Transplanter

Abstract

To suppress variations in a range in which crops are planted, as compared with conventional techniques in which the end of automatic travel is manually operated.SOLUTION: On the basis of detection results from detection members (36, 37) that detect a ridge (U), it is determined that a traveling vehicle body (10a) has reached one end (352) of the ridge (U). When the traveling vehicle body (10a) reaches the one end (352) of the ridge (U) in the first direction, a lifting device (23) is controlled to raise the traveling vehicle body (10a), and the traveling vehicle body (10a) is made to travel along a second direction opposite to the first direction. This makes it possible to suppress variations in a range in which crops are planted, as compared with conventional techniques in which the end of automatic travel is manually operated. Furthermore, damage to the ridge and to the planted seedlings can be suppressed during travel in the second direction.SELECTED DRAWING: Figure 5

Description

Technical Field

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

Background Art

[0002] Regarding a transplanter for transplanting seedlings in a field, in the automatic straight running using a satellite positioning signal, when the work clutch that transmits power to the work device is disengaged, the work device is raised, turned, or the marker is operated, the automatic running is "turned off" (the straight-ahead assist is turned off). This technology is known (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the conventional configuration as described in Patent Document 1, since the clutch disengagement, raising operation, marker operation, and turning operation of the work device are all manually performed by the operator, it is possible to respond according to the field conditions. However, conversely, variations also occur. Therefore, there is a problem that the position where the automatic running stops also varies, and variations occur in the range where the crops are planted. Therefore, there is a problem that variations also occur in the growth and yield of the crops.

[0005] Compared with the conventional technology in which the end of the automatic running is manually operated, an object of the present invention is to suppress variations in the range where crops are planted.

Means for Solving the Problems

[0006] The above problems of the present invention are solved by the following means. That is, the invention according to claim 1 is provided on a traveling vehicle body (10a), and includes a planting device (19) for planting seedlings, a lifting device (23) for lifting and lowering the traveling vehicle body (10a) with respect to a ridge (U) where the seedlings are to be planted, a traveling device (13, 14) for traveling the traveling vehicle body (10a), and while planting seedlings with the planting device (19), controlling the traveling device (13, 14) to travel the traveling vehicle body (10a) along the ridge (U), and based on the detection results of detection members (36, 37) for detecting the ridge (U), determining that the traveling vehicle body (10a) has reached one end (352) of the ridge (U), and when the traveling vehicle body (10a) has reached one end (352) of the ridge (U) with respect to a predetermined first direction, controlling the lifting device (23) to raise the traveling vehicle body (10a) and traveling the traveling vehicle body (10a) along a second direction opposite to the first direction, and a control unit (300). The transplanter (10) is characterized by this configuration.

[0007] The invention according to claim 2 is characterized in that the detection member (36, 37) is composed of a ridge height detection member (36, 37) that contacts the ridge (U) to detect the ridge (U), and the control unit (300) that determines that the traveling vehicle body (10a) has reached one end (352) of the ridge (U) based on the detection results of the ridge height detection member (36, 37). The transplanter (10) according to claim 1 is characterized by this configuration.

[0008] The invention according to claim 3 is characterized in that the control unit (300) is provided, which controls the second traveling speed for traveling the traveling vehicle body (10a) along the second direction to be higher than the first traveling speed for traveling the traveling vehicle body (10a) along the first direction. The transplanter (10) according to claim 1 is characterized by this configuration.

[0009] The invention according to claim 4 is the transplanter (10) according to claim 1, further comprising a control unit (300) configured to stop the running of the running vehicle body (10a) when the running vehicle body (10a) reaches the other end (353) of the ridge (U) by running the running vehicle body (10a) along the second direction, and to control the lifting device (23) to lower the running vehicle body (10a).

[0010] The invention according to claim 5 is the transplanter (10) according to claim 1, further comprising a positioning device (51) configured to measure the current position of the running vehicle body (10a), a start input member (SW1) configured to input a start for running the running vehicle body (10a) along the first direction, and a control unit (300) configured to set the position measured by the positioning device (51) at the time when the input of the start input member (SW1) is received as a start position, set the position measured by the positioning device (51) at the time when the running vehicle body (10a) reaches one end (352) of the ridge (U) as an end position, and run the running vehicle body (10a) along the second direction based on the end position and the start position.

[0011] The invention according to claim 6 is the transplanter (10) according to claim 5, further comprising a control unit (300) configured to, when the running vehicle body (10a) reaches the start position during running along the second direction and then the input of the start input member (SW1) is received, reset the position measured by the positioning device (51) at the time when the input of the start input member (SW1) is received as a start position, run the running vehicle body (10a) along the ridge (U) from the reset start position, and reset the position measured by the positioning device (51) at the time when the running vehicle body (10a) reaches one end (352) of the ridge (U) as an end position.

[0012] The invention according to claim 7 is based on field information regarding a field (351) in which a plurality of ridges (U) are formed. When traveling along the second direction in a ridge (U) formed adjacent to the outer edge of the field (351) ends, the working of the traveling vehicle body (10a) is stopped, and the control unit (300) that collates the deviation between the position where the working of the traveling vehicle body (10a) is stopped and the position of the ridge (U) stored in the field information is provided. The transplanter (10) according to claim 1 is characterized by this.

Effects of the Invention

[0013] According to the invention described in claim 1, based on the detection result of the detection members (36, 37) that detect the ridge (U), it is determined that the traveling vehicle body (10a) has reached one end (352) of the ridge (U). When the traveling vehicle body (10a) reaches one end (352) of the ridge (U) with respect to the first direction, the lifting device (23) is controlled to raise the traveling vehicle body (10a), and the traveling vehicle body (10a) is made to travel along the second direction opposite to the first direction. Compared with the prior art in which the end of automatic traveling is manually operated, variations in the range where crops are planted can be suppressed. Also, damage to the ridges and planted seedlings during traveling in the second direction can be suppressed.

[0014] According to the invention described in claim 2, in addition to the effects of the invention described in claim 1, based on the detection result of the ridge height detection members (36, 37) that come into contact with the ridge (U) and detect the ridge (U), by determining that the traveling vehicle body (10a) has reached one end (352) of the ridge (U), the end of the ridge (U) can be surely detected compared with the case of detecting the ridge (U) non - contact.

[0015] According to the invention described in claim 3, in addition to the effects of the invention described in claim 1, by controlling the second traveling speed to be higher than the first traveling speed, the overall working time can be shortened.

[0016] According to the invention described in claim 4, in addition to the effects of the invention described in claim 1, when the traveling vehicle body (10a) reaches the other end (353) of the ridge (U), by stopping the traveling of the traveling vehicle body (10a) and lowering the traveling vehicle body (10a), it is possible to smoothly shift to the next operation.

[0017] According to the invention described in claim 5, in addition to the effects of the invention described in claim 1, the position when the input of the start input member (SW1) is made is set as the start position, the position when reaching one end (352) of the ridge (U) is set as the end position, and by traveling along the second direction based on the end position and the start position, it is possible to smoothly travel in the second direction.

[0018] According to the invention described in claim 6, in addition to the effects of the invention described in claim 5, the position when the input of the start input member (SW1) is made is reset as the start position, the traveling vehicle body (10a) is traveled along the ridge (U) from the reset start position, and when reaching one end (352) of the ridge (U), the end position is reset, so that operations can be successively performed on a plurality of ridges (U).

[0019] According to the invention described in claim 7, in addition to the effects of the invention described in claim 1, when the traveling along the second direction is completed in the ridge (U) formed adjacent to the outer edge of the field (351), by stopping the operation with the traveling vehicle body (10a) and collating the deviation between the position where the operation with the traveling vehicle body (10a) is stopped and the position of the ridge (U) stored in the field information, it is possible to confirm whether the operation has been performed to the end of the ridge (U).

Brief Description of the Drawings

[0020]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Mode for Carrying Out the Invention

[0021] Hereinafter, preferred embodiments of the present invention will be described based on the drawings. (Transplanter) FIG. 1 is a side view of the work vehicle in the present embodiment. FIG. 2 is a plan view of the work vehicle in the present embodiment. In FIGS. 1 and 2, as an example of the work vehicle in the present embodiment and as an example of the transplanter, the seedling transplanter 10 includes an engine 11 serving as a prime mover and a main transmission case 12 at the front, a pair of left and right front wheels 13 and rear wheels 14 as traveling wheels (an example of a traveling device), a planting device 19 at the rear, a seedling supply unit 31 serving as a supply unit for objects to be transplanted such as seedlings, a pressure wheel 15, and a steering handle (handle) 16.

[0022] This seedling transplanter is configured such that the front wheels 13 and the rear wheels 14 travel between the ridges so that the traveling body straddles the ridge U in the field, and the seedling plants are planted by the planting device 19 at the central position in the left - right width direction of the upper surface of the ridge U.

[0023] Also, as shown in FIG. 2, running extension cases 40 that are rotatable with respect to the main transmission case 12 are provided on the left and right ends of the main transmission case 12, respectively, and running chain cases 20 are attached to the respective ends of the left and right running extension cases 40. Therefore, the configuration is such that the power in the main transmission case 12 input from the engine 11 is transmitted into the running chain case 20.

[0024] On the left and right outer sides of the rotating tip portions of the running chain cases 20, a pair of left and right rear wheels 14 that are running wheels are attached respectively, and the machine body is configured to run by driving the pair of left and right rear wheels 14. Therefore, the main transmission case 12 is a transmission device that transmits power to the rear wheels 14 as running wheels.

[0025] On the other hand, a front wheel support frame 41 extending in the left - right direction is provided below the engine mounting table 191 so as to be rotatable around a rolling shaft 18 (see FIG. 1) in the front - rear direction, and front wheels 13 are attached to both the left and right ends of the front wheel support frame 41.

[0026] Also, as shown in FIG. 2, a rear frame 21 extending in the left - right direction is fixedly provided at the rear end of the main transmission case 12. At the right end of the rear end face of the rear frame 21, a main frame 22 extending in the front - rear direction is provided at a position to the right of the machine body. A steering handle 16 is provided at the rear end of the main frame 22, and the steering handle 16 is configured to be supported by the main transmission case 12 via the main frame 22 and the rear frame 21. On the upper surface of the rear frame 21 at a position on one side (right side) of the left and right, the front lower end portion of the planting transmission case 26 is placed and the planting transmission case 26 is fixedly provided.

[0027] Further, at the center in the left - right direction at the rear part of the main transmission case 12, a hydraulic lifting cylinder 23 as an example of a lifting device is provided. This hydraulic lifting cylinder 23 is fixedly provided on a hydraulic switching valve part 24 (see FIG. 1) which serves as a lifting switching part attached to the main transmission case 12, and operates by switching the oil path from a hydraulic pump attached to the main transmission case 12 with the hydraulic switching valve part 24.

[0028] Also, a cross bar 43 extending left - right is provided at the rear end of the cylinder rod of the hydraulic lifting cylinder 23. A left rear wheel lifting rod 44 and a right rear wheel lifting rod 45 serving as rods are respectively connected to the left and right ends of this cross bar 43. The other ends of the left rear wheel lifting rod 44 and the right rear wheel lifting rod 45 are pivotally attached to upper arms 40a attached to respective traveling extension cases 40, and a configuration is formed in which the cross bar 43 and the traveling extension case 40 are connected.

[0029] Therefore, by the expansion and contraction of the hydraulic lifting cylinder 23, the traveling chain case 20 is rotated around the left and right output shafts of the main transmission case 12 via the cross bar 43, the left rear wheel lifting rod 44, and the right rear wheel lifting rod 45. By the rotation of the traveling chain case 20, the rear wheels 14 move up and down and the traveling body is lifted. Note that the cylinder rod of the hydraulic lifting cylinder 23, the cross bar 43, the left rear wheel lifting rod 44, and the right rear wheel lifting rod 45 are configured to be located below a lifting link mechanism 29 described later in a side view of the body depending on the advancing position of the cylinder rod, and the space is effectively utilized to make the body more compact.

[0030] Also, immediately before the position where the planting tool 28 of the planting device 19 plants the seedling stock in the ridge U at a position below the central part of the machine body, a left ground position detector 36 and a right ground position detector 37 serving as a ground contact body that contacts the upper surface of the well-known ridge U and detects the height of the upper surface of the ridge U are provided. By detecting the ridge U by the left ground position detector 36 and the right ground position detector 37, the hydraulic lifting cylinder 23 is operated via a lifting control switching valve provided in the hydraulic switching valve 24 to control the lifting of the left and right rear wheels 14, and the traveling machine body is controlled to a predetermined height with respect to the ridge U so that the depth at which the planting tool 28 plants the seedling stock in the ridge U becomes constant. Therefore, in the embodiment, each of the ground position detectors 36 and 37 constitutes a ridge height detection member.

[0031] Further, a left and right tilting hydraulic cylinder 25 that operates by hydraulic pressure from a hydraulic pump is provided at an intermediate portion of the left rear wheel lifting rod 44 so that the left rear wheel lifting rod 44 can expand and contract. By the expansion and contraction of the left and right tilting hydraulic cylinder 25, the left rear wheel 14 is moved up and down with respect to the vertical position of the right rear wheel 14, and the traveling machine body is controlled to a desired left and right tilting posture regardless of the unevenness of the trough portion of the ridge U.

[0032] A positioning unit 51 as an example of a positioning device is supported on the upper front side of the machine body cover 224 of the traveling machine body (traveling vehicle body) 10a. The positioning unit 51 incorporates a GNSS receiver that communicates with artificial satellites in the GNSS system and an inertial attitude measurement device (IMU) that measures acceleration and measures the attitude of the traveling machine body 10a. Based on the detection results of the IMU, the inclination of the traveling machine body 10a in the left-right direction and the front-rear direction is measured, and the left and right tilting hydraulic cylinder 25 is operated via a left and right tilting switching valve provided in the hydraulic switching valve unit 24 to control the traveling machine body 10a to a desired left and right tilting posture.

[0033] The planting device 19 of the present embodiment is configured such that the power from the main transmission case 12 is transmitted and operated via a planting transmission case 26 provided on the rear side of the main transmission case 12 and a planting device drive case 27 attached to the planting transmission case 26 in order to plant the seedling stocks one by one in the ridges U of the field.

[0034] The planting device 19 is composed of a cup-shaped planter 28 with a pointed tip and a lifting link mechanism 29 that operates to raise and lower the planter 28. The tip of the planter 28, due to the up-and-down movement of the planter 28, as shown in FIG. 1, descends on the front side and ascends on the rear side, and traces a locus (static locus: the operating locus when the running of the machine body is assumed to stop) 17 in a shape where the width in the front-rear direction is larger at the lower part than at the upper part, and repeats the operation in the direction of the arrow in the figure.

[0035] Also, when planting the seedling stock with the planter 28, it is provided with a hole-making body 110 that forms shallow concave holes in the field around the planted seedling stock. A hole-making support frame 111 that supports one end of the hole-making body 110 is rotatably attached to the main frame 22 at the other end so that the hole-making body 110 can move up and down. The hole-making device is configured with these hole-making body 110 and hole-making support frame 111.

[0036] Also, a hole-making body rod 112 is connected to the middle part of the hole-making support frame 111. When the hole-making body rod 112 moves up and down, the hole-making support frame 111 is moved up and down, and the up-and-down movement of the hole-making body 110 is controlled.

[0037] FIG. 3 is an explanatory view of the seedling supply device of the present embodiment. FIG. 3(A) is a bottom view of the seedling supply part seen from below, and FIG. 3(B) is a partially transparent top view of the seedling supply part seen from above. FIG. 4 is a side cross-sectional view for explaining the attachment structure of the seedling supply part, showing a cross-section passing through the rotation center of the supply turntable.

[0038] In FIG. 2, as an example of the seedling supply device, the seedling supply part 31 of the seedling supply device operates when the power from the turntable drive case 38 is transmitted by the rotation force transmission member 77. In FIGS. 3 and 4, the seedling supply part 31 includes a rotatable supply turntable 32 that is fixedly arranged in a loop shape by passing through eight supply cups 33 having openings at the upper and lower ends, which are provided above the planting device 19, a substantially C-shaped supply cup opening and closing guide 35, a rotation drive mechanism 78 that rotates the supply turntable 32 counterclockwise, and the like.

[0039] As shown in Fig. 4, the supply turntable 32 is a bowl-shaped member with its outer peripheral edge bent downward, and through eight holes opened at equal intervals near the outer periphery of its circular flat surface, substantially cylindrical supply cups 33 with both ends open are respectively penetrated and fixed. Also, at the central part of the supply turntable 32, a rotating shaft for rotating the supply turntable 32 counterclockwise by the rotational force from the rotation drive mechanism 78 is fixedly arranged.

[0040] The rotation drive mechanism 78 is fixed to a support column 39 fixed to the machine body and is also fixed to an auxiliary plate 79. The auxiliary plate 79 is fixed to the main frame 22 via an auxiliary plate support plate 132 fixed to the main frame 22.

[0041] And, as shown in Fig. 3(A), at the bottom of each supply cup 33, one opening and closing lid 34 that moves vertically is provided respectively. Also, as shown in Fig. 3(A), below each supply cup 33, an annularly partially cut-out substantially C-shaped supply cup opening and closing guide 35 is fixed to the support column 39 so that the opening and closing lid 34 at the bottom of the supply cup 33 opens only when the supply cup 33 comes to a predetermined position P which is above the planter 28 due to the rotation of the supply turntable 32 in the direction of arrow A. Note that the supply cup opening and closing guide 35 contacts and supports the opening and closing lid 34 from below at positions other than the predetermined position P to regulate the opening of the opening and closing lid 34.

[0042] In the seedling transplanter 10 of the present embodiment, an operator walking along with the traveling of the machine body picks up the seedling stocks on the preliminary seedling placement table 30 one by one by hand and puts them into the supply cups 33 that are rotating in the direction of arrow A in accordance with the traveling of the machine body. Note that as the seedlings, for example, seedlings of arbitrary crops such as tobacco leaves and lettuce can be used.

[0043] When the opening / closing lid 34 of the supply cup 33 opens at the predetermined position P, the seedling stocks in the supply cup 33 are supplied to the lower planting tool 28. When the planting tool 28 reaches the bottom dead center of the operating locus 17 shown in FIG. 1, it penetrates into the soil to a predetermined depth and opens left and right like a bird's beak, dropping and planting the seedling stocks held inside.

[0044] At the left and right intermediate positions of the steering handle 16, a planting clutch lever 161 extending toward the rear of the machine body is provided. In response to the operation of turning the planting clutch lever 161 on and off, the transmission to the planting tool 28 is turned on and off. Note that the details of the planting tool 28, the transmission mechanism, and the mechanism for turning the transmission on and off are described in, for example, Japanese Patent No. 6047966 and are conventionally well-known, so detailed explanations are omitted. In addition, on the steering handle 16, there is installed a touch panel 162 which is an example of a display member for the information of the planting clutch lever 161 and is an example of an input member.

[0045] FIG. 5 is an explanatory view of the positional relationship between the transplanter and the ridge in the embodiment, and is an explanatory view of the main part seen from the front of the transplanter. At the front end of the traveling machine body 10a, a ridge guiding mechanism 160 is supported. In FIG. 5, the ridge guiding mechanism 160 has a left ridge guiding roller 160a arranged corresponding to the left side surface Ua of the ridge U and a right ridge guiding roller 160b arranged corresponding to the right side surface Ub of the ridge U. The left ridge guiding roller 160a rotates when it contacts the left side surface Ua of the ridge U, and it is detected that the left ridge guiding roller 160a has contacted the ridge U. Similarly, the right ridge guiding roller 160b can also detect that it has contacted the right side surface Ub of the ridge U. Then, by steering the traveling machine body 10a so that both ridge guiding rollers 160a and 160b do not contact the ridge U, the traveling machine body 10a can travel along the ridge U. Note that the steering operation can be in a mode of steering the front wheels 13, which are driven wheels, as steering wheels, or in a mode of generating a difference in the rotational speeds of the left and right rear wheels 14, which are driving wheels, for steering.

[0046] The traveling body 10a is provided with a body cover 224 that covers the upper part of the engine 11 and the main transmission case 12. The rear part 224a of the body cover 224 is inserted into the planting transmission case 26 and arranged. The body cover 224 forms an extension part 224b that extends rearward from the planting transmission case 26 on one side (left side) of the left and right of the planting transmission case 26, and the extension part 224b is arranged above the front part of the lifting link mechanism 29.

[0047] In FIGS. 1 and 2, in front of the seedling supply unit 31, a spare seedling placement table 30 as an example of a seedling placement table is arranged. The spare seedling placement table 30 is attached to the body by a pair of left and right spare seedling table support columns 135 arranged at a distance from each other in the left and right directions and a spare seedling support reinforcement plate 136. A rod-shaped spare seedling support column support frame 137 extending in the left and right direction is fixed to the body frame, and the spare seedling table support column 135 is connected to the spare seedling support column support frame 137. Note that a concave material storage part 138 is formed in the body frame that supports the spare seedling support column support frame 137. Tools and materials such as load weights for adjusting the front-rear balance of the body can be stored in the material storage part 138 below the spare seedling placement table 30.

[0048] (Description of the control unit) FIG. 6 is a functional block diagram of the control unit of the embodiment. In the block diagram of FIG. 6, illustration and description are omitted for elements not related to the description of the embodiment of the present invention. The seedling transplanter 10 of the embodiment has a control unit 300 that controls each function. The control unit 300 has an input / output interface I / O for inputting and outputting signals to and from the outside. Further, the control unit 300 has a ROM (Read Only Memory) in which programs, information, etc. for performing necessary processes are stored. Further, the control unit 300 has a RAM (Random Access Memory) for temporarily storing necessary data. Further, the control unit 300 has a CPU (Central Processing Unit) that performs processes according to the programs stored in the ROM and the like. Therefore, the control unit 300 of the embodiment is composed of a small information processing device, a so-called microcomputer. Thus, the control unit 300 can realize various functions by executing the programs stored in the ROM and the like.

[0049] Signals from various signal input elements such as a positioning unit 51, each ground contact position detector 36, 37, a ridge guiding mechanism 160, a straight-ahead assist start switch SW1 as an example of a start input member, a touch panel 162, and other various sensors, buttons, switches, levers, etc. (not shown) are input to the control unit 300. The positioning unit 51 has a GNSS (Global Navigation Satellite System) receiver 51a and an IMU (Inertial Measurement Unit) 51b. The GNSS receiver 51a can receive positioning signals from artificial satellites and measure the current position of the seedling transplanter 10. The IMU 51b can measure acceleration and angular velocity and measure the attitude (left and right inclination, front and back inclination) of the seedling transplanter 10. Therefore, by correcting the measurement result of the GNSS receiver 51a with the IMU 51b, the current position can be measured with higher accuracy compared to the case of measuring the current position only by the GNSS method.

[0050] The left ground contact position detector 36 detects the height of the ridge U on the left side of the traveling body 10a. The right ground contact position detector 37 detects the height of the ridge U on the right side of the traveling body 10a. The ridge guiding mechanism 160 detects contact with the side surface of the ridge U by each ridge guiding roller 160a, 160b. The straight - ahead assist start switch SW1 is operated by the operator when starting the automatic running (autonomous running) of the transplanter 10 along the ridge U, that is, when starting the so - called straight - ahead assist. The touch panel 162 is used by the operator to input operations such as displaying and checking field information.

[0051] Also, the control unit 300 transmits control signals to the front wheels 13, rear wheels 14, planting device 19, hydraulic lifting cylinder 23, touch panel 162, etc. as examples of controlled elements, and can control the running, stopping of the transplanter 10, the operation and stopping of the planting device 19 as an example of a working machine, the lifting and lowering of the transplanter 10, the display of information on the touch panel 162, etc. The control unit 300 of the embodiment has the following functional means (program modules).

[0052] FIG. 7 is an explanatory diagram of an example of a field in the embodiment. The field information storage means 301 stores information on the field 351 where the transplanter 10 performs operations. The field information storage means 301 of the embodiment is stored in the storage device of the transplanter 10, but is not limited thereto. It is also possible to store the field information in a server external to the transplanter 10, communicate with the server, and acquire and store the field information. In the embodiment, as an example, the field information includes, in addition to the map information of the field 351 (area, position, height (elevation), position of the entrances and exits of the field 351, position of the ridge U, etc.), the running speed during autonomous running, information on past operations (working date, amount of seedlings used, etc.). In FIG. 7, in the field 351 of the embodiment, for a plurality of ridges U (U1, U2, U3,..., Un), as an example of the positions of each ridge U1 - Un, the coordinate information on the map at both ends is included. It is also possible to determine whether a particular ridge has been worked or not this season based on the registered information of the working date of each ridge U1 - Un.

[0053] The positioning means 302 measures the current position of the seedling transplanter 10 based on the measurement results of the positioning unit 51. In the embodiment, the positioning means 302 corrects the measurement results of the GNSS receiver 51a with the IMU 51b to measure the current position. Note that when the communication between the GNSS receiver 51a and the artificial satellite is interrupted, the positioning means 302 measures (estimates) the current position from the rotation speed and circumference of the wheels (rear wheels 14) and the measurement results of the IMU 51b based on the current position information immediately before the interruption.

[0054] The ridge end detection means 303 determines whether it has reached the end of the ridge U based on the detection results of the ground contact position detectors 36 and 37. In the embodiment, while either one or both of the ground contact position detectors 36 and 37 detect the ridge U, it is detected as "ridge present", and when both of the ground contact position detectors 36 and 37 no longer detect the ridge U, it is detected as "ridge absent", and when it changes from the "ridge present" state to the "ridge absent" state, it is determined that it has reached one end 352 (the end) of the ridge U. Note that when the input of the straight-ahead assist start switch SW1 is received and "ridge absent" is detected, and when it becomes "ridge present" after straight-ahead travel, it is also possible to determine that it has reached the other end 353 (the start) of the ridge U. It is desirable to improve the detection accuracy of the end by detecting the detection angles and left and right timings at the ground contact position detectors 36 and 37 and the ridge guide rollers 160a and 160b, and considering the slip ratio and the positioning results by GNSS.

[0055] Although the mode of detecting the end of the ridge U with the ground contact position detectors 36 and 37 has been exemplified, it is not limited to this. For example, it is also possible to set piles or markers as an example of a reference at the end of the ridge U, and detect the end of the ridge U, the straight-ahead assist start position, and the straight-ahead assist end position by detecting the piles or markers. It is also preferable to register the position coordinates of the piles or the like in advance and correct the error of the positioning results of the positioning means 302 from the positioning results when the piles or the like are detected. The ridge side detection means 304 detects contact with the sides Ua and Ub of the ridge U based on the detection results of the ridge guide rollers 160a and 160b of the ridge guide mechanism 160.

[0056] The travel control means 305 as an example of the automatic travel control means has a straight-ahead assist start position registration means 305a and a straight-ahead assist end position registration means 305b, and controls the front wheels 13 and the rear wheels 14 to control the travel of the transplanter 10. The travel control means 305 of the embodiment controls the travel according to the operations of the user's steering wheel 16, brakes, etc. during manual travel. In the travel control means 305 of the embodiment, during automatic travel (straight-ahead assist), when the input of the straight-ahead assist start switch SW1 is received, the straight-ahead assist start position registration means 305a registers the current position of the transplanter 10 measured by the positioning means 302 as the straight-ahead assist start position. Then, the rear wheels 14 are caused to travel straight forward in the forward direction (the first direction) along the ridge U at a predetermined speed (working speed), and a steering operation is performed based on the detection result of the ridge side detection means 304 so that the ridge guide rollers 160a and 160b do not contact the ridge U.

[0057] When the ridge end detection means 303 detects one end 352 (the end) of the ridge U, the straight-ahead assist end position registration means 305b registers the current position of the transplanter 10 measured by the positioning means 302 as the straight-ahead assist end position. Then, the rear wheels 14 are driven from the straight-ahead assist end position toward the straight-ahead assist start position to travel in the reverse direction (the second direction) along the ridge U. Then, when the ridge end detection means 303 detects the other end 353 (the end on the straight-ahead assist start position side) of the ridge U, the straight-ahead assist is terminated and the travel of the transplanter 10 is stopped. It is preferable that the reverse speed (the second travel speed) be higher than the working speed (the forward speed, the first travel speed) in order to shorten the overall working time, but it is also possible to set it to the same speed or lower. Also, it is preferable to perform a steering operation so that the ridge guide rollers 160a and 160b do not contact the ridge U even during reverse travel, but it is not limited thereto. For example, it is also possible to cause the transplanter 10 to travel based on the travel path connecting the straight-ahead assist end position and the straight-ahead assist start position and the measurement result of the positioning unit 51. Note that it is desirable to control the travel and steering of the straight-ahead assist according to the detection accuracy of the ridge guide rollers 160a and 160b and the detection accuracy of the positioning unit 51.

[0058] After the backward movement ends (after the straight-ahead assist ends), when the operator manually operates the seedling transplanter 10 to move it to the end of the next ridge U and the input of the straight-ahead assist start switch SW1 is received, the straight-ahead assist start position is registered (re-registered, updated) in the next ridge U, and the straight-ahead assist is started. Then, when reaching one end 352 of the ridge U, the straight-ahead assist end position is also re-registered and updated. Note that after the straight-ahead assist ends, it is also possible to automatically drive the vehicle toward the end of the next ridge U (the adjacent ridge U) based on the field information and the positioning result of the positioning means 302, stop at the end of the next ridge U, and start the operation and straight-ahead assist in the next ridge U when the input of the straight-ahead assist start switch SW1 is received. Additionally, at the end of the straight-ahead assist, it is also possible to make it selectable, such as by inputting to the touch panel 162, whether to set the next ridge U for the next operation to the adjacent ridge U or to skip one and set it to the two adjacent ridges U.

[0059] Although an example has been shown in which when the ridge end detection means 303 detects the end of the ridge U, the registration of the straight-ahead assist end position is promptly performed, it is not limited to this. For example, when the ground contact position detectors 36, 37 detect the ridge U again while moving forward by inertia after the forward travel stops, it is preferable to control to resume the forward travel in the straight-ahead assist, assuming that the ground contact position detectors 36, 37 temporarily stop detecting the ridge U due to a local depression or the like in the ridge U. In addition, during the straight-ahead assist, if it is determined from the measurement results of the IMU 51b that the traveling body 10a is inclined more than a predetermined amount, it is desirable to cancel the straight-ahead assist assuming that some abnormality has occurred, such as the operator manually operating or running over a large rock.

[0060] The planting control means 306 controls the planting device 19 to plant seedlings in the ridge U. In the embodiment, during manual driving, the planting control means 306 operates and stops the planting device 19 according to the operation of the planting clutch lever 161 or the like by the user. During automatic driving, the planting control means 306 operates the planting device 19 to plant seedlings during forward travel and stops the planting device 19 when reaching the straight-ahead assist end position. Then, during backward travel, the planting device 19 is held in a stopped state.

[0061] The lifting control means 307 controls the hydraulic lifting cylinder 23 to lift the traveling body 10a. In the embodiment, during manual traveling, the lifting control means 307 lifts the traveling body 10a according to the operation of the user. During automatic traveling, during forward traveling, it is lifted according to the planting height. When the traveling body 10a reaches the straight-ahead assist end position, the lifting control means 307 raises the traveling body 10a to the upper limit position. During reverse traveling, the traveling body 10a is held at the upper limit position. When reverse traveling is performed and the traveling body 10a reaches the other end 353 (the end on the straight-ahead assist start position side) of the ridge U adjacent to the outer edge of the field 351 and reverse traveling ends, the traveling body 10a is lowered.

[0062] The work end determination means 308 determines, based on the field information, whether or not the traveling body 10a has reached the other end 353 (the straight-ahead assist end position) of the ridge U formed adjacent to the outer edge of the field 351 at the end of reverse traveling during automatic traveling. Note that it is not limited to the ridge U adjacent to the outer edge, and it is also possible to register the worked ridges U and determine whether or not the traveling body 10a has reached the other end 353 of the last unworked ridge Un. Therefore, it is determined whether or not the work in the field 351 has ended. Note that the end of the work can be automatically determined from the field information, but it is not limited to this. For example, it is also possible to provide a button that the operator inputs at the end of the work and determine the end of the work based on the input to the button. Note that it is also possible to end or start the work by inputting to the touch panel 162.

[0063] When the work end determination means 308 determines the end of work, the work end position verification means 309 measures the position where the backward movement has ended with the positioning means 302 and verifies it with the coordinate position of the end of the ridge U stored in the field information. From the verification result, when the deviation of the measured position is within a predetermined allowable range, it is determined that the work has been completed as planned. On the other hand, when the deviation of the measured position is outside the allowable range, it is determined that the work has not been achieved due to, for example, the end of the ridge Un being collapsed or the ground contact position detectors 36, 37 possibly being faulty. It is preferable to display the verification result and the determination result on a touch panel 162 or the like to notify the operator, or to register them in the field information so that they can be confirmed later. Note that the verification can be performed not only for the last ridge Un but also for each ridge U1 to Un when the backward movement ends.

[0064] In the seedling transplanter 10 of the embodiment having the above configuration, when the straight-ahead assist is started, seedlings are planted while automatically traveling along the ridge U. Then, when one end 352 of the ridge U is detected by the ground contact position detectors 36, 37, the forward travel and the planting of the seedlings automatically end. Therefore, the seedlings can be automatically planted up to the end of the ridge U. Thus, compared with the prior art in which the end of the straight-ahead assist (automatic travel) is manually operated, the variation in the range where the crops are planted can be suppressed. Therefore, the variation in the growth and end of the crops is also suppressed. Note that in the seedling transplanter 10 of the embodiment, during the straight-ahead assist, planting is performed during forward travel, and during backward travel, it returns without performing planting. For vine-like crops such as sweet potatoes, when planting, in order to make it easier to perform operations such as vine cutting and harvesting operations (pulling out operations) because the growth extends in a certain direction and is stably planted, instead of planting along the gravitational direction directly from above the upper surface of the ridge U, it is planted in a state inclined with respect to the gravitational direction. When planting, if after advancing and planting, it turns 180° and plants while advancing in the adjacent ridge U, the inclination directions of the seedlings planted in the adjacent ridges U may be opposite, making it difficult to harvest during harvesting. Therefore, in the seedling transplanter 10 of the embodiment, the straight-ahead assist is performed so that after planting during forward travel for one ridge U, it moves backward and returns so that the directions of the seedlings during planting are aligned.

[0065] In the seedling transplanter 10 of the embodiment, the ends of the ridge U are detected by the ground contact position detectors 36 and 37 that contact the ridge U, and it is possible to detect the ends of the ridge U more reliably than in the mode of detecting the presence or absence of the ridge U non - contact. In addition, depending on the required accuracy, manufacturing cost, design such as installation space, specifications, etc., instead of the ground contact position detectors 36 and 37, it is also possible to adopt a configuration that detects the ridge U non - contact by using light, sound waves, etc., or an image taken by a camera. It is also possible to have both a configuration that detects the ridge U by contact and a configuration that detects it non - contact.

[0066] Also, in the seedling transplanter 10 of the embodiment, during straight - line assist and during reverse travel, the traveling body 10a is raised to the upper limit position, and each part of the seedling transplanter 10 is in a state where it is difficult to contact the ridge U. Therefore, damage to the ridge U during reverse travel or damage to the seedlings planted on the ridge U is suppressed. Also, when the reverse travel reaches the other end 353 of the ridge U, the travel of the seedling transplanter stops and the traveling vehicle body 10a is lowered. Therefore, the seedling transplanter 10 stops and the center of gravity is lowered, and it is possible to shift to the next travel quickly and smoothly.

[0067] Furthermore, in the seedling transplanter 10 of the embodiment, the straight - line assist start position and the straight - line assist end position are registered and used during reverse travel, and smooth reverse travel is possible from the two positions.

[0068] Also, in the seedling transplanter 10 of the embodiment, when starting straight - line assist at the next ridge U, the straight - line assist start position is re - registered, and in a field 351 having a plurality of ridges U, it is possible to smoothly perform the planting work of the ridge U and the forward and reverse travel one after another. Also, in the seedling transplanter 10 of the embodiment, after the straight - line assist ends at the last ridge Un, it is possible to collate with the field information and determine whether the work has been carried out to the end of the ridge Un, that is, whether the work has been carried out as planned. Therefore, it can be used to confirm the situation of the current planting work and to formulate the plan for the next - season planting work.

[0069] FIG. 8 is an explanatory view of a seedling transplanter in another form of the embodiment. The seedling transplanter 10' in the form shown in FIG. 8 has, instead of the positioning unit 51, a wire cable 362 as an example of a guiding member and a pantograph 363 as an example of a guided member so as to perform operations inside the greenhouse 361 instead of outdoors. The wire cable 362 is arranged on the ceiling of the greenhouse 361 and is disposed along the upper side of the ridge U. The pantograph 363 extends upward from the traveling body 10a and can contact the wire cable 362. Electrode portions 363a are provided in the left - right direction at the upper end of the pantograph 363. Therefore, by controlling the traveling of the seedling transplanter 10' so that the electrode portions 363a continue to contact the wire cable 362, it is also possible to perform a straight - travel assist mode.

[0070] By using the wire cable 362, straight - travel assist is possible even in a place where communication with GNSS - type artificial satellites is unstable. Also, by running the seedling transplanter 10' along the wire cable 362, even if the ridge U is curved, by arranging the wire cable 362 along the ridge U, it is also possible to assist (curve assist) the seedling transplanter 10' along the curved ridge U. Therefore, it is possible to perform automatic traveling not only on a straight ridge U but also on a ridge U with a complex shape. Note that it is also possible to configure to supply power to the seedling transplanter 10' through the wire cable 362 and the pantograph 363, or it is also possible to configure not to supply power.

[0071] FIG. 9 is an explanatory view of a working vehicle in yet another form 2. In FIG. 9, a tiller 601 as an example of a working vehicle has a traveling body 602. Front wheels 603 and rear wheels 604 are supported by the traveling body 602. The front wheels 603 can be driven by power transmitted from an engine 606 built in the traveling body 602. At the rear part of the traveling body 602, a tilling device 611 as an example of a working machine is arranged. Power is transmitted to the tilling device 611 from the engine 606.

[0072] Behind the rear wheel 604, an auxiliary wheel 607 is arranged. The auxiliary wheel 607 can move vertically by operating the auxiliary wheel lifting lever 608. By raising and lowering the auxiliary wheel 607, it is possible to adjust the tillage depth of the tillage device 611. A mud removal sheet 609 is arranged on the rear side of the auxiliary wheel 607. An operation lever 621 extends obliquely upward and rearward from the traveling vehicle body 602. The operation lever 621 supports a forward / backward lever 622 for switching the forward / backward / neutral of the tillage machine 601, a brake lever 623 as an example of a braking member, a work switch (not shown) for switching the operation / stop of the tillage device 611, etc.

[0073] Also, a camera 624 for photographing the front is supported on the operation lever 621 of the embodiment via an anti-vibration rubber (not shown) as an example of an anti-vibration member. The camera 624 is preferably provided at the center in the left-right direction of the traveling vehicle body 602, but it can also be arranged at a position shifted (offset) to either the left or the right. Then, the front of the tillage machine 601 can be photographed by the camera 624, and ridges U, grooves, etc. can be discriminated from the photographed image to assist the progress of the tillage machine 601. Furthermore, the camera 624 is preferably directed obliquely downward in front so as to overlap with the line of sight of the operator operating the tillage machine 601. Also, the camera 624 can be a single camera, but it is also possible to adopt a plurality of cameras, so-called stereo cameras. By using a stereo camera, it is also possible to measure the distance to an object (ridge U or groove).

[0074] FIG. 10 is an explanatory view of still another form of the work vehicle in FIG. 9. FIG. 10(A) is an explanatory view of another form 3, and FIG. 10(B) is an explanatory view of another form 4. Instead of the camera 624 shown in FIG. 9, as shown in FIG. 10(A), it is also possible to mount a smartphone 631 with a camera via a mounting stay 632. In this case, an application program that can be remotely operated in conjunction with the tiller 601 is installed on the smartphone 631, and the smartphone 631 can also be used as a terminal to operate the tiller 601 or display the working information of the tiller 601.

[0075] In addition to the smartphone 631, it is also possible to install a monitor for displaying information and make the smartphone 631 dedicated for shooting or operation. Also, the mounting stay 632 can be fixed to the operation lever 621, but by making it rotatable left and right, the operability of the smartphone 631 is improved and the displayed information is easier to check. Also, as shown in FIG. 10(B), it is possible to fix the camera 624 to the traveling vehicle body 602 via a stay 641 and a vibration-proof rubber 642 instead of the operation lever 621.

[0076] FIG. 11 is an explanatory view of still another form 5 of the work vehicle in FIG. 9. In FIG. 11, instead of the camera 624, a laser pointer 651 is installed at the front end of the traveling vehicle body 602, and by irradiating a laser beam on a line in the traveling direction on the field ahead from the laser pointer 651, it is possible to easily perform straight-line travel assistance (straight-ahead assist) by simply driving toward the laser beam. Alternatively, instead of the laser pointer 651, a projector is mounted on a drone (small unmanned aerial vehicle) to project the position of the ridge U and the traveling route on the field by projection mapping to assist in traveling. Note that projection mapping can be used not only for traveling assistance but also for projecting, for example, the position where the ridge U is to be formed during ridge-making work.

Explanation of Reference Numerals

[0077] 10... Transplanter, 10a... Traveling vehicle body, 13, 14... Traveling device, 19... Planting device, 23... Lifting device, 36, 37... Detection member, ridge height detection member, 51... Positioning device, 300... Control unit, 351... Field, SW1... Start input member, U... Ridge.

Claims

1. An implantation device (19) provided on a traveling vehicle body (10a) for implanting seedlings, a lifting device (23) for lifting and lowering the traveling vehicle body (10a) with respect to a ridge (U) where the seedlings are to be implanted, a traveling device (13, 14) for traveling the traveling vehicle body (10a), while controlling the traveling device (13, 14) to travel the traveling vehicle body (10a) along the ridge (U) while implanting seedlings with the implantation device (19), and determining that the traveling vehicle body (10a) has reached one end (352) of the ridge (U) based on the detection results of detection members (36, 37) for detecting the ridge (U), and when the traveling vehicle body (10a) has reached one end (352) of the ridge (U) with respect to a predetermined first direction, controlling the lifting device (23) to raise the traveling vehicle body (10a) and traveling the traveling vehicle body (10a) along a second direction opposite to the first direction, a control unit (300); A transplanter (10), characterized by comprising the above.

2. The detection members (36, 37) constituted by ridge height detection members (36, 37) that come into contact with the ridge (U) to detect the ridge (U), The control unit (300) for determining that the traveling vehicle body (10a) has reached one end (352) of the ridge (U) based on the detection results of the ridge height detection members (36, 37), The transplanter (10) according to Claim 1, characterized by comprising the above.

3. The control unit (300) that controls the second traveling speed at which the traveling vehicle body (10a) travels along the second direction to be higher than the first traveling speed at which the traveling vehicle body (10a) travels along the first direction, The transplanter (10) according to Claim 1, characterized by comprising the above.

4. The control unit (300) that stops the traveling of the traveling vehicle body (10a) and controls the lifting device (23) to lower the traveling vehicle body (10a) when the traveling vehicle body (10a) has reached the other end (353) of the ridge (U) by traveling along the second direction, The transplanter (10) according to Claim 1, characterized by comprising the above.

5. A positioning device (51) for measuring the current position of the traveling vehicle body (10a), A start input member (SW1) for inputting an instruction to start the traveling of the traveling vehicle body (10a) along the first direction, When the input of the start input member (SW1) is received, the position measured by the positioning device (51) is set as the start position. When the traveling vehicle body (10a) reaches one end (352) of the ridge (U), the position measured by the positioning device (51) is set as the end position. The control unit (300) that causes the traveling vehicle body (10a) to travel along the second direction based on the end position and the start position. The transplanter (10) according to claim 1, characterized by comprising the above.

6. After the traveling vehicle body (10a) reaches the start position during traveling along the second direction, when the input of the start input member (SW1) is received, the position measured by the positioning device (51) when the input of the start input member (SW1) is received is reset as the start position. The control unit (300) that resets the position measured by the positioning device (51) as the end position when the traveling vehicle body (10a) travels along the ridge (U) from the reset start position and reaches one end (352) of the ridge (U). The transplanter (10) according to claim 5, characterized by comprising the above.

7. Based on the field information regarding the field (351) in which a plurality of ridges (U) are formed, when the traveling along the second direction in the ridge (U) formed adjacent to the outer edge of the field (351) is completed, the control unit (300) that stops the operation of the traveling vehicle body (10a) and collates the deviation between the position where the operation of the traveling vehicle body (10a) is stopped and the position of the ridge (U) stored in the field information. The transplanter (10) according to claim 1, characterized by comprising the above.

Images