Seedling transplanter

Abstract

To solve a problem with a conventional seedling transplanter such as a rice transplanter that a conventional seedling transplanter is not necessarily conveniently used when a convenient function is used, more specifically, there is a case where automatic fertilizer application is not always performed properly.SOLUTION: A rice transplanter 1 includes a traveling device 30 for causing a vehicle body 10 to travel by utilizing power of an engine 20, a seedling planting device 40 for performing seedling planting, a fertilizer application device 50 for performing fertilizer application, and a controller 60. The controller 60 causes the fertilizer application device 50 to perform fertilizer application on the spot when causing the seedling planting device 40 to perform seedling planting on the spot without causing the vehicle body 10 to travel.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a seedling transplanter, such as a rice transplanter. [Background technology]

[0002] A seedling transplanter is known that has a traveling vehicle body that travels through a field and is equipped with an engine and a continuously variable transmission, and a seedling planting device at the rear of the traveling vehicle body that plants seedlings in the field, as well as a planting clutch mechanism that turns the drive force of the seedling planting device on and off, and an auxiliary speed change operating member that switches the traveling state of the traveling vehicle body between road mode, neutral mode, and planting mode, and that when the auxiliary speed change operating member is operated from the neutral mode position and a field edge planting switch is turned on, the planting clutch mechanism is connected and the output from the continuously variable transmission is increased to a first specified value, thereby driving the seedling planting device (see, for example, Patent Documents 1 and 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-155462 [Patent Document 2] Japanese Patent Application Laid-Open No. 2015-146791 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, the inventor believes that the trend of incorporating convenient functions into seedling transplanters one after another will continue to accelerate, taking into consideration the various needs of users.

[0005] However, the present inventors have noticed that conventional seedling transplanters such as rice transplanters are not necessarily easy to use when using convenient functions.

[0006] More specifically, the present inventors have noticed that automatic fertilizer spreading is not always performed appropriately.

[0007] SUMMARY OF THE INVENTION In consideration of the above-mentioned problems of the prior art, the present invention aims to provide a seedling transplanter that can improve ease of use. [Means for solving the problem]

[0008] The first aspect of the present invention is a vehicle including: a traveling device that uses engine power to travel a vehicle body; a seedling planting device for planting seedlings; a fertilizer spreading device that spreads fertilizer; A controller and It is equipped with This seedling transplanter is characterized in that the controller causes the seedling planting device to plant the seedlings on the spot without moving the vehicle body, and causes the fertilizer spreading device to spread the fertilizer on the spot.

[0009] A second aspect of the present invention is the seedling transplanter according to the first aspect of the present invention, wherein the controller causes the fertilizer spraying device to spray fertilizer using the power of a motor.

[0010] The third aspect of the present invention is a method for planting seedlings on the spot, wherein an on-site seedling planting permission condition that allows the seedling planting device to perform the on-site seedling planting is determined in advance, The second seedling transplanter of the present invention is characterized in that, when the on-site seedling planting permissible conditions are not satisfied, the controller does not cause the fertilizer spreader device to spread fertilizer on-site.

[0011] A fourth aspect of the present invention is a method for creating a field map of a substantially rectangular field, in which manual travel is performed along a manual travel path that sequentially follows three predetermined sides of the substantially rectangular field; After the manual traveling has been performed, the controller causes the robot to automatically travel along an automatic traveling route that follows all or part of the three sides and two diagonals of the substantially rectangular shape based on the created farm field map; the automated driving route follows each of the two diagonals only once; When the automated driving is performed, the fertility of the field is measured at the two diagonals; The third aspect of the seedling transplanter of the present invention is characterized in that the controller causes the fertilizer spreading device to spread the fertilizer based on the measured fertility.

[0012] The fifth aspect of the present invention is a seedling planting device having a seedling planting rod for planting seedlings, A seedling planting sensor is attached at a position near the seedling planting rod, The fertilizer spreading device has a fertilizer spreading hose that spreads fertilizer, A fertilizer shutter mechanism is provided at the fertilizer spray hose outlet of the fertilizer spray hose, The fourth seedling transplanter of the present invention is characterized in that the controller controls the opening and closing of the fertilizer shutter mechanism based on the detection results of the seedling planting sensor so that the fertilizer is sprayed in the vicinity of the planted seedlings.

[0013] In a sixth aspect of the present invention, a fertilizer spreading sensor is attached to the furrow former at a position below the fertilizer shutter mechanism, The fifth seedling transplanter of the present invention is characterized in that the controller adjusts the timing of opening and closing of the fertilizer shutter mechanism based on the detection results of the fertilizer spraying sensor so that the fertilizer is sprayed only in the vicinity of the planted seedlings.

[0014] The seventh aspect of the present invention is a vehicle comprising: a traveling device that uses engine power to travel a vehicle body; a seedling planting device for planting seedlings; a fertilizer spreading device that spreads fertilizer; A controller and It is equipped with In a substantially rectangular field, manual travel is performed along a manual travel path that traces four sides of the substantially rectangular field in order to create a field map of the field; After the manual traveling has been performed, the controller causes the robot to automatically travel along an automatic traveling route that follows all or part of the four sides and one diagonal line of the substantially rectangular shape based on the created farm field map; the automated driving route follows the one diagonal line only once, When the automatic traveling is performed, the fertility of the field is measured at the one diagonal line; The seedling transplanter is characterized in that the controller causes the fertilizer spreading device to spread the fertilizer based on the measured fertility.

[0015] The eighth aspect of the present invention is a vehicle comprising: a traveling device that uses engine power to travel a vehicle body; a seedling planting device for planting seedlings; a fertilizer spreading device that spreads fertilizer; A controller and It is equipped with In a substantially rectangular field, manual travel is performed along a manual travel path that sequentially follows three predetermined sides of the substantially rectangular field in order to create a field map of the field; After the manual traveling has been performed, the controller causes the robot to automatically travel along an automatic traveling route that follows all or part of the three sides and two diagonals of the substantially rectangular shape based on the created farm field map; the automated driving route follows each of the two diagonals only once; When the automated driving is performed, the fertility of the field is measured at the two diagonals; The seedling transplanter is characterized in that the controller causes the fertilizer spreading device to spread the fertilizer based on the measured fertility. [Effects of the Invention]

[0016] The first aspect of the present invention makes it possible to improve usability.

[0017] According to the second aspect of the present invention, in addition to the effect of the first aspect of the present invention, it is possible to improve convenience.

[0018] According to the third aspect of the present invention, in addition to the effects of the second aspect of the present invention, it is possible to improve practicality.

[0019] According to the fourth aspect of the present invention, in addition to the effect of the third aspect of the present invention, it is possible to further improve usability.

[0020] According to the fifth aspect of the present invention, in addition to the effect of the fourth aspect of the present invention, it is possible to improve reliability.

[0021] According to the sixth aspect of the present invention, in addition to the effect of the fifth aspect of the present invention, it is possible to reduce the burden on the worker.

[0022] According to the seventh aspect of the present invention, it is possible to improve usability.

[0023] According to the eighth aspect of the present invention, it is possible to improve usability. [Brief explanation of the drawings]

[0024] [Figure 1] (a) is a left side view of a rice transplanter according to an embodiment of the present invention; (b) is a plan view of the rice transplanter according to an embodiment of the present invention; [Figure 2] FIG. 1 is a partial perspective view of the vicinity of a motor of a rice transplanter according to an embodiment of the present invention; [Figure 3] 1 is a schematic partial perspective view of the vicinity of a furrow former of a rice transplanter according to an embodiment of the present invention; [Figure 4] FIG. 1 is a partial plan view of the vicinity of the sub-speed change lever of a rice transplanter according to an embodiment of the present invention; [Figure 5] FIG. 1 is an explanatory diagram of automatic travel of a rice transplanter according to an embodiment of the present invention; [Figure 6] FIG. 2 is an explanatory diagram of automatic travel of a rice transplanter according to an embodiment of the present invention (part 2); [Figure 7] FIG. 3 is an explanatory diagram of automatic travel of a rice transplanter according to an embodiment of the present invention. [Figure 8] 4 is an explanatory diagram of automatic travel of a rice transplanter according to an embodiment of the present invention; [Figure 9] 5 is an explanatory diagram of the automatic travel of the rice transplanter according to the embodiment of the present invention. [Figure 10] (a) An explanatory diagram (part 1) of a fertilizer applicator moisture countermeasure for a fertilizer spreader of a rice transplanter according to an embodiment of the present invention, (b) An explanatory diagram (part 2) of a fertilizer applicator moisture countermeasure for a fertilizer spreader of a rice transplanter according to an embodiment of the present invention, (c) An explanatory diagram (part 3) of a fertilizer applicator moisture countermeasure for a fertilizer spreader of a rice transplanter according to an embodiment of the present invention, (d) An explanatory diagram (part 4) of a fertilizer applicator moisture countermeasure for a fertilizer spreader of a rice transplanter according to an embodiment of the present invention, (e) An explanatory diagram (part 5) of a fertilizer applicator moisture countermeasure for a fertilizer spreader of a rice transplanter according to an embodiment of the present invention. [Figure 11] (a) An explanatory diagram (part 6) of a moisture countermeasure for a fertilizer applicator of a fertilizer spreader of a rice transplanter according to an embodiment of the present invention, (b) An explanatory diagram (part 7) of a moisture countermeasure for a fertilizer applicator of a fertilizer spreader of a rice transplanter according to an embodiment of the present invention [Figure 12] (a) An explanatory diagram (part 1) of the improvement in durability of the fertilizer delivery unit of the fertilizer spreader of the rice transplanter according to the embodiment of the present invention, (b) an explanatory diagram (part 2) of the improvement in durability of the fertilizer delivery unit of the fertilizer spreader of the rice transplanter according to the embodiment of the present invention, and (c) an explanatory diagram (part 3) of the improvement in durability of the fertilizer delivery unit of the fertilizer spreader of the rice transplanter according to the embodiment of the present invention. [Figure 13] (a) An explanatory diagram (part 4) of the improvement in durability of the fertilizer delivery unit of the fertilizer spreader of the rice transplanter according to the embodiment of the present invention, (b) An explanatory diagram (part 5) of the improvement in durability of the fertilizer delivery unit of the fertilizer spreader of the rice transplanter according to the embodiment of the present invention DETAILED DESCRIPTION OF THE INVENTION

[0025] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the drawings.

[0026] Similarly, some components may not be shown in the drawings, or may be shown in perspective or in simplified form.

[0027] While explaining the operation of the rice transplanter 1 according to the embodiment of the present invention, a seedling transplanter operation control method according to the invention, which is realized by the controller 60 and the like, will also be explained.

[0028] The rice transplanter 1 according to the embodiment of the present invention is a specific example of the seedling transplanter according to the present invention.

[0029] (1) First, the configuration and operation of a rice transplanter 1 according to an embodiment of the present invention will be specifically described with reference to FIGS. 1(a), 1(b), 2, 3, and 4.

[0030] Here, Figure 1(a) is a left side view of a rice transplanter 1 according to an embodiment of the present invention, Figure 1(b) is a plan view of a rice transplanter 1 according to an embodiment of the present invention, Figure 2 is a partial oblique view of the vicinity of the motor 51 of a rice transplanter 1 according to an embodiment of the present invention, Figure 3 is a schematic partial oblique view of the vicinity of the furrow former 54 of a rice transplanter 1 according to an embodiment of the present invention, and Figure 4 is a partial plan view of the vicinity of the sub-speed change lever 101 of a rice transplanter 1 according to an embodiment of the present invention.

[0031] The traveling device 30 is a device that uses the power of the engine 20 to travel the vehicle body 10, the seedling planting device 40 is a device that plants seedlings, and the fertilizer spreading device 50 is a device that spreads fertilizer. When the controller 60 causes the seedling planting device 40 to plant seedlings on the spot without causing the vehicle body 10 to travel, it also causes the fertilizer spreading device 50 to spread fertilizer on the spot.

[0032] The controller 60 causes the fertilizer spreading device 50 to spread fertilizer using the power of the motor 51.

[0033] The fertilizer spreader 50 is an electric fertilizer applicator powered by a motor 51, which functions as a fertilizer motor. When the seedling planting device 40 is operated to plant seedlings in place, often referred to as "pita planting," without moving the vehicle 10, the motor 51 is rotated to apply a predetermined amount of fertilizer. The sub-shift lever 101 is tilted to the in-place seedling planting lever position for in-place seedling planting, and one rotation of the seedling planting rod 41, also called the planting rod, results in one or two seedlings being planted in place. In a mode in which the fertilizer spreader 50 uses the power of the engine 20 to spread fertilizer, the fertilizer delivered is transported through the fertilizer spreader hose 52 after the vehicle starts traveling and its speed is detected. Therefore, it is difficult to expect fertilizer to be spread during the initial travel section. In this way, in an electric fertilizer applicator that extracts power from the motor 51 without extracting power from the rotation of the rear wheels, it is possible to reliably perform on-site fertilization together with on-site seedling planting.

[0034] In the electric control of the motor 51 that supplies power for on-site fertilization via the coupling 104, the number of rotations per minute [rev / min] of the motor 51 is determined by the fertilization setting value [kg / 10a], the fertilization working width [m], and the amount of fertilization per rotation of the motor 51 [kg / rev], etc.

[0035] The in-situ seedling planting permission conditions that allow the seedling planting device 40 to plant seedlings on the spot are determined in advance. If the in-situ seedling planting permission conditions are not satisfied, the controller 60 does not allow the fertilizer spreading device 50 to spread fertilizer on the spot.

[0036] For example, when the float 102 is not confirmed to be in the ground or when the folded state of the seedling planting device 40 is detected, it is determined that the necessary conditions for on-site fertilization are not met, and the initiation of the above-mentioned electric control is restricted.

[0037] The seedling planting device 40 has a seedling planting rod 41 for planting seedlings. A seedling planting sensor 45 is attached near the seedling planting rod 41. The fertilizer spreading device 50 has a fertilizer spreading hose 52 for spreading fertilizer. A fertilizer shutter mechanism 53 is provided at the fertilizer spreading hose outlet of the fertilizer spreading hose 52. A controller 60 controls the opening and closing of the fertilizer shutter mechanism 53 based on the detection result of the seedling planting sensor 45 so that fertilizer is spread near the planted seedlings.

[0038] When applying fertilizer to planted seedlings, it is desirable to apply it near the seedlings. When fertilizer is applied in a continuous line, as in row sowing, some of the fertilizer is applied away from the seedlings, which can easily result in fertilizer waste. By applying fertilizer near the seedlings, not only can fertilizer be reduced, but environmental impact can also be reduced.

[0039] The fertilizer stored in the fertilizer hopper section 103 is delivered in a spot-seeding manner by opening and closing the fertilizer shutter mechanism 53. Delivery of fertilizer in this manner not only reduces the amount of fertilizer used but also reduces the environmental load.

[0040] The amount of fertilizer delivered is adjusted by adjusting the opening and closing speed of the fertilizer shutter mechanism 53. The accuracy of the amount of fertilizer delivered is improved by adjusting the amount of fertilizer delivered in this way.

[0041] The timing of feeding fertilizer is adjusted by adjusting the opening and closing timing of the fertilizer shutter mechanism 53. The accuracy of spraying fertilizer near the seedlings is improved by adjusting the timing of feeding fertilizer in this way.

[0042] The seedling planting sensor 45 is attached to the support member of the seedling planting rod 41, and the fertilizer shutter mechanism 53 opens and closes at the timing of seedling planting, supplying fertilizer to the planted seedlings. The accuracy of fertilizer spraying near the seedlings is further improved by using the seedling planting sensor 45.

[0043] A fertilizer spray sensor 55 is attached to the furrow former 54 at a position below the fertilizer shutter mechanism 53. The controller 60 adjusts the timing of opening and closing the fertilizer shutter mechanism 53 based on the detection results of the fertilizer spray sensor 55 so that fertilizer is sprayed only in the vicinity of the planted seedlings.

[0044] A fertilizer spray sensor 55, also known as a fertilizer passage sensor, is attached to the furrow former 54 located just before the fertilizer delivery position, and adjusts the opening and closing timing of the fertilizer shutter mechanism 53 when there is a deviation from the seedling planting timing detected by the seedling planting sensor 45. Adjusting the opening and closing timing of the fertilizer shutter mechanism 53 in this way improves the accuracy of fertilizer spraying near the seedlings.

[0045] Fertilizer spraying sensor 55 is disposed above the bottom surface of float 102, i.e., above the water surface of the paddy field. Like the fertilizer itself, fertilizer spraying sensor 55 is desirably disposed in a location that is less affected by water so that it does not get wet with paddy field water.

[0046] The fertilizer shutter mechanism 53 is attached to a position immediately before the furrow former 54. When the fertilizer conveying distance along the fertilizer delivery path along which fertilizer is delivered from the fertilizer hopper section 103 is long, it can be difficult to adjust the opening and closing timing of the fertilizer shutter mechanism 53. By attaching the fertilizer shutter mechanism 53 to such a position, the accuracy of fertilizer spraying near the seedlings is further improved.

[0047] The fertilizer shutter mechanism 53 is also disposed above the bottom surface of the float 102, i.e., above the water surface of the paddy field. Like the fertilizer itself, the fertilizer shutter mechanism 53 is desirably disposed in a location that is less affected by water so that it does not get wet with paddy field water.

[0048] By pressing the fertilizer trial dispensing button, the fertilizer shutter mechanism 53 opens and closes a predetermined number of times. The user can recognize the amount of fertilizer that will be applied at a given dispensing setting and adjust the amount of fertilizer applied.

[0049] The shutter opening period of the fertilizer shutter mechanism 53 can be adjusted not only based on the amount of fertilizer set from a monitor or the like, but also based on the results of trial fertilizer feeding. Adjustments to the fertilizer shutter mechanism 53 and the like can be made based on the results of trial fertilizer feeding so that the desired amount of fertilizer according to the monitor setting can be obtained.

[0050] The number of plants is acquired by a plant spacing sensor attached to the plant spacing switch lever, and the amount of fertilizer applied per plant is output to the monitor along with the amount of fertilizer applied per unit area, for example, 10 a. Users are often unfamiliar with the concept of the amount of fertilizer applied per plant and are easily confused. A user-friendly mode is realized by displaying the amount of fertilizer applied per unit area, which users are familiar with, along with the amount of fertilizer applied per plant in two patterns.

[0051] The number of seedlings is acquired by a plant spacing sensor attached to the plant spacing switch lever, and when the travel distance measured by rear wheel pulse detection or the like does not match the number of seedlings planted obtained from the detection results of the seedling planting sensor 45, a seedling planting sensor error is output as a warning. The user can recognize an abnormal condition such as a failure of the seedling planting sensor 45 based on the warning.

[0052] The wheel slip rate is calculated by comparing the travel distance measured by the rear wheel pulse detection with the travel distance additionally detected by, for example, a GNSS sensor. By taking the wheel slip rate into account, false recognition such as errors in the seedling planting sensor 45 caused by wheel spinning is less likely to occur, improving the reliability of the seedling planting sensor error warning.

[0053] The number of stalks is obtained by a stalk-spacing sensor attached to the stalk-spacing switch lever, and if the traveled distance measured by rear wheel pulse detection or the like does not match the number of times the fertilizer shutter mechanism 53 has been opened and closed, obtained from the detection results of the fertilizer spraying sensor 55, a fertilizer spraying sensor error is output as a warning. The user can recognize an abnormal state, such as a malfunction of the fertilizer spraying sensor 55, based on the warning.

[0054] The wheel slip rate is calculated by comparing the travel distance measured by, for example, rear wheel pulse detection with the travel distance additionally detected by, for example, a GNSS sensor. By taking the wheel slip rate into consideration, erroneous recognition such as an error in the fertilizer spreading sensor 55 due to wheel spinning is less likely to occur, improving the reliability of the fertilizer spreading sensor error warning.

[0055] (2) Next, the configuration and operation of the rice transplanter 1 according to the embodiment of the present invention will be described in more detail, mainly with reference to FIGS.

[0056] 5 to 9 are explanatory diagrams (parts 1 to 5) of the automatic travel of the rice transplanter 1 according to the embodiment of the present invention.

[0057] In a substantially rectangular field, manual travel is performed along a manual travel path that traces the four sides of the substantially rectangular shape in order to create a field map of the field.

[0058] In order to perform real-time variable fertilization control of the robotic rice transplanter, rice transplanter 1, a circumnavigation of the field is performed to create a field map prior to the fertility measurement step, which is sometimes called the reference value measurement step.

[0059] In Figures 5 to 9, linear automated driving routes are indicated by circled numbers.

[0060] After manual driving has been performed, the controller 60 causes the robot to automatically drive based on the created field map along an automatic driving route that follows all or part of the four sides and one diagonal of the approximately rectangular shape.

[0061] For example, the rice transplanter 1 automatically travels diagonally along the first automatic travel route to measure the fertility. After measuring the fertility on the first automatic travel route, the rice transplanter 1 follows the second and third automatic travel routes and returns to the automatic travel start area for the next seedling planting step by traveling back and forth in a straight line. The second and third automatic travel routes are idle routes that do not involve seedling planting (see Figure 5).

[0062] Of course, for example, a configuration is also conceivable in which the second automatic travel route is a free travel route, but the third automatic travel route is a seedling planting route (see FIG. 6).

[0063] The automated driving route follows one diagonal line only once.

[0064] Since the rice transplanter 1 passes diagonally only once, it hardly disturbs the soil on the surface of the field.

[0065] When the automatic drive is in progress, the fertility of the field is measured in one diagonal line.

[0066] Since the rice transplanter 1 passes through a diagonal line, average fertility data for the entire field can be obtained with high accuracy.

[0067] The controller 60 causes the fertilizer application device 50 to apply fertilizer based on the measured fertility.

[0068] In a substantially rectangular field, manual travel may be performed along a manual travel route that sequentially follows three predetermined sides of the substantially rectangular field in order to create a field map of the field.

[0069] The automated driving path for fertility measurement is precisely created from the data of the three outermost edges traced in order (see Figures 7 and 8).

[0070] After manual driving has been performed, the controller 60 causes automatic driving based on the created field map along an automatic driving route that follows all or part of the three sides and two diagonals of the approximately rectangular shape.

[0071] Since it is possible that the first automatic driving route is not only a diagonal line (see Figure 7) but also a side line (see Figure 8), two route suggestions are displayed on a tablet terminal device or the like to prompt the worker to select a route.

[0072] It is possible to include the remaining edge for which data is not available, that is, the so-called unknown edge, as part of the automatic driving route (see Figure 9). However, since this may cause adverse effects on the seedling planting step due to the subsequent straight-line round trip driving, it is often desirable not to adopt such a route proposal.

[0073] The automated driving path follows each of the two diagonals only once.

[0074] Since the rice transplanter 1 passes over each of the two diagonal lines only once, it hardly disturbs the soil on the surface of the field.

[0075] When the automatic drive is in progress, the fertility of the field is measured in two diagonals.

[0076] Since the rice transplanter 1 passes through two diagonals, average fertility data for the entire field can be obtained with greater accuracy.

[0077] (3) Next, the configuration and operation of the rice transplanter 1 according to the embodiment of the present invention will be described in more detail.

[0078] (3a) With reference primarily to Figures 10(a), 10(b), 10(c), 10(d) and 10(e), measures to prevent moisture buildup in the fertilizer applicator of the fertilizer spreading device 50 will be described.

[0079] Here, Figures 10(a), 10(b), 10(c), 10(d) and 10(e) are explanatory diagrams (parts 1 to 5) of the fertilizer applicator moisture prevention measures of the fertilizer spreader 50 of the rice transplanter 1 in an embodiment of the present invention.

[0080] As illustrated in FIGS. 10( a ) and 10 ( b ), a resin hose 205 connects the fertilizer delivery section, which is provided with a delivery roll 204 , to the air chamber 202 .

[0081] As illustrated in Fig. 10(c), hot air is introduced to the upper side of the delivery roll 204. The vicinity of the tip of the fertilizer hopper section 103, which provides the so-called hopper repose angle, which is the critical angle at which the fertilizer does not slide down, is dried by such hot air.

[0082] As illustrated in Figure 10(d), hot air may be introduced below the unwind roll 204. Fertilizer powder remaining below the unwind roll 204 is removed by such hot air.

[0083] As illustrated in FIG. 10( e), a cartridge heater 203 may be added between the blower 201 installed inside the air chamber 202 and the first unwind roll 204. The cartridge heater 203 generates fertilizer delivery air having a higher temperature than the temperature of the exhaust heat section of the engine 20.

[0084] (3b) Mainly with reference to Figures 11(a) and 11(b), measures to prevent moisture in the fertilizer applicator of the fertilizer spreading device 50 will be further described.

[0085] 11(a) and 11(b) are explanatory diagrams (sixth and seventh) of measures against moisture in the fertilizer applicator of the fertilizer spreader 50 of the rice transplanter 1 according to the embodiment of the present invention.

[0086] As shown in Figure 11(a), silica gel unit 301, which carries silica gel, a moisture absorbent, is detachably attached to the back surface of the hopper lid of fertilizer hopper section 103. When the moisture absorption of the silica gel increases and the moisture absorption property decreases, silica gel unit 301 is removed, and the increased moisture absorption of the silica gel is reduced by drying it in the sun indoors, for example.

[0087] 11(b), a silicone rubber heater 302 may be attached to the rear surface of the hopper lid of the fertilizer hopper section 103. The temperature inside the hopper of the fertilizer hopper section 103 is increased by the operation of the silicone rubber heater 302, thereby suppressing the occurrence of condensation inside the hopper.

[0088] (3c) Mainly with reference to Figures 12(a), 12(b) and 12(c), and 13(a) and 13(b), the improvement in durability of the fertilizer delivery unit of the fertilizer spreading device 50 will be described.

[0089] Here, Figures 12(a), 12(b) and 12(c), as well as 13(a) and 13(b) are explanatory diagrams (parts 1 to 5) of the improvement in durability of the fertilizer delivery section of the fertilizer spreader 50 of the rice transplanter 1 according to an embodiment of the present invention.

[0090] A plurality of fixing members 402 are provided for each of the plurality of funnel units 401. The stay portion insertion diameter δ of the stay portion 404 is set to be smaller than the shaft diameter d of the shaft portion 403 so that the shaft portion 403 of the fixing member 402 is firmly press-fitted into the stay portion 404 and held therein. The fixing member 402 is rotationally symmetric, and the shaft portion 403 provides an axis of rotational symmetry. For example, if the fixing member 402 is partially damaged due to deterioration over time, the fixing member 402 can be continuously used by rotating the fixing member 402 around the shaft portion 403 in accordance with the symmetry and reattaching it, thereby substantially improving the durability of the fertilizer delivery unit.

[0091] In addition, the program of the invention related to the present invention is a program that causes a computer to execute all or part of the steps (or processes, operations and actions, etc.) of the seedling transplanter operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with a computer.

[0092] In addition, the recording medium of the invention related to the present invention is a recording medium that records a program for causing a computer to execute all or some of the operations of all or some of the steps (or processes, operations and actions, etc.) of the seedling transplanter operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with a computer.

[0093] It should be noted that the above-mentioned "some steps (or processes, operations, actions, etc.)" means one or some steps among the plurality of steps.

[0094] Furthermore, the above-mentioned "operations of steps (or processes, operations, actions, etc.)" means the operations of all or part of the above-mentioned steps.

[0095] Furthermore, one mode of use of the inventive program related to the present invention may be in the form of being transmitted through a transmission medium such as the Internet, light, radio waves, or sound waves, being read by a computer, and operating in cooperation with the computer.

[0096] The recording medium also includes a ROM (Read Only Memory).

[0097] Furthermore, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may also include firmware, an OS (Operating System), and even peripheral devices.

[0098] As described above, the configuration of the present invention may be realized in software or hardware. [Industrial Applicability]

[0099] The seedling transplanter of the present invention can improve ease of use and is useful for use in seedling transplanters such as rice transplanters. [Explanation of symbols]

[0100] 1. Rice planter 10. Body 20 Engine 30 Running gear 40 Seedling planting device 41 Seedling planting rod 45 Seedling planting sensor 50 Fertilizer spreading equipment 51 Motor 52 Fertilizer spreading hose 53 Fertilizer shutter mechanism 54 Groove machine 55 Fertilizer spreading sensor 60 Controller 101 Sub-gear lever 102 Float 103 Fertilizer hopper section 104 Coupling 201 Blower 202 Air Chamber 203 Cartridge heater 204 Payout roll 205 Hose 301 Silica Gel Unit 302 Silicone Rubber Heater 401 Funnel Unit 402 Fixing member 403 Shaft 404 Stay part d Shaft diameter δ Stay insertion diameter

Claims

1. a running device that runs the vehicle body using engine power; a seedling planting device for planting seedlings; a fertilizer spreading device that spreads fertilizer; A controller and It is equipped with The seedling transplanter is characterized in that the controller causes the seedling planting device to plant the seedlings on the spot without moving the vehicle body, and causes the fertilizer spreading device to spread the fertilizer on the spot.

2. The seedling transplanter according to claim 1, wherein the controller controls the fertilizer spreading device to spread the fertilizer using the power of a motor.

3. An on-site seedling planting permission condition that allows the seedling planting device to perform the on-site seedling planting operation is determined in advance, The seedling transplanter according to claim 2, wherein the controller does not cause the fertilizer spreading device to spread the fertilizer on the spot when the on-site seedling planting permissible condition is not satisfied.

4. In a substantially rectangular field, manual travel is performed along a manual travel path that sequentially follows three predetermined sides of the substantially rectangular field in order to create a field map of the field; After the manual traveling has been performed, the controller causes the robot to automatically travel along an automatic traveling route that follows all or part of the three sides and two diagonals of the substantially rectangular shape based on the created farm field map; the automated driving route follows each of the two diagonals only once; When the automated driving is performed, the fertility of the field is measured at the two diagonals; 4. The seedling transplanter according to claim 3, wherein the controller controls the fertilizer spreading device to spread the fertilizer based on the measured fertility.

5. The seedling planting device has a seedling planting rod for planting seedlings, A seedling planting sensor is attached at a position near the seedling planting rod, The fertilizer spreading device has a fertilizer spreading hose that spreads fertilizer, A fertilizer shutter mechanism is provided at the fertilizer spray hose outlet of the fertilizer spray hose, The seedling transplanter according to claim 4, wherein the controller controls the opening and closing of the fertilizer shutter mechanism based on the detection results of the seedling planting sensor so that the fertilizer is sprayed near the planted seedlings.

6. a fertilizer application sensor attached to the furrow former at a location below the fertilizer shutter mechanism; The seedling transplanter according to claim 5, characterized in that the controller adjusts the timing of opening and closing of the fertilizer shutter mechanism based on the detection results of the fertilizer spraying sensor so that the fertilizer is sprayed only in the vicinity of the planted seedlings.

7. a running device that runs the vehicle body using engine power; a seedling planting device for planting seedlings; a fertilizer spreading device that spreads fertilizer; A controller and It is equipped with In a substantially rectangular field, manual travel is performed along a manual travel path that traces four sides of the substantially rectangular field in order to create a field map of the field; After the manual traveling has been performed, the controller causes the robot to automatically travel along an automatic traveling route that follows all or part of the four sides and one diagonal line of the substantially rectangular shape based on the created farm field map; the automated driving route follows the one diagonal line only once, When the automatic traveling is performed, the fertility of the field is measured at the one diagonal line; The seedling transplanter is characterized in that the controller causes the fertilizer spreading device to spread the fertilizer based on the measured fertility.

8. a running device that runs the vehicle body using engine power; a seedling planting device for planting seedlings; a fertilizer spreading device that spreads fertilizer; A controller and It is equipped with In a substantially rectangular field, manual travel is performed along a manual travel path that sequentially follows three predetermined sides of the substantially rectangular field in order to create a field map of the field; After the manual traveling has been performed, the controller causes the robot to automatically travel along an automatic traveling route that follows all or part of the three sides and two diagonals of the substantially rectangular shape based on the created farm field map; the automated driving route follows each of the two diagonals only once; When the automated driving is performed, the fertility of the field is measured at the two diagonals; The seedling transplanter is characterized in that the controller causes the fertilizer spreading device to spread the fertilizer based on the measured fertility.

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