Seedling transplanter

Abstract

To accurately detect the number of seedling mats to be used.SOLUTION: A seedling transplanter according to an embodiment plants seedlings in a field while traveling in the field, and comprises a traveling vehicle body, a seedling tank, a seedling planting part, an electrode, and a control part. The traveling vehicle body can travel in the field. The seedling tank is provided in the traveling vehicle body, and stores seedling mats. The seedling planting part scrapes the seedlings from the seedling mats conveyed in the seedling tank, and plants the scraped seedlings. The electrode is provided in the seedling tank, and measures a resistance value. The control part detects the seedling mats conveyed in the seedling tank on the basis of the resistance value measured by the electrode.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a seedling transplanter. [Background technology]

[0002] Conventionally, in a seedling transplanter that drives through a field and plants seedlings in the soil surface of the field, a technique has been known in which, in order to properly plant seedlings with the desired number of seedling mats, a standard seedling harvesting volume is calculated from the field area where planting is to be performed and the number of seedling mats to be used in that field area, and the seedling harvesting volume is adjusted based on the calculated standard seedling harvesting volume (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-122311 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-mentioned conventional techniques have room for improvement in terms of detecting the number of seedling mats used more accurately.

[0005] The present invention has been made in consideration of the above, and has an object to provide a seedling transplanter that can more accurately detect the number of seedling mats to be used. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, the seedling transplanter (1) according to the embodiment is a seedling transplanter (1) that plants seedlings in a field while traveling in the field, and includes a traveling vehicle body (2) that can travel in the field, and a seedling mat (M PL ) and a seedling mat (M) transported in the seedling tank (35). PLThe present invention relates to a seedling planting section (3) for picking up seedlings from the seedling tank (35) and planting the picked up seedlings, an electrode (90) provided in the seedling tank (35) for measuring a resistance value, and a seedling mat (M) transported in the seedling tank (35) based on the resistance value measured by the electrode (90). PL ) and a control unit (100) for detecting the Effect of the Invention

[0007] According to the seedling transplanter of the embodiment, the number of seedling mats to be used can be detected more accurately. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic side view showing a seedling transplanter according to an embodiment. [Diagram 2] FIG. 2 is a block diagram showing an example of a control system of the seedling transplanter according to the embodiment. [Diagram 3] FIG. 3 is a block diagram showing an example of a control system for detecting a seedling mat. [Figure 4] FIG. 4 is an explanatory diagram (part 1) of a first example of a seedling mat detection configuration. [Diagram 5] FIG. 5 is an explanatory diagram (part 2) of the first example of the seedling mat detection configuration. [Figure 6] FIG. 6 is an explanatory diagram of a second example of the seedling mat detection configuration. [Figure 7] FIG. 7 is an explanatory diagram (part 1) of a third example of the seedling mat detection configuration. [Figure 8] FIG. 8 is an explanatory diagram (part 2) of the third example of the seedling mat detection configuration. [Figure 9] FIG. 9 is an explanatory diagram (part 1) of the fourth example of the seedling mat detection configuration. [Figure 10] FIG. 10 is an explanatory diagram (part 2) of the fourth example of the seedling mat detection configuration. [Figure 11] FIG. 11 is an explanatory diagram of a fifth example of the seedling mat detection configuration. [Figure 12] FIG. 12 is an explanatory diagram of a sixth example of the seedling mat detection configuration. [Figure 13]FIG. 13 is an explanatory diagram of a seventh example of the seedling mat detection configuration. [Figure 14] FIG. 14 is an explanatory diagram (part 1) of the eighth example of the seedling mat detection configuration. [Figure 15] FIG. 15 is an explanatory diagram (part 2) of the eighth example of the seedling mat detection configuration. [Figure 16] FIG. 16 is an explanatory diagram of a seedling mat compression rate detection configuration. [Figure 17] FIG. 17 is a block diagram showing an example of a control system for correcting the seedling planting amount. [Figure 18] FIG. 18 is a block diagram showing the drive system in the EV mode. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the seedling transplanter disclosed in the present application will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the embodiment described below.

[0010] <Overview of the seedling transplanter> An overview of the seedling transplanter 1 according to the embodiment will be described with reference to Fig. 1. Fig. 1 is a schematic side view showing the seedling transplanter 1 according to the embodiment.

[0011] 1 may show a three-dimensional Cartesian coordinate system including a Z-axis with the positive direction being vertically upward (upward). In the following, for convenience of explanation, the positive direction of the X-axis is defined as the left, the negative direction of the X-axis as the right, the positive direction of the Y-axis as the front, and the negative direction of the Y-axis as the rear, and the X-axis direction is referred to as the left-right direction, the Y-axis direction as the front-back direction, and the Z-axis direction as the up-down direction.

[0012] In the following description, the seedling transplanter 1 and the traveling vehicle body 2 described below may be referred to as the "machine body." The seedling transplanter 1 performs the task of planting seedlings in the soil surface of the field while traveling within the field.

[0013] As shown in FIG. 1, the seedling transplanter 1 includes a traveling body 2 and a seedling planting unit 3. The traveling body 2 is capable of traveling within a farm field. The seedling planting unit 3 is a working machine in the seedling transplanter 1, and is provided on the traveling body 2. The seedling planting unit 3 plants seedlings on the soil surface of the farm field. The seedling transplanter 1 is a ride-on type that is operated by an operator (also called an "operator"), but has the function of automatically planting seedlings while autonomously traveling along a preset work route.

[0014] The traveling vehicle body 2 includes a pair of left and right front wheels 11 and a pair of left and right rear wheels 12. In the traveling vehicle body 2, for example, the pair of left and right front wheels 11 are steered wheels, and the pair of left and right rear wheels 12 are drive wheels. For example, in the case of a 4WD mode, the pair of left and right front wheels 11 and the pair of left and right rear wheels 12 are drive wheels.

[0015] In addition, at the front of the main frame 13 forming the body skeleton of the traveling body 2, there are provided a transmission case 14 that transmits driving force to the seedling planting unit 3 (described later) and the like, and a hydraulic continuously variable transmission 80 (see FIG. 18) that outputs driving force supplied from a driving source such as an engine E (see FIG. 2) or a motor, i.e., the rotation of the driving source (for example, the engine E) to the transmission case 14. The continuously variable transmission is, for example, a hydrostatic continuously variable transmission called an HST (Hydro Static Transmission). In the following, the continuously variable transmission will be referred to as "HST".

[0016] An auxiliary transmission mechanism (not shown) for switching the driving mode when driving on the road, planting seedlings, etc. is provided inside the transmission case 14. In the traveling vehicle body 2, front wheel final cases 15 are provided on the left and right sides of the transmission case 14, and the front wheels 11 are attached to left and right front axles that protrude outward from support parts that can change the steering direction of the left and right front wheel final cases 15, respectively.

[0017] In addition, rear wheel gear cases 16 are provided on the left and right sides of a rear frame extending in the left-right direction at the rear of the main frame 13, and rear wheels 12 are attached to the left and right rear axles that protrude outward from the rear wheel gear case 16, respectively.

[0018] Additionally, left and right link support frames 18 that support lift links 17 (described later) are provided extending upward from the upper portion of the rear frame. Left and right upper links 19 and left and right lower link arms 20 are provided between the left and right link support frames 18. A hydraulically driven lift cylinder 21 is provided between the left and right upper links 19 and the left and right lower link arms 20 in the left-right direction.

[0019] The left and right upper links 19 and the left and right lower link arms 20 form a parallel link mechanism, the lifting link 17. The left and right upper links 19, the left and right lower link arms 20 and the lifting cylinder 21 each have one end connected to the traveling vehicle body 2 and the other end connected to the seedling planting unit 3.

[0020] In addition, an engine, which is a drive source, is mounted on the main frame 13. Rotational power of the engine is transmitted to the transmission case 14 via a belt transmission device (not shown) and the HST 80. The rotational power transmitted to the transmission case 14 is changed in speed by an auxiliary transmission mechanism in the transmission case 14, and then separated into traveling power and externally extracted power.

[0021] The rotational power of the engine is transmitted to a hydraulic pump (not shown). The hydraulic pressure generated by the hydraulic pump is supplied to the HST 80, the power steering mechanism 23 (see FIG. 2) of the steering wheel 22, the lift cylinder 21, etc.

[0022] The externally extracted power extracted from the rotational power transmitted to the transmission case 14 is transmitted to a planting clutch 24 (see FIG. 2) provided at the rear of the traveling body 2, and is transmitted from the planting clutch 24 to the seedling planting section 3 via a planting transmission shaft (not shown). Left and right drive shafts (not shown) are provided at the rear of the transmission case 14. The rotational power from the engine E is transmitted to the left and right rear wheel gear cases 16 via the transmission case 14 and the drive shafts.

[0023] In addition, a side clutch 25 (see FIG. 2) that turns on and off the power transmission to the left and right drive shafts is provided upstream of the left and right drive shafts in the power transmission direction. As shown in FIG. 1, for example, a side clutch pedal (not shown) that turns on and off the left and right side clutches 25 is provided at the front lower part of the cockpit 26 and on the left and right sides.

[0024] Of the left and right side clutch pedals, when the side clutch pedal on the inside of the turn is depressed to disengage the side clutch 25, and then the steering wheel 22 is operated to make a turn, the drive rotation of the rear wheel 12 on the inside of the turn can be interrupted.

[0025] A bonnet 28 that houses the engine E is provided in front of the floor step 27 of the traveling vehicle body 2. A control panel 29 is provided at the rear of the bonnet 28. The control panel 29 is provided with a meter panel, switches, and other various operating tools. In addition, a steering wheel 22 is provided at the rear of the bonnet 28.

[0026] The bonnet 28 is also provided with a steering handle (hereinafter referred to as the "handle") 22 that can be rotated to adjust the steering amount of the front wheels 11, a main shift lever 30 that operates the HST 80 and the seedling planting unit 3, and a sub-shift lever 31 (see Figure 2) that operates the sub-shift mechanism.

[0027] Also provided within bonnet 28 are a fuel tank, a battery, and an interlocking mechanism for rotating the left and right front wheels 11 and the lower sides of the left and right front wheel final cases 15 in response to operation of handlebars 22. The front portion of bonnet 28 is covered by an openable and closable front cover 28a.

[0028] A fertilizer applicator 40, which will be described later, is provided behind the driver's seat 26 and at the rear of the main frame 13. The driving force of the fertilizer applicator 40 is transmitted by a fertilizer transmission mechanism provided to face the fertilizer applicator 40 from one of the left and right sides of the left and right rear wheel gear cases 16.

[0029] Floor steps 27 are formed on the left and right sides of the lower part of the bonnet 28. The floor steps 27 are substantially horizontal and partially lattice-shaped, so that even if mud on the shoes of an operator (worker) walking on the floor steps 27 falls onto the floor steps 27, the fallen mud falls into the field.

[0030] In addition, a spare seedling frame 34 is provided at the front and left and right sides of the traveling body 2, in which a plurality of spare seedling placement tables 33 are arranged at intervals in the vertical direction on seedling frame supports 32. The spare seedling frame 34 is provided with seedling mats M to be supplied to the seedling planting section 3. PL (See Figure 4) and fertilizer bags and other materials can be placed on it.

[0031] In addition, at the rear end of the lifting link 17, a seedling mat M containing seedlings to be planted in the field is attached. PL The seedling tank 35, which is used to load and store the seedlings, is connected to the tank 35 together with a sliding mechanism that slides the tank 35 in the left-right direction. PL is the surface on which the seedling mat M PL The tank 35 is provided with side walls 352 (see FIG. 4) for dividing the tank 35 into a plurality of sections in the left-right direction. PL A planting device 36 including a planting claw 38 is provided for scraping seedlings from the soil and planting the scraped seedlings in a field.

[0032] The planting device 36 simultaneously plants the same number of seedlings as the number of planting rows partitioned by the side surface 352. The planting device 36 comprises a planting transmission case 37, a planting claw 38, and a planting rotary 39. In the planting device 36, the planting transmission case 37 is provided below the seedling tank 35 with a gap therebetween, and the planting rotary 39 for rotating the planting claw 38 is provided on the left and right sides of the planting transmission case 37. In the planting device 36, the planting claw 38 rotates to move the seedling mat M PL The seedlings are then removed from the field and planted in the field.

[0033] In this way, in the seedling planting section 3, the seedling mat M PL The seedling mat M transported in the seedling tank 35 storing the seedlings PL The seedlings picked up by the planting tines 38 are planted in the field. The amount of seedlings picked up by the planting tines 38 (seedling picking amount) is variably controlled by the control unit 100 (see FIG. 2) described later.

[0034] The fertilizer application device 40 includes a fertilizer application hopper 41, a delivery device 42, a duct 43, a fertilizer application hose (not shown), and a blower (not shown). The fertilizer application hopper 41 stores fertilizer. The fertilizer application hopper 41 is divided into the same number of sections as the number of working rows of the seedling planting section 3. Note that, for example, if the fertilizer application hopper 41 is long in the left-right direction, convenience in adding fertilizer and attaching and detaching the fertilizer may decrease. Therefore, the fertilizer application hopper 41 may have a so-called side fertilization structure in which half of the total rows (for example, four rows in the case of eight rows) are partitioned and arranged on the left and right sides.

[0035] The payout devices 42 are provided for each row at the bottom of the fertilizer hopper 41, and supply a set amount of fertilizer at a time. The duct 43 is provided below the payout devices 42, and allows conveying air to pass through to move the fertilizer. The fertilizer hose is provided below the payout devices 42, and guides the fertilizer to the vicinity of the seedling planting position in the seedling planting section 3. The blower is provided at one end of the duct 43, and generates conveying air by the driving force of an electric blower motor (not shown).

[0036] A float 44 is provided below the seedling planting section 3. The float 44 includes a center float 44a in the center and left and right side floats 44b. The center float 44a and the left and right side floats 44b come into contact with the soil surface of the field and slide on the soil surface as the traveling body 2 advances (moves forward).

[0037] The seedling planting section 3 is provided in front of the float 44 and includes a soil leveling rotor 45 for leveling the soil surface. The soil leveling rotor 45 is provided in front of the center float 44a and in front of the left and right side floats 44b. The seedling planting section 3 plants seedlings on the soil surface leveled by the soil leveling rotor 45. Driving force is transmitted to the soil leveling rotor 45 via a rotor transmission shaft (not shown).

[0038] In addition, line drawing markers are provided on the left and right sides of the seedling planting section 3, one of which comes into contact with the soil surface of the field to form a furrow (guide line) as a guide for traveling in the next work row (next process). When one of the left and right line drawing markers descends and touches the ground, the other rises. When the seedling planting section 3 is raised during machine body rotation, both left and right line drawing markers rise, and when the seedling planting section 3 descends after the machine body has turned, one of the left and right markers rises and the other descends (touches the ground).

[0039] A center mascot 46 is erected so as to extend upward at the left-right center of the traveling body 2 and in front of the bonnet 28. By aligning the center mascot 46 with the guide lines formed on the soil surface of the field by the left and right line markers, it becomes possible to travel in accordance with the work position of the previous work row, improving work accuracy and preventing non-working.

[0040] Depending on the soil quality of the field, the guide lines formed by the left and right line-drawing markers may quickly become buried, and the guide for going straight may disappear. In such cases, it is better to use left and right side markers that are placed forward of the left and right line-drawing markers. In other words, by moving the left and right side markers outward and positioning them above the seedlings planted in the previous process, it becomes possible to perform planting work in accordance with the planting of the seedlings in the previous work row.

[0041] As shown in Fig. 1, the seedling transplanter 1 includes a position information acquisition device 50. The position information acquisition device 50 acquires the current self-position P (position information) of the traveling vehicle body 2 (seedling transplanter 1). The position information acquisition device 50 acquires the current position information of the seedling transplanter 1 by using a satellite positioning system such as a global positioning system (GPS) or a global navigation satellite system (GNSS). The position information acquisition device 50 may be composed of multiple devices.

[0042] The position information acquisition device 50 is supported by an antenna frame 51, for example, and disposed above the traveling vehicle body 2.

[0043] Further, the straight running control program and the turning control program, which are created based on the position information from the position information acquisition device 50, are stored in different locations. The straight running control program is stored, for example, in a straight running control ECU (Electronic Control Unit) in the position information acquisition device 50, and the turning control program is stored, for example, in a turning control ECU housed in the bonnet 28. The straight running control ECU and the turning control ECU are included in the control unit 100 (see FIG. 2), which will be described later. Note that the straight running control ECU and the turning control ECU may be the same ECU.

[0044] <Seedling transplanter control system> Next, the control system of the seedling transplanter 1 (see FIG. 1) will be described with reference to Fig. 2. Fig. 2 is a functional block diagram showing the control system of the seedling transplanter 1 according to the embodiment. Fig. 2 also shows an example of a control system centered around a control unit 100. As shown in Fig. 2, the seedling transplanter 1 is capable of controlling each part by electronic control, and is equipped with a control unit 100 that controls each part.

[0045] The control unit 100 has, for example, a processing unit having a CPU (Central Processing Unit) and the like, a storage unit such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and further an input / output unit, which are interconnected to enable the exchange of signals. The storage unit stores computer programs and the like for controlling the seedling transplanter 1. The control unit 100 performs each function by reading out the computer programs and the like stored in the storage unit and the like.

[0046] The control unit 100 is connected to, for example, actuators such as a throttle motor 60, hydraulic control valves 61, 62, a planting clutch actuation solenoid 63, a side clutch actuation solenoid 64, an HST motor 65, a steering motor 66, a line drawing marker lifting motor 67, and a differential lock switching motor 68.

[0047] The throttle motor 60 increases or decreases the rotation speed of the output shaft of the engine E by operating a throttle that adjusts the amount of intake air of the engine E. The hydraulic control valve 61 controls the extension and retraction operation of the lift cylinder 21. The hydraulic control valve 62 controls the power steering mechanism 23. The planting clutch operating solenoid 63 operates the planting clutch 24.

[0048] A side clutch actuation solenoid 64 actuates a side clutch 25 that switches the state of power transmission to the rear wheels 12 (see FIG. 1). An HST motor 65 changes the rotation angle of the HST trunnion, thereby changing the inclination angle of the swash plate of an HST 80 (see FIG. 18). A steering motor 66 steers and drives the front wheels 11 (see FIG. 1), which are steered wheels. The steering motor 66 is a motor that drives a handle 22 that adjusts the steering amount (also called the steering angle or turning angle) of the front wheels 11. A line drawing marker lifting motor 67 lifts and lowers the line drawing marker.

[0049] The differential lock switching motor 68 is a motor that switches between operation and deactivation of a differential lock mechanism (hereinafter referred to as a differential lock mechanism) 69 that rotates the left and right running wheels (for example, the left and right front wheels 11) at the same rotation speed. By switching the differential lock mechanism 69 on, the vehicle can be forcibly put into four-wheel drive (4WD mode), and the left and right running wheels rotate at the same rotation speed.

[0050] A rear wheel rotation speed sensor 70, a steering amount sensor 71, an inclination sensor 72, etc. are connected to the control unit 100. Two rear wheel rotation speed sensors 70 are provided corresponding to the left and right rear wheels 12 and detect the rotation speeds of the left and right rear wheels 12, respectively.

[0051] The steering amount sensor 71 detects the rotation of the handle 22, that is, the steering amount of the front wheels 11 (see FIG. 1). The steering amount sensor 71 is provided, for example, on a shaft connected to a pitman arm.

[0052] The inclination sensor 72 detects the inclination angle (for example, roll angle, pitch angle) of the seedling transplanter 1 (traveling body 2).

[0053] In addition, signals are input to the control unit 100 as operation signals, for example, from the main speed change lever 30, the sub-speed change lever 31, the seedling planting section lifting switch 73, the line drawing marker automatic lifting switch 74, the automatic turning switch 75, the mode switch 76, etc.

[0054] The seedling planting section lifting switch 73 is a switch for switching between lifting and lowering the seedling planting section 3. The seedling planting section lifting switch 73 can be changed between the "up" and "down" positions. When the seedling planting section lifting switch 73 is in the "up" position, the seedling planting section 3 is lifted to a predetermined non-working position, and the planting device 36 (see FIG. 1) is stopped in a non-working state (the "off" state of the seedling planting section 3). When the seedling planting section lifting switch 73 is in the "down" position, the seedling planting section 3 is lowered to a predetermined working position, and the planting device 36 is activated in a working state (the "on" state of the seedling planting section 3). In other words, the seedling planting section lifting switch 73 is a switch that can detect the working state of the seedling planting section 3.

[0055] The automatic line drawing marker raising / lowering switch 74 is a switch that switches whether or not the line drawing marker is automatically raised / lowered in conjunction with the steering amount of the handlebars 22 (i.e., the steering amount of the front wheels 11). When the automatic line drawing marker raising / lowering switch 74 is "ON", control is executed to automatically raise / lower the line drawing marker in conjunction with the steering amount. On the other hand, when the automatic line drawing marker raising / lowering switch 74 is "OFF", control is not executed to automatically raise / lower the line drawing marker in conjunction with the steering amount.

[0056] The automatic turning changeover switch 75 is a switch that switches whether automatic turning is enabled or disabled when the operator manually operates the seedling transplanter 1. When the automatic turning changeover switch 75 is "ON", automatic turning is enabled. When the automatic turning changeover switch 75 is "OFF", automatic turning is disabled. The mode changeover switch 76 is a switch that switches whether or not autonomous traveling of the seedling transplanter 1 (traveling body 2) is performed.

[0057] An orientation sensor (not shown) or the like may be connected to the control unit 100. The orientation sensor detects, for example, the absolute azimuth angle of the traveling direction of the vehicle (traveling vehicle body 2) (for example, "north" is 0° (360°), "east" is 90°, "south" is 180°, and "west" is 270°). The orientation sensor detects the absolute azimuth angle at regular time intervals and transmits the detected absolute azimuth angle to the control unit 100.

[0058] The control unit 100 controls the steering wheel 22 via the steering motor 66 based on the detection result of the steering amount sensor 71. While controlling the steering wheel 22, the control unit 100 performs straight-line control and turning control of the traveling vehicle body 2 based on the position information of the traveling vehicle body 2 acquired by the position information acquisition device 50 (the self-position of the traveling vehicle body 2) and the like.

[0059] The control unit 100 also controls the seedling planting unit 3. Specifically, the control unit 100 drives and controls the seedling feed roller 353 of the seedling tank 35. The seedling feed roller 353 feeds the seedling mat M in the seedling tank 35. PL The seedling feed belt 354 (see FIG. 4) is provided on each bottom surface 351 (see FIG. 4) which is the conveying path of each of the seedlings. PL Conveying direction D C (i.e., from top to bottom in the seedling tank 35).

[0060] The control unit 100 also controls the drive of the planting claws 38. The planting claws 38 are connected to the seedling mat M PL The seedlings are then scraped off and planted on the soil surface of the field. In this manner, the control unit 100 controls the drive of the seedling feed roller 353 and the planting claws 38 of the seedling planting unit 3 to adjust the amount of seedlings planted (the amount of seedlings planted).

[0061] <Control system for seedling mat detection> Next, refer to Figure 3 and set the seedling mat M PL The control system for detection is explained. Figure 3 shows the seedling mat M PL FIG. 2 is a block diagram showing an example of a control system for detection.

[0062] As shown in FIG. 3, the seedling transplanter 1 (see FIG. 1) transports each seedling mat M in the seedling tank 35 (see FIG. 1). PL The electrode 90 is provided for measuring the resistance value in order to detect the resistance (see FIG. 4). The electrode 90 outputs the measured resistance value to the control unit 100.

[0063] The control unit 100 includes, for example, a resistance value acquisition unit 111, a joint determination unit 112, a seedling mat detection unit 113, a seedling mat counting unit 114, and a seedling mat number storage unit 115. The resistance value acquisition unit 111 acquires the resistance value output from the electrode 90. When the resistance value changes, the joint determination unit 112 determines whether the seedling mat M PL Seedling Mat M PL The joint S between the two parts is judged as the joint S (see Figure 5).

[0064] The seedling mat detection unit 113 detects the seedling mat M PL Seedling Mat M PL When the joint S between the previous joint S and the current joint S is determined, for example, the seedling mat M is inserted between the previous joint S and the current joint S. PL The seedling mat counting unit 114 detects the seedling mat M PL When this is detected, one seedling mat M PL The seedling mat number storage unit 115 counts the seedling mats M PL When counted, the seedling mat M PL Each time a seedling mat is counted, PL Remember the numbers.

[0065] In this way, the control unit 100 determines the seedling mat M transported in the seedling tank 35 based on the resistance value measured by the electrode 90. PL Based on the resistance value measured by the electrode 90, the seedling mat M PL By detecting the seedling mat M PL This allows you to count the number of seedlings per mat. PL The number of seedlings can be detected more accurately. PL By accurately detecting the number of seedlings, the seedling mat M PL This allows for more planned use and improves work efficiency.

[0066] In addition, the change in the resistance value measured by the electrode 90 determines the temperature of the seedling mat M being transported in the seedling tank 35. PL Seedling Mat M PL In order to detect the joint S between the seedling mats M which are transported in a row in the seedling tank 35, PLOn the other hand, seedling mat M PL can be detected one by one.

[0067] In addition, the seedling mat counting unit 114 counts the seedling mats M PL When counting the number of seedlings, the monitor 120 outputs the number of seedlings to the monitor 120. The monitor 120, for example, PL Each time a seedling mat is counted, PL The monitor 120 is displayed so as to count up. The monitor 120 is provided, for example, in a meter panel. The monitor 120 may be provided, for example, in a mobile terminal capable of communicating with the seedling transplanter 1.

[0068] In addition, the seedling mat number storage unit 115 stores the seedling mat M PL When the number is to be stored, the number is output to the monitor 120. The monitor 120, for example, PL In addition to the count-up display, the seedling mat M PL Number (for example, seedling mat M PL The amount of each crop (quantity in a single field or quantity in multiple fields) is displayed.

[0069] <Seedling mat detection configuration> Next, referring to Figs. 4 to 15, the seedling mats M according to the first to eighth examples will be described. PL The detection configuration will be described. Figures 4 and 5 show the seedling mat M PL 4 is a diagram illustrating a first example of a detection configuration. FIG. 4 shows a schematic perspective view (part) of the seedling tank 35, and FIG. 5 shows a seedling mat M transported in the seedling tank 35. PL 13A and 13B are schematic diagrams showing a conveying state of the sheet.

[0070] As shown in FIG. 4, the seedling tank 35 is provided with an electrode 90 (91) for measuring a resistance value. The resistance detection of the electrode 91 can be arbitrarily set by an operator or the like. In the first example, the electrode 91 is a seedling mat M in the seedling tank 35. PL The electrode 91 is provided on a side surface 352 which serves as a transport path for the seedling mat M. PL Conveying direction D CThe electrodes 91 are provided at predetermined intervals.

[0071] In the first example, the resistance value is measured by a plurality of electrodes 91, and the seedling mat M PL is the conveying direction D C In this case, the control unit 100 (see FIG. 3) can detect the position of the seedling mat M based on the change in the resistance value measured by each electrode (electrode plate) 91. PL is the conveying direction D C The position of the sensor is detected.

[0072] As shown in FIG. 5, the electrode 91 is a single seedling mat M PL In this case, for example, the resistance value A is measured. PL Seedling Mat M PL If there is a seam S between the seedling mat M and the seedling mat M, PL Seedling Mat M PL When the electrodes 91 and 92 are apart, for example, the resistance value B is measured. In this way, the control unit 100 detects the joint S by the change in the resistance value of the electrodes 91, and by detecting the joint S, the seedling mat M is PL Detect.

[0073] According to such a first example, the conveying direction D C The resistance value of the electrodes (electrode plates) 91 arranged intermittently along the line changes, and the seedling mat M transported in the seedling tank 35 is PL This allows the position of the seedling mat M being transported in the seedling tank 35 to be detected. PL It is possible to count the number of seedlings and the seedling mat M PL It will also be possible to grasp the transportation status.

[0074] Figure 6 shows the seedling mat M PL 6 is an explanatory diagram of a second example of a detection configuration. Note that Fig. 6 shows a schematic perspective view (part) of the seedling tank 35.

[0075] As shown in FIG. 6, the seedling tank 35 is provided with an electrode 90 (92) for measuring resistance. The resistance detection of the electrode 92 can be arbitrarily set by an operator or the like. In the second example, the electrode 91 is a seedling mat M in the seedling tank 35. PL The electrodes 92 are a plurality of (for example, two) electrode plates, and are provided on the bottom surface 351 of the seedling mat M. PL Conveying direction D C The electrodes 92 are provided along the seedling feed belt 354. The electrodes 92 are provided at predetermined intervals. The electrodes 92 are provided on both the upstream side and the downstream side of the seedling feed belt 354, with the seedling feed belt 354 in between.

[0076] In the second example, the resistance value is measured using a plurality of electrodes 92. PL is the conveying direction D C In this case, the control unit 100 (see FIG. 3) can detect the position of the seedling mat M based on the change in the resistance value measured by each electrode (electrode plate) 92. PL is the conveying direction D C The position of the sensor is detected.

[0077] The electrode 92 is a single seedling mat M PL In this case, for example, the resistance value A is measured. PL Seedling Mat M PL If there is a seam S between the seedling mat M and the seedling mat M, PL Seedling Mat M PL When the electrodes 92 and 93 are apart, for example, the resistance value B is measured. In this way, the control unit 100 detects the joint S by the change in the resistance value of the electrodes 92, and by detecting the joint S, the seedling mat M PL Detect.

[0078] According to such a second example, the conveying direction D C The resistance value of the electrodes (electrode plates) 92 arranged intermittently along the line changes, and the seedling mat M transported in the seedling tank 35 is PLThis allows the position of the seedling mat M being transported in the seedling tank 35 to be detected. PL It is possible to count the number of seedlings and the seedling mat M PL In addition, since the electrode 92 is provided on the bottom surface 351, the seedling mat M PL The electrode 92 can be brought into stable contact with the surface of the substrate 91 .

[0079] Figures 7 and 8 show the seedling mat M PL 7 is an explanatory diagram of a third example of the detection configuration. Note that Fig. 7 shows a schematic perspective view (part) of the seedling tank 35, and Fig. 8 shows the seedling mat M transported in the seedling tank 35. PL 13A and 13B are schematic diagrams showing a conveying state of the sheet.

[0080] As shown in FIG. 7, the seedling tank 35 is provided with an electrode 90 (93) for measuring a resistance value. The resistance detection of the electrode 93 can be arbitrarily set by an operator or the like. In the third example, the electrode 93 is a seedling mat M in the seedling tank 35. PL The electrodes 93 are a plurality of (for example, two) electrode plates, and are provided on the bottom surface 351 of the seedling mat M. PL Conveying direction D C The electrodes 93 are provided along the seedling mat M. The electrodes 93 are provided at a predetermined interval. The electrodes 93 are provided on both the upstream side and the downstream side of the seedling feed belt 354, with the seedling feed belt 354 in between. In the third example, the electrodes 93 are provided along the seedling mat M. PL Alternatively, the conveying path 352 may be provided thereon.

[0081] The bottom surface 351 is provided with a step 351a. The step 351a is formed when the bottom surface 351 is PL Conveying direction D C The step 351a is formed by increasing the height toward the downstream side of the seedling feed belt 354. For example, the step 351a is provided on the left and right sides of the seedling feed belt 354, with the seedling feed belt 354 being sandwiched therebetween.

[0082] In the third example, the resistance value is measured using multiple electrodes 93, and the seedling mat M PL is the conveying direction DC In this case, the control unit 100 (see FIG. 3) can detect the position of the seedling mat M based on the change in the resistance value measured by each electrode (electrode plate) 93. PL is the conveying direction D C The position of the sensor is detected.

[0083] Electrode 93 is a seedling mat M PL In this case, for example, the resistance value A is measured. PL Seedling Mat M PL If there is a seam S between the seedling mat M and the seedling mat M, PL Seedling Mat M PL When the electrodes 93 and 94 are apart, for example, the resistance value B is measured. In this way, the control unit 100 detects the joint S by the change in the resistance value of the electrodes 93, and by detecting the joint S, the seedling mat M is PL Detect.

[0084] As shown in FIG. 8, in the third example, the seedling mat M transported in the seedling tank 35 PL Seedling Mat M PL The step 351a causes the conveying direction D C By leaving it, you can use the seedling mat M PL Seedling Mat M PL The joint S widens.

[0085] According to such a third example, the conveying direction D C The resistance value of the electrodes (electrode plates) 93 arranged intermittently along the line changes, and the seedling mat M transported in the seedling tank 35 is PL This allows the position of the seedling mat M being transported in the seedling tank 35 to be detected. PL It is possible to count the number of seedlings and the seedling mat M PL In addition, since the electrode 93 is provided on the bottom surface 351, the seedling mat M PL The electrode 93 can be brought into stable contact with the surface of the substrate 91 .

[0086] In addition, the seedling mat M transported in the seedling tank 35PL Seedling Mat M PL Since the seedlings are separated by the step 351a of the bottom surface 351, the seedling mat M PL Seedling Mat M PL The joint S between the electrodes 93 becomes wider, and the change in resistance value due to the electrodes 93 becomes more distinct.

[0087] Figures 9 and 10 show the seedling mat M PL 9 is an explanatory diagram of a fourth example of the detection configuration. Note that Fig. 9 shows a schematic perspective view (part) of the seedling tank 35, and Fig. 10 shows the seedling mat M transported in the seedling tank 35. PL 13A and 13B are schematic diagrams showing a conveying state of the sheet.

[0088] As shown in FIG. 9, the seedling tank 35 is provided with an electrode 90 (94) for measuring a resistance value. The resistance detection of the electrode 94 can be arbitrarily set by an operator or the like. In the fourth example, the electrode 94 is a seedling mat M in the seedling tank 35. PL The electrodes 94 are a plurality of (for example, two) electrode plates, and are provided on the bottom surface 351 of the seedling mat M. PL Conveying direction D C The electrodes 94 are provided along the seedling mat M. The electrodes 94 are provided at a predetermined interval. The electrodes 94 are provided on both the upstream side and the downstream side of the seedling feed belt 354, with the seedling feed belt 354 in between. In the fourth example, the electrodes 94 are provided along the seedling mat M. PL Alternatively, the conveying path 352 may be provided thereon.

[0089] The bottom surface 351 is provided with a step 351a. The step 351a is formed when the bottom surface 351 is PL Conveying direction D C The step 351a is formed by increasing the height toward the downstream side of the seedling feed belt 354. For example, the step 351a is provided on the left and right sides of the seedling feed belt 354, with the seedling feed belt 354 being sandwiched therebetween.

[0090] In addition, a switch 351b is provided on the bottom surface 351. The switch 351b is provided below the step 351a on the bottom surface 351. The switch 351b is provided when the seedling mat M has climbed over the step 351a.PL is pressed.

[0091] In the fourth example, the resistance value is measured using multiple electrodes 94. PL is the conveying direction D C In this case, the control unit 100 (see FIG. 3) can detect the position of the seedling mat M based on the change in the resistance value measured by each electrode (electrode plate) 94. PL is the conveying direction D C The position of the sensor is detected.

[0092] Electrode 94 is a seedling mat M PL In this case, for example, the resistance value A is measured. PL Seedling Mat M PL If there is a seam S between the seedling mat M and the seedling mat M, PL Seedling Mat M PL When the electrodes 94 and 95 are apart, for example, the resistance value B is measured. In this way, the control unit 100 detects the joint S by the change in the resistance value of the electrodes 94, and by detecting the joint S, the seedling mat M is PL Detect.

[0093] As shown in FIG. 10, in the fourth example, the seedling mat M transported in the seedling tank 35 PL Seedling Mat M PL The step 351a causes the conveying direction D C By leaving it, you can use the seedling mat M PL Seedling Mat M PL In the fourth example, the seedling mat M that has overcome the step 351a is PL When the seedling mat M lands on the bottom surface 351 again, PL The rear end of the switch 351b is pressed down.

[0094] According to such a fourth example, the conveying direction D C The resistance value of the electrodes (electrode plates) 94 arranged intermittently along the line changes, and the seedling mat M transported in the seedling tank 35 is PLThis allows the position of the seedling mat M being transported in the seedling tank 35 to be detected. PL It is possible to count the number of seedlings and the seedling mat M PL In addition, since the electrode 94 is provided on the bottom surface 351, the seedling mat M PL The electrode 94 can be brought into stable contact with the

[0095] In addition, the seedling mat M transported in the seedling tank 35 PL Seedling Mat M PL Since the seedlings are separated by the step 351a of the bottom surface 351, the seedling mat M PL Seedling Mat M PL The joint S between the electrodes 94 becomes wider, and the change in resistance value due to the electrodes 94 becomes more evident.

[0096] In addition, the step 351a of the bottom surface 351 C Upstream seedling mat M PL Conveying direction D away from C Downstream seedling mat M PL When the seedlings land on the bottom surface 351 again, the switch 351b is pressed, and the seedling mat M PL In this way, the seedling mat M can be counted by the switch 351b. PL By counting, the seedling mat M used PL The number can be detected more accurately.

[0097] Figure 11 shows the seedling mat M PL 10 is an explanatory diagram of a fifth example of the detection configuration. Note that FIG. 10 shows a seedling mat M transported in the seedling tank 35. PL 13A and 13B are schematic diagrams showing a conveying state of the sheet.

[0098] As shown in FIG. 11, the seedling tank 35 is provided with a seedling holding rod 355. The seedling holding rod 355 is a seedling mat M PL The seedling mat M is conveyed from above to the bottom surface 351. PLThe seedling tank 35 is also provided with an electrode 90 (95) for measuring resistance. The resistance detection of the electrode 95 can be arbitrarily set by an operator or the like. In the fifth example, the electrode 95 is a seedling suppression rod 355.

[0099] The seedling holding rod 355, which also functions as the electrode 95, is used with the seedling mat M PL Conveying direction D C The seedling holding rod 355 is divided into an upstream side and a downstream side of the seedling mat M on the upstream side and the downstream side, respectively. PL The seedling holding rod 355 is arranged in the conveying direction D C Because it extends along the seedling mat M PL The seedling holding rod 355 slides along the seedling holding rod 355. Therefore, the seedling holding rod 355 PL This will not impede the transport of

[0100] Electrode 95 (seedling holding rod 355) is one seedling mat M PL In this case, for example, the resistance value A is measured. PL Seedling Mat M PL In the case where there is a seam S (see Figure 5) between the seedling mat M PL Seedling Mat M PL When the electrodes 95 and 96 are apart, for example, the resistance value B is measured. In this way, the control unit 100 detects the joint S by the change in the resistance value of the electrodes 95, and by detecting the joint S, the seedling mat M is PL Detect.

[0101] According to such a fifth example, the seedling mat M PL Conveying direction D C The seedling holding rod 355 divided into the upstream and downstream sides is used as the electrode 95, and the seedling mat M is detected based on the resistance value measured by the electrode 95. PL This allows the detection of the seedling mat M transported in the seedling tank 35 without providing a separate electrode 95. PL can be counted.

[0102] Figure 12 shows the seedling mat M PL12 is an explanatory diagram of a sixth example of the detection configuration. Note that FIG. 12 shows a seedling mat M transported in the seedling tank 35. PL 13A and 13B are schematic diagrams showing a conveying state of the sheet.

[0103] As shown in FIG. 12, the seedling tank 35 is provided with a seedling holding rod 355. The seedling holding rod 355 is a seedling mat M PL The seedling mat M is conveyed from above to the bottom surface 351. PL The seedling tank 35 is also provided with an electrode 90 (96) for measuring resistance. The resistance detection of the electrode 96 can be arbitrarily set by an operator or the like. In the sixth example, the electrode 96 is a seedling suppression rod 355.

[0104] The seedling holding rod 355, which also functions as the electrode 96, is attached to the seedling mat M PL Conveying direction D C The seedling holding rod 355 is divided into an upstream side and a downstream side of the seedling mat M on the upstream side and the downstream side, respectively. PL The seedling holding rod 355 is arranged in the conveying direction D C Because it extends along the seedling mat M PL The seedling holding rod 355 slides along the seedling holding rod 355. Therefore, the seedling holding rod 355 PL This will not impede the transport of

[0105] Also, seedling mat M PL Conveying direction D C The seedling holding rod 355 on the downstream side of the conveying direction D C The upstream end (upper end) 355a is bent upward.

[0106] Electrode 96 (seedling holding rod 355) is one seedling mat M PL In this case, for example, the resistance value A is measured. PL Seedling Mat M PL In the case where there is a seam S (see Figure 5) between the seedling mat M PL Seedling Mat M PLIn this way, the control unit 100 detects the joint S by the change in the resistance value of the electrode 96, and by detecting the joint S, the seedling mat M is PL Detect.

[0107] According to such a sixth example, the seedling mat M PL Conveying direction D C The seedling holding rod 355 divided into the upstream and downstream sides is used as the electrode 96, and the seedling mat M is detected based on the resistance value measured by the electrode 96. PL This makes it possible to detect the seedling mat M transported in the seedling tank 35 without providing a separate electrode 96. PL can be counted.

[0108] In addition, the conveying direction D of the downstream seedling holding rod 355 C The upstream end (upper end) 355a is bent upward, that is, the upper end 355a of the downstream seedling holding rod 355 is angled, so that the downstream seedling holding rod 355 is inclined toward the seedling mat M. PL This makes it easier for the seedling holding rod 355 on the downstream side to receive the seedling mat M PL This can prevent the transport of the object from being hindered.

[0109] Figure 13 shows the seedling mat M PL 13 is an explanatory diagram of a seventh example of a detection configuration. Note that Fig. 13 shows a schematic rear view of the seedling tank 35.

[0110] As shown in FIG. 13, the extension 356 of the seedling tank 35 is provided with a switch 357. The extension 356 of the seedling tank 35 can be extended upward at the upper end of the seedling tank 35, and the seedling mat M loaded in the seedling tank 35 can be extended upward at the upper end of the seedling tank 35. PL When the seedlings protrude from the seedling tank 35, the seedling mat M can be extended. PL This is the part that allows stable loading.

[0111] In the seventh example, the worker places the seedling mat M on each bottom surface 351 of the seedling tank 35 which is the transport path. PLWhen loading, the seedling mat M loaded on the bottom surface 351 PL When the switch 357 is pressed by the PL Count.

[0112] According to the seventh example, the seedling mat M PL The loading work of the seedling mat M PL presses switch 357. Then, the seedling mat M PL By pressing switch 357, the seedling mat M PL In addition, by providing the switch 357 on all rows (all transport paths), it is possible to detect the variation in the amount of seedlings used between the rows, and it is possible to detect the amount of seedlings used with higher accuracy.

[0113] Figures 14 and 15 show the seedling mat M PL 14 is an explanatory diagram of an eighth example of the detection configuration.Note that Fig. 14 shows a schematic side view of the seedling transplanter 1 (seedling tank 35), and Fig. 15 shows a schematic enlarged side view of the seedling tank 35.

[0114] As shown in FIGS. 14 and 15, a laser distance measuring sensor 358 is provided at the upper end (for example, the extension portion 356) of the seedling tank 35. The laser distance measuring sensor 358 is PL The seedling mat M is disposed on the most upstream side of the transport path. PL The laser distance measuring sensor 358 measures the distance D between the seedling mat M and the upper edge of the seedling mat M. PL When the distance D to the seedling mat M changes suddenly (shortens), PL With one additional seedling mat, M PL That is, the seedling mat M PL When loaded, the seedling mat M PL The distance D to the seedling mat M is instantly shortened. PL Using the loading work of the seedling mat M PL can be detected.

[0115] According to the eighth example, the seedling mat M PLThe loading work of the seedling mat M PL It is also possible to detect the seedling mat M PL By detecting the distance D to the seedlings, it is possible to detect the amount of seedlings consumed more accurately, which allows for more planned use of materials and improves work efficiency. For example, PL The quantity of seedling mats M loaded in the seedling tank 35 is preset. PL By setting the quantity to be used in the entire field, the amount of seedlings consumed can be adjusted.

[0116] In addition, a seedling mat M is attached to the upper end portion (for example, the extension portion 356) of the seedling tank 35. PL A switch 357 for physically counting the number of seedlings may be further provided. The switch 357 is provided when an operator places the seedling mat M on each bottom surface 351 of the seedling tank 35, which is to be each transport path. PL When loading, seedling mat M PL When pressed down, the seedling mat M PL Count.

[0117] In addition, for example, the seedling mat M by the laser distance measuring sensor 358 PL Measurement of the distance D to the seedling mat M by switch 357 PL The seedling mat M loaded in the seedling tank 35 is detected based on the timing of loading (loading) the seedlings, the amount of seedlings planted by the planting claws 38, and the number of times the seedlings are picked up. PL The compression ratio can be detected.

[0118] In addition, for example, the seedling consumption amount detected by the laser distance measuring sensor 358, the change amount (slip amount) of the self-position of the seedling transplanter 1 acquired by the position information acquisition device 50, and the seedling usage amount calculated from the interval (plant interval) of the seedlings planted in the field are compared, and the seedling mat M PL It is also possible to detect the compression rate of the seedling mat M. PL The compression ratio may be displayed on the monitor 120 (see FIG. 3).

[0119] In the eighth example, the seedling mat M PLAlthough the laser distance measuring sensor 358 is used to measure the distance D to the seedling mat M, an ultrasonic sensor may be used instead of the laser distance measuring sensor 358. PL The distance D to the target point can be measured.

[0120] <Seedling mat compression rate detection configuration> Next, referring to Figs. 16 and 17, the seedling mat M PL The compression ratio detection configuration will be described. FIG. 16 shows the seedling mat M PL 16 is an explanatory diagram of a compression ratio detection configuration. Note that Fig. 16 shows a schematic rear (part) of the seedling tank 35. Fig. 17 is a block diagram showing an example of a control system for correcting the seedling planting amount.

[0121] As shown in Figure 16, seedling mat M PL As a compression ratio detection configuration, the seedling tank 35 has a scale 359. The scale 359 is a scale for detecting the compression ratio of the seedling mat M. PL The side wall 352a is disposed on the upper surface 352b of the side wall 352a that forms the transport path of the seedling mat M in the seedling tank 35. PL The side wall 352a is provided with a side surface for restricting the seedling mat M in the left-right direction. PL The side surface 352 serves as a conveying path.

[0122] Scale 359 is seedling mat M PL Conveying direction D C The scale 359 is formed (marked) to indicate the compression rate at the upstream seedling mat M with the uncompressed state being "100 (%)". PL is pressed in the conveying direction D C Shrunken seedling mat M PL can be expressed as “99(%)”, “98(%)”, …

[0123] 17, the control unit 100 includes, for example, a compression ratio acquisition unit 121 and a correction instruction unit 122. The compression ratio acquisition unit 121 is connected to an input unit 130 and receives the seedling mat M output from the input unit 130. PLThe input unit 130 is provided, for example, on a meter panel, and inputs the compression ratio of the seedling mat M by an operator who has seen the value on the scale 359. PL The input unit 130 may be provided in, for example, a mobile terminal capable of communicating with the seedling transplanter 1 (see FIG. 1).

[0124] The correction instruction unit 122 outputs a correction instruction to the seedling planting unit 3 so as to correct the seedling planting amount according to the compression ratio acquired by the compression ratio acquisition unit 121. That is, the control unit 100 PL In the seedling planting section 3, the seedling mat M is adjusted so that the amount of seedlings planted is corrected according to the compression rate of the seedlings. PL The rotation speed of the seedling feed roller 353 (see FIG. 2) that transports (moves) the seedling mat M is controlled, or PL The amount of seedlings planted is adjusted (corrected) by controlling the rotation speed of the planting claws 38 (see FIG. 2) that scrape the seedlings off the soil.

[0125] In this way, when the compression ratio based on the value of the scale 359 is input, the control unit 100 corrects the seedling planting amount by the seedling planting unit 3 according to the input compression ratio. PL This makes it possible to suppress fluctuations in the amount of seedlings planted (used) due to differences in the compression rate of the seedling mat M. PL This allows for planned use and improves work efficiency.

[0126] <Other configurations> In the seedling transplanter 1, variable fertilization may be performed based on map data provided by various information provision systems and soil data obtained by real-time sensing. In this case, it is possible to select either a map showing soil fertility such as fertility and moisture in the field (soil fertility map) or a cultivation map from the map data provided by various information provision systems, and variable fertilization is performed by prioritizing the cultivated soil depth obtained by real-time sensing.

[0127] Until now, the fertility of a field was a comparative value against teaching data, so for example, in a large field, if the average value setting was incorrect, normal variable fertilization could not be performed, but it is now possible to perform stable sensing of cultivated soil depth regardless of the field. In this way, by making the system capable of maximizing the advantages of map data based on AI analysis and real-time sensing, variable fertilization with higher accuracy can be performed.

[0128] In the variable fertilization described above, when performing variable fertilization based on a soil fertility map or a cultivation map, a threshold value may be set for the cultivated soil depth data, and the variable map may be multiplied by a certain ratio.

[0129] In addition, in the variable fertilization described above, a performance map of fertilization results based on a soil fertility map or a cultivation map and cultivated soil depth may be created and used to plan fertilization for the next year.

[0130] In addition, the seedling transplanter 1 may be provided with a switch on the return rail to detect the passage of an empty seedling box. This allows the seedling mat M to be loaded into the seedling tank 35. PL In this case, the number of seedling boxes detected by the switch is cumulatively displayed on the monitor. A reset button for resetting the cumulative number may also be provided.

[0131] In addition, in the seedling transplanter 1, when a laser distance measuring sensor 358 is provided on the upper part of the seedling tank 35 as shown in Figs. 14 and 15, even if the seedling planting is "ON", the ridge clutch is "ON" and the seedling feeding is detected during traveling, the seedling mat M PL If there is no change in the distance to the seedling mat M, a warning message such as "seedling feeding failure" may be displayed on the monitor. At the same time, the machine may be temporarily stopped. PL This can prevent the occurrence of continuous stock shortages due to poor transportation.

[0132] In addition, the seedling mat M PLIn the conveyance failure warning display configuration, for example, the monitor may have a function for switching between "ON" and "OFF" modes.

[0133] In addition, the seedling transplanter 1 is provided with a seedling consumption amount detection start button and a seedling consumption amount reset button, and the seedling tank 35 is provided with a seedling mat M PL Alternatively, a label may be provided to display a warning so that detection or reset of the seedling consumption amount is performed in the absence of the sensor. Note that, instead of the label, the warning display may be displayed on a monitor.

[0134] In addition, in the seedling transplanter 1, switches are provided at the upper and middle parts of the seedling tank 35, and when the upper switch is pressed, the number of times the seedling tank 35 is lateral-fed and the number of seedling mats M are lateral-fed until the upper switch is no longer pressed. PL The consumption of seedlings is measured from the number of vertical feeds of the seedling tank 35, and when the upper switch of the seedling tank 35 is not pressed, the number of horizontal feeds of the seedling tank 35 and the number of seedling mats M until the middle switch is no longer pressed are measured. PL The number of times the seedlings are fed vertically may be used to measure the amount of seedlings consumed.

[0135] In addition, in the seedling transplanter 1, as shown in FIG. 16, the scale 359 indicates the seedling mat M PL Conveying direction D C When the compression rate is shown in the figure, the worker PL When the compression rate is input, the amount of seedlings to be planted (the amount of seedlings to be removed by the planting claws 38) corrected from the current value may be displayed on a monitor or the like. PL When the compression rate is input, the corrected spacing between plants (recommended spacing between plants) and the number of lateral feeds of the seedling tank 35 may be displayed on a monitor or the like. PL The compression rate may be input, and the current value may be automatically changed to the recommended stepless interval.

[0136] Furthermore, the seedling transplanter 1 may have an EV mode in which the left and right motors 82 are driven by power from a high-voltage battery 81, as shown in Fig. 18. Fig. 18 is a block diagram showing a drive system in the EV mode.

[0137] As shown in Figure 18, the seedling transplanter 1 includes an engine E, an HST 80, a front gear case (also called a front wheel final case) 15, a high-voltage battery 81, a rear wheel gear case 16, left and right motors 82, a work machine motor 83, a work machine (i.e., the seedling planting unit) 3, an ISG motor 84, a low-voltage battery 85, a DCDC converter 86, and electrical equipment 87 such as lights.

[0138] The seedling transplanter 1 is configured to be switchable to an EV mode in which the left and right motors 82 are driven by power from a high-voltage battery 81. In the EV mode, the rear wheels 12 are driven only, resulting in rear-wheel drive. This allows the seedling planting unit 3, which is a working machine, to be driven electrically, thereby allowing the output of the engine E to be reduced, improving fuel efficiency and reducing exhaust gas emissions.

[0139] In addition, in the seedling transplanter 1, in a situation where the high-voltage battery 81 has no remaining charge and it is determined that the required amount of power from the high-voltage battery 81 cannot be met by the power generation capacity of the ISG motor 84, the left and right motors 82 may be configured to be switched from driving use to power generation use.

[0140] In addition, in the seedling transplanter 1, when the low-voltage battery 85 drives the lights, the display panel, the blower in the fertilizer applicator 40 (see Figure 1), the actuators for controlling the planting depth and the amount of seedlings in the seedling planting section 3, etc., if the low-voltage battery 85 has little remaining power, the power of the high-voltage battery 81 can be transformed by the DCDC converter 86 and stored.

[0141] In addition, in the seedling transplanter 1, when a large driving force is required for the seedling planting unit 3, which is a working machine ("L power mode"), the driving force is supplied in the following order: engine E and ISG motor 84, high-voltage battery 81, and working machine motor 83. When a driving force is required for the seedling planting unit 3, which is a working machine ("H power mode"), the left and right motors 82 are not driven, and driving force is supplied in the following order: engine E and ISG motor 84, high-voltage battery 81, and working machine motor 83. When an even larger driving force is required for the seedling planting unit 3, which is a working machine ("S power mode"), power is generated by the left and right motors 82 and supplied by the high-voltage battery, and driving force is supplied in the following order: engine E and ISG motor 84, left and right motors 82, high-voltage battery 81, and working machine motor 83.

[0142] According to the above-described embodiment, the seedling transplanter 1 is realized as follows.

[0143] (1) A seedling transplanter 1 that plants seedlings in a field while traveling in the field, comprising a traveling vehicle body 2 that can travel in the field, and a seedling mat M PL A seedling tank 35 for storing the seedlings, and a seedling mat M transported in the seedling tank 35 PL The seedling planting section 3 picks up seedlings from the tank and plants the picked seedlings, an electrode 90 is provided in the seedling tank 35 and measures a resistance value, and a seedling mat M transported in the seedling tank 35 is measured based on the resistance value measured by the electrode 90. PL The seedling transplanter 1 is equipped with a control unit 100 that detects the above.

[0144] According to the seedling transplanter 1, the seedling mat M is detected based on the resistance value measured by the electrode 90 provided in the seedling tank 35. PL By detecting the number of seedling mats M transported in the seedling tank 35, PL This allows you to count the number of seedlings per mat. PL The number of seedlings can be detected more accurately. PL By accurately detecting the number of seedlings, the seedling mat M PLThis allows for more planned use and improves work efficiency.

[0145] (2) In the above (1), the control unit 100 detects the seedling mat M in the seedling tank 35 based on the change in the resistance value measured by the electrode 90. PL Seedling Mat M PL Detecting the seam S with the seedling transplanter 1.

[0146] In addition to the effect of (1) above, the seedling transplanter 1 can measure the resistance of the seedling mat M transported in the seedling tank 35 by changing the resistance value measured by the electrode 90. PL Seedling Mat M PL In order to detect the joint S between the seedling mats M which are transported in a row in the seedling tank 35, PL On the other hand, seedling mat M PL can be detected one by one.

[0147] (3) In the above (2), the electrode 910 is connected to the seedling mat M in the seedling tank 35. PL The seedling transplanter 1 has a bottom surface 351 which serves as a transport path for the seedlings, and the seedling tank 35 has a step 351a on the bottom surface 351.

[0148] According to the seedling transplanter 1, in addition to the effect of (2) above, the seedling mat M transported in the seedling tank 35 is PL Seedling Mat M PL Since the seedlings are separated by the step 351a of the bottom surface 351, the seedling mat M PL Seedling Mat M PL The joint S between the seedling mat M and the electrode 90 is widened, and the change in resistance value due to the electrode 90 becomes clearer. PL The electrode 90 can be brought into stable contact with the

[0149] (4) In the above (3), the seedling tank 35 has a seedling mat M below the step 351a on the bottom surface 351. PL The seedling transplanter 1 further has a switch 351b that is pressed when the seedling transplanter 1 is in the ON position.

[0150] According to such a seedling transplanter 1, in addition to the effect of (3) above, the step 351a of the bottom surface 351 C Upstream seedling mat M PL Conveying direction D away from C Downstream seedling mat M PL When the seedlings land on the bottom surface 351 again, the switch 351b is pressed, and the seedling mat M PL In this way, the seedling mat M can be counted by the switch 351b. PL By counting, the seedling mat M used PL The number can be detected more accurately.

[0151] (5) In the above (1), the seedling tank 35 is a seedling mat M PL The seedling mat M is conveyed from above to the bottom surface 351. PL The seedling restraining rod 355 is a seedling mat M PL Conveying direction D C The electrode 90 is divided into an upstream side and a downstream side of the conveying direction D C The seedling transplanter 1 has seedling holding poles 355 on the upstream and downstream sides.

[0152] According to such a seedling transplanter 1, in addition to the effect of (1) above, the seedling mat M PL Conveying direction D C The seedling holding rod 355 divided into the upstream and downstream sides is used as an electrode 90, and the seedling mat M is detected based on the resistance value measured by the electrode 90. PL This allows the detection of the seedling mat M transported in the seedling tank 35 without the need for a separate electrode 90. PL can be counted.

[0153] (6) In the above (5), the conveying direction D C The seedling holding rod 355 on the downstream side of the conveying direction D C The upstream end 355a of the seedling transplanter 1 is bent upward.

[0154] According to such a seedling transplanter 1, in addition to the effect of (5) above, the transport direction D of the downstream seedling holding rod 355 C The upstream end (upper end) 355a is bent upward, that is, the upper end 355a of the downstream seedling holding rod 355 is angled, so that the downstream seedling holding rod 355 is inclined toward the seedling mat M. PL This makes it easier for the seedling holding rod 355 on the downstream side to receive the seedling mat M PL This can prevent the transport of the object from being hindered.

[0155] (7) In the above (1), the seedling tank 35 is a seedling mat M PL The electrode 90 is a plurality of electrode plates, and the side 352 is connected to the seedling mat M. PL Conveying direction D C The control unit 100 controls the seedling mat M based on the change in the resistance value measured by the electrode plate (electrode) 90. PL is the conveying direction D C 1. A seedling transplanter 1, which detects whether the seedling transplanter 1 is in one of the positions.

[0156] According to such a seedling transplanter 1, in addition to the effect of (1) above, C The resistance value of the electrode plates (electrodes) 90 arranged intermittently along the line changes, and the seedling mat M transported in the seedling tank 35 is PL This allows the position of the seedling mat M being transported in the seedling tank 35 to be detected. PL It is possible to count the number of seedlings and the seedling mat M PL It will also be possible to grasp the transportation status.

[0157] (8) In any one of the above (1) to (7), the seedling tank 35 is a seedling mat M PL Conveying direction D C The seedling transplanter 1 has a scale 359 indicating the compression rate at the time of the input of the compression rate, and the control unit 100 controls the seedling planting unit 3 and, when a compression rate based on the value of the scale 359 is input, corrects the amount of seedlings planted by the seedling planting unit 3 in accordance with the input compression rate.

[0158] According to such a seedling transplanter 1, in addition to any one of the effects (1) to (7) described above, the seedling mat M PL This makes it possible to suppress fluctuations in the amount of seedlings planted (used) due to differences in the compression rate of the seedling mat M. PL This allows for planned use and improves work efficiency.

[0159] Further advantages and modifications may readily occur to those skilled in the art. Thus, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof. [Explanation of symbols]

[0160] 1 Seedling transplanter 2 Running vehicle 3 Seedling planting department 35 Seedling Tank 90 electrodes 100 Control section 351 Bottom 351a Step 351b Switch 352 Side 355 Seedling Holder 359 scale M PL Seedling Mat S seam

Claims

1. A seedling transplanter that plants seedlings in a field while traveling in the field, A traveling vehicle capable of traveling within a farm field; A seedling tank provided on the traveling vehicle body for storing seedling mats; A seedling planting section that scrapes off seedlings from the seedling mat transported in the seedling tank and plants the scraped off seedlings; An electrode provided in the seedling tank for measuring a resistance value; A control unit detects seedling mats being transported in the seedling tank based on the resistance value measured by the electrodes; Equipped with The control unit detects joints between seedling mats in the seedling tank based on changes in resistance values ​​measured by the electrodes.

2. The electrode is provided on a bottom surface of the seedling tank that serves as a transport path for the seedling mat, The seedling transplanter according to claim 1 , wherein the seedling tank has a step on the bottom surface.

3. The seedling transplanter according to claim 2 , wherein the seedling tank further includes a switch below the step on the bottom surface, the switch being pressed by the seedling mat.

4. A seedling transplanter that plants seedlings in a field while traveling within the field, A traveling vehicle capable of traveling within a farm field; A seedling tank provided on the traveling vehicle body for storing seedling mats; A seedling planting section that scrapes off seedlings from the seedling mat transported in the seedling tank and plants the scraped off seedlings; An electrode provided in the seedling tank for measuring a resistance value; A control unit detects seedling mats being transported in the seedling tank based on the resistance value measured by the electrodes; Equipped with The seedling tank extends along the bottom surface which serves as a transport path for the seedling mat, and has a seedling holding rod that holds down the seedling mat from above on the bottom surface, The seedling holding rod is divided into an upstream side and a downstream side in the transport direction of the seedling mat, The electrodes are seedling holding rods on the upstream and downstream sides of the transport direction,

5. The seedling transplanter according to claim 4, wherein the seedling holding rod on the downstream side in the conveying direction is formed so that an end portion on the upstream side in the conveying direction is bent upward.

6. A seedling transplanter that plants seedlings in a field while traveling within the field, A traveling vehicle capable of traveling within a farm field; A seedling tank provided on the traveling vehicle body for storing seedling mats; A seedling planting section that scrapes off seedlings from the seedling mat transported in the seedling tank and plants the scraped off seedlings; An electrode provided in the seedling tank for measuring a resistance value; A control unit detects seedling mats being transported in the seedling tank based on the resistance value measured by the electrodes; Equipped with The seedling tank has a bottom surface and a side surface that serve as a transport path for the seedling mat, The electrodes are a plurality of electrode plates, which are spaced apart on the side surface along the transport direction of the seedling mat, The control unit detects the position of the seedling mat in the transport direction based on a change in the resistance value measured by the electrode plate.

7. The seedling tank has a scale indicating the compression rate of the seedling mat in the transport direction, The seedling transplanter according to any one of claims 1 to 6, wherein the control unit controls the seedling planting unit and, when the compression ratio based on the scale value is input, corrects the amount of seedlings planted by the seedling planting unit in accordance with the input compression ratio.

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