Seedling transplanter

Abstract

There is a rice transplanter that detects a used amount of mat-like seedlings placed on a seedling placing table. However, the use amount sensor for detecting the use amount by biting into the bottom surface of the mat-shaped seedling and rotating is provided, and the configuration and the control of the calculation of the use amount are complicated. To provide a seedling transplanter capable of measuring the seedling length of mat-like seedlings by a simple constitution and calculating a proper seedling use amount.SOLUTION: A seedling transplanter equipped with a seedling transplanting device for taking out one seedling from a lower end portion of a mat-like seedling mat mounted on a seedling mounting table which reciprocates right and left and transplanting the seedling into a field, comprising: a length of the seedling mat in a longitudinal direction before the seedling mat is mounted on the seedling mounting table; an actual length of the seedling mat mounted on the seedling mounting table in the longitudinal direction before the operation by the seedling transplanting device is started; The seedling planting machine according to claim 1, wherein the seedling placing table is provided with a measurement scale for measuring a collapse amount of the seedling mat when the seedling mat is placed on the seedling placing table, based on the difference between the first difference and the second difference.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to a seedling planter that plants seedlings placed on a seedling carrier into a field. [Background technology]

[0002] There is a rice transplanter that detects the amount of mat-like seedlings placed on a seedling carrier that has been used (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-078343 Summary of the Invention [Problem to be solved by the invention]

[0004] The rice transplanter is equipped with a usage sensor that penetrates into the bottom of the mat-like seedlings, rotates, and detects the amount used, and the configuration and control of usage amount calculation are complex.

[0005] The present invention has been made in consideration of the above, and aims to provide a seedling planter that can measure the seedling length of mat-shaped seedlings with a simple configuration and calculate the appropriate amount of seedlings to be used. [Means for solving the problem]

[0006] The invention described in claim 1 is a seedling planting machine equipped with a seedling planting device that takes out a single seedling from the bottom end of a mat-shaped seedling mat placed on a seedling carrier that moves back and forth from side to side and plants the seedling in a field. This seedling planting machine is characterized in that the seedling platform is provided with a measuring scale that measures the amount of crushing of the seedling mat when it is placed on the seedling platform based on the difference between the vertical length of the seedling mat before it is placed on the seedling platform and the actual vertical length of the seedling mat placed on the seedling platform before the seedling planting device begins operation.

[0007] According to the invention of claim 1, the actual length of the seedlings in the seedling mat can be measured with a simple configuration.

[0008] The invention described in claim 2 is a seedling planting machine described in claim 1, characterized in that it has a measurement scale portion for measuring the amount of crushing when two seedling mats are placed vertically on the seedling carrying table.

[0009] According to the invention of claim 2, the compression rate (seedling length) of the seedling mat can be measured with a simple configuration.

[0010] The invention described in claim 3 comprises an operating tool provided on an operation panel, The scale portion allows the actual length of the seedling mat in the vertical direction to be measured, A value using the measurement result can be set by the operating tool, This seedling planting machine is characterized in that it uses the set value to operate an electric motor for adjusting the seedling quantity, which adjusts the amount of seedlings to be used by removing one seedling at a time, and adjusts the seedling receiving plate to move closer to or farther from the lower end of the seedling carrier, thereby changing the amount of seedlings to be removed.

[0011] The invention described in claim 4 is a seedling planting machine as described in claim 1, characterized in that it is provided with a seedling detection sensor that detects mat-shaped seedlings supplied to the upper end of the seedling carrier, and an input device that inputs the set seedling usage amount to be used for each specified planting area, and receives signals from a positioning satellite using a GPS equipped on the machine, calculates location information using a satellite positioning system, and calculates the work area from the work distance at which the work is completed, and when the work area reaches the specified planting area, it compares the set seedling usage amount with the seedling usage amount detected by the seedling detection sensor, and if the set seedling usage amount and the seedling usage amount differ, adjusts the amount of seedlings to be removed so that the seedling usage amount is the same as the set seedling usage amount. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a side view of a riding rice transplanter according to an embodiment of the present invention. [Figure 2] FIG. [Figure 3] FIG. [Figure 4] FIG. 10 is a plan view of the seedlings with mat-like soil of the rice transplanter. [Figure 5] FIG. 2 is a control block diagram of the rice transplanter. [Figure 6] FIG. 2 is a reference diagram showing the symbols and formulas of the rice transplanter. [Figure 7] FIG. 2 is a reference diagram showing the symbols and formulas of the rice transplanter. [Figure 8] FIG. 10 is a perspective view of an extension seedling holder showing another embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0013] Preferred embodiments of the present invention will now be described with reference to the drawings.

[0014] <Overall structure> FIG. 1 is a side view of a riding rice transplanter equipped with a fertilizer applicator, which is one embodiment of the seedling transplanter of the present invention. In this riding rice transplanter 1 with a fertilizer applicator, a seedling planting unit 4 is attached to the rear of a traveling body 2 via a lifting link device 3 so that it can be raised and lowered, and the main body of the fertilizer applicator 5 is mounted on the upper rear part of the traveling body 2. A soil leveling rotor 6 is mounted in front of the seedling planting unit 4. In addition, spare seedling carriers Y are provided on both the left and right sides of the front of the traveling body 2, and a center marker CM is provided in the center of the front end of the traveling body 2. Note that the left and right directions when looking forward in the riding rice transplanter 1 are referred to as left and right, respectively, and the forward and backward directions are referred to as front and rear, respectively.

[0015] <Running vehicle 2> The running vehicle body 2 is a four-wheel drive vehicle equipped with a pair of left and right front wheels 7, 7 and a pair of left and right rear wheels 8, 8 which are drive wheels. A transmission case 9 is arranged at the front of the vehicle body, and front wheel final cases 10, 10 are provided on the left and right sides of the transmission case 9. The left and right front wheels 7, 7 are respectively attached to left and right front wheel axles 10b, 10b which protrude outward from respective front wheel support parts 10a, 10a which can change the steering direction of the left and right front wheel final cases 10, 10.

[0016] In addition, the front end of a main frame 11 is fixed to the back of the transmission case 9, and left and right rear wheel gear cases 12, 12 are supported at the rear end of the main frame 11 via left and right suspensions so that they can move up and down independently, and rear wheels 8, 8 are attached to left and right rear wheel axles 13, 13 that protrude outward from the left and right rear wheel gear cases 12, 12.

[0017] The engine 14 is mounted on the main frame 11 , and the rotational power of the engine 14 is transmitted to the transmission case 9 via a belt transmission device and an HST 15 .

[0018] The rotational power transmitted to the transmission case 9 is changed in speed by the transmission inside the transmission case 9, and then separated into running power and externally extracted power.

[0019] A portion of the driving power is transmitted to the left and right front wheel final cases 10, 10 to drive the left and right front wheels 7, 7, and the remainder is transmitted to the left and right rear wheel gear cases 12, 12 via the left and right rear wheel drive shafts to drive the left and right rear wheels 8, 8.

[0020] In addition, the externally extracted power is transmitted to a planting clutch case provided at the rear of the traveling body 2, and then transmitted to the seedling planting section 4 by a planting transmission shaft, and also transmitted to the fertilizer application device 5 by a fertilizer application transmission mechanism.

[0021] The top of the engine 14 is covered by an engine cover 16, and a seat 17 is installed above it.

[0022] In front of the seat 17 is a front cover 18 which incorporates various operating mechanisms and has an operating panel 18a at the upper rear part, and above that is provided a handle 19 which serves as a steering device for steering the front wheels 7,7.

[0023] The left and right sides of the lower ends of the engine cover 16 and the front cover 18 form horizontal floor steps 20. Part of the floor step 20 is lattice-shaped so that mud on the shoes of an operator walking on the floor step 20 falls into the field. The rear part above the floor step 20 forms a rear step 21 that also serves as a rear wheel fender.

[0024] The lifting link device 3 has a parallel link structure and includes one upper link 22a and a pair of left and right lower links 22b, 22b.

[0025] The base sides of these links 22a, 22b, 22b are rotatably attached to a link base frame 23, which is formed in a portal shape when viewed from the rear and is erected at the rear end of the main frame 11, and a vertical link 24 is connected to the tip side of the link base frame 23.

[0026] A connecting shaft 25 rotatably supported on the seedling planting section 4 is inserted and connected to the lower end of the vertical link 24, and the seedling planting section 4 is connected so as to be able to roll freely around the connecting shaft 25.

[0027] A lifting hydraulic cylinder 26 is provided between the link base frame 23 and the vertical link 24, and by hydraulically extending and contracting the lifting hydraulic cylinder 26, the lifting link device 3 rotates up and down, and the seedling planting section 4 rises and falls while maintaining an almost constant posture.

[0028] At the center of the front left and right of the traveling body 2, a GPS 29 is provided at the upper end of a support 28 whose base is fixed to the machine frame.

[0029] The control device 27 provided inside the front cover 18 stores map data of the field registered in a map database. The control device 27 receives signals from positioning satellites in the field using the GPS 29 and calculates position information using the satellite positioning system, while displaying the work route where work in the field has been completed and the current position on the monitor 37, which also serves as a touch panel input device provided on the operation panel 18a on the top surface of the front cover 18, and calculating the work area d (d = work distance c × work width k) from the work distance c where work has been completed.

[0030] <Seedling planting section 4> The seedling planting section 4 has a six-row planting configuration and is equipped with a transmission case 40 that also serves as a frame, a seedling carrier 41 that carries seedlings N with soil attached to a mat, which is an example of a mat-shaped seedling, and moves back and forth from side to side along the seedling receiving plate 41a, supplying the seedlings one by one to the seedling outlet 41a' of each row of the seedling receiving plate 41a, and also transporting all of the seedlings in one horizontal row to the seedling receiving plate 41a by the seedling feed belt 41b, and a seedling planting device 42 that plants the seedlings supplied to the seedling outlet 41a' of the seedling receiving plate 41a in the field.

[0031] A center leveling float 43 is provided in the center of the lower part of the seedling planting section 4, and side leveling floats 44, 44 are provided on both the left and right sides of the center leveling float 43.

[0032] When the machine is advanced with these leveling floats 43, 44, 44 in contact with the muddy surface of the field, the leveling floats 43, 44, 44 glide while leveling the muddy surface, and seedlings are planted in the leveled area by the seedling planting device 42.

[0033] Each leveling float 43, 44, 44 is attached so that it can rotate freely, allowing its front end to move up and down in response to the unevenness of the topsoil surface of the field. During planting work, the up and down movement of the front of the center leveling float 43 is detected by an angle-of-attack control sensor (not shown). In response to the detection result, the hydraulic valve that controls the lifting hydraulic cylinder 26 is switched to raise and lower the seedling planting section 4, thereby maintaining a constant seedling planting depth.

[0034] A soil leveling rotor 6 is provided in front of the seedling planting section 4 to level the muddy surface ahead of the soil leveling floats 43, 44, 44.

[0035] Here, the detailed configuration of the seedling carrier 41 will be described with reference to Figs.

[0036] The seedling carrier 41 is configured with six seedling carriers 41f arranged in the left-right direction, each of which consists of a bottom surface 41c for placing mat-like soil-covered seedlings N, left and right side walls 41d, and tray-like extension seedling carriers 41e, since six rows are planted.

[0037] Each seedling placing section 41f is provided with a pair of left and right seedling feeding belts 41b that transport the seedlings N with mat-like soil placed on the seedling placing table 41 toward the seedling removal opening 41a' below when the seedling placing table 41 moves to the left or right movement end.

[0038] The seedling carrier 41 moves back and forth left and right by a lateral feed drive mechanism driven through a gear-shifted lateral feed speed change device inside the transmission case 40, and the lateral feed speed change device is changed in speed by a lateral feed speed change electric motor 30 operated by commands from the control device 27.

[0039] In addition, the electric motor 30 for changing the lateral feed speed can also be operated by the lateral feed setting dial 31 provided on the operation panel 18a, and the lateral feed speed of the seedling carrier 41 can be changed by manually operating the lateral feed setting dial 31, thereby changing the seedling removal amount of the seedling planting device 42.

[0040] A seedling carrier sensor 32 is provided on the top surface of the transmission case 40 to detect when the seedling carrier 41 moves to the left or right end of its reciprocating movement, and the control device 27 calculates the number of times the seedling carrier 41 moves back and forth (a) based on the detection by the seedling carrier sensor 32 (the number of times the seedling carrier sensor 32 detects when the seedling carrier 41 moves from one left or right end to the other end).

[0041] The seedling feed belt 41b is driven by a stepping motor 33, and when the seedling platform sensor 32 detects that the seedling platform 41 has reached the left or right end of its travel, the stepping motor 33 is activated by command from the control device 27, and a predetermined amount of seedlings N with mat-like soil placed on the seedling placement section 41f is transported toward the seedling receiving plate 41a.

[0042] The seedling receiving plate 41a can be freely moved toward or away from the lower end of the seedling carrier 41 by an electric motor 34 for adjusting the seedling amount, which is operated by commands from the control device 27.

[0043] In addition, the electric motor 34 for adjusting the seedling quantity can also be operated by the seedling quantity setting dial 35 provided on the operation panel 18a, and the seedling quantity of the seedling planting device 42 can be changed by manually operating the seedling quantity setting dial 35 to adjust the position of the seedling receiving plate 41a relative to the lower end of the seedling carrier 41.

[0044] Furthermore, a seedling detection sensor 45 consisting of a limit switch that detects seedlings N with mat-like soil is provided at the lower end of the extended seedling placing device 41e of a specified seedling placing section 41f (in this embodiment, the fourth seedling placing section 41f from the left).

[0045] Since the seedling detection sensor 45 is provided on the extension seedling rest 41e at the upper end of the seedling rest 41f, the seedlings N with mat-like soil supplied to the seedling rest 41f can be properly detected, and the number f of seedlings used can be reliably detected.

[0046] The seedling placing section 41f is set to a length that allows two mat-like seedlings N with soil attached thereto to be placed thereon, and the vertical position of the seedling detection sensor 45 is above the first mat-like seedling N with soil attached thereto (the lowest mat-like seedling N with soil attached thereto) placed on the seedling placing section 41f and below the upper end of the second mat-like seedling N with soil attached thereto (the mat-like seedling N with soil attached thereto placed above the lowest mat-like seedling N with soil attached thereto). In other words, since the length of the mat-like seedlings with soil attached thereto is 580 mm, the seedling detection sensor 45 is provided above 580 mm and below 1160 mm from the lower end of the seedling placing section 41f.

[0047] Therefore, when two mat-like seedlings N with soil attached are placed on the seedling placing section 41f at the start of rice planting work, a mat-like seedling N with soil attached to a predetermined length X mm is located above the seedling detection sensor 45.

[0048] When the rice planting work begins, seedlings N with mat-like soil are supplied from the top of the seedling placement section 41f, so the seedling detection sensor 45 detects that two seedlings N with mat-like soil have been placed, and the control device 27 memorizes that two seedlings N with mat-like soil have been used.

[0049] Then, two mat-like seedlings N with soil are supplied to all six seedling placement sections 41f, and rice planting work is started.

[0050] Then, the seedlings N with mat-like soil placed on the seedling placing section 41f are transported by the seedling feed belt 41b toward the lower seedling receiving plate 41a each time the seedling placing platform 41 reaches the left or right movement end, and when the upper end of the seedlings N with mat-like soil on the seedling detection sensor 45 passes the seedling detection sensor 45 and descends, the seedling detection sensor 45 sends information that there are no seedlings N with mat-like soil to the control device 27, and the control device 27 stores the number of times a that the seedling placing platform 41 has moved back and forth when it receives the information that there are no seedlings N with mat-like soil.

[0051] As shown in FIG. 4, the mat-like soil-attached seedlings N have a vertical length of 580 mm, but are compressed by the left-right reciprocating movement of the seedling carrier 41 and vibration of the machine body, and the vertical length becomes shorter than 580 mm.

[0052] The compression rate p of the seedlings N with mat-like soil can be calculated from the ratio of the number of times a' the seedling carrier 41 moves back and forth until the upper end of the seedlings N with mat-like soil, which is X mm in length and above the seedling detection sensor 45, passes the seedling detection sensor 45 without being compressed, to the number of times a the seedling carrier 41 actually moves back and forth.

[0053] Therefore, the control device 27 calculates the number of times a' the seedling carrier 41 moves back and forth until the upper end of the seedling N with mat-like soil, which is X mm long and above the seedling detection sensor 45 without being compressed, passes the seedling detection sensor 45 using the formula a' = X / h, where h is the amount of seedlings taken out by the seedling planting device 42, and calculates and stores the compression rate p using the formula p = a' / a.

[0054] Therefore, the compression rate p of the seedlings N with mat-like soil can be calculated using the seedling detection sensor 45 provided in the seedling placement section 41f and the seedling placement platform sensor 32 which detects the number of times the seedling placement platform 41 moves back and forth left and right, so the compression rate p can be calculated with a simple configuration and control.

[0055] In addition, the control device 27 uses the compression coefficient m (m = 0.05p + 0.98) calculated from the actual measured values ​​in the test rice planting work shown in Figure 7 to calculate the seedling usage amount g (g = number of rows l x number of seedlings used per row f = l x (seedling consumption amount b / 580) x compression coefficient m = l x ((2 x number of round trips a x seedling removal amount h) / 580) x m) using the formula in Figure 6.

[0056] Meanwhile, the worker inputs the set seedling usage amount g' (set number of seedlings N with mat-like soil) to be used per 10 ares on the monitor 37 provided on the operation panel 18a, and the control device 27 stores the set seedling usage amount g'.

[0057] Then, two mat-like seedlings N with soil are supplied to each seedling placing portion 41f of the seedling carrier 41, and the machine body is moved forward to perform rice planting work.

[0058] During rice planting work, as the number of seedlings N with mat-like soil remaining on the seedling placing section 41f decreases, they are sequentially supplied from the top of the seedling placing section 41f. The seedling detection sensor 45 sequentially detects the seedlings N with mat-like soil, and the control device 27 stores the number of seedlings N with mat-like soil used based on the number of times the sensor detects them.

[0059] During rice planting, the control device 27 receives signals from a positioning satellite via GPS 29 in the field and calculates the position information using the satellite positioning system, while calculating the working area d (d = working distance c × working width k) from the working distance c. When the working area d reaches the specified planting area of ​​10 ares (1 tan), it compares the set seedling usage amount g' to be used per 10 ares input on the monitor 37 with the seedling usage amount g actually used in the rice planting work.

[0060] If the set seedling usage amount g' to be used per 10 ares input on the monitor 37 differs from the seedling usage amount g actually used in the rice planting work, the electric motor 34 for adjusting the seedling usage amount is operated to adjust the seedling receiving plate 41a to move closer or farther away from the lower end of the seedling carrier 41, thereby changing the seedling usage amount h, so that the seedling usage amount g becomes the same as the set seedling usage amount g' (g' = g).

[0061] For example, if the seedling use amount g is less than the set seedling use amount g', the seedling use amount h is increased by taking into account the smaller amount and converting it back into the seedling use amount h so that the seedling use amount g to be used for 10 ares is the same as the set seedling use amount g'.

[0062] Conversely, if the seedling use amount g is greater than the set seedling use amount g', the seedling use amount h is reduced by taking into account the larger amount and converting it back into the seedling use amount h so that the seedling use amount g to be used per 10 ares is the same as the set seedling use amount g'.

[0063] In addition, if the set seedling usage amount g' to be used per 10 ares input on the monitor 37 differs from the seedling usage amount g actually used in the rice planting work, the amount of seedlings to be removed can be changed by operating the lateral feed speed change electric motor 30 to change the lateral feed speed of the seedling carrier 41 so that the seedling usage amount g becomes the same as the set seedling usage amount g' (g' = g).

[0064] For example, if the seedling use amount g is less than the set seedling use amount g', the lateral feed speed of the seedling carrier 41 is increased to take into account the smaller amount so that the seedling use amount g used per 10 ares becomes equal to the set seedling use amount g', thereby increasing the amount of seedlings removed.

[0065] Conversely, if the seedling use amount g is greater than the set seedling use amount g', the lateral feed speed of the seedling carrier 41 is slowed down to take into account the larger amount so that the seedling use amount g used per 10 ares becomes the same as the set seedling use amount g', thereby reducing the amount of seedlings removed.

[0066] Furthermore, if the set seedling usage amount g' to be used per 10 ares input on the monitor 37 differs from the seedling usage amount g actually used in the rice planting work, the amount of seedlings N with mat-like soil transported toward the seedling receiving plate 41a can be changed by changing the drive amount (drive rotation amount) of the stepping motor 33 that drives the seedling feed belt 41b so that the seedling usage amount g becomes the same as the set seedling usage amount g' (g' = g).

[0067] For example, if the seedling usage amount g is less than the set seedling usage amount g', taking into account the smaller amount, the driving amount (driving rotation amount) of the stepping motor 33 that drives the seedling feed belt 41b is increased so that the seedling usage amount g used per 10 ares becomes the same as the set seedling usage amount g', and the amount of seedlings N with mat-like soil transported toward the seedling receiving plate 41a is increased.

[0068] Conversely, if the seedling usage amount g is greater than the set seedling usage amount g', the drive amount (drive rotation amount) of the stepping motor 33 that drives the seedling feed belt 41b is reduced so that the seedling usage amount g used per 10 ares becomes equal to the set seedling usage amount g', taking into account the larger amount, and the amount of seedlings N with mat-like soil transported toward the seedling receiving plate 41a is reduced.

[0069] Furthermore, if the set seedling usage amount g' to be used per 10 ares input on the monitor 37 differs from the seedling usage amount g actually used in the rice planting work, and the seedling usage amount g is changed by operating the seedling quantity adjustment electric motor 34 to move the seedling receiving plate 41a closer or farther from the lower end of the seedling carrier 41 so that the seedling usage amount g becomes the same as the set seedling usage amount g' (g' = g), at the same time, the drive amount (drive rotation amount) of the stepping motor 33 that drives the seedling feed belt 41b is changed to correspond to the changed seedling usage amount h, thereby changing the amount of seedlings N with mat-like soil transported toward the seedling receiving plate 41a, thereby enabling even more appropriate correction.

[0070] Furthermore, by displaying the difference between the seedling use amount g calculated for 10 ares and the set seedling use amount g' to be used per 10 ares entered on the monitor 37 on the monitor 37, the worker can always recognize whether there is a discrepancy in the seedling use amount, and if there is a discrepancy, he can immediately manually adjust the seedling removal amount h, improving the accuracy of the seedling consumption amount and preventing problems such as surplus or shortage of seedlings.

[0071] Furthermore, if there is an error of one or more seedlings N with mat-like soil between the seedling usage amount g calculated for 10 ares and the set seedling usage amount g' to be used per 10 ares entered in the monitor 37, a warning is issued to the monitor 37 (or other warning means may be used) to reset the compression rate p of the seedlings N with mat-like soil.

[0072] Upon receiving the warning, the worker returns to the same working conditions as when the rice planting work started, obtains the compression ratio p again, and continues the rice planting work.

[0073] Therefore, if the compression rate p of the seedlings N with mat-like soil differs during rice planting work from the beginning of the work, appropriate measures can be taken to prevent a large deviation in the amount of seedlings used.

[0074] In the above embodiment, an example is shown in which a seedling detection sensor 45 for detecting seedlings N with mat-like soil is provided at the lower end of the extended seedling placing device 41e of the fourth seedling placing section 41f from the left, but it is also possible to provide seedling detection sensors 45 at multiple seedling placing sections 41f (or all seedling placing sections 41f) and use the average of the values ​​detected and calculated by each seedling detection sensor 45.

[0075] In another embodiment, as a method of calculating the amount of seedlings g used in rice planting work, since six rows are planted, the control device 27 may multiply the number of seedlings N with mat-like soil detected by the seedling detection sensor 45 by six and sequentially store the result as the amount of seedlings g used.

[0076] That is, the amount of seedlings used g = (the number of seedlings N with mat-like soil detected by the seedling detection sensor 45) x the number of rows l (in this embodiment = 6).

[0077] Then, corrections are made using the same methods as above (changing the seedling removal amount h, changing the lateral feed speed of the seedling carrier 41, and changing the amount transported by the seedling feed belt 41b) so that the seedling use amount g calculated for 10 ares using the above method is the same as the set seedling use amount g' to be used per 10 ares entered into the monitor 37.

[0078] FIG. 8 shows an embodiment in which the extension seedling rest 41e is provided with scales 50a to 50i for measuring the compression rate of the seedlings N with mat-like soil attached.

[0079] That is, the uppermost memory 50a is set to a distance of 1,160 mm (= 580 mm x 2) from the lower end of the seedling placing section 41f, and is the memory where the upper ends of the two mat-like soil-covered seedlings N are located when the seedlings are not compressed when placed on the seedling placing section 41f.

[0080] When two mat-like seedlings N with soil are placed on the seedling placing section 41f, the weight of the mat-like seedlings N itself compresses them, and the upper ends of the two mat-like seedlings N with soil are positioned at the marks 50b to 50i, which are lower than the mark 50a.

[0081] For example, if the marks 50a to 50i are set at 10 mm intervals, when the top ends of the two mat-like soil-attached seedlings N are positioned at mark 50c, it is understood that they are compressed by 20 mm (=10 mm×2).

[0082] Therefore, the operator can manually operate the seedling quantity setting dial 35 provided on the operation panel 18a based on the compression rate to adjust the seedling quantity to a desired quantity.

[0083] <Fertilizer 5> The fertilizer applicator 5 uses a delivery unit 61 to deliver a fixed amount of granular fertilizer stored in a fertilizer hopper 60, and guides the fertilizer through a fertilizer hose 62 to fertilizer guides 63 attached to both the left and right sides of each of the ground leveling floats 43, 44, 44. The fertilizer is then dropped into a fertilizer area formed near the side of the seedling planting row by a furrow-making body 64 attached in front of the fertilizer guides 63. Air generated by a blower driven by an electric blower motor is blown into the fertilizer hose 62 via an air chamber 65 that is long in the left-right direction, and the fertilizer in the fertilizer hose 62 is forcibly transported by wind pressure.

[0084] <Another embodiment> (1) Conventionally, the quality of seedling planting was judged by subjective judgment, which was difficult for beginners. Also, the difference in seedling planting condition due to the difference in the lateral feed amount (lateral feed speed) of the seedling carrier 41 and the amount of seedlings taken was large.

[0085] Therefore, the state of seedling planting is recognized by images using a camera equipped on the aircraft, and AI is used to determine whether the seedlings are planted properly.

[0086] In addition, a judgment is made based on the learning content performed for each setting of the lateral feed amount of the seedling carrier 41 and the seedling removal amount.

[0087] In addition, the amount of lateral feed of the seedling carrier 41 and the amount of seedlings taken are roughly divided into a small amount and a large amount.

[0088] It is determined whether the number of seedlings planted in the field is based on the settings and whether their posture is good.

[0089] If the judgment result shows a tendency toward failure, correction is made so that the result approaches the target value.

[0090] When there are many seedlings per plant, reduce the amount of seedlings taken, and when there are few seedlings per plant, reduce the amount of seedlings taken. If the planted seedlings are not in the right position, the vehicle speed is reduced.

[0091] In the event of consecutive missing stocks, the vehicle will stop and respond.

[0092] In addition, poor seedling planting may be caused by the seedling receiving plate 41a being clogged with mud or the seedling planting device 42 lifting (carrying back) the seedlings without planting them when planting them in the field. Therefore, image recognition is also performed on the seedling receiving plate 41a to confirm that there are no blockages and that the seedling planting device 42 is not lifting (carrying back) the seedlings. If the seedling receiving plate 41a is clogged with mud or the seedling planting device 42 is lifting (carrying back) the seedlings without planting them, the vehicle will be stopped and appropriate action will be taken.

[0093] In this way, the determination can be automated. (2) Direct seeding machines with a direct seeding device attached to the traveling body 2 are often affected by field conditions as a factor in poor seeding.

[0094] Therefore, the field is photographed using a camera attached to the aircraft, and sowing settings are determined by using AI to recognize the field conditions through image recognition.

[0095] By using image recognition to determine the topsoil condition and hardness, the sowing settings are determined, and the motorized feed rate adjustment mechanism, soil covering mechanism, float sensitivity, and furrow cutting depth are determined.

[0096] Sowing conditions can be optimized. (3) The field is photographed using a camera equipped on the aircraft, and the AI ​​uses image recognition to determine the condition of the field and determine the seedling planting and sowing settings.

[0097] After the seedling planting work or the sowing work, the results are weighted by the user's evaluation, and the actual seedling planting state or actual sowing state is used as learning material.

[0098] Note that no learning is performed in the initial stage, and supervised learning is performed by the user evaluating the actual seedling planting conditions and actual sowing conditions.

[0099] Alternatively, instead of performing learning in the initial stage, supervised learning can be performed by taking photographs of the actual seedling planting and sowing conditions using a drone or other device and reflecting (weighting) the evaluation results.

[0100] Automatic judgments are made based on quantitative evaluations rather than subjective evaluations, and the system is automatically optimized to suit the user's style. [Explanation of symbols]

[0101] 29 GPS 32 Seedling platform sensor 37 Input device (monitor) 41 Seedling stand 42 Seedling planting device 45 Seedling detection sensor a Number of round trips c Working distance d Working area g Seedling usage amount g' Set seedling usage amount h Seedling quantity m compression factor N Mat seedlings (mat seedlings with soil) p compression ratio

Claims

1. A seedling planter equipped with a seedling planting device that takes out a single seedling from the bottom end of a mat-shaped seedling mat placed on a seedling carrier that moves back and forth from side to side and plants it in a field, A seedling planting machine characterized in that the seedling platform is provided with a measuring scale that measures the amount of crushing of the seedling mat when it is placed on the seedling platform based on the difference between the vertical length of the seedling mat before it is placed on the seedling platform and the actual vertical length of the seedling mat placed on the seedling platform before the seedling planting device starts work.

2. 2. The seedling planting machine according to claim 1, characterized in that the seedling tray has a measuring scale for measuring the amount of crushing when two seedling mats are placed vertically on the seedling tray.

3. The operation panel is provided with an operating tool, The scale portion allows the actual length of the seedling mat in the vertical direction to be measured, A value using the measurement result can be set by the operating tool, A seedling planting machine as described in claim 1 or 2, characterized in that the set value is used to operate an electric motor for adjusting the seedling quantity, which removes one seedling at a time and adjusts the amount of seedlings to be used, thereby adjusting the seedling receiving plate to move closer to or farther from the lower end of the seedling carrier, thereby changing the amount of seedlings to be removed.

4. A seedling planting machine as described in claim 1, characterized in that it is provided with a seedling detection sensor that detects mat-like seedlings supplied to the upper end of the seedling carrier, and an input device that inputs a set seedling usage amount to be used for each specified planting area, and receives signals from a positioning satellite using a GPS equipped on the machine, calculates location information using a satellite positioning system, calculates the work area from the work distance where the work is completed, and when the work area reaches the specified planting area, it compares the set seedling usage amount with the seedling usage amount detected by the seedling detection sensor, and if the set seedling usage amount differs from the seedling usage amount, adjusts the seedling removal amount so that the seedling usage amount is the same as the set seedling usage amount.

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