Seedling transplanter

Abstract

To provide a seedling transplanter capable of reducing exhaust gas and preventing disorder in seedling planting intervals due to a slip.SOLUTION: A seedling transplanter 1 is equipped with a travelling vehicle body 1a, a positioning device 91, and a seedling planting device 3. The seedling transplanter includes: slip detection means for detecting a slip of the travelling vehicle body 1a; a seedling planting device driving motor for driving the seedling planting device 3; and power source switching means for switching a power source of the seedling planting device 3 between the power of an internal combustion engine 12 and the power of the seedling planting device driving motor. The slip detection means is configured to detect the slip by the comparison of an actual travelling distance calculated on the basis of a change in the position information on the travelling vehicle body 1a and a theoretical travelling distance calculated from the number of rotations of a travelling wheel. When the slip is detected, the power source is switched from the power of the internal combustion engine 12 to the power of the seedling planting device driving motor by the power source switching means for driving the seedling planting device 3.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a seedling transplanter for transplanting seedlings in a field.

Background Art

[0002] Conventionally, as this type of seedling transplanter, for example, those described in Patent Document 1 and Patent Document 2 below are known. This conventional seedling transplanter is configured to drive a seedling planting device for planting seedlings in a field by the power of an internal combustion engine (engine).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in recent years, in the international trend aiming at realizing a sustainable society, efforts to reduce the impact on the global environment have been made in various industries, and in the agricultural field as well, reducing exhaust gas has become an issue. However, a configuration in which a seedling planting device is driven by the power of an internal combustion engine (engine) as in the past has led to an increase in exhaust gas. In particular, when slip occurs during traveling, the problem is more prominent. Furthermore, when slip occurs, a problem of disturbance between plants also occurs. Therefore, an object of the present invention is to provide a seedling transplanter that can reduce exhaust gas and also prevent disturbance between plants due to slip.

Means for Solving the Problems

[0005] To achieve the above object, a first invention is A seedling transplanter comprising a traveling vehicle body that travels by the power of an internal combustion engine, a positioning device that acquires the position information of the traveling vehicle body, and a seedling planting device that plants seedlings in a field, The seedling transplanter includes slip detection means for detecting slip of the traveling vehicle body, A seedling planting device drive motor for driving the seedling planting device, The power source of the seedling planting device is provided with power source switching means that can be switched between the power of the internal combustion engine and the power of the seedling planting device drive motor, The slip detection means is configured to detect slip by comparing an actual travel distance calculated based on a change in the position information of the traveling vehicle body with a theoretical travel distance calculated from the number of rotations of the traveling wheels of the traveling vehicle body, When the slip detection means detects slip, the power source switching means switches from the power of the internal combustion engine to the power of the seedling planting device drive motor to drive the seedling planting device, and a seedling transplanter is provided.

[0006] According to the first invention described above, on the condition that the slip detection means detects slip, the power source switching means switches from the power of the internal combustion engine to the power of the seedling planting device drive motor to drive the seedling planting device, thereby enabling good reduction of the exhaust gas emissions of the seedling transplanter. In addition, by disconnecting from the power transmission path of the internal combustion engine and driving the seedling planting device, disturbance between plants can also be well prevented.

[0007] A second invention, in addition to the configuration of the first invention described above, Furthermore, it includes a transmission shaft for transmitting the power of the internal combustion engine to the seedling planting unit, It is provided with an internal combustion engine power disconnect clutch capable of disconnecting and connecting the power transmission of the transmission shaft, The seedling planting device drive motor is configured to rotationally drive the transmission shaft, When driving the seedling planting device by the power of the seedling planting device drive motor, the internal combustion engine power disconnect clutch shuts off the power transmission of the transmission shaft, and The output of the seedling planting device drive motor is controlled so that rotational power similar to that when traveling the actual running distance is transmitted from the transmission shaft to the seedling planting device by the power of the internal combustion engine.

[0008] According to the second invention, in addition to the effects of the first invention, By controlling the output of the seedling planting device drive motor so that rotational power similar to that when traveling the actual running distance is transmitted from the transmission shaft to the seedling planting device by the power of the internal combustion engine, disturbance between the plants can be well prevented. Further, the operator can continue the work smoothly without being aware that the power source has been switched from the internal combustion engine to the seedling planting device drive motor.

[0009] A third invention, in addition to the configuration of the second invention, is provided with a battery that supplies power to the seedling planting device drive motor, the seedling planting device drive motor is configured as a motor with a power generation function, and when driving the seedling planting device by the power of the internal combustion engine, it receives the rotational power of the transmission shaft, converts this into electric power, and is configured to charge the battery.

[0010] According to the third invention, in addition to the effects of the second invention, the seedling planting device drive motor is configured as a motor with a power generation function, and when driving the seedling planting device by the power of the internal combustion engine, it receives the rotational power of the transmission shaft, converts this into electric power, and is configured to charge the battery. By doing so, while improving energy efficiency, a situation where the battery runs out of charge and the driving of the seedling planting device stops can be well prevented.

[0011] A fourth invention, in addition to the configuration of any one of the first to third inventions, the seedling planting device is configured to be able to move up and down by the expansion and contraction of a hydraulic lifting cylinder, the seedling transplantation includes a lifting sensitivity adjustment means for adjusting the lifting sensitivity of the seedling planting device, and a planting depth automatic adjustment means that is linked to the adjustment of the lifting sensitivity and automatically adjusts the planting depth of the seedling planting device. The planting depth automatic adjustment means controls the expansion and contraction of the hydraulic lifting cylinder, and when the lifting sensitivity is adjusted to the side with lower lifting sensitivity by the lifting sensitivity adjustment means, it automatically adjusts to raise the seedling planting device by a predetermined distance, and when the lifting sensitivity is adjusted to the side with higher lifting sensitivity, it automatically adjusts to lower the seedling planting device by a predetermined distance.

[0012] According to the fourth invention above, in addition to the effects of any of the first to third inventions above, the planting depth can be kept well constant before and after the setting change of the lifting sensitivity.

[0013] The fifth invention, in addition to the configuration of any of the first to third inventions above, the seedling planting device is provided with a planting clutch for turning on and off the drive for each row, and a planting clutch sensor for discriminating the turning on and off of the planting clutch, based on the detection information of the planting clutch sensor, calculates the number of rows being planted during work, and when planting with less than half the number of rows that the seedling planting device can plant, is configured to switch from the power of the internal combustion engine to the power of the seedling planting device drive motor by the power source switching means.

[0014] According to the fifth invention above, in addition to the effects of any of the first to third inventions above, for the planting work that can be performed with less power than usual, it can automatically switch to the power of the seedling planting device drive motor, enabling more efficient work. Also, the emission of exhaust gas can be suppressed.

[0015] According to the present invention, it is possible to provide a seedling transplanter that can reduce exhaust gas and also prevent the disturbance between plants due to slip.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Embodiments for Carrying Out the Invention

[0017] <1. Overall Configuration of the Seedling Transplanter> Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is a left side view of a seedling transplanter according to a preferred embodiment of the present invention, and FIG. 2 is a plan view of the same seedling transplanter. As shown in FIGS. 1 and 2, the seedling transplanter 1 is equipped with a seedling planting device 3, which is a kind of working machine, on a traveling vehicle (traveling body) 1a by a lifting link device 2, and a fertilizer applicator 4 is provided. The traveling vehicle 1 is a four-wheel drive vehicle having a pair of left and right front wheels 6, 6 and rear wheels 7, 7 as drive wheels. In this specification, the left and right sides are referred to as the left side and the right side respectively toward the forward direction of the seedling transplanter 1, the forward direction is referred to as the front side, and the backward direction is referred to as the rear side.

[0018] As shown in Fig. 1, a transmission case 11 and an engine (internal combustion engine) 12 are disposed on main frames 10a and 10b. A hydraulic pump 13 is integrally assembled with the case 11 on the rear side surface of the transmission case 11, and a steering post 14 projects upward from the front part of the transmission case 11. A steering handle 16 is provided at the upper end of the steering post 14. A step floor 19 serving as a floor for operation is attached to the upper part of the body, and a driver's seat 20 is installed above the engine 12. A shift operation lever (travel operation member, HST lever) 17 is provided on the right side of the steering handle 16. Further, a dial switch ds, which is a rotary operation member for adjusting the lifting sensitivity of a seedling planting device 3 described later, is provided on the steering post 14.

[0019] An operation panel (not shown) is provided on the steering post 14 in front of the driver's seat 20. A ridge clutch lever 18 is provided on the right side of the driver's seat 20. The front wheels 6, 6 are pivotally supported by front wheel support cases 22, 22 provided on the side of the transmission case 11 so that the direction can be changed. The rear wheels 7, 7 are pivotally supported via rear wheel supports 30 by rear wheel transmission cases 24, 24 attached to both left and right ends of the left and right frames 37. The left and right frames 37 are supported at the rear ends of the main frames 10a, 10b.

[0020] As shown in Figs. 1 and 2, which show a part of the power transmission mechanism to the rear wheels 7, the rotational power of the engine 12 is transmitted to the input shaft 32a of a hydrostatic transmission (HST) 31 via a pulley 27, a belt 28, and a pulley 29 in sequence, and is transmitted into the transmission case 11 from the output shaft 32b of the HST 31. The rear ends of the rear output shafts 11a, 11b project to the rear of the transmission case 11, and left and right rear wheel transmission shafts 35, 35 for transmitting power to the rear wheel transmission cases 24, 24 are connected to the projecting end portions. The left and right rear wheels 7, 7 are driven to rotate by the left and right rear wheel transmission shafts 35, 35, respectively.

[0021] The seedling planting device 3 is mounted on the traveling vehicle 1 via a lifting link device 2 so as to be liftable. The piston upper end of a general hydraulic lifting cylinder (lift cylinder) 36 (Fig. 1) whose base is rotatably provided on the traveling vehicle 1a is connected to the lifting link device 2, and hydraulic oil is supplied to and discharged from the lift cylinder 36 via a lifting valve (not shown) by a hydraulic pump 13 provided on the traveling vehicle 1a, and the piston of the lift cylinder 36 is extended and retracted so that the seedling planting device 3 connected to the lifting link device 2 moves up and down.

[0022] The seedling planting device 3 includes a planting transmission case 38 that also serves as a frame and is rollably mounted on the rear part of the lifting link device 2 via left and right frames 37, a seedling stage (seedling tank) 39 that is supported by a support member provided on the planting transmission case 38 and reciprocates in the left-right direction of the machine body, a seedling planting tool (planting rod) 41 that is mounted on the rear end of the planting transmission case 38 and plants seedlings one by one in the field from the lower end of the seedling stage 39, and a center float (sensor float) 42 and a side float 43 which are leveling bodies whose rear parts are pivotally supported at the lower part of the planting transmission case 38 and whose front parts are mounted so as to be swingable up and down. The center float 42 and the side float 43 are provided to level the field and level the front of the field where the seedlings are planted by the seedling planting tool 41.

[0023] The PTO drive shaft 45 (Fig. 1) has universal joints at both ends and is provided to transmit the power from the transmission case 11 to the planting transmission case 38 of the seedling planting device 3. The seedling planting device 3 is configured for four-row planting and includes a planting transmission case 38 that also serves as a frame, a seedling stage 39 that places seedlings and reciprocates left and right to supply the seedlings one by one to each row of seedling outlets 39a (Fig. 2), a seedling planting tool 41 that plants the seedlings supplied to the seedling outlets 39a in the field, and so on.

[0024] As shown in Fig. 1, a rotor 70a is arranged in front of the center float 42, and the rotor 70a is arranged in front of a rotor 70b in front of the side float 43. Power is transmitted to the rotor 70a via a transmission shaft 25 from a gear in the rear-wheel transmission case 24 of the rear wheel 7, and power is transmitted to the rotor 70b from a pair of chains (not shown) in a pair of chain cases 71, 71 on the left and right, respectively, from drive shafts (not shown) of both rotors 70a, 70a. These rotors 70a and 70b function as a soil preparation device for leveling the field.

[0025] The fertilizer applicator 4 feeds the fertilizer in the fertilizer tank 67 downward by a certain amount at a time by the fertilizer feeding section 68, transfers the fed fertilizer to the fertilizer guide 80 through the fertilizer hose 62 by the blower 69, and drops it into a fertilizer groove formed near the side of the seedling planting strip by a furrowing body 82 provided on the front side of the fertilizer guide 80. Further, the fertilizer application amount can be adjusted by controlling a fertilizer application amount adjustment motor 68a that drives the fertilizer feeding section 68. Further, the pedal 86 (Fig. 2) can operate both the main clutch and the left and right rear-wheel brake devices (not shown), and is arranged on the lower right side of the steering handle 16. When this pedal 86 is depressed, the main clutch is disengaged, and subsequently, the left and right rear wheels are braked, and the machine body stops.

[0026] In front of the machine body, a front arm (ridge-crossing handle) 88 is supported. By the operator grasping and operating the front arm 88, when the traveling vehicle 1 crosses a step such as a ridge, the front end portion of the traveling vehicle 1 can be prevented from rising too much, or conversely, it can assist the front end to face upward at the initial stage of crossing the ridge. A center mascot 89 is detachably attached to the front arm 88 from the tip of the front arm 88 into the front arm 88, and the front arm 88 and the center mascot 89 are configured to be integratable. Further, a lamp 89a is provided on the center mascot 89 as an example of a notification member. The lamp 89a lights up green when planting is being performed and lights up red when planting is not being performed. It is also possible to provide a plurality of lamps 89a, and each lamp 89a can notify seedling breakage, depletion of the battery V described later, and whether it is in a charging state or a power supply state. For example, during charging, the green light blinks, when charging is completed, the green light lights up, and in other cases (such as errors), the red light blinks. It is also possible to use a lamp that lights up in the planting state and goes out in the non-planting state. Further, side markers 44 are provided on both front sides of the step floor 19.

[0027] The rear-wheel transmission case 24 of the rear wheel 7 is attached to both left and right end portions of the left and right frames 37 and is pivotally supported by the rear-wheel support 30. By the rotation of the rear-wheel transmission case 24, the axle 23 of the rear wheel 7 moves up and down integrally with the rear-wheel transmission case 24. Power is transmitted to the rear-wheel transmission case 24 from the transmission case 11 via the left and right rear-wheel transmission shafts 35.

[0028] Note that an antenna frame 90 is provided at the front part of the traveling vehicle body 1a, and a positioning device 91 for acquiring the position information of the seedling transplanter 1 (specifically, the traveling vehicle body 1a) is provided so as to be supported on the upper part of the antenna frame 90. This positioning device 91 is equipped with a receiving antenna for receiving radio waves from GNSS satellites, and measures position information (for example, information including latitude and longitude) indicating the current position of the seedling transplanter 1. Further, the positioning device 91 is configured to include an inertial measurement module for detecting the inclination and acceleration of the three axes of the machine body. The position information measured by the positioning device 91 is transmitted to a control unit C described later (see FIG. 5).

[0029] <2. Configuration around the float> Here, FIG. 3 is a schematic side view schematically showing the configuration around the float below the seedling planting device 3. In FIG. 3, the seedling mounting table 39 is not shown for simplicity of illustration. As shown in FIG. 3, each of the floats 42 and 43 is connected to each planting transmission case 38 such that the float rotation fulcrum portions 42a provided at the rear portions thereof can be vertically displaced relative to the planting transmission cases 38. Therefore, when an operator manually moves the setting position (a position for setting shallow, standard, deep, etc.) of the planting depth adjustment lever 150 to a desired position before the start of work, the float rotation fulcrum portions 42a move vertically (see arrow A in FIG. 3) relative to each planting transmission case 38 in conjunction with the movement. As a result, a first distance Hu, which is the vertical distance between the center of the rotation shaft 41a of the seedling planting tool (planting rod) 41 and the field surface S (see FIG. 3) in contact with the back surfaces of the floats 42 and 43, is changed, enabling manual adjustment of the planting depth.

[0030] Also, as described above, before the start of work, when an operator operates the planting depth adjustment lever 150 to set a desired depth, the first distance Hu is determined. Thereafter, during the planting operation, when the floats 42 and 43 slide on the field surface S, the floats 42 and 43 are rotatably mounted such that the front end side moves up and down according to the unevenness of the field surface S with the float rotation fulcrum portion 42a as the rotation axis center.

[0031] During the planting operation, the vertical movement of the front end side of the center float 42 is detected by a float vertical movement detection sensor 42s (for example, a potentiometer) (see FIG. 5) provided on the support frame 120. According to the detection result, the hydraulic lifting cylinder 36 is extended and contracted by a control command from the control unit C to lift and lower the seedling planting device 3, so that the planting depth of the seedlings is always maintained constant. Note that the float vertical movement detection sensor 42s can detect the amount of rotation of the center float 42.

[0032] Further, the above-described soil preparation device has a rotor support arm 162 whose front end portion 162a supports these rotors 70a, 70b and whose rear end portion 162b is connected to the support frame 120 so as to be slidable in the vertical direction (see arrow B in FIG. 3). Further, the rear end portion 162b of the rotor support arm 162 is configured to slide in the vertical direction (see arrow B in FIG. 3) by the rotation of the soil preparation device lifting motor 170 (see FIG. 3).

[0033] Further, before the start of work and during the planting operation, the vertical position (height) of the lower surfaces of the respective soil preparation rotors 161a, 161b with respect to a predetermined position of the support frame 120 can be specified by a soil preparation device height detection sensor 183 (for example, a potentiometer) provided on the support frame 120 (see FIG. 4) detecting the vertical position of the rear end portion 162b of the soil preparation device 160 (see FIG. 3).

[0034] On the other hand, since the front end portion of the planting transmission case 38 is firmly connected and fixed to the lower end portion of the support frame 120, it can be considered that the support frame 120 and the planting transmission case 38 are structurally integral. If the positional relationship between the two is appropriately considered, it is possible to define the predetermined position of the above-described support frame 120 as the rotation axis 41a in the planting transmission case 38 that is integrally connected to the support frame 120 (see FIG. 3).

[0035] <3. Power Transmission Configuration> FIG. 4 is a transmission diagram of the seedling transplanter of FIG. 1. In FIG. 4, a traveling transmission device 101 is provided within the mission case 11. The traveling transmission device 101 includes a hydraulic continuously variable transmission (HST) 31, a sub-transmission device 102, and a front wheel switching mechanism 103. Also, the rotational power of the engine 12 of the seedling transplanter of the embodiment is transmitted to the front wheels 6, rear wheels 7, and PTO shaft 45 after being shifted (increased or decreased in speed) by the traveling transmission device 101.

[0036] The traveling transmission device 101 shifts the rotational power generated by the engine 12 with the hydraulic continuously variable transmission 31 and the sub-transmission device 102 and transmits it to the rear wheels 7. The rear wheels 7 are driven by the transmitted power. Also, the traveling transmission device 101 can transmit the power generated by the engine 12 and shifted by the hydraulic continuously variable transmission 31 and the sub-transmission device 102 to the front wheels 6 via the front wheel switching mechanism 103. Therefore, in the seedling transplanter 1 of the embodiment, when the front wheel switching mechanism 103 transmits power, the four wheels of the front wheels 6 and the rear wheels 7 are driven by the rotational power transmitted from the engine 12. When the front wheel switching mechanism 103 cuts off the power transmission, only the two rear wheels 7 are driven by the rotational power transmitted from the engine 12. Therefore, in the seedling transplanter of the embodiment, it is possible to switch between a four-wheel drive state in which the rotational power of the engine 12 is transmitted to the four wheels 6, 7 and a two-wheel drive state in which it is transmitted only to the two rear wheels 7.

[0037] Also, in the traveling transmission device 101, the rotational power of the output shaft of the engine 12 is input to the input shaft 106 of the mission case 11 via a main clutch 104 that is interrupted by a clutch pedal 86. The rotation of the input shaft 106 is shifted by the transmission gears 107, 108 and transmitted to the input shaft 32a of the HST 31. Therefore, the rotational power of the engine 12 is input to the HST 31.

[0038] In addition, the seedling transplanter 1 is equipped with an automatic steering function for automatically steering the steering wheel 16. The steering actuator 16a (see FIG. 5) related to this automatic steering function is configured to be able to automatically operate the steering wheel 16 to maintain the traveling vehicle body 1a in a straight-ahead direction or to turn it. That is, the steering actuator 16a has a steering motor (not shown) that rotates the steering wheel 16 by automatically applying an arbitrary rotational force to the steering wheel 16, and a handle potentiometer 16s that detects the rotational angle (handle cut angle) of the steering wheel 16.

[0039] In the pressure-type continuously variable transmission 31, when the movable swash plate 48 is inclined to the side shown in FIG. 4 with respect to the neutral position, the power of the engine 12 is output as a force for advancing the traveling vehicle body 1a. On the other hand, when the movable swash plate 48 is inclined to the side opposite to the side shown in FIG. 4 with respect to the neutral position, the rotation of the hydraulic motor 49 becomes reverse rotation with respect to the hydraulic pump 47 side, and the power of the engine 12 is output as a force for reversing the traveling vehicle body 1a.

[0040] The rotation of the pump output shaft 51 is taken out to the outside of the transmission case 11 by the PTO shaft 45 via a clutch (not shown) and transmitted to the seedling planting device 3. Further, the motor output shaft 32b of the hydraulic motor 49 drives the front wheels 6 and the rear wheels 7 via the auxiliary transmission 102 described above.

[0041] In FIG. 4, the rotation of the pump output shaft 51 is transmitted from the PTO first intermediate shaft 54 to the PTO second intermediate shaft 55 via the PTO forward / reverse clutch 53. The power transmitted to the PTO second intermediate shaft 55 is finally taken out to the outside of the transmission case 11 by the PTO shaft (working machine transmission member) 45 via the planting clutch 56 and drives the seedling planting device (working machine) 3. The planting clutch 56 is operated by a motor or the like (not shown) to connect and disconnect the transmission of power (engage and disengage the clutch). In this embodiment, a planting clutch sensor 56s for discriminating the engagement and disengagement of the planting clutch 56 is arranged in the vicinity of the PTO shaft 45 by detecting the rotation of the PTO shaft 45.

[0042] Here, on the second intermediate shaft 55 which is an intermediate shaft for transmitting the power of the engine 12 to the PTO shaft 45, an engine power disconnect clutch 12k is provided which is disconnected (transmits power in the connected state and shuts off power in the disconnected state) under the control of a control unit C described later. That is, power transmission is cut off. Also, a seedling planting device drive motor 3m is provided which rotates the second intermediate shaft 55 by electric drive to supply power to the seedling planting device 3. This seedling planting device drive motor 3m is a motor with a power generation function having an inverter as a power conversion device, and is connected by wiring to a battery V which is a power storage means. This seedling planting device drive motor 3m is provided on the lower side of the power transmission path than the engine power disconnect clutch 12k. When the engine power disconnect clutch 12k is in the disconnected state (shut-off state), the second intermediate shaft 55 (lower side of the power transmission path) can be rotationally driven by power supply from the battery V to supply power to the seedling planting device 3 instead of the engine 12. Also, when the engine power disconnect clutch 12k is in the connected state, it can receive the rotational power of the second intermediate shaft 55 (in other words, the power from the engine 12), convert this into electric power, and charge the battery V. Note that the battery V can also be charged by connecting to an external power source.

[0043] Thus, while the planting clutch 56 turns on and off the drive of the seedling planting device 3, since this engine power disconnect clutch 12k is disposed on the upper side of the transmission path than the planting clutch 56, it functions to switch the power supply source to the seedling planting device 3 (disconnect the seedling planting device 3 from the power transmission path of the engine 12).

[0044] <4. Configuration of the control system> FIG. 5 is a control block diagram of a control unit C of the seedling transplanter 1 according to an embodiment of the present invention. The control unit C controls various devices of the seedling transplanter 1, and includes a CPU (not shown), a ROM, a RAM, and a memory for storing various data. By reading the programs and data stored in the ROM, RAM, and memory and having the CPU execute various processes, the various functional units shown in the figure are realized. Further, the memory stores set values of control amounts for various mechanisms such as the seedling planting device 3 and the fertilizer application device 4. The control unit C reads out the set values stored in the memory in response to a request from the portable information terminal T described later, and transmits information regarding these set values via the wireless communication unit t2, enabling the portable information terminal T to display the set values of the various mechanisms.

[0045] The control unit C is configured to acquire the position information of the seedling transplanter 1 at predetermined time intervals from the positioning device 91, and store the position information in the memory together with the information of the time when the position information is received. Thereby, the control unit C can calculate the actual travel distance (hereinafter referred to as "actual travel distance") of the seedling transplanter 1 based on the change in the position information from the difference in the position of the seedling transplanter 1 at a predetermined time by reading out the time information and the position information stored in the memory. At the same time, it is also possible to calculate the actual travel speed (hereinafter referred to as "actual speed") of the seedling transplanter 1 based on the position information from the calculated actual travel distance and the information of the travel time.

[0046] The handle potentiometer 16s is configured to detect the steering angle of the steering handle 16, and the lever potentiometer 17s is configured to detect the operation of the shift operation lever 17, and output the detected information to the control unit C. Thereby, the control unit C can acquire information regarding the steering angle of the steering handle 16 and the operation position of the shift operation lever 17.

[0047] The rear-wheel rotation sensor 7s detects the rotational speeds of the left and right drive shafts (not shown) connected to the left and right rear wheels 7, 7, and outputs the detected speeds to the control unit C. Note that the rear-wheel rotation sensor 7s also functions as a vehicle speed sensor for detecting the vehicle speed. The control unit C is configured to acquire information regarding the rotational speed of the rear wheel 7 from the rear-wheel rotation sensor 7s and store this information, together with time (or clock time) information, in a memory. Further, the control unit C is configured to calculate the theoretical travel distance (hereinafter referred to as the "theoretical travel distance") of the transplanter 1 over a predetermined time by integrating the rotational speed and the size of the rear wheel 7 from the information regarding the rotational speed of the rear wheel 24 stored in the memory and the information regarding the size of the rear wheel 7 stored in the memory in advance. At the same time, the control unit C can calculate the theoretical travel speed (hereinafter referred to as the "theoretical speed") of the transplanter 1 from the calculated theoretical travel distance and travel time information.

[0048] The control unit C can calculate a slip ratio indicating the degree of slip of the traveling vehicle body 1a of the transplanter 1 during seedling planting from the calculated actual travel distance and theoretical travel distance. The slip ratio is defined, for example, by a calculation formula expressed as "{1 - (Lr / Lf)} * 100 [%]" using the integration symbol "*", where Lr is the actual travel distance and Lf is the theoretical travel distance at a predetermined time t. The larger the value of the slip ratio, that is, the closer it is to 100%, the greater the degree of slip, and the smaller the value of the slip ratio, that is, the closer it is to 0%, the smaller the degree of slip is judged to be.

[0049] In other words, the larger the value of the slip ratio, the more the traveling wheels (the rear wheels 7, 7 in this embodiment) slip, and the relative travel distance of the traveling vehicle body 1a with respect to the rotational speed of the traveling wheels decreases, and the actual seedling planting interval becomes narrower than the planting interval based on the theoretical speed. The smaller the value of the slip ratio, the closer the planting interval based on the theoretical speed and the actual seedling planting interval become. Note that the above method of calculating the slip ratio is an example, and it is also possible to calculate the slip ratio by comparing the actual speed and the theoretical speed.

[0050] On the input side of the control unit C, a float up-and-down movement detection sensor 42s, a battery remaining amount detection sensor Vs for detecting the remaining amount of the battery V, and a dial switch ds are connected, and it is possible to acquire these detection / detection information and operation information.

[0051] The control unit C is configured to be able to control the hydraulic continuously variable transmission 31 via the HST servo motor 31a. Thereby, the vehicle speed of the traveling vehicle body 1a can be controlled. In addition, the control unit C can control the raising and lowering of the seedling planting device 3 via the hydraulic lifting cylinder 36. Also, it is connected to the planting clutch 56 and can control the connection and disconnection of the power transmission to the seedling planting device 3, and thereby is configured to control the execution and stop of the seedling planting operation. Furthermore, it is connected to the fertilizer application amount adjustment motor 68a of the fertilizer application device 4, and thereby is configured to control the fertilizer application amount by driving control of the fertilizer feeding unit 68. Also, a lamp 89a is connected to the output side of the control unit C, and is configured to perform control related to lighting and extinguishing.

[0052] Also, an engine power connection / disconnection clutch 12k is connected to the output side of the control unit C. As described above, this engine power connection / disconnection clutch 12k is a clutch capable of connecting and disconnecting the power transmission of the engine 12 to the seedling planting device 3. The control unit C is configured to switch (connect and disconnect) the presence or absence of the power transmission of the engine 12 to the seedling planting device 3 by controlling this engine power connection / disconnection clutch 12k.

[0053] Furthermore, a seedling planting device drive motor 3m is connected to the output side of the control unit C. As described above, the seedling planting device drive motor 3m is a motor with a power generation function capable of supplying power to the seedling planting device 3 in place of the engine 12. When the engine power connection / disconnection clutch 12k is in the off state (cut-off state), the control unit C controls this seedling planting device drive motor 3m and drives it with the power of the battery V to supply power to the seedling planting device 3 in place of the engine 12. Thereby, the exhaust gas emission of the seedling transplanter 1 can be favorably reduced.

[0054] Here, when the control unit C causes the seedling planting device drive motor 3m to supply power to the seedling planting device 3 instead of the engine 12, the control unit C controls the rotational speed (rotation speed) of the second intermediate shaft 55 per unit time, that is, the rotational power output to the PTO shaft 45, based on the actual traveling speed of the transplanter 1. More specifically, the control unit C calculates the actual traveling speed of the transplanter 1 at predetermined time intervals based on the position information of the positioning device 91, and controls the output of the seedling planting device drive motor 3m so that the rotational speed (rotation speed) of the second intermediate shaft 55 per unit time, that is, the rotational power output to the PTO shaft 45, is the same as when traveling at the actual traveling speed without slip by the engine 12. In other words, the control unit C controls the output of the seedling planting device drive motor 3m so that the same rotational power as when traveling the actual traveling distance (or traveling at the actual speed) by the power of the engine 12 is transmitted from the transmission shaft (second intermediate shaft 55) that transmits the power of the engine 12 to the seedling planting device 3. As a result, when slip occurs, the same rotational power as when traveling without slip at the actual traveling speed (by the engine 12) is (pseudo-)output to the PTO shaft 45. As a result, it is possible to satisfactorily prevent the disturbance between the plants of the seedling planting device 3 caused by the occurrence of slip. By controlling the output of the seedling planting device drive motor, it is possible to satisfactorily prevent the disturbance between the plants. In addition, the operator does not need to be aware that the power source has been switched from the internal combustion engine 12 to the seedling planting device drive motor 3m, and smooth work continuation becomes possible.

[0055] The communication controller t1 controls the wireless communication unit 83 and mediates wireless communication with the portable information terminal T and the positioning device 91 according to a predetermined protocol.

[0056] The wireless communication unit 83 is a unit that performs wireless communication with the wireless communication unit (not shown) of the portable information terminal T and the positioning device 91, and transmits and receives predetermined data via a built-in antenna (not shown). As a result, the control unit C can transmit information such as the calculated slip rate to the portable information terminal T and other information necessary for work.

[0057] Here, the mobile information terminal T serves as a user interface, is equipped with input / output means such as a display, a touch panel, and a speaker, and is an information terminal that can be carried by the operator U. The mobile information terminal B is, for example, a tablet, a smartphone, etc., and can be used by the operator while checking the working status in the vicinity of the field. Also, the operator can remotely perform necessary settings for the seedling transplanter 1 by performing an input operation on the mobile information terminal T, and can confirm various information related to the work (such as setting information and work progress information) obtained from the control unit C through a display means such as a display. Also, by a predetermined operation, it is possible to transmit various instructions such as the start of automatic driving, temporary stop, and end of work to the seedling transplanter 1.

[0058] The control unit C includes, as functional units, an automatic driving means c1, a slip detection means c2, a power source switching means c3, and a lift sensitivity adjustment means c5.

[0059] The automatic driving means c1 is a program that, during work, performs the function of automatically driving the seedling transplanter 1 along a pre-planned driving route based on the position information obtained from the positioning device 91, and controls the steering actuator 16a to automatically steer the steering wheel 16.

[0060] The slip detection means c2 is a program that performs the function of detecting the slip during the running of the seedling transplanter 1. Here, "detecting slip" more specifically means that the above-mentioned slip rate calculated at a predetermined time interval exceeds a predetermined threshold value. In this embodiment, as an example, when the slip rate exceeds 17%, the slip detection means c2 is configured to detect slip (in other words, determine that slip has occurred) during the running of the seedling transplanter 1.

[0061] <5. Power Source Switching Process> Next, the power source switching means c3 will be described. The power source switching means c3 is a program that functions to switch the power source of the seedling planting device 3. When the operation of the seedling transplanter 1 is started, it executes a power source switching process to switch the power source of the seedling planting device 3. Here, the power source switching process will be described with reference to FIG. 6.

[0062] FIG. 6 is a flowchart showing the processing procedure of the power source switching process. When the power source switching process is started, the power source switching means c3 first sets the power source of the seedling planting device 3 to the engine 12 (step #1). That is, the engine power disconnect clutch 12k is set to the engaged state (connected state). Thereby, the seedling planting device 3 is driven by the power of the engine 12.

[0063] Next, while the power source switching means c3 is driving the seedling planting device 3 with the power of the engine 12, it monitors whether slip is detected by the slip detection means c2 (step #2). When slip is detected (Y in step #2), information regarding the current battery remaining amount is acquired from the battery remaining amount sensor Vs. When the battery remaining amount is equal to or greater than a predetermined value (Y in step #3), the power source of the seedling planting device 3 is set to the seedling planting device drive motor 3m (step #4). That is, the engine power disconnect clutch 12k is set to the disengaged state (disconnected state), and instead of the power of the engine 12, the seedling planting device 3 is driven by the power of the seedling planting device drive motor 3m.

[0064] After the power source switching means c3 switches the power source to the seedling planting device drive motor 3m, it maintains the state where the power source is switched to the seedling planting device drive motor 3m until slip is no longer detected (N in step #2) or until the remaining battery level falls below a predetermined value (N in step #3). On the other hand, when the slip is eliminated or the remaining battery level falls below the predetermined value, the power source is switched to the engine 12 (step #1). According to the above configuration, by detecting slip and switching the power source to the seedling planting device drive motor 3m, while preventing disturbance between plants, when the remaining battery level is insufficient to drive the seedling planting device 3 by the seedling planting device drive motor 3m, by not switching to the device drive motor 3m, the battery V can be charged by the power of the engine 12, and a situation where the battery V runs out of charge and the drive of the seedling planting device 3 stops can be effectively prevented.

[0065] <Configuration related to automatic adjustment of planting depth> Returning to FIG. 5, the control unit C includes a lifting sensitivity adjustment means c4 for adjusting the lifting sensitivity of the seedling planting device 3. This lifting sensitivity, also referred to as hydraulic sensitivity, relates to the lifting control of the seedling planting device 3 and indicates the sensitivity to the unevenness of the field. As described above, the center float 42 is configured to detect the rotation amount of the center float 42 due to the unevenness of the field surface and the lifting of the seedling planting device 3 by the float vertical movement detection sensor 42s that detects the rotation angle. When the detection by this float vertical movement detection sensor 42s becomes equal to or greater than the set angle in either the positive or negative direction, an electromagnetic valve (not shown) is controlled to expand and contract the lifting hydraulic cylinder 36, change the planting operation height of the seedling planting device 3, and maintain the planting depth of the seedlings as set.

[0066] The control unit C obtains the operation information of the dial switch ds, and based on the obtained operation information, the lifting sensitivity adjustment means c4 adjusts the lifting sensitivity of the seedling planting device 3 by executing a predetermined process. For example, the lifting sensitivity is configured to be selectable and set from "normal", "sensitive", and "insensitive". Here, when the posture of the seedling transplanter 1 is a forward-downward inclined posture, the center float 42 is likely to lift off the field surface. Therefore, the operator can make the lifting sensitivity "insensitive" and adjust it to be lower by operating the dial switch ds. As a result, the control unit C (lifting sensitivity adjustment means c4) extends or contracts the lifting hydraulic cylinder 36 only when the float vertical movement detection sensor 42s detects a larger rotation amount (than the standard set value in the case of "normal" lifting sensitivity), and changes the planting operation height of the seedling planting device 3. Thereby, even if the center float 42 rotates slightly when it leaves the field surface, the planting operation height of the seedling planting device 3 is not changed, so that the planting depth is prevented from being disturbed. It should be noted that when the unevenness of the field is large or the field is hard, it is desirable to make the lifting sensitivity "insensitive".

[0067] On the other hand, when the posture of the seedling transplanter 1 is a forward-upward inclined posture, the center float 42 continues to contact the field surface. Therefore, the operator can make the lifting sensitivity "sensitive" and adjust it to be higher by operating the dial switch ds. As a result, the control unit C (lifting sensitivity adjustment means c4) extends or contracts the lifting hydraulic cylinder 36 when the float vertical movement detection sensor 42s detects a smaller rotation amount (than the standard set value in the case of "normal" lifting sensitivity), and changes the planting operation height of the seedling planting device 3. Thereby, when the center float 42 forcibly levels small unevenness, if it rotates even slightly, the planting operation height of the planting device 3 is changed. Therefore, the locations where the planting depth should change are ignored, and it is prevented that the planting depth is disturbed instead. It should be noted that when the unevenness of the field is small or the field is soft, it is desirable to make the lifting sensitivity "sensitive".

[0068] Here, as shown in FIG. 5, the control unit C includes an automatic planting depth adjustment means c5. This automatic planting depth adjustment means c5 functions to automatically adjust the planting depth of the seedling planting device 3 in conjunction with the adjustment of the lifting sensitivity. More specifically, when the lifting sensitivity is set to "insensitive" by the lifting sensitivity adjustment means c4, the automatic planting depth adjustment means c5 controls the lifting hydraulic cylinder 36 to adjust the seedling planting device 3 to rise by a predetermined distance compared to when the lifting sensitivity is set to "normal". That is, when the lifting sensitivity is set to "insensitive", the responsiveness to the convex part of the field is relatively reduced compared to when the lifting sensitivity is set to "normal", so that the seedling planting device 3 is more likely to descend and the planting depth is more likely to be deeper than the set depth. Therefore, by automatically adjusting the seedling planting device 3 to rise by a predetermined distance, the planting depth can be kept good and constant before and after the setting change of the lifting sensitivity.

[0069] On the other hand, when the lift sensitivity is set to "sensitive" by the lift sensitivity adjustment means c4, the automatic planting depth adjustment means c5 controls the lift hydraulic cylinder 36 to adjust the seedling planting device 3 to lower by a predetermined distance compared to when the lift sensitivity is set to "normal". In other words, when the lift sensitivity is set to "sensitive", the responsiveness to the convex parts of the field is relatively increased compared to when the lift sensitivity is set to "normal", so that the seedling planting device 3 is more likely to rise and the planting depth is more likely to be shallower than the set depth. Therefore, by automatically adjusting the seedling planting device 3 to lower by a predetermined distance, the planting depth can be kept constant well before and after the lift sensitivity setting is changed.

[0070] <7. Configuration of seedling adjustment actuator mechanism> Next, a seedling picking adjustment actuator mechanism that adjusts the amount of seedlings picked up by the seedling planting tool 41 is Fig. 7 is a cross-sectional side view of the main part around the seedling adjustment actuator mechanism, and Fig. 8 is a perspective view of the slider of the seedling adjustment actuator mechanism in Fig. 7. For the basic configuration of this seedling adjustment actuator mechanism 181, please refer to, for example, JP 2017-136009 A.

[0071] As shown in FIG. 7, in the seedling-taking adjustment actuator mechanism 181 of the present embodiment, jabara boots 172a and 172b, which are covering members with bellows-shaped inner walls, are respectively arranged above and below the feed screw 172. The jabara boots 172a and 172b function to prevent the grease nipples injected above and below the slider 183 from leaking out. Further, through holes 190a, 190b, and 190c are respectively formed in the upper part, middle part, and lower part of the shaft of the feed screw 172, and the respective through holes 190a, 190b, and 190c are configured to be communicated by a cavity part 190d, which is a substantially cylindrical cavity formed inside the shaft of the feed screw 172.

[0072] Also, as shown in FIG. 8, the slider 183 has a substantially cylindrical shape, and a grease nipple injection hole 183a is provided in its peripheral wall. A grease nipple delivery hole 183b extending in the vertical direction is provided so as to communicate with the grease nipple injection hole 183a. Thereby, an operator can easily inject the grease nipple from the nipple grease injection hole 183a, and the grease nipple injected from the grease nipple injection hole 183a enters the inside of the shaft of the feed screw 172 from the upper through hole 190a, passes through the cavity part 190d, and is discharged from the through hole 190b in the middle part. Thereby, the injected grease nipple can be circulated well.

[0073] <8. Others (Modification Examples, etc.)> The embodiments of the present invention have been described above. The present invention is not limited only to the aspects of the above-described embodiments. Needless to say, it can be appropriately changed within the scope of the technical idea.

[0074] When changing the number of planting rows during work for each row by the engagement / disengagement operation of the planting clutch 56 (performed by an operating member such as the shift operation lever 17), the control unit C acquires the detection information of the planting clutch sensor 56s that discriminates the engagement / disengagement of the planting clutch 56, calculates the number of planting rows during work based on the detection information of the planting clutch sensor 56s, and when planting is performed with half or less (2 rows or less in the case of 4-row planting) compared to the number of rows that the seedling planting device 3 can plant (previously storing setting information in the control unit C), it may be configured to automatically switch from the power of the engine 12 to the power of the seedling planting device drive motor 3m. Thereby, for the planting work that can be performed with less power than usual, by automatically switching to the power of the seedling planting device drive motor 3m, work can be performed efficiently.

[0075] In the seedling planting device 3 that performs motor drive, a sensor for detecting the seedling height of the seedling mat may be provided on the seedling mounting table 39, and the control unit C may be configured to acquire the detection value of such a sensor. Further, the information on the detected seedling height may be configured to be confirmable by the portable information terminal T. In the motor-driven seedling planting tool (planting rod) 41, the tip of the seedling planting tool (planting rod) 41 can be configured to rotate at a constant speed in the (quick) section until it enters and comes out of the soil. When recognizing the planting target while acquiring position information by the positioning device 91, since the planting position and the quick start position are actually displaced, it can be configured to correct the target position according to the traveling direction. For example, it can be configured to start the quick operation 2 centimeters in front of the target. In the direct seeding machine having a GNSS sensor, the seeding amount of the direct seeding machine can be adjusted electrically based on the position information from the GNSS sensor.

Explanation of Signs

[0076] 1 Seedling transplanter 1a Traveling vehicle body 3 Seedling planting device (working machine) 3m Seedling planting device drive motor 6, 7 Traveling wheels 12 Engine (internal combustion engine) 12k Engine power connection / disconnection clutch (internal combustion engine power connection / disconnection clutch) 16 Steering wheel 17 Shift operation lever 31 Hydraulic continuously variable transmission 36 Hydraulic lift cylinder 45 PTO drive shaft (working machine transmission member) 56 Planting clutch 91 Positioning device 101 Travel transmission device C Control unit ds Dial switch V Battery

Claims

1. A seedling transplanter comprising a traveling vehicle body that travels in a field by the power of an internal combustion engine, a positioning device that acquires the position information of the traveling vehicle body, and a seedling planting device that plants seedlings in the field, wherein the seedling transplanter includes slip detection means for detecting slip of the traveling vehicle body, a seedling planting device drive motor for driving the seedling planting device, and power source switching means for switching the power source of the seedling planting device between the power of the internal combustion engine and the power of the seedling planting device drive motor, wherein the slip detection means is configured to detect slip by comparing an actual travel distance calculated based on a change in the position information of the traveling vehicle body with a theoretical travel distance calculated from the number of rotations of the traveling wheels of the traveling vehicle body, and when the slip detection means detects slip, the power source switching means switches from the power of the internal combustion engine to the power of the seedling planting device drive motor to drive the seedling planting device.

2. Furthermore, it includes a transmission shaft for transmitting the power of the internal combustion engine to the seedling planting section, an internal combustion engine power disconnect clutch capable of disconnecting and connecting the power transmission of the transmission shaft, the seedling planting device drive motor is configured to rotationally drive the transmission shaft, when driving the seedling planting device by the power of the seedling planting device drive motor, the internal combustion engine power disconnect clutch cuts off the power transmission of the transmission shaft, and the output of the seedling planting device drive motor is controlled so that rotational power similar to that when traveling an actual travel distance is transmitted from the transmission shaft to the seedling planting device by the power of the internal combustion engine.

3. It includes a battery for supplying power to the seedling planting device drive motor, the seedling planting device drive motor is configured as a motor with a power generation function, and when driving the seedling planting device by the power of the internal combustion engine, it receives the rotational power of the transmission shaft, converts this into electric power, and is configured to charge the battery.

4. the seedling planting device is configured to be able to move up and down by the expansion and contraction of a hydraulic lifting cylinder, the seedling transplanter includes lifting sensitivity adjusting means for adjusting the lifting sensitivity of the seedling planting device, and planting depth automatic adjusting means that is linked to the adjustment of the lifting sensitivity and automatically adjusts the planting depth of the seedling planting device. The planting depth automatic adjustment means controls the expansion and contraction of the hydraulic lifting cylinder, and when the lifting sensitivity is adjusted to the side with lower lifting sensitivity by the lifting sensitivity adjustment means, it automatically adjusts to raise the seedling planting device by a predetermined distance, and when the lifting sensitivity is adjusted to the side with higher lifting sensitivity, it automatically adjusts to lower the seedling planting device by a predetermined distance. The seedling transplanter according to any one of claims 1 to 3, characterized in that.

5. The seedling planting device includes a planting clutch that turns on and off the drive for each row, and a planting clutch sensor that discriminates the turning on and off of the planting clutch. Based on the detection information of the planting clutch sensor, the number of planting rows during operation is calculated, and when the number of planting rows is less than half of the number of rows that the seedling planting device can plant, the power source switching means switches from the power of the internal combustion engine to the power of the seedling planting device drive motor. The seedling transplanter according to any one of claims 1 to 3, characterized in that it is configured as such.

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