Work vehicles

Abstract

To solve the problem with a conventional work vehicle that the usability when using convenient functions is not always satisfactory, more specifically, in a work vehicle like a conventional rice planting machine, fertility degree measurement for automatically adjusting a fertilizer application amount, for example, cannot always be used easily.SOLUTION: A rice planting machine for planting seedlings to a farm field while travelling includes: a seedling planting device 20 for planting seedlings; and a sensor 30 for detecting electric resistance of soil between a first sensor electrode part 31 and a second sensor electrode part 32 for calculating a fertility degree of soil in the farm field. The first sensor electrode part 31 and the second sensor electrode part 32 are attached to the seedling planting device 20.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a work vehicle such as a rice transplanter. [Background technology]

[0002] In a work vehicle having a material transporting device at the front of the traveling body, a fertilizer application device at the rear of the traveling body, a first field information detection member that detects field information on the traveling body, and a control device that changes the amount of fertilizer applied by the fertilizer application device based on the field information detected by the first field information detection member, a work vehicle is known in which the first field information detection member is provided below the material transporting device (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-198005 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, the inventor believes that the trend of implementing convenient functions one after another in work vehicles such as rice transplanters will continue to accelerate, taking into consideration the various needs of work vehicle users.

[0005] However, the inventors have noticed that conventional work vehicles are not necessarily easy to use when using convenient functions.

[0006] More specifically, the inventors have realized that for work vehicles such as conventional rice transplanters, for example, fertility measurements for automatically adjusting the amount of fertilizer applied are not always readily available.

[0007] SUMMARY OF THE INVENTION In consideration of the above-mentioned problems inherent in the prior art, the present invention has an object to provide a work vehicle that can improve usability. [Means for solving the problem]

[0008] The first aspect of the present invention is a work vehicle that plants seedlings in a field while traveling, a seedling planting device for planting the seedlings; a sensor for detecting an electrical resistance of the soil between a first sensor electrode portion and a second sensor electrode portion in order to calculate the fertility of the soil in the field; It is equipped with the first sensor electrode unit and the second sensor electrode unit are attached to the seedling planting device, The seedling planting device has a float whose bottom surface is brought into contact with the soil surface of the soil, and a seedling planting body frame from which the float is suspended; The work vehicle is characterized in that the first sensor electrode unit and the second sensor electrode unit are attached to the seedling planting main body frame. The second aspect of the present invention is a method for planting seedlings comprising the steps of: the first sensor electrode portion and the second sensor electrode portion are attached to the front of the groove former, In a first aspect of the present invention, the work vehicle is characterized in that the first sensor electrode portion and the second sensor electrode portion are higher than the bottom surface of the furrow former. A third aspect of the present invention is the work vehicle according to the second aspect of the present invention, wherein the first sensor electrode portion and the second sensor electrode portion are lower than a bottom surface of the float. The fourth aspect of the present invention is a method for planting seedlings, the seedling planting device having a soil leveling rotor for leveling the soil surface, In a third aspect of the present invention, there is provided a work vehicle, wherein the first sensor electrode unit and the second sensor electrode unit are attached to the rear of the ground leveling rotor. The fifth aspect of the present invention is the work vehicle of the fourth aspect of the present invention, characterized in that the positions of the first sensor electrode unit and the second sensor electrode unit are shifted toward the inside or outside of the vehicle body based on the left-right direction compared to the positions of the left and right wheels. The sixth aspect of the present invention is the work vehicle of the fifth aspect of the present invention, characterized in that the calculation of the fertility based on the detected electrical resistance is adjusted according to the seedling planting depth at which the seedlings are planted. The seventh aspect of the present invention is that the float is suspended from the seedling planting body frame via a float suspension member rotatably attached to the seedling planting body frame, A seedling planting depth adjustment lever member is provided to rotate the float hanging member, A pin member is erected on the float suspending member, A pin member position sensor for detecting the position of the pin member is attached to the seedling planting main body frame, A sixth aspect of the present invention is a work vehicle, characterized in that the orientation of the pin member is upward at a rotation angle of the float hanging member corresponding to the predetermined seedling planting depth. First invention related to the present invention is a work vehicle that plants seedlings in a field while traveling, a seedling planting device for planting the seedlings; a sensor for detecting an electrical resistance of the soil between a first sensor electrode portion and a second sensor electrode portion in order to calculate the fertility of the soil in the field; It is equipped with The work vehicle is characterized in that the first sensor electrode unit and the second sensor electrode unit are attached to the seedling planting device.

[0009] Second invention related to the present invention The seedling planting device has a float whose bottom surface is brought into contact with the soil surface of the soil, and a seedling planting main frame from which the float is suspended, The first sensor electrode unit and the second sensor electrode unit are attached to the seedling planting main body frame. First invention related to the present invention It is a work vehicle.

[0010] Third invention related to the present invention The seedling planting device has a float whose bottom surface is brought into contact with the soil surface of the soil, The first sensor electrode portion and the second sensor electrode portion are attached to the bottom surface of the float. First invention related to the present invention It is a work vehicle.

[0011] The fourth invention related to the present invention The seedling planting device has a furrow former for forming furrows in the soil surface, the first sensor electrode portion and the second sensor electrode portion are attached to the front of the groove former, The first sensor electrode portion and the second sensor electrode portion are higher than the bottom surface of the groove former. Second invention related to the present invention It is a work vehicle.

[0012] Fifth Invention Related to the Present Invention The first sensor electrode portion and the second sensor electrode portion are lower than the bottom surface of the float. The fourth invention related to the present invention It is a work vehicle.

[0013] The sixth invention related to the present invention The seedling planting device has a ground leveling rotor for leveling the soil surface, The first sensor electrode unit and the second sensor electrode unit are attached to the rear of the ground leveling rotor. Fifth Invention Related to the Present Invention It is a work vehicle.

[0014] Seventh Invention Related to the Present Invention The position of the first sensor electrode unit and the second sensor electrode unit is shifted toward the inside or outside of the vehicle body based on the left-right direction compared to the positions of the left and right wheels. The sixth invention related to the present invention It is a work vehicle.

[0015] Eighth invention related to the present inventionThe calculation of the fertility based on the detected electrical resistance is adjusted according to the seedling planting depth at which the seedlings are planted. Seventh Invention Related to the Present Invention It is a work vehicle.

[0016] Ninth invention related to the present invention The float is suspended from the seedling planting body frame via a float suspension member rotatably attached to the seedling planting body frame, A seedling planting depth adjustment lever member is provided to rotate the float hanging member, A pin member is erected on the float suspending member, A pin member position sensor for detecting the position of the pin member is attached to the seedling planting main body frame, The orientation of the pin member is upward at a rotation angle of the float hanging member corresponding to the predetermined seedling planting depth. Eighth invention related to the present invention It is a work vehicle. [Effects of the Invention]

[0017] The present invention can improve usability. First invention related to the present invention This makes it possible to improve usability.

[0018] Second invention related to the present invention Therefore, First invention related to the present invention In addition to the above effects, it is possible to further improve usability.

[0019] Third invention related to the present invention Therefore, First invention related to the present invention In addition to the above effects, it is possible to further improve usability.

[0020] The fourth invention related to the present invention Therefore, Second invention related to the present invention In addition to the above effect, it is possible to reduce the burden on the worker.

[0021] Fifth Invention Related to the Present Invention Therefore, The fourth invention related to the present invention In addition to the above effect, it is possible to improve convenience.

[0022] The sixth invention related to the present invention Therefore, Fifth Invention Related to the Present Invention In addition to the above effects, it is possible to further improve convenience.

[0023] Seventh Invention Related to the Present Invention Therefore, The sixth invention related to the present invention In addition to the above effects, it is possible to improve the practicality.

[0024] Eighth invention related to the present invention Therefore, Seventh Invention Related to the Present Invention In addition to the above effect, reliability can be improved.

[0025] Ninth invention related to the present invention Therefore, Eighth invention related to the present invention In addition to the above effect, the configuration can be simplified. [Brief explanation of the drawings]

[0026] [Figure 1] (a) is a left side view of a rice transplanter according to an embodiment of the present invention; (b) is a plan view of the rice transplanter according to an embodiment of the present invention; [Figure 2] (a) is a perspective view of the vicinity of the float of the rice transplanter according to the embodiment of the present invention, (b) is a bottom view of the vicinity of the float of the rice transplanter according to the embodiment of the present invention [Figure 3] An explanatory diagram of a sensor of a rice transplanter according to an embodiment of the present invention. [Figure 4] FIG. 1 is a left side view (part 1) of the vicinity of the float of the rice transplanter according to the first modified example of the embodiment of the present invention. [Figure 5] FIG. 2 is a left side view (part 2) of the rice transplanter according to the first modified example of the embodiment of the present invention, in the vicinity of the float. [Figure 6] (a) A left side view (part 3) of the vicinity of the float of the rice transplanter of the first modified example of the embodiment of the present invention, (b) A left side view (part 4) of the vicinity of the float of the rice transplanter of the first modified example of the embodiment of the present invention. [Figure 7] FIG. 5 is a left side view of the vicinity of the float of the rice transplanter according to the first modified example of the embodiment of the present invention. [Figure 8]FIG. 6 is a left side view of the vicinity of the float of the rice transplanter according to the first modified example of the embodiment of the present invention. [Figure 9] FIG. 7 is a left side view of the vicinity of the float of the rice transplanter according to the first modified example of the embodiment of the present invention. [Figure 10] FIG. 8 is a left side view of the vicinity of the float of the rice transplanter according to the first modified example of the embodiment of the present invention. [Figure 11] 1 is a plan view (part 1) of the vicinity of the float of the rice transplanter according to the first modified example of the embodiment of the present invention. [Figure 12] FIG. 1 is an explanatory diagram (part 1) of the fertility calculation adjustment of the rice transplanter according to the first modified example of the embodiment of the present invention. [Figure 13] FIG. 2 is an explanatory diagram (part 2) of the fertility calculation adjustment of the rice transplanter according to the first modified example of the embodiment of the present invention. [Figure 14] FIG. 3 is an explanatory diagram of the fertility calculation adjustment of the rice transplanter according to the first modified example of the embodiment of the present invention. [Figure 15] FIG. 9 is a left side view of the vicinity of the float of the rice transplanter according to the first modified example of the embodiment of the present invention. [Figure 16] 1 is a plan view (part 2) of the vicinity of the float of the rice transplanter according to the first modified example of the embodiment of the present invention. [Figure 17] FIG. 10 is a left side view of the vicinity of the float of the rice transplanter according to the first modified example of the embodiment of the present invention. [Figure 18] FIG. 10 is an explanatory diagram of a fertilizer hopper device of a rice transplanter according to a second modified example of an embodiment of the present invention. [Figure 19] An explanatory diagram of a fertilizer blower device of a rice transplanter according to a second modified example of an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0027] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the drawings.

[0028] Similarly, some components may not be shown in the drawings, or may be shown in perspective or in simplified form.

[0029] While explaining the operation of the rice transplanter according to the embodiment of the present invention, we will also explain a work vehicle operation control method according to an invention related to the present invention, which is realized by the rear controller 103 and the like.

[0030] Such a rice transplanter is a work vehicle that plants seedlings in a field while traveling, and is a specific example of the work vehicle of the present invention.

[0031] (1) First, the configuration and operation of the rice transplanter according to the embodiment of the present invention will be specifically described.

[0032] The sensor 30 is a sensor that detects the electrical resistance of the soil between the first sensor electrode portion 31 and the second sensor electrode portion 32 in order to calculate the fertility of the soil in the field. The first sensor electrode portion 31 and the second sensor electrode portion 32 are attached to the seedling planting device 20 that plants seedlings.

[0033] For example, as shown in Figure 1(a), which is a left side view of a rice transplanter according to an embodiment of the present invention, and Figure 1(b), which is a plan view of a rice transplanter according to an embodiment of the present invention, in measuring fertility using a first sensor electrode unit 31 and a second sensor electrode unit 32 as rice transplanter float electrodes, the first sensor electrode unit 31 and the second sensor electrode unit 32 are attached at symmetrical float electrode placement positions P.

[0034] In a rice transplanter equipped with a fertilizer applicator, soil fertility can be measured by placing the first sensor electrode unit 31 and the second sensor electrode unit 32 on the float 26 of the planting section of the seedling planting device 20. Configurations in which electrodes are placed by attaching so-called slip rings to wheels 10 such as the front wheels tend to be expensive, but by placing the electrodes on the float 26, soil fertility in a field can be measured with an inexpensive configuration.

[0035] The first sensor electrode 31 and the second sensor electrode 32 are arranged symmetrically with respect to the left and right direction so that the float 26, which is the center float of the planting section, is sandwiched between them. By measuring the electrical resistance between two points in the soil sandwiched between the first sensor electrode 31 and the second sensor electrode 32, the amount of electrolytes inside the soil can be estimated.

[0036] The seedling planting device 20 has a float 26 whose bottom surface 26f is brought into contact with the soil surface of the soil. A first sensor electrode portion 31 and a second sensor electrode portion 32 are attached to the float bottom surface 26f.

[0037] For example, as shown in Figure 2(a), which is an oblique view of the vicinity of the float 26 of a rice transplanter according to an embodiment of the present invention, and Figure 2(b), which is a bottom view of the vicinity of the float 26 of a rice transplanter according to an embodiment of the present invention, the installation state of the first sensor electrode unit 31 and the second sensor electrode unit 32 can be seen from the top surface and bottom surface of the side float of the float 26.

[0038] The first sensor electrode unit 31 and the second sensor electrode unit 32 are fastened to the float part of the float 26 with bolts or the like, and are arranged at two or more locations on the bottom surface 26f of the float, and are insulated from and do not electrically contact other electrodes or metal parts 102 such as the metal frame. This electrode insulation of the first sensor electrode unit 31 and the second sensor electrode unit 32 makes it possible to accurately measure the electrical resistance between two points in the soil while eliminating unnecessary electrical resistance.

[0039] The first sensor electrode part 31 and the second sensor electrode part 32 are attached to the float 26 by fastening them together with the soil cover plate 101, and by utilizing electrical conductivity with the soil cover plate 101, a sufficient contact area of the sensor electrode with the soil can be ensured.

[0040] Of course, since it is important to ensure such a sensor electrode contact area, a configuration may be adopted in which the soil cover plate 101 overlaps with the first sensor electrode portion 31 and the second sensor electrode portion 32 in a planar view, or a configuration may be adopted in which the soil cover plate 101 does not overlap with the first sensor electrode portion 31 and the second sensor electrode portion 32 in a planar view.

[0041] The electrical conductivity of the soil described above is measured and recorded from the electrical resistance between two or more electrodes, such as the first sensor electrode portion 31 and the second sensor electrode portion 32. Such electrical conductivity can be calculated from the surface area of the electrodes, the internal resistance of the circuit, and the detected voltage.

[0042] If a system that acquires location information using the Global Navigation Satellite System (GNSS) is installed, location information is recorded along with electrical conductivity when the vehicle travels a distance greater than a predetermined distance from the most recent point where electrical conductivity was recorded. Because electrical conductivity is recorded for each predetermined distance, recording of redundant data is avoided.

[0043] Even if a system that acquires location information via GNSS is implemented, if location information cannot be acquired via GNSS due to poor radio reception or other reasons, the location information will be recorded along with electrical conductivity each time the vehicle travel distance measured by the rear wheel rotation sensor reaches a predetermined distance.

[0044] In cases where a specification is adopted in which a GNSS antenna is not installed and a system for obtaining location information via GNSS is not implemented, it is conceivable that the location information may be recorded along with the electrical conductivity each time the vehicle travel distance measured by the rear wheel rotation sensor reaches a predetermined distance.

[0045] The measured electrical conductivity of the field is not necessarily recorded, and the amount of fertilizer applied may be increased or decreased depending on the measurement results. The amount of fertilizer applied can be adjusted according to the fertility of the field.

[0046] It is also conceivable that the amount of fertilizer applied may be increased or decreased based on criteria such as the average value and standard deviation of the electrical conductivity only when a predetermined number of pieces of electrical conductivity data or more have been acquired.

[0047] The pass / fail determination of the grounding condition of the float 26 performed by a float angle sensor in the center float section, such as a float elevation angle sensor, can be used as one of the electrical conductivity recording conditions for the first sensor electrode section 31 and the second sensor electrode section 32.

[0048] For example, as shown in Figure 3, which is an explanatory diagram of sensor 30 of a rice transplanter according to an embodiment of the present invention, in the fertilizer clogging sensor input circuit of rear controller 103, which is used as the sensor electrode part of the fertilizer clogging sensor part, there is almost no time delay in the voltage rise from 0 volts to 5 volts due to diode 104, but there is a time delay in reducing noise through a filter effect due to RC circuit 105.

[0049] By arranging electrical elements using diodes 104 and RC circuits 105 in the electrode input circuits of the first sensor electrode unit 31 and the second sensor electrode unit 32, a time delay is generated when a change from a high electrical conductivity state to a low electrical conductivity state occurs. Even if the first sensor electrode unit 31 and the second sensor electrode unit 32 are momentarily lifted due to a vehicle bouncing in the field, for example, the electrical conductivity is unlikely to immediately drop to zero. This electrical element arrangement is achieved by effectively utilizing the empty space in the existing fertilizer clogging sensor unit.

[0050] By using a separate diode electrical element arrangement instead, it is possible to eliminate this time delay when a change from high conductivity to low conductivity occurs, allowing for immediate response even in the event of a sudden passage through a high fertility area.

[0051] (2) Next, the configuration and operation of the rice transplanter according to the embodiment of the present invention will be described in more detail.

[0052] The seedling planting device 20 has a float 26 whose bottom surface 26f is brought into contact with the soil surface, and a seedling planting main frame 21 from which the float 26 is suspended. A first sensor electrode unit 31 and a second sensor electrode unit 32 are attached to the seedling planting main frame 21.

[0053] For example, as shown in Figure 4, which is a left side view (part 1) of the vicinity of float 26 of a rice transplanter according to a first variant of an embodiment of the present invention, when a large external force is applied to measure fertility using the first sensor electrode unit 31 and the second sensor electrode unit 32 as simple electrode sensors, the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 rotate toward the rear of the vehicle body against the elastic force of spring 201, thereby preventing damage to the electrode plates.

[0054] That is, the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 are made of leaf springs, and contact of the electrode plates with the soil surface is always ensured when planting seedlings. This constant contact of the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 with the soil surface not only ensures accurate electrical resistance measurements that lead to accurate calculations of fertility, but also prevents damage to the electrode plates by utilizing the leaf spring relief that accompanies rotation.

[0055] The pivot point for such rotation is provided on the top of the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32, and by utilizing gravity, the electrode plates rotate under their own weight, so that contact of the electrode plates with the soil surface is guaranteed with an inexpensive configuration.

[0056] For example, as shown in Figure 5, which is a left side view (part 2) of the vicinity of float 26 of a rice transplanter according to a first variant of an embodiment of the present invention, when a large external force is applied, the electrode plates of the first sensor electrode portion 31 and the second sensor electrode portion 32 move away, but since spring 201 functions as a return spring, the electrode plates are smoothly returned to their normal positions.

[0057] That is, by using a torque spring or the like, spring 201 is inserted into the pivot point of first sensor electrode unit 31 and second sensor electrode unit 32. The electrode plate pressing force caused by the elastic force of spring 201 applied toward the soil surface prevents the electrode plate from floating due to the planting unit bouncing of seedling planting device 20, which makes it impossible to measure electrical resistance, and therefore, accurate calculation of soil fertility is expected.

[0058] The leaf spring relief direction of the first sensor electrode unit 31 and the second sensor electrode unit 32 is toward the rear of the vehicle body. When the vehicle body moves forward, damage to the electrode plate due to mechanical lock, which is likely to occur in specifications where the leaf spring relief direction is toward the front of the vehicle body, is unlikely to occur, and when the vehicle body moves backward, the planting section of the seedling planting device 20 is raised, so damage to the electrode plate due to the leaf spring relief almost never occurs.

[0059] For example, as shown in Figures 6(a) and 6(b), which are left side views (parts 3 and 4) of the vicinity of the float 26 of a rice transplanter according to a first variant embodiment of the present invention, the lock plate 202 abuts against the so-called planting unit frame, such as the seedling planting main frame 21, so that the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 do not rotate excessively in the direction of rotation toward the front of the vehicle body, and the electrode plates are reliably returned to their normal positions.

[0060] That is, the lock plate 202 is attached to prevent the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 from rotating toward the front of the vehicle by an amount that exceeds the necessary amount of rotation. This prevents damage to the electrode plates that can occur due to mechanical lock caused by excessive rotation toward the front of the vehicle.

[0061] The seedling planting device 20 has a furrow former 27 for forming furrows in the soil surface. The first sensor electrode unit 31 and the second sensor electrode unit 32 are attached to the front of the furrow former 27.

[0062] For example, as shown in Figure 7, which is a left side view (part 5) of the vicinity of the float 26 of a rice transplanter of a first variant embodiment of the present invention, the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 are positioned in front of the furrow former 27.

[0063] That is, in a rice transplanter configured such that the first sensor electrode unit 31 and the second sensor electrode unit 32 are arranged in the planting section of the seedling planting device 20 as variable fertilization type electrode sensors, the first sensor electrode unit 31 and the second sensor electrode unit 32 are arranged closer to the front of the vehicle body than the furrow former 27. In a configuration in which the first sensor electrode unit 31 and the second sensor electrode unit 32 are arranged closer to the rear of the vehicle body than the furrow former 27, the electrical resistance that indicates fertility may change due to the influence of the sprayed fertilizer, but in a configuration in which the first sensor electrode unit 31 and the second sensor electrode unit 32 are arranged closer to the front of the vehicle body in this way, the electrical resistance is less likely to change due to the influence of the sprayed fertilizer.

[0064] The first sensor electrode portion 31 and the second sensor electrode portion 32 are higher than the groove former bottom surface 27 f of the groove former 27 .

[0065] For example, as shown in Figure 8, which is a left side view (part 6) of the vicinity of the float 26 of a rice transplanter of a first variant embodiment of the present invention, the positions of the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 are positioned higher than the position of the furrow former bottom surface 27f.

[0066] That is, the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 are higher than the bottom surface 27f of the furrow former. Even when the planting unit of the seedling planting device 20 is lowered, damage to the electrode plates, which is likely to occur when the electrode plates are lower than the furrow former 27, hardly occurs at all.

[0067] The first sensor electrode portion 31 and the second sensor electrode portion 32 are lower than the float bottom surface 26f.

[0068] For example, as shown in Figure 9, which is a left side view (part seven) of the vicinity of the float 26 of a rice transplanter according to a first variant embodiment of the present invention, the positions of the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 are positioned lower than the position of the bottom surface 26f of the float.

[0069] That is, the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 are lower than the bottom surface 26f of the float. Even when the amount of water is small or the soil is hard, the electrode plate does not float up, which is likely to occur when the electrode plates are higher than the float 26, and accurate electrical resistance measurement is promoted.

[0070] The seedling planting device 20 has a soil leveling rotor 28 for leveling the soil surface. The first sensor electrode unit 31 and the second sensor electrode unit 32 are attached to the rear of the soil leveling rotor 28.

[0071] For example, as shown in Figure 10, which is a left side view (part 8) of the vicinity of the float 26 of a rice transplanter of a first variant embodiment of the present invention, the positions of the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 are arranged behind the leveling position by the leveling rotor 28.

[0072] That is, the positions of the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 are behind the position of the soil surface that has been leveled by the soil leveling rotor 28. Since unevenness in the soil surface is almost eliminated by leveling by the soil leveling rotor 28, the height of the electrode plates is stably maintained.

[0073] The positions of the first sensor electrode portion 31 and the second sensor electrode portion 32 are shifted toward the inside or outside of the vehicle body relative to the positions of the left and right wheels 10 with respect to the left-right direction.

[0074] For example, as shown in Figure 11, which is a plan view (part 1) of the vicinity of the float 26 of a rice transplanter of a first variant embodiment of the present invention, the positions of the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 are symmetrical with respect to the left-right direction, independent of the number of seedling planting rows, and are arranged so as not to overlap with the wheel trajectory of the wheel 10.

[0075] That is, the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 are positioned so as not to overlap with the wheel tracks of the left and right wheels 10 and so as not to depend on the number of seedling planting rows. This suppresses variations in the measured electrical resistance caused by mud lifting, which is likely to occur due to the rotation of the wheels 10, thereby promoting accurate electrical resistance measurement.

[0076] The calculation of fertility based on the detected electrical resistance is adjusted depending on the seedling planting depth at which the seedlings are planted.

[0077] For example, as shown in Figures 12, 13 and 14, which are explanatory diagrams (parts 1 to 3) of the fertility calculation adjustment for a rice transplanter in the first variant of an embodiment of the present invention, when the electrode plate depth corresponding to the cultivated soil depth changes, an inappropriate result is often obtained in which the fertility expressed by SFV (Soil Fertility Value) changes. Therefore, even if the electrode plate depth changes, if the fertilizer concentration is the same, the correction coefficient is adjusted so that an appropriate result in which the fertility remains constant is obtained.

[0078] That is, the correction value of the electrical resistance that gives the fertility is changed according to the setting from the seedling planting depth adjustment lever member 23 to accommodate various seedling planting depths. When the seedling planting depth is adjusted to increase, the electrode plate depth of the first sensor electrode unit 31 and the second sensor electrode unit 32 attached to the planting section of the seedling planting device 20 increases, and the fertility is likely to be overestimated, so the correction coefficient is adjusted to decrease. When the seedling planting depth is adjusted to decrease, the electrode plate depth of the first sensor electrode unit 31 and the second sensor electrode unit 32 attached to the planting section of the seedling planting device 20 decreases, and the fertility is likely to be underestimated, so the correction coefficient is adjusted to increase. When the seedling planting depth is changed, the electrode plate area of the first sensor electrode unit 31 and the second sensor electrode unit 32 that penetrate the soil changes, and although soil components such as the fertilizer concentration in the field are hardly affected by depth and change little, the electrical resistance that indicates fertility is easily affected by the seedling planting depth and changes inappropriately.However, by adjusting this correction coefficient, it is possible to properly measure electrical resistance that reflects uniform fertility even when the seedling planting depth is adjusted.

[0079] The correction value for the electrical resistance used to determine fertility is changed according to the setting of the float sensitivity adjustment dial to accommodate various soil hardness. When the soil is hard, increasing the seedling planting depth increases the electrode plate depth of the first and second sensor electrode units 31 and 32 attached to the planting section of the seedling planting device 20, and the fertility level tends to be overestimated, so the correction coefficient is adjusted to decrease. When the soil is soft, decreasing the seedling planting depth decreases the electrode plate depth of the first and second sensor electrode units 31 and 32 attached to the planting section of the seedling planting device 20, and the fertility level tends to be underestimated, so the correction coefficient is adjusted to increase. When the seedling planting depth is changed in accordance with the setting made on the float sensitivity adjustment dial, the electrode plate area of the first sensor electrode unit 31 and the second sensor electrode unit 32 that penetrate the soil changes. Although soil components such as the fertilizer concentration in the field are largely unchanged by the depth, the electrical resistance that indicates fertility is easily affected by the seedling planting depth and changes inappropriately. However, by adjusting the correction coefficient in this way, it is possible to properly measure electrical resistance that reflects uniform fertility, even when the seedling planting depth is adjusted in accordance with the setting made on the float sensitivity adjustment dial.

[0080] The two electrode sensors, the first sensor electrode 31 and the second sensor electrode 32, are positioned symmetrically relative to the left and right direction. This symmetry suppresses the occurrence of differences in the electrical resistance between the left and right sides that give fertility, and is expected to enable accurate data measurement.

[0081] The horizontal positions of the first sensor electrode unit 31 and the second sensor electrode unit 32 based on the left-right direction are set to the same width regardless of the number of seedling planting rows. Changing the mounting width of the first sensor electrode unit 31 and the second sensor electrode unit 32 changes the electrical resistance, so changing the mounting width depending on the number of seedling planting rows requires changing the control correction value, but by setting them to the same width, it is possible to control fertility with the same correction value regardless of the number of seedling planting rows.

[0082] If the button for starting the fertility calculation using the electrical resistance measurement described above in conjunction with variable fertilization operation is pressed and the float 26 is grounded, but the electrical resistance value or the fertility value is abnormal, an error message is output on the monitor, etc. Even if the user fails to check whether the electrical resistance measurement is being performed normally, the occurrence of an abnormality can be notified.

[0083] If this error message is displayed while the rice transplanter robot is traveling, the vehicle will automatically stop traveling by returning the HST trunnion opening of the main transmission to the neutral position. Since the vehicle stops, the user can be sure that an error has occurred.

[0084] The float 26 is suspended from the seedling planting main frame 21 via a float suspension member 22 rotatably attached to the seedling planting main frame 21. A seedling planting depth adjustment lever member 23 is provided to rotate the float suspension member 22. A pin member 24 is erected on the float suspension member 22. A pin member position sensor 25 is attached to the seedling planting main frame 21 to detect the position of the pin member 24.

[0085] For example, as shown in Figure 15, which is a left side view (part 9) of the vicinity of the float 26 of a rice transplanter of a first variant embodiment of the present invention, a pin member 24 for detecting seedling planting depth using a pin member position sensor 25 protrudes from the float hanging member 22, which is sometimes called a seedling planting depth frame.

[0086] That is, the pin member position sensor 25 is provided near the seedling planting depth adjusting lever member 23, and measures the seedling planting depth. The set seedling planting depth can be accurately measured.

[0087] The pin member position sensor 25 is attached to a round pipe member or the like at the pivot point of the float hanging member 22, and measures the seedling planting depth. By attaching the sensor to such a pivot point, measurement errors in the seedling planting depth are reduced.

[0088] For example, as shown in Figure 16, which is a plan view (part 2) of the vicinity of the float 26 of a rice transplanter according to a first variant embodiment of the present invention, a pin member attitude sensor 25, which may also be called a seedling planting depth sensor, is located near the center of the vehicle body.

[0089] That is, the pin member position sensor 25 is located near the center of the vehicle body with respect to the left-right direction. Since the detection of field unevenness by the float 26 with float sensitivity adjustment is performed near the center of the vehicle body, mechanical errors are suppressed by avoiding the placement of sensors at the left and right ends of the vehicle body, where measurement errors in seedling planting depth are likely to occur.

[0090] The orientation of the pin member 24 is upward at the rotation angle of the float hanging member 22 corresponding to the predetermined seedling planting depth.

[0091] For example, as shown in Figure 17, which is a left side view (part 10) of the vicinity of the float 26 of a rice transplanter of a first variant embodiment of the present invention, the pin member 24, which is sometimes called the seedling planting depth lever detection pin, faces upward.

[0092] That is, when the lever position of the seedling planting depth adjustment lever member 23 is at a predetermined seedling planting depth position as the standard position, the orientation of the pin member 24 is upward. Because the pin member position sensor 25 is located at the top, problems caused by mud splashing and adhesion, which tend to occur when the pin member 24 is oriented downward, hardly occur at all, and the effects of mud are expected to be reduced.

[0093] (3) Next, the configuration and operation of the rice transplanter according to the embodiment of the present invention will be described in more detail, mainly with reference to FIGS.

[0094] Here, Figure 18 is an explanatory diagram of a fertilization hopper device 301 of a rice transplanter according to a second modified embodiment of the present invention, and Figure 19 is an explanatory diagram of a fertilization blower device 302 of a rice transplanter according to a second modified embodiment of the present invention.

[0095] (3a) First, a fertilization hopper device 301 for a rice transplanter according to an embodiment of the present invention will be described with reference mainly to FIG.

[0096] In the fertilizer hopper lid fixing mechanism of the fertilizer hopper device 301, the hook part for fixing the fertilizer hopper lid is made of a wire processed into a U-shape, and both ends of the hook are inserted into the pipe, and the insertion part in the center is removable. Even if the hook part is damaged, it can be easily replaced due to its plug-in design.

[0097] The hook portion, removed from the lower fertilizer hopper body, pushes the fertilizer hopper lid into place. The hook portion is configured by utilizing a diagonal cut in the round pipe at the pivot point. There is no need to provide a member on both the fertilizer hopper lid and the fertilizer hopper body to secure the fertilizer hopper lid to the fertilizer hopper body. There is no need to provide a fixing member on the fertilizer hopper lid; simply providing the hook portion on the fertilizer hopper body is sufficient, resulting in a simple configuration. Because the round pipe portion is used to cross the fulcrum, the hook portion is firmly secured so that it does not move, even when in the release position.

[0098] (3b) Next, the fertilizer blower device 302 of the rice transplanter according to the embodiment of the present invention will be described mainly with reference to FIG.

[0099] In the fertilizer blower of the fertilizer blower device 302, the power on / off of the fertilizer blower is linked to the fertilizer clutch of the rice transplanter. A sensor that detects this power on / off is provided in the fertilizer clutch. When the fertilizer clutch is on, the fertilizer blower is also on, and when the fertilizer clutch is off, the fertilizer blower is also off. By linking with the fertilizer clutch, when the fertilizer clutch is off and fertilization is not being performed, the fertilizer blower is turned off without continuing to rotate. This not only reduces wear on the blower brush and improves the durability of the fertilizer blower, but is also expected to improve battery life.

[0100] (3c) Next, a variable fertilization control mechanism of the rice transplanter according to the embodiment of the present invention will be described.

[0101] It is possible to select zones where real-time variable fertilization will be performed for map data linked zones. By specifying zones where real-time variable fertilization will be performed, the user can instruct the system to reduce fertilization in zones where excessive fertilizer application is determined to be occurring, thereby preventing rice plants from lodging.

[0102] For map-data-linked zones, real-time variable fertilization can be performed only in zones where the amount of fertilizer applied is greater than the standard amount. This prevents excessive reduction in fertilizer application in zones where the amount of fertilizer applied is small, making it less likely that a decrease in yield will occur.

[0103] For map-data linked zones, real-time variable fertilization can be performed only in zones where the amount of fertilizer applied is less than the standard amount. By further reducing fertilization in zones with sufficient soil fertility, rice lodging and other problems can be more reliably prevented, and fertilizer reduction is expected.

[0104] The rate of fertilization reduction can be changed in real time for each map data linked zone. This allows for more precise fertilization, which is expected to lead to more uniform rice growth.

[0105] The program of the invention related to the present invention is a program for causing a computer to execute all or part of the steps (or processes, operations and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with a computer.

[0106] Furthermore, the recording medium of the invention related to the present invention is a recording medium on which a program is recorded for causing a computer to execute all or some of the operations of all or some of the steps (or processes, operations and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with a computer.

[0107] It should be noted that the above-mentioned "some steps (or processes, operations, actions, etc.)" means one or some of the multiple steps.

[0108] Furthermore, the above-mentioned "operations of steps (or processes, operations, actions, etc.)" means the operations of all or part of the above-mentioned steps.

[0109] Furthermore, one mode of use of the inventive program related to the present invention may be in the form of being transmitted through a transmission medium such as the Internet, light, radio waves, or sound waves, being read by a computer, and operating in cooperation with the computer.

[0110] The recording medium also includes a ROM (Read Only Memory).

[0111] Furthermore, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), and may also include firmware, an OS (Operating System), and even peripheral devices.

[0112] As described above, the configuration of the present invention may be realized in software or hardware. [Industrial Applicability]

[0113] The work vehicle of the present invention can improve usability and is useful for use as a work vehicle such as a rice transplanter. [Explanation of symbols]

[0114] 10 wheels 20 Seedling planting device 21 Seedling planting frame 22 Float hanging member 23 Seedling planting depth adjustment lever component 24 Pin member 25-pin workpiece position sensor 26 Float 26f Float bottom 27 Groove machine 27f Groove cutter bottom 28 Leveling rotor 30 sensors 31 First sensor electrode portion 32 Second sensor electrode part 101 Soil cover plate 102 Metal part 103 Rear controller 104 Diode 105 RC circuit 201 Spring 202 Lock Plate 301 Fertilizer hopper device 302 Fertilizer blower device P Float electrode position

Claims

1. A work vehicle that plants seedlings in a field while traveling, a seedling planting device for planting the seedlings; a sensor for detecting an electrical resistance of the soil between a first sensor electrode portion and a second sensor electrode portion in order to calculate the fertility of the soil in the field; It is equipped with the first sensor electrode unit and the second sensor electrode unit are attached to the seedling planting device, The seedling planting device has a float whose bottom surface is brought into contact with the soil surface of the soil, and a seedling planting main frame from which the float is suspended; A work vehicle characterized in that the first sensor electrode unit and the second sensor electrode unit are attached to the seedling planting main body frame.

2. The seedling planting device has a furrow former for forming furrows in the soil surface, the first sensor electrode portion and the second sensor electrode portion are attached to the front of the groove former, 2. The work vehicle according to claim 1, wherein the first sensor electrode portion and the second sensor electrode portion are higher than a bottom surface of the furrow former.

3. 3. The work vehicle according to claim 2, wherein the first sensor electrode portion and the second sensor electrode portion are lower than a bottom surface of the float.

4. The seedling planting device has a ground leveling rotor for leveling the soil surface, 4. The work vehicle according to claim 3, wherein the first sensor electrode unit and the second sensor electrode unit are attached to the rear of the ground leveling rotor.

5. The work vehicle according to claim 4, characterized in that the positions of the first sensor electrode unit and the second sensor electrode unit are shifted toward the inside or outside of the vehicle body based on the left-right direction compared to the positions of the left and right wheels.

6. 6. The work vehicle according to claim 5, wherein the calculation of the fertility based on the detected electrical resistance is adjusted according to the seedling planting depth at which the seedlings are planted.

7. The float is suspended from the seedling planting body frame via a float suspension member rotatably attached to the seedling planting body frame, A seedling planting depth adjustment lever member is provided to rotate the float hanging member, A pin member is erected on the float suspending member, A pin member position sensor for detecting the position of the pin member is attached to the seedling planting main body frame, 7. The work vehicle according to claim 6, wherein the pin member is oriented upward at a rotation angle of the float hanging member that corresponds to the predetermined seedling planting depth.

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