Thinning operation vehicle

Abstract

To solve such problems that, in a conventional thinning-out travel vehicle, a structure of a cutting device is complicated and a machine body configuration becomes large, there may be a case in which a cutting blade hits adjacent seedlings and damages the adjacent seedlings if an interval between the adjacent seedlings is narrow, a root is left and grows even if the seedling is cut, and the cut seedlings scatter in a farm field.SOLUTION: There is provided a thinning-out travel vehicle 1 which travels across rows of seedlings 6 planted in a prescribed interval, and which includes a suction system 2 which suctions the seedlings 6 to be removed.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a traveling vehicle for thinning seedlings from a row of seedlings.

Background Art

[0002] Prior Art There is known a thinning traveling vehicle that cuts and removes seedlings at regular intervals from seedlings planted at a predetermined interval in a field, or detects and cuts and removes poorly growing seedlings (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 such conventional technologies, the structure of the cutting device is complex and the body configuration becomes large.

[0005] Also, when the interval between adjacent seedlings is narrow, the cutting blade may hit and damage the adjacent seedlings.

[0006] Furthermore, there is a problem that even if the seedlings are cut, the roots may remain and grow again. Also, there is a problem that the cut seedlings scatter in the field.

[0007] In view of such problems of conventional thinning traveling vehicles, an object of the present invention is to provide a thinning traveling vehicle with a simple configuration that does not damage adjacent seedlings and does not leave roots remaining.

Means for Solving the Problems

[0008] The first invention of the present disclosure is a thinning traveling vehicle that travels across rows of seedlings planted at predetermined intervals, comprising a suction system for sucking the seedlings to be removed, and comprising a storage container for storing the seedlings sucked by the suction system, wherein the suction system has a downward-facing nozzle portion, a position adjustment mechanism capable of adjusting the position of the nozzle portion with respect to the seedlings to be removed, and a suction blower for sucking the seedlings to be removed from the lower end of the nozzle portion, and is a thinning traveling vehicle. The second invention of the present disclosure is imaging means for imaging seedlings, comprising the nozzle portion and a distance sensor for measuring the distance between the nozzle portion and the vegetation surface on which the seedlings are planted, wherein the control unit determines the seedlings to be removed based on the imaging data obtained by the imaging means, and controls the position adjustment mechanism so that the nozzle portion moves to a position where it can suck the seedlings to be removed, based on the imaging data and the distance data obtained by the distance sensor. It is a thinning traveling vehicle of the first invention of the present disclosure. The first invention related to the present disclosure teeth, A thinning vehicle that travels across rows of seedlings planted at predetermined intervals, This is a thinning vehicle that is equipped with a suction system that sucks up the seedlings to be removed.

[0009] The second invention related to the present disclosure teeth, A storage container for storing seedlings sucked by the suction system is provided. The first invention related to the present disclosure It is a vehicle for thinning out the population.

[0010] The third invention related to the present disclosure teeth, The suction system has a nozzle portion facing downward, a position adjustment mechanism that can adjust the position of the nozzle portion relative to the seedlings to be removed, and a suction blower that sucks the seedlings to be removed from the lower end of the nozzle portion. The second invention related to the present disclosure It is a vehicle for thinning out the population.

[0011] The fourth invention related to the present disclosure teeth, Imaging means for imaging the seedlings; a distance sensor for measuring the distance between the nozzle unit and a vegetation surface on which seedlings are planted; The control unit determines seedlings to be removed based on the image data captured by the imaging means, and controls the position adjustment mechanism based on the image data and distance data captured by the distance sensor so that the nozzle unit moves to a position where it can suck up the seedlings to be removed. The third invention related to the present disclosure It is a vehicle for thinning out the population. [Effects of the Invention]

[0012] According to the present disclosure, a thinning traveling vehicle with a simple configuration can be realized that does not damage adjacent seedlings and does not leave roots remaining. Furthermore, there is no problem of the cut seedlings scattering in the field, and the seedlings to be removed can be accurately sucked and removed. The first invention related to the present disclosure As a result, it is possible to realize a thinning traveling vehicle with a simple configuration that does not damage adjacent seedlings and does not leave roots behind.

[0013] According to the second invention related to the present disclosure, the first invention related to the present disclosure In addition to the effects of, there is also no problem that the cut seedlings are scattered in the field.

[0014] According to the third invention related to the present disclosure, the first and second inventions related to the present disclosure In addition to the effects of the invention of, the seedlings to be removed can be accurately sucked and removed.

[0015] According to the fourth invention related to the present disclosure, the first invention related to the present disclosure , in addition to the effects of the second and third inventions, by using the image data, the seedlings to be removed can be sucked more accurately.

Brief Description of the Drawings

[0016]

FIG. 1

FIG. 2

FIG. 3

FIG. 4

FIG. 5

Modes for Carrying Out the Invention

[0017] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0018] FIG. 1 is an example of a thinning traveling vehicle according to an embodiment of the present invention. Hereinafter, front-rear, left-right, and up-down are defined based on the traveling direction of the thinning traveling vehicle.

[0019] FIG. 1 is a perspective view of the thinning traveling vehicle 1 according to an embodiment of the present invention. FIG. 2 is an enlarged side view of the suction system 2.

[0020] Here, the traveling vehicle body 3 is equipped with front wheels 4 and rear wheels 5, and can move forward and backward by driving with a motor or the like. This traveling vehicle body 3 is equipped with a suction system 2. This suction system 2 has a suction system main body 2a and the like. That is, a nozzle portion 2b and a vertical drive portion 2c for moving the nozzle portion 2b in the vertical direction are attached to the lower portion of the suction system main body 2a. It is desirable that the vertical center of the suction system main body 2a coincides with the vertical center of the nozzle portion 2b (see K in FIG. 2). This facilitates the alignment control of the nozzle portion 2b. Further, a suction blower 2e is attached to the upper end of the nozzle portion 2b via a suction hose 2d. In addition, a pressure sensor 16 is provided on the path of the suction hose 2d. When a high pressure continues for a long time during seedling conveyance, the control unit 10 determines that the seedlings are clogged, stops the traveling vehicle body 3, intermittently drives the blower 2e to remove the clog, and after the pressure drops, starts driving again.

[0021] On the other hand, the suction system main body 2a can move in the left - right direction on left - right rails 2f extending in the left - right direction. Further, these left - right rails 2f can move in the front - rear direction on front - rear rails 2g extending in the front - rear traveling direction. As a result, the nozzle portion 2b can be position - adjusted in the left - right direction and the front - rear direction.

[0022] Also, as described above, the nozzle portion 2b can move in the vertical direction and can be position - adjusted.

[0023] Note that 2b1 in FIG. 2 is a partition plate attached to the side surface of the lower end of the nozzle portion 2b, and the lower end of the partition plate 2b1 is located below the lowermost end portion of the nozzle portion 2b (see M in FIG. 2). It is a member that serves to prevent adjacent plants from being sucked.

[0024] The position adjustment mechanism of the present invention is constituted by the suction system main body 2a, the left - right rails 2f, the front - rear rails 2g, the vertical drive portion 2c, and the like.

[0025] Furthermore, a bag 7 for storing the seedlings 6 sucked in is arranged in the suction blower 2e. This bag 7 is an example of the storage container of the present invention.

[0026] In addition, imaging means 8 for imaging the seedlings 6 is arranged downward at the front part of the traveling vehicle body 3. A distance sensor 9 for measuring the distance between the nozzle part 2b and the vegetation surface F where the seedlings 6 are planted is also arranged beside it. That is, since the distance relationship between the distance sensor 9 and the nozzle part 2b is preset, the distance between the nozzle part 2b and the vegetation surface F can be calculated from the distance data measured by the distance sensor 9 from the distance sensor 9 to the vegetation surface F.

[0027] The control unit 10 is a means for determining the seedlings to be removed based on the imaging data by the imaging means 8, and further determining the deviation in the front-rear direction and the left-right direction of the seedlings 6 to be removed based on the imaging data.

[0028] Note that 11 is a start switch.

[0029] Next, the case of thinning out the seedlings to be removed will be described. Fig. 3(A) shows the state of thinning out the seedlings 6 densely growing in rows as the vegetation surface F so that only one plant remains.

[0030] First, by pressing the start switch 11, the traveling vehicle body 3 moves forward, but the control unit 10 stops the traveling vehicle body 3 at the position of the planned seedlings 6. After the stop, the imaging means 8 images the seedlings 6 from above, analyzes the imaging image, determines which of the three plants should be thinned out, and identifies the plant to be removed. For example, when three plants are densely growing together, first, one of the end plants is determined to be the plant to be removed.

[0031] Next, the control unit 10 determines the deviation in the plan view between the plant to be removed and the nozzle part 2b by analyzing the imaging image. For example, it is determined that the plant to be removed is shifted 1 cm to the right and 2 cm forward from the nozzle part 2b. Since the positional relationship between the nozzle part 2b and the imaging image in the plan view has been designed and known in advance, it can be calculated.

[0032] Now, when the control unit 10 determines that it has shifted 1 cm to the right, the suction system main body 2a is moved 1 cm to the right on the left and right rails 2f so that the nozzle unit 2b moves 1 cm to the right. Further, when it is determined that it has shifted 2 cm forward, the left and right rails 2f are moved 2 cm forward on the front and rear rails 2g so that the nozzle unit 2b moves 2 cm forward.

[0033] After moving the nozzle unit 2b directly above the stock to be removed in this way, the control unit 10 lowers the nozzle unit 2b by the vertical drive unit 2c by a distance obtained by subtracting the height of the seedling 6 from the distance to the vegetation surface F measured by the distance sensor 9. The height of the seedling 6 is roughly known in advance, and since the nozzle unit 2b sucks, it is not necessary to bring the nozzle unit 2b into strict contact with the seedling 6, so it is sufficient to bring it close.

[0034] Thereafter, the control unit 10 sucks the air from the nozzle unit 2b by the suction blower 2e to suck the stock to be removed, and stores the lower part thereof in the rear bag 7 through the hose 2d.

[0035] Note that 7a is a full cup sensor that detects whether the bag 7 is full of the sucked seedlings 6. When it becomes full, the red 13a of the patrolite (registered trademark) 13 blinks, the traveling vehicle body 3 stops, and the blower 2e also stops. Thereafter, the operator removes the bag 7 from the suction blower 2e, empties the bag 7, and then attaches it to the suction blower 2e again. Note that 7b is a one-touch mechanism for attaching the bag 7 to the suction blower 2e.

[0036] After removing one stock in this way, other stocks of the seedlings 6 to be removed are removed by the above-described process.

[0037] In FIG. 1, 3’ is an additional traveling vehicle body mechanism provided for simultaneously thinning two rows of seedlings when two rows of seedlings 6 are planted in a ridge as shown in FIG. 3(B), and another set of the suction system 2 and the like is additionally installed.

[0038] In FIG. 1, reference numeral 12 denotes a ridge end detection sensor that detects the end of a ridge and blinks the blue light 13b of the patrol light (registered trademark) 13, which is to notify the operator that the end of the ridge has been reached.

[0039] In FIG. 1, reference numeral 14 denotes a handle attached to both the left and right sides of the traveling vehicle body 3. When moving the vehicle body to an adjacent ridge, two persons can move it by holding the respective handles 14, 14.

[0040] In FIG. 1, reference numeral 15 denotes a clutch lever 15 attached to the rear part of the traveling vehicle body 3. By gripping either the left or right clutch levers 15a, 15b, the drive of one wheel can be stopped and rotated, and a person can move to an adjacent ridge alone.

[0041] In the above embodiment, among the three plants, one or two plants were thinned out. However, the present invention is not limited to this, and the traveling vehicle body 3 may be intermittently advanced as appropriate, and defective seedlings 6 may be found by image analysis and removed as the seedlings to be removed as described above.

[0042] Next, another embodiment will be described.

[0043] In the above embodiment, the vertical position adjustment was performed by vertically moving the nozzle portion 2b by the vertical drive portion 2c. However, as shown below, the vertical adjustment of the nozzle portion 2b may be performed by vertically moving the traveling vehicle body 3.

[0044] That is, in this embodiment, as shown in FIG. 4, the traveling vehicle body 3 is supported by a front wheel case shaft 24a, a rear wheel case shaft 25a, and a connecting shaft point 23. The front wheel case shaft 24a is pivotally attached to the upper end of the front wheel case 24, and the rear wheel case shaft 25a is pivotally attached to the upper end of the rear wheel case 25. A front wheel 4 is rotatably connected to the lower end of the front wheel case 24, and a rear wheel 5 is rotatably connected to the lower end of the rear wheel case 25.

[0045] Furthermore, a front arm 18 extends from the upper end of the front wheel case 24, and a rear arm 19 extends from the upper end of the rear wheel case 25. Note that N is a furrow.

[0046] A front cylinder 20 is rotatably connected to the tip of the front arm 18, and a rear cylinder 21 is rotatably connected to the tip of the rear arm 19. The cylinder rods of these front cylinder 20 and rear cylinder 21 are both rotatably connected to a connecting shaft 23.

[0047] Furthermore, a drive motor 17 for driving the front wheels 4 by a chain 17a is mounted on the front wheel case 24, and the drive shaft of the drive motor 17 and the front wheel case shaft 24a are coaxial. Thus, even when moved up and down, there is no need to adjust the tension of the chain 17a.

[0048] In such a structure, when the rods of the front cylinder 20 and the rear cylinder 21 are extended, the traveling vehicle body 3 rises, and when they are retracted, the traveling vehicle body 3 descends. By the traveling vehicle body 3 rising and falling like this, the vertical relative distance between the nozzle part 2b and the vegetation surface F of the ridge changes.

[0049] By moving the traveling vehicle body 3 up and down like this, the vertical position adjustment of the nozzle part 2b can be performed.

[0050] Note that after roughly adjusting the vertical position of the nozzle part 2b with respect to the ridge by moving the traveling vehicle body 3 up and down, the vertical position of the nozzle part 2b may be precisely adjusted by the vertical movement drive part 2c.

[0051] Next, another embodiment will be described.

[0052] In the above embodiment, the front-back position adjustment was achieved by moving the left and right rails 2f on which the suction system main body 2a having the nozzle portion 2b was placed in the front-back direction on the front-back rail 2g extending in the forward and backward travel directions. However, as shown in FIG. 5, the front-back position adjustment may be performed by the forward and backward control of the traveling vehicle body 3. That is, in this embodiment, the front-back rail 2g is not provided. Further, this embodiment has a structure for one row.

[0053] In this way, the front-back position adjustment of the nozzle portion 2b can also be performed by the forward and backward control of the traveling vehicle body 3.

[0054] Note that the seedlings targeted by the present invention may be not only the seedlings on the ridges but also the seedlings planted in a flat field, and the seedlings can be thinned in the same way when thinning them.

Industrial Applicability

[0055] The present invention can provide a thinning traveling vehicle with a simple configuration that does not damage adjacent seedlings and does not leave roots, and is optimal for the field of thinning seedlings.

Explanation of Signs

[0056] 1 Thinning traveling vehicle 2 Suction system 2a Suction system main body 2b Nozzle portion 2c Vertical movement drive unit 2d Suction hose 2e Blower 2f Left and right rails 2g Front and back rails 3 Traveling vehicle body 4 Front wheels 5 Rear wheels 6 Seedlings 7 Bags 8 Imaging means 9 Distance sensor 10 Control unit 11 Start switch 12 Ridge end detection sensor 13 Patrolite (registered trademark) 14 Handle 15 Clutch Lever 16 Pressure Sensor 17 Drive Motor 17a Chain 18 Front Arm 19 Rear Arm 20 Cylinder for Front 21 Cylinder for Rear 22 Connecting Shaft 24 Front Wheel Case 25 Rear Wheel Case F Vegetation Surface of Furrow K Vertical Center M Difference in Position N Furrow

Claims

1. A thinning vehicle that travels across rows of seedlings planted at regular intervals, comprising a suction system for sucking the seedlings to be removed, and comprising a storage container for storing the seedlings sucked by the suction system, wherein the suction system has a downward-facing nozzle portion, a position adjustment mechanism capable of adjusting the position of the nozzle portion with respect to the seedlings to be removed, and a suction blower for sucking the seedlings to be removed from the lower end of the nozzle portion. A thinning vehicle.

2. imaging means for imaging seedlings, and comprising a distance sensor for measuring the distance between the nozzle portion and the vegetation surface on which the seedlings are planted, The control unit determines the seedlings to be removed based on the imaging data obtained by the imaging means, and moves the nozzle portion to a position where it can suck the seedlings to be removed based on the imaging data and the distance data obtained by the distance sensor. The thinning vehicle according to claim 1, wherein the position adjustment mechanism is controlled.

Images