Field marker work machine

Abstract

In order to ensure sufficient spacing for the final planting run of a rice transplanter around the perimeter of the field, the transplanter was equipped with a line-marking marker to create a guideline on the field. However, this process of marking the path around the perimeter of the field by the transplanter caused damage to the field, hindering proper planting. Therefore, the aim is to provide a field markering machine that can draw lines without damaging the field, allowing for neat line marking, proper planting by the transplanter, and improving the growing environment for the seedlings. [Solution] A field marker work machine equipped with left and right rear wheels 6L, 6R and a spherical front wheel 7, with left and right floats 5L, 5R on both sides, and a freely rotating line marking marker 3 in the center of the left and right rear ends.

Description

Technical Field

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[0001] The present invention relates to a field marker working machine that marks a mark as a path reference in a field.

Background Art

[0002] There is a rice transplanter equipped with a line drawing marker that forms a line as a path reference in a field (see, for example, Patent Document 1).

Prior Art Document

Patent Document

[0008] According to the invention described in claim 1, lines can be drawn neatly, allowing for proper seedling planting with a rice transplanter and improving the seedling growth environment without damaging the field.

[0009] The invention described in claim 2 is a field marker implement described in claim 1, in which the left and right rear wheels 6L and 6R are drive wheels, the turning and direction of travel are changed by the difference in rotation between the left and right rear wheels 6L and 6R, and autonomous driving is performed by GNSS 11. [Brief explanation of the drawing]

[0010] [Figure 1] This is a plan view illustrating the procedure for performing rice planting work in a field according to an embodiment of the present invention. [Figure 2] This is a perspective view of a field marker machine according to an embodiment of the present invention. [Figure 3] This is a plan view of a field marker implement. [Figure 4] This is a front view of a field marker implement. [Figure 5] This is a side view of a field marker implement. [Figure 6] This is a perspective view showing an example of a seedling roller being installed. [Figure 7] This is an explanatory diagram of the operation of the autonomous driving mechanism of the transplanting machine. [Figure 8] This is an explanatory diagram of the operation of the autonomous driving mechanism of the transplanting machine. [Modes for carrying out the invention]

[0011] First, based on Figure 1, we will explain the procedure for carrying out rice planting work in field F.

[0012] The rice transplanter enters field F from the road through the entrance / exit, circles the outer perimeter of field F, and leaves enough space to perform one final seedling planting operation R1. Then it performs seedling planting in the interior of field F in a back-and-forth process R2, and finally completes the remaining outer perimeter by planting seedlings along the remaining route R1.

[0013] Traditionally, in order to leave enough space for the rice transplanter to complete one planting run along route R1 at the end of the perimeter of field F, the transplanter would not plant seedlings along the perimeter of field F, but instead would circle the perimeter of the field and mark the route R1 with a line marker.

[0014] However, there was a problem in that the field became rough due to the line marking work done by the rice transplanter around the outer perimeter of field F, which hindered proper seedling planting.

[0015] Therefore, the present invention provides a field marker work machine 1 that can draw lines without disturbing the field, enabling neat line drawing and proper seedling planting work with a rice transplanter, thereby improving the seedling growth environment.

[0016] Preferred embodiments of the present invention will be described below with reference to the drawings.

[0017] Figures 2 to 5 show an autonomous field marker implement 1, which is one embodiment of the present invention. Note that the left and right directions relative to the forward direction of the field marker implement 1 are referred to as left and right, respectively, and the forward and reverse directions are referred to as forward and backward, respectively.

[0018] The autonomous field marker implement 1 consists of a waterwheel-shaped line marking marker 3 that is freely rotatable in a rear-open recess 2a at the rear end of the main body 2, left and right floats 5L and 5R connected and fixed to the left and right sides of the main body 2 by connecting bodies 4L and 4R, left and right drive rear wheels 6L and 6R that are provided on the outside of the left and right floats 5L and 5R respectively, spherical front wheels 7 which are idle wheels provided at the front of the main body 2, and a battery 8, wireless communication device 9, control unit 10 and GNSS 11 provided on the upper front side of the main body 2.

[0019] The line-drawing marker 3 has a configuration of a general waterwheel marker. It is pivotally supported by a pivot shaft 3a in a recess 2a at the rear end of the main body 2 so as to be rotatable freely. Wing portions 3b are provided at equal intervals around it. As it rotates when the machine body moves forward, the wing portions 3b sequentially lift and drop the soil in the field, thereby forming a line of soil lumps on the field surface.

[0020] The line formed on the field surface by the line-drawing marker 3 enables the machine body to move straight when, in a subsequent process, the rice transplanter performs a planting operation. The machine body is advanced by aligning the center marker provided at the left and right center positions at the front of the rice transplanter with the line formed by the line-drawing marker 3.

[0021] The left and right drive wheels 6L and 6R are each driven by left and right traveling electric motors 12L and 12R that operate with the power of the battery 8. The left and right traveling electric motors 12L and 12R are synchronized to rotate forward to rotate the left and right drive wheels 6L and 6R forward for forward movement, and the left and right traveling electric motors 12L and 12R are synchronized to rotate backward to rotate the left and right drive wheels 6L and 6R backward for backward movement.

[0022] Also, if the left traveling electric motor 12L is stopped and the right traveling electric motor 12R is rotated forward, it can turn left in the forward direction. If the right traveling electric motor 12R is stopped and the left traveling electric motor 12L is rotated forward, it can turn right in the forward direction. If the left traveling electric motor 12L is stopped and the right traveling electric motor 12R is rotated backward, it can turn left in the backward direction. If the right traveling electric motor 12R is stopped and the left traveling electric motor 12L is rotated backward, it can turn right in the backward direction.

[0023] Also, if the left traveling electric motor 12L is rotated backward and the right traveling electric motor 12R is rotated forward, it can perform a super-close turning to the left. If the right traveling electric motor 12R is rotated backward and the left traveling electric motor 12L is rotated forward, it can perform a super-close turning to the right.

[0024] The front wheel 7 is a hollow spherical idler wheel that is pivotally supported on the front axle 7a located at the front of the main body 2. The front wheel 7 is positioned in front of the left and right center of the left and right drive wheels 6L and 6R.

[0025] Therefore, the front wheel 7 serves as both an idler wheel and a float, effectively supporting the machine. Furthermore, because the front wheel 7 is a hollow spherical float, there is less resistance from the field, allowing the machine to turn easily and smoothly from side to side.

[0026] The control unit 10 records the user-owned field F in the map database, adding a route R1 to which the autonomous field marker work machine 1 will draw a line around the perimeter of field F for one stage of seedling planting work.

[0027] In other words, if a 6-row rice transplanter is used to plant seedlings in field F, the user registers the map data of field F owned by the user and the fact that the seedling planting work will be performed with a 6-row rice transplanter on an external operating device such as a tablet that operates the field marker implement 1.

[0028] Then, the external control device is instructed to calculate a path R1 for drawing lines around the perimeter of field F for one planting cycle. Since it is a 6-row rice transplanter, path R1 is created along the perimeter of field F, starting from the left and right center of the 6-row transplanter, at positions 3 rows on the perimeter of field F and 3 rows on the inside of field F.

[0029] Then, an external control device transmits map data of the user's field F, to the autonomous field marker implement 1, which has a route R1 added to the outer perimeter of the field F for marking a line for one stage of seedling planting work. The field marker implement 1 receives the map data of field F with the route R1 added via a wireless communication device 9 and stores it in the control unit 10.

[0030] Then, when the field marker implement 1 is placed at the entrance / exit of field F and started using the external control device, the field marker implement 1 receives signals from positioning satellites via GNSS 11 and calculates its own position information using the satellite positioning system. Based on this position information, the control unit 10 operates and controls the left and right electric motors 12L and 12R to drive the left and right drive wheels 6L and 6R, causing the machine to autonomously travel along path R1, and the line marking marker 3 forms a line on path R1.

[0031] In short, the field marker implement 1 has a three-wheel configuration consisting of left and right drive wheels 6L and 6R and a front wheel 7 made of a hollow spherical idler wheel. Left and right floats 5L and 5R are provided on both the left and right sides of the main body 2, and a line-drawing marker 3 is mounted on a pivot shaft 3a in the left and right center of the rear end of the main body 2 so as to be able to rotate freely. Left and right drive wheels 6L and 6R are provided on the left and right outer sides of the left and right floats 5L and 5R, so that lines can be drawn neatly, allowing for proper seedling planting with a rice transplanter and improving the seedling growth environment without damaging the field.

[0032] Furthermore, the GNSS 11 receives signals from positioning satellites and calculates the vehicle's position information using the satellite positioning system. Based on this vehicle position information, the control unit 10 operates and controls the left and right electric motors 12L and 12R to rotate the left and right drive wheels 6L and 6R synchronously, allowing the vehicle to move in a straight line. By creating a difference in rotation, the vehicle can change direction or turn, autonomously traveling along the set path R1, and the line marking marker 3 forms a line along path R1.

[0033] In the above example, the field marker implement 1 forms lines around the outer perimeter of field F with spacings that allow the rice transplanter to plant seedlings in one pass. However, the path R1 may also be set to form lines around the outer perimeter of field F with spacings that allow the rice transplanter to plant seedlings in two passes.

[0034] In other words, if you are planting seedlings with a 6-row rice transplanter, create a path R1 along the outer perimeter of field F, starting from the left and right center of the 6-row transplanter, at positions 9 rows on the outer perimeter of field F and 3 rows on the inside of field F.

[0035] <Other Embodiments>

[0036] (1) Figure 6 shows an example in which a healthy seedling roller 20 is attached as an optional part in place of the line marking marker 3 of the field marker implement 1 described above.

[0037] Specifically, the pivot shaft 3a at the rear end of the main body 2 of the field marker implement 1 is removed, the line marking marker 3 installed in the recess 2a is removed, and the base of the healthy seedling roller 20 is attached using the pivot shaft 3a.

[0038] The healthy seedling roller 20 is constructed by attaching a frame 21, whose base is mounted to the rear end of the main body 2 of the field marker implement 1 by a pivot shaft 3a, and by providing a hollow cylindrical resin roller 23 that can rotate freely on a roller mounting section 22, which is U-shaped in plan view, at the rear of the frame 21.

[0039] Then, the user transmits the map data of field F, to which the above-mentioned round-trip process R2 and route R1 have been added, to the field marker implement 1 using an external operating device such as a tablet. The field marker implement 1 receives the map data of field F with the round-trip process R2 and route R1 added via a wireless communication device 9 and stores it in the control unit 10.

[0040] Then, when the field marker implement 1 equipped with the healthy seedling roller 20 is placed at the entrance to field F and started using an external operating device, the field marker implement 1 equipped with the healthy seedling roller 20 receives signals from positioning satellites via GNSS 11 and calculates its own position information using the satellite positioning system. Based on this position information, the control unit 10 operates and controls the left and right electric motors 12L and 12R to drive the left and right drive wheels 6L and 6R, causing the machine to autonomously travel along the reciprocating process R2 and path R1. The healthy seedling roller 20 rotates freely, stimulating the seedlings planted in field F and promoting their growth.

[0041] The field marker implement 1 can be fitted with various optional work devices as shown above.

[0042] (2) In transplanting machines such as rice transplanters and vegetable transplanters equipped with an automatic steering system in which the GNSS receives signals from positioning satellites and calculates the position information of the vehicle using the satellite positioning system, and the control unit controls the steering device based on the position information of the vehicle, the machine is equipped with a rear-view camera to photograph the seedling planting situation and process the images, and if there is an error greater than a predetermined amount in the seedlings actually planted from the predetermined path, the operator is notified to switch to manual driving.

[0043] Large disturbances in the magnetic field caused by solar flares, etc., can cause significant errors in the positional information of the vehicle calculated by the satellite positioning system after the GNSS receives signals from positioning satellites, making it difficult to autonomously drive along a predetermined route. Therefore, as described above, the vehicle is equipped with a rear-view camera to photograph the seedling planting situation and process the images. If the actual planted seedlings deviate from the predetermined route by more than a predetermined amount, the operator is notified to switch to manual driving.

[0044] Furthermore, as shown in Figure 7, if there is an error of 15 mm or more between the predetermined seedling planting line LB and the actual planted seedling planting line L on the next process side, in the seedling planting operation in the next process (reverse planting operation), the planting of one row of seedlings A on the previous process side will not be performed at the location E where the error occurred (the planting device for one row on the previous process side will be stopped) to prevent overlapping planting.

[0045] Furthermore, as shown in Figure 8, the aircraft K is equipped with a forward-facing camera to photograph the seedling planting situation in the previous process, and the image is processed to calculate the seedling planting line L. If the steering instruction path R from GNSS differs significantly from the seedling planting line L planted in the previous process by a threshold, the steering instruction path R from GNSS is ignored, and the aircraft autonomously drives along the seedling planting line L planted in the previous process for a certain section to maintain straightness.

[0046] Then, if the number of times the steering instruction path R is ignored exceeds a predetermined number, the system will receive signals from other GNSS satellites and begin autonomous driving.

[0047] Furthermore, if the number of times the steering instruction path R is ignored exceeds a predetermined number, the system determines that the GNSS steering instruction path R is unreliable and notifies the driver to switch to manual driving. [Explanation of symbols]

[0048] 3. Line Marker 5L, 5R Left and Right Floats 6L, 6R Left and right rear wheels (left and right drive wheels) 7 Front wheels 11 GNSS

Claims

1. A field marker implement characterized by having left and right rear wheels (6L, 6R) and a spherical front wheel (7), left and right floats (5L, 5R) on both sides, and a freely rotating line marking marker (3) in the center of the left and right rear end.

2. The field marker implement according to claim 1, characterized in that the left and right rear wheels (6L, 6R) are drive wheels, the turning and direction of travel are changed by the difference in rotation between the left and right rear wheels (6L, 6R), and autonomous driving is performed by GNSS (11).

Images