Seedling transplanter

Abstract

To improve the work efficiency by enabling a planned use of materials.SOLUTION: A seedling transplanter includes a traveling vehicle body, a seedling planting unit, a control unit, and a position information acquisition unit. The traveling vehicle body has front and rear wheels and can travel in a field. The seedling planting unit is provided on the traveling vehicle body. While the traveling vehicle body is traveling, seedlings scraped off from a seedling mat transported in a seedling tank by planting claws are planted in the field. The control unit controls the seedling planting unit to change the amount of seedlings by the planting claws. The position information acquisition unit acquires position information on the traveling vehicle body. The control unit calculates the slip rate of the traveling vehicle body from the difference between a first vehicle speed calculated from the position information acquired by the position information acquisition unit and the second vehicle speed calculated from the rotation speed of the rear wheels, and corrects the amount of seedlings by the planting claws on the basis of the slip rate. The control unit reduces the amount of seedlings when the slip rate is equal to or greater than a predetermined value, and increases the amount of seedlings when the slip rate is equal to or less than the predetermined value.SELECTED DRAWING: Figure 3

Description

Technical Field

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

Background Art

[0002] Conventionally, in a seedling transplanter that plants seedlings on the soil surface of a field while traveling in the field, in order to improve work efficiency by using a seedling mat systematically for the field, the slip rate of the rear wheels (seedling transplanter) is calculated from the rotational speed of the rear wheels, etc., the travel distance is calculated in consideration of the calculated slip rate, and a technique is known in which the actual working area is calculated from the travel distance considering the slip rate and the working width set according to the number of rows for the planting operation (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the conventional technology as described above, since the slip rate is calculated based on the relationship between the slip rate and the amount of sinking of the rear wheels into the field, the calculation of the slip rate that always changes depending on the state of the field becomes complicated, and in reality, the amount of seedlings used may vary. For this reason, the conventional technology as described above had room for improvement in terms of using materials such as seedling mats systematically.

[0005] The present invention has been made in view of the above, and an object thereof is to provide a seedling transplanter that enables systematic use of materials and can improve work efficiency.

Means for Solving the Problems

[0006] In order to solve the above-described problems and achieve the object, the seedling transplanter (1) according to the embodiment has front wheels (11) and rear wheels (12), and a traveling vehicle body (2) capable of traveling in a field (F). A seedling planting unit (3) provided on the traveling vehicle body (2) for planting, in the field (F), the seedlings scraped off from the seedling mat (M PL ) by the planting claws (38) during the travel of the traveling vehicle body (2), a control unit (100) for controlling the seedling planting unit (3) so as to change the amount of seedlings taken by the planting claws (38), and a position information acquisition unit (50) for acquiring the position information of the traveling vehicle body (2). The control unit (100) calculates the slip ratio of the traveling vehicle body (2) in the field (F) from the difference between the first vehicle speed of the traveling vehicle body (2) calculated from the position information acquired by the position information acquisition unit (50) and the second vehicle speed of the traveling vehicle body (2) calculated from the rotational speed of the rear wheels (12), corrects the amount of seedlings taken by the planting claws (38) based on the slip ratio, and when the slip ratio is equal to or greater than a predetermined value, the control unit (100) reduces the amount of seedlings taken, and when the slip ratio is less than the predetermined value, the control unit (100) increases the amount of seedlings taken.

Advantages of the Invention

[0007] According to the seedling transplanter according to the embodiment, planned use of materials becomes possible, and work efficiency can be improved.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Mode for Carrying Out the Invention

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

[0010] <Outline of the Seedling Transplanter> With reference to FIG. 1, the outline of the seedling transplanter 1 according to the embodiment will be described. FIG. 1 is a schematic side view showing the seedling transplanter 1 according to the embodiment.

[0011] In addition, in each figure including FIG. 1, there may be shown a three-dimensional orthogonal coordinate system including a Z-axis with the vertically upward (upward) direction as the positive direction. Hereinafter, for convenience of explanation, the positive direction of the X-axis is defined as the left direction, the negative direction of the X-axis is defined as the right direction, the positive direction of the Y-axis is defined as the front direction, the negative direction of the Y-axis is defined as the rear direction, and the X-axis direction is referred to as the left-right direction, the Y-axis direction is referred to as the front-rear direction, and the Z-axis direction is referred to as the up-down direction.

[0012] In addition, hereinafter, the seedling transplanter 1 or the traveling vehicle body 2 described later may be referred to as the "machine body". The seedling transplanter 1 performs an operation of planting seedlings on the soil surface of the field F while traveling in the field F (see FIG. 3).

[0013] As shown in Fig. 1, the seedling transplanter 1 includes a traveling vehicle body 2 and a seedling planting unit 3. The traveling vehicle body 2 is capable of traveling within the field F. The seedling planting unit 3 is a working machine in the seedling transplanter 1 and is provided on the traveling vehicle body 2. The seedling planting unit 3 plants seedlings on the soil surface of the field F. The seedling transplanter 1 is a ride-on type that is boarded and operated by an operator (also referred to as a "worker"), and has a function of automatically performing the seedling planting operation while autonomously traveling along a preset working route.

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

[0015] Also, at the front part of the main frame 13 that forms the vehicle body skeleton of the traveling vehicle body 2, there are a transmission case 14 that transmits driving force to the seedling planting unit 3 and the like described later, and a driving force supplied from a driving source such as an engine E (see Fig. 2) or a motor, that is, a hydraulic continuously variable transmission device (not shown) that outputs the rotation of the driving source (for example, the engine E) to the transmission case 14. The continuously variable transmission device is, for example, a hydrostatic continuously variable transmission called an HST (Hydro Static Transmission). Hereinafter, the continuously variable transmission device will be referred to as "HST".

[0016] A sub-transmission mechanism (not shown) for switching the traveling mode during road travel or seedling planting is provided inside the transmission case 14. In the traveling vehicle body 2, front wheel final cases 15 are provided on the left and right sides of the transmission case 14, and the front wheels 11 are respectively attached to the left and right front axles that project outward from the support portions capable of changing the steering direction of the left and right front wheel final cases 15.

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

[0018] Also, on the upper part of the rear frame, left and right link support frames 18 for supporting lift links 17 (described later) extend upward. Between the left and right link support frames 18, left and right upper links 19 and left and right lower link arms 20 are provided. Between the left and right upper links 19 and the left and right lower link arms 20 in the left - right direction, a lift cylinder 21 driven by hydraulic pressure is provided.

[0019] The left and right upper links 19 and the left and right lower link arms 20 form a lift link 17 which is a parallel link mechanism. Note that one end of each of the left and right upper links 19, the left and right lower link arms 20, and the lift cylinder 21 is connected to the traveling vehicle body 2 side, and the other end of each is connected to the seedling planting part 3 side.

[0020] Also, an engine as a drive source is mounted on the main frame 13. The rotational power of the engine is transmitted to the transmission case 14 via a belt transmission device (not shown) and an HST. The rotational power transmitted to the transmission case 14 is shifted by a sub - transmission mechanism in the transmission case 14 and then divided into traveling power and externally extractable power.

[0021] Also, the rotational power of the engine is transmitted to a hydraulic pump (not shown). The hydraulic pressure generated by the hydraulic pump is supplied to the HST, the power steering mechanism 23 (see Figure 2) of the steering handle 22, the lift cylinder 21, and the like.

[0022] The external extraction power taken from the rotational power transmitted to the mission case 14 is transmitted to the planting clutch 24 (see Fig. 2) provided at the rear of the traveling vehicle body 2, and is transmitted from the planting clutch 24 to the seedling planting unit 3 via a planting transmission shaft (not shown). At the rear of the mission case 14, left and right drive shafts (not shown) are provided. The rotational power from the engine E is transmitted to the left and right rear wheel gear cases 16 via the mission case 14 and the drive shafts.

[0023] Note that a side clutch 25 (see Fig. 2) for engaging and disengaging the power transmission to the left and right drive shafts is provided on the upstream side of power transmission with respect to the left and right drive shafts. As shown in Fig. 1, for example, side clutch pedals (not shown) for engaging and disengaging the left and right side clutches 25 are provided at the lower front part of the driver's seat 26 and on the left and right sides.

[0024] When the steering wheel 22 is operated to perform a turning drive after stepping on the side clutch pedal on the inner side of the turn to disengage the side clutch 25, the driving rotation of the rear wheel 12 on the inner side of the turn can be interrupted.

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

[0026] In addition, the bonnet 28 is provided with a rotatable steering wheel (hereinafter referred to as "handle") 22 for adjusting the steering amount of the front wheels 11, a main shift lever 30 for operating the HST and the seedling planting unit 3, a sub-shift lever 31 (see Fig. 2) for operating the sub-shift mechanism, and the like.

[0027] In addition, inside the bonnet 28, an interlocking mechanism is provided that rotates the lower sides of the left and right front wheels 11 and the left and right front wheel final cases 15 in accordance with the operation of the fuel tank, battery, and steering wheel 22. The front part of the bonnet 28 is covered by an openable and closable front cover 28a.

[0028] Behind the driver's seat 26 and at the rear part of the main frame 13, a fertilizer applicator 40 described later is provided. The driving force of the fertilizer applicator 40 is transmitted by a fertilizer transmission mechanism provided so as to face the fertilizer applicator 40 from one side of the left and right rear wheel gear cases 16.

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

[0030] In addition, at the front part and on the left and right sides of the traveling vehicle body 2, a spare seedling frame 34 is provided that arranges a plurality of spare seedling placing tables 33 at intervals in the vertical direction on the seedling frame support 32. The spare seedling frame 34 can carry the seedling mat M PL (see FIGS. 10 to 12) and work materials such as fertilizer bags.

[0031] In addition, at the rear end of the lift link 17, a seedling tank 35 for loading the seedling mat M including the seedlings PL (see FIG. 3) to be planted in the field F is connected together with a sliding mechanism that slides in the left-right direction. The seedling tank 35 is provided with fences for partitioning the upper surface of the seedling tank 35 (the placement surface of the seedling mat M PL in the left-right direction into a plurality of parts. Below the seedling tank 35, a planting device 36 including planting claws 38 that scrape the seedlings PL from the loaded seedling mat M PL and plant the scraped seedlings PL in the field F is provided. PL

[0032] The planting device 36 simultaneously plants the same number of seedlings PL as the number of planting rows partitioned by the above-described fence. The planting device 36 includes a planting transmission case 37, planting claws 38, and a planting rotary 39. In the planting device 36, the planting transmission case 37 is provided at a distance below the seedling tank 35, and a planting rotary 39 for rotating the planting claws 38 is provided on the left and right sides of the planting transmission case 37. In the planting device 36, the planting claws 38 scrape the seedling PL PL from the seedling mat M and plant the scraped seedling PL (see FIG. 3) in the field F.

[0033] Thus, in the seedling planting unit 3, while the traveling vehicle body 2 (seedling transplanter 1) is traveling, the seedling PL scraped by the planting claws 38 from the seedling mat M PL transported in the seedling tank 35 is planted on the soil surface of the field F. Note that the scraping amount (seedling taking amount) of the seedling PL by the planting claws 38 can be controllably changed by a control unit 100 (see FIG. 2) described later.

[0034] The fertilizer application device 40 includes a fertilizer hopper 41, a feeding device 42, a duct 43, a fertilizer hose (not shown), and a blower (not shown). The fertilizer hopper 41 stores fertilizer. The fertilizer hopper 41 is partitioned into the same number as the number of working rows of the seedling planting unit 3. Note that, for example, if the fertilizer hopper 41 is long in the left-right direction, the convenience of fertilizer input and attachment / detachment may decrease. Therefore, a so-called side fertilizer application structure in which those partitioned into halves of all the rows (for example, four rows each in the case of eight rows) are arranged side by side on the left and right may be used.

[0035] The feeding device 42 is provided for each row below the fertilizer hopper 41 and supplies a set amount of fertilizer. The duct 43 is provided below the feeding device 42 and allows the conveying air for moving the fertilizer to pass through. The fertilizer hose is provided below the feeding device 42 and guides the fertilizer to the vicinity of the seedling planting position of the seedling planting unit 3. The blower is provided at one end of the duct 43 and generates the conveying air by the driving force of a blower electric motor (not shown).

[0036] Below the seedling planting part 3, a float 44 is provided. The float 44 includes a central center float 44a and left and right side floats 44b. The center float 44a and the left and right side floats 44b are in contact with the soil surface of the field F and slide on the soil surface as the traveling vehicle body 2 moves forward.

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

[0038] Also, on the left and right sides of the seedling planting part 3, line markers are respectively provided, with either the left or the right one in contact with the soil surface of the field F to form a groove (guide line) as a guide for traveling in the next working strip (next process). When either the left or the right line marker descends and contacts the ground, the other one rises. Also, when the seedling planting part 3 is raised during a body turn, both the left and right line markers rise, and when the seedling planting part 3 descends after the body turn, either the left or the right one rises and the other one descends (contacts the ground).

[0039] Also, at the center in the left - right direction of the traveling vehicle body 2 and in front of the bonnet 28, a center mascot 46 is erected so as to extend upward. By aligning the center mascot 46 with the guide line formed on the soil surface of the field F by the left and right line markers, it becomes possible to travel in accordance with the working position of the immediately preceding working strip, improving the working accuracy and preventing the occurrence of non - working.

[0040] Depending on the soil quality of the field F, the guide lines formed by the left and right line markers may be buried immediately, and the reference for straight travel may disappear. In such a case, it is advisable to use the left and right side markers provided in front of the left and right line markers. That is, by moving the left and right side markers outward and positioning the side markers above the seedlings planted in the previous process, it becomes possible to perform the planting operation in accordance with the planting of the seedlings in the previous working strip.

[0041] Also, as shown in FIG. 1, the seedling transplanter 1 includes a position information acquisition unit 50. The position information acquisition unit 50 acquires the current self-position P (see FIG. 3) (position information) of the traveling vehicle body 2 (seedling transplanter 1). The position information acquisition unit 50 acquires the current position information of the seedling transplanter 1 by using a satellite positioning system such as GPS (Global Positioning System) or GNSS (Global Navigation Satellite System), for example. Note that the position information acquisition unit 50 may be composed of a plurality of devices.

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

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

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

[0045] The control unit 100 has, for example, a processing unit having a CPU (Central Processing Unit) or the like, a storage unit such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and further an input / output unit, and these are connected to each other so that signals can be passed between them. Note that a computer program for controlling the seedling transplanter 1 and the like is stored in the storage unit. The control unit 100 exhibits each function by reading out a computer program or the like stored in the storage unit or the like.

[0046] To the control unit 100, for example, as actuators, a throttle motor 60, hydraulic control valves 61, 62, a planting clutch operating solenoid 63, a side clutch operating solenoid 64, an HST motor 65, a steering motor 66, a wire-drawing marker lifting motor 67, a differential lock switching motor 68, etc. are connected.

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

[0048] The side clutch operation solenoid 64 operates the side clutch 25 that switches the power transmission state to the rear wheels 12 (see FIG. 1). The HST motor 65 changes the inclination angle of the swash plate of the HST by changing the rotation angle of the HST trunnion. The steering motor 66 steers and drives the front wheels 11 (see FIG. 1) which are the steering wheels. The steering motor 66 is a motor that drives the steering wheel 22 that adjusts the steering amount (also referred to as the steering angle or the cut angle) of the front wheels 11. The line drawing marker lifting and lowering motor 67 raises and lowers the line drawing marker.

[0049] The differential lock switching motor 68 is a motor that switches the operation and the stop of the differential lock mechanism (hereinafter referred to as the differential lock mechanism) 69 that rotates the left and right traveling wheels (for example, the left and right front wheels 11) at the same rotational speed. When the differential lock mechanism 69 is in the engaged state, it is possible to forcibly set the four-wheel drive (4WD mode), and the left and right traveling wheels rotate at the same rotational speed.

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

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

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

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

[0054] The seedling planting unit lifting switch 73 is a switch for switching the lifting of the seedling planting unit 3. The seedling planting unit lifting switch 73 can be changed to the "raise" and "lower" positions. When the seedling planting unit lifting switch 73 is in the "raise" position, the seedling planting unit 3 rises to a predetermined non-working position, and the planting device 36 (see FIG. 1) stops in a non-working state (the off state of the seedling planting unit 3). When the seedling planting unit lifting switch 73 is in the "lower" position, the seedling planting unit 3 descends to a predetermined working position, and the planting device 36 operates in a working state (the on state of the seedling planting unit 3). That is, the seedling planting unit lifting switch 73 is a switch capable of detecting the working state of the seedling planting unit 3.

[0055] The line drawing marker automatic lifting switch 74 is a switch for switching whether to automatically lift and lower the line drawing marker in conjunction with the steering amount of the handle 22 (i.e., the steering amount of the front wheels 11). When the line drawing marker automatic lifting switch 74 is "ON", control for automatically lifting and lowering the line drawing marker in conjunction with the steering amount is executed. On the other hand, when the line drawing marker automatic lifting switch 74 is "OFF", control for automatically lifting and lowering the line drawing marker in conjunction with the steering amount is not executed.

[0056] The automatic turning switch 75 is a switch for switching whether to enable or disable the execution of automatic turning when the operator manually steers the seedling transplanter 1. When the automatic turning switch 75 is "ON", the execution of automatic turning is enabled. When the automatic turning switch 75 is "OFF", the execution of automatic turning is disabled. The mode switching switch 76 is a switch for switching whether to execute the autonomous driving of the seedling transplanter 1 (traveling vehicle body 2).

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

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

[0059] <Seedling picking amount correction> Next, the seedling picking amount correction will be described with reference to FIGS. 3 and 4. FIGS. 3 and 4 are explanatory diagrams of the seedling picking amount correction.

[0060] As shown in FIG. 3, the control unit 100 (see FIG. 2) corrects the scraping amount (seedling picking amount) of the seedlings PL by the planting claws 38 (see FIG. 1) of the seedling planting unit 3 (see FIG. 1) based on the slip ratio of the rear wheels 12 (see FIG. 1) of the transplanter 1 (traveling vehicle body 2) traveling in the field F.

[0061] In this case, the control unit 100 calculates the vehicle speed (first vehicle speed) of the traveling vehicle body 2 traveling in the field F from the position information (self-position P of the traveling vehicle body 2) acquired by the position information acquisition unit 50 (see FIG. 2). Further, the control unit 100 calculates the vehicle speed (second vehicle speed) of the traveling vehicle body 2 traveling in the field F from the rotational speed of the rear wheels 12 detected by the rear wheel rotational speed sensor 70 (see FIG. 2).

[0062] The control unit 100 calculates the slip ratio of the transplanter 1 (traveling vehicle body 2) in the field F from the difference between the two vehicle speeds of the first vehicle speed and the second vehicle speed.

[0063] As shown in FIG. 3, in the transplanter 1, the seedling picking amount by the planting claws 38 is preset according to a slip ratio of a predetermined value. In the transplanter 1, when the slip ratio is a predetermined value, the distance (distance between plants) D between the seedlings PL in the traveling direction of the transplanter 1 (traveling vehicle body 2) becomes an assumed distance, and the control unit 100 controls the planting claws 38 to plant the seedlings PL in the field F with the set seedling picking amount.

[0064] When the slip ratio is equal to or greater than a predetermined value, that is, when the slip ratio is high, the control unit 100 controls the planting claws 38 to reduce the amount of seedlings picked up because the distance D (D1) between the rows becomes short. Further, when the slip ratio is equal to or less than a predetermined value, that is, when the slip ratio is low, the control unit 100 controls the planting claws 38 to increase the amount of seedlings picked up because the distance D (D2) between the rows becomes long.

[0065] In this way, when the slip ratio is equal to or greater than a predetermined value (that is, when the slip ratio is high), the distance D1 between the rows becomes short, so fewer seedlings PL are planted. Also, when the slip ratio is equal to or less than a predetermined value (that is, when the slip ratio is low), the distance D2 between the rows becomes long, so more seedlings PL are planted. By doing so, it is possible to suppress fluctuations in the usage amount of the seedlings PL due to changes in the slip ratio of the traveling vehicle body 2 (seedling transplanter 1) traveling in the field F.

[0066] That is, it is possible to suppress fluctuations in the usage amount of seedlings due to changes in the slip ratio of the traveling vehicle body 2 (seedling transplanter 1) traveling in the field F. As a result, materials (seedlings, seedling mat M PL ) can be used in a planned manner, and the work efficiency can be improved.

[0067] As shown in FIG. 4, the control unit 100 (see FIG. 2) corrects the amount of seedlings picked up in the area (referred to as the "working area") S where the seedlings PL (see FIG. 3) are planted in the field F from the first vehicle speed calculated based on the position information (the self-position P of the traveling vehicle body 2) acquired by the position information acquisition unit 50 (see FIG. 2). W in the seedling transplanter 1.

[0068] In this case, the control unit 100 calculates a predetermined working area S by the seedling transplanter 1 (traveling vehicle body 2) based on the first vehicle speed. The control unit 100 calculates the slip ratio of the seedling transplanter 1 (traveling vehicle body 2) for each working area S from the difference between the first vehicle speed and the second vehicle speed. The control unit 100 calculates the average value of the slip ratios in the working area S. W for each working area S from the difference between the first vehicle speed and the second vehicle speed. The control unit 100 calculates the average value of the slip ratios in the working area S. W for each working area S from the difference between the first vehicle speed and the second vehicle speed. The control unit 100 calculates the average value of the slip ratios in the working area S. W in the seedling transplanter 1.

[0069] And the control unit 100 calculates the slip ratio (average value) for each working area S W and corrects the amount of seedlings picked up by the planting claws 38 (see FIG. 1) for each working area S W accordingly.

[0070] In this way, by correcting the usage amount of the seedling PL using the average slip ratio in the predetermined working area S of the traveling vehicle body 2 (seedling transplanter 1), the usage amount of the seedling PL can be stabilized. W

[0071] In addition, the control unit 100 has usage amount information of the seedling PL preset according to the working area S. The control unit 100 calculates the current usage amount of the seedling PL and compares the calculated current usage amount of the seedling PL with the value of the usage amount information. W

[0072] Then, when there is a deviation between the current usage amount of the seedling PL and the value of the usage amount information, the control unit 100 controls, for example, the alarm function of the seedling transplanter 1 to issue a warning. Note that the warning of the deviation in the usage amount of the seedling PL may be notified by an alarm sound or a lamp lighting, or may be notified by a monitor display.

[0073] In this way, by comparing the current usage amount of the seedling PL with the value of the usage amount information, it is possible to determine whether the seedling PL is being used as planned, for example, 20 seedling mats M are used for a working area S of 10 ares. W When the usage amount of the seedling PL deviates from the plan, a warning is issued to avoid problems such as a shortage of the seedling PL. Thereby, the working efficiency can be further improved. PL

[0074] In addition, the control unit 100 measures the height of the seedling mat M in the seedling tank 35 PL ​​​Controls the feeding amount (refer to FIGS. 10 to 12). The control unit 100 controls the seedling feeding roller 351 (refer to FIG. 12) of the seedling tank 35, thereby controlling the seedling feeding belt 352 (refer to FIG. 12) driven by the seedling feeding roller 351. As a result, the control unit 100 can control the feeding amount of the seedling mat M in the seedling tank 35 PL is made possible.

[0075] And the control unit 100 controls the feeding amount of the seedling mat M PL to arbitrarily change the compression rate of the seedling mat M PL .

[0076] In this way, by arbitrarily changing the compression rate of the seedling mat M PL , the usage amount of the seedling PL can be automatically adjusted, and the automatic adjustment of the usage amount of the seedling PL can be achieved with a simple configuration.

[0077] FIGS. 5 and 6 are explanatory views of the compression mechanism 80 of the seedling mat M PL . In FIG. 5, the left figure is a view of the seedling tank 35 seen from the front of the machine body (schematic front view of the seedling tank 35), and the right figure is a view of the seedling tank 35 seen from the left side of the machine body (schematic left side view of the seedling tank 35). FIG. 6 schematically shows the configuration of the compression mechanism 80 of the seedling mat M PL .

[0078] As shown in FIG. 5, the compression mechanism 80 of the seedling mat M PL is provided on the side of the surface (back surface) opposite to the seedling placing surface on which the seedling mat M PL is placed in the seedling tank 35.

[0079] As shown in FIG. 6, the compression mechanism 80 of the seedling mat M PL includes a seedling feeding cable 81, a cable stay 82, a motor 83, a gear portion 84, a sensor 85, a cylinder 86, and a base portion 87. One end of the seedling feeding cable 81 extends toward the arm on the seedling tank 35 side, and the other end extends toward the seedling feeding arm.

[0080] The seedling feed cable 81 is connected to the rotating arm of an adjustment lever which is an adjustment mechanism for the amount of seedlings taken. When the adjustment lever is operated, the tension of the seedling feed cable 81 changes. When the adjustment lever is operated in the direction of increasing the amount of seedlings taken, the seedling feed cable 81 loosens, the seedling feed arm droops downward, and the driving amount of the seedling feed belt 352 increases. The seedling feed arm is an arm for driving the seedling feed belt 352 of the seedling tank 35. With a one-way clutch intervening, when the seedling feed arm is pushed up, the seedling feed belt 352 is driven, and the seedling feed arm returns in the drooping direction by a biasing force such as a spring. The seedling feed cable 81 pulls up the seedling feed arm. The position of the seedling feed arm changes according to the tension of the seedling feed cable 81, and the driving amount of the seedling feed belt 352 changes.

[0081] Seedling mat M PL In the compression mechanism 80 of the seedling mat M, the tension direction of the seedling feed cable 81, the input / output shaft (operating shaft) of the cable stay 82, and the rotation shaft of the motor 83 are in the same direction. Also, in the compression mechanism 80 of the seedling mat M PL the motor 83 and the sensor 85 are provided above the cable stay 82. Thus, by arranging the motor 83 and the sensor 85 on the upper side, intrusion of muddy water and the like can be suppressed. The motor 83 moves the seedling feed cable 81. Also, the sensor 85 detects the rotation amount of the gear part 84 that moves the cable stay.

[0082] The cable stay 82 is configured to be movable in the direction of the rotation axis of the motor 83 by a combination of the motor 83 and the gear part 84. Thereby, the rotation axis of the motor 83 and the moving direction of the cable stay 82 can be made to coincide. Note that the moving amount of the cable stay 82 is determined by the pitch of the feed screw, and is, for example, about ±2.0 mm at maximum, and the cable stay 82 moves slightly with respect to the rotation amount of the motor 83.

[0083] The cable stay 82 is provided with a notch for fixing the seedling feed cable 81 and a cylinder 86 extending in the axial direction of the screw hole. The cable stay 82 moves smoothly in the axial direction by the cylinder 86 and the pin of the base portion 87. Note that the gear portion 84 rotates smoothly because the tip portion is inserted into a ball bearing provided in the base portion 87.

[0084] The control unit 100 measures, for example, the number of reciprocations of the seedling tank 35 to the left and right based on the operation of a so-called pita approach switch that moves the seedling tank 35 to either the left or right end, and measures the number of reciprocations of the seedling tank 35 until the seedling mat M PL is additionally replenished. Then, the control unit 100 calculates the number of reciprocations of the seedling tank 35 when one seedling mat M PL is used from the number of reciprocations of the seedling tank 35 until several additional replenishments of the seedling mat M PL are made, and further calculates the compression rate of the seedling mat from the amount of seedlings taken.

[0085] FIG. 7 is an explanatory diagram of the remaining amount detection of the seedling PL (seedling mat M PL ) using the electrode sensor 91. Note that FIG. 7 shows a view of the seedling tank 35 as seen from the front of the machine body (a schematic front view of the seedling tank 35). FIG. 8 is a diagram showing the relationship between the current value and the position of the seedling mat.

[0086] As shown in FIG. 7, the seedling transplanter 1 (see FIG. 1) includes an electrode sensor 91. The electrode sensor 91 is provided in the seedling tank 35. The electrode sensor 91 is arranged so as to obliquely cross each conveyance path of the seedling mat M PL in the seedling tank 35. The electrode sensor 91 measures the current value of the seedling mat M PL .

[0087] Note that the distance from the upper end to the lower end of the electrode sensor 91 is preferably shorter than that of one seedling mat M PL . Also, the electrode sensor 91 is preferably arranged on the diagonal line of the rectangular seedling mat M PL and arranged to be smaller than the inner dimension of the seedling mat M PL .

[0088] The control unit 100 calculates the remaining amount of the seedling mat M based on the current value measured by the electrode sensor 91. PL As shown in FIG. 8, the control unit 100 counts one seedling mat M each time the current value measured by the electrode sensor 91 fluctuates as the seedling mat M becomes a resistor. PL Accordingly, the control unit 100 can calculate the remaining amount of the seedling mat M. PL PL

[0089] In this way, by utilizing the fluctuation of the current value with the seedling mat M as a resistor, the remaining amount of the seedling mat M (seedling PL) can be calculated. PL Accordingly, the operator can grasp the remaining amount of the seedling mat M (seedling PL). PL PL

[0090] As shown in FIG. 7, an electrode sensor 91a may be further provided below the above-described electrode sensor 91 in each conveyance path of the seedling mat M. PL That is, the current value may be measured by two electrode sensors 91 and 91a in each conveyance path. The two electrode sensors 91 and 91a are preferably arranged so as not to be parallel to each other. Further, the lower electrode sensor 91a is preferably arranged so as to be parallel to the sliding direction (left - right direction) of the seedling tank 35.

[0091] In the detection of the remaining amount of the seedling mat M using such electrode sensors 91 and 91a, for example, in the conveyance path of the seedling mat M, when a detection switch (for example, the detection switch 96 described later with reference to FIG. 10) for detecting the seedling mat M by being pressed is provided, the control unit 100 does not record the current value when the seedling detection switch is not pressed. When the seedling detection switch is provided, the two electrode sensors 91 and 91a are arranged above the seedling detection switch. PL PL PL PL

[0092] The control unit 100 records the current value of the seedling mat M in each conveyance path until the planting work in a predetermined area is completed. The control unit 100 predicts the remaining amount of seedlings from the current current value based on the current value data recorded after the completion of the planting work in the predetermined area. PL At the maximum value of the recorded current value data, the control unit 100 determines that the seedling mat M is in contact with all of the electrode sensors 91. At the minimum value of the recorded current value data, the control unit 100 determines that the seedling mat M is below the lower end of the electrode sensor 91. When the seedling mat M moves between the upper end and the lower end of the electrode sensor 91, the control unit 100 estimates the current position of the seedling mat M assuming that the output current linearly moves between the maximum value and the minimum value of the recorded current values. The recording of the current value of the seedling mat M is performed each time it is detected that the seedling tank 35 has moved to either the left or right end during the planting work.

[0093] At the maximum value of the recorded current value data, the control unit 100 determines that the seedling mat M is in contact with all of the electrode sensors 91. At the minimum value of the recorded current value data, the control unit 100 determines that the seedling mat M is below the lower end of the electrode sensor 91. When the seedling mat M moves between the upper end and the lower end of the electrode sensor 91, the control unit 100 estimates the current position of the seedling mat M assuming that the output current linearly moves between the maximum value and the minimum value of the recorded current values. The recording of the current value of the seedling mat M is performed each time it is detected that the seedling tank 35 has moved to either the left or right end during the planting work. PL At the maximum value of the recorded current value data, the control unit 100 determines that the seedling mat M is in contact with all of the electrode sensors 91. At the minimum value of the recorded current value data, the control unit 100 determines that the seedling mat M is below the lower end of the electrode sensor 91. When the seedling mat M moves between the upper end and the lower end of the electrode sensor 91, the control unit 100 estimates the current position of the seedling mat M assuming that the output current linearly moves between the maximum value and the minimum value of the recorded current values. The recording of the current value of the seedling mat M is performed each time it is detected that the seedling tank 35 has moved to either the left or right end during the planting work. PL At the maximum value of the recorded current value data, the control unit 100 determines that the seedling mat M is in contact with all of the electrode sensors 91. At the minimum value of the recorded current value data, the control unit 100 determines that the seedling mat M is below the lower end of the electrode sensor 91. When the seedling mat M moves between the upper end and the lower end of the electrode sensor 91, the control unit 100 estimates the current position of the seedling mat M assuming that the output current linearly moves between the maximum value and the minimum value of the recorded current values. The recording of the current value of the seedling mat M is performed each time it is detected that the seedling tank 35 has moved to either the left or right end during the planting work. PL At the maximum value of the recorded current value data, the control unit 100 determines that the seedling mat M is in contact with all of the electrode sensors 91. At the minimum value of the recorded current value data, the control unit 100 determines that the seedling mat M is below the lower end of the electrode sensor 91. When the seedling mat M moves between the upper end and the lower end of the electrode sensor 91, the control unit 100 estimates the current position of the seedling mat M assuming that the output current linearly moves between the maximum value and the minimum value of the recorded current values. The recording of the current value of the seedling mat M is performed each time it is detected that the seedling tank 35 has moved to either the left or right end during the planting work. PL At the maximum value of the recorded current value data, the control unit 100 determines that the seedling mat M is in contact with all of the electrode sensors 91. At the minimum value of the recorded current value data, the control unit 100 determines that the seedling mat M is below the lower end of the electrode sensor 91. When the seedling mat M moves between the upper end and the lower end of the electrode sensor 91, the control unit 100 estimates the current position of the seedling mat M assuming that the output current linearly moves between the maximum value and the minimum value of the recorded current values. The recording of the current value of the seedling mat M is performed each time it is detected that the seedling tank 35 has moved to either the left or right end during the planting work. PL At the maximum value of the recorded current value data, the control unit 100 determines that the seedling mat M is in contact with all of the electrode sensors 91. At the minimum value of the recorded current value data, the control unit 100 determines that the seedling mat M is below the lower end of the electrode sensor 91. When the seedling mat M moves between the upper end and the lower end of the electrode sensor 91, the control unit 100 estimates the current position of the seedling mat M assuming that the output current linearly moves between the maximum value and the minimum value of the recorded current values. The recording of the current value of the seedling mat M is performed each time it is detected that the seedling tank 35 has moved to either the left or right end during the planting work.

[0094] FIG. 9 is an explanatory diagram of the detection of the remaining amount of the seedling PL (seedling mat M PL ) using the ultrasonic sensor 92. In FIG. 9, the left figure is a view of the seedling tank 35 seen from the left side of the machine body (a schematic left side view of the seedling tank 35), and the right figure is a view of the seedling tank 35 seen from the rear of the machine body (a schematic rear view of the seedling tank 35).

[0095] As shown in FIG. 9, the seedling transplanter 1 (see FIG. 1) may be provided with an ultrasonic sensor 92 instead of the above-described electrode sensor 91 (91a). The ultrasonic sensor 92 is provided in the seedling tank 35. The ultrasonic sensor 92 is provided, for example, at the upper end of each conveyance path of the seedling mat M in the seedling tank 35. The ultrasonic sensor 92 measures the distance to the seedling mat M. That is, the ultrasonic sensor 92 measures the distance from a predetermined position at the upper end of the seedling tank 35 (the conveyance path of the seedling mat M PL ) to the upper end of the seedling mat M PL . PL At the maximum value of the recorded current value data, the control unit 100 determines that the seedling mat M is in contact with all of the electrode sensors 91. At the minimum value of the recorded current value data, the control unit 100 determines that the seedling mat M is below the lower end of the electrode sensor 91. When the seedling mat M moves between the upper end and the lower end of the electrode sensor 91, the control unit 100 estimates the current position of the seedling mat M assuming that the output current linearly moves between the maximum value and the minimum value of the recorded current values. The recording of the current value of the seedling mat M is performed each time it is detected that the seedling tank 35 has moved to either the left or right end during the planting work. PL At the maximum value of the recorded current value data, the control unit 100 determines that the seedling mat M is in contact with all of the electrode sensors 91. At the minimum value of the recorded current value data, the control unit 100 determines that the seedling mat M is below the lower end of the electrode sensor 91. When the seedling mat M moves between the upper end and the lower end of the electrode sensor 91, the control unit 100 estimates the current position of the seedling mat M assuming that the output current linearly moves between the maximum value and the minimum value of the recorded current values. The recording of the current value of the seedling mat M is performed each time it is detected that the seedling tank 35 has moved to either the left or right end during the planting work.

[0096] The control unit 100 calculates the remaining amount of the seedling mat M based on the distance measured by the ultrasonic sensor 92. PL When the distance from a predetermined position to the seedling mat M PL changes rapidly (specifically, when the distance to the seedling mat M PL suddenly becomes short), it is determined that one additional seedling mat M PL has been added, and it is counted as one seedling mat M PL . Thus, the control unit 100 can calculate the remaining amount of the seedling mat M PL .

[0097] In this way, when the distance from a predetermined position to the seedling mat M PL changes rapidly (specifically, when the distance to the seedling mat M PL suddenly becomes short), it can be determined that one additional seedling mat M PL has been added, and the used seedling mat M PL can be counted. Therefore, the remaining amount of the seedling mat M PL (seedling PL) can be calculated. As a result, the operator can grasp the remaining amount of the seedling mat M PL (seedling PL).

[0098] Figs. 10 to 12 are explanatory diagrams of the counting mechanism of the seedling mat M PL . In Fig. 10, the left figure is a view of the seedling tank 35 seen from the left side of the machine body (a schematic left side view of the seedling tank 35), and the right figure is a view of the seedling tank 35 seen from the rear of the machine body (a schematic rear view of the seedling tank 35). Also, Figs. 11 and 12 show a view of the seedling tank 35 seen from the rear of the machine body (a schematic rear view of the seedling tank 35). Further, Fig. 12 shows the state before the vertical feeding of the seedling mat M PL on the left side of the figure and the state after the vertical feeding of the seedling mat M PL on the right side of the figure.

[0099] As shown in Figs. 10 to 12, the counting mechanism of the seedling mat M PL is composed of a seedling feed roller 351 (see Fig. 12) of the seedling tank 35, a seedling feed belt 352 (see Fig. 12), a stopper 95, and a detection switch 96.

[0100] The seedling feed roller 351 is provided on each conveyance path of the seedling mat M in the seedling tank 35, and is rotationally driven to rotate the seedling feed belt 352 from above to below. The seedling feed roller 351 is driven and controlled by the control unit 100 (see FIG. 2). PL The seedling feed belt 352 is provided on each conveyance path of the seedling mat M in the seedling tank 35. The seedling feed belt 352 is provided so as to form a part of the conveyance surface of the conveyance path of the seedling mat M. The seedling feed belt 352 conveys the seedling mat M from the upstream to the downstream of the conveyance path of the seedling mat M by the rotation of the seedling feed roller 351. PL The seedling feed belt 352 is provided on each conveyance path of the seedling mat M. PL The seedling feed belt 352 is provided so as to form a part of the conveyance surface of the conveyance path of the seedling mat M. The seedling feed belt 352 conveys the seedling mat M from the upstream to the downstream of the conveyance path of the seedling mat M by the rotation of the seedling feed roller 351. PL The seedling feed belt 352 conveys the seedling mat M from the upstream to the downstream of the conveyance path of the seedling mat M PL by the rotation of the seedling feed roller 351.

[0101] The stopper 95 is provided at an intermediate position of each conveyance path of the seedling mat M. PL The stopper 95 is provided at an intermediate position of each conveyance path of the seedling mat M. PL The stopper 95 is provided at a position where the seedling mat M on the conveyance path overlaps with the seedling feed belt 352. PL The stopper 95 is provided so as to be able to advance and retreat, for example, from the side toward the conveyance path of the seedling mat M. By advancing into the conveyance path, the stopper 95 restricts the downward movement of the seedling mat M at the intermediate position of the conveyance path. By retracting from the conveyance path, the stopper 95 releases the restriction on the seedling mat M and enables the conveyance of the seedling mat M downstream. PL The stopper 95 is provided so as to be able to advance and retreat, for example, from the side toward the conveyance path of the seedling mat M. By advancing into the conveyance path, the stopper 95 restricts the downward movement of the seedling mat M at the intermediate position of the conveyance path. By retracting from the conveyance path, the stopper 95 releases the restriction on the seedling mat M and enables the conveyance of the seedling mat M downstream. PL The stopper 95 is provided so as to be able to advance and retreat, for example, from the side toward the conveyance path of the seedling mat M. By advancing into the conveyance path, the stopper 95 restricts the downward movement of the seedling mat M at the intermediate position of the conveyance path. By retracting from the conveyance path, the stopper 95 releases the restriction on the seedling mat M and enables the conveyance of the seedling mat M downstream. PL The stopper 95 is provided so as to be able to advance and retreat, for example, from the side toward the conveyance path of the seedling mat M. By advancing into the conveyance path, the stopper 95 restricts the downward movement of the seedling mat M at the intermediate position of the conveyance path. By retracting from the conveyance path, the stopper 95 releases the restriction on the seedling mat M and enables the conveyance of the seedling mat M downstream. PL The stopper 95 is provided so as to be able to advance and retreat, for example, from the side toward the conveyance path of the seedling mat M. By advancing into the conveyance path, the stopper 95 restricts the downward movement of the seedling mat M at the intermediate position of the conveyance path. By retracting from the conveyance path, the stopper 95 releases the restriction on the seedling mat M and enables the conveyance of the seedling mat M downstream.

[0102] The stopper 95 forms a gap at the boundary B between the upper seedling mat M and the lower seedling mat M by restricting the movement of the seedling mat M. The stopper 95 is driven and controlled by the control unit 100. PL The stopper 95 forms a gap at the boundary B between the upper seedling mat M and the lower seedling mat M by restricting the movement of the seedling mat M. The stopper 95 is driven and controlled by the control unit 100. PL The stopper 95 forms a gap at the boundary B between the upper seedling mat M and the lower seedling mat M by restricting the movement of the seedling mat M. The stopper 95 is driven and controlled by the control unit 100. PL The stopper 95 forms a gap at the boundary B between the upper seedling mat M and the lower seedling mat M by restricting the movement of the seedling mat M. The stopper 95 is driven and controlled by the control unit 100.

[0103] The detection switch 96 is provided on the downstream side of the conveyance path from the stopper 95 in each conveyance path of the seedling mat M. The detection switch 96 is provided for the seedling mat M in the conveyance path PL The detection switch 96 is provided on the downstream side of the conveyance path from the stopper 95 in each conveyance path of the seedling mat M. The detection switch 96 is provided for the seedling mat M in the conveyance path PLDetect the presence or absence. Note that the detection switch 96 is located at approximately the center in the left - right direction of the conveyance path of the seedling mat M PL and is arranged. Also, the detection switch 96 may be arranged one by one in, for example, a row (the conveyance path of the seedling mat M PL ) that can be turned on and off by a ridge clutch. In this case, if it is 8 - 7 - row planting, 4 detection switches 96 are arranged, and if it is 6 - 5 - row planting, 3 detection switches 96 are arranged.

[0104] When the control unit 100 detects the seedling mat M PL by the detection switch 96, it counts that one seedling mat M PL has been used. The control unit 100 counts the seedling mat M PL every time the seedling mat M PL is detected by the detection switch 96.

[0105] As shown in FIG. 12, when the control unit 100 detects by the detection switch 96 that there is no seedling mat M PL at the boundary B between the upper - stage seedling mat M PL and the lower - stage seedling mat M PL on the conveyance path of the seedling mat M PL , it advances the stopper 95 and releases the regulation of the seedling mat M PL by the stopper 95. Then, the control unit 100 rotates the seedling feed roller 351 and conveys the upper - stage seedling mat M PL until it abuts against the lower - stage seedling mat M PL to eliminate the gap at the boundary B between the upper - stage seedling mat M PL and the lower - stage seedling mat M PL .

[0106] In this way, a gap is formed by the stopper 95 at the boundary B between the upper - stage seedling mat M PL and the lower - stage seedling mat M PL in the conveyance path of the seedling mat M PL , so that the counting of the seedling mat M PL by the detection switch 96 can be surely performed. Also, since the detection switch 96 is provided on the downstream side of the stopper 95, the seedling mat M PLThe counting can be surely performed. Also, in the conveying path of the seedling mat M PL the regulated seedling mat M PL overlaps with the seedling feeding belt 352, so even if the seedling mat M PL is regulated by the stopper 95, the seedling mat M PL is conveyed downstream by the seedling feeding belt 352.

[0107] According to the above-described embodiment, the following seedling transplanter 1 is realized.

[0108] (1) A traveling vehicle body 2 having front wheels 11 and rear wheels 12 and capable of traveling in a field F, and a seedling planting unit 3 provided on the traveling vehicle body 2 and planting, in the field F, the seedlings scraped by the planting claws 38 from the seedling mat M PL conveyed in the seedling tank 35 during the traveling of the traveling vehicle body 2, a control unit 100 that controls the seedling planting unit 3 so as to change the amount of seedlings taken by the planting claws 38, and a position information acquisition unit 50 that acquires the position information of the traveling vehicle body 2. The control unit 100 calculates the slip ratio of the traveling vehicle body 2 in the field F from the difference between the first vehicle speed of the traveling vehicle body 2 calculated from the position information acquired by the position information acquisition unit 50 and the second vehicle speed of the traveling vehicle body 2 calculated from the rotational speed of the rear wheels 12, corrects the amount of seedlings taken by the planting claws 38 based on the slip ratio, and the control unit 100 reduces the amount of seedlings taken when the slip ratio is equal to or greater than a predetermined value and increases the amount of seedlings taken when the slip ratio is less than the predetermined value, the seedling transplanter 1.

[0109] According to such a seedling transplanter 1, it is possible to suppress fluctuations in the amount of seedlings used due to changes in the slip ratio of the traveling vehicle body 2 (seedling transplanter 1) traveling in the field F. Thereby, materials (seedlings, seedling mat M PLIt can be used systematically, and the working efficiency can be improved. The slip ratio of the traveling vehicle body 2 (seedling transplanter 1) is preset to a predetermined value according to the distance D between the plants. According to such a seedling transplanter 1, when the slip ratio is equal to or higher than a predetermined value (i.e., when the slip ratio is high), the distance D (D1) between the plants becomes shorter, so fewer seedlings PL are planted. Also, when the slip ratio is below the predetermined value (i.e., when the slip ratio is low), the distance D (D2) between the plants becomes longer, so more seedlings PL are planted. Thus, fluctuations in the usage amount of the seedlings PL due to changes in the slip ratio of the traveling vehicle body 2 (seedling transplanter 1) traveling in the field F can be suppressed.

[0110] (2) In the above (1), the control unit 100 calculates a predetermined working area by the seedling transplanter 1 based on the first vehicle speed, calculates the slip ratio for each working area, and corrects the seedling picking amount for each working area based on the slip ratio for each working area. The seedling transplanter 1.

[0111] According to such a seedling transplanter 1, in addition to the effect of the above (1), by correcting the usage amount of the seedlings PL using the average slip ratio in the predetermined working area S of the traveling vehicle body 2 (seedling transplanter 1), the usage amount of the seedlings PL can be stabilized. W

[0112] (3) In the above (2), the control unit 100 has seedling usage amount information preset according to the working area, calculates the current seedling usage amount, compares the usage amount with the value of the usage amount information, and issues a warning when there is a deviation between the usage amount and the value of the usage amount information. The seedling transplanter 1.

[0113] According to such a seedling transplanter 1, in addition to the effect of the above (2), by comparing the current usage amount of the seedlings PL with the value of the usage amount information, it is possible to determine whether the seedlings PL are being used as planned. Also, by warning when the usage amount of the seedlings PL deviates from the plan, problems such as a shortage of the seedlings PL can be avoided. Thereby, the working efficiency can be further improved.

[0114] ​(4) In the above (1), the control unit 100 controls the feeding amount of the seedling mat M in the seedling tank 35, and by controlling the feeding amount, the compression rate of the seedling mat M can be arbitrarily changed. The seedling transplanter 1. PL The feeding amount of the seedling mat M in the seedling tank 35 is controlled, and by controlling the feeding amount, the compression rate of the seedling mat M PL can be arbitrarily changed. The seedling transplanter 1.

[0115] According to such a seedling transplanter 1, in addition to the effect of the above (1), the usage amount of the seedling PL can be automatically adjusted, and the automatic adjustment of the usage amount of the seedling PL can be achieved with a simple configuration.

[0116] (5) In the above (1), an electrode sensor 91 provided in the seedling tank 35 for measuring the current value of the seedling mat M in the seedling tank 35 is provided, and the control unit 100 calculates the remaining amount of the seedling mat M based on the current value measured by the electrode sensor 91. The seedling transplanter 1. PL The electrode sensor 91 measures the current value of the seedling mat M in the seedling tank 35, and the control unit 100 calculates the remaining amount of the seedling mat M based on the current value measured by the electrode sensor 91. PL The remaining amount of the seedling mat M can be calculated. The seedling transplanter 1.

[0117] According to such a seedling transplanter 1, in addition to the effect of the above (1), by utilizing the fact that the current value varies with the seedling mat M as a resistance, the remaining amount of the seedling mat M PL (seedling PL) can be calculated. As a result, the operator can grasp the remaining amount of the seedling mat M PL (seedling PL). PL The remaining amount of the seedling mat M (seedling PL) can be grasped.

[0118] (6) In the above (1), an ultrasonic sensor 92 provided in the seedling tank 35 for measuring the distance to the seedling mat M in the seedling tank 35 is provided, and the control unit 100 calculates the remaining amount of the seedling mat M based on the distance measured by the ultrasonic sensor 92. The seedling transplanter 1. PL The ultrasonic sensor 92 measures the distance to the seedling mat M in the seedling tank 35, and the control unit 100 calculates the remaining amount of the seedling mat M based on the distance measured by the ultrasonic sensor 92. PL The remaining amount of the seedling mat M can be calculated. The seedling transplanter 1.

[0119] According to such a seedling transplanter 1, in addition to the effect of the above (1), when the distance from a predetermined position to the seedling mat M PL changes rapidly (specifically, when the distance to the seedling mat M PL suddenly becomes short), it can be determined that one additional seedling mat M PL has been added, and the used seedling mat M PL can be counted. Therefore, the seedling mat MPL The remaining amount of (seedling PL) can be calculated. Thereby, the seedling mat M by the operator PL The remaining amount of (seedling PL) can be grasped.

[0120] (7) In any of the above (1) to (6), the seedling mat M in the seedling tank 35 PL is provided on the conveyance path, and the seedling mat M is conveyed from the upstream to the downstream of the conveyance path by the rotation of the seedling feed roller 351 driven and controlled by the control unit 100 PL and a seedling feed belt 352, which is provided at an intermediate position of the conveyance path and at a position where the seedling mat M on the conveyance path PL overlaps with the seedling feed belt 352, and is driven and controlled by the control unit 100 to regulate the seedling mat M at the intermediate position, so that a gap is formed at the boundary B between the upper seedling mat M PL and the lower seedling mat M PL and a stopper 95, and a detection switch 96 provided on the downstream side of the conveyance path from the stopper 95 to detect the presence or absence of the seedling mat M PL The control unit 100 counts that one seedling mat M has been used each time the detection switch 96 detects the seedling mat M PL and, at the boundary B between the upper seedling mat M PL and the lower seedling mat M PL on the conveyance path, when the detection switch 96 detects the absence of the seedling mat M PL the regulation of the seedling mat M by the stopper 95 is released, the seedling feed roller 351 is rotated, and the upper seedling mat M PL is conveyed until it abuts against the lower seedling mat M PL A seedling transplanter 1. PL is conveyed until it abuts against the lower seedling mat M PL A seedling transplanter 1. PL According to such a seedling transplanter 1, in addition to the effects of any of the above (1) to (6), at the boundary B between the upper seedling mat M

[0121] and the lower seedling mat M PL in the conveyance path of the seedling mat M, a gap is formed by the stopper 95, so that the seedling mat M by the detection switch 96 PL and the lower seedling mat M PL and a gap is formed by the stopper 95 at the boundary B between the upper seedling mat M PLThe counting can be surely performed. Further, since the detection switch 96 is provided on the downstream side of the stopper 95, the detection switch 96 can surely count the seedling mat M PL The counting can be surely performed. Further, the seedling mat M PL In the conveyance path of the seedling mat M, when the regulated (stopped) seedling mat M PL overlaps with the seedling feed belt 352, even if the seedling mat M PL is regulated (stopped) by the stopper 95, the seedling mat M PL is conveyed downstream by the seedling feed belt 352.

[0122] Further effects and modifications can be easily derived by those skilled in the art. Therefore, the broader aspects of the present invention are not limited to the specific details and representative embodiments presented and described above. Accordingly, various changes are possible without departing from the spirit or scope of the general inventive concept defined by the appended claims and their equivalents.

Explanation of Reference Numerals

[0123] 1 Seedling transplanter 2 Traveling vehicle body 3 Seedling planting unit 11 Front wheel 12 Rear wheel 35 Seedling tank 38 Planting claw 50 Position information acquisition unit 95 Stopper 96 Detection switch 100 Control unit 351 Seedling feed roller 352 Seedling feed belt B Boundary D Distance F Field M PL Seedling mat PL Seedling S W Working area

Claims

1. A transplanter having front wheels and rear wheels and capable of traveling in a field, a seedling planting unit provided on the traveling vehicle body, and during traveling of the traveling vehicle body, planting in the field the seedlings scraped off from a seedling mat conveyed in a seedling tank by planting claws; a control unit for controlling the seedling planting unit so as to change the amount of seedlings taken by the planting claws; a position information acquisition unit for acquiring position information of the traveling vehicle body and comprising a seedling transplanter, wherein the control unit calculates a slip ratio of the traveling vehicle body in the field from a difference between a first vehicle speed of the traveling vehicle body calculated from the position information acquired by the position information acquisition unit and a second vehicle speed of the traveling vehicle body calculated from the rotational speed of the rear wheels, corrects the amount of seedlings taken by the planting claws based on the slip ratio, and the control unit reduces the amount of seedlings taken when the slip ratio is equal to or greater than a predetermined value, and increases the amount of seedlings taken when the slip ratio is less than the predetermined value, and the control unit calculates a predetermined working area by the seedling transplanter based on the first vehicle speed, calculates the slip ratio for each working area, and corrects the amount of seedlings taken for each working area based on the slip ratio for each working area, a seedling transplanter.

2. The control unit has preset seedling usage information according to the working area, calculates the current amount of seedlings used, compares the amount used with the value of the usage information, and issues a warning if there is a deviation between the amount used and the value of the usage information, the seedling transplanter according to Claim 1.

3. The control unit controls the feeding amount of the seedling mat in the seedling tank, and arbitrarily changes the compression ratio of the seedling mat by controlling the feeding amount, the seedling transplanter according to Claim 1.

4. an electrode sensor provided in the seedling tank for measuring the current value of the seedling mat in the seedling tank and comprising, wherein the control unit calculates the remaining amount of the seedling mat based on the current value measured by the electrode sensor, the seedling transplanter according to Claim 1.

5. a ultrasonic sensor provided in the seedling tank for measuring the distance to the seedling mat in the seedling tank and comprising, wherein the control unit calculates the remaining amount of the seedling mat based on the distance measured by the ultrasonic sensor, the seedling transplanter according to Claim 1.

6. a seedling feeding belt provided in a conveying path of the seedling mat in the seedling tank, and conveying the seedling mat from the upstream to the downstream of the conveying path by rotation of a seedling feeding roller driven and controlled by the control unit It is provided at an intermediate position of the conveying path and at a position where the seedling mat and the seedling feeding belt on the conveying path overlap, and is driven and controlled by the control unit to regulate the seedling mat at the intermediate position, thereby forming a gap at the boundary between the upper seedling mat and the lower seedling mat. A stopper; A detection switch provided on the downstream side of the conveying path from the stopper for detecting the presence or absence of the seedling mat; Comprising; The control unit; Each time the seedling mat is detected by the detection switch, it counts that one seedling mat has been used, and When it is detected by the detection switch that there is no seedling mat at the boundary between the upper seedling mat and the lower seedling mat on the conveying path, the regulation of the seedling mat by the stopper is released, and the seedling feeding roller is rotated to convey the upper seedling mat until it abuts against the lower seedling mat. The seedling transplanter according to any one of claims 1 to 5.

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