Seedling planting machine and seedling planting method

Abstract

There are rice transplanters that enter the field and plant seedlings by moving on their drive wheels. However, since the machine enters the field and moves while planting, there are difficulties and risks involved, such as the machine entering and exiting the field and sinking while moving within the field. Therefore, we provide a seedling planting machine and method that allows for efficient work by placing the machine body outside the field, thereby reducing the burden on the worker and eliminating the risks of entering and exiting the field and sinking. [Solution] A seedling planting method is provided in which a seedling planting machine and a traveling vehicle 2a are positioned near a field F, and the planting machine is moved within the field F by rotating the rotating part 2b and extending and retracting the arm 3, thereby performing seedling planting. The planting machine is equipped with a planting unit 4 at the tip of an extendable arm 3 that is mounted on a rotating part 2b that is rotatably attached to the traveling vehicle 2a, and a planting device 13 for planting seedlings placed on a seedling tray 12 into the field F is positioned near the field F, and seedlings are planted.

Description

Technical Field

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[0001] The present invention relates to a seedling planting work machine and a seedling planting method for planting seedlings in a field.

Background Art

[0002] There is a rice transplanter in which the machine body enters the field and travels with drive wheels to plant seedlings (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, since the machine plants while entering and moving in the field, there are labor and risks such as the machine entering and leaving the field and sinking during movement in the field.

[0005] The present invention has been made in view of the above, and an object thereof is to provide a seedling planting work machine and a seedling planting method that can efficiently perform work without the burden on the operator and the risks of entering and leaving the field and sinking by placing the machine body outside the field.

Means for Solving the Problems

[0006] The invention according to claim 1 is a seedling planting work machine provided with a planting part 4 provided with a planting device 13 for planting seedlings placed on a seedling mounting table 12 at the tip of a telescopic arm 3 equipped on a swivel part 2b provided rotatably on a traveling vehicle body 2a.

[0007] The invention described in claim 2 is a seedling planting method in which a planting unit 4 is provided with a planting device 13 for planting seedlings placed on a seedling tray 12 into a field F, which is attached to a retractable arm 3 mounted on a swivel section 2b that is rotatably mounted on a traveling vehicle body 2a, and the traveling vehicle body 2a is positioned near a field F, and the planting unit 4 is moved within the field F by the rotation of the swivel section 2b and the extension and retraction of the arm 3 to plant seedlings.

[0008] According to the invention described in claim 1 or claim 2, by positioning the traveling vehicle body 2a of the seedling planting machine 1 near the outside of the field F, the burden on the worker is reduced, the machine does not need to enter or exit the field, there is no risk of sinking, and the work can be performed efficiently.

[0009] The invention described in claim 3 is a seedling planting machine according to claim 1, wherein a planting section 4 is provided at the tip of the arm 3 so as to be rotatable by an actuator 10.

[0010] The invention described in claim 4 is a seedling planting method according to claim 2, wherein a planting section 4 is provided at the tip of the arm 3 so as to be rotatable by an actuator 10.

[0011] The invention described in claim 5 is a seedling planting machine according to claim 1, wherein each part can be remotely controlled by an external terminal, a monitoring device 20 for detecting the direction of planting is installed in or near the planting unit 4, and when the monitoring device 20 detects an obstacle such as a person in front during planting movement, the control device stops the rotation of the swivel unit 2b and the posture control of the arm 3 to stop the movement of the planting unit 4, and when the obstacle is removed, the rotation of the swivel unit 2b and the posture control of the arm 3 are resumed to resume the planting movement of the planting unit 4.

[0012] The invention described in claim 6 is a seedling planting method according to claim 2, wherein each part can be remotely controlled by an external terminal, a monitoring device 20 for detecting the direction of planting is installed in or near the planting unit 4, and when the monitoring device 20 detects an obstacle such as a person in front during planting movement, the control device stops the rotation of the swivel unit 2b and the attitude control of the arm 3 to stop the movement of the planting unit 4, and when the obstacle is removed, the rotation of the swivel unit 2b and the attitude control of the arm 3 are resumed to resume the planting movement of the planting unit 4. [Brief explanation of the drawing]

[0013] [Figure 1] This is a rear view illustrating the operation of a seedling planting machine, which is an embodiment of the present invention. [Figure 2] This is a plan view illustrating the operation of a seedling planting machine, which is an embodiment of the present invention. [Figure 3] This is a plan view illustrating the operation of a seedling planting machine, showing another embodiment of the present invention. [Figure 4] This is a plan view illustrating the operation of a seedling planting machine, showing another embodiment of the present invention. [Modes for carrying out the invention]

[0014] Hereinafter, with reference to the drawings, a preferred embodiment of the present invention, a seedling planting machine 1 for performing rice planting work in field F, will be described.

[0015] Figures 1 and 2 are rear and top views illustrating the operation of the seedling planting machine 1 when it performs rice planting work in field F.

[0016] The seedling planting machine 1 is constructed by removing the bucket attached to the tip of an arm 3 mounted on a swivel section 2b that is freely rotatable 360 ​​degrees on the traveling body 2a of a typical hydraulic excavator used in civil engineering work, and attaching a planting section 4 to it.

[0017] The vehicle body 2a has a typical configuration for a hydraulic excavator, and is equipped with a prime mover (engine or electric motor), a transmission case to which the driving force is transmitted from the prime mover, one left and right drive wheels 5a and the other left and right drive steering wheels 5b to which the driving force is transmitted from the transmission case, and a hydraulic drive unit such as a hydraulic pump.

[0018] The swing unit 2b has a general configuration of a hydraulic excavator, with an operation unit and a control device provided in the cab where the operator rides. By operating the operation unit, the operator can drive the left and right drive wheels 5a and the left and right drive and steering wheels 5b forward and backward to move the traveling vehicle body 2 forward and backward, steer the left and right drive and steering wheels 5b to change the traveling direction, stop the driving of the left and right drive wheels 5a and the left and right drive and steering wheels 5b to stop the machine body, swing the swing unit 2b by a desired angle in a desired direction, and extend and retract each hydraulic cylinder 6a, 6b, 6c of the arm 3 to change to a desired angle.

[0019] Also, it may be equipped with a GNSS antenna and an automatic switch may be provided in the operation unit to perform automatic planting control.

[0020] That is, when the automatic switch is turned on, the control device receives a signal from the positioning satellite by the GNSS antenna, calculates the current position by the satellite positioning system, calculates and stores the path L1 for the planting unit 4 to perform the seedling planting operation from the map database of the field F recorded by the control device, and performs the swing of the swing unit 2b, the attitude control of the arm 3, and the attitude control of the planting unit 4 as described below to automatically perform the seedling planting operation in the field.

[0021] Moreover, it may be equipped with a communication device and can also be remotely operated by operating the operation unit with an external terminal such as a mobile terminal.

[0022] The arm 3 has a general configuration of a hydraulic excavator, including a first arm 3a whose base is pivotally supported by the swing unit 2b and whose angle is changed by the first hydraulic cylinder 6a, a second arm 3b whose base is pivotally supported at the tip of the first arm 3a and whose angle is changed by the second hydraulic cylinder 6b, and a third arm 3c whose base is pivotally supported at the tip of the second arm 3b and whose angle is changed by the third hydraulic cylinder 6c.

[0023] The planting unit 4 has a planting frame attached to a swivel support portion 11 that is swiveled by a hydraulic motor 10 as an actuator at the tip of the third arm 3c of the arm 3. A seedling mounting table 12 that reciprocates left and right by the driving force from a planting mission case driven by a hydraulic motor is provided on the planting frame, and a planting device 13 that takes out seedlings from each seedling mounting portion 12a of the seedling mounting table 12 and plants them in the field is provided.

[0024] Note that the driving of the planting unit 4 may be by using a mechanical transmission mechanism (driving shaft and driving belt) provided along the arm 3 from the traveling vehicle body 2 instead of the hydraulic pressure of a hydraulic pipe provided along the arm 3 from the traveling vehicle body 2 to a hydraulic motor, or by using an electric motor that operates with electric power from an electric wire provided along the arm 3 from the traveling vehicle body 2 or electric power of a battery provided in the planting unit 4.

[0025] And the planting unit 4 is equipped with a laser distance detection device that detects the height (distance) from the field F. The control device controls the posture of the arm 3 by expanding and contracting each hydraulic cylinder 6a, 6b, 6c so that the height of the planting unit 4 from the field F becomes constant during the seedling planting operation and the seedling planting depth by the planting device 13 becomes constant.

[0026] Also, the planting unit 4 is equipped with a horizontal sensor, and the control device operates a fourth hydraulic cylinder 6d provided between the third arm 3c of the arm 3 and the swivel support portion 11 to maintain the planting unit 4 horizontally.

[0027] Also, the planting unit 4 is equipped with an azimuth sensor, and the control device operates the hydraulic motor 10 in correspondence with the swiveling of the swivel portion 2b and the posture control of the arm 3 during the seedling planting operation in the field F to control the posture of the planting unit 4 in a direction perpendicular to the traveling direction.

[0028] Furthermore, the planting unit 4 or its vicinity is equipped with a monitoring device 20 such as a lidar that detects the direction of planting. When the monitoring device 20 detects an obstacle such as a person in front of the planting unit during planting movement, the control device stops the rotation of the swivel unit 2b and the attitude control of the arm 3, stopping the movement of the planting unit 4. Once the obstacle is gone, the rotation of the swivel unit 2b and the attitude control of the arm 3 are resumed, and the planting unit 4 resumes planting movement.

[0029] Next, we will explain the rice planting process using the seedling planting machine 1.

[0030] The worker boards the cabin of the seedling planting machine 1 and drives the seedling planting machine 1 to a position midway between field F and road R adjacent to field F, and places soil-covered mat-shaped seedlings on the seedling tray 12 of the planting unit 4.

[0031] Then, the automatic switch is turned on. The control device then receives signals from positioning satellites using the GNSS antenna and calculates the current position using the satellite positioning system. The control device calculates and stores the path L1 on which the planting unit 4 will perform the seedling planting work from the map database of field F that it has recorded. The swivel unit 2b is rotated to an angle toward the work start position, which is the starting point of path L1. The hydraulic cylinders 6a, 6b, and 6c are activated to control the attitude of the arm 3 and bring the planting unit 4 to the work start position. The parts of the planting unit 4 are driven to start the rice planting work, and the swivel unit 2b is rotated, the attitude of the arm 3 and the attitude of the planting unit 4 are controlled to move the planting unit 4 along path L1 and automatically plant seedlings in the field (see Figure 2).

[0032] Then, when the planting unit 4 is moving, if the monitoring device 20 detects an obstacle such as a person in front of it, the control device stops the rotation of the swivel unit 2b and the attitude control of the arm 3, stopping the movement of the planting unit 4. Once the obstacle is gone, the rotation of the swivel unit 2b and the attitude control of the arm 3 are resumed, and the planting unit 4 resumes planting.

[0033] Furthermore, the control unit can be remotely operated using an external device such as a mobile terminal to manually control the movement, stopping, and steering of the vehicle body 2a, the rotation of the turning unit 2b, the extension and retraction of the arm 3, and the on / off operation of the planting unit 4, thereby enabling manual rice planting operations.

[0034] Furthermore, even in the case of remote operation via an external terminal, if the monitoring device 20 detects an obstacle such as a person in front, the control device will take priority over the operation of the external terminal and stop the rotation of the swivel unit 2b and the attitude control of the arm 3, thereby stopping the movement of the planting unit 4. Once the obstacle is removed, the operation of the external terminal will become effective, and the rotation of the swivel unit 2b and the attitude control of the arm 3 will resume, and the planting movement of the planting unit 4 will resume.

[0035] Figure 3 shows another embodiment of automatic planting control.

[0036] In other words, when the automatic switch is turned on, the control device calculates the route L2 that travels along road R between both ends of field F from the recorded map database of field F, and also calculates and stores the route L3 that the planting unit 4 will use to perform the seedling planting work.

[0037] The control device then receives signals from positioning satellites via a GNSS antenna and calculates the current position using a satellite positioning system. It moves the vehicle body 2a of the seedling planting machine 1 to the starting position of route L2 on road R, rotates the swivel section 2b to an angle toward the work start position, which is the starting position of route L3 where the planting unit 4 will perform seedling planting work, operates the hydraulic cylinders 6a, 6b, and 6c to control the attitude of the arm 3 and ground the planting unit 4 at the work start position, which is the starting position of route L3, while calculating the current position and moving the vehicle body 2a toward the end position of route L2 on road R and driving each part of the planting unit 4 to perform seedling planting work. The rice planting operation begins along the route L3 on which the work is to be carried out. When the vehicle body 2a reaches the end of route L2 on road R, the hydraulic cylinders 6a, 6b, and 6c are activated to control the posture of the arm 3 and raise the planting unit 4. The hydraulic motor 10 is activated to rotate the planting unit 4 180 degrees. The hydraulic cylinders 6a, 6b, and 6c are activated to control the posture of the arm 3 and lower it to the starting position of route L3 for the next step of planting seedlings. The vehicle body 2a is moved toward the starting position of route L2 on road R while calculating the current position, and each part of the planting unit 4 is driven to perform rice planting along route L3 for the next step of planting seedlings. The same procedure is followed for the planting unit 4 to be moved sequentially along route L3 for planting seedlings by controlling the posture of the arm 3, and the vehicle body 2a is moved back and forth along route L2 on road R to perform the seedling planting work.

[0038] Figure 4 shows the first arm 3a, second arm 3b, and third arm 3c raised to their maximum height by operating the hydraulic cylinders 6a, 6b, and 6c, and the planting unit 4 raised to its maximum height by arm 3. It also shows an example in which monitoring devices 20a to 20f are installed in various locations in addition to the monitoring device 20 to respond to obstacles and to recognize the planar shape of the field F to calculate the optimal path for automatic planting by the planting unit 4.

[0039] Furthermore, each of the monitoring devices 20a to 20f may be configured as follows: either only one device is installed and corresponding control is performed, or multiple devices may be installed and corresponding control is performed for each.

[0040] Specifically, the monitoring device 20a is installed in or near the planting unit 4 and detects directions opposite to the planting direction. When the monitoring device 20a detects an obstacle such as a person behind the direction of travel, the control device stops the rotation of the swivel unit 2b and the attitude control of the arm 3, stopping the movement of the planting unit 4. Once the obstacle is gone, the rotation of the swivel unit 2b and the attitude control of the arm 3 are resumed, and the planting movement of the planting unit 4 resumes.

[0041] The monitoring device 20b is located at the tip of the third arm 3c and detects the direction of extension of the tip of the third arm 3c, as well as downwards and upwards. When the monitoring device 20b detects an obstacle such as a person or other object, the control device stops the rotation of the swivel unit 2b and the attitude control of the arm 3. Once the obstacle is gone, it resumes the rotation of the swivel unit 2b and the attitude control of the arm 3.

[0042] The monitoring device 20b then raises the first arm 3a, the second arm 3b, and the third arm 3c to their maximum heights, raising the planting unit 4 to its maximum height using arm 3, and detects the planar shape of the field F. The control device calculates the optimal path for automatic planting by the planting unit 4 from the planar shape of the field F detected by the control device, and moves the planting unit 4 along the calculated optimal path to perform automatic planting.

[0043] The monitoring device 20c is located at the tip of the second arm 3b and detects the area around the second arm 3b. When the monitoring device 20c detects an obstacle such as a person or other object, the control device stops the rotation of the swivel unit 2b and the attitude control of the arm 3. Once the obstacle is gone, it resumes the rotation of the swivel unit 2b and the attitude control of the arm 3.

[0044] The monitoring device 20d is located at the tip of the first arm 3a and detects the area around the first arm 3a. When the monitoring device 20d detects an obstacle such as a person or other object, the control device stops the rotation of the swivel unit 2b and the attitude control of the arm 3. Once the obstacle is gone, it resumes the rotation of the swivel unit 2b and the attitude control of the arm 3.

[0045] The monitoring devices 20e and 20f are installed on the vehicle body 2a and detect the direction of travel and the direction opposite to the direction of travel. When the monitoring devices 20e and 20f detect obstacles such as people or other objects, the control device stops the movement of the vehicle body 2a, and resumes movement once the obstacles are gone.

[0046] Furthermore, if monitoring devices 20, 20a~20f detect an obstacle and initiate a stop control, an automatic stop notification (display) will be shown on the control panel monitor inside the cabin and / or on the external terminal monitor, and an announcement (display) will be shown when restarting is required. For safety reasons, restarting should require manual operation or the activation of an automatic switch.

[0047] Furthermore, in another embodiment of the automatic planting control shown in Figure 3, if the monitoring devices 20e and 20f detect an obstacle and automatically stop the vehicle body 2a, and the obstacle does not disappear after a predetermined time has elapsed, the control device calculates the movement path of the planting unit 4 that can perform planting work by rotating and extending the arm 3 at the stopping position, and the remaining movement path of the planting unit 4 after the obstacle has disappeared following the completion of planting along that movement path, and then performs the automatic planting work.

[0048] Therefore, it is possible to improve work efficiency when there are obstacles.

[0049] In short, by positioning the vehicle body 2a of the seedling planting machine 1 on the road R outside the field F, the burden on the worker is reduced, the machine does not need to enter or exit the field, there is no risk of sinking, and the work can be carried out efficiently.

[0050] Furthermore, since the seedling planting machine 1 is equipped with an automatic switch on its control unit and external terminal, the operator can choose between automatic, manual, or remote manual operation by operating the automatic switch, increasing the operator's options for usage and improving the flexibility of the work style.

[0051] Furthermore, remote control via an external terminal allows the operator to operate the system from a comfortable location, thus reducing fatigue. [Explanation of Symbols]

[0052] 2a Running vehicle 2b Swivel part 3 Arms 4 Planting area 10 Actuators (hydraulic motors) 12 Seedling stand 13 Planting equipment 20 Monitoring devices Field F R road

Claims

1. A seedling planting machine characterized by having a planting unit (4) equipped with a planting device (13) for planting seedlings placed on a seedling tray (12) into a field (F) at the tip of a retractable arm (3) mounted on a swivel section (2b) that is rotatably attached to a traveling vehicle body (2a).

2. A seedling planting method characterized by positioning the traveling vehicle body (2a) of a seedling planting machine near the field (F), wherein the traveling vehicle body (2a) is rotatably mounted on a swivel section (2b), and an extendable arm (3) equipped on the tip of the swivel section (3) has a planting unit (4) equipped with a planting device (13) for planting seedlings placed on a seedling tray (12) into the field (F), and moving the planting unit (4) within the field (F) by the rotation of the swivel section (2b) and the extension and retraction of the arm (3) to plant seedlings.

3. The seedling planting machine according to claim 1, characterized in that a planting section (4) is provided at the tip of the arm (3) so as to be rotatable by an actuator (10).

4. The seedling planting method according to claim 2, characterized in that a planting section (4) is provided at the tip of the arm (3) so as to be rotatable by an actuator (10).

5. The seedling planting machine according to claim 1, characterized in that each part can be remotely controlled by an external terminal, a monitoring device (20) for detecting the direction of planting is installed on or near the planting unit (4), and when the monitoring device (20) detects an obstacle such as a person in front during planting movement, the control device stops the rotation of the swivel unit (2b) and the posture control of the arm (3) to stop the movement of the planting unit (4), and when the obstacle is removed, the rotation of the swivel unit (2b) and the posture control of the arm (3) are resumed to resume the planting movement of the planting unit (4).

6. The seedling planting method according to claim 2, characterized in that each part can be remotely controlled by an external terminal, a monitoring device (20) for detecting the direction of planting is installed in or near the planting unit (4), and when the monitoring device (20) detects an obstacle such as a person in front during planting movement, the control device stops the rotation of the swivel unit (2b) and the attitude control of the arm (3) to stop the movement of the planting unit (4), and when the obstacle is removed, the rotation of the swivel unit (2b) and the attitude control of the arm (3) are resumed to resume the planting movement of the planting unit (4).

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