Rice transplanter

Abstract

The objective is to change the orientation of the seedling mat when moving it from the seedling transport path to the seedling tray. [Solution] The rice transplanter 1 comprises a seedling transport path 60 for transporting seedling mats to the rear, a planting device 3 provided behind the seedling transport path 60 and equipped with a seedling platform 30 inclined with respect to the transport direction of the seedling transport path 60, a first opening / closing unit 62 for opening and closing the rear end of the seedling transport path 60, and a control unit 4 for controlling the first opening / closing unit 62.

Description

Technical Field

[0006] ,

[0001] The present invention relates to a rice transplanter.

Background Art

[0002] A rice transplanter having a spare seedling table at the front of the vehicle body is known. Conventionally, in order to replenish the seedling mat to the planting device during the planting operation, it has been necessary to interrupt the planting operation and manually transfer the seedling mat from the spare seedling table to the planting device, which has been a heavy burden on the operator. Therefore, techniques for reducing the seedling mat replenishment work have been studied. For example, in Patent Document 1, a device for conveying the seedling mat backward from the spare seedling table has been proposed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, since the seedling stage of the planting device is inclined with respect to the conveying direction of the seedling mat, it is necessary to change the posture of the seedling mat when moving the seedling mat to the seedling stage.

[0005] An object of the present invention is to provide a rice transplanter capable of changing the posture of the seedling mat when moving the seedling mat from the seedling conveying path to the seedling stage in consideration of the above circumstances.

Means for Solving the Problems

[0006] To solve the above problems, a rice transplanter according to the present invention includes a seedling conveying path for conveying the seedling mat backward, a planting device provided behind the seedling conveying path and having a seedling stage inclined with respect to the conveying direction of the seedling conveying path, a first opening / closing portion for opening and closing the rear end portion of the seedling conveying path, and a control portion for controlling the first opening / closing portion.

[0007] An auxiliary seedling stand may be provided between the seedling transport path and the seedling stand, which changes its posture between a first posture aligned with the transport direction of the seedling transport path and a second posture aligned with the seedling stand.

[0008] The control unit may control the auxiliary seedling stand between the first and second positions, and when the auxiliary seedling stand is not in the first position, it may control the first opening / closing unit to close the rear end of the seedling transport path.

[0009] The system may include a first sensor for detecting the seedling mat on the auxiliary seedling stand, and the control unit may control the first opening / closing unit to close the rear end of the seedling transport path when the first sensor detects the seedling mat.

[0010] The system includes a conveying device that conveys the seedling mat to the auxiliary seedling stand along the seedling transport path, and the control unit may control the conveying device to convey the seedling mat to the auxiliary seedling stand when the auxiliary seedling stand is in the first position and the first sensor does not detect the seedling mat.

[0011] The system includes a lateral feed drive unit for moving the auxiliary seedling tray in the left-right direction, the number of rows in the auxiliary seedling tray is less than the number of rows in the seedling tray, and the control unit may control the lateral feed drive unit to move the auxiliary seedling tray to either of the seedling trays.

[0012] The seedling tray includes a second sensor for detecting the seedling mat in each row, and a second opening / closing unit for opening and closing the rear end of the auxiliary seedling tray. The control unit may control the second opening / closing unit to open the rear end of the auxiliary seedling tray when the auxiliary seedling tray is in the second position and the second sensor does not detect the seedling mat.

[0013] The system includes a lateral feed drive unit for moving the auxiliary seedling stand in the left-right direction, and a second sensor for detecting the seedling mat in each row of the seedling stand. The control unit may control the lateral feed drive unit to move the auxiliary seedling stand to a row where the second sensor has not detected the seedling mat.

[0014] The conveying device may convey the seedling mats to the rear and forward along the seedling conveying path.

[0015] The conveying device may include a frame with its longitudinal direction in the front-to-back direction, drive rollers provided on the frame with its axial direction in the left-to-right direction, a drive unit that transmits driving force to the drive rollers, and an operating unit that receives operations on the conveying device.

[0016] The operating unit may be provided at the front end of the seedling transport path.

[0017] The operating unit may accept operations in both forward and backward directions using the same operating tool, and the control unit may control the drive unit to transport the seedling mat in the direction in which the operating unit is operated.

[0018] The auxiliary seedling stand may be able to change to a third position with a greater angle of inclination than the second position.

[0019] A fertilizer application device having an opening and closing lid may be provided below the auxiliary seedling stand, and the lid may be openable and closable when the auxiliary seedling stand is in the second or third position.

[0020] A fertilizer application device may be provided below the auxiliary seedling stand, and the fertilizer application device may be able to change its orientation when the auxiliary seedling stand is in the third orientation. [Effects of the Invention]

[0021] According to the present invention, the orientation of the seedling mat can be changed when moving the seedling mat from the seedling transport path to the seedling tray. [Brief explanation of the drawing]

[0022] [Figure 1] This is a left side view showing a rice transplanter according to one embodiment of the present invention. [Figure 2] This is a plan view showing a rice transplanter according to one embodiment of the present invention. [Figure 3] It is a plan view showing a power transmission mechanism of a rice transplanter according to an embodiment of the present invention. [Figure 4] It is a side view schematically showing a seedling conveyance path, an auxiliary seedling table, and a seedling mounting table. [Figure 5] It is a side view schematically showing a seedling conveyance path, an auxiliary seedling table, and a seedling mounting table. [Figure 6] It is a side view schematically showing a seedling conveyance path, an auxiliary seedling table, and a seedling mounting table. [Figure 7] It is a side view schematically showing the configuration of the first opening / closing part. [Figure 8] It is a side view schematically showing the configuration of the first opening / closing part. [Figure 9] It is a side view schematically showing the configuration of the second opening / closing part. [Figure 10] It is a side view schematically showing the configuration of the second opening / closing part. [Figure 11] It is a plan view showing the operation of the lateral feed drive part. [Figure 12] It is a plan view showing the operation of the lateral feed drive part. [Figure 13] It is a rear view showing the fertilizer applicator. [Figure 14] It is a rear view showing the fertilizer applicator. [Figure 15] It is a flowchart showing the operation of the rice transplanter before the planting operation. [Figure 16] It is a flowchart showing the operation of the replenishment process. [Figure 17] It is a flowchart showing the operations of the supply mode and the recovery mode. [Figure 18] It is a flowchart showing the operation of the rice transplanter during the planting operation.

Mode for Carrying Out the Invention

[0023] Hereinafter, the rice transplanter 1 according to an embodiment of the present invention will be described with reference to the drawings.

[0024] First, the overall configuration of the rice transplanter 1 will be described. Figure 1 is a left side view of the rice transplanter 1. Figure 2 is a top view of the rice transplanter 1. Figure 3 is a top view of the power transmission mechanism 20 of the rice transplanter 1. In each figure, U, Lo, L, R, Fr, and Rr indicate top, bottom, left, right, front, and rear, respectively.

[0025] The rice transplanter 1 (see Figures 1 and 2) comprises a traveling body 2 and a planting device 3 located behind the traveling body 2. The rice transplanter 1 moves along the traveling body 2 while the planting device 3 performs the task of planting seedlings.

[0026] The vehicle body 2 (see Figures 1 and 3) comprises a vehicle frame 10, a drive source 11 and a transmission 12 located in the left-right center of the front of the vehicle frame 10, a pair of left and right front wheels 13 located at the front of the vehicle frame 10, and a pair of left and right rear wheels 14 located at the rear of the vehicle frame 10.

[0027] The drive source 11 generates driving force to drive the front wheels 13 and the rear wheels 14. The drive source 11 is, for example, an internal combustion engine that uses diesel fuel. The drive source 11 is covered by a bonnet 21. The transmission 12 (see Figure 3) is located behind the drive source 11 and shifts the driving force generated by the drive source 11. Front axles 19 are provided on the left and right sides of the transmission 12. The front wheels 13 are attached to the front axle 19S provided on the front axle 19 and are driven by the driving force transmitted from the transmission 12.

[0028] The rear axle 24 is located behind the transmission 12 and is connected to the transmission 12 by a joint member 23 whose longitudinal direction is in the front-rear direction. The rear wheel drive shaft 25 is located along the joint member 23 and transmits driving force from the transmission 12 to the rear axle 24. The rear wheels 14 are attached to the rear axle 24S located on the rear axle 24 and are driven by the driving force transmitted via the rear wheel drive shaft 25. Note that crawlers (not shown) may be provided instead of the rear wheels 14.

[0029] The driver's seat 15 (see Figures 1 and 2) is located above the joint member 23. The driver's seat 15 is surrounded by a steering wheel 16, a gear lever, a gear pedal, a brake pedal (not shown), etc. The front wheels 13 steer the vehicle 2 in conjunction with the operation of the steering wheel 16. The steps 17 (see Figure 2) are flat members that serve as a platform for the worker and are located around the driver's seat 15 and on the left and right sides of the bonnet 21.

[0030] The inter-plant speed changer 27 (see Figures 1 and 3) is located above the rear axle 24, slightly to the right of the center in the left-right direction. The inter-plant speed changer 27 changes the driving force transmitted from the transmission 12 via the drive shaft 26 according to the spacing between plants and transmits it to the planting device 3 via the planting drive shaft 35. The inter-plant speed changer 27 is equipped with a PTO (Power Take-off) clutch (not shown) that intermittently transmits the driving force to the planting drive shaft 35.

[0031] The planting device 3 (see Figures 1 to 3) comprises a seedling tray 30 on which seedling mats are placed, and a main frame 31. Multiple seedling trays 30 (eight in this embodiment) with a width sufficient to accommodate seedling mats are arranged side by side in the left-right direction. The main frame 31 is a rod-shaped member with its longitudinal direction in the left-right direction, and is equipped with a center case 33 in the center in the left-right direction. Planting transmission cases 34 are provided at approximately equal intervals at multiple locations (four locations in this embodiment) in the left-right direction behind the main frame 31. The planting transmission cases 34 are equipped with a pair of left and right transplanting mechanisms 32.

[0032] The planting drive shaft 35 is connected to the input shaft 33A of the center case 33 via a universal joint 36. The center case 33 is equipped with a gear train (not shown) including a bevel gear. The output shaft 33B of the center case 33 is mounted along the main frame 31 and connected to each planting transmission case 34. The driving force is transmitted to the transplanting mechanism 32 via the planting drive shaft 35, the center case 33, and the planting transmission cases 34. The planting device 3 is equipped with a lateral feed drive unit (not shown) that slides the seedling tray 30 in the left-right direction. The seedling tray 30 can slide half a row to the left and half a row to the right from the neutral position shown in Figure 2. In parallel with the reciprocating motion of the seedling tray 30, the transplanting mechanism 32 takes seedlings from the seedling tray 30 and plants them in the field.

[0033] The planting device 3 is equipped with a lifting device 22 (see Figure 1). The lifting device 22 comprises a columnar frame 10P, a pair of parallel upper and lower link members 22L, and a hydraulic cylinder 22C. The vehicle frame 10 is supported by the columnar frame 10P, which is provided above the rear axle 24. The columnar frame 10P and the seedling tray 30 are connected by a pair of link members 22L. The nodes of the columnar frame 10P, the seedling tray 30, and the pair of link members 22L form the four vertices of a parallelogram. The hydraulic cylinder 22C is connected to a joint member 23 and the lower link member 22L. By extending and retracting the hydraulic cylinder 22C, the pair of link members 22L swing with the node on the columnar frame 10P side as a pivot point, causing the planting device 3 to move up and down between the lowest position (solid line in Figure 1) and the highest position (dotted line in Figure 1).

[0034] [Fertilizer] Figures 13 and 14 are rear views showing the fertilizer application device 50. The fertilizer application device 50 is located between the driver's seat 15 and the planting device 3 (see Figure 1). The fertilizer application device 50 (see Figure 13) comprises a plurality of hoppers 51 (eight in this embodiment) arranged in the left-right direction, a dispensing device 52 provided for each hopper 51, a blower 54, ducts (not shown) branching from the blower 54 to each dispensing device 52, and supply pipes (not shown) leading from each duct to the vicinity of each transplanting mechanism 32. The fertilizer stored in each hopper 51 is dispensed by the dispensing device 52 and supplied to the field through the supply pipes by air blown from the blower 54.

[0035] The entire fertilizer application device 50 is supported by a fixed frame 55 that is fixed to the vehicle body frame 10. Above the fixed frame 55, there are two movable frames 56 located in the left-right direction. The width of the movable frames 56 in the left-right direction is approximately half that of the fixed frame 55. The left end of the left movable frame 56 is connected to the left end of the fixed frame 55 via a hinge 56H. The right end of the right movable frame 56 is connected to the right end of the fixed frame 55 via a hinge 56H.

[0036] Each of the two movable frames 56 on the left and right sides is equipped with four hoppers 51 and four dispensing devices 52, arranged in a left-right direction. The dispensing devices 52 are located below each hopper 51. A single detachable lid 51C is provided for each of the four hoppers 51. The lid 51C may be connected to the hopper 51 via a hinge (not shown).

[0037] The hopper unit 53 is composed of a movable frame 56, four hoppers 51, four dispensing devices 52, and one lid 51C. The left hopper unit 53 can be flipped up counterclockwise (see Figure 14) using the left hinge 56H as a pivot point. The right hopper unit 53 can be flipped up clockwise (see Figure 14) using the right hinge 56H as a pivot point. Flipping up the hopper units 53 makes it easier to remove excess fertilizer and clean the inside of the hoppers 51.

[0038] Next, the configuration for transporting the seedling mat will be described. Figures 4 to 6 are schematic side views showing the seedling transport path 60, the auxiliary seedling stand 70, and the seedling platform 30. The rice transplanter 1 according to this embodiment includes a seedling transport path 60 for transporting the seedling mat backward, a planting device 3 provided behind the seedling transport path 60 and equipped with a seedling platform 30 inclined with respect to the transport direction of the seedling transport path 60, an auxiliary seedling stand 70 provided between the seedling transport path 60 and the seedling platform 30, which changes its posture between a first posture along the transport direction of the seedling transport path 60 and a second posture along the seedling platform 30, and a control unit 4 that controls the auxiliary seedling stand 70 between the first posture and the second posture. Here, Figures 4 and 6 show the seedling platform 30 in its lowest position (solid line), and Figure 5 shows the seedling platform 30 in its highest position (solid line). At the lowest position, planting can be performed by the planting device 3, and at the highest position, seedling mats can be supplied from the auxiliary seedling stand 70 to the seedling tray 30. As the planting device 3 has been described above, the following will mainly describe the seedling transport path 60, the auxiliary seedling stand 70, and the control unit 4.

[0039] [Seedling transport route] The seedling transport paths 60 (see Figures 1 and 2) are provided on both the left and right sides of the rice transplanter 1, flanking the driver's seat 15, and are supported by the vehicle frame 10 via auxiliary frames 10A, etc. The rear end of the seedling transport path 60 is located near the driver's seat 15, and the front end is located in front of the bonnet 21. Two rows of seedling transport paths 60 are provided on each side of the driver's seat 15. The space between the two rows of seedling transport paths 60 on the left and the two rows of seedling transport paths 60 on the right has a width of three rows. The seedling transport path 60 is composed of one or more transport devices 61. In this embodiment, as an example, the seedling transport path 60 is composed of four transport devices 61 arranged in the front-to-back direction. The transport device 61 (see Figure 1) includes a frame 61F, a drive roller 61D, a driven roller 61N, a transport belt 61B, and a drive unit 61M. The seedling transport path 60 has a width of two rows, and two seedling mats are arranged side by side on the left and right.

[0040] The frame 61F is formed in the shape of a rectangular parallelepiped with its longitudinal direction in the front-to-back direction, and the portion corresponding to the top surface of the rectangular parallelepiped is open. The drive roller 61D and driven roller 61N are provided at the rear and front of the frame 61F, respectively, with their axial direction in the left-to-right direction. The conveyor belt 61B is wrapped around the drive roller 61D and driven roller 61N. The top surface of the conveyor belt 61B is exposed through the opening at the top of the frame 61F. The drive unit 61M is equipped with a motor 61MM and transmits driving force to the drive roller 61D via a gear train 61MG. By placing a seedling mat on the top surface of the conveyor belt 61B and driving the conveyor belt 61B in the clockwise direction as shown in Figure 1, the seedling mat is conveyed backward. In this example, a drive unit 61M is provided for each conveying device 61, but a drive unit 61M may be provided for only one of the conveying devices 61. In this case, the driving force is distributed by belts, gears, etc., provided between the conveying devices 61. Alternatively, instead of the conveyor belt 61B, a plurality of drive rollers 61D arranged in the front-to-back direction may be provided.

[0041] [First opening / closing section] Figures 7 and 8 are schematic side views showing the configuration of the first opening / closing section 62. The first opening / closing section 62 is provided at the rear end of the seedling transport path 60. In this embodiment, the first opening / closing section 62 is provided at the rear end of the rearmost of the four transport devices 61. The first opening / closing section 62 comprises an opening / closing plate 62P and a drive unit 62M. The opening / closing plate 62P is a plate-shaped member. The opening / closing plate 62P is hinge-connected to the lower part of the rear end of the transport device 61 with the left-right direction as the hinge axis direction. The drive unit 62M comprises a sector gear 62MS provided on the opening / closing plate 62P, a pinion 62MP meshed with the sector gear 62MS, and a motor 62MM that drives the pinion 62MP. The opening / closing plate 62P swings between a closed state (see Figure 7) that closes the seedling transport path 60 and an open state (see Figure 8) that opens the seedling transport path 60, driven by the sector gear 62MS. The opening / closing plate 62P may be a comb-shaped or rod-shaped member.

[0042] [Support seedling stand] The auxiliary seedling tray 70 (see Figures 1 and 2) is located at the rear of the seedling transport path 60. The auxiliary seedling tray 70 is a plate-shaped member with a length in the front-rear direction equivalent to that of the transport device 61. The auxiliary seedling tray 70 is positioned so that its upper surface forms approximately the same plane as the upper surface of the transport belt 61B of the transport device 61 at the rearmost position. A first sensor 81 for detecting seedling mats is provided on the front of the upper surface of the auxiliary seedling tray 70. The auxiliary seedling tray 70 is supported by the vehicle frame 10 via an auxiliary frame 10B (see Figure 1) that rises upright from the rear end of the vehicle frame 10.

[0043] The auxiliary seedling stand 70 is equipped with a swing drive unit 72 (see Figure 1). The auxiliary seedling stand 70 is swingable around a hinge shaft 71 with the left-right direction as its axial direction. The swing drive unit 72 comprises a sector gear 72S provided on the auxiliary seedling stand 70, a pinion 72P meshed with the sector gear 72S, and a motor 72M that drives the pinion 72P. The swing drive unit 72 drives the sector gear 72S, causing the auxiliary seedling stand 70 to swing around the hinge shaft 71. The swing drive unit 72 may also be provided with an extendable cylinder (hydraulic cylinder, water pressure cylinder, pneumatic cylinder, electric cylinder, etc.). In that case, the upper end of the cylinder may be connected to the auxiliary seedling stand 70, and the lower end of the cylinder may be connected to the vehicle frame 10 or fixed frame 55 at a position between the left and right hopper units 53 described above.

[0044] Figures 4, 5, and 6 show the first, second, and third positions, respectively. The first position is when the auxiliary seedling tray 70 is aligned with the transport direction of the seedling transport path 60, and this is the position with the smallest inclination angle of the auxiliary seedling tray 70. The second position is when the auxiliary seedling tray 70 is aligned with the seedling tray 30 of the planting device 3. The second position has an inclination angle that is approximately 40° to 50° larger than that of the first position. The third position has an even larger inclination angle than the second position, with an inclination angle that is approximately 90° larger than that of the first position. In the first and second positions, the auxiliary seedling tray 70 is located directly above the fertilizer applicator 50, so the auxiliary seedling tray 70 interferes when trying to flip up the hopper unit 53 of the fertilizer applicator 50. However, in the third position, the auxiliary seedling tray 70 does not interfere with the hopper unit 53, so the hopper unit 53 can be flipped up.

[0045] [Horizontal feed drive unit] The lateral feed drive unit 73 (see Figures 1 and 2) is provided at the upper end of the auxiliary frame 10B. The lateral feed drive unit 73 comprises a support rod 73B whose longitudinal direction is in the left-right direction, and an actuator 73A that slides the support rod 73B in the left-right direction. Four auxiliary seedling trays 70 are attached to the support rod 73B in a row in the left-right direction. The space between the second and third auxiliary seedling trays 70 from the left has a width of two trays. The auxiliary seedling trays 70 can slide one tray in the left-right direction. Figure 2 shows the auxiliary seedling tray 70 positioned in the center of its one-tray sliding range. The left-right dimensions of the auxiliary seedling tray 70 are within the left-right width of the seedling transport path 60. If the auxiliary seedling tray 70 slides one tray to the left or right, seedling mats can be supplied to the seedling tray 30. In this case, the auxiliary seedling tray 70 will not extend beyond the left-right width of the seedling transport path 60. Furthermore, the auxiliary seedling tray 70 may be configured to slide one row outward in the left-right direction relative to the seedling transport path 60. This configuration allows for more flexible seedling supply.

[0046] Figures 11 and 12 are plan views showing the operation of the lateral feed drive unit 73. Figure 11 shows the auxiliary seedling tray 70 slid half a row to the right from its neutral position (see Figure 2), and the seedling tray 30 slid half a row to the left from its neutral position (see Figure 2). In this case, seedling mats can be supplied to the 3rd, 4th, 7th, and 8th seedling trays 30 from the left. On the other hand, Figure 12 shows the auxiliary seedling tray 70 slid half a row to the left from its neutral position, and the seedling tray 30 slid half a row to the right from its neutral position. In this case, seedling mats can be supplied to the 1st, 2nd, 5th, and 6th seedling trays 30 from the left.

[0047] [Second opening / closing section] Figures 9 and 10 are schematic side views showing the configuration of the second opening / closing section 74. The second opening / closing section 74 is provided at the rear end of the auxiliary seedling stand 70. The second opening / closing section 74 comprises an opening / closing plate 74P and a drive unit 74M. The opening / closing plate 74P is a plate-shaped member. The opening / closing plate 74P is hinge-connected to the lower part of the rear end of the auxiliary seedling stand 70 with the left-right direction as the hinge axis direction. The drive unit 74M comprises a sector gear 74MS provided on the opening / closing plate 74P, a pinion 74MP meshed with the sector gear 74MS, and a motor 74MM that drives the pinion 74MP. Driven by the sector gear 74MS, the opening / closing plate 74P swings between a closed state (see Figure 9) that closes the path of the seedling mat and an open state (see Figure 10) that opens the path of the seedling mat.

[0048] [Control Unit] The control unit 4 (see Figure 1) comprises an arithmetic unit and a memory unit (not shown). The memory unit is, for example, a ROM (Read Only Memory), RAM (Random Access Memory), a hard disk drive, or flash memory, and stores programs and data. The arithmetic unit is, for example, a CPU (Central Processing Unit), and controls each part of the rice transplanter 1 by performing arithmetic processing using the programs and data stored in the memory unit. Note that the control unit 4 may be implemented by an integrated circuit that does not use a program.

[0049] The control unit 4 controls the transport device 61 to transport the seedling mat to the auxiliary seedling stand 70 when the auxiliary seedling stand 70 is in the first position and the first sensor 81 does not detect the seedling mat. The control unit 4 controls the first opening / closing unit 62 to close the rear end of the seedling transport path 60 when the auxiliary seedling stand 70 is not in the first position or when the first sensor 81 detects the seedling mat. The seedling stand 30 is provided with a second sensor 82 (see Figure 1) that detects the seedling mat for each row. The control unit 4 controls the second opening / closing unit 74 to open the rear end of the auxiliary seedling stand 70 when the auxiliary seedling stand 70 is in the second position and the second sensor 82 does not detect the seedling mat. The control unit 4 controls the lateral feed drive unit 73 to move the auxiliary seedling stand 70 to the row in which the second sensor 82 did not detect the seedling mat.

[0050] The seedling transport path 60 is equipped with a third sensor 83 at multiple locations along the seedling transport path 60 to detect seedling mats. For example, the third sensor 83 is provided on three transport devices 61, excluding the transport device 61 at the front end of the seedling transport path 60. In addition, the seedling transport path 60 is equipped with a fourth sensor 84 at the transport device 61 at the front end of the seedling transport path 60 to detect seedling mats.

[0051] The seedling transport path 60 is equipped with an operating unit 63 (see Figure 1) that receives operations on the transport device 61. The operating unit 63 is located on the transport device 61 at the front end of the seedling transport path 60. The operating unit 63 receives operations for transport in both forward and backward directions using the same operating tool. The operating tool is, for example, a lever that can swing in the forward and backward directions. When the lever is operated backward, the seedling transport path 60 is set to supply mode, and when the lever is operated forward, the seedling transport path 60 is set to retrieval mode. The supply mode is a mode in which seedling mats are supplied to the seedling transport path 60 and the auxiliary seedling stand 70, and the retrieval mode is a mode in which seedling mats are retrieved from the seedling transport path 60.

[0052] When the supply mode is set and the third sensor 83 detects a seedling mat, the control unit 4 controls the conveying device 61 to transport the seedling mat backward. Also, when the retrieval mode is set and the third sensor 83 detects a seedling mat, the control unit 4 controls the conveying device 61 to transport the seedling mat forward. Also, when the retrieval mode is set and the fourth sensor 84 detects a seedling mat, the control unit 4 controls the conveying device 61 to stop transporting the seedling mat.

[0053] Next, the operation of the rice transplanter 1 will be explained. The following operations are performed by the control unit 4 controlling each part of the rice transplanter 1.

[0054] Figure 15 is a flowchart showing the operation of the rice transplanter 1 before planting. In Figures 15 to 18, the seedling mat is abbreviated as "seedling".

[0055] First, the control unit 4 determines from the detection signal output from the second sensor 82 whether or not seedling mats are loaded on all seedling trays 30 (step S01). If it determines that seedling mats are loaded on all seedling trays 30 (step S01: YES), the control unit 4 terminates the process.

[0056] On the other hand, if there is a seedling tray 30 that does not have seedling mats loaded on it (Step S01: NO), the control unit 4 determines whether or not seedling mats are loaded on all of the auxiliary seedling trays 70 (Step S02). If it determines that seedling mats are loaded on all of the auxiliary seedling trays 70 (Step S02: YES), the control unit 4 executes a process to replenish seedling mats from the auxiliary seedling trays 70 to the seedling trays 30 (Step S05 (hereinafter referred to as the replenishment process)).

[0057] Figure 16 is a flowchart showing the operation of the replenishment process. First, the control unit 4 stops the transport device 61 and closes the second opening / closing section 74 at the rear end of the auxiliary seedling tray 70 (step S11). Next, the control unit 4 slides the auxiliary seedling tray 70 to a position corresponding to the seedling tray 30 on which no seedling mats are loaded (step S12). Next, the control unit 4 controls the auxiliary seedling tray 70 to the second position and raises the seedling tray 30 to its highest position (step S13). Next, the control unit 4 opens the second opening / closing section 74 (step S14) and proceeds to step S02. With the opening of the second opening / closing section 74, the seedling mats fall from the auxiliary seedling tray 70 to the seedling tray 30 due to gravity, and the seedling mats are loaded onto the seedling tray 30.

[0058] Returning to Figure 15, if there is an auxiliary seedling stand 70 without seedling mats loaded on it (Step S02: NO), the control unit 4 determines whether or not seedling mats are loaded on the conveying device 61 at the rear end of the seedling transport path 60 based on the detection signal output from the third sensor 83 provided on the conveying device 61 at the rear end of the seedling transport path 60 (Step S03). If it is determined that no seedling mats are loaded on the conveying device 61 at the rear end of the seedling transport path 60 (Step S03: NO), the control unit 4 controls the conveying device 61 to transport the seedling mats to the rear (Step S06), and repeats the processes of Step S03 and Step S06 until the determination in Step S03 becomes YES.

[0059] On the other hand, if it is determined that seedling mats are loaded on the conveying device 61 at the rear end of the seedling conveying path 60 (step S03: YES), the control unit 4 determines from the detection signal output from the fourth sensor 84 whether or not seedling mats are loaded on the conveying device 61 at the front end of the seedling conveying path 60 (step S04). If it is determined that seedling mats are loaded on the conveying device 61 at the front end of the seedling conveying path 60 (step S04: YES), the control unit 4 terminates the process.

[0060] On the other hand, if it is determined that no seedling mats are loaded onto the conveying device 61 at the front end of the seedling conveying path 60 (step S04: NO), the control unit 4 issues a notification prompting the loading of seedling mats onto the seedling conveying path 60 (step S07). As a means of notification, for example, a message prompting the loading of seedling mats may be displayed on a monitor (not shown) located near the steering handle 16, or an audio prompting the loading of seedling mats may be output from a speaker (not shown). Upon receiving a notification prompting the loading of seedling mats, the operator sets the supply mode, which will be described later.

[0061] Figure 17 is a flowchart showing the operation of the supply mode and the retrieval mode. First, the control unit 4 determines whether the supply mode is set or not from the control signal output from the operation unit 63 (step S21). If it is determined that the supply mode is not set (step S21: NO), the control unit 4 determines whether the retrieval mode is set or not (step S31). If it is determined that the retrieval mode is not set (step S31: NO), the control unit 4 proceeds to step S21.

[0062] If it is determined in step S21 that the supply mode has been set (step S21: YES), the control unit 4 controls the auxiliary seedling stand 70 to the first position (step S22) and opens the first opening / closing section 62 (step S23). Next, the control unit 4 determines whether or not the seedling mat has been detected by the third sensor 83 and the fourth sensor 84 (step S24). If it is determined that the seedling mat has been detected by the third sensor 83 and the fourth sensor 84 (step S24: YES), the control unit 4 controls the transport device 61 to transport the seedling mat to the rear (step S25). On the other hand, if it is determined that the seedling mat has not been detected by the third sensor 83 and the fourth sensor 84 (step S24: NO), the control unit 4 repeats the process in step S24.

[0063] In step S26, the control unit 4 determines whether the seedling transport path 60 and the auxiliary seedling tray 70 are full of seedling mats based on the detection signals output from the first sensor 81, the third sensor 83, and the fourth sensor 84 (step S26). If it is determined that the seedling transport path 60 and the auxiliary seedling tray 70 are full of seedling mats (step S26: YES), the control unit 4 repeats the process from step S21 onwards. On the other hand, if it is determined that the seedling transport path 60 and the auxiliary seedling tray 70 are not full of seedling mats (step S26: NO), the control unit 4 repeats the process from step S24 onwards.

[0064] If it is determined in step S31 that the retrieval mode has been set (step S31: YES), the control unit 4 determines whether or not the seedling mat has been detected by the third sensor 83 (step S32). If it is determined that the seedling mat has not been detected by the third sensor 83 (step S32: NO), the control unit 4 proceeds to step S35. On the other hand, if it is determined that the seedling mat has been detected by the third sensor 83 (step S32: YES), the control unit 4 controls the transport device 61 to transport the seedling mat forward (step S33) and determines whether or not the seedling mat has been detected by the fourth sensor 84 (step S34). If it is determined that the seedling mat has not been detected by the fourth sensor 84 (step S34: NO), the control unit 4 repeats the process from step S32 onward.

[0065] On the other hand, if the fourth sensor 84 determines that a seedling mat has been detected (step S34: YES), the control unit 4 stops the transport of the seedling mat by the transport device 61 (step S35) and repeats the process from step S21 onwards.

[0066] Figure 18 is a flowchart showing the operation of the rice transplanter 1 during planting. First, the control unit 4 determines from the detection signal output from the second sensor 82 whether the amount of seedling mat on the seedling tray 30 has decreased to a predetermined amount (step S41). Here, the second sensor 82 outputs detection signals of different levels depending on whether seedling mat is detected or not. The determination of whether the amount of seedling mat has decreased to a predetermined amount is made by the change in the level of the detection signal output from the second sensor 82. If it is determined that the amount of seedling mat on the seedling tray 30 has not decreased to a predetermined amount (step S41: NO), the control unit 4 repeats the process of step S41.

[0067] On the other hand, if it is determined that the amount of seedling mats on the seedling tray 30 has decreased to a predetermined amount (step S41: YES), the control unit 4 determines whether or not the rice transplanter 1 is in the process of planting (step S42). If it is determined that the rice transplanter 1 is in the process of planting (step S42: YES), the control unit 4 reduces the speed of the rice transplanter 1 to stop it from moving (step S45), disengages the PTO clutch of the inter-row transmission device 27 (step S46), raises the planting device 3 to its highest position (step S47), and proceeds to step S51.

[0068] On the other hand, if it is determined that the rice transplanter 1 is not in the process of planting (step S42: NO), the control unit 4 determines whether or not the rice transplanter 1 is turning (step S43). If it is determined that the rice transplanter 1 is turning (step S43: YES), the control unit 4 proceeds to step S51. Note that when the rice transplanter 1 is turning, the planting device 3 is raised to its highest position.

[0069] On the other hand, if it is determined that the rice transplanter 1 is not turning (step S43: NO), the control unit 4 determines whether or not the rice transplanter 1 is stopped moving (step S44). If it is determined that the rice transplanter 1 is stopped moving (step S44: YES), the control unit 4 proceeds to step S47. On the other hand, if it is determined that the rice transplanter 1 is not stopped moving (step S44: NO), the control unit 4 proceeds to step S45.

[0070] In step S51, the control unit 4 performs the replenishment process described above (see Figure 16). Next, the control unit 4 determines whether a predetermined amount of seedling mats is loaded onto the seedling tray 30 (step S52). If it determines that a predetermined amount of seedling mats is loaded onto the seedling tray 30 (step S52: YES), the control unit 4 terminates the process. On the other hand, if it determines that a predetermined amount of seedling mats is not loaded onto the seedling tray 30 (step S52: NO), the control unit 4 replenishes seedling mats from the seedling transport path 60 to the auxiliary seedling tray 70 and repeats the process from step S51 onwards.

[0071] According to the rice transplanter 1 of this embodiment described above, the transplanter comprises a seedling transport path 60 for transporting seedling mats to the rear, a planting device 3 provided behind the seedling transport path 60 and equipped with a seedling platform 30 inclined with respect to the transport direction of the seedling transport path 60, an auxiliary seedling platform 70 provided between the seedling transport path 60 and the seedling platform 30, which changes its posture between a first posture along the transport direction of the seedling transport path 60 and a second posture along the seedling platform 30, and a control unit 4 that controls the auxiliary seedling platform 70 between the first posture and the second posture. With this configuration, the posture of the seedling mat can be changed when moving the seedling mat from the seedling transport path 60 to the seedling platform 30.

[0072] Furthermore, the rice transplanter 1 according to this embodiment is equipped with a conveying device 61 that conveys seedling mats to the auxiliary seedling stand 70 along the seedling conveying path 60. With this configuration, the conveying of seedling mats from the seedling conveying path 60 to the auxiliary seedling stand 70 can be made more efficient.

[0073] Furthermore, according to the rice transplanter 1 of this embodiment, a first sensor 81 is provided for detecting seedling mats on the auxiliary seedling stand 70, and the control unit 4 controls the transport device 61 to transport seedling mats to the auxiliary seedling stand 70 when the auxiliary seedling stand 70 is in a first position and the first sensor 81 does not detect seedling mats. With this configuration, seedling mats can be supplied to the auxiliary seedling stand 70 when they are ready to be supplied.

[0074] Furthermore, according to the rice transplanter 1 of this embodiment, a first sensor 81 for detecting seedling mats on the auxiliary seedling stand 70 and a first opening / closing unit 62 for opening and closing the rear end of the seedling transport path 60 are provided. The control unit 4 controls the first opening / closing unit 62 to close the rear end of the seedling transport path 60 when the auxiliary seedling stand 70 is not in the first position or when the first sensor 81 detects seedling mats. With this configuration, unnecessary movement of the seedling mats can be prevented.

[0075] Furthermore, according to the rice transplanter 1 of this embodiment, a lateral feed drive unit 73 is provided to move the auxiliary seedling tray 70 in the left-right direction, the number of rows on the auxiliary seedling tray 70 is less than the number of rows on the seedling tray 30, and the control unit 4 controls the lateral feed drive unit 73 to move the auxiliary seedling tray 70 to one of the multiple rows on the seedling tray 30. With this configuration, the auxiliary seedling tray 70 and the seedling transport path 60 can be made compact.

[0076] Furthermore, according to the rice transplanter 1 of this embodiment, a second sensor 82 for detecting seedling mats for each row of seedling tray 30 and a second opening / closing unit 74 for opening and closing the rear end of the auxiliary seedling tray 70 are provided. The control unit 4 controls the second opening / closing unit 74 to open the rear end of the auxiliary seedling tray 70 when the auxiliary seedling tray 70 is in the second position and the second sensor 82 does not detect a seedling mat. With this configuration, unnecessary movement of the seedling mat can be prevented.

[0077] Furthermore, according to the rice transplanter 1 of this embodiment, it is equipped with a lateral feed drive unit 73 that moves the auxiliary seedling tray 70 in the left-right direction, and a second sensor 82 that detects seedling mats for each row of the seedling tray 30. The control unit 4 controls the lateral feed drive unit 73 to move the auxiliary seedling tray 70 to the row where the second sensor 82 did not detect a seedling mat. With this configuration, seedling mats can be supplied to rows where they have run out.

[0078] Furthermore, according to the rice transplanter 1 of this embodiment, the conveying device 61 conveys the seedling mats to the rear and front along the seedling conveying path 60. With this configuration, the labor required to collect the seedling mats remaining in the seedling conveying path 60 can be reduced.

[0079] Furthermore, the rice transplanter 1 according to this embodiment includes an operating unit 63 that receives commands for the conveying device 61. With this configuration, the operator can operate the conveying device 61 according to the situation.

[0080] Furthermore, according to the rice transplanter 1 of this embodiment, the operating unit 63 is provided at the front end of the seedling transport path 60. With this configuration, when an operator who is not riding the rice transplanter 1 replenishes seedling mats from the ridge or the like, the seedling mats can be easily transported.

[0081] Furthermore, according to the rice transplanter 1 of this embodiment, the operating unit 63 accepts transport in both the forward and backward directions with the same operating tool. This configuration allows for a reduction in the number of parts.

[0082] Furthermore, according to the rice transplanter 1 of this embodiment, a third sensor 83 is provided to detect seedling mats on the seedling transport path 60, and the control unit 4 is set to a retrieval mode, which is a mode for retrieving seedling mats. When the third sensor 83 detects a seedling mat, the transport device 61 is controlled to transport the seedling mat forward. With this configuration, if the transport device 61 is kept running until all seedling mats have been retrieved, energy will be wasted. To save energy, the operator can operate the control unit 63 frequently to operate the transport device 61 only when necessary, but this increases the workload for the operator. According to this embodiment, energy can be saved without requiring extra effort.

[0083] Furthermore, according to the rice transplanter 1 of this embodiment, a fourth sensor 84 is provided at the front end of the seedling transport path 60 to detect the seedling mat, and the control unit 4 controls the transport device 61 to stop transport when the fourth sensor 84 detects the seedling mat. With this configuration, the effort of stopping the transport of the seedling mat at the front end of the seedling transport path 60 can be eliminated.

[0084] Furthermore, according to the rice transplanter 1 of this embodiment, the auxiliary seedling stand 70 can be changed to a third position with a greater inclination angle than the second position. This configuration makes it easier to maintain the rice transplanter 1.

[0085] Furthermore, according to the rice transplanter 1 of this embodiment, a fertilizer applicator 50 having an openable / closable lid 51C is provided below the auxiliary seedling stand 70, and the lid 51C can be opened and closed when the auxiliary seedling stand 70 is in the second or third position. With this configuration, by setting the auxiliary seedling stand 70 to the second or third position, maintenance of the fertilizer applicator 50, which involves opening and closing the lid 51C, and fertilizer replenishment become easier.

[0086] Furthermore, according to the rice transplanter 1 of this embodiment, the fertilizer applicator 50 is provided below the auxiliary seedling tray 70, and the fertilizer applicator 50 can change its orientation when the auxiliary seedling tray 70 is in the third orientation. With this configuration, by setting the auxiliary seedling tray 70 to the third orientation, maintenance of the fertilizer applicator 50, which involves changing the orientation of the fertilizer applicator 50, becomes easier.

[0087] <Note> The present invention can be defined as follows:

[0088] <Note 1> A seedling transport path for transporting seedling mats to the rear, A planting device provided behind the seedling transport path and equipped with a seedling platform inclined with respect to the transport direction of the seedling transport path, A first opening / closing section that opens and closes the rear end of the seedling transport path, A rice transplanter characterized by comprising a control unit for controlling the first opening and closing section.

[0089] <Note 2> The rice transplanter according to Appendix 1, characterized in that it is provided between the seedling transport path and the seedling platform, and is equipped with an auxiliary seedling platform that changes its posture between a first posture along the transport direction of the seedling transport path and a second posture along the seedling platform.

[0090] <Note 3> The control unit controls the auxiliary seedling stand to the first position and the second position, The rice transplanter according to Appendix 2, characterized in that the first opening / closing unit is controlled to close the rear end of the seedling transport path when the auxiliary seedling stand is not in the first position.

[0091] <Note 4> The system includes a first sensor for detecting the seedling mat on the auxiliary seedling stand, The rice transplanter according to Appendix 2 or 3, characterized in that the control unit controls the first opening / closing unit to close the rear end of the seedling transport path when the first sensor detects the seedling mat.

[0092] <Note 5> The system includes a conveying device that conveys the seedling mat to the auxiliary seedling stand along the seedling transport path, The rice transplanter according to any one of appendices 2 to 4, characterized in that the control unit controls the transport device to transport the seedling mat to the auxiliary seedling stand when the auxiliary seedling stand is in the first position and the first sensor does not detect the seedling mat.

[0093] <Note 6> The auxiliary seedling tray is equipped with a lateral feed drive unit that moves it in the left-right direction, The number of rows in the auxiliary seedling tray is less than the number of rows in the seedling tray. The rice transplanter according to any one of appendices 2 to 5, characterized in that the control unit controls the lateral feed drive unit to move the auxiliary seedling tray to one of the seedling trays.

[0094] <Note 7> A second sensor detects the seedling mat for each row of the seedling tray, It comprises a second opening / closing part that opens and closes the rear end of the auxiliary seedling stand, The rice transplanter according to any one of appendices 2 to 6, characterized in that the control unit controls the second opening / closing unit to open the rear end of the auxiliary seedling stand when the auxiliary seedling stand is in the second position and the second sensor does not detect the seedling mat.

[0095] <Note 8> A lateral feed drive unit for moving the auxiliary seedling tray in the left-right direction, The seedling tray is equipped with a second sensor that detects the seedling mat in each row, The rice transplanter according to any one of appendices 2 to 7, characterized in that the control unit controls the lateral feed drive unit to move the auxiliary seedling stand to the row in which the second sensor did not detect the seedling mat.

[0096] <Note 9> The rice transplanter according to Appendix 5, characterized in that the conveying device conveys the seedling mat to the rear and to the front along the seedling conveying path.

[0097] <Note 10> The aforementioned transport device is A frame with the front-to-back direction as the longitudinal direction, A drive roller provided on the frame with the left-right direction as the axial direction, A drive unit that transmits driving force to the aforementioned drive roller, The rice transplanter according to Appendix 5 or 9, characterized by comprising an operating unit for receiving operations on the conveying device.

[0098] <Note 11> The rice transplanter according to any one of appendices 5, 9, or 10, characterized in that the operating unit is provided at the front end of the seedling transport path.

[0099] <Note 12> The aforementioned operating unit accepts operations in both forward and backward directions using the same operating tool. The rice transplanter according to any one of appendices 5, 9, 10, or 11, characterized in that the control unit controls the drive unit to transport the seedling mat in the direction in which the operation unit is operated.

[0100] <Note 13> The rice transplanter according to any one of appendices 2 to 12, characterized in that the auxiliary seedling stand can be changed to a third position having a greater angle of inclination than the second position.

[0101] <Note 14> A fertilizer application device having an opening and closing lid is provided below the auxiliary seedling stand. The rice transplanter according to Appendix 13, characterized in that the lid can be opened and closed when the auxiliary seedling stand is in the second or third position.

[0102] <Note 15> A fertilizer application device is provided below the auxiliary seedling stand. The rice transplanter according to Appendix 13 or 14, characterized in that the fertilizer application device can change its orientation when the auxiliary seedling stand is in the third orientation. [Explanation of symbols]

[0103] 1. Rice transplanter 3 Planting equipment 4. Control Unit 30 Seedling stand 50 Fertilizer application equipment 60 Seedling transport path 61 Conveying device 62 First opening / closing section 63 Operation section 70 Auxiliary seedling trays 73 Lateral feed drive unit 74 Second opening / closing section 81 First Sensor 82 Second Sensor 83 Third Sensor 84. Fourth Sensor

Claims

1. A seedling transport path for transporting seedling mats to the rear, A planting device provided behind the seedling transport path and equipped with a seedling platform inclined with respect to the transport direction of the seedling transport path, A first opening / closing section that opens and closes the rear end of the seedling transport path, A rice transplanter comprising a control unit for controlling the first opening and closing section.

2. The rice transplanter according to claim 1, further comprising an auxiliary seedling stand provided between the seedling transport path and the seedling stand, which changes its posture between a first posture along the transport direction of the seedling transport path and a second posture along the seedling stand.

3. The control unit controls the auxiliary seedling stand to the first position and the second position, The rice transplanter according to claim 2, characterized in that the first opening / closing unit is controlled to close the rear end of the seedling transport path when the auxiliary seedling stand is not in the first position.

4. The system includes a first sensor for detecting the seedling mat on the auxiliary seedling stand, The rice transplanter according to claim 2, characterized in that the control unit controls the first opening / closing unit to close the rear end of the seedling transport path when the first sensor detects the seedling mat.

5. The system includes a conveying device that conveys the seedling mat to the auxiliary seedling stand along the seedling transport path, The rice transplanter according to claim 4, characterized in that the control unit controls the transport device to transport the seedling mat to the auxiliary seedling stand when the auxiliary seedling stand is in the first position and the first sensor does not detect the seedling mat.

6. The auxiliary seedling tray is equipped with a lateral feed drive unit that moves it in the left-right direction, The number of rows in the auxiliary seedling tray is less than the number of rows in the seedling tray. The rice transplanter according to claim 2, characterized in that the control unit controls the lateral feed drive unit to move the auxiliary seedling tray to one of the seedling trays.

7. A second sensor for detecting the seedling mat in each row of the seedling tray, It includes a second opening / closing part that opens and closes the rear end of the auxiliary seedling stand, The rice transplanter according to claim 2, characterized in that the control unit controls the second opening / closing unit to open the rear end of the auxiliary seedling stand when the auxiliary seedling stand is in the second position and the second sensor does not detect the seedling mat.

8. A lateral feed drive unit for moving the auxiliary seedling tray in the left-right direction, The seedling tray is equipped with a second sensor that detects the seedling mat in each row, The rice transplanter according to claim 2, characterized in that the control unit controls the lateral feed drive unit to move the auxiliary seedling stand to the row in which the second sensor did not detect the seedling mat.

9. The rice transplanter according to claim 5, characterized in that the conveying device conveys the seedling mat to the rear and to the front along the seedling conveying path.

10. The aforementioned transport device is A frame with the front-to-back direction as the longitudinal direction, A drive roller provided on the frame with the left-right direction as the axial direction, A drive unit that transmits driving force to the aforementioned drive roller, The rice transplanter according to claim 9, further comprising an operating unit for receiving operations on the conveying device.

11. The rice transplanter according to claim 10, characterized in that the operating unit is provided at the front end of the seedling transport path.

12. The aforementioned operating unit accepts operations in both forward and backward directions using the same operating tool. The rice transplanter according to claim 11, characterized in that the control unit controls the drive unit to transport the seedling mat in the direction in which the operation unit is operated.

13. The rice transplanter according to claim 2, characterized in that the auxiliary seedling stand can be changed to a third position having a greater angle of inclination than the second position.

14. A fertilizer application device having an opening and closing lid is provided below the auxiliary seedling stand. The rice transplanter according to claim 13, characterized in that the lid can be opened and closed when the auxiliary seedling stand is in the second or third position.

15. A fertilizer application device is provided below the auxiliary seedling stand. The rice transplanter according to claim 13, characterized in that the fertilizer application device can change its orientation when the auxiliary seedling stand is in the third orientation.

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