Seedling transplanter

Abstract

To improve work efficiency by enabling a planned use of materials.SOLUTION: A seedling transplanter includes: a traveling vehicle body that has front wheels and rear wheels and that can travel in a farm field; a seeding planting unit that is provided on the traveling vehicle body and plants seedings scraped off from a seedling mat conveyed in a seedling tank by planting claws while the traveling vehicle body travels; and a control unit for controlling the seedling planting unit so as to change a seedling amount taken by the planting claws. The control unit has seedling-use amount information set in advance according to a work area, calculates a present seedling use amount, compares the use amount with a value of the use amount information, and outputs a warning in the case that a difference exists between the use amount and the value of the use amount information.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a seedling transplanter. [Background technology]

[0002] In a conventional seedling transplanter that plants seedlings in the soil surface of a field while traveling within the field, a technique has been known in which the slip rate of the rear wheels (seedling transplanter) is calculated from the rotation speed of the rear wheels, etc., and the travel distance is calculated taking the calculated slip rate into account in order to improve work efficiency by systematically using seedling mats in the field (see, for example, Patent Document 1). The actual work area is calculated from the travel distance taking the slip rate into account and the work width, which is set according to the number of rows to be planted. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-78343 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above-mentioned conventional technology, the slip ratio is calculated based on the relationship between the slip ratio and the amount of sinking of the rear wheels into the field, so calculating the slip ratio, which constantly changes depending on the field conditions, is complicated, and there is a risk that the amount of seedlings actually used will fluctuate. For this reason, the above-mentioned conventional technology has room for improvement in terms of planned use of materials such as seedling mats.

[0005] The present invention has been made in consideration of the above, and aims to provide a seedling transplanter that enables planned use of materials and improves work efficiency. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the objectives, the seedling transplanter (1) of the embodiment comprises: a traveling body (2) having front wheels (11) and rear wheels (12) and capable of traveling within a field (F); a seedling planting unit (3) provided on the traveling body (2) that, while the traveling body (2) is traveling, uses planting tines (38) to pick up seedlings from a seedling mat (MPL) transported in a seedling tank (35) and plants them in the field (F); and a control unit (100) that controls the seedling planting unit (3) to change the amount of seedlings picked up by the planting tines (38). The control unit (100) has seedling usage information preset according to the work area, calculates the current seedling usage amount, compares the usage amount with the value of the usage amount information, and issues a warning if there is a discrepancy between the usage amount and the value of the usage amount information. [Effects of the Invention]

[0007] The seedling transplanter according to the embodiment enables planned use of materials, thereby improving work efficiency. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic side view showing a seedling transplanter according to an embodiment. [Figure 2] FIG. 2 is a functional block diagram showing a control system of the seedling transplanter according to the embodiment. [Figure 3] Figure 3 is an explanatory diagram (part 1) of seedling removal amount correction. [Figure 4] Figure 4 is an explanatory diagram (part 1) of seedling removal amount correction. [Figure 5] FIG. 5 is an explanatory diagram (part 1) of the compression mechanism of the seedling mat. [Figure 6] FIG. 6 is an explanatory diagram (part 2) of the compression mechanism of the seedling mat. [Figure 7] FIG. 7 is an explanatory diagram of detection of the remaining amount of seedlings using an electrode sensor. [Figure 8] FIG. 8 is a diagram showing the relationship between the current value and the position of the seedling mat. [Figure 9]FIG. 9 is an explanatory diagram of detection of the remaining amount of seedlings using an ultrasonic sensor. [Figure 10] FIG. 10 is an explanatory diagram (part 1) of the seedling mat counting mechanism. [Figure 11] FIG. 11 is an explanatory diagram (part 2) of the seedling mat counting mechanism. [Figure 12] FIG. 12 is an explanatory diagram (part 3) of the seedling mat counting mechanism. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the seedling transplanter disclosed in the present application will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the following embodiment.

[0010] <Overview of the seedling transplanter> An overview of the seedling transplanter 1 according to the embodiment will be described with reference to Fig. 1. Fig. 1 is a schematic side view showing the seedling transplanter 1 according to the embodiment.

[0011] Note that each figure, including Figure 1, may show a three-dimensional Cartesian coordinate system including a Z-axis whose positive direction is vertically upward (upward). For ease of explanation, the positive direction of the X-axis will be defined as the left, the negative direction of the X-axis as the right, the positive direction of the Y-axis as the forward direction, and the negative direction of the Y-axis as the backward direction, with the X-axis direction being referred to as the left-right direction, the Y-axis as the front-back direction, and the Z-axis as the up-down direction.

[0012] In the following description, the seedling transplanter 1 and the traveling vehicle body 2, which will be described later, may be referred to as the "machine body." The seedling transplanter 1 performs the task of planting seedlings in the soil surface of a field F (see FIG. 3) while traveling through the field F.

[0013] As shown in FIG. 1, the seedling transplanter 1 comprises a traveling vehicle body 2 and a seedling planting unit 3. The traveling vehicle body 2 is capable of traveling within a field F. The seedling planting unit 3 is a working machine in the seedling transplanter 1 and is provided on the traveling vehicle body 2. The seedling planting unit 3 plants seedlings into the soil surface of the field F. The seedling transplanter 1 is a ride-on type that is operated by a driver (also called an "operator"), but also has the function of automatically planting seedlings while traveling autonomously along a pre-set work route.

[0014] The traveling vehicle body 2 includes a pair of left and right front wheels 11 and a pair of left and right rear wheels 12. In the traveling vehicle body 2, for example, the pair of left and right front wheels 11 are steered wheels, and the pair of left and right rear wheels 12 are drive wheels. Note that, for example, in 4WD mode, the pair of left and right front wheels 11 and the pair of left and right rear wheels 12 are drive wheels.

[0015] In addition, a transmission case 14 that transmits driving force to the seedling planting unit 3 (described later) and other components are provided at the front of the main frame 13 that forms the body framework of the traveling vehicle body 2, and a hydraulic continuously variable transmission (not shown) that outputs driving force supplied from a driving source such as an engine E (see FIG. 2) or a motor, i.e., the rotation of the driving source (for example, engine E), to the transmission case 14. The continuously variable transmission is, for example, a hydrostatic continuously variable transmission called an HST (Hydro Static Transmission). Note that hereinafter, the continuously variable transmission will be referred to as "HST."

[0016] An auxiliary transmission mechanism (not shown) that switches the driving mode when traveling on the road, planting seedlings, etc. is provided inside the transmission case 14. In the traveling vehicle body 2, front wheel final cases 15 are provided on the left and right sides of the transmission case 14, and front wheels 11 are attached to left and right front axles that protrude outward from support parts that can change the steering direction of the left and right front wheel final cases 15, respectively.

[0017] In addition, rear wheel gear cases 16 are provided on the left and right sides of a rear frame extending in the left-right direction at the rear of the main frame 13, and rear wheels 12 are attached to left and right rear axles that protrude outward from the rear wheel gear cases 16, respectively.

[0018] Left and right link support frames 18 extend upward from the upper part of the rear frame and support lift links 17, which will be described later. Left and right upper links 19 and left and right lower link arms 20 are provided between the left and right link support frames 18. Hydraulically operated lift cylinders 21 are provided between the left and right upper links 19 and left and right lower link arms 20 in the left-right direction.

[0019] The left and right upper links 19 and the left and right lower link arms 20 form a parallel link mechanism, the lifting link 17. The left and right upper links 19, the left and right lower link arms 20, and the lifting cylinder 21 each have one end connected to the traveling vehicle body 2 and the other end connected to the seedling planting unit 3.

[0020] An engine, which is a drive source, is mounted on the main frame 13. Rotational power of the engine is transmitted to a transmission case 14 via a belt transmission (not shown) and an HST. The rotational power transmitted to the transmission case 14 is changed in speed by an auxiliary transmission mechanism within the transmission case 14, and then separated into traveling power and externally extracted power.

[0021] The rotational power of the engine is transmitted to a hydraulic pump (not shown). The hydraulic pressure generated by the hydraulic pump is supplied to the HST, a power steering mechanism 23 (see FIG. 2) of the steering wheel 22, the lift cylinder 21, etc.

[0022] The externally extracted power extracted from the rotational power transmitted to the transmission case 14 is transmitted to a planting clutch 24 (see Figure 2) provided at the rear of the traveling body 2, and then transmitted from the planting clutch 24 to the seedling planting section 3 via a planting transmission shaft (not shown). Left and right drive shafts (not shown) are provided at the rear of the transmission case 14. The rotational power from the engine E is transmitted to the left and right rear wheel gear cases 16 via the transmission case 14 and the drive shafts.

[0023] Note that side clutches 25 (see FIG. 2) that turn on and off the power transmission to the left and right drive shafts are provided upstream of the left and right drive shafts in the power transmission direction. As shown in FIG. 1, for example, side clutch pedals (not shown) that turn on and off the left and right side clutches 25 are provided below and in front of the cockpit 26 on the left and right sides.

[0024] Of the left and right side clutch pedals, the side clutch pedal on the inside of the turn is depressed to disengage the side clutch 25, and then the steering handle 22 is operated to turn, whereby the driving rotation of the rear wheel 12 on the inside of the turn can be cut off.

[0025] A hood 28 that houses the engine E is provided in front of the floor step 27 of the traveling vehicle body 2. A control panel 29 is provided at the rear of the hood 28. The control panel 29 is provided with a meter panel and various operating tools such as switches. In addition, a steering wheel 22 is provided at the rear of the hood 28.

[0026] The hood 28 is also provided with a steering handle (hereinafter referred to as the "handle") 22 that can be rotated to adjust the steering amount of the front wheels 11, a main shift lever 30 that operates the HST and seedling planting section 3, and a sub-shift lever 31 (see Figure 2) that operates the sub-shift mechanism.

[0027] Also provided inside the hood 28 are a fuel tank, a battery, and an interlocking mechanism that rotates the left and right front wheels 11 and the lower sides of the left and right front wheel final cases 15 in response to operation of the handlebars 22. The front of the hood 28 is covered by an openable front cover 28a.

[0028] A fertilizer applicator 40, which will be described later, is provided behind the driver's seat 26 and at the rear of the main frame 13. The driving force of the fertilizer applicator 40 is transmitted by a fertilizer transmission mechanism that is provided so as to face the fertilizer applicator 40 from one side of the left or right rear wheel gear case 16.

[0029] Floor steps 27 are formed on the left and right sides of the lower part of the hood 28. The floor steps 27 are substantially horizontal and partially lattice-shaped, so that even if mud on the shoes of an operator (worker) walking on the floor steps 27 falls onto the floor steps 27, the fallen mud will fall into the field F.

[0030] In addition, spare seedling frames 34 are provided at the front and on the left and right sides of the traveling body 2, with multiple spare seedling placing trays 33 arranged at intervals in the vertical direction on seedling frame supports 32. The spare seedling frames 34 can hold work materials such as seedling mats MPL (see Figures 10 to 12) and fertilizer bags to be supplied to the seedling planting section 3.

[0031] Additionally, a seedling tank 35, which carries seedling mats MPL containing seedlings PL (see Figure 3) to be planted in the field F, is connected to the rear end of the lifting link 17 along with a sliding mechanism that allows it to slide left and right. The seedling tank 35 is provided with a fence that divides the top surface of the seedling tank 35 (the surface on which the seedling mats MPL are placed) into multiple sections left and right. Below the seedling tank 35 is provided a planting device 36 that includes planting claws 38 that scrape seedlings PL from the loaded seedling mats MPL and plant the scraped seedlings PL in the field F.

[0032] The planting device 36 simultaneously plants the same number of seedlings PL as the number of planting rows separated by the fence. The planting device 36 is equipped with a planting transmission case 37, planting tines 38, and a planting rotary 39. In the planting device 36, the planting transmission case 37 is provided below the seedling tank 35 with a gap between them, and the planting rotary 39 for rotating the planting tines 38 is provided on the left and right sides of the planting transmission case 37. In the planting device 36, the planting tines 38 rotate to scrape the seedlings PL from the seedling mat MPL and plant the scraped seedlings PL (see Figure 3) in the field F.

[0033] In this way, in the seedling planting section 3, while the traveling vehicle body 2 (seedling transplanter 1) is traveling, the seedlings PL scraped by the planting tines 38 from the seedling mat MPL transported in the seedling tank 35 are planted on the soil surface of the field F. The amount of seedlings PL scraped by the planting tines 38 (seedling removal amount) is variably controlled by the control unit 100 (see Figure 2) described later.

[0034] The fertilizer application device 40 includes a fertilizer application hopper 41, a dispensing device 42, a duct 43, a fertilizer application hose (not shown), and a blower (not shown). The fertilizer application hopper 41 stores fertilizer. The fertilizer application hopper 41 is divided into the same number of sections as the number of working rows in the seedling planting section 3. Note that if the fertilizer application hopper 41 is too long in the left-right direction, for example, this can reduce the convenience of adding fertilizer and attaching and detaching it. Therefore, the fertilizer application hopper 41 may have a so-called side fertilization structure, in which sections each covering half the total number of rows (for example, four rows in the case of eight rows) are lined up on the left and right.

[0035] The dispensing devices 42 are provided for each row below the fertilizer hopper 41 and supply a set amount of fertilizer. The duct 43 is provided below the dispensing devices 42 and allows conveying air to pass through to move the fertilizer. The fertilizer application hose is provided below the dispensing devices 42 and guides the fertilizer to the vicinity of the seedling planting position in the seedling planting section 3. The blower is provided at one end of the duct 43 and generates conveying air using the driving force of an electric blower motor (not shown).

[0036] A float 44 is provided below the seedling planting section 3. The float 44 comprises a center float 44a in the center and left and right side floats 44b. The center float 44a and the left and right side floats 44b come into contact with the soil surface of the field F and slide on the soil surface as the traveling body 2 moves forward (forward).

[0037] The seedling planting unit 3 is also provided with a soil leveling rotor 45, which is located forward of the float 44 and which levels out unevenness in the soil surface. The soil leveling rotors 45 are located forward of the center float 44a and in front of the left and right side floats 44b. The seedling planting unit 3 plants seedlings in the soil surface leveled by the soil leveling rotor 45. Driving force is transmitted to the soil leveling rotor 45 via a rotor transmission shaft (not shown).

[0038] In addition, line-drawing markers are provided on the left and right sides of the seedling planting section 3, one of which comes into contact with the soil surface of the field F to form a furrow (guide line) that serves as a guide for traveling in the next work row (next process). When one of the left and right line-drawing markers descends and comes into contact with the ground, the other rises. When the seedling planting section 3 is raised during machine body rotation, both left and right line-drawing markers rise, and when the seedling planting section 3 descends after the machine body has rotated, one of the left and right line-drawing markers rises and the other descends (comes into contact with the ground).

[0039] Furthermore, a center mascot 46 is erected to extend upward in the left-right center of the traveling vehicle body 2, in front of the hood 28. By aligning the center mascot 46 with the guide lines formed on the soil surface of the field F by the left and right line markers, it becomes possible to travel in accordance with the work position of the immediately preceding work row, improving work accuracy and preventing non-working situations.

[0040] Depending on the soil quality of field F, the guide lines formed by the left and right line-drawing markers may quickly become buried, causing the guide for going straight to disappear. In such cases, it is a good idea to use left and right side markers placed forward of the left and right line-drawing markers. In other words, by moving the left and right side markers outward and positioning them above the seedlings planted in the previous process, planting work can be done in accordance with the planting of the seedlings in the previous work row.

[0041] As shown in FIG. 1, the seedling transplanter 1 also includes a location information acquisition unit 50. The location information acquisition unit 50 acquires the current location P (see FIG. 3) (location information) of the traveling vehicle body 2 (seedling transplanter 1). The location information acquisition unit 50 acquires the current location information of the seedling transplanter 1 using a satellite positioning system such as a GPS (Global Positioning System) or a GNSS (Global Navigation Satellite System). The location information acquisition unit 50 may be composed of multiple devices.

[0042] The position information acquisition unit 50 is supported by an antenna frame 51 and disposed above the traveling vehicle body 2, for example.

[0043] Furthermore, the straight running control program and the turning control program, which are created based on the position information from the position information acquisition unit 50, are stored in different locations. The straight running control program is stored, for example, in a straight running control ECU (Electronic Control Unit) in the position information acquisition unit 50, and the turning control program is stored, for example, in a turning control ECU housed in the hood 28. The straight running control ECU and the turning control ECU are included in the control unit 100 (see FIG. 2), which will be described later. Note that the straight running control ECU and the turning control ECU may be the same ECU.

[0044] <Seedling transplanter control system> Next, the control system of the seedling transplanter 1 (see FIG. 1) will be described with reference to Fig. 2. Fig. 2 is a functional block diagram showing the control system of the seedling transplanter 1 according to the embodiment. Fig. 2 also shows an example of a control system centered around a control unit 100. As shown in Fig. 2, the seedling transplanter 1 is capable of controlling each part electronically, and is equipped with a control unit 100 that controls each part.

[0045] The control unit 100 has, for example, a processing unit having a CPU (Central Processing Unit), a memory unit such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input / output unit, all of which are interconnected to allow signals to be exchanged between them. The memory unit stores computer programs for controlling the seedling transplanter 1. The control unit 100 performs each function by reading out the computer programs stored in the memory unit.

[0046] The control unit 100 is connected to actuators such as a throttle motor 60, hydraulic control valves 61, 62, a planting clutch actuation solenoid 63, a side clutch actuation solenoid 64, an HST motor 65, a steering motor 66, a line drawing marker lifting motor 67, and a differential lock switching motor 68.

[0047] The throttle motor 60 increases or decreases the rotation speed of the output shaft of the engine E by operating a throttle that adjusts the amount of air intake into the engine E. The hydraulic control valve 61 controls the extension and retraction of the lifting cylinder 21. The hydraulic control valve 62 controls the power steering mechanism 23. The planting clutch operating solenoid 63 operates the planting clutch 24.

[0048] A side clutch actuation solenoid 64 actuates a side clutch 25 that switches the state of power transmission to the rear wheels 12 (see Figure 1). An HST motor 65 changes the rotation angle of the HST trunnion, thereby changing the tilt angle of the HST swash plate. A steering motor 66 steers and drives the front wheels 11 (see Figure 1), which are the steered wheels. The steering motor 66 is a motor that drives a handle 22 that adjusts the steering amount (also called the steering angle or turning angle) of the front wheels 11. A line drawing marker lifting motor 67 lifts and lowers the line drawing marker.

[0049] The differential lock switching motor 68 is a motor that switches between operating and deactivating a differential lock mechanism (hereinafter referred to as the differential lock mechanism) 69, which rotates the left and right running wheels (for example, the left and right front wheels 11) at the same rotational speed. When the differential lock mechanism 69 is turned on, four-wheel drive (4WD mode) can be forcibly established, and the left and right running wheels rotate at the same rotational speed.

[0050] In addition, a rear wheel rotation speed sensor 70, a steering amount sensor 71, an inclination sensor 72, etc. are connected to the control unit 100. Two rear wheel rotation speed sensors 70 are provided corresponding to the left and right rear wheels 12, and detect the rotation speeds of the left and right rear wheels 12, respectively.

[0051] The steering amount sensor 71 detects the rotation of the steering wheel 22, that is, the steering amount of the front wheels 11 (see FIG. 1). The steering amount sensor 71 is provided, for example, on a shaft connected to a pitman arm.

[0052] The tilt sensor 72 detects the tilt angle (for example, roll angle, pitch angle) of the seedling transplanter 1 (traveling body 2).

[0053] In addition, signals are input to the control unit 100 as operation signals, for example, from the main speed change lever 30, the sub-speed change lever 31, the seedling planting unit lifting / lowering switch 73, the line drawing marker automatic lifting / lowering switch 74, the automatic turning switch 75, the mode switch 76, etc.

[0054] The seedling planting unit lift switch 73 is a switch that switches the raising and lowering of the seedling planting unit 3. The seedling planting unit lift switch 73 can be changed between an "up" and a "down" position. When the seedling planting unit lift switch 73 is in the "up" position, the seedling planting unit 3 rises to a predetermined non-working position, and the planting device 36 (see Figure 1) stops, resulting in a non-working state (seedling planting unit 3 is off). When the seedling planting unit lift switch 73 is in the "down" position, the seedling planting unit 3 descends to a predetermined working position, resulting in a working state (seedling planting unit 3 is on) in which the planting device 36 operates. In other words, the seedling planting unit lift switch 73 is a switch that can detect the working state of the seedling planting unit 3.

[0055] The automatic line drawing marker raising / lowering switch 74 is a switch that switches whether or not the line drawing marker is automatically raised / lowered in conjunction with the steering amount of the steering wheel 22 (i.e., the steering amount of the front wheels 11). When the automatic line drawing marker raising / lowering switch 74 is "ON," control is executed to automatically raise / lower the line drawing marker in conjunction with the steering amount. On the other hand, when the automatic line drawing marker raising / lowering switch 74 is "OFF," control is not executed to automatically raise / lower the line drawing marker in conjunction with the steering amount.

[0056] The automatic turning selector switch 75 is a switch that switches whether automatic turning is enabled or disabled when the operator manually operates the seedling transplanter 1. When the automatic turning selector switch 75 is "ON," automatic turning is enabled. When the automatic turning selector switch 75 is "OFF," automatic turning is disabled. The mode selector switch 76 is a switch that switches whether or not the seedling transplanter 1 (traveling body 2) is to travel autonomously.

[0057] It should be noted that a direction sensor (not shown) or the like may be connected to the control unit 100. The direction sensor detects, for example, the absolute direction angle of the traveling direction of the machine body (traveling vehicle body 2) (for example, "north" is 0° (360°), "east" is 90°, "south" is 180°, and "west" is 270°). The direction sensor detects the absolute direction angle at regular intervals and transmits the detected absolute direction angle to the control unit 100.

[0058] The control unit 100 controls the steering wheel 22 via the steering motor 66 based on the detection result of the steering amount sensor 71. While controlling the steering wheel 22, the control unit 100 performs straight-line control and turning control of the traveling vehicle body 2 based on the position information of the traveling vehicle body 2 acquired by the position information acquisition unit 50 (the self-position P of the traveling vehicle body 2) and the like.

[0059] <Seedling amount correction> Next, seedling removal amount correction will be described with reference to Figures 3 and 4. Figures 3 and 4 are explanatory diagrams of seedling removal amount correction.

[0060] As shown in Figure 3, the control unit 100 (see Figure 2) corrects the amount of seedlings PL scraped (seedling removal amount) by the planting claws 38 (see Figure 1) of the seedling planting unit 3 (see Figure 1) based on the slip rate of the rear wheels 12 (see Figure 1) of the seedling transplanter 1 (traveling body 2) traveling within the field F.

[0061] In this case, the control unit 100 calculates the vehicle speed (first vehicle speed) of the traveling vehicle body 2 while traveling in the field F from the position information (self-position P of the traveling vehicle body 2) acquired by the position information acquisition unit 50 (see FIG. 2). The control unit 100 also calculates the vehicle speed (second vehicle speed) of the traveling vehicle body 2 while traveling in the field F from the rotation speed of the rear wheel 12 detected by the rear wheel rotation speed sensor 70 (see FIG. 2).

[0062] The control unit 100 calculates the slip ratio of the seedling transplanter 1 (traveling vehicle body 2) in the field F from the difference between the first vehicle speed and the second vehicle speed.

[0063] As shown in Figure 3, in the seedling transplanter 1, the seedling removal amount by the planting claws 38 is preset according to a predetermined value of the slip ratio. In the seedling transplanter 1, when the slip ratio is a predetermined value, the distance D between the seedlings PL (distance between plants) in the traveling direction of the seedling transplanter 1 (traveling body 2) becomes the expected distance, and the control unit 100 controls the planting claws 38 so that the seedlings PL are planted in the field F at the set seedling removal amount.

[0064] When the slip rate is equal to or greater than a predetermined value, i.e., when the slip rate is high, the distance D (D1) between the plants becomes shorter, and the control unit 100 controls the planting claws 38 to reduce the amount of seedlings harvested. When the slip rate is equal to or less than a predetermined value, i.e., when the slip rate is low, the distance D (D2) between the plants becomes longer, and the control unit 100 controls the planting claws 38 to increase the amount of seedlings harvested.

[0065] In this way, when the slip rate is above a predetermined value (i.e., when the slip rate is high), the distance D1 between plants becomes shorter, so fewer seedlings PL are planted, and when the slip rate is below a predetermined value (i.e., when the slip rate is low), the distance D2 between plants becomes longer, so more seedlings PL are planted, thereby suppressing fluctuations in the amount of seedlings PL used due to changes in the slip rate of the traveling vehicle 2 (seedling transplanter 1) traveling within the field F.

[0066] In other words, it is possible to suppress fluctuations in the amount of seedlings used due to changes in the slip ratio of the traveling vehicle body 2 (seedling transplanter 1) traveling within the field F. This allows materials (seedlings, seedling mats MPL) to be used in a planned manner, improving work efficiency.

[0067] As shown in Figure 4, the control unit 100 (see Figure 2) corrects the amount of seedlings removed in the area (referred to as the "work area") SW in which seedlings PL (see Figure 3) have been planted in the field F, based on the first vehicle speed calculated based on the position information (self-position P of the traveling vehicle body 2) acquired by the position information acquisition unit 50 (see Figure 2).

[0068] In this case, the control unit 100 calculates the predetermined work area SW of the seedling transplanter 1 (traveling body 2) based on the first vehicle speed. The control unit 100 calculates the slip ratio of the seedling transplanter 1 (traveling body 2) for each work area SW from the difference between the first vehicle speed and the second vehicle speed. The control unit 100 calculates the average value of the slip ratio in the work area SW.

[0069] Then, the control unit 100 corrects the amount of seedlings removed by the planting claws 38 (see FIG. 1) for each work area SW based on the slip rate (average value) for each work area SW.

[0070] In this way, by correcting the amount of seedlings PL used using the average slip rate in a predetermined working area SW of the traveling body 2 (seedling transplanter 1), the amount of seedlings PL used can be stabilized.

[0071] The control unit 100 also has usage amount information of the seedlings PL that is preset according to the work area SW. The control unit 100 calculates the current usage amount of the seedlings PL and compares the calculated current usage amount of the seedlings PL with the value of the usage amount information.

[0072] The control unit 100 then controls, for example, the alarm function of the seedling transplanter 1 so as to issue a warning when there is a discrepancy between the current amount of seedling PL used and the value of the usage amount information. The warning of a discrepancy in the amount of seedling PL used may be given by an alarm sound, a lamp light, or a monitor display.

[0073] In this way, by comparing the current amount of seedlings PL used with the value of the usage amount information, it is possible to determine whether the seedlings PL are being used as planned, for example, by using 20 seedling mats MPL for a 10-are work area SW. Also, by issuing a warning if the amount of seedlings PL used deviates from the plan, problems such as a shortage of seedlings PL can be avoided. This further improves work efficiency.

[0074] The control unit 100 also controls the feed amount of the seedling mat MPL (see Figs. 10 to 12) in the seedling tank 35. The control unit 100 controls the seedling feed roller 351 (see Fig. 12) in the seedling tank 35, thereby controlling the seedling feed belt 352 (see Fig. 12) driven by the seedling feed roller 351. This enables the control unit 100 to control the feed amount of the seedling mat MPL in the seedling tank 35.

[0075] The control unit 100 can arbitrarily change the compression ratio of the seedling mat MPL by controlling the feed amount of the seedling mat MPL.

[0076] In this way, by arbitrarily changing the compression rate of the seedling mat MPL, the amount of seedling PL used can be automatically adjusted, and automatic adjustment of the amount of seedling PL used can be achieved with a simple configuration.

[0077] 5 and 6 are explanatory diagrams of the compression mechanism 80 of the seedling mat MPL. In Fig. 5, the left figure is a view of the seedling tank 35 from the front of the machine body (a schematic front view of the seedling tank 35), and the right figure is a view of the seedling tank 35 from the left side of the machine body (a schematic left side view of the seedling tank 35). In addition, Fig. 6 shows a schematic configuration of the compression mechanism 80 of the seedling mat MPL.

[0078] As shown in FIG. 5, the compression mechanism 80 for the seedling mat MPL is provided on the surface (back surface) of the seedling tank 35 opposite to the seedling placement surface on which the seedling mat MPL is placed.

[0079] As shown in Figure 6, the compression mechanism 80 of the seedling mat MPL includes a seedling feed cable 81, a cable stay 82, a motor 83, a gear unit 84, a sensor 85, a cylinder 86, and a base unit 87. One end of the seedling feed cable 81 extends toward the arm on the seedling tank 35 side, and the other end extends toward the seedling feed arm.

[0080] The seedling feed cable 81 is connected to the pivoting arm of the adjustment lever, which is a mechanism for adjusting the seedling removal amount. When the adjustment lever is operated, the tension of the seedling feed cable 81 changes. When the adjustment lever is operated in the direction of increasing the seedling removal amount, the seedling feed cable 81 loosens, the seedling feed arm hangs downward, and the drive amount of the seedling feed belt 352 increases. The seedling feed arm is an arm for driving the seedling feed belt 352 of the seedling tank 35. With the intervention of a one-way clutch, when the seedling feed arm is pushed up, the seedling feed belt 352 is driven, and the spring force causes the seedling feed arm to return to the downward direction. The seedling feed cable 81 pulls up the seedling feed arm, and the position of the seedling feed arm changes depending on the tension of the seedling feed cable 81, changing the drive amount of the seedling feed belt 352.

[0081] In the compression mechanism 80 of the seedling mat MPL, the tension direction of the seedling feed cable 81, the input / output shaft (operating shaft) of the cable stay 82, and the rotation shaft of the motor 83 are all in the same direction. Also, in the compression mechanism 80 of the seedling mat MPL, the motor 83 and sensor 85 are provided above the cable stay 82. In this way, by arranging the motor 83 and sensor 85 on the upper side, it is possible to prevent the intrusion of muddy water, etc. The motor 83 moves the seedling feed cable 81. Also, the sensor 85 detects the amount of rotation of the gear portion 84 that moves the cable stay.

[0082] The cable stay 82 is configured to be movable in the direction of the rotation shaft of the motor 83 by the combination of the motor 83 and the gear unit 84. This allows the rotation shaft of the motor 83 to coincide with the direction of movement of the cable stay 82. The amount of movement of the cable stay 82 is determined by the pitch of the feed screw and is, for example, approximately ±2.0 mm at most, so that the cable stay 82 moves slightly relative to the amount of rotation of the motor 83.

[0083] The cable stay 82 is provided with a notch for fixing the seedling feeding cable 81 and a cylinder 86 extending in the axial direction of the screw hole. The cable stay 82 moves smoothly in the axial direction by the cylinder 86 and the pin of the base part 87. The gear part 84 rotates smoothly because the tip part is inserted into a ball bearing provided in the base part 87.

[0084] The control unit 100 measures the number of times the seedling tank 35 moves back and forth from side to side based on the operation of a so-called "pita-yose" switch, which moves the seedling tank 35 to either the left or right end, and measures the number of times the seedling tank 35 moves back and forth until additional seedling mats MPL are replenished.The control unit 100 then calculates the number of times the seedling tank 35 moves back and forth when one seedling mat MPL is used from the number of times the seedling tank 35 moves back and forth until several additional seedling mats MPL are replenished, and further calculates the compression rate of the seedling mat from the amount of seedlings removed.

[0085] Fig. 7 is an explanatory diagram of detecting the remaining amount of seedlings PL (seedling mat MPL) using the electrode sensor 91. Fig. 7 shows the seedling tank 35 as seen from the front of the machine body (a schematic front view of the seedling tank 35). Fig. 8 is a diagram showing the relationship between the current value and the position of the seedling mat.

[0086] As shown in Figure 7, the seedling transplanter 1 (see Figure 1) is equipped with an electrode sensor 91. The electrode sensor 91 is provided in the seedling tank 35. The electrode sensor 91 is arranged so as to diagonally cross each transport path of the seedling mats MPL in the seedling tank 35. The electrode sensor 91 measures the current value of the seedling mats MPL.

[0087] The distance from the top to the bottom of the electrode sensor 91 is preferably shorter than the length of one seedling mat MPL. The electrode sensor 91 is preferably arranged on the diagonal of the rectangular seedling mat MPL and is preferably arranged so as to be smaller than the inner dimensions of the seedling mat MPL.

[0088] The control unit 100 calculates the remaining amount of seedling mats MPL based on the current value measured by the electrode sensor 91. As shown in Fig. 8, the seedling mats MPL act as resistors, and the control unit 100 counts each fluctuation in the current value measured by the electrode sensor 91 as one seedling mat MPL. In this way, the control unit 100 can calculate the remaining amount of seedling mats MPL.

[0089] In this way, the remaining amount of seedling mat MPL (seedling PL) can be calculated by utilizing the fluctuation in the current value with the seedling mat MPL as a resistor. This allows the worker to grasp the remaining amount of seedling mat MPL (seedling PL).

[0090] As shown in Fig. 7, an electrode sensor 91a may be further provided below the electrode sensor 91 on each transport path of the seedling mat MPL. That is, the current value may be measured by two electrode sensors 91, 91a on each transport path. The two electrode sensors 91, 91a are preferably arranged so as not to be parallel to each other. The lower electrode sensor 91a is preferably arranged so as to be parallel to the sliding direction (left-right direction) of the seedling tank 35.

[0091] When detecting the remaining amount of seedling mats MPL using such electrode sensors 91, 91a, for example, if a detection switch (such as detection switch 96 described below with reference to FIG. 10) that detects the seedling mats MPL when pressed by the seedling mats MPL is provided on the transport path of the seedling mats MPL, the control unit 100 will not record the current value unless the seedling detection switch is pressed. Note that if a seedling detection switch is provided, the two electrode sensors 91, 91a are positioned above the seedling detection switch.

[0092] The control unit 100 records the current value of the seedling mat MPL on each transport route until the planting work in the specified area is completed. Based on the current value data recorded after the planting work in the specified area is completed, the control unit 100 predicts the remaining seedling quantity from the current value.

[0093] The control unit 100 determines that the seedling mat MPL is in contact with all of the electrode sensors 91 when the recorded current value data is at its maximum, and that the seedling mat MPL is below the bottom of the electrode sensors 91 when the recorded current value data is at its minimum. Furthermore, when the seedling mat MPL moves between the top and bottom of the electrode sensors 91, the control unit 100 estimates the current position of the seedling mat MPL by assuming that the output current moves linearly between the maximum and minimum recorded current values. The current value of the seedling mat MPL is recorded each time it detects that the seedling tank 35 has moved to either the left or right end during planting.

[0094] Figure 9 is an explanatory diagram of detecting the remaining amount of seedling PL (seedling mat MPL) using an ultrasonic sensor 92. In Figure 9, the left figure is a view of the seedling tank 35 from the left side of the machine body (a schematic left side view of the seedling tank 35), and the right figure is a view of the seedling tank 35 from the rear of the machine body (a schematic rear view of the seedling tank 35).

[0095] As shown in Figure 9, the seedling transplanter 1 (see Figure 1) may be equipped with an ultrasonic sensor 92 instead of the electrode sensor 91 (91a). The ultrasonic sensor 92 is provided in the seedling tank 35. The ultrasonic sensor 92 is provided, for example, at the upper end of each transport path of the seedling mat MPL in the seedling tank 35. The ultrasonic sensor 92 measures the distance to the seedling mat MPL. That is, the ultrasonic sensor 92 measures the distance from a predetermined position at the upper end of the seedling tank 35 (the transport path of the seedling mat MPL) to the upper end of the seedling mat MPL.

[0096] The control unit 100 calculates the remaining amount of seedling mats MPL based on the distance measured by the ultrasonic sensor 92. When the distance from a predetermined position to the seedling mat MPL suddenly changes (specifically, when the distance to the seedling mat MPL suddenly becomes shorter), the control unit 100 determines that one seedling mat MPL has been added and counts it as one seedling mat MPL. In this way, the control unit 100 can calculate the remaining amount of seedling mats MPL.

[0097] In this way, if the distance from the predetermined position to the seedling mat MPL suddenly changes (specifically, if the distance to the seedling mat MPL suddenly becomes shorter), it can be determined that one seedling mat MPL has been added, and the number of seedling mats MPL used can be counted, so the remaining amount of seedling mats MPL (seedling PL) can be calculated. This allows the worker to grasp the remaining amount of seedling mats MPL (seedling PL).

[0098] Figures 10 to 12 are explanatory diagrams of the counting mechanism for the seedling mat MPL. In Figure 10, the left figure is a view of the seedling tank 35 from the left side of the machine body (a schematic left side view of the seedling tank 35), and the right figure is a view of the seedling tank 35 from the rear of the machine body (a schematic rear view of the seedling tank 35). Figures 11 and 12 also show a view of the seedling tank 35 from the rear of the machine body (a schematic rear view of the seedling tank 35). In Figure 12, the left side of the figure shows the seedling mat MPL before vertical feeding, and the right side of the figure shows the seedling mat MPL after vertical feeding.

[0099] As shown in FIGS. 10 to 12, the counting mechanism of the seedling mat MPL is made up of the seedling feeding roller 351 (see FIG. 12) of the seedling tank 35, the seedling feeding belt 352 (see FIG. 12), the stopper 95, and the detection switch 96.

[0100] The seedling feed rollers 351 are provided on each transport path of the seedling mats MPL in the seedling tank 35, and when rotated, rotate the seedling feed belts 352 from top to bottom. The seedling feed rollers 351 are driven and controlled by the control unit 100 (see Figure 2). The seedling feed belts 352 are provided on each transport path of the seedling mats MPL in the seedling tank 35. The seedling feed belts 352 are provided so as to form part of the transport surface of the transport path for the seedling mats MPL. The seedling feed belts 352 transport the seedling mats MPL from upstream to downstream of the transport path for the seedling mats MPL by the rotation of the seedling feed rollers 351.

[0101] The stoppers 95 are provided at midpoints of each conveying path for the seedling mats MPL. The stoppers 95 are provided at positions on the conveying path for the seedling mats MPL where the seedling mats MPL and the seedling feed belt 352 overlap. The stoppers 95 are provided so that they can move forward and backward, for example, from the side, toward the conveying path for the seedling mats MPL. By advancing into the conveying path, the stoppers 95 restrict downward movement of the seedling mats MPL at midpoints of the conveying path. By retreating from the conveying path, the stoppers 95 release the restriction on the seedling mats MPL, allowing the seedling mats MPL to be conveyed downstream.

[0102] The stopper 95 restricts the movement of the seedling mats MPL, thereby forming a gap at the boundary B between the upper seedling mat MPL and the lower seedling mat MPL. The stopper 95 is driven and controlled by the control unit 100.

[0103] The detection switch 96 is provided on each transport path for the seedling mats MPL downstream of the stopper 95. The detection switch 96 detects the presence or absence of the seedling mats MPL on the transport path. The detection switch 96 is disposed approximately in the center of the transport path for the seedling mats MPL in the left-right direction. The detection switch 96 may also be disposed, for example, one on each row (transport path for the seedling mats MPL) that can be turned on and off by a ridge clutch. In this case, the detection switch 96 is disposed in four locations if the planting is 8 to 7 rows, and in three locations if the planting is 6 to 5 rows.

[0104] The control unit 100 counts that one seedling mat MPL has been used when the detection switch 96 detects the seedling mat MPL. The control unit 100 counts the number of seedling mats MPL used each time the detection switch 96 detects the seedling mat MPL.

[0105] As shown in Figure 12, when the detection switch 96 detects that there is no seedling mat MPL at the boundary B between the upper and lower seedling mats MPL on the transport path for the seedling mats MPL, the control unit 100 advances the stopper 95 to release the restriction of the seedling mats MPL by the stopper 95. Then, the control unit 100 rotates the seedling feed roller 351 to transport the upper seedling mat MPL until it abuts against the lower seedling mat MPL, thereby eliminating the gap at the boundary B between the upper and lower seedling mats MPL.

[0106] In this way, the stopper 95 forms a gap at the boundary B between the upper and lower seedling mats MPL in the transport path for the seedling mats MPL, allowing the detection switch 96 to reliably count the seedling mats MPL. Furthermore, by providing the detection switch 96 downstream of the stopper 95, the detection switch 96 can reliably count the seedling mats MPL. Furthermore, because the seedling mats MPL restricted in the transport path for the seedling mats MPL overlap with the seedling feed belt 352, the seedling mats MPL can be transported downstream by the seedling feed belt 352 even when restricted by the stopper 95.

[0107] According to the above-described embodiment, the seedling transplanter 1 is realized as follows.

[0108] (1) A seedling transplanter 1 comprising: a traveling body 2 having front wheels 11 and rear wheels 12 and capable of traveling within a field F; a seedling planting unit 3 mounted on the traveling body 2 and configured to plant seedlings scraped with planting tines 38 from a seedling mat MPL transported in a seedling tank 35 into the field F while the traveling body 2 is traveling; a control unit 100 controlling the seedling planting unit 3 to change the amount of seedlings picked up by the planting tines 38; and a position information acquisition unit 50 acquiring position information of the traveling body 2; the control unit 100 calculating a slip ratio of the traveling body 2 within the field F from the difference between a first vehicle speed of the traveling body 2 calculated from the position information acquired by the position information acquisition unit 50 and a second vehicle speed of the traveling body 2 calculated from the rotation speed of the rear wheels 12, and correcting the amount of seedlings picked up by the planting tines 38 based on the slip ratio; and the control unit 100 reducing the amount of seedlings picked up when the slip ratio is equal to or greater than a predetermined value, and increasing the amount of seedlings picked up when the slip ratio is equal to or less than the predetermined value.

[0109] This seedling transplanter 1 can suppress fluctuations in the amount of seedlings used due to changes in the slip ratio of the traveling vehicle body 2 (seedling transplanter 1) traveling within the field F. This allows for planned use of materials (seedlings, seedling mats MPL) and improved work efficiency. The slip ratio of the traveling vehicle body 2 (seedling transplanter 1) is preset to a predetermined value depending on the distance D between the plants. With this seedling transplanter 1, when the slip ratio is equal to or greater than a predetermined value (i.e., when the slip ratio is high), the distance D (D1) between the plants becomes shorter, so fewer seedlings PL are planted. Conversely, when the slip ratio is equal to or less than the predetermined value (i.e., when the slip ratio is low), the distance D (D2) between the plants becomes longer, so more seedlings PL are planted. This suppresses fluctuations in the amount of seedlings PL used due to changes in the slip ratio of the traveling vehicle body 2 (seedling transplanter 1) traveling within the field F.

[0110] (2) In (1) above, the control unit 100 calculates the specified work area by the seedling transplanter 1 based on the first vehicle speed, calculates a slip rate for each work area, and corrects the seedling removal amount for each work area based on the slip rate for each work area.

[0111] According to such a seedling transplanter 1, in addition to the effect (1) above, the amount of seedlings PL used can be stabilized by correcting the amount of seedlings PL used using the average slip rate in a specified working area SW of the traveling body 2 (seedling transplanter 1).

[0112] (3) In the above (2), the control unit 100 has seedling usage information preset according to the work area, calculates the current seedling usage amount, compares the usage amount with the value of the usage amount information, and issues a warning if there is a discrepancy between the usage amount and the value of the usage amount information.

[0113] In addition to the effect of (2) above, this seedling transplanter 1 can determine whether seedlings PL are being used as planned by comparing the current amount of seedlings PL used with the value of the usage amount information. Also, by issuing a warning if the amount of seedlings PL used deviates from the plan, problems such as a shortage of seedlings PL can be avoided. This further improves work efficiency.

[0114] (4) In the above (1), the control unit 100 controls the feed rate of the seedling mat MPL in the seedling tank 35, and by controlling the feed rate, the seedling transplanter 1 arbitrarily changes the compression rate of the seedling mat MPL.

[0115] According to such a seedling transplanter 1, in addition to the effect (1) above, the amount of seedlings PL used can be automatically adjusted, and the amount of seedlings PL used can be automatically adjusted with a simple configuration.

[0116] (5) In the above (1), the seedling transplanter 1 is provided with an electrode sensor 91 that is installed in the seedling tank 35 and measures the current value of the seedling mat MPL in the seedling tank 35, and the control unit 100 calculates the remaining amount of seedling mat MPL based on the current value measured by the electrode sensor 91.

[0117] In addition to the effect of (1) above, the seedling transplanter 1 can calculate the remaining amount of seedling mat MPL (seedling PL) by utilizing the fluctuation of the current value with the seedling mat MPL as a resistor. This allows the operator to grasp the remaining amount of seedling mat MPL (seedling PL).

[0118] (6) In the above (1), the seedling transplanter 1 is provided with an ultrasonic sensor 92 that is installed in the seedling tank 35 and measures the distance to the seedling mat MPL in the seedling tank 35, and the control unit 100 calculates the remaining amount of seedling mat MPL based on the distance measured by the ultrasonic sensor 92.

[0119] In addition to the effect of (1) above, with this seedling transplanter 1, if the distance from a predetermined position to the seedling mat MPL suddenly changes (specifically, if the distance to the seedling mat MPL suddenly becomes shorter), it can be determined that one seedling mat MPL has been added, and since it can count the seedling mats MPL that have been used, it can calculate the remaining amount of seedling mats MPL (seedling PL). This allows the operator to grasp the remaining amount of seedling mats MPL (seedling PL).

[0120] (7) In any of the above (1) to (6), a seedling feeding belt 352 is provided in the transport path of the seedling mat MPL in the seedling tank 35, and transports the seedling mat MPL from upstream to downstream of the transport path by the rotation of a seedling feeding roller 351 driven and controlled by the control unit 100; a stopper 95 is provided at a midpoint of the transport path where the seedling mat MPL on the transport path and the seedling feeding belt 352 overlap, and is driven and controlled by the control unit 100 to restrict the seedling mat MPL at the midpoint, forming a gap at the boundary B between the upper seedling mat MPL and the lower seedling mat MPL; and The seedling transplanter 1 is provided with a detection switch 96 that is provided downstream of the stopper 95 on the conveying path and detects the presence or absence of a seedling mat MPL, and the control unit 100 counts that one seedling mat MPL has been used each time the detection switch 96 detects a seedling mat MPL, and when the detection switch 96 detects that there is no seedling mat MPL at the boundary B between the upper and lower seedling mats MPL on the conveying path, the control unit 100 releases the restriction of the seedling mat MPL by the stopper 95, rotates the seedling feed roller 351, and conveys the upper seedling mat MPL until it abuts against the lower seedling mat MPL.

[0121] According to such a seedling transplanter 1, in addition to any of the effects (1) to (6) above, the stopper 95 forms a gap at the boundary B between the upper and lower seedling mats MPL in the transport path of the seedling mats MPL, so that the detection switch 96 can reliably count the seedling mats MPL. Furthermore, since the detection switch 96 is provided downstream of the stopper 95, the detection switch 96 can reliably count the seedling mats MPL. Furthermore, since the seedling mats MPL that are restricted (stopped) in the transport path of the seedling mats MPL overlap with the seedling feed belt 352, the seedling mats MPL can be transported downstream by the seedling feed belt 352 even if they are restricted (stopped) by the stopper 95.

[0122] Further advantages and modifications will readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents. [Explanation of symbols]

[0123] 1 Seedling transplanter 2 Running vehicle 3 Seedling planting department 11 Front wheel 12 rear wheels 35 Seedling Tank 38 Planting Claw 50 Location information acquisition section 95 Stopper 96 Detection switch 100 control section 351 Seedling feeding roller 352 Seedling feeding belt B Boundary D distance F field MPL Seedling Mat PL seedlings SW working area

Claims

1. a traveling vehicle body having front and rear wheels and capable of traveling within a field; a seedling planting unit provided on the traveling vehicle body, which, while the traveling vehicle body is traveling, plants seedlings scraped off from a seedling mat transported in a seedling tank with planting claws into the field; A control unit that controls the seedling planting unit to change the amount of seedlings picked by the planting claws; A seedling transplanter comprising: The control unit It has seedling usage information preset according to the work area, The seedling transplanter calculates the current amount of seedlings used, compares the amount used with the value of the amount used information, and issues a warning if there is a discrepancy between the amount used and the value of the amount used information.

2. The control unit Correcting the amount of seedlings removed by the planting claws based on the slip rate; The control unit When the slip rate is equal to or greater than a predetermined value, the amount of seedlings removed is reduced. The control unit Controlling the feeding amount of the seedling mat in the seedling tank; The compression rate of the seedling mat is changed arbitrarily by controlling the feeding amount.

2. The seedling transplanter according to claim 1.

3. an ultrasonic sensor provided in the seedling tank for measuring the distance to the seedling mat in the seedling tank; Equipped with The control unit Calculating the remaining amount of the seedling mat based on the distance measured by the ultrasonic sensor.

3. The seedling transplanter according to claim 1 or 2.

Images