting reference lines (PL, PL, ...) extending in a direction orthogonal to the travel path 3 for teaching from each recorded planting position when the seedlings are planted along other travel paths (L2, L3, ...) that are parallel to the travel path 3 for teaching.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a rice transplanter equipped with a planting device having a planting claw that receives seedlings. [Background technology]

[0002] With conventional rice transplanters, if the machine slipped, the spacing between the plants would become too close together and it was not possible to plant them at the intended spacing, making it difficult to manage the amount of seedlings used in each field.

[0003] Rice transplanters equipped with a function for uniform spacing between plants (keeping the spacing between plants) are also known, in which planting is performed while controlling the rotation speed of the planting tines in response to changes in actual speed (Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-170344 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, even with conventional rice transplanters that control the spacing between plants in this way, there are cases where the starting position at each process is off, or the machine is unable to immediately respond to changes in speed, or the machine is unable to do so effectively depending on the condition of the field. When the planted seedlings are viewed from the side, in a direction perpendicular to the direction the vehicle is traveling, the positions of the plants may not be aligned, resulting in poor sunlight and ventilation and reduced harvest yields.

[0006] In addition, because the crops were not aligned horizontally, it was impossible to move the combine harvester horizontally during harvesting, and harvesting had to be done only in the direction of the vehicle's movement during planting.

[0007] The present invention takes into consideration the problems associated with conventional rice transplanters and aims to provide a rice transplanter that can be used without problems when harvesting in either the planting direction or the lateral direction perpendicular to the planting direction. [Means for solving the problem]

[0008] The first aspect of the present invention is A rice transplanter equipped with a planting device having a planting claw for planting seedlings in a field, When seedlings are planted along a designated teaching route, each planting position is recorded in the control device, The control device is a rice transplanter characterized in that when planting seedlings on another travel path parallel to the teaching travel path, the planting device plants the seedlings from each of the recorded planting positions to positions on each planting reference line extending in a direction perpendicular to the teaching travel path.

[0009] The second aspect of the present invention is The control device is a rice transplanter of the first invention, in which seedlings are planted at positions on each of the planting reference lines by controlling the rotation speed of the planting tines of the planting device.

[0010] The third aspect of the present invention is This is a second rice transplanter of the present invention in which, when planting seedlings on the teaching travel path, the control device executes a distance-spacing maintenance mode, determining the distance traveled by the vehicle body and controlling the rotation of the planting claws accordingly to maintain a constant spacing between plants.

[0011] The fourth aspect of the present invention is This is a third rice transplanter of the present invention, which, when planting seedlings on the other travel route, can switch between using the planting reference line to perform planting, or instead executing the distance spacing maintenance mode, or executing a non-spacing maintenance mode in which the spacing between the seedlings to be planted is not maintained constant.

[0012] The fifth aspect of the present invention is A straight-line assist function is provided for traveling back and forth in the field, A travel route for acquiring a reference line for the straight line assist is used as the travel route for teaching, This is a fourth rice transplanter of the present invention, wherein the planting reference line is perpendicular to the reference line.

[0013] The sixth aspect of the present invention is This is a fifth rice transplanter of the present invention, in which point B, which is the end point for obtaining the reference line, is determined based on the number of rotations of the rear wheels from point A, which is the start point.

[0014] The seventh aspect of the present invention is This is a fifth rice transplanter of the present invention, in which the determination of point B, which is the end point for obtaining the reference line, is conditional on the difference between the orientation of the vehicle body at point B and the orientation of the vehicle body at point A, which is the start point, being within a predetermined angle.

[0015] The eighth aspect of the present invention is This is a fifth rice transplanter of the present invention, in which the determination of point B, which is the end point for obtaining the reference line, is conditional on the vehicle speed at point B being equal to or greater than a predetermined vehicle speed and continuing for a predetermined period of time.

[0016] The ninth aspect of the present invention is a cylindrical seedling harvesting device that supplies the seedlings to a planting device having a planting claw that plants the seedlings in the field; The seedlings are seedling mat type, The cylindrical seedling harvesting device has a cylinder, a rail fixed at a central position inside the cylinder, and a plurality of round bars installed in parallel above the rail inside the cylinder, The seedling box containing the seedling mat is inserted while being held on the rail inside the cylinder, Then, the cylinder rotates 180 degrees in the circumferential direction, so that the seedling mat falls from the seedling box and is placed on the multiple round bars, A seedling holding plate is inserted between the seedling box and the seedling mat, The cylinder rotates again 180 degrees in the circumferential direction together with the seedling holding plate, so that the seedling mat is placed on the seedling holding plate, This is a rice transplanter of any of the sixth to eighth aspects of the present invention, in which the seedling mat is supplied to the planting device by moving a seedling holding plate on which the seedling mat is placed toward the planting device. Effect of the Invention

[0017] The present invention makes it possible to realize a rice transplanter that can be used without problems when harvesting in either the planting direction or the lateral direction perpendicular to the planting direction. [Brief description of the drawings]

[0018] [Figure 1] FIG. 1 is a plan view of a field in which a rice transplanter according to an embodiment of the present invention plants seedlings. [Diagram 2] Control-related configuration diagram of the rice transplanter [Diagram 3] A front view of the rice transplanter, focusing on the gear that drives the fertilizer applicator. [Figure 4] A perspective view showing the rice transplanter planting seedlings on the edge of the paddy field. [Diagram 5] A side view of the fertilizer hopper that adjusts the amount of fertilizer applied by the rice transplanter. [Figure 6] Diagram of the rice transplanter's display panel showing the amount of fertilizer applied, etc. [Figure 7] FIG. 2 is a perspective view of a cylindrical unit for supplying seedlings to the rice transplanter. [Figure 8] (a) and (b) Schematic of seedling supply using the same cylindrical unit [Figure 9] (a) and (b) Schematic of seedling supply using the same cylindrical unit [Figure 10] (a) and (b) Schematic of seedling supply using the same cylindrical unit [Figure 11] FIG. 3 is an overall side view of the cylindrical unit for supplying seedlings. [Figure 12] FIG. 3 is a front view of the cylindrical unit for supplying seedlings; [Figure 13] FIG. 11 is a schematic front view showing an arrangement of a plurality of the cylindrical units. [Figure 14] FIG. 13 is a perspective view showing the upper end of the seedling tank when seedlings are supplied using the cylindrical unit. [Figure 15] FIG. 13 is a perspective view showing a seedling holding plate used when supplying seedlings using the cylindrical unit. [Figure 16] (a) and (b) are perspective views showing how to use the seedling holding plate. [Figure 17] FIG. 11 is a side view showing the relationship between the seedling holding plate and the upper end of the seedling tank. [Figure 18] FIG. 11 is a perspective view showing the relationship between the seedling holding plate and the upper end of the seedling tank. [Figure 19] FIG. 11 is a side view showing how seedlings are supplied using the cylindrical unit. [Figure 20] FIG. 11 is a side view showing how seedlings are supplied using the cylindrical unit. [Figure 21] FIG. 13 is a perspective view showing a state in which seedlings are supplied using the cylindrical unit. [Figure 22] FIG. 13 is a perspective view showing a state in which seedlings are supplied using the cylindrical unit. [Figure 23] FIG. 13 is a partial perspective view showing a state in which seedlings are supplied using a plurality of the cylindrical units. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0020] Fig. 1 is a plan view of a farm field in which a rice transplanter according to an embodiment of the present invention travels. In the following, the terms front, back, left and right are defined based on the traveling direction of the rice transplanter.

[0021] In FIG. 1, reference numeral 1 denotes a farm field in which seedlings 2 are planted using a four-row rice transplanter.

[0022] Reference numeral 3 denotes a travel route for teaching, which is the first travel route L1 in this example. Furthermore, the travel route 3 for teaching uses a travel route for acquiring a reference line for straight-line assistance. Reference numeral 2a denotes the spacing between seedlings 2.

[0023] In other words, in this example, while manually moving the rice transplanter in a straight line to plant seedlings 2, the start point A is indicated and then the end point B is indicated, or point B is automatically obtained as described below, and then a reference line SL connecting points A and B is obtained, and this reference line SL is used to assist in moving in a straight line along the travel paths L2, L3, L4, etc. in the subsequent processes.

[0024] The travel paths L2, L3, L4, . . . in the subsequent processes are parallel to the initial travel path 3.

[0025] In this way, when the seedlings 2 are planted on the first travel route, each planting position is recorded in the recording unit 4a of the control device 4. This planting position recording records the point where the planting claw 8a touches the field surface.

[0026] That is, Figure 2 is a control configuration diagram of the rice transplanter, in which the control device 4 has a recording unit 4a, controls the speed of the wheels 6 via the traveling HST 5, and also controls the rotation of the planting tines 8a of the planting device 8 via the planting-only HST 7.

[0027] Next, when planting seedlings 2 on the travel paths L2, L3, L4, etc. in the next process and thereafter, the control device 4 controls the rotation of the planting claws 8a to plant the seedlings 2 from each of the planting positions recorded in the recording unit 4a to positions on each of the planting reference lines PL, PL, PL, etc. extending in a direction perpendicular to the teaching travel path 3.

[0028] That is, before entering the next process, the planting reference lines PL, PL, PL... have already been determined from the planting position data recorded in the recording unit 4a. Therefore, the control device 4 controls the rotation speed of the planting claws 8a, taking into account the speed of the traveling vehicle body, so that the planting claws 8a match the planting positions known in advance by controlling the rotation of the planting claws 8a. That is, the rotation speed of the planting claws 8a is reduced where the planting reference line PL is wide, and the rotation speed of the planting claws 8a is increased where the planting reference line PL is narrow.

[0029] When planting seedlings on the travel route 3 for teaching, teaching may be performed while executing a distance spacing maintenance mode in which the control device 4 grasps the distance traveled by the vehicle body and controls the rotation of the planting claws 8a accordingly to maintain a constant spacing between plants. This mode makes it possible to make the spacing of the planting reference lines PL by teaching more uniform.

[0030] For example, if you want to plant seedlings 2 at 30 cm intervals, and the rotational position of the planting claws 8a is, for example, at about the 10 o'clock position where the seedlings were picked, 10 cm from the point where the seedlings have traveled 30 cm since the previous planting, the rotational speed of the planting claws 8a is adjusted so that the planting claws 8a reach the ground just within that 10 cm travel. The travel distance can be determined by known techniques such as detecting the rear wheel rotation speed or using GNSS.

[0031] Furthermore, when planting seedlings on the travel routes L2, L3, . . . (corresponding to other travel routes of the present invention) in the next and subsequent steps, the control device 4 can also switch as follows.

[0032] In other words, it may be possible to switch between a mode in which planting is performed at each position using the planting reference line PL as described above, or alternatively, to execute the above-mentioned distance spacing maintenance mode, or alternatively to execute a non-spacing maintenance mode in which the spacing between seedlings to be planted is not maintained constant.

[0033] Incidentally, the point B, which is the end point for obtaining the reference line SL during the teaching described above, can be automatically determined based on the number of rotations of the rear wheels from the point A, which is the start point.

[0034] This makes it possible to obtain point B even if there is a slip of a predetermined distance, rather than determining point B based on the absolute distance from point A.

[0035] Alternatively, the determination of point B, which is the end point for obtaining the reference line SL, may be conditional on the difference between the vehicle body orientation at point B and the vehicle body orientation at point A, which is the start point, being within a predetermined angle.

[0036] That is, for example, even if the operator manually designates point B, if the difference in the vehicle body orientation is significantly biased, point B will not be determined.

[0037] Alternatively, the determination of point B, which is the end point for obtaining the reference line SL, may be made on the condition that the vehicle speed at point B continues to be equal to or higher than a predetermined vehicle speed for a predetermined period of time.

[0038] In other words, for example, even if point B may be determined if the vehicle has traveled a specified distance or more from point A, if the vehicle speed at point B is too slow and this low speed continues for a specified period of time, point B will not be determined.

[0039] In addition to the above, point B can be determined at a position a predetermined distance from point A, and the predetermined distance can be obtained by integrating GNSS vehicle speed information or a vehicle speed calculation value based on rear wheel rotation detection over time, other than judging from the rear wheel rotation speed. Alternatively, point B can be determined when a predetermined time has passed from point A.

[0040] In the above embodiment, the operation of obtaining points A and B for straight-line assistance on the driving route for teaching is used, but this is not necessarily limited to this. It is also possible to obtain the planting reference lines PL, PL... by planting without obtaining points A and B.

[0041] Because the horizontal spacing is uniform in all processes, the amount of seedlings used can be managed with higher precision than before, saving time and money required for preparation, leading to cost reduction. In addition, the efficiency of sunlight, ventilation, and weeding work increases, leading to increased harvests. Workability during harvesting is also improved.

[0042] Next, Fig. 3 shows the technology for driving the fertilizer applicator. In Fig. 3, 10 is the fertilizer drive shaft, 11 is the low reduction ratio transmission path, 12 is the high reduction ratio transmission circuit, 13 is the one-way clutch, 14 is the intermediate shaft, and 15 is the motor.

[0043] Here, in a rice transplanter that rotates the fertilization drive shaft 10 by the driving force of a single motor 15 to perform fertilization, the reduction ratio is changed by switching between forward and reverse rotation of the motor 15.

[0044] This makes it possible to secure torque by shifting to a larger reduction ratio when the output load increases due to fertilizer clogging or the like.

[0045] The input shaft of the motor 15, the fertilizer drive shaft 10, and the intermediate shaft 14 are all arranged in parallel, and two gear arrangements are provided for transmitting power from the motor 15 to the fertilizer drive shaft 10. Of the two gear arrangements, the intermediate shaft 14 is used in one of the gear arrangements to transmit power to the fertilizer drive shaft 10.

[0046] This allows the motor 15 to provide output in two directions to the fertilizer application drive shaft 10.

[0047] In addition, the number of teeth of the gears in the gear arrangement that transmits power using the intermediate shaft 14 is adjusted to reduce speed.

[0048] This allows the two-way output to be separated into high torque and low torque.

[0049] In addition, a one-way clutch 13 is provided between the gear on the fertilizer drive shaft 10 and the fertilizer drive shaft 10 to rotate the fertilizer drive shaft 10 in a fixed direction regardless of the rotation direction of the motor 15.

[0050] This makes it possible to select the power transmission path while maintaining the rotation direction of the fertilizer application drive shaft 10 by switching the rotation direction of the motor 15.

[0051] Moreover, when the set amount of fertilization is small or the vehicle speed is low, the motor is rotated in a direction that uses the transmission path for low torque. This makes it possible to narrow the rotation speed range of the motor 15.

[0052] Next, another example of the invention will be described.

[0053] As shown in Figure 4, when the sub-speed lever 20 is set to the "Pita Planting" position while the machine is stopped, the fertilizer clutch is turned on, and the delivery roll rotates to apply fertilizer. The fertilizer application is driven by a motor, so it is not driven by the rear wheels.

[0054] Conventionally, when the lever was used to set the pita planting position at the edge of the headland, planting could be done while the machine was stopped, but fertilization was not possible, and growth was poor only in the pita planting area. However, with the above-mentioned configuration, fertilization is also possible in the pita planting area, resulting in uniform growth.

[0055] The fertilizer roll rotates while the lever 20 is pressed down, allowing the user to freely control the amount of fertilizer applied.

[0056] As shown in Figures 5 and 6, the amount of fertilizer to be applied at the planting can be changed according to the set amount of fertilizer, not the time that the lever 20 is tilted. The number of rotations of the fertilizer roll is counted by a rotation sensor 21 and controlled by a motor 22. This allows the same amount of fertilizer to be automatically applied in one location as in another.

[0057] Fertilizer is spread only while the lever 20 is tilted, but once a set amount has been spread, it is possible to stop the fertilizer roll from rotating even if the lever is tilted any further. If it continues to spread fertilizer after detecting that the lever 20 has been tilted once, and it cannot be cancelled, it can be dangerous because it cannot be turned off if someone gets pinched, etc. This improves safety and allows fertilizer to be spread accurately.

[0058] If the float is not on the ground, fertilizer will not be spread even if the sub-speed change lever 20 is set to the planting position. This prevents fertilizer from being spread in the air when it is operated by mistake, and prevents malfunctions.

[0059] If the blower is not ON, fertilizer will not be spread even if the planting position is set to the pita position. This prevents fertilizer from clogging.

[0060] If the blower is OFF and the planting position is set to Pita, the fertilizer will not be spread and the monitor will warn you to turn the blower ON. This prevents fertilizer clogging.

[0061] Next, another embodiment of the present invention will be described. Conventionally, when removing the seedling mat of the auxiliary seedling from the seedling box, the worker holds the seedling box with his / her hand and removes the seedling mat with a scooping board. However, this method is troublesome and cannot be automated. This invention solves this problem. In this embodiment, the seedlings 33 are seedling mat type.

[0062] In Fig. 7, 30 is a cylinder whose diameter is equal to or larger than the short side of seedling box 34, whose length is equal to or larger than the long side of seedling box 34, and which is large enough to accommodate seedling box 34 and can rotate in the circumferential direction. A semicircular semi-cylindrical member 30a that is slightly smaller than cylinder 30 is attached inside the cylinder, and rails 31 that can fit and hold the edge of seedling box 34 at the interval of the short side of seedling box 34 are provided and fixed near the center of semi-cylindrical member 30a.

[0063] In addition, a number of round bars 32 are arranged in a comb shape, parallel to the long side of the surface of the seedling boxes 34 that fit into the rails 31, at intervals of 1 to 2 times the thickness of the seedlings 33 above the bed. The round sides of the semi-cylindrical members 30a are left open so that the auxiliary seedlings 33, including the leaves of each seedling box 34, can pass through and be placed in. The cylinder 30 can also rotate in the circumferential direction around its center. These members as a whole are called the unit 300.

[0064] Using this device, the auxiliary seedlings 33 are removed from the seedling box 34 in the following steps.

[0065] (1) Figure 8 (a) is a front view of the cylinder 30, and (b) is a side view. The seedling box 34 containing the auxiliary seedlings 33 is inserted horizontally into the rail 31, and with the comb-shaped round bars 32 on top of it, the seedling box 34 is inserted all the way into the rail 31 and held within the cylinder. At this time, the auxiliary seedlings 33 are inserted so that the leaves of the auxiliary seedlings 33 are pushed aside between the comb-shaped round bars 32 that extend in the direction in which they are inserted and are lined up horizontally.

[0066] (2) As shown in Figures 9(a) and (b), the cylinder 30 is rotated 180°, and the auxiliary seedlings 33 are dropped from the seedling box 34 and held by the comb-shaped round bar 32 located below it.

[0067] (3) Furthermore, a seedling holding plate 35 for placing seedlings is inserted between the fallen auxiliary seedlings 33 and the seedling box 34 that is still being held, from the opposite direction to the way the auxiliary seedlings 33 were inserted.

[0068] (4) As shown in Figures 10(a) and (b), the cylinder 30 is rotated 180 degrees together with the seedling holding plate 35, and the auxiliary seedling 33 is dropped onto the inserted seedling holding plate 35 and held there.

[0069] (5) The inserted seedling holding plate 35 is pulled out together with the auxiliary seedlings 33 placed thereon, and the seedlings are removed.

[0070] By configuring it in this way, the unit can perform the task of an operator removing seedlings from seedling boxes 34 using the seedling holding plate 35, and if the actions of inserting auxiliary seedlings 33, rotating the unit, and inserting and removing the seedling holding plate 35 are automated using electricity or the like, the configuration can be used as part of a system for fully automatic seedling supply in a robotic rice transplanter, etc.

[0071] Although the seedlings will be turned upside down, they will not collapse as with rolled seedlings, and even if some of the soil covering the top of the seedlings falls off, this will not cause any problems when planting them. By using this unit to remove the soil that is not held by the seedling's roots, less soil falls when the seedlings are scraped off with the planting rod, and crumbled bed soil from the seedlings is less likely to accumulate on the float below, improving planting performance.

[0072] The unit 300 rotates the cylinder to turn over the seedlings and take them out of the seedling box. The unit 300 is mounted on a rice transplanter and used as part of a configuration for fully automatic seedling supply.

[0073] As shown in Figures 11 and 12, the units 300 are used in the same number as the number of planting rows, and are arranged side by side at the top center of the rice transplanter traveling part 100, with the front and rear positions of each row aligned at the center of the seedling tank 101. In this case, taking into consideration the size of the cylinder that the seedling boxes 34 fit into, if the front and rear positions of each row are aligned with the seedling tank 101, the units 300 of adjacent rows cannot be arranged side by side, so they are arranged with a slight vertical shift for every other row.

[0074] In addition, gears 36 are provided on the cylindrical outer periphery of each unit 300, and the gears 36 on the outer periphery of the staggered units 300 are configured to mesh with adjacent ones (see FIG. 13). Furthermore, since the height of the units 300 is shifted up and down for every other row, the position of the upper end 101a of the seedling tank 101 is also shifted by that amount for every other row (see FIG. 14).

[0075] With this configuration, when the seedling tank 101 is stopped in the central position, the units 300 for each row will be lined up in front and behind each row of the seedling tank 101, and when auxiliary seedlings 33 are placed in the front of each unit 300, seedlings 33 taken out of the seedling boxes 34 will come out from the rear. By separately connecting these units 300 and the seedling tank 101 to each row, the units 300 can be used as part of a configuration for fully automatic seedling supply.

[0076] Also, as shown in Fig. 13, by connecting each unit 300 with gears 36, all units 300 can be rotated by one drive, allowing for a simple and inexpensive configuration. Regardless of the direction of rotation, they can rotate 180° in the same way. Note that the rotation drive configuration for all units 300 does not have to be gears 36, and they can be connected by belts, chains, etc.

[0077] As described above, in unit 300, which rotates cylinder 30 to turn seedlings 33 over and remove them from seedling boxes 34, when this unit 300 is mounted on a rice transplanter and configured for fully automatic seedling supply, the seedling holding plate 35 that moves seedlings 33 from unit 300 to seedling tank 101 is configured as follows.

[0078] The seedling holding plate 35 is large enough to hold one seedling 33 and can be inserted into the unit 300. A main shaft 35a extending in the front-rear direction is provided at the center of the top, bottom, left and right, and is inserted and held therein. As shown in Fig. 15, Fig. 16(a) and (b), the seedling holding plate 35 is configured to be slidable back and forth along the main shaft 35a and to rotate around the main shaft 35a as a rotation axis. In addition, two stopper shafts 35b are provided on the left and right so that the seedling holding plate 35 can be held horizontally without rotating relative to the main shaft 35a when it is moved backward, and is configured to be inserted into the seedling holding plate 35 by sliding movement to maintain its position. Furthermore, the main shaft 35a and the left and right stopper shafts 35b are fixed to a vertical rotation shaft stay 35c provided at the rear, and when the seedling holding plate 35 is moved to the rearmost position, the vertical rotation shaft stay 35c is used as a rotation axis, and the seedling holding plate 35 can be rotated vertically together with each shaft (see Fig. 17).

[0079] The vertical rotation shaft stay 35c and the seedling holding plate 35 may be provided independently behind the cylindrical seedling harvesting unit 300 (see FIG. 17), or may be fixed to the upper end of the seedling tank 101 and connected to the planting device 8 (see FIG. 18). For seedling supply, the rotation shaft of the cylindrical seedling harvesting unit 300 and the rotation shaft of the seedling holding plate 35 are arranged coaxially.

[0080] With this configuration, the seedlings 33 can be moved from the cylindrical seedling removal unit 300 provided at the upper central part of the rice transplanter running section 100 to the seedling tank 101 in the planting section.

[0081] The auxiliary seedlings 33 are put into the cylindrical seedling removal unit 300, which is then rotated 180° to drop the seedlings 33 from the seedling box 34, and the seedling holding plate 35 is slid forward along the main shaft 35a and inserted into the cylindrical seedling removal unit 300. At this time, the seedling holding plate 35 moves forward from where it is held by the left and right stopper shafts 35b, and when the stopper shafts 35b are released, the front part of the seedling holding plate 35 is inside the cylindrical seedling removal unit 300, from which point it is held by the cylindrical seedling removal unit 300 and rotates together with it.

[0082] Thereafter, the cylindrical seedling removal unit 300 is rotated 180° together with the seedling holding plate 35, and the seedlings 33 are placed on the seedling holding plate 35, which is then slid backward to remove the seedlings 33. Once the seedling holding plate 35 has been moved to the rear end, it is rotated vertically upward by the vertical rotating shaft stay 35c, and when tilted, the seedlings 33 placed on it slide off under their own weight and are moved to the seedling tank 101 below.

[0083] If the sliding movement of the seedling holding plate 35 back and forth and the vertical rotation movement at the rear end are automated by electricity or the like, it becomes a unit that can move seedlings 33 fully automatically from the cylindrical seedling removal unit 300 to the planting section seedling tank 101, and can be used as part of a configuration for fully automatic seedling supply.

[0084] Next, in the unit 300 that rotates the cylinder 30 to turn over the seedlings 33 and take them out of the seedling box 34, a brush 37 is provided at the front of the unit 300, on the auxiliary seedling insertion side (see FIG. 19). Here, the position at which the seedling box 34 is inserted into the cylindrical seedling removal unit 300 is configured so that the seedling box 34 is positioned slightly below the center of the unit 300 in the orientation in which the auxiliary seedlings 33 are inserted, rather than aligning the center of the seedling box 34 with the center of the unit 300. Also, the position of the lower end of the brush 37 is configured so that it is positioned slightly above the center of the unit 300, away from the back surface of the seedling box 34 that is positioned offset from the center of the unit 300.

[0085] In addition, the empty boxes 34 into which the seedlings 33 remaining in the unit 300 have fallen are returned to the front of the unit 300, at the auxiliary seedling insertion side, for collection when the unit 300 is rotated 180° and turned upside down. The brushes 37 are of coarse mesh with gaps in each part approximately equal to the spacing of the round bars 32 of the seedling holding comb.

[0086] With this configuration, as shown in Figures 19 and 21, when the auxiliary seedlings are put in, the coarse brush 37 comes into contact with the leaves of the seedlings 33, and after the brush 37 lightly brushes aside the leaves of the seedlings 33, it enters the round bar 32 of the seedling holding comb part of the unit 300, so that the leaves of the seedlings 33 are smoothly separated and entered, making it difficult to damage the leaves of the seedlings 33. At this time, the lower end of the brush 37 is positioned so that it does not come into contact with the seedlings 33 bed or the seedling box 34.

[0087] Furthermore, as shown in Figures 20 and 22, when collecting the empty boxes, the back side of the empty box 34 turned 180 degrees is in a slightly higher position where it hits the lower end of the brush 37, so that when the empty box 34 is pulled back, the tip of the brush 37 comes out while hitting the back side of the empty box 34, and therefore the brush 37 can be used to collect the seedling box 34 while brushing off roots and mud that have grown on the back side of the box.

[0088] Also, by configuring the seedling holding plate 35 at the rear of the unit 300 to have a certain degree of thickness (see Figures 19 and 20), so that the front side of the seedling holding plate 35 touches the rear side of the seedling box 34 in either position when putting in the auxiliary seedlings 33 or taking out the empty box 34, the next auxiliary seedling 33 will push out the seedling holding plate 35 to move the previous seedling 33 when performing consecutive seedling supply work. By inserting the seedling holding plate 35 into the unit 300, it is convenient to configure consecutive work such as pushing the empty box 34 forward and cleaning the backside of the seedling box at the same time.

[0089] Next, in unit 300, which rotates cylinder 30 to turn over seedlings 33 and remove them from seedling boxes 34, the units 300 are mounted in a staggered arrangement in the upper central area of ​​the rice transplanter running section 100, and the drive to rotate cylinder 30 is used to transport fertilizer bags P to the upper front area of ​​mid-fertilizer applicator fertilizer hopper 38 (see Figure 11) will be described.

[0090] As shown in Figures 11, 12 and 23, the device is composed of a fertilizer transport platform 39 large enough to carry a fertilizer bag P, and a fertilizer transport frame 40 which serves as a rail along which the transport platform 39 moves.

[0091] First, the fertilizer transport frames 40 are installed horizontally on the left and right above the staggered cylindrical seedling harvesting units 300, and parallel to the fertilizer hopper 38. In addition, vertical fertilizer transport frames 40 are installed on either the left or right side of the staggered cylindrical seedling harvesting units 300, and the corners are configured to be large R-shaped so that the fertilizer transport frames 40 are connected to surround the staggered cylindrical seedling harvesting units 300 in an L-shape.

[0092] Next, a rope is connected between the fertilizer transport platform 39, which moves on and along the fertilizer transport frame 40, and the cylindrical seedling harvesting unit 300, which is the furthest from where the fertilizer transport frame 40 is installed to the side, and the cylinder 30 rotates and winds the rope around its outer circumference, pulling the fertilizer transport platform 39. Guides are installed at various points on the fertilizer transport frame 40, and the rope 41 is stretched along the guides in the same way as the fertilizer transport platform 39.

[0093] With this configuration, the fertilizer bag P can be placed on the fertilizer transport platform 39 at a low position to the side of the rice transplanter running section 100, and then the fertilizer transport platform 39 with the fertilizer bag P loaded on it can be pulled up by rotating the cylindrical seedling removal unit 300.Furthermore, the upper part of the cylindrical seedling removal units 300, which are arranged in a staggered pattern and form the upper front part of the mid-fertilizer applicator fertilizer hopper 38, can be moved left and right, making it possible to move the fertilizer bag P to the position in front of the fertilizer hopper 38 where fertilizer is desired to be added.

[0094] In addition, by providing a configuration in which the fertilizer bag P placed on the fertilizer transport platform 39 is automatically tilted so that the fertilizer drops downward and rearward, and by providing a configuration in which the fertilizer hopper lid is automatically opened, fertilizer can be replenished fully automatically, and this fertilizer transport unit can be used as part of that configuration. [Industrial Applicability]

[0095] The present invention is ideal for seedling rice transplanters because it can realize a work device that can be used without problems for harvesting in either the planting direction or the lateral direction perpendicular to the planting direction. [Explanation of symbols]

[0096] 1. Field 2 seedlings 2a between stocks 3 Teaching route 4. Control device 4a Storage section 5 HST for driving 6 wheels 7 HST for planted nails 8 Planting equipment 8a Planted nails 10 Fertilizer drive shaft 11. Low-reduction ratio transmission path 12 High reduction ratio transmission circuit 13 One-way clutch 14 Intermediate shaft 15 Motor 20 Sub-gear shift lever 21 Rotation Sensor 22 Motor 30 Cylinder 30a Semi-cylindrical member 31 Rail 32 Round bar (comb) 33 Seedlings 34 Seedling box 35 Seedling holding board 35a main shaft 35b Stopper shaft 35c Vertical Rotation Axis Stay 36 Gear 37 Brushes 38 Fertilizer Hopper 39 Fertilizer transport platform 40 Fertilizer transport frame 41 Rope 300 units L1, L2, L3... Travel route P fertilizer bag PL Planting Reference Line SL Reference Line

Claims

1. A rice transplanter equipped with a planting device having a planting claw for planting seedlings in a field, When seedlings are planted along a designated teaching route, each planting position is recorded in the control device, The rice transplanter is characterized in that, when planting seedlings on another travel path parallel to the teaching travel path, the control device uses the planting device to plant the seedlings from each of the recorded planting positions to positions on each planting reference line extending in a direction perpendicular to the teaching travel path.

2. The rice transplanter according to claim 1 , wherein the control device plants seedlings at positions on each of the planting reference lines by controlling a rotation speed of a planting claw of the planting device.

3. The rice transplanter according to claim 2, wherein, when planting seedlings on the teaching travel path, the control device executes a distance spacing maintenance mode in which the control device grasps the distance traveled by the vehicle body and accordingly controls the rotation of the planting claws to maintain a constant spacing between plants.

4. A rice transplanter as described in claim 3, which is capable of switching between using the planting reference line to perform planting when planting seedlings on the other travel route, or instead performing the distance spacing maintenance mode, or performing a non-spacing maintenance mode in which the spacing between the seedlings to be planted is not maintained constant.

5. A straight-line assist function is provided for traveling back and forth in the field, A travel route for acquiring a reference line for straight line assist is used as the travel route for teaching, The rice transplanter according to claim 4 , wherein the planting reference line is perpendicular to the reference line.

6. The rice transplanter according to claim 5, wherein the determination of point B, which is the end point for obtaining the reference line, is determined based on the number of rotations of the rear wheels from point A, which is the start point.

7. The rice transplanter according to claim 5, wherein the determination of point B, which is the end point for obtaining the reference line, is performed on the condition that the difference between the orientation of the vehicle body at point B and the orientation of the vehicle body at point A, which is the start point, is within a predetermined angle.

8. The rice transplanter according to claim 5, wherein the determination of point B, which is the end point for obtaining the reference line, is made on the condition that the vehicle speed at point B continues to be equal to or greater than a predetermined vehicle speed for a predetermined period of time.

9. a cylindrical seedling harvesting device that supplies the seedlings to a planting device having a planting claw that plants the seedlings in the field; The seedlings are of the seedling mat type; The cylindrical seedling harvesting device has a cylinder, a rail fixed at a central position inside the cylinder, and a plurality of round bars installed in parallel above the rail inside the cylinder, The seedling box containing the seedling mat is inserted while being held on the rail inside the cylinder, Then, the cylinder rotates 180 degrees in the circumferential direction, so that the seedling mat falls from the seedling box and is placed on the multiple round bars, A seedling holding plate is inserted between the seedling box and the seedling mat, The cylinder rotates again 180 degrees in the circumferential direction together with the seedling holding plate, so that the seedling mat is placed on the seedling holding plate, The rice transplanter according to any one of claims 6 to 8, wherein the seedling mat is supplied to the planting device by moving a seedling holding plate on which the seedling mat is placed toward the planting device.

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