Sulky type seedling transplanter

Abstract

To provide a sulky type seedling transplanter that is inexpensive by using a satellite positioning system of a small airplane, in order to solve a problem that a conventional sulky type seedling transplanter that is equipped with a satellite positioning system (GPS) and performs autonomous travel requires two GPSs for various types of work performed by the sulky type seedling transplanter equipped with a GPS and a small airplane equipped with a GPS, which is expensive.SOLUTION: A sulky type seedling transplanter equipped with a seedling planting part 4 in a traveling vehicle body 2 is provided with a landing base 6a on which a small airplane 8 equipped with a satellite positioning system 7 lands. The sulky type seedling transplanter performs autonomous travel or assisted travel by using the satellite positioning system 7 of the small airplane 8 that has landed on the landing base 6a.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a riding seedling transplanter equipped with a satellite positioning system such as GPS or GNSS. [Background technology]

[0002] Conventionally, there is a ride-on rice transplanter that is equipped with a global positioning system (GPS) and travels autonomously (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-112962 A Summary of the Invention [Problem to be solved by the invention]

[0004] Various tasks were carried out using a ride-on rice transplanter equipped with a GPS and a small airplane equipped with a GPS, which required two GPS devices, which was expensive.

[0005] The present invention has been made in consideration of the above, and has an object to provide an inexpensive ride-on seedling transplanter that uses the same satellite positioning system as a small airplane. [Means for solving the problem]

[0006] The invention described in claim 1 is a ride-on seedling transplanter equipped with a seedling planting unit 4 on a running body 2, which is provided with a landing pad 6a on which a small airplane 8 equipped with a satellite positioning system 7 can land, and which uses the satellite positioning system 7 of the small airplane 8 that has landed on the landing pad 6a to travel autonomously or with assisted travel.

[0007] According to the invention described in claim 1, a landing pad 6a is provided on which a small airplane 8 equipped with a satellite positioning system 7 can land, and the satellite positioning system 7 of the small airplane 8 that has landed on the landing pad 6a is used for autonomous driving or for assisted driving, so that by sharing the satellite positioning system 7 of the small airplane 8, an inexpensive ride-on seedling transplanter can be provided.

[0008] The invention described in claim 2 is the riding type seedling transplanter described in claim 1, in which the small airplane 8 can be remotely controlled by a remote control 93.

[0009] The invention described in claim 3 is the ride-on seedling transplanter described in claim 1, in which the small airplane 8 and the ride-on seedling transplanter 1 can be remotely controlled by a single remote control 93.

[0010] The invention described in claim 4 is a ride-on seedling transplanter as described in claim 2 or claim 3, in which a remote control 93 is provided with sticks 94L, 94R for controlling the aircraft, a switch 95 for switching modes, and a monitor 96 for displaying image data from the camera 91 of the small airplane 8. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a side view of a riding rice transplanter according to an embodiment of the present invention. [Diagram 2] FIG. [Diagram 3] FIG. 4 is a perspective view for explaining the operation of the material supplying device. [Figure 4] FIG. 4 is a side view for explaining the operation of the material supplying device. [Diagram 5] FIG. 4 is a side view for explaining the operation of the material supplying device. [Figure 6] FIG. 11 is a perspective view for explaining the function of the supplier. [Figure 7] FIG. 11 is a perspective view for explaining the function of the supplier. [Figure 8] FIG. 11 is a perspective view for explaining the function of the supplier. [Figure 9] FIG. 4 is a side view for explaining the operation of the material supplying device. [Figure 10]FIG. 4 is a side view for explaining the operation of the material supplying device. [Figure 11] FIG. 11 is a perspective view showing another embodiment of the material supplying device. [Figure 12] FIG. 11 is a perspective view for explaining the operation of another embodiment of the material supplying device. [Figure 13] FIG. 1 is a perspective view of a drone. [Figure 14] FIG. [Figure 15] 1 is an explanatory diagram of the functions of the left and right sticks of the remote control. [Figure 16] FIG. 13 is a perspective view showing another embodiment of the remote control. [Figure 17] FIG. [Figure 18] FIG. [Figure 19] FIG. [Figure 20] This is a side view of the main parts of a riding rice transplanter equipped with a sub-float. [Figure 21] This is a plan view of the main parts of a riding rice transplanter equipped with a sub-float. [Figure 22] FIG. 13 is a plan view of a main portion showing another embodiment in which a sub-float is attached. [Diagram 23] This is a plan view of the main parts of a riding rice transplanter equipped with a front wheel rake. [Figure 24] This is a side view of the main parts of a riding rice transplanter equipped with a front wheel rake. [Diagram 25] This is a plan view of a riding rice transplanter equipped with a brush cutter. [Figure 26] This is a side view of a riding rice transplanter equipped with a brush cutter. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0013] <Overall composition> Fig. 1 is a side view of a riding-type rice transplanter equipped with a fertilizer, which is an embodiment of the riding-type seedling transplanter of the present invention. In this riding-type rice transplanter 1 with a fertilizer, a seedling planting section 4 is mounted on the rear of a traveling body 2 via a lifting link device 3 so that it can be raised and lowered, a main body of a fertilizer device 5 is provided on the upper rear side of the traveling body 2, and a drone 8, which is a type of small airplane equipped with a satellite positioning system such as GPS7 or GNSS (hereinafter referred to as GPS7), is disposed on the upper end of a front frame 6 provided on the front of the traveling body 2. The left and right directions facing the forward direction of the riding-type seedling transplanter are referred to as left and right, respectively, and the forward direction and backward direction are referred to as front and rear, respectively.

[0014] <Running vehicle 2> As shown in FIG. 1, the vehicle body 2 is a four-wheel drive vehicle equipped with a pair of left and right front wheels 10, 10 and a pair of left and right rear wheels 11, 11, which are drive wheels. A transmission case 12 is arranged at the front of the vehicle body, front wheel final cases are provided on the left and right sides of the transmission case 12, and the left and right front wheels 10, 10 are respectively attached to left and right front wheel axles that protrude outward from each front wheel support portion that can change the steering direction of the left and right front wheel final cases.

[0015] In addition, the front end of the main frame 15 is fixed to the rear part of the transmission case 12, and the rear wheel gear case is supported so as to be able to roll freely, with a rear wheel rolling axis set horizontally in the center of the left and right rear end of the main frame 15 as a fulcrum, and the rear wheels 11, 11 are attached to the rear wheel axles that protrude outward from the rear wheel gear case.

[0016] The engine 20 is mounted on an engine bracket 19 provided at the front of the vehicle body 2, and the rotational power of the engine 20 is transmitted to the transmission case 12 via a belt transmission device 21 and an HST 23.

[0017] The rotational power transmitted to the transmission case 12 is changed in speed by the transmission in the transmission case 12, and then separated into running power and externally taken out power. A part of the running power is transmitted to the front wheel final case to drive the front wheels 10, 10, and the rest is transmitted to the rear wheel gear case to drive the rear wheels 11, 11. The externally taken out power is transmitted to a planting clutch case provided at the rear of the traveling body 2, and is then transmitted to the seedling planting section 4 by the planting transmission shaft, and is also transmitted to the fertilizer application device 5 by the fertilizer application transmission mechanism.

[0018] The upper, front, left and right parts of the engine 20 are covered by a bonnet 30. Floor steps 31 are provided on both the left and right sides and at the rear of the bonnet 30.

[0019] The engine bracket 19 is fixed to the front end of the main frame 15 by welding, and increases the rigidity of the main frame 15 to accommodate vibrations of the engine 20.

[0020] The floor step 31 is attached onto the main frame 15. Of the floor step 31, for example, a part near the cockpit 32 is formed in a lattice shape in a plan view so that mud adhering to the worker's shoes can be washed off into the rice paddy field.

[0021] The rear center portion of the floor step 31 is formed in a convex shape, and a pilot's seat 32 is provided on the upper surface thereof.

[0022] A rear step 33 that is configured high and also serves as a fender for the left and right rear wheels 11, 11 is provided at the rear end of the floor step 31.

[0023] Various operating mechanisms are provided on the top of the bonnet 30, and above this, a handle 34 for steering the front wheels 10, 10 is provided.

[0024] The lifting link device 3 has a parallel link configuration and is equipped with one upper link 40 and a pair of left and right lower links 41, 41. The base sides of these links 40, 41, 41 are rotatably attached to a link base frame 42, which is shaped like a portal when viewed from the rear and is erected at the rear end of the main frame 15, and a vertical link 43 is connected to the tip side of the link. A connecting shaft rotatably supported on the seedling planting unit 4 is inserted and connected to the lower end of the vertical link 43, and the seedling planting unit 4 is connected to be able to roll freely around the connecting shaft.

[0025] A lifting hydraulic cylinder is provided between the link base frame 42 and the vertical link 43, and by hydraulically extending and contracting the lifting hydraulic cylinder, the lifting link device 3 rotates up and down, and the seedling planting section 4 rises and falls while maintaining an almost constant posture.

[0026] On both the left and right sides of the front of the traveling body 2, left and right spare seedling carriers 44 for carrying spare seedlings to be supplied to the seedling carrier 51 of the seedling planting section 4, and left and right line drawing markers are provided.

[0027] A material supplying device 9 is provided at the rear of the traveling body 2 to supply seedlings to the seedling carrier 51 of the seedling planting section 4 and to supply fertilizer to the fertilizer hopper 60 of the fertilizer application device 5.

[0028] In addition, a front frame 6 is provided at the front of the running vehicle body 2, the base of which is fixed to an aircraft frame such as an engine bracket 19 and extends upward, and a drone 8, which is a type of small airplane equipped with a GPS 7, is placed on a flat landing pad 6a provided at the upper end of the front frame 6.

[0029] <Seedling planting section 4> The seedling planting section 4 has a typical 10-row planting configuration and is equipped with a transmission case 50 fixed to a frame provided on the left and right side of the body, a seedling carrying platform 51 which is composed of 10 seedling carrying sections 51a arranged in parallel in the left and right direction and which moves back and forth from side to side and which each carries a mat seedling Na with soil, and a seedling planting device 52 which takes out seedlings one by one from the lower end of each seedling carrying section 51a of the seedling carrying platform 51 and plants them in the field.

[0030] A center float 55 is provided in the center of the lower part of the seedling planting section 4, and left and right side floats 56 are provided on either side of the center float 55. When the machine is advanced with these floats 55, 56 in contact with the muddy surface of the field, the floats 55, 56 slide along the muddy surface while leveling it, and the seedling planting device 52 plants seedlings in the leveled area.

[0031] Each float 55, 56 is attached so that it can rotate freely so that its front end moves up and down in response to unevenness in the field topsoil surface. During planting work, the up and down movement of the front of the center float 55 is detected by an angle-of-attack control sensor. In response to the detection result, the hydraulic valve that controls the lifting hydraulic cylinder is switched to raise and lower the seedling planting section 4, thereby maintaining the seedling planting depth constant at all times.

[0032] The seedling planting section 4 is equipped with a soil leveling rotor 27, which is an example of a soil leveling device.

[0033] <Fertilizer 5> The fertilizer application device 5 delivers a fixed amount of granular fertilizer stored in a fertilizer hopper 60 using a delivery section 61, and guides the fertilizer via a fertilizer application hose 62 to fertilizer application guides 63 attached to both the left and right sides of the floats 55, 56. The fertilizer is then dropped into a fertilizer area formed near the side of the seedling planting row by a furrow making body 64 provided in front of the fertilizer application guide 63.

[0034] Air generated by a blower driven by an electric blower motor is blown into the fertilizer application hose 62 via an air chamber 65 that is long in the left-right direction, and the fertilizer in the fertilizer application hose 62 is forcibly transported by the wind pressure.

[0035] <Material supply device 9> As shown in Figures 1 and 2, a material supplying device 9 is provided at the rear of the running body 2, and is composed of a support frame 70 and a material rack 71 supported by the support frame 70 and used to supply seedlings to the seedling carrier 51 of the seedling planting section 4 and to supply fertilizer to the fertilizer hopper 60 of the fertilizer application device 5.

[0036] The support frame 70 is a gate type when viewed from the front, with the lower left and right ends fixed to the main frame 15 of the running body 2, and the left and right support bars 70a are installed horizontally in the left-right direction of the body in front of the fertilizer hopper 60 of the fertilizer application device 5 and above the rear of the driver's seat 32 (the left and right lengths of the left and right support bars 70a are set slightly longer than the left and right widths of the seedling carrying sections 51a arranged side by side on the seedling carrying platform 51).

[0037] The support frame 70 also functions as a handrail for a worker performing seedling supplying work or fertilizer supplying work on the traveling body 2.

[0038] The material rack 71 is composed of a mounting frame 72 as a mounting body for placing empty seedling boxes N or fertilizer bags F', which are U-shaped when viewed from the side, and a supply body 73 for supplying soil-attached mat seedlings Na and fertilizer Fa.The material rack 71 is supported so as to be freely rotatable in the front-to-rear direction by a pivot shaft 74a at the end of a connecting arm 74, the base of which is attached to the left and right support bars 70a of the support frame 70 so as to be freely slidable and rotatable in the left-right direction of the body.

[0039] Therefore, the material rack 71 can be moved left and right between the left and right sides of the rear of the running body 2 by sliding the connecting arm 74 left and right along the left and right support bars 70a; in other words, it can be moved left and right within the left and right width of the seedling carrying platform 51 of the seedling planting section 4.

[0040] As shown in FIG. 1, the material rack 71 is rotatably mounted in the front-rear direction on a pivot shaft 74a at the end of a connecting arm 74, the base of which is rotatably mounted on the left and right support bars 70a. Therefore, the rotational position can be freely changed to a hanging position (a) in which the material rack 71 is hung from the left and right support bars 70a on the left and right sides of the cockpit 32, a forward-inclined seedling supply position (b) in contact with the seedling carrier 51 of the seedling planting section 4, and a backward-inclined fertilizer supply position (c) in which fertilizer is supplied to the fertilizer hopper 60 of the fertilizer application device 5.

[0041] Furthermore, if the length of the connecting arm 74 is made adjustable, the position of the material rack 71 can be adjusted to a position that is easy for the worker to work in accordance with his or her physique, and seedling supplying and fertilizer supplying work can be performed easily and with good workability.

[0042] As shown in Figures 2 and 3, the mounting frame 72 is composed of a base body 72a welded to a supply body 73, an intermediate body 72b provided on the base body 72a so as to be rotatable and fixed by a rotation shaft 80a, and a tip body 72c provided on the intermediate body 72b so as to be rotatable and fixed by the rotation shaft 80b.

[0043] The base body 72a, the intermediate body 72b and the tip body 72c are configured in a frame shape by connecting left and right L-shaped frames 81 with a rod body 82, and their posture can be freely changed between a U-shaped frame state when viewed from the side as shown in Figure 2 and a flat state in the same plane as shown in Figure 3.

[0044] Therefore, in the U-shaped frame state as seen from the side as shown in FIG. 2, the mounting frame 72 can mount a plurality of seedling boxes N in a stacked state, and can also mount one fertilizer bag F'.

[0045] Furthermore, since the left and right sides and the top of the mounting frame 72 are open, seedling boxes N and fertilizer bags F' can be put in and taken out from either the top or the left and right sides, improving workability.

[0046] That is, a plurality of stacked seedling boxes N can be easily taken out from the mounting frame 72 by sliding it to the left and right sides, and a heavy fertilizer bag F' can be placed on the mounting frame 72 from the left and right sides without lifting it to a high position.

[0047] In addition, in the planar state shown in Figure 3, the tip of the tip body 72c can be freely connected to the rear end parts of each seedling loading section 44a, 44b, 44c of the spare seedling loading platform 44, and the seedling boxes N placed on each seedling loading section 44a, 44b, 44c of the spare seedling loading platform 44 can be slid over the base body 72a, intermediate body 72b and tip body 72c, which are all in the planar state and all on the same plane, to the rear part of the running body 2 (the front end of the seedling loading platform 51 of the seedling planting section 4), making it easy to supply seedlings to the seedling loading platform 51.

[0048] As shown in Figures 6 and 7, the supply body 73 has one surface which is a seedling slide surface 73c having left and right side walls 73b erected on the left and right ends of a curved flat plate 73a, one end 73d1 which is pointed like a wedge so as to enter the seedling box N and scoop up the soil-attached mat seedlings Na, and the other end 73d2 which is an open end.

[0049] The other surface of the supplier 73 is provided with left and right side walls 73e and a rear wall 73f on one end 73d1 side to form a concave fertilizer flow-down guide surface 73g, and the other end 73d2 is provided with three left and right walls 73h.

[0050] The material rack 71 is held in a seedling supplying position (B) for supplying seedlings to the seedling carrier 51 by fitting the upper end of the seedling carrier 51 between the three left and right wall bodies 73h at the other end 73d2.

[0051] The left and right side walls 73i of the supply body 73 are provided with rotation holes 73j through which the rotation support shafts 74a at the tips of the connecting arms 74 are inserted.

[0052] As shown in Figs. 8 and 9, bases of left and right support rods 73k that support the bottom surface of the seedling box N are fixed to the left and right side walls 73i of the supply body 73.

[0053] The left and right support rods 73k are L-shaped rods, and a tip receiving portion 73k′ extending in the left-right direction of the machine body at the tip is disposed in front of one end 73d1 of the supply body 73.

[0054] The tip receiving portions 73k' of the left and right support rods 73k also serve as gripping portions for an operator, so that an operator can grip the tip receiving portions 73k' to rotate and move the material rack 71 left and right easily and with good operability.

[0055] Next, the seedling supplying operation and the fertilizer supplying operation will be described with the mounting frame 72 of the material supplying device 9 in a U-shaped frame state when viewed from the side.

[0056] (Seedling supply work) As shown in FIG. 1, the riding rice transplanter 1 is stopped, and the seedling planting part 4 is raised to the highest position.

[0057] Then, the material rack 71 is rotated from a hanging position (a) in which it is hung from the left and right support bars 70a to a forward-inclined seedling supply position (b) in which it abuts against the upper end of the seedling carrying platform 51 of the seedling planting section 4, and the material rack 71 is slid along the left and right support bars 70a to a position facing the seedling carrying section 51a of the seedling carrying platform 51 from which the seedlings are supplied.

[0058] Next, the worker holds the seedling box N, places the bottom of the seedling box N on the tip receiving portion 73k' of the left and right support rods 73k, inserts one end 73d1 of the supply body 73 under the bottom surface of the soil floor of the soil-attached mat seedlings Na in the seedling box N, and pushes the seedling box N toward the supply body 73.The soil-attached mat seedlings Na in the seedling box N are scooped up by one end 73d1 of the supply body 73 and transferred onto the seedling slide surface 73c.The soil-attached mat seedlings Na slide downward along the seedling slide surface 73c and are supplied to the seedling placement section 51a of the seedling placement table 51.

[0059] Then, the empty seedling tray N passes over the tip receiving portions 73k' of the left and right support rods 73k and is placed and stored inside the placement frame 72.

[0060] At this time, since there is a space between the tip receiving portions 73k' of the left and right support rods 73k, the operator can push the seedling box N toward the supply body 73 without being hindered by the tip receiving portions 73k' of the left and right support rods 73k, improving workability.

[0061] Then, the material rack 71 is slid along the left and right support bars 70a to a position opposite the seedling placement portion 51a of the seedling placement table 51 to which seedlings are to be next supplied, and seedlings are supplied in the same manner.

[0062] Therefore, the seedlings Na with soil can be taken out from the seedling box N by the material supplying device 9 and supplied to the seedling placing section 51a of the seedling placing table 51 easily and with good operability.

[0063] In addition, when the seedling boxes N placed and stored within the mounting frame 72 become full, the multiple stacked seedling boxes N can be easily removed from the mounting frame 72 by sliding them to the left and right sides.

[0064] (Fertilizer supply work) As shown in Figures 1, 5 and 10, the operator places the material rack 71 in a hanging position (A) in which it is suspended from the left and right support bars 70a on the left and right sides of the operator's seat 32, places the fertilizer bag F' with its upper end open in the mounting frame 72, opens the lid 60a of the fertilizer hopper 60 of the fertilizer application device 5, and rotates the material rack 71 about the pivot shaft 74a at the tip of the connecting arm 74 to a fertilizer supplying position (C) inclined backward, and the fertilizer Fa flowing out from the upper opening of the fertilizer bag F' is guided by the fertilizer flow-down guide surface 73g of the supply body 73 and is supplied into the fertilizer hopper 60 of the fertilizer application device 5.

[0065] Therefore, the fertilizer bag F' can be placed on the material rack 71 in a low hanging position (A) and then rotated about the pivot shaft 74a at the end of the connecting arm 74 to a backward inclined fertilizer supply position (C) so that fertilizer Fa can be supplied into the fertilizer hopper 60, thereby making it easy and efficient to supply fertilizer.

[0066] 11 and 12 show another embodiment of the mounting frame 72. In FIG.

[0067] That is, the mounting frame 72 is composed of a base body 72a which is L-shaped in side view and welded to the supply body 73, and a tip body 72c which is provided on the base body 72a so as to be rotatable and fixed by a rotation shaft 80b.

[0068] The base body 72a and the tip body 72c can be freely changed in position between a U-shaped frame state in side view shown in FIG. 11 and an L-shaped state shown in FIG.

[0069] Therefore, in the L-shaped state shown in FIG. 12, it can be used as an auxiliary seat for an assistant other than the operator, and there is no problem with comfort when a simple cushion 85 is placed on the seat surface.

[0070] <Operation of drone 8 and riding rice transplanter 1> Based on Figures 1, 13, 14 and 15, the configuration and operation of the drone 8 and the control and operation of the riding rice transplanter 1 will be described.

[0071] The drone 8 is equipped with a GPS 7, a wireless communication device 90, a camera 91 and a control unit 92.

[0072] The riding rice transplanter 1 is equipped with a wireless communication device 36 and a control device 37.

[0073] The control device 37 of the riding rice transplanter 1 acquires vehicle position information by receiving a signal from the positioning satellite 13 via the GPS 7 of the drone 8 placed on the landing pad 6a provided at the upper end of the front frame 6, and receiving the position information via the wireless communication device 36, which the control unit 92 calculates and transmits via the wireless communication device 90.

[0074] The control device 37 of the riding rice transplanter 1 automatically steers the left and right front wheels 10, 10 based on the vehicle position information so that the vehicle travels autonomously to perform rice planting work in a direction parallel to a straight line connecting two reference points for the start of rice planting work in the field F that have been detected in advance.

[0075] The path parallel to the straight line connecting two reference points along which the ride-on rice transplanter 1 autonomously travels within the field F to perform rice planting work is a round trip process in which the ride-on rice transplanter 1 moves forward in a straight line from one side of the field F ridge or road R to the other side of the field F ridge or road R to perform seedling planting work, and when it reaches the other side of the field F ridge or road R, it turns to a path for performing the next planting work and moves forward in a straight line toward the one side of the field F ridge or road R to perform seedling planting work.

[0076] A worker standing on a ridge or road R near the field F remotely controls the drone 8 and the riding rice transplanter 1 using a remote control 93.

[0077] As shown in FIG. 14, the remote control 93 is equipped with a left stick 94L, a right stick 94R, a changeover switch 95, and a monitor 96.

[0078] The changeover switch 95 can be freely switched between a mode for operating the drone 8 and a mode for operating the riding rice transplanter 1, and can also be freely switched between operation of the left stick 94L and the right stick 94R between mode 1 and mode 2 as shown in Figure 15.

[0079] Explaining in detail with reference to Figure 15, when the mode for operating the drone 8 is set to mode 1 using the switch 95, operating the left stick 94L left and right will cause the drone 8 to turn left and right, and operating the left stick 94L forward and backward will cause the drone 8 to move forward and backward.

[0080] By operating the right stick 94R left and right, the drone 8 moves left and right, and by operating the right stick 94R forward and backward, the drone 8 rises and descends.

[0081] In addition, when the mode for operating the drone 8 is set to mode 2 using the changeover switch 95, operating the left stick 94L left and right will cause the drone 8 to turn left and right, and operating the left stick 94L forward and backward will cause the drone 8 to rise and descend.

[0082] When the right stick 94R is operated left or right, the drone 8 moves left or right, and when the right stick 94R is operated forward or backward, the drone 8 moves forward or backward.

[0083] In addition, when the changeover switch 95 is used to set the mode for operating the riding rice transplanter 1 to mode 1, operating the left stick 94L left and right will cause the riding rice transplanter 1 to turn the handlebars 34 left and right, and operating the left stick 94L forward and backward will cause the riding rice transplanter 1 to move forward and backward.

[0084] When the right stick 94R is operated left and right, the riding rice transplanter 1 engages and disengages the planting clutch, and when the right stick 94R is operated forward and backward, the riding rice transplanter 1 raises and lowers the seedling planting section 4.

[0085] In addition, when the changeover switch 95 is used to set the mode for operating the riding rice transplanter 1 to mode 2, operating the left stick 94L left and right causes the riding rice transplanter 1 to turn the handlebars 34 left and right, and operating the left stick 94L back and forth causes the riding rice transplanter 1 to raise and lower the seedling planting section 4.

[0086] When the right stick 94R is operated left or right, the riding rice transplanter 1 engages or disengages the planting clutch, and when the right stick 94R is operated forward or backward, the riding rice transplanter 1 moves forward or backward.

[0087] The monitor 96 displays the image captured by the camera 91 and is used when operating the ride-on rice transplanter 1 and when operating the drone 8. When the monitor is in the mode for operating the ride-on rice transplanter 1, it displays the status of the various components of the ride-on rice transplanter 1 (information on instruments such as the amount of seedlings on the seedling carrier 51, the amount of fertilizer stored in the fertilizer hopper 60, the remaining amount of fuel in the fuel tank, and various information about the engine 20), and when the monitor is in the mode for operating the drone 8, it displays information about the various components and instruments of the drone 8.

[0088] Additionally, the image data from the camera 91 and the location information from the GPS 7 are recorded in the control device and used as information for field management and crop management.

[0089] In addition, the drone 8, the riding rice transplanter 1 and the remote control 93 can communicate with each other via wireless communication devices.

[0090] (Rice planting using drone 8 and riding rice transplanter 1) A worker on a ridge or road R near field F remotely controls drone 8 using a remote control 93 to fly it to two reference points for the start of rice planting work in field F.

[0091] The drone 8 then receives a signal from the positioning satellite 13 using the GPS 7, and the control unit 92 calculates the position information of the two reference points using the satellite positioning system and transmits it via the wireless communication device 90.

[0092] The riding rice transplanter 1 receives the transmitted position information of the two reference points via the wireless communication device 36, and the control device 37 calculates and stores a straight line connecting the two reference points from the position information of the two reference points.

[0093] Then, a worker on a ridge or road R near the field F remotely controls the drone 8 using a remote control 93 to fly it to the flat landing pad 6a provided at the upper end of the front frame 6 of the riding rice transplanter 1 and land it.

[0094] Then, a worker on a ridge or road R near the field F remotely controls the riding rice transplanter 1 using the remote control 93 to move it to one of the two reference points and start rice planting work.

[0095] The control device 37 of the riding rice transplanter 1 then receives a signal from the positioning satellite 13 via the GPS 7 of the drone 8, and the control unit 92 calculates position information using the satellite positioning system and transmits the position information via the wireless communication device 90, which is received via the wireless communication device 36.The control device 37 then automatically steers the left and right front wheels 10, 10 to follow the straight line connecting the two reference points while acquiring the vehicle's own position information, allowing the vehicle to travel autonomously and perform rice planting work.

[0096] Then, when the riding rice transplanter 1 moves to the other of the two reference points, the body is turned, and in the next process, the left and right front wheels 10, 10 are automatically steered based on the vehicle position information so that the vehicle moves parallel to the straight line connecting the two reference points, and performs rice planting work while autonomously traveling. Rice planting work is performed in the field F in the same manner.

[0097] As described above, the ride-on rice transplanter 1 can share the GPS 7 of the drone 8, resulting in an inexpensive configuration.

[0098] In addition, the riding rice transplanter 1 and the drone 8 can be easily remotely controlled using a single remote control 93.

[0099] In the above example, the ride-on rice transplanter 1 autonomously moves straight ahead using the GPS 7 of the drone 8. However, the ride-on rice transplanter 1 may also autonomously move along a travel path within the field F based on field data that records the travel path within the field F stored in the control device 37, or the control device 37 may calculate the travel path within the field F from the field data.

[0100] In addition, the riding rice transplanter 1 may use the GPS 7 of the drone 8 to display the direction of travel on a monitor or the like to assist with the driving direction.

[0101] 16 to 19 show a dedicated remote control 93' for operating the riding rice transplanter 1 as another embodiment.

[0102] The dedicated remote control 93' has a grip part 96' at its left end, a main operating lever 97 at its right end, an engine switch 98 for starting and stopping the engine 20 above the main operating lever 97, an open / close first monitor 99a in the center for displaying images captured by the camera 91 of the drone 8, and a fixed second monitor 99b for displaying various operation settings of the riding rice transplanter 1 and various information about the detection device, and a ridge clutch switch 100 at the bottom for stopping the seedling planting device 52 for two rows at a time, and a monitor operation dial 101 for setting the displays on the first monitor 99a and the second monitor 99b.

[0103] When the main operating lever 97 is operated forward and backward, the riding rice transplanter 1 moves forward and backward, and when it is operated left and right, the handlebars 34 of the riding rice transplanter 1 turn left and right.

[0104] On the left side of the main operating lever 97 is provided an upper-cut switch 102 which, when pressed once, cuts off the working clutch in the planting clutch case, cutting off power to the seedling planting section 4 and the fertilizer application device 5, and which, when pressed again, raises the seedling planting section 4. A lower-cut switch 103 is provided which, when pressed once, lowers the seedling planting section 4, and, when pressed again, turns on the working clutch in the planting clutch case, turning on power to the seedling planting section 4 and the fertilizer application device 5.

[0105] On the front of the main operating lever 97, there is provided an on / off switch 104 which switches on and off control for autonomous driving by automatically steering the left and right front wheels 10, 10 based on vehicle position information so that the riding rice transplanter 1 moves parallel to a straight line connecting the two reference points, and there is also provided an acquisition switch 105 which acquires a straight line connecting the two reference points from one reference point to another.

[0106] An open switch 106 is provided on the upper surface of the main operating lever 97 for switching the three seedling carrying sections 44a of the left and right spare seedling carrying tables 44 from a stacked state in three layers in the vertical direction to a state on the same plane in the front-to-back direction, a closed switch 107 is provided for switching the three seedling carrying sections 44a of the left and right spare seedling carrying tables 44 from a stacked state in the vertical direction to a stacked state in three layers, an automatic switch 108 is provided for automatically switching the left and right line drawing markers from a stored state to an active state alternately from the left and right, a double-extension switch 108 for putting both the left and right line drawing markers into an active state, and a marker switch 108 for switching each time it is pressed while leaving the left and right line drawing markers in a stored state, and a left and right changeover switch 109 is provided for switching the left and right line drawing markers from a stored state to an active state alternately from the left and right each time it is pressed.

[0107] <Other embodiments>

[0108] (1) Figures 20 and 21 show an embodiment in which a sub-float 110 is provided to push back mud from the left and right in the wake of the left and right front wheels 10, 10 and the left and right rear wheels 11, 11, thereby leveling the ground.

[0109] That is, the sub-float 110 is provided at the front end of a support 110a that extends forward from the front part of the cover 27a of the ground leveling rotor 27.

[0110] The sub-floats 110 are provided facing each other at positions sandwiching the rear wheel 11 from the left and right, and are located between the rear wheel 11 and the internal auxiliary wheel 11a and between the rear wheel 11 and the external auxiliary wheel 11b.

[0111] The two sub-floats 110 sandwiching the rear wheel 11 from the left and right have opposing front portions which narrow toward the rear, and are positioned so that their bottom surfaces are at the same height as the lower end of the ground leveling rotor 27 and the bottom surfaces of the side floats 56.

[0112] Therefore, the two sub-floats 110 sandwiching the rear wheel 11 from the left and right push back mud from the left and right into the wake of the left and right front wheels 10, 10 and the left and right rear wheels 11, 11, leveling the ground, so that the field scene is leveled to a certain extent before the leveling rotor 27 levels the ground, improving the leveling effect of the leveling rotor 27.

[0113] (2) FIG. 22 shows another embodiment in which a sub-float 110 is provided to push back mud from the left and right in the wake of the left and right front wheels 10, 10 and the left and right rear wheels 11, 11, thereby leveling the ground.

[0114] That is, the sub-float 110 is provided at the front end of a support 110a which extends forward from the front portion of the side float 56.

[0115] The sub-floats 110 are provided facing each other at positions sandwiching the rear wheel 11 from the left and right, and are located between the rear wheel 11 and the internal auxiliary wheel 11a and between the rear wheel 11 and the external auxiliary wheel 11b.

[0116] The two sub-floats 110 sandwiching the rear wheel 11 from the left and right have opposing front portions which narrow toward the rear, and are positioned so that their bottom surfaces are at the same height as the lower end of the ground leveling rotor 27 and the bottom surfaces of the side floats 56.

[0117] Therefore, the two sub-floats 110 sandwiching the rear wheel 11 from the left and right push back mud from the left and right into the wake of the left and right front wheels 10, 10 and the left and right rear wheels 11, 11, leveling the ground and leveling the field scene during and after planting.

[0118] In addition, the sub-float 110 prevents the side float 56 from sinking into the wake of the left and right front wheels 10, 10 and the left and right rear wheels 11, 11 and becoming sagging forward, thereby preventing problems such as mud piled up on the side float 56 and causing the front to sink or the front pushing against mud.

[0119] (3) Figures 23 and 24 show an embodiment in which a front wheel rake 111 is provided to push back mud from the left and right in the wake of the left and right front wheels 10, 10, thereby leveling the ground.

[0120] That is, the front wheel rakes 111 are provided opposite each other at a position behind the front wheel 10 on both the left and right sides, with the opposing surfaces narrowing as they go rearward, and they push back mud from the left and right into the wake of the front wheel 10 to level the ground, while also catching the muddy water and mud immediately after it is pushed out to the left and right by the front wheel 10, thereby preventing the muddy water and mud from flowing into adjacent rows.

[0121] The front wheel rakes 111 push back mud from the left and right in the wake of the front wheels 10, allowing the rear wheels 11 to travel on the leveled area, preventing the rear wheels 11 from sinking, which also contributes to improved travel performance on wet fields.

[0122] In addition, the front wheel rake 111 is provided at the front end of a rake frame 113, the middle part of which is supported on the main frame 15 so as to be freely rotatable by a left-right pivot shaft 112, and the rear end of the rake frame 113 is connected to the front end of the lifting link device 3 and a connecting link 114.

[0123] Therefore, during rice planting work with the seedling planting section 4 lowered by the lifting link device 3, the front part of the rake frame 113 is lowered by the connecting link 114, and the front wheel rake 111 is in an operational state of pushing back mud from the left and right into the wake of the front wheels 10 to level the ground, and when turning with the seedling planting section 4 raised or when driving on the road, the front part of the rake frame 113 is raised by the connecting link 114, and the front wheel rake 111 is in a raised, stored state.

[0124] (4) Figures 25 and 26 show an embodiment in which a brush cutter 120 is attached to the outer side of the lowest seedling carrying section 44a of the left spare seedling carrying platform 44 of the six-row planting riding-type rice transplanter 1.

[0125] The brush cutter 120 has a typical configuration that is commercially available, and is provided with a drive source 121 such as an engine and a U-shaped operating handle 122 at the top, and a disc-type cutting blade 123 at the bottom.

[0126] The spare seedling carrying platform 44 is composed of three seedling carrying parts 44a: a middle seedling carrying part 44a fixed to the upper end of a support frame 44b whose base is fixed to the machine frame, and upper and lower seedling carrying parts 44a which are freely rotatable by links 44c.By operating the operation switch of the electric motor which rotates the link 44c, the platform can be switched between a three-tiered stacked state in the vertical direction and a flush-plan state in the front-to-back direction where the upper seedling carrying part 44a rotates downward in front of the middle seedling carrying part 44a and the lower seedling carrying part 44a rotates upward behind the middle seedling carrying part 44a.

[0127] In addition, the support frame 44b can be freely rotated and fixed on a vertical pivot shaft, and the three seedling carrying parts 44a can be freely rotated and moved between a state in which they are positioned on the outside of the machine body and a state in which they are stored inside the machine body.

[0128] The brush cutter 120 has an operating handle 122 fixed to the bottom surface of the lower seedling carrying part 44a of the spare seedling carrying platform 44 by a fixing device 124, and the cutting blade 123 is positioned below and on the outside of the riding rice transplanter 1, and moves vertically as the lower seedling carrying part 44a pivots upward and downward due to the rotation of the link 44c, and moves forward and backward as the lower seedling carrying part 44a pivots forward and backward due to the rotation of the support frame 44b.

[0129] Therefore, by driving the brush cutter 120 to move the riding rice transplanter 1 forward or backward, grass cutting work can be performed on the sides of the machine body.

[0130] Furthermore, the vertical position of the cutting blade 123 can be adjusted by rotating the lower seedling placing part 44a of the spare seedling placing platform 44 upward and downward, and the front-to-back position of the cutting blade 123 can be adjusted by rotating the lower seedling placing part 44a back and forth by rotating the support frame 44b, resulting in good workability.

[0131] In addition, even when the riding rice transplanter 1 is stopped, the cutting blade 123 can be moved up and down by the upward and downward rotation of the lower seedling carrying part 44a of the spare seedling carrying platform 44, and the cutting blade 123 can be moved back and forth by the forward and backward rotation of the lower seedling carrying part 44a due to the rotation of the support frame 44b, so that grass can be mowed in the surrounding area.

[0132] On the other hand, a rotating blade 131 is provided on a support shaft 130 extended to the side of the seedling planting device 52, and the base of a plate body 132 which serves as the rear wall having approximately the same width as the left-right width and approximately the same height as the top-to-bottom height of the seedling carrier 51 is fixedly provided at the rear end of the transmission case 50, and a guide body 133 is provided on the upper part of the seedling carrier 51 to insert grass, etc. between the seedling carrier 51 and the plate body 132 from the side of the running vehicle body 2.

[0133] Therefore, when the seedling planting section 4 is driven, the rotary blade 131 also rotates due to the driving rotation of the seedling planting device 52, and grass, etc. can be thrown between the seedling carrier 51 and the plate body 132 and cut.

[0134] Furthermore, if the seedling planting section 4 is raised and a container 134 such as a basket, box, bag or the like for storing cut grass etc. is placed below the seedling planting section 4, the grass etc. cut by the rotating blade 131 can be stored therein.

[0135] In addition, when the seedling planting section 4 is driven, the seedling carrier 51 moves back and forth from side to side, so that grass and the like placed between the seedling carrier 51 and the plate body 132 can be loosened and properly cut by the rotary blade 131 without clogging.

[0136] When the seedling planting section 4 is not driven, grass and the like can be thrown and stored between the seedling carrier 51 and the plate body 132, and the device can also be used as a transport machine. [Explanation of symbols]

[0137] 2 Running vehicle 4 Seedling planting department 6a Landing Pad 7. GPS 8. Small aircraft (drones) 91 Camera 93 Remote Control 94L Left stick for controlling the aircraft 94R Right stick for controlling the aircraft 95 Mode changeover switch 96 Monitor

Claims

1. This ride-on seedling transplanter has a seedling planting section (4) mounted on a traveling body (2), and is characterized in that a landing pad (6a) is provided on which a small airplane (8) equipped with a satellite positioning system (7) can land, and the ride-on seedling transplanter uses the satellite positioning system (7) of the small airplane (8) that has landed on the landing pad (6a) to travel autonomously or with travel assistance.

2. 2. The riding seedling transplanter according to claim 1, wherein the small airplane (8) can be remotely controlled by a remote control (93).

3. 2. The riding type seedling transplanter according to claim 1, wherein the small airplane (8) and the riding type seedling transplanter (1) are remotely controlled by a single remote control (93).

4. The ride-on seedling transplanter according to claim 2 or 3, characterized in that the remote control (93) is provided with sticks (94L, 94R) for controlling the aircraft, a switch (95) for switching modes, and a monitor (96) for displaying image data from the camera (91) of the small airplane (8).

Images