Rice transplanter

Abstract

To provide a rice transplanter capable of preventing a seedling tray for spare seedlings from colliding with obstacles such as field ridges during autonomous travel.SOLUTION: A rice transplanter includes: a traveling body switchable between autonomous travel and manual travel; a support frame 14 provided on the traveling body; a spare seedling tray 20 supported by the support frame 14 and switchable between a deployed state extending in the front-rear direction and a stored state shorter in the front-rear direction than the deployed state; and a detection unit 30 that detects that the spare seedling tray 20 is in the deployed state. When the detection unit 30 detects that the tray is in the deployed state, autonomous travel is prohibited.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a rice transplanter equipped with a traveling vehicle body that can be switched between automatic driving and manual driving and a seedling stand for spare seedlings.

Background Art

[0002] As a conventional rice transplanter, for example, as described in Patent Document 1, there is one that travels on a travel route consisting of a plurality of linear straight travel routes extending substantially parallel to the field and U-shaped turning travel routes connecting the straight travel routes, with automatic driving involving automatic driving.

[0003] Also, as a conventional rice transplanter, for example, as described in Patent Document 2, there is one in which the seedling stand for spare seedlings is in an extended state (in Patent Document 2, "working posture") extending in the front-rear direction.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] In such a rice transplanter, when the seedling stand for spare seedlings is in an extended state extending in the front-rear direction, there are some cases where the front end of the seedling stand for spare seedlings is located in front of the front end of the traveling vehicle body. There may be tall obstacles such as water inlets in the field. When the seedling stand for spare seedlings is in an extended state extending in the front-rear direction, there is a risk that the front side portion of the seedling stand for spare seedlings may collide with the obstacle.

[0006] In addition, when traveling along a turning path automatically like a conventional rice transplanter, it often turns near the ridge. However, when the seedling stand for spare seedlings is in an extended state extending in the front-rear direction, there is a risk that the seedling stand for spare seedlings may collide with the ridge.

[0007] Therefore, an object of the present invention is to provide a rice transplanter that can prevent the seedling stand for spare seedlings from colliding with obstacles such as ridges during automatic traveling.

Means for Solving the Problems

[0008] The rice transplanter of the present invention includes a traveling vehicle body that can be switched between automatic traveling and manual traveling, a support frame provided on the traveling vehicle body, a spare seedling stand supported by the support frame, which can be switched between an extended state extending in the front-rear direction and a storage state shorter in the front-rear direction than the extended state, and a detection unit that detects that the spare seedling stand is in the extended state. When it is detected by the detection unit that the spare seedling stand is in the extended state, the automatic traveling is prohibited.

[0009] According to this invention, when it is detected that the spare seedling stand is in an extended state extending in the front-rear direction, the automatic traveling is prohibited. In the state where the spare seedling stand extends in the front-rear direction, the spare seedling stand often extends forward of the front end of the traveling vehicle body. However, since the automatic traveling is prohibited, it is possible to prevent the spare seedling stand from colliding with obstacles such as ridges during automatic traveling.

[0010] In the present invention, as the spare seedling stand, a first spare seedling stand supported by the support frame and a second spare seedling stand provided in front of the first spare seedling stand are provided. The extended state is a state in which the second spare seedling stand extends in the front-rear direction from the first spare seedling stand, the storage state is a state in which the second spare seedling stand is folded, and it is preferable that the detection unit detects that the second spare seedling stand is in the extended state.

[0011] According to this configuration, when the second seedling stand located in front of the first spare seedling stand is in the deployed state, automatic driving is prohibited. Therefore, during automatic driving, it is possible to more effectively prevent the seedling stand from colliding with obstacles such as ridges.

[0012] In the present invention, it is preferable that the second seedling stand is swingably supported by the first seedling stand, and the detection unit includes a spring member that expands and contracts as the second seedling stand swings, and a detection device that detects that the second seedling stand is in the deployed state via the spring member.

[0013] According to this configuration, it is possible to assist the switching operation between the deployed state and the stored state of the second seedling stand by the biasing force of the spring member. Further, since the detection device is configured to detect that the second seedling stand is in the deployed state via the spring member, a configuration combining the spring member and the detection device can be achieved. Thereby, a more compact configuration can be achieved compared to the case where the spring member and the detection device are separately configured.

[0014] In the present invention, it is preferable that the detection device detects that the second seedling stand is in the deployed state by detecting the swing of the spring member accompanying the swing of the second seedling stand.

[0015] According to this configuration, it is not necessary to provide a member separate from the spring member to detect the swing of the second seedling stand by the detection device, and a more compact configuration can be achieved.

[0016] In the present invention, it is preferable that the second seedling stand has a locking portion for detachably locking the spring member.

[0017] According to this configuration, when it is not necessary to assist by the spring member when swinging the second seedling stand, it can be removed from the locking portion. Also, the spring member can be easily replaced.

[0018] In the present invention, it is preferable that a state maintenance member is provided which is detachably locked to the locking portion and maintains the second seedling placing table in the stored state.

[0019] According to this configuration, for example, when the rice transplanter is transported by a truck or the like, by using the state maintenance member to maintain the second seedling placing table in the stored state, it is possible to prevent the second seedling placing table from being unintentionally deployed.

[0020] In the present invention, it is preferable that the state maintenance member includes a first member that is detachably locked to the locking portion, a second member that is supported by the support frame, and a third member that is connected to the first member and the second member and is made of a member that can be elastically deformed.

[0021] According to this configuration, by making the first member and the second member, for example, made of metal, it is possible to configure them to be firmly supported by the locking portion and the support frame. Furthermore, since the state maintenance member can be elastically deformed by the third member, the first member can be easily locked to the locking portion.

Brief Description of the Drawings

[0022]

Figure 1

Figure 2

Figure 3

Figure 4

Embodiments for Carrying Out the Invention

[0023] A mode for carrying out the present invention will be described with reference to the drawings. In the following description, unless otherwise specified, the direction of arrow F in the drawings is defined as "front", the direction of arrow B is defined as "rear", the direction of arrow L is defined as "left", and the direction of arrow R is defined as "right". Also, the direction of arrow U in the drawings is defined as "up", and the direction of arrow D is defined as "down".

[0024] 〔Regarding the overall configuration of the rice transplanter〕 Hereinafter, a riding-type rice transplanter (an example of a "rice transplanter") according to the present embodiment will be described. As shown in FIG. 1, a link mechanism 4 is supported at the rear part of a traveling vehicle body 3 provided with right and left front wheels 1 and right and left rear wheels 2. The link mechanism 4 extends rearward and is configured to be rotatable up and down. A hydraulic cylinder 5 for raising and lowering the link mechanism 4 is provided on the link mechanism 4.

[0025] A seedling planting device 6 that can be connected to the rear part of the traveling vehicle body 3 and can plant seedlings in the field is provided. The seedling planting device 6 is supported at the rear part of the link mechanism 4. A fertilizer application device 7 for supplying fertilizer to the paddy field is provided at the rear part of the traveling vehicle body 3. A hopper 8 for storing fertilizer is provided on the upper part of the fertilizer application device 7. Although not shown in the drawings, in the present embodiment, the seedling planting device 6 is configured in an 8-row planting type.

[0026] As shown in FIG. 1, a transmission case 9 is arranged at the front part of the traveling vehicle body 3. An engine support frame 10 extending forward is connected to the transmission case 9. An engine (not shown) is supported on the engine support frame 10. A bonnet 11 for covering the engine is provided at the front part of the traveling vehicle body 3.

[0027] A floor 12 is provided from the right and left sides of the bonnet 11 to the rear side of the bonnet 11. A driver's seat 13 on which a rider can sit is arranged at the upper part of the rear part of the floor 12.

[0028] On the upper parts of the right and left sides of the traveling vehicle body 3, a plurality (ten in this embodiment) of spare seedling stands 20 on which seedling boxes (hereinafter referred to as "seedlings" and "seedling boxes") containing seedling mats can be placed are arranged. The plurality of spare seedling stands 20 are fixed to the traveling vehicle body 3 and are supported by a pair of front and rear columns 14 (an example of a "support frame") that extend along the vertical direction. The front column 14 stands upright upward from the engine support frame 10 of the traveling vehicle body 3. The rear column 14 stands upright upward from the portion of the traveling vehicle body 3 above the front wheel 1.

[0029] Note that the columns 14 are provided on the left and right. A support member 15 is connected across the upper parts of the right and left columns 14. An antenna unit 16 capable of acquiring the position information of the traveling vehicle body 3 using a satellite positioning system is provided at a portion of the support member 15 located at the left-right center of the traveling vehicle body 3. As a typical example of the satellite positioning system (GNSS: Global Navigation Satelite System), GPS (Global Positioning System) can be mentioned.

[0030] Note that the riding type rice transplanter of the present invention can acquire the traveling route during the seedling planting operation using the antenna unit 16, store it, and set it as a target traveling route parallel to the stored route. After setting the target traveling route in this way, the traveling vehicle body 3 is configured to be capable of automatically traveling along the target traveling route. In this embodiment, the traveling vehicle body 3 is configured to be switchable between automatic traveling that automatically steers and manual traveling in which the operator manually travels.

[0031] The traveling vehicle body 3 is provided with a control unit C. The control unit C is constituted by a microprocessor including, for example, a CPU and an EEPROM. The control unit C is provided with an automatic travel control unit C1 that controls the automatic travel of the traveling vehicle body 3.

[0032] Regarding the configuration of the spare seedling stand As shown in FIGS. 1 and 2, in this embodiment, as the plurality of spare seedling stands 20, there are provided three first spare seedling stands 20A located at the lower stage, a second spare seedling stand 20B, and a third spare seedling stand 20C, a fourth spare seedling stand 20D located in the middle stage, and a fifth spare seedling stand 20E located at the upper stage.

[0033] The first spare seedling stand 20A, the second spare seedling stand 20B, and the third spare seedling stand 20C each include a first spare seedling stand main body 20AB, a second spare seedling stand main body 20BB, and a third spare seedling stand main body 20CB on which a seedling box can be placed, and a first spare seedling stand frame 20AF, a second spare seedling stand frame 20BF, and a third spare seedling stand frame 20CF that support these from below.

[0034] The first spare seedling stand frame 20AF is fixed to the support column 14. With this configuration, the first spare seedling stand 20A is supported by the support column 14. As shown in FIGS. 1 and 2, at the front end portion of the first spare seedling stand frame 20AF, the second spare seedling stand frame 20BF is supported so as to be swingable around an axis P1 extending in the width direction. At the rear end portion of the first spare seedling stand frame 20AF, the third spare seedling stand frame 20CF is supported so as to be swingable around an axis P2 extending in the width direction.

[0035] With this configuration, the second spare seedling stand 20B and the third spare seedling stand 20C are each swingably supported by the first spare seedling stand 20A, and can be switched between a deployed state extending in the front-rear direction from the first spare seedling stand 20A and on which seedlings can be placed, as shown by the two-dot chain line in FIG. 1, and a stored state in which it is folded and shorter in the front-rear direction than the deployed state and on which seedlings cannot be placed, as shown by the solid line in FIG. 1. When the second spare seedling stand 20B is in the deployed state, at least the front side portion of the second spare seedling stand 20B is located in front of the front ends of the traveling vehicle body 3 and the bonnet 11.

[0036] The stand 20D for the fourth spare seedling and the stand 20E for the fifth spare seedling are fixed to the support column 14 at a position above the stand 20A for the first spare seedling. Note that on the upper end portion of one side (the right side in this embodiment) of the left and right support columns 14, a stacked lamp 17 in which a plurality of color lamps for notifying the state of the rice transplanter to the outside are arranged in the vertical direction is fixed. Further, below the stacked lamp 17, a voice alarm 18 for notifying various information and warnings by voice is fixed to the support column 14.

[0037] The spare seedling stand 20 is provided with a spring member 21 provided across the first spare seedling stand frame 20AF and the second spare seedling stand frame 20BF.

[0038] When the second spare seedling stand 20B is in the deployed state, the spring member 21 is located below the axis P1 and biases the second spare seedling stand 20B toward the deployed state side. Similarly, when the second spare seedling stand 20B is in the stored state, the spring member 21 biases the second spare seedling stand 20B toward the stored state side. With this configuration, the second spare seedling stand 20B is maintained in its posture by the spring member 21 in both the deployed state and the stored state.

[0039] When the second spare seedling stand 20B is switched from the deployed state to the stored state by a manual operation, the spring member 21 once extends, but when it is further switched toward the stored state, the spring member 21 biases the second spare seedling stand 20B toward the stored state side. That is, the spring member 21 is configured to expand and contract as the second spare seedling stand 20B swings. Similarly, when switching from the stored state to the deployed state, the spring member 21 expands and contracts as the second spare seedling stand 20B swings. With this configuration, the biasing force of the spring member 21 assists the switching operation of the second spare seedling stand 20B between the deployed state and the stored state, so that the switching operation of the second spare seedling stand 20B by manual operation becomes easy.

[0040] 〔Regarding the configuration of the detection unit〕 As shown in FIG. 2, the spare seedling stand 20 is provided with a detection unit 30 that detects whether the second spare seedling stand 20B is in the deployed state or the stored state.

[0041] The detection unit 30 has a limit switch type detection device 31. The detection device 31 is supported at the front end portion of the first spare seedling placing frame 20AF. A spring member 21 is locked to an operating member 31a provided in the detection device 31. That is, one end portion of the spring member 21 is supported by the first spare seedling placing frame 20AF via the detection device 31, and the other end portion of the spring member 21 is supported by a locking portion 22 of a second spare seedling placing frame 20BF described later.

[0042] When the second spare seedling placing table 20B is switched between the deployed state and the stored state, the spring member 21 swings along with the swing of the second spare seedling placing table 20B. Along with the swing of the spring member 21, the operating member 31a of the detection device 31 to which the spring member 21 is locked swings. The detection device 31 detects the swing of the spring member 21 by the swing of the operating member 31a, thereby detecting that the second spare seedling placing table 20B is in the deployed state or the stored state.

[0043] As shown in FIGS. 2 and 3, a detection control unit C2 configured in the control unit C and into which the detection result of the detection device 31 is input is provided. In the present embodiment, the detection unit 30 is composed of the detection device 31 and the detection control unit C2. When the detection control unit C2 detects by the detection device 31 that the second spare seedling placing table 20B is in the deployed state, the detection control unit C2 outputs an automatic travel prohibition signal to the automatic travel control unit C1 to prohibit the automatic travel of the traveling vehicle body 3. Here, in the present embodiment, ten spare seedling placing tables 20 are provided, and seedlings can be placed on each of the eight spare seedling placing tables 20 even if the left and right second spare seedling placing tables 20B are in the stored state.

[0044] 〔Regarding the configuration of the storage state maintaining mechanism〕 As shown in Fig. 2, a storage state maintaining mechanism for maintaining the second spare seedling stage 20B in a stored state is provided. The second spare seedling stage frame 20BF is provided with a locking portion 22 formed of a rod-shaped member, to which a spring member 21 is locked. The spring member 21 has hook-shaped ends formed at both ends, and is detachably locked to the operated member 31a of the detection device 31 and the locking portion 22, respectively.

[0045] The front support column 14 is provided with a state maintaining member 23 for maintaining the second spare seedling stage 20B in a stored state. It has a first member 23a that is detachably locked to the locking portion 22, a second member 23b supported by the support column 14, and a third member 23c that is connected to the first member 23a and the second member 23b and is made of a member such as a rubber member that can expand and contract and deform.

[0046] The first member 23a is formed in a hook shape and is configured to be detachably locked to the locking portion 22. After the second spare seedling stage 20B is put into the stored state, the first member 23a of the state maintaining member 23 is locked to the locking portion 22, so that the second spare seedling stage 20B is maintained in the stored state. At this time, after removing the spring member 21 from the locking portion 22, the first member 23a may be locked to the locking portion 22, or the spring member 21 may not be removed from the locking portion 22, and the spring member 21 and the state maintaining member 23 may be locked to the locking portion 22.

[0047] When changing the second spare seedling stage 20B from the stored state to the deployed state, the first member 23a of the state maintaining member 23 is removed from the locking portion 22. The first member 23a removed from the locking portion 22 is locked to a rod-shaped member 24 provided at a position above the support portion of the second member 23b of the support column 14. Thereby, when the state maintaining member 23 is not locked to the locking portion 22, it is possible to avoid the first member 23a from colliding with a passenger or the like. Since the second member 23b is supported by the support column 14 so as to be freely rotatable, the movement of the first member 23a between the locking portion 22 and the rod-shaped member 24 can be easily performed.

[0048] As described above, in the present embodiment, a storage state maintaining mechanism for maintaining the second spare seedling stage 20B in the stored state is configured by the locking portion 22 and the state maintaining member 23.

[0049] Although not described in detail, a storage state maintaining mechanism for maintaining the third spare seedling stage 20C in the stored state is provided with a configuration similar to that of the storage state maintaining mechanism for maintaining the second spare seedling stage 20B in the stored state. The storage state maintaining mechanism is constituted by a state maintaining member rotatably supported by the rear column 14 and a locking portion provided on the third spare seedling stage 20C.

[0050] 〔Alternative Embodiment〕 Hereinafter, an alternative embodiment in which changes are made to the above embodiment will be exemplified.

[0051] (1) In the above embodiment, as the spare seedling stage 20, the first spare seedling stage 20A supported by the column 14, the second spare seedling stage 20B and the third spare seedling stage 20C swingably supported by the first spare seedling stage 20A are provided and described as an example. However, the present invention is not limited to the above embodiment. For example, as the spare seedling stage 20, only the first spare seedling stage 20A supported by the column 14 may be provided, and the first spare seedling stage 20A may be configured to be swingably supported by the column 14.

[0052] (2) In the above-described embodiment, the second spare seedling stand 20B and the third spare seedling stand 20C, which are swingably supported on the first spare seedling stand 20A, are configured to be switchable between a stored state and a deployed state by swinging. However, the present invention is not limited to the above-described embodiment. For example, the first spare seedling stand 20A, the second spare seedling stand 20B, and the third spare seedling stand 20C may be slidably supported in the front-rear direction with respect to the support column 14, and a deployed state in which the front end of the second spare seedling stand 20B is located in front of the front ends of the traveling vehicle body 3 and the bonnet 11, and a stored state in which the front end of the second spare seedling stand 20B is located behind the front ends of the traveling vehicle body 3 and the bonnet 11 may be switchable. At this time, when it is detected by the detection unit 30 that it is in the deployed state, it may be configured to prohibit automatic driving by controlling the automatic driving control unit C1.

[0053] (3) In the above-described embodiment, a configuration in which the traveling vehicle body 3 can be automatically driven along the target traveling route has been described. However, as the target traveling route, as shown in FIG. 4, it may be configured to include an outer peripheral traveling route OR that travels along the outer periphery of the field and a reciprocating traveling route RR that reciprocates inside the field. Further, it may be configured to automatically drive based on a field map mapped as an outer peripheral region OA where outer peripheral traveling is performed and an inner region IA where reciprocating traveling is performed.

[0054] At this time, in the inner region IA, it may be configured not to prohibit automatic driving even if it is detected by the detection unit 30 that it is in the deployed state. Also, when traveling and turning in the outer peripheral region OA, when it is detected by the detection unit 30 that it is in the deployed state, it may be configured to prohibit automatic driving and permit operations such as a switching operation to manual driving, traveling stop, and engine stop. Further, when it is detected by the detection unit 30 that it has been switched from the deployed state to the stored state, it may be configured to permit operations such as a switching operation to automatic driving, traveling start, and engine start.

[0055] (4) In the above-described embodiment, the configuration including the spring member 21 has been described as an example. However, the present invention is not limited to the above-described embodiment, and a configuration without the spring member 21 may be adopted. At this time, as a configuration in which the operated member 31a of the detection device 31 swings as the second spare seedling stage 20B swings, by directly detecting the swing of the second spare seedling stage 20B, a configuration for detecting that the second spare seedling stage 20B is in the deployed state or the stored state may be adopted.

[0056] (5) In the above-described embodiment, the configuration in which the spring member 21 is detachably locked to the locking portion 22 has been described as an example. However, the present invention is not limited to the above-described embodiment, and the spring member 21 may be configured to be locked to the locking portion 22 in a non-removable state.

[0057] (6) In the above-described embodiment, the configuration in which the state maintaining member 23 is detachably locked to the locking portion 22 has been described as an example. However, the present invention is not limited to the above-described embodiment, and a configuration may be adopted in which the second spare seedling stage frame 20BF is provided with a lockable member configured separately from the locking portion 22.

[0058] (7) In the above-described embodiment, the configuration including the state maintaining member 23 has been described as an example. However, the present invention is not limited to the above-described embodiment, and a configuration without the state maintaining member 23 may be adopted.

[0059] (8) In the above-described embodiment, the configuration in which the control unit C is provided with the automatic travel control unit C1 and the detection control unit C2 has been described as an example. However, the present invention is not limited to the above-described embodiment, and the automatic travel control unit C1 and the detection control unit C2 may be configured by separate microprocessors, respectively.

[0060] (9) In the above-described embodiment, the configuration in which the second spare seedling stage 20B and the third spare seedling stage 20C are configured to be switchable between the deployed state and the stored state by manual operation has been described as an example. However, the present invention is not limited to the above-described embodiment, and the second spare seedling stage 20B and the third spare seedling stage 20C may be configured to be switchable between the deployed state and the stored state by power such as an actuator.

[0061] Furthermore, the configurations disclosed in the above embodiments (including other embodiments, the same shall apply hereinafter) can be applied in combination with the configurations disclosed in other embodiments as long as there is no contradiction. In addition, the embodiments disclosed in this specification are examples, and the embodiments of the present invention are not limited thereto, and can be appropriately modified within the scope not departing from the object of the present invention.

Industrial Applicability

[0062] The present invention can be applied to a rice transplanter equipped with a seedling stand for spare seedlings.

Explanation of Signs

[0063] 3: Traveling vehicle body 14: Support column (support frame) 20: Seedling stand for spare seedlings 20A: First seedling stand for spare seedlings 20B: Second seedling stand for spare seedlings 21: Spring member 22: Locking part 23: State maintaining member 23a: First member 23b: Second member 23c: Third member 30: Detection part 31: Detection device

Claims

1. A traveling vehicle body that can be switched between automatic traveling and manual traveling, A support frame provided on the traveling vehicle body, A spare seedling stand supported by the support frame, which can be switched between an extended state extending in the front-rear direction and a stored state shorter in the front-rear direction than the extended state, A detection unit that detects that the spare seedling stand is in the extended state, and is provided, A rice transplanter that prohibits the automatic traveling when it is detected by the detection unit that it is in the extended state.

2. As the spare seedling stand, a first spare seedling stand supported by the support frame and a second spare seedling stand provided in front of the first spare seedling stand are provided, The extended state is a state in which the second spare seedling stand extends in the front-rear direction from the first spare seedling stand, and the stored state is a state in which the second spare seedling stand is folded, The detection unit is the rice transplanter according to claim 1, which detects that the second spare seedling stand is in the extended state.

3. The second spare seedling stand is swingably supported by the first spare seedling stand, The detection unit has a spring member that expands and contracts as the second spare seedling stand swings, and a detection device that detects that the second spare seedling stand is in the extended state via the spring member. The rice transplanter according to claim 2.

4. The detection device is the rice transplanter according to claim 3, which detects that the second spare seedling stand is in the extended state by detecting the swing of the spring member accompanying the swing of the second spare seedling stand.

5. The second spare seedling stand has a locking portion that can be detachably locked to the spring member. The rice transplanter according to claim 3 or 4.

6. A state maintaining member that is detachably locked to the locking portion and maintains the second spare seedling stand in the stored state is provided. The rice transplanter according to claim 5.

7. The state maintaining member has a first member that is detachably locked to the locking portion, a second member supported by the support frame, and a third member that is connected to the first member and the second member and is made of a member that can expand and contract and deform. The rice transplanter according to claim 6.

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