Field Machinery

Abstract

To provide a field work machine reducing a burden of a worker when working in a different field.SOLUTION: A field work machine 1 includes a planting part 3 for transplanting seedling mats M on a seedling tray in a field, a presence / absence detector 90 for measuring an input amount of seedling mats M on the seedling tray 33, a seedling consumption amount measuring part (a control device 70) for measuring a consumption amount of the seeding mats M on the seedling tray 33, a seedling mat remaining amount calculation part 72 for calculating a remaining amount of the seedling mats M on the seedling tray 33 from the input amount and the consumption amount of the seedling mats M, a storage part 86 for storing the remaining amount of the seedling mats M on the seedling tray calculated by the seedling mat remaining amount calculation part 72, and an end alignment control part (the control device) 70 performing end aligning work for moving and stopping the seedling tray 33 to left / right ends in a direction of the traverse feed. When the end alignment control part 70 performs end aligning work, the remaining amount of seedling mats stored in the storage part 86 is erased.SELECTED DRAWING: Figure 13

Description

[Technical field]

[0001] The present invention relates to a field working machine for transplanting seedlings from a seedling mat into a field. [Background technology]

[0002] A rice transplanter that measures the number of seedling mats used on a seedling carrier during planting work is described in, for example, JP 2018-166491 A (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-166491 A Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional rice transplanters, the number of seedling mats to be measured is stored, but when working in another field, it is necessary to delete the remaining seedling mats on the seedling carrier from the stored number of seedling mats. Also, seedling mats remaining on the seedling carrier may have to be removed. This makes the work complicated and burdensome for the operator when working in another field. In view of this situation, an object of the present invention is to reduce the burden on a worker when working in another field. [Means for solving the problem]

[0005] The field work machine according to the present invention comprises a planting unit which transplants seedling mats on a seedling carrier into a field, a seedling input amount measuring unit which measures the amount of seedling mats put in on the seedling carrier, a seedling consumption amount measuring unit which measures the amount of seedling mats consumed on the seedling carrier, a seedling mat remaining amount calculating unit which calculates the remaining amount of seedling mats on the seedling carrier from the amount of seedling mats put in and consumed, a memory unit which stores the calculated remaining amount of seedling mats, and an edge moving control unit which performs an edge moving operation by moving the seedling carrier to the left and right ends in the lateral feed direction and stopping it. 、When the edge-collecting control unit performs the edge-collecting operation, the remaining amount of the seedling mat stored in the memory unit is and a seedling mat remaining amount removing unit for controlling and removing the seedling mat remaining amount. It is characterized by: According to this configuration, the burden on the work vehicle when working in another field can be reduced. Preferably, the system further includes a compression rate calculation unit which calculates the compression rate of the seedling mat on the seedling carrier, and the edge-shifting control unit stores the calculated compression rate and deletes the stored compression rate of the seedling mat when the edge-shifting work is performed. According to this configuration, since the compression ratio depends on the condition of the seedling mat, the stored compression ratio is deleted, which reduces the burden on the work vehicle when working in another field. More preferably, the present invention is characterized in that it further comprises a manual operation tool for deleting the stored remaining amount of seedling mat or the stored compression rate of the seedling mat. According to this configuration, the remaining amount and compression rate of the seedling mat can be deleted by a manual operation tool. [Brief description of the drawings]

[0006] [Figure 1] Side view of a field implement [Diagram 2] Plan view of the field implement [Diagram 3] One side view of the planting section (right side view of the machine) [Figure 4] Other side view of the planting section (left side view of the machine) [Diagram 5] Diagram showing the dashboard [Figure 6] (a) A diagram showing the icons displayed on the monitor, (b) A diagram showing a state in which blocks of seedling mat M to be removed are graphically displayed based on the vertical and horizontal amounts in the seedling removal assist control, and (c) A diagram showing the state changed by the settings. [Figure 7] (a) A rear view of the row-by-row placement surface of the seedling tray, (b) a side view of the row-by-row placement surface of the seedling tray [Figure 8] Side view of the main part of the seedling placement surface for each row of seedlings [Figure 9] A perspective view of the presence / absence detection unit as seen from the rear side. [Figure 10] Exploded perspective view of the presence / absence detection unit seen from the rear side [Figure 11] A perspective view of the movement amount detection unit as seen from the rear side. [Figure 12] FIG. 2 is a schematic cross-sectional view of a movement amount detection unit; [Figure 13] Control block diagram of the control device [Figure 14] Diagram showing detection of remaining amount of seedling mat [Figure 15] A diagram showing the control flow of the seedling succession alarm control [Figure 16] Block diagram showing seedling harvesting amount control (scraping area control) [Figure 17] (a) A side view showing the amount of sinking of the rear wheels into the field, (b) A side view showing the height from the contact surface of the rear wheels to the bottom of the float. [Figure 18] A side view showing the height from the rear wheel contact surface to the rice field surface. [Figure 19] 6 is a graph showing the correlation between the amount of sinking of the rear wheels into the field and the slip ratio. [Figure 20] Diagram showing detection of the number of seedling mats used [Figure 21] Diagram showing detection of the number of seedling mats used [Figure 22] A diagram showing the control flow for seedling harvesting amount control (scraping area control) [Diagram 23] A diagram showing items displayed on an information terminal [Figure 24] FIG. 13 is a diagram showing another embodiment of the movement amount detection unit; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0007] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a farm work machine according to the present invention will be described with reference to the drawings. [First embodiment] <Overall composition> The overall configuration of the field work machine 1 will be described with reference to Figures 1 and 2. The field work machine 1 comprises a traveling body 2 and a planting work machine (planting unit) 3 attached to the rear of the traveling body 2, and is configured to perform planting work using the planting work machine 3 while traveling using the traveling body 2. Note that in this embodiment, an example is shown in which the field work machine 1 has six planting rows, but of course the field work machine 1 may have any number of planting rows.

[0008] The traveling body 2 is equipped with an engine 4, a transmission 5 that changes the speed of the power from the engine 4, a body frame 6 that supports the engine 4 and the transmission 5, front wheels 7 and rear wheels 8 that are driven by the power transmitted from the engine 4 and the transmission 5, etc.

[0009] Power from the engine 4 and the transmission 5 is transmitted to a front axle case 9 and a rear axle case 10, respectively. The front axle case 9 is supported at the front of the machine frame 6, with front wheels 7 supported at both left and right ends. Similarly, the rear axle case 10 is supported at the rear of the machine frame 6, with rear wheels 8 supported at both left and right ends. The upper part of the machine frame 6 is covered by a step 11, and an operator (worker) can move over the step 11.

[0010] Power from the engine 4 and the transmission 5 is transmitted to the planting machine 3 via a plant spacing setting device 9a (see FIG. 13). The plant spacing setting device 9a is configured to be able to continuously change the planting interval of the seedlings planted along the traveling direction of the traveling body 2. A control device 70, which will be described later, is connected to the plant spacing setting device 9a and is configured to be able to obtain the planting interval of the seedlings. In addition, in order to measure the position of the traveling body 2 in the field and calculate the actual vehicle speed, the traveling body 2 is provided with a GNSS receiver 49 as a positioning device.

[0011] A driver's seat 12 is disposed midway between the front and rear of the traveling body 2, and in front of it are provided a steering wheel 13, operation pedals 14, and a dashboard 15. In addition to the steering wheel 13, various operating tools and a display device are disposed on the dashboard 15. Here, the GNSS receiver 49 will be described. A spare seedling carrier main body 17a and a spare seedling carrier frame 17b are provided in front of the traveling body 2, and the GNSS receiver 49 is mounted on the GNSS receiver support frame 50 extending upward from these. The traveling body 2 is capable of positioning in the field and calculating the actual vehicle speed by the GNSS receiver 49.

[0012] The planting machine 3 is connected to the traveling body 2 via a lifting link mechanism 20. The lifting link mechanism 20 includes a pair of upper and lower links 21 and 22, a lifting cylinder, etc. The planting machine 3 is raised and lowered by rotating the lower link 22 and the upper link 21 with the lifting cylinder.

[0013] The planting work machine 3 includes a planting arm 31, a planting claw 32, a seedling carrier 33, a lateral feed mechanism for reciprocating the seedling carrier 33 laterally (in the width direction of the machine body), a vertical feed mechanism for transporting the seedling mat M (see FIG. 7) placed on the seedling carrier 33 vertically (in the front-to-rear direction of the machine body) toward the lower end, and a float 34. The planting claw 32 is attached to the planting arm 31. In this embodiment, the field work machine 1 has six planting rows, so it includes six planting arms 31 and twelve planting claws 32. The planting work machine 3 is driven by a PTO shaft 16 extending rearward from the transmission 5. More specifically, power is transmitted from the PTO shaft 16 through the planting center case 35 to three planting transmission cases 36 provided on the planting work machine 3, and the power is distributed from each of the three planting transmission cases 36 to a pair of left and right planting arms 31 and a pair of left and right planting claws 32 for each planting transmission case 36. A planting clutch is provided in the planting center case 35, and the planting clutch is configured to connect and disconnect the transmission of power from the engine 4 to the planting work machine 3.

[0014] The planting arm 31 rotates by power transmitted from the planting transmission case 36. Seedlings are supplied to the planting claw 32 from a seedling carrier 33. As the planting arm 31 rotates, the planting claw 32 is inserted into the field, and the seedlings are planted to a predetermined planting depth. In this embodiment, a rotary-type planting claw is used, but a crank-type one may also be used.

[0015] The seedling carrier 33 is made of plate-like members and is arranged so as to be inclined with a high front and a low rear when viewed from the side of the machine body. On the rear surface of the seedling carrier 33, carrier surfaces for placing seedling mats M are arranged in the width direction of the machine body according to the number of planting arms 31 (the number of rows of the field work machine 1). The field work machine 1 of this embodiment has six planting rows, so six carrier surfaces are formed. The seedling mats M (see FIG. 7) are placed on the carrier surfaces in an inclined state.

[0016] The float 34 is attached to the planting frame 37 (see FIG. 17(b)). Specifically, the front end of the float 34 is supported so as to be swingable up and down relative to the planting frame 37, and the rear end of the float 34 is attached to a pivot shaft 38 provided on the planting frame 37 via a link mechanism 39 so as to be movable up and down.

[0017] A sensor 40 (see FIG. 18) for detecting the field surface (paddy field surface) is provided on the float 34 just before the planting position of the planting claw 32. The sensor 40 extends from the front to the rear. The sensor 40 is supported on the planting frame 37 so that it can swing freely around an axis along the pitching direction (i.e., swing freely up and down), and hangs down by gravity around the swing fulcrum, so that the tip of the sensor 40 remains in contact with the field surface. In other words, the field work machine 1 advances with the tip of the sensor 40 always following the field surface.

[0018] The lateral feed mechanism for reciprocating the seedling carrier 33 in the width direction of the machine body will be described with reference to FIG. As shown in Fig. 3, a feed screw 41 extends from the planting center case 35 toward one side in the width direction of the machine body (the left side of the machine body). An intersecting groove is formed on the outer circumferential surface of the feed screw 41 along the axial direction. The feed screw 41 is provided with a slider 42 that can slide along the groove and a slider receiver 43 that supports the slider 42. The slider receiver 43 is formed in a substantially T-shape. The feed screw 41 is inserted through the slider receiver 43, and the slider 42 is housed therein so as to be slidable along the groove of the feed screw 41.

[0019] A lower rail 44 is attached to the lower part of the front surface (the back surface of the mounting surface) of the seedling mounting table 33. The lower rail 44 is arranged with the machine body width direction as the longitudinal direction. A slider receiver 43 is fixed to the lower rail 44 via a support arm 45.

[0020] A guide rail 46 is provided below the lower rail 44 to support the lower rail 44 so that it can slide in the width direction of the machine body. The guide rail 46 is arranged with the machine body width direction as its longitudinal direction. The guide rail 46 is composed of an engagement portion 46a that engages with the lower rail 44 and an extension portion 46b that extends from the engagement portion 46a along the shape of the bottom of the seedling carrier 33. The lower rail 44 is configured to be slidable along the guide rail 46 in the width direction of the machine body by engaging the lower rail 44 with the engagement portion 46a of the guide rail 46. A stopper 47 for preventing the lower rail 44 from coming off the guide rail 46 is removably attached to the guide rail 46 by a bolt.

[0021] A lateral feed switching lever 48 for adjusting the lateral feed amount of the seedling carrier 33 is provided on the side surface from which the feed screw 41 of the planting center case 35 extends. The lateral feed switching lever 48 is provided with a lateral feed number detection sensor 48a (see FIG. 13) for detecting the position of the lateral feed switching lever 48 to detect the number of lateral feeds of the seedling carrier 33. The control device 70 is connected to the lateral feed count detection sensor 48a and is configured to be able to detect the number of lateral feeds of the seedling carrier 33 and to detect the lateral take-up amount, which will be described later, from the number of lateral feeds. In addition, the lateral feed switching lever 48 is provided with an actuator 48b (see FIG. 13). The lateral feed switching lever 48 is configured to be operable by driving and controlling the actuator 48b. Therefore, by operating the lateral feed switching lever 48 with the actuator 48b, the lateral feed amount of the seedling carrier 33 can be adjusted and the number of lateral feeds of the seedling carrier 33 can be changed. By changing the number of times the seedling carrier 33 is fed sideways, the amount of lateral feed (lateral feed speed) of the seedling carrier 33 is changed, and the amount of seedlings picked up by the planting claws 32 from the seedling mat M can be changed. The amount of lateral feed here refers to the width of the seedling mat M scraped off by the planting claws 32 in the width direction of the traveling body 2 in a plan view. By adjusting the amount of lateral feed, the amount of seedlings picked up by the planting claws 32 from the seedling mat M can be changed.

[0022] The vertical feed mechanism for feeding the seedling mat M placed on the seedling carrier 33 downward will be described with reference to FIG. As shown in FIG. 4, a vertical feed cam shaft 52 to which a vertical feed cam 51 is fixed extends from the planting center case 35 toward the other side in the width direction of the machine body (the right side of the machine body). The vertical feed cam shaft 52 is connected to the feed screw 41, and when it reaches the stroke end, it abuts against the driven cam 53. The driven cam 53 is provided on a conveyor belt drive shaft 55 that drives the conveyor belt 54 under the seedling carrier 33. When the vertical feed cam 51 and the driven cam 53 abut with the rotation of the vertical feed cam shaft 52, the driven cam 53 rotates. With the rotation of the driven cam 53, the conveyor belt drive shaft 55 is rotated, and the conveyor belt 54 is circulated to convey the seedling mat M placed on the conveyor belt 54 by a predetermined distance.

[0023] A seedling-table rail support shaft 56 is supported at the front upper part of each planting transmission case 36 so as to be freely rotatable in the left and right direction. A plurality of support frames 57 are provided at appropriate intervals protruding upward and rearward from the seedling-table rail support shaft 56, and the guide rails 46 are supported on the support frames 57 in the left and right horizontal direction. An arm 58 is attached to the front upper part of the seedling-table rail support shaft 56. A rotation angle detection sensor 59 for detecting the rotation angle of the seedling-table rail support shaft 56 is provided at the other end of the arm 58. The rotation angle detection sensor 59 is attached to the planting frame 37. An actuator 56a (see FIG. 13) is provided on the seedling-table rail support shaft 56. The control device 70 is connected to the rotation angle detection sensor 59 and is configured to be able to detect the vertical removal amount from the seedling mat M.

[0024] The actuator 56a is driven and controlled to rotate the seedling tray rail support shaft 56. Therefore, the support frame 57 is rotated in accordance with the rotation of the seedling tray rail support shaft 56, so that the guide rail 46 (seedling tray 33) moves up and down (is configured to be able to rise and fall), and the distance between the planting transmission case 36 supporting the planting claws 32 and the seedling tray 33 can be changed. Therefore, it is possible to change the vertical amount of seedlings taken from the seedling mat M by the planting claws 32. Here, the vertical amount of take-up refers to the width of the seedling mat M that is scraped off in the traveling direction of the traveling body 2 in a plan view. By adjusting the vertical amount of take-up, the amount of seedlings taken from the seedling mat M by the planting claws 32 can be changed.

[0025] The seedling tray rail support shaft 56 is connected to the driven cam 53 via an interlocking wire 60. As the seedling tray rail support shaft 56 rotates, the tension of the interlocking wire 60 rotates the driven cam 53 by a predetermined angle, thereby adjusting the feed amount by the conveyor belt 54 according to the vertical take-up amount from the seedling mat M.

[0026] In the above configuration, power from the engine 4 is transmitted to the feed screw 41 via the planting center case 35, causing the slider 42 to slide along the groove of the feed screw 41, and the slider receiver 43 to slide in the width direction of the machine body. As the slider receiver 43 slides, the lower rail 44 slides along the guide rail 46 via the support arm 45, and the seedling carrier 33 slides in the width direction of the machine body. When the seedling carrier 33 reaches the stroke end in the width direction of the machine body, the vertical feed cam 51 comes into contact with the driven cam 53, causing the conveyor belt drive shaft 55 to rotate, circulating the conveyor belt 54.

[0027] The slider 42 reciprocates along the groove of the feed screw 41, so that the seedling carrier 33 reciprocates along the guide rail 46. The horizontal feed mechanism causes the seedling carrier 33 to reciprocate along the guide rail 46, so that the planting claws 32 can scrape off the seedlings from one side (left side) of the seedling mat M placed on the seedling carrier 33 in the width direction of the machine body to the other side (right side) of the machine body in the width direction of the machine body, or from the other side (right side) of the machine body in the width direction of the machine body to one side (left side) of the machine body in the width direction of the machine body, and transplant them. When the planting claws 32 scrape off the seedlings on one side (right side) of the seedling mat M in the width direction of the machine body or the other side (left side) of the machine body in the width direction of the machine body, the vertical feed mechanism operates the conveyor belt 54 to convey the seedling mat M toward the lower end (rear end) of the placement surface. As described above, the seedling mat M is reciprocated in the width direction of the machine body and transported downward as appropriate, making it possible to scrape off the seedlings from the seedling mat M placed on the seedling carrier 33.

[0028] The dashboard 15 will be described with reference to FIG. 5. The steering handle 13 is disposed in the center of the left and right of the dashboard 15, the main speed change lever 61 is provided to the left of the steering handle 13, and the planting lift lever 62 is provided to the right of the steering handle 13. Below the steering handle 13, there are provided a row stop switch 63 for stopping the drive of the planting claws 32 for each predetermined row, a speed setting volume 64 for setting the maximum speed, a sensitivity setting volume 65 for setting the hydraulic sensitivity of the float 34, a select dial 66 for setting various items such as the planting depth and the amount of seedlings taken from the seedling mat M (vertical take-up amount and lateral take-up amount (lateral feed count)), and the like. In front of the steering handle 13, there is provided a monitor 67 for displaying the settings of the select dial 66, the speed of the traveling machine body 2, and the like.

[0029] The select dial 66 is a dial that can set various work conditions related to the work such as planting depth, seedling harvesting amount (vertical harvesting amount, lateral harvesting amount (number of lateral feeds)), work speed, etc., and a notification standard value for seedling succession alarm. The operator rotates the select dial 66 left and right to select an item to be set from various items, and presses the select dial 66 to confirm. For example, if the operator wants to set the vertical harvesting amount as the seedling harvesting amount, he rotates the select dial 66 left and right to select the vertical harvesting amount item, presses the select dial 66 to confirm the item, rotates the select dial 66 left and right to select an adjustment amount for the vertical harvesting amount, and presses the select dial 66 to set the vertical harvesting amount as the adjustment amount. The select dial 66 is connected to the control device 70 (see FIG. 13). That is, in this embodiment, the field work machine (control device 70) automatically controls the vertical take-up amount and lateral feed amount based on the input of the field area and the number of seedling mats to be used, and plants the seedlings in the field. Specifically, the field work machine 1 includes a planting unit (planting work machine 3) that scrapes off the seedlings from the seedling mats M on the seedling carrier 33 and transplants them into the field, a vertical take-up amount setting unit that sets the vertical take-up amount of the seedlings, a lateral take-up amount setting unit (select dial 66) that sets the lateral take-up amount of the seedlings, and a display device (monitor 67) that displays the vertical take-up amount and lateral take-up amount of the seedlings set in the vertical take-up amount setting unit and the lateral take-up amount setting unit. According to this configuration, by displaying the vertical and horizontal amounts of seedlings, the worker can determine whether or not it is possible to complete the planting work as planned. The display unit (monitor 67) of the display device may be configured to display the vertical and horizontal amounts of seedlings by changing graphics. Figure 6 shows (a) a diagram showing multiple icons displayed on monitor 67, (b) a diagram showing a graphical display of blocks of seedling mat M to be removed from the vertical and horizontal removal amounts in the seedling removal assist control in which the field work machine automatically controls the vertical and horizontal feed amounts, as described below, and (c) a diagram showing the state changed by settings. That is, in the seedling removal assist control, the monitor 67 displays the block of the seedling mat M to be scraped from the vertical and horizontal amounts. As shown in FIG. 6(b), the seedling removal assist icon 26 indicating that the seedling removal assist control is being performed and the block of the seedling mat M to be scraped are displayed as a rectangle 69, with the vertical side of the rectangle being the vertical amount and the horizontal side of the rectangle being the horizontal amount. In the seedling removal assist control, for example, the seedling amount can be set in increments of 0.5 sheets per 10a, and the monitor 67 displays the settable lower limit value to the settable upper limit value for each horizontal feed count, and when the desired one is selected and set from among them, the set value is detected, and the rectangle is displayed in a deformed form based on the detected vertical and horizontal amounts. For example, as shown in FIG. 6(c), if the original setting was a rectangle 69, by increasing the vertical amount, a vertically long rectangle 69a (arrow pointing to the left of the rectangle 69) is displayed, or by increasing the horizontal amount, a horizontally long rectangle 69b (arrow pointing to the right of the rectangle 69) is displayed. In this way, by graphically displaying the block of seedling mat M to be removed, the worker can intuitively understand the work. The seedling removal assist icon 26 is lit when the seedling removal assist control mode is selected, and is turned off when the mode is not selected. According to this configuration, the vertical and horizontal amounts are displayed by changing the graphic, so that the worker can intuitively determine the setting of the seedling blocks. The size of the seedling block displayed may be changed depending on the vertical and horizontal amounts set. With this configuration, the size of the seedling block displayed changes, making it easier for the worker to judge. The aspect ratio of the seedling block may be determined from the settings of the vertical and horizontal amounts, and if the settings are outside a predetermined first setting range, the setting may be displayed on the display device. According to this configuration, if the combination of the settings of the vertical and horizontal amounts is outside the predetermined first setting range, the display device displays the combination, so that the worker can determine whether planting work is possible. When setting the number of seedling mats to be used for the set field area, if the settings of the vertical take-up amount and the horizontal take-up amount are outside a predetermined second set range, this may be displayed on the display device. In such a seedling removal assist in which the field work machine automatically controls the vertical removal amount and the horizontal feed amount, if the number of seedling mats M to be used exceeds the theoretical value, the display format of the block size may change. This change may be a change in color or the block may flash. This makes it clear at a glance that the number of sheets to be used is not a recommended value. Here, we have described a case where the field work machine (control device 70) automatically controls the vertical take-up amount and horizontal feed amount based on the input of the field area and the number of seedling mats to be used, but this is not limiting, and the field work machine may automatically control based on the input of the number of seedling mats per unit area (e.g., 10a). Also, when setting the number of seedling mats to be used for the set field area, the monitor 67 displays the number of seedling mats M to be used per tan (10a). In addition, similar to the aforementioned "display of the number of seedling mats used per tan (per 10 ares)," the monitor will display the number of seedling mats used and the seedling mat compression rate, which will be described later. That is, the control device 70 has a compression ratio calculation unit 89, and stores the compression ratio calculated by the compression ratio calculation unit 89 in a storage unit 86 (see FIG. 13).

[0030] <Alarm control> Next, using FIG. 7 to FIG. 12, based on the calculation of the remaining amount of the seedling mat M placed on the seedling carrier 33, The seedling succession warning control to be executed will be described. As shown in Figures 7 and 8, the placement surface on the seedling placement table 33 on which the seedling mats M are placed for each row is provided with a presence / absence detection section (seedling insertion amount measurement section) 90 capable of detecting the presence or absence of the seedling mat M, and a movement amount detection section 80 capable of detecting the downward movement amount (feed amount) of the seedling mat M. The control device 70 also functions as a seedling consumption measuring section that measures the consumption of the seedling mat on the seedling platform. As shown in Figure 13, the control device 70 of the field work machine 1 is equipped with a seedling mat remaining amount calculation unit 72 that detects the remaining amount of seedling mat M based on the detection state of the presence / absence detection unit 90 and the detection state of the movement amount detection unit 80. The remaining amount of the seedling mat calculated by the seedling mat remaining amount calculation unit 72 is stored in the memory unit 86 (FIG. 13).

[0031] (Presence / absence detection section) The presence / absence detection unit 90 is provided, for example, as shown in FIG. 7, at the upper end side of the first area A where the seedling mat M is placed when one seedling mat M is placed on the placement surface of the seedling placement table 33, and is configured to be able to detect the presence of the seedling mat M by contacting the seedling mat M when one seedling mat M is placed on the placement surface of the seedling placement table 33. Also, when one seedling mat M is not placed on the placement surface of the seedling placement table 33, the presence / absence detection unit 90 is configured to be able to detect the absence of the seedling mat M by not contacting the seedling mat M. For example, when the vertical length of one seedling mat M is 580 mm and the length of the first area A is 580 mm, the presence / absence detection unit 90 is provided at a position 510 mm above the lower end of the first area A (the lower end of the placement surface of the seedling placement table 33).

[0032] In this embodiment, the presence / absence detection unit 90, as shown in Figures 8 to 10, is composed of a first mounting bracket 91 fixed to the back side of the mounting surface of the seedling mounting tray 33 by a fixing means K1 such as a bolt or screw, a limit sensor 92 fixed to the first mounting bracket 91 by a fixing means 94 such as a bolt or screw, and a oscillating unit 93 whose base end is attached to the first mounting bracket 91 so as to be freely oscillable around a horizontal axis with its tip end protruding above the mounting surface through the through hole 33b (see Figure 8) in the mounting surface of the seedling mounting tray 33.

[0033] The swinging part 93 is composed of an axis member 93a rotatably attached to the first mounting bracket 91 around a horizontal axis, a lever member 93b made of a leaf spring and having a generally L-shape in a side view and attached to the axis member 93a with its tip side facing upright toward the front side of the mounting surface, and a cover member 93c attached to the axis member 93a in a state covering the lever member 93b from the front side of the mounting surface. Also provided is a fall-out prevention device 95 for preventing the axis member 93a from falling off from the first mounting bracket 91.

[0034] 8, when the presence / absence detection unit 90 configured in this manner comes into contact with the seedling mat M placed on the placement surface of the seedling placement platform 33 and the weight of the seedling mat M is placed on the swinging unit 93, the swinging unit 93 swings downward and the switch unit 92a of the limit sensor 92 is pressed by the lever member 93b of the swinging unit 93, thereby detecting the presence of the seedling mat M. Conversely, when the weight of the seedling mat M is not placed on the swinging unit 93, the switch unit 92a of the limit sensor 92 is not pressed, thereby detecting the absence of the seedling mat M.

[0035] (Movement amount detection unit) 7, the movement amount detection unit 80 is provided below the presence / absence detection unit 90 in the first area A where the seedling mat M is placed when one seedling mat M is placed on the placement surface of the seedling placement table 33 for each row, and is configured to be able to detect the downward movement amount (vertical feed amount) of the seedling mat M when at least one seedling mat M is placed on the placement surface of the seedling placement table 33. For example, the movement amount detection unit 80 is provided at a position 180 mm above the lower end of the first area A (the lower end of the placement surface of the seedling placement table 33).

[0036] In this embodiment, as shown in Figures 8 and 11, the movement amount detection unit 80 is composed of a second mounting bracket 82 that is fixed to the back side of the mounting surface of the seedling carrier 33 by a fixing means such as a bolt or screw, a swing arm 84 that is attached to the second mounting bracket 82 so as to be freely swingable about a horizontal axis while being biased to swing upward by a biasing spring 83, a star wheel as a rotating body 81 that is attached to the tip side of the swing arm 84 so as to be freely rotatable about the horizontal axis, and a proximity sensor 85 that is attached to the tip side of the swing arm 84 and detects the number of rotations of the rotating body 81. In addition, a mud-removing member 81d is provided on the second shaft portion 84b of the swing arm 84. This is provided to prevent sensing from failing due to mud accumulating on the boss portion 81b. Since the rotating body rotates relative to the mud-removing member 81d, mud adhering to the rotating body comes into contact with the mud-removing member and is separated from the rotating body. A boss portion 81b is provided on the second shaft portion 84b of the swing arm 84 adjacent to the rotating body 81. A member to be detected is inserted into this boss portion 81b.

[0037] The outer periphery of the rotating body 81 is provided with a plurality of protrusions 81a arranged radially with respect to the center of rotation. The rotating body 81 is provided so that the protrusions 81a protrude upward from the back side of the mounting surface through the through holes 33a (see FIG. 8). The rotating body 81 is configured so that the protrusions 81a bite (engage) into the bottom surface of the seedling mat M that is fed vertically on the mounting surface, and rotate in conjunction with the vertical feeding of the seedling mat M. The surface of the protrusions 81a that comes into contact with the seedling mat M is configured with a shape that is warped toward the upstream side of the rotation direction of the rotating body 81. In terms of the relationship between the seedling carrier 33 and the rotating body 81, the surface of the protrusions 81a that comes into contact with the seedling mat M is configured with a shape that is warped toward the feed source of the seedling mat M. In this embodiment, the protrusions 81a are formed to be curved toward the upstream side of the rotation direction of the rotating body 81 from the base end to the tip end in a side view.

[0038] As described above, the surface of the protrusion 81a of the rotor 81 that comes into contact with the seedling mat M is configured with a shape that is warped toward the upstream side in the rotation direction, so that when the seedling mat M is delivered to the placement surface near the upper side of the rotor 81, the seedling mat M is likely to come into contact with (get caught on) the protrusion 81a. This makes it possible to prevent the rotor 81 from slipping, and as shown in FIG. 8, the rotor 81 can be rotated in conjunction with the vertical delivery of the seedling mat M.

[0039] In addition, the protrusion 81a may be formed as a star wheel without curving toward the upstream side in the direction of rotation from the base end to the tip end in a side view, or may be formed inclined toward the upstream side in the direction of rotation from the base end to the tip end in a pointed shape in a side view. By forming the tip end of the protrusion 81a into a pointed shape, it becomes easier to hook the downstream side surface or bottom surface of the seedling mat M. This prevents the rotating body 81 from slipping, and allows the rotating body 81 to rotate in conjunction with the vertical feed of the seedling mat M.

[0040] A boss portion 81b is provided at the rotation center of the rotating body 81. A screw 81c (see FIG. 12) is provided on the boss portion 81b at every 90 degrees in the rotation direction, and the number of rotations of the rotating body 81 is detected by detecting the screw with a proximity sensor 85. By detecting the number of rotations of the rotating body 81 with the proximity sensor 85, the amount of downward movement (vertical feed amount) of the seedling mat M can be detected. The rotating body 81 is biased to swing toward the upper seedling carrier 33 by a biasing spring 83, and when no seedling mat M is placed on the seedling carrier 33, the boss portion of the rotating body (in Figure 12, the boss portion located on the opposite side of the screw 81c across the rotating body) is made of resin, and the rotation of the rotating body 81 is stopped by the frictional force generated between the boss portion of the rotating body and the back surface of the seedling carrier 33, as shown in Figure 12(a). As shown in FIG. 12(b), when a seedling mat M is placed on the seedling carrier 33, the rotating body 81 is pressed down against the bottom surface of the seedling mat M against the biasing force of the biasing spring 83, thereby enabling the rotating body 81 to rotate. With the above configuration, when the seedling mat M is not placed on the seedling carrier 33, the rotating body 81 can be prevented from rotating and the movement amount detection unit 80 can be prevented from erroneously detecting the downward movement amount of the seedling mat M, and the downward movement amount of the seedling mat M can be properly detected.

[0041] (Calculation of remaining seedling mat) As shown in FIG. 14, when the remaining amount of seedling mat M becomes small and the presence / absence detection unit 90 shown in FIG. 14(a) detects the presence of the seedling mat M, and the state shifts to the absence / absence detection state shown in FIG. 14(b) (in other words, the presence / absence of the seedling mat M is not detected), the seedling mat remaining amount calculation unit 72 corrects the remaining amount of seedling mat M (hereinafter sometimes referred to as "seedling mat remaining amount") estimated from the number of seedling successions described later and the movement amount of seedling mat M detected by the movement amount detection unit 80 to a preset set remaining amount (a remaining amount corresponding to a position near the lower side of the presence / absence detection unit 90). Then, as shown in FIG. 14(c), the seedling mat remaining amount calculation unit 72 calculates the seedling mat remaining amount at any time by subtracting the movement amount of seedling mat M detected by the movement amount detection unit 80 from the set remaining amount at any time.

[0042] (Miao-Ji Alarm Control) As shown in FIG. 13, the field work machine 1 is provided with an alarm unit 68 such as an alarm buzzer that can issue a seedling succession alarm to prompt the operator to succession of seedlings when the seedling mat remaining amount calculated by the seedling mat remaining amount calculation unit 72 of the control device 70 falls below the notification reference value RV (see FIG. 14(c)). The control device 70 is also provided with a notification reference setting unit 73 that can change the notification reference value RV. As described above, the seedling mat remaining amount calculation unit 72 calculates the seedling mat remaining amount at any time between the upper presence detection unit 90 and the lower movement amount detection unit 80 on the placement surface of the seedling placement platform 33, so the notification reference setting unit 73 is configured to be able to set the notification reference value RV at an appropriate position in the area L (see FIG. 7) between the upper presence detection unit 90 and the lower movement amount detection unit 80 on the placement surface of the seedling placement platform 33. Specifically, the area L in which the notification reference value RV can be set is the area between the lower end position of the detection range of the upper presence detection unit 90 and the upper end position of the detection range of the lower movement amount detection unit 80, and is an area ranging from approximately 200 mm to approximately 400 mm from the lower end of the loading surface of the seedling loading platform 33.

[0043] The notification standard setting unit 73 is configured to be able to automatically change the notification standard value RV. The control device 70 is provided with a work setting unit 74 that can change work conditions related to work content such as the work speed of the planting work machine 3, and the notification standard setting unit 73 is configured to automatically change the notification standard value RV in accordance with the work conditions of the planting work machine 3 when automatically changing the notification standard value RV. For example, the notification standard setting unit 73 is configured to automatically change the notification standard value RV so that the notification standard value RV becomes a larger value (upper position in Fig. 7) as the work conditions of the planting work machine 3 are set to a faster work speed. The notification standard setting unit 73 can also manually change the notification standard value RV. In this case, for example, the operator is configured to manually change the notification standard value RV by inputting the notification standard value RV using the select dial 66. Therefore, the notification reference value RV can be set to an appropriate value according to the working conditions of the planting work, such as the working speed, the operator's preferences, etc., and a seedling succession alarm can be issued at an appropriate timing according to the working conditions of the planting work, the operator's preferences, etc.

[0044] The control flow of the seedling succession alarm control executed by the control device 70 will now be described. As shown in Figure 15, during planting operation, when the planting clutch is "on" (Yes in step #10), the presence / absence detection unit 90 changes from a state in which the presence of seedling mat M is detected to a state in which the presence of seedling mat M is not detected, and when the absence of seedling mat M is detected, the seedling mat remaining amount calculation unit 72 calculates the remaining amount of seedling mat at any time (Yes in step #11, step #12). Then, when the seedling mat remaining amount calculated by the seedling mat remaining amount calculation unit 72 falls below the notification reference value RV, the control device 70 issues a seedling succession alarm from the alarm unit 68 (Yes in step #13, step #14). Note that when issuing a seedling succession alarm, the control device 70 may be configured to calculate a distance over which planting work can be continued based on the seedling mat remaining amount calculated by the seedling mat remaining amount calculation unit 72 and the settings of the work conditions of the planting work machine 3, and display this to the operator.

[0045] Thereafter, when at least one of the first stop condition that the seedling mat remaining amount calculated by the seedling mat remaining amount calculation unit 72 is equal to or greater than the notification reference value RV while the seedling succession alarm is being notified and the second stop condition that the presence of the seedling mat M is detected by the presence / absence detection unit 90 is satisfied, the control device 70 stops the seedling succession alarm (Yes in step #15, step #16). Therefore, there is no need to provide a separate means for stopping the seedling succession alarm, and the seedling succession alarm can be stopped simply by the operator performing seedling succession. Here, if the second stop condition can be satisfied when one seedling mat M is placed on the placement surface of the seedling placement table 33, the seedling succession alarm can be stopped simply by the operator performing seedling succession. Therefore, it is preferable that the presence / absence detection unit 90 is provided in a position where it can detect the presence of the seedling mat M by contacting it when one seedling mat M is placed on the placement surface of the seedling placement table 33, such as the upper end side of the first area A where the seedling mat M is placed when one seedling mat M is placed on the placement surface of each row of the seedling placement table 33.

[0046] <Seedling harvesting amount control> Next, with reference to Fig. 16 to Fig. 22, seedling harvesting amount control for controlling the amount of seedlings (seedling harvesting amount) harvested by the planting work machine 3 from the seedling mat M placed on the seedling carrier 33 during planting work will be described. In this embodiment, the seedling harvesting amount is controlled based on the seedling harvesting area (vertical harvesting amount and horizontal harvesting amount).

[0047] (Calculation and change of standard seedling harvest volume) In this field work machine 1, the control device 70 is configured to be able to calculate a standard seedling picking amount for the planting work machine 3 to perform planting from the input field area and number of seedling mats. The standard seedling picking amount refers to a seedling picking amount that serves as a standard when performing planting work in a specified field using a specified number of seedling mats M. Here, the control device 70 is configured to be able to calculate a standard picking area, as well as a standard vertical picking amount and a standard lateral picking amount (standard lateral feed amount) as the standard seedling picking amount. In addition, during planting work, the control device 70 is configured to calculate a correction amount for the standard seedling harvesting amount based on the actual work area where planting work was carried out and the number of seedling mats used for the actual work area, and to change the standard seedling harvesting amount by taking into account the correction amount. When changing the standard transverse amount (standard transverse feed amount) in accordance with the change of the standard seedling amount, the control device 70 is configured to change the standard transverse amount (standard transverse feed amount) at the timing after the seedling mat M is transported vertically by the vertical feed mechanism. For example, when the standard transverse amount or the corrected standard transverse amount is selected from a plurality of specified values, the width dimension of one seedling mat M is roughly determined, so the specified value of the standard transverse amount is set to a value that allows one seedling mat M to be completely scraped off without leaving any residue with a corresponding predetermined number of scrapings. In this case, if the planting work from the vertical feed of the seedling mat M to the next vertical feed is considered as one stroke, and the planting work is performed halfway during one stroke with the standard transverse amount set to a specific specified value, and then the standard transverse amount is changed to another specified value, the remaining seedling mat amount after the change may have an incomplete width that cannot be completely scraped off without leaving any residue with the changed other specified value. Therefore, in order to completely scrape off the seedling mat M during one stroke at the specified value, the standard lateral take-up amount is not changed during the stroke, but the standard lateral feed amount (standard lateral feed amount) is changed at the timing after the seedling mat M is transported vertically by the vertical feed mechanism (at the timing of the start or end of the stroke).

[0048] Hereinafter, the calculation and change of the standard seedling harvest amount will be described with reference to FIG. First, before planting seedlings in the field, the operator uses the select dial 66 to input the number of seedling mats to be used and the field area to the control device 70. In other words, the select dial 66 is provided as a field area input means and a seedling mat number setting means. The field area input means and seedling mat number setting means are not limited to the above-mentioned configuration, and may be configured to input the number of seedling mats and the field area received by the communication unit of the field work machine 1 via an external server to the control device 70, or to input the number of seedling mats and the field area received by the communication unit of the field work machine 1 from an information terminal such as a smartphone or tablet owned by a user such as an operator or a management company to the control device 70.

[0049] The control device 70 calculates a standard plowed area based on the input number of seedling mats and the field area, and drives and controls the planting machine 3 (specifically, the actuator 56a that sets the vertical feed mechanism and the actuator 48b that sets the horizontal feed mechanism, etc.).

[0050] The control device 70 is configured to be able to detect the number of stalks (the number of stalks per given area calculated from the planting interval set by the operator) from the detection value of the spacing setting device 9a. The control device 70 is also configured to be able to calculate the number of stalks taking into account the slip ratio, which will be described later. The slip ratio here is set from the amount of sinking of the rear wheels 8 into the field at the work start point or a given reference value.

[0051] The control device 70 calculates the target number of mats (number of seedling mats per given area) from the field area and the number of seedling mats. The control device 70 then calculates a standard scraping area from the target number of mats and the number of plants (the number of plants may be determined taking into account the slip rate), and further calculates a standard vertical take-up amount and a standard horizontal take-up amount (standard horizontal feed amount) from the standard scraping area and the target aspect ratio.

[0052] With the above configuration, when planting work is performed, the control device 70 drives and controls the actuator 56a so that the standard vertical take-up amount is achieved, and drives and controls the actuator 48b so that the standard lateral take-up amount (standard lateral feed amount) is achieved, thereby enabling planting work to be performed in the desired field with the desired number of seedling mats without relying on the operator's experience or intuition.

[0053] When planting work begins, the control device 70 corrects the standard seedling harvesting amount (standard vertical harvesting amount and standard horizontal harvesting amount) as needed based on the actual work area where the actual planting work was carried out and the number of seedling mats used in the actual planting work. Specifically, the control device 70 calculates the actual scraping area based on the actual work area and the number of seedling mats used (number of seedling mats M consumed), and calculates the actual vertical take-up amount and the actual horizontal take-up amount (actual horizontal feed amount) from the actual scraping area and the target aspect ratio. Furthermore, the control device 70 calculates the target scraping area based on the remaining work area calculated by subtracting the actual work area from the work area and the number of remaining seedling mats calculated by subtracting the number of seedling mats used from the number of seedling mats, and calculates the target vertical take-up amount and the target horizontal take-up amount (target horizontal feed amount) from the target scraping area and the target aspect ratio.

[0054] Then, the control device 70 corrects the standard longitudinal amount by adding a value obtained by subtracting the actual longitudinal amount from the target longitudinal amount as a correction amount of the standard longitudinal amount to the standard longitudinal amount, and The value obtained by subtracting the actual traverse amount (actual traverse amount) from the target traverse amount (target traverse amount) is added to the reference traverse amount (reference traverse amount) as the correction amount for the reference traverse amount (reference traverse amount). This corrects the reference lateral take-up amount (reference lateral feed amount), and the planting machine 3 (specifically, the actuators 48b, 56a) are driven and controlled so as to achieve the corrected reference longitudinal take-up amount and reference lateral take-up amount (reference lateral feed amount). At this time, as described above, when changing the reference lateral take-up amount (reference lateral feed amount), the control device 70 changes the reference lateral take-up amount (reference lateral feed amount) at the timing after the vertical feed mechanism transports the seedling mat M in the vertical direction. When changing the reference lateral take-up amount, the reference lateral take-up amount may be changed at the timing when the reference lateral take-up amount is corrected, or the reference lateral take-up amount may be changed at the same timing as the timing when the reference lateral take-up amount (reference lateral feed amount) is changed.

[0055] (Calculation of actual working area) Alternatively, the actual travel distance of the field work machine 1 may be calculated using a GNSS receiver or the like. That is, the actual speed of the traveling body 2 can be calculated using a positioning device such as a GNSS receiver. The actual working area is calculated using the actual speed of the traveling body 2 calculated by the GNSS receiver. When the actual speed is calculated by the GNSS receiver, calculation of the slip ratio becomes unnecessary. When the reception accuracy of the GNSS receiver is degraded or when the GNSS receiver is not used, the control device 70 is connected to the rear wheel rotation speed detection sensor 8a and configured to be able to detect the rotation speed of the rear wheel 8. Note that the configuration for detecting the rotation speed of the rear wheel 8 is not limited to the configuration described above, and a configuration may be used in which the rotation speed of an appropriate point that rotates in synchronization with the rotation of the rear wheel 8 is detected and the rotation speed is converted to the rotation speed of the rear wheel 8 using a gear ratio or the like.

[0056] As shown in Fig. 19, there is a linear correlation between the slip ratio and the amount of sinking of the running wheels (rear wheels 8 in this embodiment) into the field. The amount of sinking of the rear wheels 8 into the field refers to the height from the contact surface of the rear wheels 8 with the field to the rice paddy surface (field surface). As the amount of sinking of the rear wheels 8 into the field increases, the slip ratio increases linearly.

[0057] As shown in Figure 17, the amount of sinking of the rear wheels 8 into the field is calculated from a planting implement position detection sensor 71a (see Figure 13) consisting of an appropriate sensor such as a potentiometer provided on the lifting link mechanism 20, and a planting depth detection sensor 39a (see Figure 13) consisting of an appropriate sensor such as a potentiometer provided on the link mechanism 39 of the float 34 or the pivot shaft 38. The planting implement position detection sensor 71a is provided on a lifting link frame 71 to which the rear ends of a pair of left and right upper links 21 and lower links 22 are attached, respectively. The control device 70 is connected to the planting implement position detection sensor 71a, and is configured to be able to detect the height (distance) of the planting implement 3, specifically the lowest point of the planting claw 32, relative to the traveling body 2. The control device 70 is connected to the planting depth detection sensor 39a, and is configured to be able to detect the height of the planting implement 3 from the bottom surface of the float 34. The planting depth detection sensor 39a is configured to be able to detect the claw extension amount h1 of the planting claw 32 (the distance between the tip of the planting claw 32 and the bottom surface of the float, see Figure 17(b)). Next, the function of the potentiometer will be described. This potentiometer has a function of detecting the lifting angle of the lifting link mechanism 20 of the planting machine 3 within the lifting range, so in addition to calculating the amount of sinking of the rear wheels 8 into the field, it can be used to stop the planting machine 3 from lifting at a non-working position or at an arbitrary reverse position by positioning the planting machine 3 at a predetermined lifting angle. Furthermore, since it can detect that the planting machine 3 is in the working position during planting (such as when the gear shift position is at the planting speed), it can notify the operator of a malfunction when the planting machine 3 is not in the working position during planting.

[0058] The control device 70 detects the length from the bottom surface of the float 34 relative to the traveling body 2 using the planting work machine position detection sensor 71a and the planting depth detection sensor 39a. The control device 70 calculates the amount of sinking h0 of the rear wheels 8 into the field (see FIG. 17(b)) by subtracting the length from the length from the lowest point (ground contact surface) of the rear wheels 8 relative to the traveling body 2 to the bottom surface of the float 34 relative to the traveling body 2. The amount of sinking of the rear wheels 8 into the field may also be calculated taking into account the amount of sinking d of the float 34 into the field (see FIG. 18).

[0059] As shown in FIG. 18, the sensor 40 can be further used to calculate the amount of sinking h2 of the rear wheels 8 into the field, taking into account the amount of sinking d of the float 34 into the field. The swing angle θ of the sensor 40 can be measured to detect the field surface height where the seedlings are planted. In this way, the sensor 40 can detect the field surface height to measure the amount of sinking d of the float 34. The control device 70 is connected to an appropriate field surface detection sensor 40 (see FIG. 13), such as a potentiometer, provided at the rotation fulcrum of the sensor 40, and is configured to be able to detect the field surface height. As described above, the sensor 40 is used to follow the field surface, so that the amount of sinking of the rear wheels 8 into the field, taking into account the amount of sinking d of the float 34 into the field, can be accurately calculated.

[0060] The working width refers to the length in the width direction of the field work machine 1 which is set from the planting interval in the width direction of the machine and the number of rows in which planting work is performed. The number of rows in which planting work is performed is detected from the connection / disconnection state of the unit clutch which connects / disconnects the transmission of power to the planting arm 31 for each row. The control device 70 is connected to a unit clutch sensor 63a (see FIG. 13) which detects the connection / disconnection of the unit clutch, and is configured to be able to detect the number of rows in which planting work is performed.

[0061] In the above configuration, when the travel distance is measured by the GNSS receiver 49, it is not necessary to calculate the slip ratio, which is calculated from the amount of sinking of the rear wheels 8 into the field. The actual work area is calculated from the travel distance measured by the GNSS receiver 49 and the work width, which is set according to the number of rows in which planting work is performed. By displaying the actual work area calculated by the above method on a display meter or the like of the field work machine 1, the worker can grasp the work area during work. In this case, when calculating the actual work area, the actual vehicle speed may be set from the vehicle speed of the field work machine calculated by the GNSS receiver and the axle rotation speed of the rear wheels 8.

[0062] (Calculating the number of seedling mats M to be used) The calculation of the number of seedling mats M to be used will be explained with reference to Figs. The control device 70 detects the number of seedlings added based on the detection state of the presence / absence detection unit 90 and the detection state of the movement amount detection unit 80 provided on the seedling loading surface of the seedling loading platform 33, and calculates the number of seedling mats used based on the detected number of seedlings added and a separately calculated compression rate of the seedling mat M. Here, the control device 70 is configured to detect the presence / absence of the seedling mat M with the presence / absence detection unit 90 and the movement amount of the seedling mat M with the movement amount detection unit 80 when the planting clutch is activated.

[0063] As an example of calculating the number of seedling mats used, a case will be explained in which, as shown in Figure 20, two seedling mats M are placed on the mounting surface of the seedling mounting platform 33, and the planting clutch is operated to start planting work. As shown in FIG. 20(a), when the planting work is started, if the presence / absence detection unit 90 detects the presence of the seedling mat M, the control device 70 adds one to the number of seedling successions (detects the first seedling mat M).

[0064] Then, as shown in FIG. 20(b), as the first seedling mat M is fed vertically, the second seedling mat M above the first seedling mat M is fed vertically to the lower end side. Even if the upper end position of the first seedling mat M is located below the presence / absence detection unit 90, the lower end side of the second seedling mat M contacts the presence / absence detection unit 90, so that the presence / absence detection unit 90 maintains a state in which it detects the presence of the seedling mat M. At this time, even if it is estimated from the movement amount (feed amount) of the seedling mat M detected by the movement amount detection unit 80 that the upper end position (remaining amount of seedling mat) of the first seedling mat M is located below the presence / absence detection unit 90, the control device 70 adds one to the seedling succession number (detects the second seedling mat M).

[0065] As shown in Fig. 20(c), when the second seedling mat M is fed vertically below the presence / absence detection unit 90, the presence / absence detection unit 90 transitions from a state in which it detects the seedling mat M to a state in which it does not detect the seedling mat M, and the absence of the seedling mat M is detected. At this time, the control device 70 calculates the compression rate of the seedling mat M by adding the length of the seedling mat M placed on the seedling placement table 33 in the feed direction (the length from the bottom end of the placement surface measured in advance to the presence / absence detection unit 90, which corresponds to the set remaining amount described above) and the movement amount (feed amount) of the seedling mat M calculated from the number of rotations of the movement amount detection unit 80, and dividing the sum by the length of the seedling mat M before compression for the number of seedling successions (the design length of the seedling mat M before compression). In addition, as shown in Figure 21, the control device 70 also adds one to the number of seedling succession times when, during planting work, the presence / absence detection unit 90 transitions from a state in which it has not detected the presence of the seedling mat M (the state in Figure 21(a)) to a state in which the presence / absence detection unit 90 detects the seedling mat M (the state shown in Figure 21(b)) due to the operator performing seedling succession, etc.

[0066] In the above configuration, the control device 70 can use the compression rate to calculate the number of seedling mats to be used based on the length of the seedling mat M before compression from the movement amount (feed amount) of the seedling mat M calculated by the movement amount detection unit 80. A more specific setting method will now be described. Here, by inputting the number of seedling mats to be used per unit area (for example, 10a), the field work machine automatically performs the planting of seedlings. To achieve this, in this embodiment, a mechanism for detecting the amount of seedlings used and a mechanism for detecting the number of lateral feeds are provided. First, the mechanism for detecting the amount of seedlings used will be described. The number of seedlings used can be calculated by accumulating the standard scraping area. Specifically, the number of seedling mats used can be calculated by multiplying the set seedling removal amount (a combination of the vertical removal amount and the horizontal removal amount) by the constant period of the lateral movement of the seedling carrier 33. More simply, the number of seedling mats used can be calculated by multiplying the set vertical removal amount by the horizontal dimension of the seedling mat by the constant period of the lateral movement of the seedling carrier 33. For example, if the constant period of the lateral movement of the seedling carrier 33 is the period when the seedling carrier 33 is moved horizontally from one end to the other end and then arrives at the other end again, the constant period of the lateral movement is twice the value of the horizontal dimension of the seedling mat. In other words, the amount of seedlings used = Σ (vertical amount taken x 2 x horizontal dimension of seedling mat). As another method, the number of seedling mats used can be calculated by installing weight sensors (such as strain gauges) on the entire surface of the seedling carrying platform 33, detecting changes in the weight of the seedling carrying surface of the seedling carrying platform 33 as seedling mats are added to the seedling carrying platform 33, and calculating the number of seedling mats used.

[0067] (Calculation of actual seedling harvest volume) The control device 70 calculates the actual scraping area (actual seedling harvesting amount) based on the actual work area and the number of seedling mats used for all rows. The control device 70 calculates the actual number of mats (number of seedling mats used per given area) from the number of seedling mats used, which is the sum of the number of seedling mats used for each row, and the actual work area. The control device 70 then calculates the actual scraping area from the actual number of mats and the number of seedlings taking into account the number of lateral feeds of the seedling carrier 33 and the slip rate.

[0068] (Calculation of target seedling yield) The control device 70 calculates a target scraping area (target seedling removal amount) based on the remaining work area calculated by subtracting the actual work area from the field area and the number of remaining seedling mats calculated by subtracting the number of seedling mats used from the number of seedling mats. The control device 70 calculates a target number of mats (number of seedling mats per specified area) from the remaining work area and the number of remaining seedling mats. The control device 70 then calculates the target scraping area from the number of mats and the number of seedlings taking into account the number of lateral feeds of the seedling carrier 33 and the slip rate.

[0069] (Calculation of the correction amount for the standard seedling amount) The control device 70 calculates an actual longitudinal take-up amount and an actual lateral take-up amount (actual lateral feed amount) from the actual scraping area and the target aspect ratio, and calculates a target longitudinal take-up amount and a target lateral take-up amount (target lateral feed amount) from the target scraping area and the target aspect ratio. The control device 70 then corrects the standard longitudinal take amount by subtracting the actual longitudinal take amount from the target longitudinal take amount and adding this value to the standard longitudinal take amount as a correction amount for the standard longitudinal take amount, and corrects the standard lateral take amount (standard lateral feed amount) by subtracting the actual lateral take amount (actual lateral feed amount) from the target lateral take amount (target lateral feed amount) and adding this value to the standard lateral take amount (standard lateral feed amount) as a correction amount for the standard lateral take amount (standard lateral feed amount), thereby driving and controlling the planting work machine 3 (specifically, the actuators 48b, 56a).

[0070] In the above configuration, the actual scraping area (actual seedling removal amount) is calculated from the actual work area and the number of seedling mats used for all rows, the target scraping area (target seedling removal amount) is calculated from the remaining work area and the number of remaining seedling mats for all rows, and the correction amount for the standard seedling removal amount for all rows is calculated from the actual scraping area and the target scraping area, but this is not limited to this, and the correction amount may be calculated for each row, and the correction amount for all rows may be calculated based on the correction amount for each row.

[0071] In this case, the control device 70 calculates the actual number of mats per row from the actual work area per row and the number of seedling mats used per row, calculates the actual scraping area per row from the actual number of mats per row and the number of plants taking into account the number of lateral feeds of the seedling carrier 33 and the slip rate, and calculates the actual vertical removal amount and actual lateral removal amount (actual lateral feed amount) per row from the actual scraping area per row and the target aspect ratio. In addition, the control device 70 calculates the target number of mats per row from the remaining working area per row and the number of remaining seedling mats per row, calculates the target scraping area per row from the target number of mats per row and the number of plants taking into account the number of lateral feeds of the seedling carrier 33 and the slip rate, and calculates the target vertical harvesting amount and target lateral harvesting amount (target lateral feed amount) per row from the target scraping area per row and the target aspect ratio. The control device 70 then calculates a correction amount for the reference transverse take amount (reference transverse feed amount) for each row by subtracting the actual transverse take amount (actual transverse feed amount) from the target transverse take amount (target transverse feed amount) calculated for each row, and calculates a correction amount for the reference transverse take amount (reference transverse feed amount) for all rows based on the correction amount for the reference transverse take amount (reference transverse feed amount) calculated for each row. The control device 70 also calculates a correction amount for the reference longitudinal take amount for each row by subtracting the actual longitudinal take amount from the target longitudinal take amount calculated for each row, and calculates a correction amount for the reference longitudinal take amount for all rows based on the correction amount for the reference longitudinal take amount calculated for each row.

[0072] As described above, by making it possible to calculate the actual work area where the actual planting work was performed and the number of seedling mats used in the actual planting work during the planting work, the standard scraping area (standard seedling removal amount) can be corrected. Therefore, the planting work can be performed appropriately with the desired number of seedling mats for the desired field. Therefore, the consumption efficiency of the seedling mats M can be improved. Next, a description will be given of the edge-pushing mechanism of the seedling carrier 33. An edge-pushing detection sensor 87 is attached to the seedling carrier 33 (see FIG. 13). The edge-pushing detection sensor 87 detects whether the seedling carrier has reached one of the left and right movement ends. The edge-pulling operation tool (edge-pulling switch) 96 can be located near the steering wheel and can be operated from the driver's seat, and by operating it, the edge-pulling mode described below can be switched on and off. The main speed change lever 61 can switch the transmission 5 of the field work machine between planting speed, road travel speed, reverse speed, and neutral speed. Neutral speed is a mode in which power can be transmitted to the seedling carrier and the field work machine does not travel. In addition, the planting clutch, which transmits power to the seedling carrier, is automatically turned on in the edge-pushing mode. To move the seedling carrier to the edge, first, the main speed change lever is set to the neutral position. Also, the edge move mode is set to "ON" with the edge move operation tool 96. This executes the edge move mode, and if the planting clutch is "OFF", the planting clutch is actuated to "ON". When the operation pedal is detected while the edge move mode is being executed, the lateral feed movement of the seedling carrier starts. The edge move detection sensor detects that the seedling carrier has reached one of the left and right moving ends. When the sensor detects that the seedling carrier has reached one of the left and right moving ends, the lateral feed movement of the seedling carrier is stopped and the edge move of the seedling carrier is completed. Usually, the seedling carrier is first moved to the edge in the seedling planting work. This allows the seedling mat to be scraped off from one of the left and right ends, and the seedling mat can be consumed neatly. Next, resetting the seedling mat remaining amount will be described. It is necessary to delete the seedling mat remaining amount calculated in accordance with the action of the worker removing the seedling mat M from the seedling carrier. This is because, for control purposes, the seedling transfer alarm is issued based on the seedling mat remaining amount, and the number of seedling mats used is measured. However, the control device 70 may not be able to recognize the seedling mats simply by removing them from the seedling carrier. The control device 70 detects that the seedling mats are to be brought to the edge (specifically, when the edge bringing mode is executed and the edge bringing control unit (control device) 70 (see FIG. 13) performs the edge bringing control, it detects the arrival of the seedling carrier at one of the left and right moving ends of the lateral feed) and deletes the seedling mat remaining amount that was calculated. In this way, when the worker places a new seedling mat on the seedling carrier and starts work, the seedling mat remaining amount that was calculated can be deleted simply by bringing the seedling carrier to the edge, which is normally performed when placing the seedling mat on the seedling carrier. That is, the seedling mat remaining amount in the memory unit that stores the seedling mat remaining amount calculated by the seedling mat remaining amount calculation unit 72 is deleted. As another embodiment, the remaining amount of seedling mat may be similarly deleted based on the following method. Also, the seedling mat remaining amount may be deleted and the compression rate of the seedling mat calculated at the same time may be deleted, or both the seedling mat remaining amount and the compression rate may be deleted. Next, a configuration for deleting the remaining amount of seedling mats will be described. An operating tool for deleting the remaining seedling mat is provided on an operating column, etc. Although it is through the action of the worker, the remaining seedling mat can be deleted when a new seedling mat is placed without using the seedling platform edge shifter. For example, the remaining seedling mat amount is deleted when a certain time has elapsed since the power key of the field work machine 1 was turned off. The certain time is a period of time (e.g., 8 hours) that is determined to be when the field work machine has moved between fields or the next day has arrived. Even after the power key is turned off, the ECU of the control device 70 stores the remaining seedling mat amount for less than the certain time, but deletes the remaining seedling mat amount after the certain time has elapsed. As another example, the remaining amount of seedling mats is deleted based on the operation of a seedling mat presser (not shown). A seedling mat presser that presses the seedling mats so that the seedling mats are properly placed on the seedling platform may be attached to the seedling platform. The seedling mat presser has a main body that holds the seedling mat and a base that is attached to the seedling platform, and the main body can be moved closer to or farther from the seedling platform by rotating the main body relative to the base. When the seedling mat presser is moved away from the seedling platform, the operation of removing the seedling mat from the seedling platform is usually accompanied, so by providing a sensor at the base that detects the rotation of the seedling mat presser, the remaining seedling mat can be removed by operating the seedling mat presser. As another example, when the number of rows of the seedling carrier is large (for example, a farm work machine with 8 rows), a part of the seedling carrier may be separated and stored on top of the remaining seedling carrier. When this work is performed, it is usually determined that the work is completed, so the remaining seedling mat can be deleted based on the detection of a sensor (not shown) that detects when a part of the seedling carrier is separated or stored on top of the remaining seedling carrier. Furthermore, the remaining seedling mat amount may be deleted when the main speed change lever 61 is operated to the travel speed. When the main speed change lever 61 is set to the travel speed, it is usually determined that work in the field has been completed, so the remaining seedling mat amount is deleted when the main speed change lever 61 is operated to the travel speed. That is, the main speed change lever 61 operates as a manual operating tool for deleting the stored remaining amount of seedling mat or the compression rate of the seedling mat.

[0073] The control flow of seedling harvesting amount control (scraping area control) will be described with reference to Figure 22. In the following, it is assumed that the planting clutch is connected and the planting work machine 3 is operating. When seedling harvesting amount control is started, the actual work area is calculated at any time from the travel distance and work width of the rear wheels 8 taking into account the slip rate. In addition, the number of seedling succession is detected at any time from the detection state of the presence / absence detection unit 90 and the movement amount detection unit 80, and the movement amount (feed amount) of the seedling mat M is calculated at any time from the detection state of the movement amount detection unit 80. Next, a method for setting the seedling harvesting amount will be described. Before starting work, the worker knows the area of ​​the field to be worked on, and detects the number of seedling mats M to be used for that field area. The worker also sets the planting work machine 3 at will (setting the vertical harvesting amount, number of lateral feeds, and spacing between plants). There is an adjustment range for the number of seedling mats M used, but since the number of seedling mats M can range from tens to hundreds or more, there are likely to be unused seedling mats M, resulting in waste. The limit value of the number of seedling mats to be used is calculated based on the settings of the planting work machine 3 and the area of ​​the field. If the number of seedling mats to be used set by the worker before the work exceeds the limit value, the control device 70 notifies the user with a display meter or the like. At this time, the seedling mats M used in the planting work are compressed and the compression rate exceeds 0%, so a predetermined compression rate condition may be added to the calculation of the limit value. For example, when the vertical feed amount is ○, the horizontal feed amount is ●, and the spacing between plants is △, even if the compression rate is 0%, the number of seedling mats used per 10 ares of field area will be ◇. If the operator attempts to set a number exceeding ◇, this will be displayed on the monitor 67.

[0074] In step #21, the control device 70 determines whether or not the field area and the number of seedling mats have been input using the select dial 66. If the field area and the number of seedling mats have been input, the process proceeds to step #22.

[0075] In step #22, the control device 70 calculates a standard raking area based on the field area and the number of seedling mats, and calculates a standard vertical take-up amount and a standard horizontal take-up amount (standard horizontal feed amount) based on the standard raking area and the target aspect ratio. Then, the control device 70 controls the drive of the planting machine 3 (specifically, the actuators 48b, 56a) so as to achieve the standard vertical take-up amount and the standard horizontal take-up amount (standard horizontal feed amount), and proceeds to step #23. The calculated standard vertical take-up amount and standard horizontal take-up amount are reflected on the monitor 67, and the rectangle of the block of the seedling mat M displayed is deformed. The operator can select whether to use the standard vertical take-up amount, standard horizontal take-up amount, or an arbitrary vertical take-up amount and horizontal take-up amount. Regardless of whether the calculated standard vertical take-up amount, standard horizontal take-up amount, or any arbitrary vertical take-up amount or horizontal take-up amount is set, the control device 70 calculates the aspect ratio of the blocks of the seedling mat M to be scraped off and determines whether the aspect ratio is within a predetermined first set range. The set range here is a range that determines whether the aspect ratio is extreme when the planting claws scrape off the seedling mat M. If the aspect ratio is extreme, the block may come off the planting claws, making it impossible to plant normally. If the aspect ratio is outside the first set range, the operator is notified via the display monitor 67, etc. If it is outside the first predetermined setting range, the following display forms are possible. A warning mark is displayed next to the block of seedling mat M to be scraped off, which is displayed on the display monitor 67. If the vertical amount (vertical side) is outside the set range, a vertical icon will be displayed next to the block. Similarly, if the horizontal amount (horizontal side) is outside the set range, a horizontal icon will be displayed. - Make the displayed block blink or change color. Of the displayed blocks, only those that are outside the set range will blink or change color. In addition, the control device 70 determines whether the vertical and horizontal take-up amounts are within a predetermined second set range based on the number of seedling mats M to be used for the field area set by the worker, the set vertical take-up amount, horizontal take-up amount, and spacing between plants. In other words, it is determined that the number of seedling mats M set cannot be consumed within the set field area based on the vertical take-up amount, horizontal take-up amount, and spacing between plants set by the operator. If it is outside the second set range, the operator is notified via the display monitor 67, etc.

[0076] In step #23, the control device 70 determines whether the presence / absence detection unit 90 has transitioned from a state in which it detects the seedling mat M to a state in which it does not detect the seedling mat M. If the presence / absence detection unit 90 detects a state in which it does not detect the seedling mat M, the control device 70 transitions to step #24.

[0077] In step #24, the control device 70 calculates the number of seedling mats to be used per row from the compression ratio calculated based on the feed amount of the seedling mats M per row and the number of seedling joins of the seedling mats M, and proceeds to step #25.

[0078] In step #25, the control device 70 determines whether the number of seedling mats used per row has been calculated. If the number of seedling mats used per row has been calculated, the process proceeds to step #26.

[0079] In step #26, the control device 70 calculates the actual scraping area based on the actual work area and the number of seedling mats used, calculates the actual vertical take-up amount and the actual lateral take-up amount (actual lateral feed amount) based on the actual scraping area and the target aspect ratio, and proceeds to step #27.

[0080] In step #27, the control device 70 calculates the target scraping area based on the remaining work area and the number of remaining seedling mats, calculates the target vertical take-up amount and target lateral take-up amount (target lateral feed amount) based on the target scraping area and the target aspect ratio, and proceeds to step #28.

[0081] In step #28, the control device 70 calculates a correction amount for the reference longitudinal take-up amount based on the actual longitudinal take-up amount and the target longitudinal take-up amount, calculates a correction amount for the reference lateral take-up amount (reference lateral feed amount) based on the actual lateral take-up amount (actual lateral feed amount) and the target lateral take-up amount (target lateral feed amount), and proceeds to step #29.

[0082] In step #29, the control device 70 corrects the reference longitudinal take amount and the reference lateral take amount (reference lateral feed amount) based on the correction amounts of the reference longitudinal take amount and the reference lateral take amount (reference lateral feed amount), drives and controls the planting machine 3 (specifically, the actuators 48b, 56a) so that the corrected reference longitudinal take amount and reference lateral take amount (reference lateral feed amount) are obtained, and then proceeds to step #30.

[0083] In step #30, the control device 70 determines whether the actual work area is the field area. If the actual work area is the field area, the process ends. If the actual work area is not the field area, the process proceeds to step #23. In this seedling removal amount control (scraping area control), correction values ​​for the standard vertical removal amount and the standard lateral removal amount are calculated from the remaining work area and the number of remaining seedling mats. Therefore, if, for example, the remaining work area suddenly becomes 0 due to the end of work, the control device 70 may calculate the correction value to be extremely large, which may increase the driving load of the actuators 48b, 56a for correcting the standard vertical removal amount and the standard lateral removal amount. Therefore, when the remaining work area or the number of remaining seedling mats becomes 0 at the end of work, the control device 70 calculates the target vertical take-up amount and the target lateral take-up amount (target lateral feed amount) from the field area and the target number of seedling mats input at the start of work, calculates a correction value of the standard vertical take-up amount based on the actual vertical take-up amount and the target vertical take-up amount, and calculates a correction value of the standard lateral take-up amount (standard lateral feed amount) based on the actual lateral take-up amount (actual lateral feed amount) and the target lateral take-up amount (target lateral feed amount). In this way, it is possible to avoid the inconvenience of the correction value of the standard vertical take-up amount and the standard lateral take-up amount being calculated to be maximum at the end of work, etc., and to reduce the driving load of the actuators 48b and 56a.

[0084] Using FIG. 23, understanding and planning of planting work using the information terminal 100 will be described. The communication unit of the field work machine 1 transmits and receives various types of data via a wide area communication network such as the Internet, and is configured to be able to communicate data with an external information terminal 100 connected via the wide area communication network.

[0085] 23(a), the information terminal 100 receives and displays data detected during planting work in a certain field, such as the elapsed time, number of stalks, number of lateral feeds, sinking amount of the rear wheels 8, slip rate, number of stalks per stalk, number of stalks per given area, remaining work area, number of remaining seedling mats, etc. The various data may be displayed in real time during planting work, or may be displayed at the end of planting work.

[0086] As described above, by enabling the information terminal 100 to receive various types of detailed data, a manager or the like who manages multiple farm fields can use the information terminal 100 to grasp the work status, etc., of each farm field.

[0087] As shown in Figure 23(b), the relationship between the number of stalks per given area and the yield, or the relationship between the number of plants and the yield, may be displayed. In this case, the breakdown of the yield, showing the ratio of whole grains to broken grains, can be used for planning the next harvest.

[0088] Furthermore, when setting the number of plants and number of seedling mats per given area in advance, in anticipation of the yield per given area of ​​the field, various information can be input into the information terminal 100 to perform a simulation of the required number of mats and number of plants, etc. Therefore, the manager can make a plan from the seedling transplantation stage or the seedling mat M growth stage, and can appropriately set the required number of mats and number of plants, etc.

[0089] [Another embodiment] Other embodiments of the present invention will be described below. Note that the configurations of the embodiments described below are not limited to being applied alone, but may also be applied in combination with the configurations of other embodiments.

[0090] (1) In the above-described embodiment, the movement amount detection unit 80 detects the number of rotations of the rotating body 81 by detecting the screw 81c provided on the boss portion 81b of the rotating body 81 using the proximity sensor 85, but this is not limited to the above.

[0091] 24, for example, rotor 81 is provided with an elliptical cam 88A that rotates together with rotor 81, and a microswitch 88B that repeatedly turns on and off with the rotation of cam 88A. Microswitch 88B is disposed so that it is on when the short diameter end of cam 88A is in contact with arm 88b, and is off when the long diameter end of cam 88A is in contact with arm 88b. In the above configuration, microswitch 88B repeatedly turns on and off every 90 degrees, making it possible to detect the number of rotations of rotor 81.

[0092] In addition to the above configuration, a rotary encoder may be attached to the rotation shaft of the rotating body 81 to calculate the rotation speed (rotation angle) of the rotating body 81, or a potentiometer may be attached to the rotation shaft of the rotating body 81 to calculate the rotation speed (rotation angle) of the rotating body 81.

[0093] Also, although a rotating body 81 is used to configure the movement amount detection unit 80 for the seedling mat M, this is not limited to this. As a contact type measurement method, a capacitance type gauge, a load cell, etc. can be considered. The capacitance type gauge can be installed, for example, over the entire surface area to accurately measure the feed amount and remaining amount of the seedling mat M on the seedling platform 33. Also, the load cell can be attached, for example, to a support member of the seedling platform 33 to detect the feed amount of the seedling mat M based on the load of the seedling mat M placed on the surface.

[0094] In addition, non-contact measuring methods include a laser range finder, image processing of an image captured by a camera, an optical sensor, a brightness sensor, and the like. The laser range finder is provided, for example, so as to be able to measure the distance from the upper side of the placement surface to the upper end surface of the seedling mat M to be placed, thereby making it possible to detect the feed amount of the seedling mat M. In addition, the camera is provided, for example, so as to be able to capture an image of the seedling mat M placed on the placement surface, thereby making it possible to detect the feed amount of the seedling mat M by image processing the captured image. The optical sensor is, for example, composed of a light emitting unit and a light receiving unit that detects that the light beam from the light emitting unit is blocked by the seedling mat M, thereby making it possible to detect the feed amount of the seedling mat M.

[0095] (2) The specific configuration of the presence / absence detection unit 90 is not limited to the configuration shown in the above embodiment, and various configuration changes are possible. For example, the presence / absence detection unit 90 may have the same configuration as the movement amount detection unit 80. In that case, the presence / absence detection unit 90 can detect the presence of the seedling mat M by detecting the movement of the seedling mat M, and can detect the absence of the seedling mat M by not detecting the movement of the seedling mat M. Next, another embodiment of the automatic seedling amount adjustment function will be described. Normally, the movement amount detection unit 80 operates normally. However, there are cases where the movement amount detection unit 80 breaks down due to clogging with mud, etc. As a backup for such times, the automatic seedling amount adjustment function is provided. Even if the movement amount detection unit 80 breaks down, planting work is possible, but the amount of feed of the seedling mat cannot be detected. As described above, the standard vertical take-up amount is calculated from the area of ​​the field to be worked on, the number of seedling mats to be used, the lateral feed amount, and the spacing between plants, and the actuator is controlled to raise and lower the seedling carrier 33 to set the vertical take-up amount. As control during planting work, the actual work area and the number of seedling mats used are calculated, and the standard vertical take-up amount is corrected, but if the movement amount detection unit 80 is broken, the feed amount of the seedling mats cannot be calculated. Therefore, as a backup control, when it detects that the movement amount detection unit 80 is broken, the control device 70 ignores the detection of the feed amount of the seedling mats, calculates the number of seedling mats used at the timing of seedling transfer, and corrects the standard vertical take-up amount. Before and after the distance at which the proximity sensor 85 detects the screw 81c, detection and non-detection of the seedling mat M are repeated due to vibrations of the field work machine 1, causing an error in the calculation of the number of seedling mats used. A threshold is set for the increase in the actual work area between the detection of the seedling mat M by the movement amount detection unit 80, and the amount of seedling mat feed calculated based on the threshold is not detected. In the above embodiment, the actual work area and the number of seedling mats used are calculated during planting work, but if a malfunction occurs in the movement amount detection unit 80, the number of seedling mats used is not calculated. The control device 70 detects a malfunction of the movement amount detection unit 80 by determining that the number of seedling mats used does not increase in response to an increase in the actual work area. Specifically, if the increase in the actual work area exceeds a threshold value relative to the vertical feed amount of the movement amount detection unit 80 (rotating body), it is determined that a malfunction of the movement amount detection unit 80 has occurred. In the above embodiment, the actual work area and the number of seedling mats used are calculated during planting work, but if a malfunction occurs in the movement amount detection unit 80, the number of seedling mats used is not calculated. The control device 70 detects a malfunction of the movement amount detection unit 80 by determining that the number of seedling mats used does not increase in response to an increase in the actual work area. Specifically, if the increase in the actual work area exceeds a threshold value relative to the vertical feed amount of the movement amount detection unit 80 (rotating body), it is determined that a malfunction of the movement amount detection unit 80 has occurred. Before and after the distance at which the proximity sensor 85 detects the screw 81c, detection and non-detection of the seedling mat M may be repeated due to vibrations of the field work machine 1, which may result in an error in the calculation of the number of seedling mats used. Therefore, a threshold value may be set for the increase in the actual work area between the detection of the seedling mat M by the movement amount detection unit 80, so that the amount of seedling mat feed calculated based on the threshold value is not detected. In the above embodiment, as a control during planting work, the actual work area and the number of seedling mats used are calculated, and the standard vertical take-up amount is corrected, but if the movement amount detection unit 80 is broken, the feed amount of the seedling mats cannot be calculated. Therefore, as a backup control, when it is detected that the movement amount detection unit 80 is broken, the control device 80 may ignore the detection of the feed amount of the seedling mats, calculate the number of seedling mats used at the timing of seedling transfer, and correct the standard vertical take-up amount. As described above, the embodiments of the present invention can be summarized as follows. The amount of seedlings used may be measured using the edge detection sensor 87 and the vertical removal amount. A weight sensor may be provided on the seedling carrier to measure the number of seedling mats based on their weight. The amount of seedling mat used may be measured by using a combination of a conventional slip ratio calculation method and a slip ratio calculation method obtained from a calibration curve based on the depth of the tillage pan, and switching between the two methods may be made. A potentiometer may be provided to detect the change in the number of lateral feeds, thereby measuring the amount of seedling mat used. The actual vehicle speed may be calculated by proportionally dividing the travel distance of the GNSS receiver 49 and the axle rotation speed. The amount of work can also be measured by inputting the number of seedlings used per unit area (for example, 10a). The vertical feed amount of the seedling mat may be detected by a star wheel, and the seedling transfer may be detected by a presence / absence sensor. The machine can be designed to recognize the horizontal feed, number of plants, vertical harvest amount (seedling compression rate) and display the number of seedlings used per tan (per 10a). By recognizing the amount of seedlings used, the height of the seedlings remaining on the seedling bed can be calculated and an arbitrary threshold can be set, and if the remaining amount on the seedling bed exceeds that threshold, a seedling succession alarm can be issued. When the device vibrates and repeatedly turns on and off, a threshold value may be set for the working area from ON to ON, and the ON response within that range may be ignored to recognize the amount of seedlings used. The compression rate and the number of seedlings used may be calculated using a seedling presence sensor and a seedling usage sensor, and the information may be displayed on the meter. A potentiometer may be provided on the lift link so as to function as an upper limit switch. [Explanation of symbols]

[0096] 1. Field work equipment 3 Planting machine (planting section) 17a Spare seedling carrier body 17b Spare seedling support frame 33 Seedling stand 49 GNSS Receivers 50 GNSS receiver support frame 61 Human control tools 66 Select dial (Vertical amount setting part, Horizontal amount setting part) 67 Monitor (display) 68 Alarm section 70 Control device (seedling consumption measurement unit, edge control unit) 72 Seedling mat remaining amount calculation section 73 Notification Criteria Setting Unit 74 Work Settings 80 Movement amount detection unit 86 Memory section 87 Edge detection sensor 89 Compression ratio calculation section 90 Presence detection unit (seedling input amount measurement unit) 96 Edge adjustment tool M Seedling Mat

Claims

1. A planting unit that transplants the seedling mat on the seedling carrier into a field; A seedling input amount measuring unit for measuring the amount of seedling mat input on the seedling platform; A seedling consumption measuring unit for measuring the consumption of the seedling mat on the seedling carrier; A seedling mat remaining amount calculation unit that calculates the remaining amount of the seedling mat on the seedling carrier from the input amount and consumption amount of the seedling mat; A storage unit that stores the remaining amount of the seedling mat calculated by the seedling mat remaining amount calculation unit; An edge shifting control unit that performs an edge shifting operation by moving the seedling carrier to the left or right end in the lateral feed direction and stopping it; A field work machine characterized in that it is equipped with a seedling mat remaining amount deletion unit that controls and deletes the remaining amount of seedling mats stored in the memory unit when the edge-collecting control unit performs edge-collecting work.

2. A compression ratio calculation unit that calculates the compression ratio of the seedling mat on the seedling carrier, The edge shifting control unit stores the calculated compression ratio, 2. The farm work machine according to claim 1, wherein the stored compression rate of the seedling mat is deleted when the seedling edge gathering operation is performed.

3. 3. The farm work machine according to claim 2, further comprising a manual operation tool for deleting the stored remaining amount of seedling mats or the stored compression rate of the seedling mats.

Images