Multi-row planter

Abstract

To provide a multi-rice transplanting machine that can estimate running out of sheet easily and precisely.SOLUTION: A multi-rice transplanting machine (P) includes: a control unit (U) for finding a first value (W1) being the usage of a sheet (S) of a 1-process corresponding to the start to next turning start from turning end in the planting processing, from a first position (C) where a planting work machine (6) comes down and grounded in a field and a second position (D) where the sheet (S) is cut by a sheet cutting mechanism (15), by using a GPS receiver (28), and finding a second value (W2) being a summation usage of the sheet (S) in the planting processing when the sheet (S) is cut by the sheet cutting mechanism (15); and a display unit (87) for displaying the first value (W1) and the second value (W2) simultaneously.SELECTED DRAWING: Figure 16

Description

Technical Field

[0001] The present invention relates to a multi-row planter for planting seedlings from above a sheet onto a field.

Background Art

[0002] Generally, when performing a planting operation on a field using a planter, when performing a planting operation on a rectangular field, the planting operation is performed in a range excluding the headland set to a predetermined width from the edge of the ridge while traveling back and forth, and finally the headland is circumnavigated to complete the planting operation on the field. In a multi-row planter for transplanting seedlings from above a sheet onto a field, it is necessary to manage the start position of covering the field with the sheet so that uncovered portions or overlapping covered portions of the field do not occur.

[0003] Conventionally, a multi-row planter has been proposed that includes a travel distance measurement mechanism for measuring the travel distance based on the rotation amount of the wheels, and displays the total travel distance in a state where the sheet is being fed out and the length of the input sheet on a display device (see Patent Document 1).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the multi-row planter described in Patent Document 1, since the distance of one process corresponding to one-way straight travel in the field is unknown, even when comparing the total travel distance displayed on the display device with the length of the sheet, it was difficult to predict a sheet break in advance. Further, since the travel distance measurement mechanism measures the travel distance based on the rotation amount of the wheels, when the wheels slip, the travel distance cannot be accurately measured, and the prediction of a sheet break was inaccurate.

[0006] Therefore, an object of the present invention is to provide a multi-row planter capable of easily and accurately predicting sheet breakage.

Means for Solving the Problems

[0007] The present invention includes a traveling machine body (3) supported by traveling devices (1, 2), a planting work machine (6) supported by the traveling machine body (3) so as to be movable up and down, and a sheet storage unit (10) provided in the planting work machine (6) and capable of storing a roll-shaped sheet (S) covering a field surface. In a multi-row planter (P) in which the planting work machine (6) performs a planting process of planting seedlings in a field from above the continuously fed sheet (S) while the traveling machine body (3) is traveling straight, a GPS receiver (28) for detecting the position information of the traveling machine body (3), a sheet cutting mechanism (15) for cutting the sheet (S), using the GPS receiver (28), a first position (C) where the planting work machine (6) descends and touches the ground in the field, and a second position (D) where the sheet (S) is cut by the sheet cutting mechanism (15), a control unit (U) obtains a first value (W1) which is the usage amount of the sheet (S) in one process corresponding to from the end of turning to the start of the next turning in the planting process, and when the sheet (S) is cut by the sheet cutting mechanism (15), obtains a second value (W2) which is the integrated usage amount of the sheet (S) in the planting process, and a display unit (87) for simultaneously displaying the first value (W1) and the second value (W2). It is characterized by a multi-row planter (P).

[0008] The reference numerals in the parentheses above are for reference in comparison with the drawings, but do not affect the description of the claims in any way.

Advantages of the Invention

[0009] According to the present invention, since the first value which is the usage amount of the sheet and the second value which is the integrated usage amount of the sheet are simultaneously displayed on the display unit, it is possible to easily and accurately predict sheet breakage.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

Modes for Carrying Out the Invention

[0011] Hereinafter, embodiments of the present invention will be described with reference to the drawings. As shown in FIG. 1, a riding multi-row planter P according to the present embodiment includes a traveling body 3 supported by wheels 1 and 2, and a planting work implement 6 supported so as to be vertically movable via a lift link mechanism 5 at the rear of the traveling body 3. The lift link mechanism 5 has a lift cylinder 7 interposed between the traveling body 3 and the planting work implement 6, and the planting work implement 6 is lifted and lowered according to the telescopic operation of the lift cylinder 7 by a hydraulic control device 48 (see FIG. 3) described later. Note that the wheels 1 and 2 as the traveling device may be other traveling devices such as crawlers.

[0012] The planting work implement 6 includes a work implement frame 8 supported by the lift link mechanism 5, a seedling placement table 9 on which mat seedlings are placed, a sheet storage section 10 for horizontally storing a roll-shaped sheet wound around a core, a planting mechanism 11 for transplanting seedlings to the field, a cylindrical roller float 12 that slides on the field surface, a paper pressing roll 13, and a sheet cutting mechanism 15. The planting mechanism 11 transplants the seedlings scraped from the mat seedlings from above the sheet S fed out continuously as the traveling body 3 travels to cover the field surface. The fed-out sheet S is appropriately cut from the roll-shaped sheet stored in the sheet storage section 10 by the sheet cutting mechanism 15. The roller float 12 is formed in a cylindrical shape extending in the left-right direction and provided in parallel in the front-rear direction, and the paper pressing roll 13 is formed in a cylindrical shape extending in the left-right direction and disposed behind the roller float 12. The roller float 12 and the paper pressing roll 13 slide on the field surface while pressing the fed-out sheet S against the field surface, and the paper pressing roll 13 is configured to have a smaller ground contact area than the roller float 12.

[0013] The above-mentioned traveling machine body 3 has a driving unit 24 having a steering handle 21, a driver's seat 22, etc. disposed at its central portion, a bonnet 23 covering the engine in front thereof, and spare seedling stands 25 disposed on its left and right sides. Further, a GPS (position information measurement system) receiver 28 is disposed on the traveling machine body 3 via a mounting bracket 27 provided so as to surround the bonnet 23. The GPS receiver 28 can detect the position information of the traveling machine body 3. The traveling machine body 3 is provided with a transmission that transmits the power from the above-mentioned engine to the wheels 1, 2 and the planting work implement 6, and a planting clutch (not shown) for connecting and disconnecting the power to the planting work implement is interposed in the transmission.

[0014] Furthermore, as shown in FIG. 2, auxiliary roll stands 75 capable of supporting a roll-shaped spare sheet W for use when the sheet stored in the paper roll case 50 is used up are disposed on both the left and right sides of the traveling machine body 3. The auxiliary roll stand 75 supports the spare sheet W so that the central axis of the spare sheet W is substantially in the front-rear direction, and is configured to be rotatable about a vertical axis provided near the rear end of the spare sheet W supported by the auxiliary roll stand 75. When the planting work implement 6 is in the upper end position, when the auxiliary roll stand 75 is rotated, the end on the rotation axis side of the spare sheet W supported by the auxiliary roll stand 75 and the end of the paper roll case 50 are provided so as to be close to each other. In this state, by pushing the spare sheet W toward the paper roll case 50, a new spare sheet W is stored in the paper roll case 50.

[0015] As shown in FIG. 3, the hydraulic control device 48 for controlling the lifting of the planting work implement 6 includes a work implement operation cam motor 42 driven by the operation of a work implement operation lever 35 (see FIG. 7), a work implement operation cam 45 that rotates based on the drive of the work implement operation cam motor 42, a clutch arm 46 that swings along with the rotation of the work implement operation cam 45 to connect and disconnect the planting clutch, a hydraulic control valve 43 that opens and closes along with the rotation of the work implement operation cam 45, and a work implement operation cam potentiometer 76 that is fixed coaxially with the rotation axis of the work implement operation cam 45 and detects the rotation position of the work implement operation cam 45.

[0016] The working machine operation cam 45 is operated to each position of "raising", "fixing", "lowering (automatically)", and "planting" based on the drive of the working machine operation cam motor 42, and these positions are detected by the working machine operation cam potentiometer 76. When the hydraulic control valve 43 is opened and closed according to each position of the working machine operation cam 45, the hydraulic pressure of a hydraulic pump (not shown) provided in the transmission is released or blocked, so that the lift cylinder 7 expands and contracts, and the planting working machine 6 moves up and down. When the working machine operation cam 45 is in the "raising" position, the planting working machine 6 is raised (the planting clutch is disengaged); in the "fixing" position, the planting working machine 6 is fixed at an arbitrary height (the planting clutch is disengaged); in the "lowering (automatically)" position, the planting working machine 6 is lowered until the roller float 12 touches the ground (the planting clutch is disengaged); in the "planting" position, the planting clutch is engaged via the clutch arm 46. Note that in the "lowering (automatically)" and "planting" positions, mechanical automatic lift control based on the ground height detection by the roller float 12 is executed.

[0017] As shown in FIGS. 4(a) and 4(b), the sheet storage unit 10 includes a paper roll case 50, a paper holder 51 that extends from the base end provided near the paper roll case 50 and is swingably supported, a paper holder operation lever 52 that is swingably supported and opens and closes the paper holder 51, and paper feed knobs 53 that are rotatably supported at both left and right ends of the sheet storage unit 10. A roll-shaped sheet is stored in the paper roll case 50, and the paper holder 51 receives and holds the sheet S fed from the paper roll case 50 from below when the planting working machine 6 is rising. The paper feed knobs 53 are manually rotated by an operator to rotate the sheet stored in the paper roll case 50 and feed the sheet out of the sheet storage unit 10.

[0018] The paper holder 51 has a closed state (Fig. 4(b)) that extends substantially rearward from the base end for performing the planting operation, and an open state (Fig. 4(a)) that extends downward and rearward from the base end and allows the sheet stored in the paper roll case 50 to be easily manually fed out. In the closed state, when the tip of the paper holder operation lever 52 is operated clockwise in a left side view, the rear end of the paper holder 51 descends to the open state (Fig. 4(a)). Also, in the open state, when the tip of the paper holder operation lever 52 is operated counterclockwise in a left side view, the rear end of the paper holder 51 ascends to the closed state (Fig. 4(b)) for performing the planting operation.

[0019] In the closed state shown in Fig. 4(b), the planting machine 6 is at the lowered planting position, and the sheet S of the paper roll case 50 is pressed onto the field surface by the roller float 12 (and the paper pressing roll 13), laid on the field surface as the multi-row planter P travels, and the seedling plants grasped by the planting mechanism 11 break through the laid sheet S and are planted. In this way, the multi-row planting operation progresses, and the sheet S of the paper roll case 50 is consumed.

[0020] As shown in Fig. 5, a sheet detection switch 56 and an operating lever 58 are arranged in the sheet storage section 10 via a bracket 55. The sheet detection switch 56 turns ON or OFF when the operating lever 58 rotates. The operating lever 58 is biased clockwise in Fig. 5 and is pressed by the sheet when there is a sheet in the paper roll case 50. Thereby, the sheet detection switch 56 turns ON. On the other hand, when there is no sheet in the paper roll case 50, the operating lever 58 rotates clockwise without being restricted by the sheet. Thereby, the sheet detection switch 56 turns OFF, detecting that the sheet in the paper roll case 50 has run out.

[0021] As shown in FIGS. 1 and 6, the sheet cutting mechanism 15 includes a cutting operation unit 77 provided on the traveling body 3 for the operator to perform a cutting operation, a cutting unit 78 provided on the planting work machine 6 for cutting a sheet by operating the cutting operation unit 77 by the operator, and an operation wire 80 connecting the cutting operation unit 77 and the cutting unit 78. The operation wire 80 can be pulled by a cutter motor 81. The cutting operation unit 77 is provided behind the driver's seat 22 and has a grip 77b for the operator to hold at the tip. It includes a cutter lever 77a that is swingably supported about a lever shaft 77c that extends left and right by the operator's operation, a lever fixing hook 77d that is rotatably supported on the cutter lever 77a about an axis parallel to the lever shaft 77c, and a hook receiver 77e with which the lever fixing hook 77d engages to restrict the swing of the cutter lever 77a. A sheet cutting operation detection switch 82 is provided near the lever shaft 77c.

[0022] The cutter lever 77a is configured to be swingable between a non-operating position that stands substantially vertically about the lever shaft 77c and an operating position that tilts forward from the non-operating position to be substantially horizontal. When the cutter lever 77a is in the non-operating position, the forward tilting of the cutter lever 77a is restricted by the engagement of the lever fixing hook 77d with the hook receiver 77e. When the operator releases the engagement between the lever fixing hook 77d and the hook receiver 77e and tilts the cutter lever 77a to the operating position, the sheet cutting operation detection switch 82 is pressed by the cutter lever 77a and turns ON. Then, when the sheet cutting operation detection switch 82 turns ON, the cutter motor 81 is driven, and the operation wire 80 is pulled by the cutter motor 81.

[0023] The cutting unit 78 has a sheet cutter 78c at the rear end, a cutter arm 78b that swings up and down about a cutter shaft 78d that extends left and right, and a terminal support portion 78a provided in front of the cutter arm 78b from the cutter shaft 78d for rotatably supporting the end of the operation wire 80 about an axis parallel to the cutter shaft 78d, and a cutter spring 78e that biases the sheet cutter 78c upward by an elastic force.

[0024] As described above, when the operation wire 80 is pulled by the cutter motor 81, the rear end of the cutter arm 78b tilts downward, and the seat cutter 78c descends to below the field surface, so that the roll-shaped seat stored in the seat storage unit 10 and the fed seat S are cut off. When the operator stops operating the cutter lever 77a, the cutter spring 78e tilts the cutter arm 78b in a direction to lift the seat cutter 78c upward, the operation wire 80 is pulled by the tilting of the cutter arm 78b, the operation wire 80 pulls the cutter lever 77a, and the cutter lever 77a returns from the operating position to the non-operating position.

[0025] As shown in Fig. 7(a), a monitor 30, a switch panel 31, and an automatic straight-ahead operation panel 84 are arranged at the front part of the operation unit 24. A main transmission lever 32 is arranged on the left side of the steering wheel 21, and a sub-transmission lever 33 (see Fig. 2) and a work implement operation lever 35 are arranged on the right side of the steering wheel 21. When the operator operates the main transmission lever 32 forward from the neutral position, the forward gear is shifted, and when the main transmission lever 32 is operated backward from the neutral position, the reverse gear is shifted and the state is detected by a back switch (not shown).

[0026] The work implement operation lever 35 is provided so as to be swingable vertically between a raised position and a lowered position, and is biased by a lever spring (not shown) provided on the work implement operation lever 35 to a neutral position provided midway between the raised position and the lowered position. Further, the raised position of the work implement operation lever 35 is detected by a work implement operation switch (upper side) 35a (see FIG. 9), and the lowered position of the work implement operation lever 35 is detected by a work implement operation switch (lower side) 35b (see FIG. 9). When the operator operates the work implement operation lever 35 upward (raising operation), the work implement operation lever 35 is switched to the raised position, and when the operator operates the work implement operation lever 35 downward (lowering operation), the work implement operation lever 35 is switched to the lowered position. When the operator stops operating the work implement operation lever 35, the work implement operation lever 35 returns to the neutral position by the lever spring. Note that the work implement operation switch (upper side) 35a and the work implement operation switch (lower side) 35b may be provided on the gripping portion of the main speed change lever 32, and the operator may be configured to be able to perform the steering operation of the traveling body 3 and the raising and lowering of the planting work implement 6 only with the left hand that operates the main speed change lever 32.

[0027] As shown in FIG. 7(b), the monitor 30 is provided with a display panel 83, a paper supply notification lamp 36 for notifying the timing of sheet replenishment, an alarm lamp 85, a seat information display section 87, and the like. The display panel 83 can display the working state of the multi-row planter P and the like. The alarm lamp 85 notifies the operator of the timing to cut the sheet S by lighting or flashing. The seat information display section 87 as a display section can display a one-step distance W1, an integrated distance W2, and a sheet length W0, which will be described later. The one-step distance W1, the integrated distance W2, and the sheet length W0 are displayed on a first display section 87a, a second display section 87b, and a third display section 87c, respectively. The first display section 87a, the second display section 87b, and the third display section 87c are arranged adjacent to each other so that the operator can visually recognize all the information at a glance.

[0028] As shown in Fig. 8(a), the switch panel 31 is provided with a timing adjustment dial 88 for adjusting a preliminary warning distance α (see Figs. 14 and 15) to be described later, a sheet length setting dial 89 for inputting a sheet length W0 as a third value, which is the length of the sheet when set in the sheet storage unit 10, that is, the length of the sheet before use, a work preparation switch 90 capable of regulating the drive of the planting work machine 6, a cutting automatic mode changeover switch 91 for switching between a notification mode, a cutting / notification mode, and a non-notification mode, an alarm stop switch 92, a reset switch 93, and the like. Further, as shown in Fig. 8(b), the automatic straight travel operation panel 84 is provided with a straight travel automatic mode changeover switch 94, a straight travel control switch 95, an A point setting switch 96, a B point setting switch 97, and the like. The sheet length setting dial 89 is a rotatable dial and is also a push-type switch, and by pressing it, the ON or OFF of the usage amount display mode in the usage amount display control S4 can be switched.

[0029] Fig. 9 is a control block diagram of the control unit U of the multi-row rice transplanter P. The control unit U includes a CPU 101, a ROM 102, a RAM 103, and an I / F 104. The CPU 101 executes various programs stored in the ROM 102. The RAM 103 is used as a work area for the CPU 101 and can store various data. The I / F 104 is used for input / output with various sensors and motors.

[0030] Connected to the input side of the control unit U are a work machine operation switch (upper side) 35a, a work machine operation switch (lower side) 35b, a GPS receiver 28, a gyro sensor 29, a sheet detection switch 56, a work machine operation cam potentiometer 76, a sheet cutting operation detection switch 82, a timing adjustment dial 88, a sheet length setting dial 89, a work preparation switch 90, a cutting automatic mode changeover switch 91, an alarm stop switch 92, a reset switch 93, a straight travel automatic mode changeover switch 94, a straight travel control switch 95, an A point setting switch 96, a B point setting switch 97, and the like.

[0031] The gyro sensor 29 can detect the tilt angle of the traveling body 3, and the alarm stop switch 92 can stop the notifications by the alarm lamp 85 and the alarm buzzer 98. In this embodiment, the alarm lamp 85 and the alarm buzzer 98 are used as the notification unit to perform notifications. However, only one of the alarm lamp 85 and the alarm buzzer 98 may be provided and used as the notification unit.

[0032] When the reset switch 93 is pressed, it resets the sheet length W0, the one-step distance W1, and the integrated distance W2, which will be described later and are stored in the RAM 103. The straight-ahead automatic mode switching switch 94 can switch whether to execute the automatic straight-ahead control S2, which will be described later. The straight-ahead control switch 95 can switch whether to assist the traveling body 3 to perform straight-ahead traveling along any of the target lines L1, L2, L3,.... The A-point setting switch 96 and the B-point setting switch 97 can set the A-point coordinates and the B-point coordinates, which will be described later, respectively.

[0033] On the output side of the control unit U, a paper replenishment notification lamp 36, a work implement operation cam motor 42, a steering motor 70, a cutter motor 81, a display panel 83, an alarm lamp 85, a seat information display unit 87, an alarm buzzer 98, etc. are connected. The steering motor 70 drives a steering device connected to the steering handle 21. Thereby, the traveling body 3 is steered. The paper replenishment notification lamp 36 lights up when the sheet detection switch 56 turns OFF, notifying the operator that the sheet in the paper roll case 50 has run out. The alarm buzzer 98 sounds to notify the operator of the timing to cut the sheet S.

[0034] FIG. 10 shows the work implement control which is the main routine of the control unit U, and each subroutine is sequentially repeated in the order of work implement operation control S1, automatic straight travel control S2, sheet cutting control S3, and usage amount display control S4. The work implement operation control S1 controls the raising and lowering of the planting work implement 6 based on the operation of the work implement operation lever 35. The automatic straight travel control S2 controls the steering motor 70 so as to assist the straight travel of the traveling body 3. The sheet cutting control S3 controls the cutter motor 81 so as to cut the sheet S at a predetermined position. The usage amount display control S4 displays information about the sheet S on the sheet information display unit 87 as the multi-row planter P travels in the field.

[0035] First, the work implement operation control S1 will be described with reference to FIG. 11. The control unit U determines whether an operation of the work implement operation lever 35 (including the switch operation at the gripping part of the main speed change lever 32) has been performed so that the work implement operation switch (lower side) 35b is turned ON (step S11). Then, when it is determined that an operation for turning ON the work implement operation switch (lower side) 35b has been performed (step S11: Yes), the control unit U detects the state of the work preparation switch 90 (step S12). When the work preparation switch 90 is ON (step S12: ON), the control unit U detects the work implement state, that is, the position of the work implement operation cam 45, based on the detection result of the work implement operation cam potentiometer 76 (step S13).

[0036] When the work implement state is other than rising (step S13: other than rising), the control unit U determines whether the work implement state is descending (automatically) or otherwise (step S14). When the work implement state is other than descending (automatically) (step S14: other than automatic), the control unit U determines whether the work implement state is planting or fixed (step S15). When the work implement state is fixed (step S15: fixed), the control unit U lowers the planting work implement 6 and controls the hydraulic control valve 43 so that the roller float 12 contacts the ground (step S16). That is, when the work implement operation switch (lower side) 35b is turned ON (step S11: Yes) while the work implement state is fixed and the planting work implement 6 is stopped, the planting work implement 6 descends until it contacts the field.

[0037] In step S12, even when the work preparation switch 90 is OFF (step S12: OFF), if the working machine state is fixed (step S17: other than rising, S18: fixed), when the working machine operation switch (lower side) 35b is ON (step S11: yes), the planting working machine 6 descends until it touches the field (step S19). Further, in step S17, when the working machine state is rising (step S17: rising), when the working machine operation switch (lower side) 35b is ON (step S11: yes), the working machine state becomes fixed, that is, the rising operation of the planting working machine 6 stops (step S23). When the work preparation switch is OFF (step S12: OFF) and the working machine state is neither rising nor fixed, that is, when the working period state is descending (automatic) (step S18: other than fixed), the process returns.

[0038] Also, in step S14, when the working machine state is descending (automatic) (step S14: descending (automatic)), the control unit U determines whether the operation time T during which the working machine operation switch (lower side) 35b is turned ON is shorter than a predetermined time T0 (step S37). When the operation time T is equal to or longer than the predetermined time T0 (step S37: NO), the process returns. When the operation time T is shorter than the predetermined time T0 (step S37: YES), the control unit U determines whether the descending operation of the planting working machine 6 in steps S16 and S18 has ended and stopped (step S20). When the descending operation of the planting working machine 6 has not ended (step S20: NO), the control unit U enters the planting clutch engagement waiting state and returns the process (step S21). When the descending operation of the planting working machine 6 has ended (step S20: YES), the control unit U drives the working machine operation cam motor 42 so that the working machine operation cam 45 is in the planting position (step S22).

[0039] When the working machine operation cam 45 reaches the planting position, the planting clutch is engaged (ON), and the planting working machine 6 automatically moves up and down based on the ground height detection by the roller float 12. In this embodiment, when the multi-row planter P travels straight while the working machine operation cam 45 is in the planting position, a planting process is performed in which the planting working machine 6 plants seedlings into the field from above the continuously fed sheet S.

[0040] If the working machine operation switch (lower side) 35b is not turned ON in step S11 (step S11: none), the control unit U determines whether the working machine operation switch (upper side) 35a has been turned ON (step S24). If the working machine operation switch (upper side) 35a is not turned ON (step S24: none), the control unit U determines whether it is in the waiting state for engaging the planting clutch (step S25). If it is not in the waiting state for engaging the planting clutch (step S25: NO), the process returns. If it is in the waiting state for engaging the planting clutch (step S25: YES), the control unit U determines whether the lowering operation of the planting working machine 6 has stopped (step S26). If the lowering operation of the planting working machine 6 has not stopped (step S26: NO), the process returns. If the lowering operation of the planting working machine 6 has stopped (step S26: YES), the control unit U drives the working machine operation cam motor 42 so that the working machine operation cam 45 reaches the planting position (step S27), and the process returns.

[0041] If the working machine operation switch (upper side) 35a is turned ON in step S24 (step S24: yes), the control unit U determines whether the state of the working machine is rising or otherwise (step S29). If the state of the working machine is rising (step S29: rising), the process returns. If the state of the working machine is other than rising (step S29: other than rising), the control unit U further determines whether the state of the working machine is lowering (automatically) or otherwise (step S32).

[0042] When the working machine state is descending (automatic) (step S32: descending (automatic)), the control unit U determines whether the descending operation of the planting working machine 6 has stopped (step S33). If the descending operation of the planting working machine 6 has stopped (step S33: YES), the control unit U raises the planting working machine 6 (step S34) and returns the process. Also, if the descending operation of the planting working machine 6 has not stopped (step S33: NO), the control unit U drives the working machine operation cam motor 42 so that the working machine operation cam 45 is in the fixed position (step S35) and returns the process.

[0043] Further, when the working machine state is other than descending (automatic) in step S32 (step S32: other than automatic), the control unit U determines whether the working machine state is fixed or planting (step S39). If the working machine state is fixed (step S39: fixed), the control unit U proceeds to step S34 described above. If the working machine state is planting (step S39: planting), the control unit U drives the working machine operation cam motor 42 so that the working machine operation cam 45 is in the descending (automatic) position (step S40) and returns the process. In this way, when the working machine operation switch (upper side) 35a is turned on (step S24: yes), the control unit U shifts to the next position from the current position, such as planting → descending (automatic) → fixed → ascending.

[0044] Next, the automatic straight - ahead control S2 will be described according to the flowchart of FIG. 12. As shown in FIG. 12, in the automatic straight - ahead control S2, the control unit U first determines whether the straight - ahead automatic mode change - over switch 94 is ON (step S41). If the straight - ahead automatic mode change - over switch 94 is OFF (step S41: NO), the process is returned.

[0045] When the straight-ahead automatic mode switch 94 is ON, that is, when the automatic mode for executing the automatic straight-ahead control S2 is ON (step S41: YES), the control unit U determines whether the B-point setting switch 97 has been pressed (step S42). If the B-point setting switch 97 has not been pressed (step S42: none), the control unit U determines whether the A-point setting switch 96 has been pressed (step S43). When the A-point setting switch 96 has been pressed (step S43: yes), the control unit U stores the coordinate information received by the GPS receiver 28 at the time when the A-point setting switch 96 was pressed (hereinafter referred to as the A-point coordinates) in the RAM 103 and returns the process.

[0046] In step S42, when the B-point setting switch 97 has been pressed (step S42: yes), the control unit U determines whether the A-point coordinates have been set (step S45). If the A-point coordinates have not been set (step S45: NO), the process is returned. When the A-point coordinates have been set (step S45: YES), the control unit U stores the coordinate information received by the GPS receiver 28 at the time when the B-point setting switch 97 was pressed (hereinafter referred to as the B-point coordinates) in the RAM 103. Further, as shown in FIG. 13, the control unit U sets a straight line L0 passing through the A-point coordinates and the B-point coordinates, and sets a plurality of target lines L1, L2, L3,... that are parallel to the straight line L0 and separated by a predetermined distance (step S46), and returns the process.

[0047] In step S43, when the A-point setting switch 96 has not been pressed (step S43: none), the control unit U determines whether the straight-ahead control switch 95 is ON (step S47). When the straight-ahead control switch 95 is OFF (step S47: NO), the process is returned. When the straight-ahead control switch 95 is ON (step S47: YES), the control unit U drives the steering motor 70 so that the traveling aircraft 3 follows one of the target lines L1, L2, L3,... (step S48), and returns the process.

[0048] Thus, in the automatic straight - ahead control S2, when the straight - ahead automatic mode change - over switch 94 is ON, the coordinates of point A and point B can be set. Then, when the straight - ahead control switch 95 is ON with the target lines L1, L2, L3,... set from these coordinates of point A and point B, the multi - rice transplanter P is automatically steered so that the traveling machine body 3 follows one of the target lines L1, L2, L3,....

[0049] Next, the sheet cutting control S3 will be described according to the flowchart of FIG. 14. As shown in FIG. 14, in the sheet cutting control S3, the control unit U first determines whether the work preparation switch 90 is ON (step S51). If the work preparation switch 90 is OFF (step S51: NO), the process returns. If the work preparation switch 90 is ON (step S51: YES), the control unit U determines whether it is set to the notification mode by operating the cutting automatic mode change - over switch 91 (step S52).

[0050] In the present embodiment, for example, by operating the cutting automatic mode change - over switch 91, it is set to one of the notification mode, the cutting / notification mode, and the non - notification mode. These modes can be discriminated by the lighting state of the lamp provided on the cutting automatic mode change - over switch 91. The lighting state of the lamp includes the lighting pattern of the lamp such as off, on, blinking, and the type of the lamp color. The notification mode is a mode in which only the advance notice of the sheet cutting position (step S61) is performed without performing the automatic cutting of the sheet (step S62) described later. The cutting / notification mode is a mode in which both the automatic cutting of the sheet (step S62) and the advance notice of the sheet cutting position (step S61) are performed. The non - notification mode is a mode in which neither the automatic cutting of the sheet (step S62) nor the advance notice of the sheet cutting position (step S61) is performed.

[0051] In step S52, if the non-notification mode is set (step S52: NO), the process returns. If the notification mode or the notification / cutoff mode is set (step S52: YES), the control unit U determines whether the alarm stop switch 92 has been pressed (step S53). If the alarm stop switch 92 has not been pressed (step S53: NO), the control unit U determines whether the reference position of the traveling body 3 has reached the straight line g (step S54). The straight line g will be described later. In the present embodiment, the reference position of the traveling body 3 is set as the position where the GPS receiver 28 is provided (see FIG. 1), but it is not limited thereto and may be set as appropriate.

[0052] If the reference position of the traveling body 3 has not reached the straight line g (step S54: NO), the control unit U determines whether the reference position of the traveling body 3 has reached the straight line f (step S55). The straight line f will be described later. If the reference position of the traveling body 3 has not reached the straight line g (step S55: NO), the control unit U determines whether the seat S has been cut based on the detection result of the seat cut operation detection switch 82 (step S56).

[0053] When the sheet S is cut (step S56: Yes), as shown in FIG. 15, the control unit U stores the coordinate information received by the GPS receiver 28 at the time of sheet cutting (hereinafter referred to as the D-point coordinates) in the RAM 103. The control unit U stores the coordinate information received by the GPS receiver 28 at the time when the planting work machine 6 descends and touches the field, that is, at the time when the laying of the sheet S is started (hereinafter referred to as the C-point coordinates) in the RAM 103 (see step S78 in FIG. 16). Then, the control unit U calculates the one-process distance W1 from the C-point coordinates as the first position and the D-point coordinates as the second position, and overwrites the RAM 103 (step S57). That is, the one-process distance W1 is the laying length of the sheet S for one process of each target line. In other words, the one-process distance W1 as the first value corresponds to the usage amount of the sheet S for one process corresponding to the end of turning to the start of the next turning in the planting process. Next, the control unit U terminates the notification by the warning lamp 85 and the warning buzzer 98 (step S58), and returns the process.

[0054] When the sheet S is not cut in step S56 (step S56: No), the control unit U determines whether the planting work machine 6 has descended and touched the field (step S59). In the planting work, when the planting work machine 6 descends and touches the field, the laying of the sheet S is started and the planting is started. When the planting work machine 6 has not descended and touched the field (step S59: NO), the process is returned.

[0055] When the planting work machine 6 descends and touches the field (step S59: YES), as shown in FIG. 15, the control unit U stores the coordinate information received by the GPS receiver 28 at the time of grounding (hereinafter referred to as the E-point coordinates) in the RAM 103. Then, the control unit U sets, as the G-point coordinates of the sheet cutting position, a position on the target line (for example, L2) that is separated from the E-point coordinates of the first position of the current process by one process distance W1, and sets, as the F-point coordinates, a position in front of the G-point coordinates by a pre-warning distance α. Further, the control unit U sets a straight line g passing through the G-point coordinates and perpendicular to the target line, and a straight line f passing through the F-point coordinates and perpendicular to the target line (step S60), and returns the process. In other words, the control unit U obtains the one-process distance W1 from the C-point coordinates and the E-point coordinates of the target line (for example, L1) of the previous process, and based on the E-point coordinates of the target line (for example, L2) of the current process and the one-process distance W1 obtained in the previous process, sets the G-point coordinates of the sheet cutting position of the current process. Note that the pre-warning distance α can be adjusted by the timing adjustment dial 88 (see FIG. 8(a)) of the switch panel 31.

[0056] In step S55, when the reference position of the traveling body 3 reaches the straight line f (step S55: YES), the control unit U starts a sheet cutting position pre-warning notification for notifying the sheet cutting position (step S61). In other words, during the planting process of the current process, the control unit U performs a sheet cutting position pre-warning notification as a pre-warning notification for prompting the cutting of the sheet S when it is within a predetermined distance (pre-warning distance α) from the G-point coordinates of the sheet cutting position. When the sheet cutting position pre-warning notification is started, the warning lamp 85 and the warning buzzer 98 are activated.

[0057] In step S54, when the reference position of the traveling aircraft 3 reaches the straight line g (step S54: YES), the control unit U starts the seat cutting notification for notifying the cutting of the seat S and drives the cutter motor 81 (step S62). By starting the seat cutting notification, the warning lamp 85 and the warning buzzer 98 are activated. Also, by driving the cutter motor 81, the operation wire 80 is pulled, and the seat cutter 78c cuts the seat S. That is, the control unit U drives the cutter motor 81 as a motor so as to automatically cut the seat S by the seat cutting mechanism 15 at the G point coordinates through which the straight line g passes.

[0058] Note that there may be differences in the operation methods of the warning lamp 85 and the warning buzzer 98 between the seat cutting position prediction notification in step S61 and the seat cutting notification in step S62. For example, in the seat cutting position prediction notification, the warning lamp 85 may blink and the warning buzzer 98 may intermittently sound. Also, in the seat cutting notification, the warning lamp 85 may continuously light up and the warning buzzer 98 may continuously sound. Further, in the seat cutting position prediction notification, as the seat cutting position, that is, as it approaches the straight line g, the blinking interval of the warning lamp 85 and the sounding interval of the warning buzzer 98 may be shortened.

[0059] And, when the warning stop switch 92 is pressed in step S53 (step S53: YES), the control unit U ends the notification by the warning lamp 85 and the warning buzzer 98 (step S63) and returns the process.

[0060] Next, the usage display control S4 will be described according to the flowchart of FIG. 16. As shown in FIG. 16, in the sheet cutting control S3, the control unit U first determines whether the work preparation switch 90 is ON (step S71). When the work preparation switch 90 is ON (step S71: YES), the control unit U determines whether the alarm stop switch 92 has been pressed (step S72). When the alarm stop switch 92 has not been pressed (step S72: NO), the control unit U determines whether the sheet detection switch 56 is ON (step S73).

[0061] When the sheet detection switch 56 is ON (step S73: YES), the control unit U determines whether the usage display mode is ON (step S74). The usage display mode can be turned ON or OFF by pressing the sheet length setting dial 89. Also, when the usage display mode is ON (step S74: YES), the control unit U determines whether the reset switch 93 has been pressed (step S75). When the reset switch 93 has not been pressed (step S75: NO), the control unit U determines whether the sheet S has been cut based on the detection result of the sheet cutting operation detection switch 82 (step S76).

[0062] When the sheet S has not been cut (step S76: none), the control unit U determines whether the planting work machine 6 has descended and grounded on the field (step S77). When the planting work machine 6 has descended and grounded on the field (step S77: YES), the control unit U stores, as shown in FIG. 15, the coordinate information received by the GPS receiver 28 at the time when the planting work machine 6 has descended and grounded on the field (hereinafter referred to as C point coordinates) in the RAM 103 (step S78), and returns the process.

[0063] When the sheet S is cut in step S76 (step S56: Yes), as shown in FIG. 15, the control unit U stores the coordinate information received by the GPS receiver 28 at the time of sheet cutting (hereinafter referred to as the D-point coordinates) in the RAM 103. Then, in the same manner as step S57 of FIG. 14 described above, the control unit U calculates the one-step distance W1 and the integrated distance W2 from the C-point coordinates and the D-point coordinates as shown in FIG. 17 (step S79). The integrated distance W2 corresponds to the integrated distance that the multi-row planter P has traveled on the target line (L1, L2, L3,...) since the start of the planting operation. That is, the integrated distance W2 as the second value corresponds to the integrated usage amount of the sheet S in the planting process. Note that the calculation in step S79 is performed at the timing when the sheet S is cut, so the integrated distance W2 is a natural multiple of the one-step distance W1.

[0064] When the planting work machine 6 is not in contact with the field in step S77 (step S77: NO), the control unit U determines whether there is an operation of the sheet length setting dial 89 (step S80). When there is an operation of the sheet length setting dial 89 (step S80: YES), the control unit U stores the sheet length W0 in the RAM 103 (step S81) and returns the process. When there is no operation of the sheet length setting dial 89 (step S80: NO), the control unit U simultaneously displays the one-step distance W1, the integrated distance W2, and the sheet length W0 stored in the RAM 103 on the first display unit 87a, the second display unit 87b, and the third display unit 87c of the sheet information display unit 87 (see FIG. 7(b)) (step S82) and returns the process.

[0065] When the sheet detection switch 56 is OFF in step S73 (step S73: NO), the control unit U starts a paper-out warning notified by the warning lamp 85 and the warning buzzer 98 (step S83). Next, the control unit U resets the sheet length W0, the one-step distance W1, and the integrated distance W2 stored in the RAM 103 (step S84) and returns the process. Note that even when the reset switch 93 is pressed in step S75 (step S75: YES), the process proceeds to step S84.

[0066] Then, in step S72, when there is a pressing operation of the alarm stop switch 92 (step S72: YES), the control unit U stops the alarm by the alarm lamp 85 and the alarm buzzer 98 (step S85). Next, the control unit U makes the one-step distance W1, the integrated distance W2, and the sheet length W0 displayed on the first display unit 87a, the second display unit 87b, and the third display unit 87c of the sheet information display unit (see FIG. 7(b)) invisible respectively (step S86), and returns the process. Note that even when the usage display mode is OFF in step S74, that is, in the usage non-display mode (step S74: NO), the process proceeds to step S86.

[0067] Note that when the sheet S runs out (steps S73, S83), the sheet S of the same roll as the previous time may be replenished. In this case, it is not necessary to reset the sheet length W0 in step S84, and it is not necessary to make the sheet length W0 invisible in step S86. Also, when the sheet S runs out during the planting operation, the one-step distance W1 on the target lines (L1, L2, L3, …) does not change before and after the sheet runs out. Therefore, it is not necessary to reset the one-step distance W1 in step S84, and it is not necessary to make the one-step distance W1 invisible in step S86.

[0068] As described above, in the present embodiment, since the one-step distance W1, the integrated distance W2, and the sheet length W0 are respectively displayed on the first display unit 87a, the second display unit 87b, and the third display unit 87c of the sheet information display unit 87, the operator can easily grasp the usage amount of the sheet for one step. Thereby, the operator can easily and accurately predict the sheet runout.

[0069] For example, in the planting process in the field, when the operator turns the multi-row planter P at the edge of the field, the operator checks the sheet information display unit 87. At this time, if the relationship (W0 - W2) < W1 holds, the sheet S will run out before the multi-row planter P reaches the opposite edge of the field after turning. If the sheet S runs out during the planting process while traveling straight along the target line, it is necessary to lay and plant the sheet S again from the position where it ran out, which is troublesome. In the present embodiment, by the operator checking the sheet information display unit 87, it is possible to easily and surely predict the sheet running out at the edge of the field. Therefore, it is possible to suppress the sheet S from running out during the straight travel in the field and improve the working efficiency.

[0070] In the present embodiment, the sheet length W0 is displayed on the sheet information display unit 87, but it is not limited to this. For example, even if the sheet length W0 is not displayed, if the operator knows the length of the unused sheet S, it is possible to easily and accurately predict the sheet running out based on the one-step distance W1 and the integrated distance W2 displayed on the sheet information display unit 87.

[0071] Also, in the present embodiment, in the planting process, at the start point (E point coordinates) of laying the sheet S in the current process, straight lines f and g are set (step S60 in FIG. 14). Then, when the traveling body 3 reaches the straight line f, a sheet cutting position prediction notification for prompting the cutting of the sheet S is performed, so that the operator can reduce the omission of cutting the sheet S. The setting of the straight lines f and g is based on the start position (E point coordinates) of laying the sheet S in the current process, the start position (C point coordinates) and the end position (D point coordinates) of laying the sheet S in the previous process immediately before the current process. Therefore, by using the position information of the operation result of the previous process, the variation of the adjacent sheet ends is small, and the gap between the sheets is less likely to occur. For this reason, the sheet S can be laid accurately.

[0072] In addition, when the traveling machine body 3 reaches the straight line g, the cutter motor 81 is automatically driven and the sheet S is cut (step S62 in FIG. 14). Therefore, it is possible to reduce the omission of cutting the sheet S and reduce the workload of the operator. Further, since the above-described notification is performed using the position information of the machine body by the GPS receiver 28, it is not affected by the slip ratio of the wheels 1 and 2, and can be notified at an appropriate timing.

[0073] In this embodiment, the one-step distance W1 is obtained in the previous process (for example, L1), and the position separated from the E point coordinates, which is the laying start position of the sheet S in the current process (for example, L2), by the one-step distance W1 is set as the G point coordinates as the sheet cutting position. At the same time, the position a distance α (pre-warning distance) before the G point coordinates is set as the F point coordinates at which the sheet cutting position pre-warning notification is started. However, the present invention is not limited to this. For example, based on the C point coordinates, which is the laying start position of the sheet S in the previous process (for example, L1), the G point coordinates as the sheet cutting position in the current process (for example, L2) may be set. For example, the control unit U can set the G point coordinates from the C point coordinates, the displacement in the longitudinal direction of the machine body between the GPS receiver 28 and the laying start position of the sheet S by the roller float 12, and the displacement in the longitudinal direction of the machine body between the GPS receiver 28 and the cutting position of the sheet S by the sheet cutter 78c. More specifically, in FIG. 15, the control unit U sets a straight line g from the C point coordinates, the displacement in the longitudinal direction of the machine body between the GPS receiver 28 and the laying start position of the sheet S by the roller float 12, and the displacement in the longitudinal direction of the machine body between the GPS receiver 28 and the cutting position of the sheet S by the sheet cutter 78c, and can set the intersection of the straight line g and the target line L2 as the G point coordinates. Also in this case, during the planting process of the current process (L2), the control unit U performs a sheet cutting position pre-warning notification as a pre-warning notification to prompt the cutting of the sheet S when it is within a predetermined distance (pre-warning distance α) from the G point coordinates as the sheet cutting position. Since the sheet cutting position pre-warning notification uses the position information of the operation result of the immediately preceding process, the variation of the adjacent sheet ends is small and the gap between the sheets is less likely to occur. Therefore, the sheet S can be laid accurately.

[0074] In addition, in the present embodiment, when the traveling body 3 (the position of the GPS receiver 28) reaches the straight line f, a seat cutting position prediction notification is performed, and further, the control may be performed so as to stop the seedling planting operation by the planting work machine 6.

[0075] In the above description, in the seat cutting control S3 and the usage amount display control S4, there are parts where overlapping processes are performed, but the overlapping processes may be omitted as appropriate. For example, only one of step S57 and step S79 may be implemented.

Explanation of Signs

[0076] 1, 2 Traveling device (wheel) 3 Traveling body 6 Planting work machine 10 Seat storage section 15 Seat cutting mechanism 28 GPS receiver 81 Motor (cutter motor) 85 Notification section (warning lamp) 87 Display section (seat information display section) 98 Notification section (warning buzzer) C, E First position (C point coordinates, E point coordinates) D Second position (D point coordinates) P Multi-row rice transplanter S Seat U Control section W0 Third value (seat length) W1 First value (distance per process) W2 Second value (integrated distance) α Predetermined distance (pre-warning distance)

Claims

1. A multi-row transplanter comprising a traveling body supported by a traveling device, a planting work machine that is vertically movably supported by the traveling body, and a sheet storage unit provided in the planting work machine and capable of storing a roll-shaped sheet that covers a field surface. During straight travel of the traveling body, the planting work machine performs a planting process of planting seedlings in the field from above the continuously fed sheet. In this multi-row transplanter, a GPS receiver that detects the position information of the traveling body, a sheet cutting mechanism that cuts the sheet, using the GPS receiver, a first value that is the amount of the sheet used in one process corresponding to from the end of a turn to the start of the next turn in the planting process is obtained from a first position where the planting work machine descends and touches the ground in the field and a second position where the sheet is cut by the sheet cutting mechanism, and when the sheet is cut by the sheet cutting mechanism, a second value that is the cumulative amount of the sheet used in the planting process is obtained. A control unit, a display unit that simultaneously displays the first value and the second value, characterized in that it is a multi-row transplanter.

2. The display unit can simultaneously display a third value that is the length of the sheet when set in the sheet storage unit, together with the first value and the second value. The multi-row transplanter according to claim 1, characterized in that.

3. further comprising a notifiable notification unit, The control unit obtains the first value from the first position and the second position in the previous process, sets the sheet cutting position in the current process based on the first position in the current process and the first value obtained in the previous process, and during the planting process in the current process, when it is within a predetermined distance from the sheet cutting position, a warning notification to prompt cutting of the sheet is performed by the notification unit. The multi-row transplanter according to claim 1 or 2, characterized in that.

4. further comprising a notifiable notification unit, The control unit sets the sheet cutting position in the current process based on the first position in the previous process, and during the planting process in the current process, when it is within a predetermined distance from the sheet cutting position, a warning notification to prompt cutting of the sheet is performed by the notification unit. The multi-row transplanter according to claim 1 or 2, characterized in that.

5. further comprising a motor that drives the sheet cutting mechanism, The control unit drives the motor so as to cut the sheet by the sheet cutting mechanism at the sheet cutting position. The multi-row transplanter according to claim 3 or 4, characterized in that.

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