Transplanter

Abstract

The inventor noticed that the usability of conventional rice transplanters is not always good when using convenient functions. More specifically, the inventor noticed that the configuration in which the fertility sensor electrodes are provided on the front wheels tends to be complicated. 【Solution means】 In order to notify the occurrence of clogging of the fertilizer in the fertilizer application device 200, it is provided with a clogging sensor 400 that detects the electrical conductivity between the first clogging sensor electrode 410 and the second clogging sensor electrode 420. The seedling planting device 100 has a float 110 whose bottom surface of the float is brought into contact with the soil. The first fertility sensor electrode 310 is attached to the bottom surface of the float. The rice transplanter 1 is such that the first clogging sensor electrode 410 or the second clogging sensor electrode 420 also serves as the second fertility sensor electrode 320.

Description

Technical Field

[0001] The present invention relates to a rice transplanter that plants seedlings in a paddy field while traveling.

Background Art

[0002] In a fertilizing work machine provided with a traveling vehicle body capable of traveling in a field, a soil property measuring device for detecting the soil properties of the field, a fertilization amount calculating device for adjusting an initial set value according to the soil properties detected by the soil property measuring device and calculating the fertilization amount, and a fertilization device for supplying an amount of fertilizer corresponding to the fertilization amount calculated by the fertilization amount calculating device to the field, there is provided a fertilization reference value calculating means for calculating a fertilization reference value from the soil properties detected by the soil property measuring device when the traveling vehicle body travels in a predetermined section in the field. The fertilization amount calculating device compares the fertilization reference value with the soil properties detected by the soil property measuring device according to the subsequent traveling, and adjusts the initial set value based on the comparison result to calculate the fertilization amount of the fertilization device. Such a fertilizing work machine is known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, the inventor of the present invention considers various needs of users and believes that the trend of successively implementing convenient functions on rice transplanters is accelerating more and more.

[0005] However, the inventor has noticed that the usability of conventional rice transplanters when using convenient functions is not always good.

[0006] More specifically, the inventor has noticed that a configuration in which the fertility sensor electrodes are provided on the front wheels tends to be complicated.

[0007] The present invention aims to provide a rice transplanter that can improve usability in consideration of the above-described conventional problems.

Means for Solving the Problems

[0008] A first aspect of the present invention is a rice transplanter that plants seedlings in a paddy field while traveling, a seedling planting device for planting the seedlings, a fertilizer application device for spraying fertilizer on the paddy field, a fertility sensor that detects the electrical conductivity of the soil between a first fertility sensor electrode and a second fertility sensor electrode in order to calculate the fertility of the soil in the paddy field, a fertilizer clogging sensor that detects the electrical conductivity between a first fertilizer clogging sensor electrode and a second fertilizer clogging sensor electrode in order to notify the occurrence of clogging of the fertilizer in the fertilizer application device, and the seedling planting device has a float whose bottom surface of the float is brought into contact with the soil, the first fertility sensor electrode is attached to the bottom surface of the float, a rice transplanter, characterized in that the first fertilizer clogging sensor electrode or the second fertilizer clogging sensor electrode also serves as the second fertility sensor electrode.

[0009] A second aspect of the present invention is that the first fertility sensor electrode is a flat electrode having an upper part of the first fertility sensor electrode erected downward from the ceiling of a recess formed in the bottom surface of the float and a lower part of the first fertility sensor electrode protruding to a position lower than a portion of the bottom surface of the float around the recess, the rice transplanter according to the first aspect of the present invention, characterized in that the width of the upper part of the first fertility sensor electrode decreases from bottom to top.

[0010] A third aspect of the present invention is the rice transplanter according to the second aspect of the present invention, characterized in that the upper part of the first fertility sensor electrode has a window.

[0011] The fourth aspect of the present invention is that the seedling planting device has a furrow opener whose bottom surface is brought into contact with the soil, the fertilizer application device has a fertilizer hose member in which the discharge port of the fertilizer hose is inserted into the furrow opener, the first fertilizer clogging sensor electrode is provided above the furrow opener so as not to be brought into contact with the soil, the second fertilizer clogging sensor electrode is provided below the furrow opener so as to be brought into contact with the soil, and the rice transplanter according to the third aspect of the present invention is characterized in that.

[0012] The fifth aspect of the present invention is that the first fertility sensor electrode is a positive electrode, the second fertility sensor electrode is a negative electrode, the first fertilizer clogging sensor electrode is a positive electrode, the second fertilizer clogging sensor electrode is a negative electrode, The rice transplanter according to the fourth aspect of the present invention is characterized in that the second fertilizer clogging sensor electrode also serves as the second fertility sensor electrode.

[0013] The sixth aspect of the present invention is that the seedling planting device has a plurality of the furrow openers, a plurality of the fertilizer hose members and a plurality of the fertilizer clogging sensors are respectively provided to the plurality of the furrow openers, the fertility sensor is the rice transplanter according to the fifth aspect of the present invention, which is characterized in that it respectively detects the electrical conductivity of the soil between the first fertility sensor electrode and each of the plurality of second fertility sensor electrodes.

[0014] The seventh aspect of the present invention is that while traveling in the paddy field, the fertility is calculated, and subsequent application of the fertilizer is controlled based on the calculated fertility, when the traveling is performed while the application of the fertilizer is controlled, the fertility is updated by being recalculated on the way, and the subsequent application of the fertilizer is controlled based on the updated fertility, The timing at which the fertility is updated is determined based on the area of the paddy field, which is the sixth rice transplanter of the present invention.

[0015] In the eighth aspect of the present invention, information regarding the update of the fertility is retained as fertility update history information. When the fertility is further updated, the fertility is updated by correcting the recalculated fertility with the fertility update history information, which is the seventh rice transplanter of the present invention.

[0016] In the ninth aspect of the present invention, information regarding changes in elevation in the paddy field is retained as paddy field map data. When it is determined based on the paddy field map data that the elevation exceeds a predetermined level, the fertility is not updated, which is the eighth rice transplanter of the present invention.

Advantages of the Invention

[0017] According to the first aspect of the present invention, it is possible to improve usability.

[0018] According to the second aspect of the present invention, in addition to the effects of the first aspect of the present invention, it is possible to improve reliability.

[0019] According to the third aspect of the present invention, in addition to the effects of the second aspect of the present invention, it is possible to further improve reliability.

[0020] According to the fourth aspect of the present invention, in addition to the effects of the third aspect of the present invention, it is possible to simplify the configuration.

[0021] According to the fifth aspect of the present invention, in addition to the effects of the fourth aspect of the present invention, it is possible to further simplify the configuration.

[0022] According to the sixth aspect of the present invention, in addition to the effects of the fifth aspect of the present invention, it is possible to further improve usability.

[0023] According to the seventh aspect of the present invention, in addition to the effects of the sixth aspect of the present invention, it is possible to reduce the burden on the operator.

[0024] According to the eighth aspect of the present invention, in addition to the effects of the seventh aspect of the present invention, it is possible to improve convenience.

[0025] According to the ninth aspect of the present invention, in addition to the effects of the eighth aspect of the present invention, it is possible to improve practicality.

Brief Description of the Drawings

[0026]

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Figure 11

Embodiments for Carrying Out the Invention

[0027] Embodiments of the present invention will be described in detail with reference to the drawings.

[0028] The same applies hereinafter, but some components may not be shown in the drawings, or may be shown perspectively or omitted.

[0029] While explaining the operation of the rice transplanter 1 according to an embodiment of the present invention, the rice transplanter operation control method of the invention related to the present invention, which is realized by the rear controller 503 or the like, will also be explained.

[0030] The rice transplanter 1 according to an embodiment of the present invention is a rice transplanter that plants seedlings in a paddy field while traveling, and is a specific example of the rice transplanter in the present invention.

[0031] (1) First, with reference mainly to FIGS. 1(a), 1(b) and 2, the configuration and operation of the rice transplanter 1 according to an embodiment of the present invention will be specifically described.

[0032] Here, FIG. 1(a) is a left side view of the rice transplanter 1 according to an embodiment of the present invention, FIG. 1(b) is a plan view of the rice transplanter 1 according to an embodiment of the present invention, and FIG. 2 is a partial left side view (Part 1) of the rice transplanter 1 according to an embodiment of the present invention.

[0033] In these drawings, a general rice transplanting mechanism is shown for reference without being restricted to the embodiments of the present invention.

[0034] The fertility sensor 300 is a sensor that detects the electrical conductivity of the soil between the first fertility sensor electrode 310 and the second fertility sensor electrode 320 in order to calculate the fertility of the paddy field soil.

[0035] Here, the first fertility sensor electrode 310 is the positive electrode, and the second fertility sensor electrode 320 is the negative electrode.

[0036] The fertilizer clogging sensor 400 is a sensor that detects the electrical conductivity between the first fertilizer clogging sensor electrode 410 and the second fertilizer clogging sensor electrode 420 in order to notify the occurrence of fertilizer clogging in the fertilizer application device 200 that sprays fertilizer onto the paddy field.

[0037] Here, the first fertilizer clogging sensor electrode 410 is the positive electrode, and the second fertilizer clogging sensor electrode 420 is the negative electrode.

[0038] The seedling planting device 100 for planting seedlings has a float 110 whose bottom surface of the float is brought into contact with the soil. The first fertility sensor electrode 310 is attached to the bottom surface of the float.

[0039] As shown in Fig. 3(a), which is a partial left side view (part two) of the rice transplanter 1 in the embodiment of the present invention, and Fig. 3(b), which is a partial front view of the rice transplanter 1 in the embodiment of the present invention, in a so-called rice transplanter with a fertilizer applicator, the first fertility sensor electrode 310 is provided on the center float bottom surface, which is the float bottom surface of the float 110 as the center float, and the fertility of the field is measured by measuring the electrical conductivity of the field. A configuration in which fertility sensor electrodes such as the first fertility sensor electrode 310 and the second fertility sensor electrode 320 are provided on the front wheels 501 tends to be complicated and often requires expensive parts. Such a configuration in which the first fertility sensor electrode 310 and the like are used is simple, and the electrical conductivity of the field can be measured with inexpensive parts.

[0040] The first fertilizer clogging sensor electrode 410 or the second fertilizer clogging sensor electrode 420 also serves as the second fertility sensor electrode 320.

[0041] Here, the second fertilizer clogging sensor electrode 420 also serves as the second fertility sensor electrode 320.

[0042] The first fertility sensor electrode 310 is a flat plate-shaped electrode having an upper part 311 of the first fertility sensor electrode erected downward from the ceiling of the recess 111 formed on the float bottom surface, and a lower part 312 of the first fertility sensor electrode protruding to a position lower than the part of the float bottom surface around the recess 111. The width of the upper part 311 of the first fertility sensor electrode decreases from bottom to top.

[0043] The upper part 311 of the first fertility sensor electrode has a window 311w.

[0044] The seedling planting device 100 has a furrowing device 120 whose bottom surface of the furrow opener is brought into contact with the soil. The fertilizer application device 200 has a fertilizer hose member 210 into which the fertilizer hose outlet 211 is inserted into the furrowing device 120. The first fertilizer clogging sensor electrode 410 is provided at the upper part of the furrowing device 120 so as not to be brought into contact with the soil. The second fertilizer clogging sensor electrode 420 is provided at the lower part of the furrowing device 120 so as to be brought into contact with the soil.

[0045] As shown in Fig. 4(a), which is a schematic partial left side view of the rice transplanter 1 according to the embodiment of the present invention, and Fig. 4(b), which is a partial plan view of the rice transplanter 1 according to the embodiment of the present invention, the first fertility sensor electrode 310, which is the electrode on the bottom surface of the float, is the positive electrode, and the second fertility sensor electrode 320, which is also the second fertilizer clogging sensor electrode 420 of the fertilizer clogging sensor 400 at the fertilizer hose outlet 211, is the negative electrode. As described above, in the configuration in which the fertility sensor electrodes are provided on the left and right front wheels 501, complication of the configuration may be caused. When the seedling planting operation is being performed, the second fertilizer clogging sensor electrode 420 of the fertilizer clogging sensor 400 is always in contact with the soil in the field, so the existing second fertilizer clogging sensor electrode 420 can also be suitably used as the second fertility sensor electrode 320.

[0046] The seedling planting device 100 has a plurality of furrowing devices 120. A plurality of fertilizer hose members 210 and a plurality of fertilizer clogging sensors 400 are respectively provided for the plurality of furrowing devices 120. The fertility sensor 300 detects the electrical conductivity of the soil between the first fertility sensor electrode 310 and each of the plurality of second fertility sensor electrodes 320.

[0047] The first fertility sensor electrode 310, which is a float electrode, is arranged at the center in the left - right direction of the vehicle body. The first fertility sensor electrode 310 is located at the center and is also the second fertilizer clogging sensor electrode 420. The second fertility sensor electrode 320 is arranged according to the number of seedling planting rows at the fertilizer hose outlet 211 of each seedling planting row. Since the current flows radially from the center, accurate measurement that evenly covers a plurality of seedling planting positions can be performed.

[0048] The first fertility sensor electrode 310 is arranged on the front side in the longitudinal direction of the vehicle body compared to the seedling planting position. By performing sensing at a position on the front side compared to the seedling planting position, the fertility at the position immediately before seedling planting can be grasped prior to fertilization, so a timely reflection on fertilizer application amount adjustment etc. is expected.

[0049] The first fertility sensor electrode 310 protrudes downward from the bottom surface of the float 110 of the float towards the lower side of the vehicle body. Along with the protrusion from the bottom surface of the float, when the float 110 is grounded, the first fertility sensor electrode 310 surely pierces into the ground, so the fertility of the soil can be stably measured.

[0050] The amount of protrusion of the first fertility sensor electrode 310 described above increases from the front end side of the vehicle body towards the rear end side of the vehicle body. When the seedling planting operation is being performed, since the mud flow near the bottom surface of the float hits such protrusions, the protrusion of the first fertility sensor electrode 310 towards the lower side of the vehicle body is retracted at the front end side of the vehicle body, so the adverse effect caused by the increase in mud resistance is reduced.

[0051] The amount of protrusion of the first fertility sensor electrode 310 does not exceed the amount of protrusion of the lower end of the fertilizer clogging sensor 400 with reference to the bottom surface of the float. In order to suppress the occurrence of a phenomenon in which the movement of the float 110 is inhibited, the amount of protrusion of the first fertility sensor electrode 310 is limited so as not to be deeper, for example, compared to the furrow opener 120 where the fertilizer clogging sensor 400 is provided.

[0052] The electrode surface area of the first fertility sensor electrode 310 increases toward the lower side of the vehicle body. With an electrode shape having a large electrode surface area on the lower side of the vehicle body, the amount of variation in the electrode surface area below the water surface of the field accompanying the floating and sinking of the float 110 is suppressed, so stabilization of the measurement value is expected.

[0053] When position information can be acquired by GNSS, at the timing when the vehicle body movement distance from the nearest point where the electrical conductivity of the field was recorded exceeds a predetermined value, the next electrical conductivity is recorded together with the position information. In this way, by recording the electrical conductivity one after another discontinuously, improvement in data processing efficiency is expected.

[0054] When position information cannot be acquired by GNSS, a mode in which the next electrical conductivity is recorded together with the position information at the timing when the vehicle body movement distance from the nearest point where the electrical conductivity was recorded, measured by the rear wheel rotation sensor of the rear wheel 502, exceeds a predetermined value is also conceivable. In this way, in a specification in which a GNSS antenna is not installed, the rear wheel rotation detection system can be used instead of GNSS.

[0055] A mode in which the adjustment of the fertilization amount is performed on the spot according to the measured electrical conductivity without using a field map is also conceivable. It is possible to realize a specification in which the fertilization amount is changed according to the fertility, like a so-called FV type rice transplanter equipped with a real-time sensing variable fertilization function.

[0056] When the electrical conductivity of the field is acquired more than a predetermined number of times, the change in the fertilization amount is performed based on the average value and the standard deviation of the electrical conductivity for which the change was calculated. As described above, a user-friendly variable fertilization function can be realized as well.

[0057] As shown in FIG. 5, which is an explanatory diagram of the electric circuit of the rice transplanter 1 according to the embodiment of the present invention, inside the rear controller 503, a first fertilizer clogging sensor electrode 410, a second fertilizer clogging sensor electrode 420, an RC circuit 504, and a diode 505 are arranged. The first fertility sensor electrode 310 may be connected to the first fertilizer clogging sensor electrode 410, which is the upper electrode of the fertilizer clogging sensor 400. The second fertility sensor electrode 320 is connected to the lower ground electrode of the second fertilizer clogging sensor electrode 420, which is the lower electrode of the fertilizer clogging sensor 400.

[0058] The voltage at the circuit point 506 rises or falls based on the sensor resistance value. When the sensor resistance value is 0 [Ω], the voltage at the circuit point 506 is 0 [V]. When the sensor resistance value is 1000 [kΩ], the voltage at the circuit point 506 is 2.5 [V]. When the sensor resistance value is infinite, the voltage at the circuit point 506 is 5 [V].

[0059] As shown in FIG. 6(a), which is an explanatory diagram (part one) of the voltage change of the electric circuit of the rice transplanter 1 according to the embodiment of the present invention, when the voltage at the circuit point 506 drops from Va = 5 [V] to 0 [V], the current flows from the analog input of the microcomputer, through the diode 505 without passing through the RC circuit 504. Therefore, no time delay occurs due to the change in the electrical conductivity of the field.

[0060] As shown in FIG. 6(b), which is an explanatory diagram (part two) of the voltage change of the electric circuit of the rice transplanter 1 according to the embodiment of the present invention, when the voltage at the circuit point 506 rises from 0 [V] to Va = 5 [V], the current flows through the RC circuit 504. Therefore, a time delay occurs according to the time constant τ = RC, where the time constant is the reciprocal of the exponential decay coefficient 1 / RC.

[0061] As shown in FIGS. 6(c) and 6(d), which are explanatory diagrams (Parts 3 and 4) of the voltage change of the electric circuit of the rice transplanter 1 according to the embodiment of the present invention, in the aspect where the polarity direction of the diode 505 in the rear controller 503 is reversed, a transient phenomenon accompanied by a time delay occurs in an inverse relationship with respect to the change in electrical conductivity.

[0062] In the input circuit configuration of the first fertility sensor electrode 310, an RC circuit 504 and a diode 505 are arranged, and a time delay is generated accompanying a state change from a state with high electrical conductivity to a state with low electrical conductivity. Even if momentary electrode floating of the first fertility sensor electrode 310 is caused due to vehicle body bounce or the like in the field, the electrical conductivity does not immediately become zero due to such a time delay. Since the unused fertilizer clogging sensor 400 often exists, the circuit of such a fertilizer clogging sensor 400 can also be used as it is. That is, when directly using the RC circuit 504 in the circuit configuration of the fertilizer clogging sensor 400 for the 9th row seedling planting and the fertilizer clogging sensor 400 for the 10th row seedling planting, which are not used in the rice transplanter with an 8-row seedling planting specification, it is sufficient to add the diode 505.

[0063] Due to the polarity direction of the diode 505 arranged in this way, a time delay accompanying a state change from a state with low electrical conductivity to a state with high electrical conductivity does not occur. Even if an area with high fertility suddenly appears and a rapid state change from a state with low electrical conductivity to a state with high electrical conductivity occurs, sensitive sensor responsiveness is guaranteed.

[0064] After the electrical conductivity is obtained, when it is confirmed that the vehicle body moving distance exceeds a predetermined value at a non-zero vehicle speed while the floating body 110 is maintained in a grounded state, fertilizer application amount control for adjusting the fertilizer application amount is performed. The fertilizer application amount control is not performed until the vehicle body movement after the start of forward movement is performed at a vehicle body movement distance of several meters, because a delay in the sensor value may occur due to the time delay associated with the arrangement of the RC circuit 504, and it is desirable to secure a time margin so that the sensor value is stabilized.

[0065] Reference value data such as the electrical conductivity of the field or the fertility itself is input through a so-called main unit monitor of the present machine, etc., and fertilizer application amount control is performed based on the input reference value data and the actual electrical conductivity obtained from the first fertility sensor electrode 310, etc. Variable fertilization is performed with the reference value data arbitrarily input without measuring the electrical conductivity in the field prior to the seedling planting operation.

[0066] Reference value data such as information on the electrical conductivity of the same field measured in the previous year, etc. is called from an external database device such as a tablet PC, and fertilizer application amount control is performed based on the called data. Since the reference value data on past fertility can be used as it is, convenience is improved.

[0067] Information regarding the presence or absence of base fertilizer is included in such reference value data.

[0068] The reference value of fertility for reducing fertilizer application in variable fertilization is set high in a field with base fertilizer. Since the fertility is high when there is base fertilizer, fertilizer application amount control corresponding to the high fertility is performed.

[0069] Information regarding the change in elevation in paddy fields is held as paddy field map data. When it is determined based on the paddy field map data that the elevation exceeds a predetermined level, the fertility is not updated.

[0070] Map information regarding the elevation in paddy fields, also called field elevation, is included in the called reference value data.

[0071] Not only is there a base fertilizer, but variable fertilization based on the measured fertility is not performed at locations where the field elevation in the map information is greater than a predetermined level above the average field elevation. This is because when the elevation is large, the water in the paddy field may not be sufficiently spread, and thus the reliability of the measured fertility value is low. When there is little water, the fertilizer of the dissolved base fertilizer does not spread throughout the field and tends to stay, so the measured fertility often becomes large.

[0072] (2) Next, the configuration and operation of the rice transplanter 1 according to the embodiment of the present invention will be described more specifically.

[0073] By using the map data of the variable fertilization rice transplanter, the seedling planting depth can be precisely controlled according to the working position by an electric motor or the like. Since the field conditions are not necessarily uniform, the optimal planting depth varies depending on the working position, but such control of the seedling planting depth is expected to result in uniform growth.

[0074] The seedling planting depth is changed based on the fertility data grasped by the electro-negativity or the like. Basically, growth is often good at positions with high fertility, so deep planting is desirable, and growth is often not good at positions with low fertility, so shallow planting that is likely to improve survival is desirable.

[0075] The seedling planting depth is changed based on the field depth data. Basically, deep planting is desirable at positions where the field is deep, and shallow planting is desirable at positions where the field is shallow.

[0076] The control of the seedling planting depth described above is performed in the grounded state of the float 110, and the seedling planting according to the set seedling take amount or the seedling planting depth position is performed in the non-grounded state of the float. This is because it is difficult to accurately grasp the reference position of the seedling planting depth in the non-grounded state of the float, and the optimization of the reference position of the seedling planting depth is not always guaranteed.

[0077] Such a control setting of the seedling planting depth can be turned on and off with a monitor or the like. Since a manual change operation may be preferred over the automatic control of the seedling planting depth, the convenience for the user is improved.

[0078] As shown in FIGS. 7(a) and 7(b), which are explanatory diagrams (parts one and two) of the fertilizer application mechanism of the rice transplanter 1 according to the embodiment of the present invention, in an electric fertilizer metering mechanism that changes the fertilizer application opening for applying the fertilizer amount with a motor or the like, fine adjustment of the fertilizer amount is performed. When the fertilizer amount is set on the fertilizer amount setting screen of the monitor, subtle problems may be caused due to uncertainties such as the state of the fertilizer and the wheel slip ratio. However, if the fertilizer amount adjustment is attempted by changing the set fertilizer amount itself, the set fertilizer amount is likely to become unclear to the user. Therefore, a user-friendly configuration is realized by a mode in which fine adjustment of the reference of the set fertilizer amount is performed without changing the set fertilizer amount itself.

[0079] As shown in FIGS. 8(a) and 8(b), which are explanatory diagrams (parts three and four) of the fertilizer application mechanism of the rice transplanter 1 according to the embodiment of the present invention, a gauge for changing the fertilizer feeding amount is moved with a motor or the like, whereby fine adjustment of the reference of the set fertilizer amount is performed.

[0080] Such fine adjustment of the fertilizer amount is realized by a simple monitor operation. Fine adjustment of the reference of the set fertilizer amount according to, for example, the indication of one scale by the monitor operation is performed at a predetermined ratio with respect to the set fertilizer amount. Such an adjustment specification is easy to understand and user-friendly.

[0081] Therefore, when fine adjustment of the fertilization amount is instructed by a monitor operation, the gauge that changes the fertilizer delivery amount operates so that fine adjustment of the reference of the set fertilization amount is performed, but the set fertilization amount itself displayed on the monitor does not change at all.

[0082] The above-described control setting for fine adjustment of the fertilization amount can be turned on and off by a monitor or the like. Since a manual change operation may be preferred over automatic control of the seedling planting depth, user convenience is improved.

[0083] (3) Next, the configuration and operation of the rice transplanter 1 according to the embodiment of the present invention will be described in more detail.

[0084] As shown in FIG. 9(a), which is an explanatory diagram (part 1) of the fertilization operation of the rice transplanter 1 according to the embodiment of the present invention, the field grid cell 601 is a rectangular cell having a field grid north-south size α and a field grid east-west size β.

[0085] As shown in FIG. 9(b), which is an explanatory diagram (part 2) of the fertilization operation of the rice transplanter 1 according to the embodiment of the present invention, the field provided by the field outer shape 602 in which a planting operation processing zone 608 and the like are provided is a rectangular field divided into 112 (= 8 × 14) field grid cells 601. Such a field is a rectangular cell having a field north-south size γ and a field east-west size δ. An origin 603 that gives the minimum value of the coordinates in the north-south direction of the field grid and the minimum value of the coordinates in the east-west direction of the field grid, and a maximum point 604 that gives the maximum value of the coordinates in the north-south direction of the field grid and the maximum value of the coordinates in the east-west direction of the field grid are provided. The 0th row 0th column field grid cell 605 that is the starting field grid cell, the 7th row 13th column field grid cell 606 that is the ending field grid cell, and the 0th row 13th column field grid cell 607 that is the 14th field grid cell are typical field grid cells 601.

[0086] While traveling in a paddy field, the fertility is calculated, and subsequent fertilizer application is controlled based on the calculated fertility. When traveling while controlling fertilizer application, the fertility is updated by recalculating it midway, and subsequent fertilizer application is controlled based on the updated fertility. The timing of updating the fertility is determined based on the area of the paddy field.

[0087] As shown in FIG. 10, which is an explanatory diagram (part three) of the fertilizer application operation of the rice transplanter 1 according to the embodiment of the present invention, a map fertilization operation that uses a fertilization amount map in which a predetermined fertilization amount area is designated as paddy field map data or the like, and a variable fertilization operation that detects field fertility, field depth, etc. in real time and changes the fertilization amount are integrally combined. In a rice transplanter equipped with a fertilization function, the so-called reference value acquisition timing of real-time variable fertilization is changed according to the information of the fertilization amount map. Although it is conceivable that the acquisition of reference values for the electrical conductivity of the field, etc. is performed according to manual operation or automatically in the seedling planting process in the third seedling planting row, by adopting a specification in which the reference value of fertility can be flexibly updated according to the progress of the seedling planting operation in the field, even if a reference value acquisition error occurs, recovery by subsequent reference value acquisition is expected, and improvement in accuracy such as fertilizer reduction accompanying the progress of the seedling planting operation is also expected.

[0088] As shown in FIG. 11, which is an explanatory diagram (part four) of the fertilizer application operation of the rice transplanter 1 according to the embodiment of the present invention, the timing of acquiring and updating the reference value of fertility is determined based on the field area data of the fertilization amount map regarding the area of the paddy field, etc. Each time the seedling planting operation is performed at a predetermined ratio with respect to the field area, the reference value is updated. For example, when ISOXML field map data is used, the reference value is automatically updated based on the area data of each described field.

[0089] When the working area in each field obtained by a rear-wheel rotation sensor of the rear wheel 502 or the like exceeds a predetermined ratio threshold with respect to the field area obtained from the fertilization amount map, the automatic acquisition of the reference value of the fertility starts. Although it is also conceivable that such acquisition of the reference value is uniformly performed in the seedling planting process in the third seedling planting row, by performing management based on the ratio to the field area, the reference value is acquired at a more appropriate position.

[0090] The number of predetermined ratio thresholds with respect to the field area obtained from the fertilization amount map, at which the reference value of the fertility is automatically acquired, is plural. Although it is also conceivable that the automatic acquisition of the reference value is performed only once, four ratio thresholds, for example, ratio thresholds of 10%, 30%, 50% and 70% are provided and the automatic acquisition of the reference value is performed at four timings, so that not only is the so-called diagonal running process for detecting the field fertility in advance unnecessary, but also an improvement in the accuracy of slimming accompanying the progress of the seedling planting work is expected.

[0091] Information regarding the update of the fertility is retained as fertility update history information. When the fertility is further updated, the fertility is updated by correcting the newly calculated fertility with the fertility update history information.

[0092] In updating the reference value for the n-th seedling planting process, not only the newly acquired reference value for the n-th seedling planting process but also the past reference values for the first to (n - 1)-th seedling planting processes are used. For example, a weight of (n - 1) / n is given to the past reference values for the first to (n - 1)-th seedling planting processes, and a weight of 1 / n is given to the latest reference value for the n-th seedling planting process. By using data mixing with a weight ratio that takes into account the results, an updated value is calculated. Of course, in such a mode, as the past reference value, the acquired reference value itself may be used, or the calculated reference value may be used. Although a method such as resetting the stored value for each reference value update in which the past reference value is discarded is conceivable, by using data mixing with the stored value, not only is rapid real-time variable fertilization immediately after the start of work realized in automatic reference value update, but also an improvement in the accuracy of fertilizer reduction as the seedling planting work progresses is expected.

[0093] The reference value for fertility is given as the average value and standard deviation of the acquired data. In updating the reference value for the n-th seedling planting process, a weight of (n - 1) / n is given to the numerical group generated based on the past reference value, and a weight of 1 / n is given to the latest reference value for the n-th seedling planting process. By using data mixing with a weight ratio that takes into account the size of the number of data points, an updated value is calculated. Even in a field with many changes, such as when the average value of the field depth or the uneven state of the field surface may suddenly change, the reference value can be updated without losing the information of the precious past reference value. For example, when the number of data points for the reference value of the third seedling planting process is 40, normal distribution data is generated from the past reference value given as the average value and standard deviation, and a numerical group of 60 data points obtained by equally dividing the range of the cumulative probability from 1 to 99% is constructed. Thus, the average value and standard deviation are calculated for a numerical group with a total of 100 (=40 + 60) data points.

[0094] The automatic acquisition of the reference value for fertility is performed during the seedling planting process after the body rotation is detected to exceed a predetermined ratio threshold with respect to the field area obtained from the fertilization amount map for the working area.

[0095] When the average value of the n-th seedling planting process is more than twice the standard deviation away from the average value of the (n - 1)-th seedling planting process, the reference value update for the n-th seedling planting process is not performed, and whether to perform the reference value update for the (n + 1)-th seedling planting process is examined as necessary. By determining the propriety of the reference value update based on the magnitude of the average value, when a large difference in the reference value occurs between adjacent seedling planting processes due to, for example, vehicle movement accompanied by subsidence into a culvert, it is expected to avoid inappropriate reference value updates by deferring the update.

[0096] When the standard deviation of the n-th seedling planting process is more than a predetermined level away from the standard deviation of the (n - 1)-th seedling planting process, the reference value update for the n-th seedling planting process is not performed, and whether to perform the reference value update for the (n + 1)-th seedling planting process is examined as necessary. By determining the propriety of the reference value update based on the magnitude of the standard deviation, when a large difference in the fertilizer concentration or the unevenness of the field surface occurs between adjacent seedling planting processes as a difference in the magnitude of the standard deviation, it is expected to avoid inappropriate reference value updates by deferring the update.

[0097] The value itself and the number of the predetermined ratio thresholds with respect to the field area obtained from the fertilization amount map, for which the reference value for fertility is automatically acquired, are adjusted according to the field area. If the field area is small, the number of points where the reference value is acquired is often sufficient even if it is small, so the number of reference value updates is set to be small. If the field area is large, by setting the number of reference value updates to be large, an improvement in the accuracy of fertilizer reduction as the seedling planting work progresses is also expected.

[0098] If the field area is larger, it is often desirable to set the number of reference value updates to be larger.

[0099] A mode in which the timing for obtaining and updating the reference value of soil fertility is determined based on the fertilization setting value set in the fertilization amount map is also conceivable. The field area itself is not used for automatic reference value update in such a mode. For example, in a general cultivation management support system in which fertilization setting values from 1 to 5 can be set for one field, the timing of reference value update is determined according to the average value of the set fertilization setting values.

[0100] When the counter value of the so-called on-board fertilization amount counter exceeds a predetermined ratio threshold such as the fertilization setting value of the fertilization amount map, the reference value of soil fertility is automatically updated. Specifically, every time such a counter value exceeds a value that is an integer multiple of the fertilization setting value of the fertilization amount map, the reference value is updated. For example, when the fertilization setting value is 40 [kg] / 10 [a], every time the counter value exceeds 40 [kg], automatic reference value update is performed together with counter reset.

[0101] The timing for obtaining and updating the reference value is determined based on, for example, the field grid east-west size β, which is the length of the long side of the field grid frame in the fertilization amount map. The field area itself is not used for automatic reference value update in such a mode. In the ISOXML field map data, the origin 603, which is the map reference point, and the field north-south size γ and field east-west size δ, which are the lengths in the vertical and horizontal directions, are described by latitude and longitude, respectively, and the size of the field can be indirectly estimated.

[0102] Based on the field grid east-west size β, which is the length of the long side of the field grid frame, when the product of the vehicle body working width and the number of turns exceeds a predetermined level, automatic reference value update is performed. The field grid east-west size β is often suitable for the purpose of judging the field size, and can be used not only for the purpose of judging the number of turns, but also for the purpose of judging the vehicle body working position in the field.

[0103] Note that the program of the invention related to the present invention is a program for causing a computer to execute the operations of all or part of the steps (or processes, operations, and actions, etc.) of the rice transplanter operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with the computer.

[0104] Also, the recording medium of the invention related to the present invention is a recording medium that records a program for causing a computer to execute all or part of the operations of all or part of the steps (or processes, operations, and actions, etc.) of the rice transplanter operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with the computer.

[0105] Note that the "part of the steps (or processes, operations, and actions, etc.)" described above means one or several of those multiple steps.

[0106] Also, the "operation of the steps (or processes, operations, and actions, etc.)" described above means all or part of the operations of the steps described above.

[0107] Also, one usage form of the program of the invention related to the present invention may be a form in which it is transmitted through a transmission medium such as the Internet, light, radio waves, or sound waves, read by a computer, and operates in cooperation with the computer.

[0108] Also, as the recording medium, ROM (Read Only Memory), etc. are included.

[0109] Also, the computer is not limited to pure hardware such as a CPU (Central Processing Unit), and may include firmware, an OS (Operating System), and further peripheral devices.

[0110] Note that, as described above, the configuration of the present invention may be implemented either software-wise or hardware-wise.

Industrial Applicability

[0111] The rice transplanter according to the present invention can improve usability and is useful for the purpose of being used in a rice transplanter that plants seedlings in a paddy field while traveling.

Explanation of Signs

[0112] 1 Rice transplanter 100 Seedling planting device 110 Float 111 Concave part 120 Furrow opener 200 Fertilizer applicator 210 Fertilizer hose member 211 Fertilizer hose discharge port 300 Fertility sensor 310 First fertility sensor electrode 311 Upper part of the first fertility sensor electrode 311w Window 312 Lower part of the first fertility sensor electrode 320 Second fertility sensor electrode 400 Fertilizer clogging sensor 410 First fertilizer clogging sensor electrode 420 Second fertilizer clogging sensor electrode 501 Front wheel 502 Rear wheel 503 Rear controller 504 RC circuit 505 Diode 506 Circuit point 601 Field grid cell 602 Field outline 603 Origin 604 Maximum point 605 Field grid cell at the 0th row and 0th column 606 Field grid cell at the 7th row and 13th column 607 Field grid cell at the 0th row and 13th column 608 Planting Work Processing Zone α Field Grid North-South Direction Size β Field Grid East-West Direction Size γ Field North-South Direction Size δ Field East-West Direction Size

Claims

1. A rice transplanter for planting seedlings in a paddy field while traveling, comprising a seedling planting device for planting the seedlings, a fertilizer application device for spraying fertilizer on the paddy field, a fertility sensor for detecting the electrical conductivity of the soil between a first fertility sensor electrode and a second fertility sensor electrode in order to calculate the fertility of the soil in the paddy field, a fertilizer clogging sensor for detecting the electrical conductivity between a first fertilizer clogging sensor electrode and a second fertilizer clogging sensor electrode in order to notify the occurrence of clogging of the fertilizer in the fertilizer application device, and comprising: the seedling planting device has a float whose bottom surface of the float is brought into contact with the soil, the first fertility sensor electrode is attached to the bottom surface of the float, a rice transplanter, characterized in that the first fertilizer clogging sensor electrode or the second fertilizer clogging sensor electrode also serves as the second fertility sensor electrode.

2. The first fertility sensor electrode is a flat electrode having an upper part of the first fertility sensor electrode standing upright downward from the ceiling of a recess formed on the bottom surface of the float and a lower part of the first fertility sensor electrode protruding to a position lower than a part of the bottom surface of the float around the recess, the rice transplanter according to claim 1, characterized in that the width of the upper part of the first fertility sensor electrode decreases from bottom to top.

3. The rice transplanter according to claim 2, characterized in that the upper part of the first fertility sensor electrode has a window.

4. the seedling planting device has a furrow opener whose bottom surface of the furrow opener is brought into contact with the soil, the fertilizer application device has a fertilizer hose member in which the discharge port of the fertilizer hose is inserted into the furrow opener, the first fertilizer clogging sensor electrode is provided on the upper part of the furrow opener so as not to be brought into contact with the soil, the rice transplanter according to claim 3, characterized in that the second fertilizer clogging sensor electrode is provided on the lower part of the furrow opener so as to be brought into contact with the soil.

5. the first fertility sensor electrode is a positive electrode, the second fertility sensor electrode is a negative electrode, the first fertilizer clogging sensor electrode is a positive electrode, the second fertilizer clogging sensor electrode is a negative electrode, the rice transplanter according to claim 4, characterized in that the second fertilizer clogging sensor electrode also serves as the second fertility sensor electrode.

6. the seedling planting device has a plurality of the furrow openers, A plurality of the fertilizer hose members and a plurality of the fertilizer clogging sensors are respectively provided to the plurality of the furrow openers. The rice transplanter according to claim 5, wherein the fertility sensor detects the electrical conductivity of the soil between the first fertility sensor electrode and each of the plurality of second fertility sensor electrodes.

7. While traveling in the paddy field, the fertility is calculated, and subsequent fertilizer application is controlled based on the calculated fertility. When the traveling is being performed while the fertilizer application is being controlled, the fertility is updated by being recalculated midway, and subsequent fertilizer application is controlled based on the updated fertility. The rice transplanter according to claim 6, wherein the timing at which the fertility is updated is determined based on the area of the paddy field.

8. Information regarding the update of the fertility is held as fertility update history information. The rice transplanter according to claim 7, wherein when the fertility is further updated, the fertility is updated by correcting the recalculated fertility with the fertility update history information.

9. Information regarding the change in elevation in the paddy field is held as paddy field map data. The rice transplanter according to claim 8, wherein when it is determined that the elevation exceeds a predetermined level based on the paddy field map data, the fertility is not updated.

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