transplant machine

Abstract

To solve such a problem that there is such a risk that a ground sensor becomes travel resistance and a disturbance occurs between seedlings, also there is such a risk that a proper machine body height cannot be detected in a case where a farm field surface cannot be followed, and a planting depth is not proper in a transplanter which detects the machine body height by a ground sensor that grounds on a farm field surface, performs lift control of left and right wheels and makes the seedling-planting depth of a seedling planting device fixed.SOLUTION: In a transplanter having a planting device 6 which plants an implant in a farm field by vertically operating in a travel part 1a equipped with travel devices 2, 3 that vertically move in an actuator 21, the actuator 21 is operated with detection of a planting depth of planting depth detection sensors S1-S7 provided in a planting tool 6a that plants an implant by running into the farm field of the planting device 6, lift control of the travel devices 2, 3 is performed, and the planting depth of the planting device 6 is caused to be fixed.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a transplanter, such as a vegetable seedling transplanter. [Background technology]

[0002] Conventionally, there is a transplanter in which the left and right wheels are mounted on a traveling vehicle body equipped with a seedling planting device and can be raised and lowered freely, and the height of the machine body is detected by a ground sensor that is placed on the field surface, and the lifting cylinder is activated to control the lifting and lowering of the left and right wheels, thereby keeping the seedling planting depth of the seedling planting device constant (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-201373 Summary of the Invention [Problem to be solved by the invention]

[0004] However, because the ground sensor detects the machine height by touching the field, it can create resistance to movement and cause the spacing of the seedlings being planted to become uneven.Furthermore, if the machine cannot follow the field, it may not be able to detect the appropriate machine height, which could result in the planting depth being inappropriate.

[0005] SUMMARY OF THE INVENTION In consideration of the above-mentioned problems of the prior art, the present invention aims to provide a transplanter that can perform transplanting work well at an appropriate planting depth. [Means for solving the problem]

[0006] The first aspect of the present invention is In a transplanter having a planting device (6) that moves up and down on a traveling section (1a) equipped with traveling devices (2, 3) that move up and down by an actuator (21) to plant transplants in a field, the planting device (6) enters the field of the planting device (6) and plants the transplants. The planting depth is detected by a planting depth detection sensor (S1 to S7) provided on the planting tool (6a), and the actuator (21) is operated to control the elevation of the traveling devices (2, 3) to keep the planting depth of the planting device (6) constant. The planting depth detection sensors (S1 to S7) are temperature sensors (S1 to S7) provided in the direction in which the planting tool (6a) enters the field, and when the planting tool (6a) enters the field to plant a transplant, the position of the uppermost temperature sensor (S1 to S7) of the temperature sensors (S1 to S7) that have entered the field is determined as the planting depth based on the temperature difference between the underground temperature detected by the temperature sensors (S1 to S7) that have entered the field and the outside air temperature detected by the temperature sensors (S1 to S7) that have not entered the field, and an irrigation device (65) is provided to irrigate the transplants, and the amount of irrigation is increased when the temperature difference between the underground temperature detected by the temperature sensors (S1 to S7) and the outside air temperature is equal to or greater than a predetermined temperature, and the amount of irrigation is reduced when the temperature difference is equal to or less than the predetermined temperature. The second invention is a transplanter having a planting device (6) that moves up and down on a traveling section (1a) equipped with traveling devices (2, 3) that move up and down by an actuator (21) to plant transplants in a field, the planting device (6) being provided with a planting depth detection sensor (S1 to S7) that detects the planting depth and is provided on the planting tool (6a) that plunges into the field of the planting device (6) to plant the transplants. The actuator (21) is operated to control the elevation of the traveling devices (2, 3) to keep the planting depth of the planting device (6) constant; This transplanter is characterized by the provision of a front sensor (90F) and a rear sensor (90R) for detecting unevenness in the field surface in front of and behind the position where the planting tool (6a) will plant the transplants, and a control device (70) for comparing the unevenness of the field surface detected by the front sensor (90F) with the unevenness of the field surface detected by the rear sensor (90R) to calculate the spacing or presence or absence of transplants planted by the planting tool (6a). The third aspect of the present invention is a transplanter having a planting device (6) that moves up and down on a traveling section (1a) equipped with traveling devices (2, 3) that move up and down by an actuator (21) to plant transplants in a field, the planting device (6) enters the field of the planting device (6) and plants the transplants. The planting depth is detected by planting depth detection sensors (S1 to S7) provided on the planting tool (6a), and the actuator (21) is operated to control the elevation of the traveling devices (2, 3) to keep the planting depth of the planting device (6) constant. This transplanter is characterized in that a color sensor is provided on the seedling removal claws (5a) of the seedling removal device (5), which removes seedlings from cells in a seedling tray and supplies them to the planting tool (6a), and if the color detected by the color sensor by the control device (70) is other than a specified color, it determines that the seedlings in the cell are dead or not present, disengages the traveling clutch, stops the machine, and the seedling removal claws (5a) remove the dead seedlings or blocks with no seedlings from the cells and supplies them to the planting tool (6a), which then discards them in the field. First invention related to the present inventionThe transplanter has a planting device 6 that moves up and down on a traveling section 1a equipped with traveling devices 2 and 3 that move up and down by an actuator 21 to plant transplants in a field, and the planting depth is detected by planting depth detection sensors S1 to S7 attached to the planting tool 6a that plunges the planting device 6 into the field to plant the transplants, and the actuator 21 is operated to control the elevation of the traveling devices 2 and 3, thereby keeping the planting depth of the planting device 6 constant.

[0007] First invention related to the present invention According to the system, the planting depth is detected by planting depth detection sensors S1 to S7 attached to the planting tool 6a that enters the field with the planting device 6 to plant the transplants, and the actuator 21 is operated to control the elevation of the traveling devices 2 and 3 to keep the planting depth of the planting device 6 constant, so that the planting depth can be detected accurately and transplanting work can be carried out smoothly at the appropriate planting depth.

[0008] Second invention related to the present invention The planting depth detection sensors S1 to S7 are temperature sensors S1 to S7 provided in the direction in which the planting tool 6a penetrates into the field. When the planting tool 6a penetrates into the field to plant a transplant, the position of the uppermost temperature sensor S1 to S7 among the temperature sensors S1 to S7 that have penetrated into the field is determined as the planting depth based on the temperature difference between the underground temperature detected by the temperature sensors S1 to S7 that have penetrated into the field and the outside air temperature detected by the temperature sensors S1 to S7 that have not penetrated into the field. First invention related to the present invention It is a transplanter.

[0009] Third invention related to the present invention The system is provided with an irrigation device 65 for irrigating the transplanted plants, and increases the amount of irrigation water when the temperature difference between the underground temperature and the outside air temperature detected by the temperature sensors S1 to S7 is equal to or greater than a predetermined temperature, and decreases the amount of irrigation water when the temperature difference is equal to or less than the predetermined temperature. Second invention related to the present invention It is a transplanter.

[0010] The third invention related to the present invention According to the method, an irrigation device 65 is provided to irrigate the transplants, and the amount of irrigation is increased when the temperature difference between the underground temperature and the outside air temperature detected by temperature sensors S1 to S7 is equal to or greater than a predetermined temperature, and the amount of irrigation is decreased when the temperature difference is equal to or less than the predetermined temperature, thereby allowing appropriate irrigation according to the temperature difference between the underground temperature and the outside air temperature, resulting in good growth of the transplants.

[0011] The fourth invention related to the present invention is a control device 70 that provides a front sensor 90F and a rear sensor 90R to detect unevenness in the field ahead of and behind the position where the planting tool 6a will plant the transplants, and compares the unevenness of the field detected by the front sensor 90F with the unevenness of the field detected by the rear sensor 90R to calculate the spacing or presence or absence of the transplants planted by the planting tool 6a. Any of the first to third inventions related to the present invention It is a transplanter.

[0012] Fifth Invention Related to the Present Invention A color sensor is provided on the seedling removal claws 5a of the seedling removal device 5, which removes seedlings from the cells of the seedling tray and supplies them to the planting tool 6a. If the color detected by the color sensor by the control device 70 is other than the designated color, it determines that the seedlings in the cell are dead or not present, disengages the traveling clutch, stops the machine, and the seedling removal claws 5a remove the dead seedlings or blocks with no seedlings present from the cells and supplies them to the planting tool 6a, which then discards them in the field. Any of the first to third inventions related to the present invention It is a transplanter.

[0013] Fifth Invention Related to the Present Invention According to the method, a color sensor is provided on the seedling removal claws 5a of the seedling removal device 5, which removes seedlings from cells in a seedling tray and supplies them to the planting tool 6a, and if the color detected by the color sensor by the control device 70 is other than the specified color, it determines that the seedlings in the cell are dead or not present, disengages the traveling clutch, stops the machine, and the seedling removal claws 5a remove the dead seedlings or blocks with no seedlings from the cells and supplies them to the planting tool 6a, which then discards them in the field, thereby preventing situations such as planting dead, defective seedlings or missing plants.

[0014] The sixth invention related to the present inventionA color sensor is provided on the seedling removal claws 5a of the seedling removal device 5, which removes seedlings from the cells of the seedling tray and supplies them to the planting tool 6a. If the color detected by the color sensor by the control device 70 is other than the designated color, it determines that the seedlings in the cell are dead or not present, disengages the traveling clutch, stops the machine, and the seedling removal claws 5a remove the dead seedlings or blocks with no seedlings present from the cells and supplies them to the planting tool 6a, which then discards them in the field. The fourth invention related to the present invention It is a transplanter.

[0015] Seventh Invention Related to the Present Invention When the left and right side clutch levers 85, 85 provided on the left and right sides of the steering handle 7 are gripped by less than a predetermined amount, the side clutches of the left and right traveling devices 2 are disengaged, and when the left and right side clutch levers 85, 85 are gripped by more than a predetermined amount, the traveling clutches of the left and right traveling devices 2 are disengaged. Any of the first to third inventions related to the present invention It is a transplanter.

[0016] Seventh Invention Related to the Present Invention According to the above, the side clutch of the left and right traveling devices 2 is disengaged when the left and right side clutch levers 85, 85 provided on the left and right sides of the operating handle 7 are gripped by less than a predetermined amount, and the traveling clutch of the left and right traveling devices 2 is disengaged when the left and right side clutch levers 85, 85 are gripped by more than a predetermined amount. Therefore, by gripping either one of the left and right side clutch levers 85, 85 by less than a predetermined amount during transplanting work, the side clutch of the left and right traveling devices 2 is disengaged, allowing the vehicle to be steered left and right with good operability.

[0017] Furthermore, if the direction of travel deviates significantly or an unforeseen incident occurs during transplanting work, by gripping either the left or right side clutch lever 85, 85 to a specified extent or more, the travel clutch of the left or right traveling device 2 will be disengaged and the machine will be stopped, making it easy to prevent the machine's direction of travel from deviating significantly, causing the ridges U to collapse or the planting position to shift significantly.

[0018] Eighth invention related to the present inventionWhen the left and right side clutch levers 85, 85 provided on the left and right sides of the steering handle 7 are gripped by less than a predetermined amount, the side clutches of the left and right traveling devices 2 are disengaged, and when the left and right side clutch levers 85, 85 are gripped by more than a predetermined amount, the traveling clutches of the left and right traveling devices 2 are disengaged. The fourth invention related to the present invention It is a transplanter.

[0019] Ninth invention related to the present invention When the left and right side clutch levers 85, 85 provided on the left and right sides of the steering handle 7 are gripped by less than a predetermined amount, the side clutches of the left and right traveling devices 2 are disengaged, and when the left and right side clutch levers 85, 85 are gripped by more than a predetermined amount, the traveling clutches of the left and right traveling devices 2 are disengaged. Fifth Invention Related to the Present Invention It is a transplanter.

[0020] 10th invention related to the present invention When the left and right side clutch levers 85, 85 provided on the left and right sides of the steering handle 7 are gripped by less than a predetermined amount, the side clutches of the left and right traveling devices 2 are disengaged, and when the left and right side clutch levers 85, 85 are gripped by more than a predetermined amount, the traveling clutches of the left and right traveling devices 2 are disengaged. The sixth invention related to the present invention It is a transplanter. [Brief explanation of the drawings]

[0021] [Figure 1] FIG. 1 is a left side view of a seedling transplanter according to an embodiment of the present invention. [Figure 2] FIG. [Figure 3] FIG. 10 is a side view for explaining the operation of the planting cup of the seedling transplanter. [Figure 4] FIG. 10 is a plan view for explaining the operation of the planting depth setting dial of the seedling transplanter. [Figure 5] FIG. 10 is a side view for explaining the operation of the irrigation pump of the seedling transplanter. DETAILED DESCRIPTION OF THE INVENTION

[0022] 1 and 2 are a side view and a plan view of a vegetable seedling transplanter 1 as an example of an embodiment of the present invention.

[0023] This seedling transplanter 1 is configured so that the machine moves across the ridges U using a running section 1a which has left and right driven running wheels 2, 2 and left and right free-wheeling front wheels 3, 3 as running devices, and plant vegetable seedlings with soil contained in seedling trays on the top surface of the ridges U using a seedling planting section 1b which consists of a seedling tray transport device 4, a seedling removal device 5, a seedling planting device 6, etc.

[0024] The operator walks behind the machine and steers the machine using a control handle 7 provided at the rear end of the machine.

[0025] The seedling tray used in this seedling transplanter is made of multiple seedling raising cells connected vertically and horizontally, and is made of plastic with a flexible structure. Each seedling raising cell is connected on the front side and independent on the back side, so vertical and horizontal grooves are formed between each cell on the back side of the seedling tray. Each seedling raising cell is filled with bed soil and one seedling is raised in each cell.

[0026] The traveling unit 1a has an engine 8 mounted at the front end of the body, and a traveling unit transmission case 9 to which the rotational power of the engine 8 is transmitted is provided at the rear side.

[0027] Further, a hydraulic pump 10 driven by the power of the engine 8 is provided on the left side of the engine 8.

[0028] Furthermore, a fuel tank 11 and the like are provided above the engine 8, and a hood 12 covers the upper side thereof.

[0029] A connecting frame 13 that is rectangular in side view and elongated from side to side is integrally provided on the rear portion of the traveling unit transmission case 9, and the front end of a main frame 14 is fixedly connected to the right end of the rear of this connecting frame.

[0030] The main frame 14 extends rearward past the right side of the seedling planting section 1b in a plan view, then curves diagonally upward midway and continues to a position behind the seedling planting section 1b. A control handle 7 is attached to the rear end of the main frame 14.

[0031] Travel transmission cases 16 are attached integrally to rotating cylindrical portions 15 that protrude from the left and right sides of the travel transmission case 9, and left and right drive travel wheels 2 are journaled on the outer ends of the travel transmission cases.

[0032] Power is transmitted from the traveling unit transmission case 9 to the left and right drive traveling wheels 2,2 via shafts in the rotating cylindrical portions 15,15 and chains in the traveling transmission cases 16,16.

[0033] In addition, a left-right front wheel rotation fulcrum shaft 17 is provided on the underside of the running unit transmission case 9, and left-right free-swivel front wheels 3, 3, which are rolling wheels, are supported at the tips of front wheel support arms 18, 18 that are rotatably fitted to this shaft.

[0034] The traveling section 1a is provided with a machine body control mechanism that controls the elevation of the machine body position by moving the left and right drive traveling wheels 2, 2 and the left and right free-wheeling front wheels 3, 3 up and down relative to the machine body.

[0035] In this machine control mechanism, a lift cylinder 21 serving as an actuator is provided facing rearward from a hydraulic valve unit 20 arranged on the traveling section transmission case 9, and a balance beam 22 is attached to the tip of a piston rod of the lift cylinder 21 so as to be rotatable about an axis in the vertical direction. The piston rod slides along a guide shaft 24 whose front and rear ends are supported by the hydraulic valve unit 20 and a mounting member 23 attached to the main frame 14.

[0036] The left and right ends of the balance rod 22 are connected to rear wheel swing arms 25, 25 fixed to the rotating cylinders 15, 15 via connecting rods 26, 26. The left connecting rod 26 has a rolling cylinder 27 built in, and its length can be changed by extending or contracting the cylinder. In addition, front wheel swing arms 28, 28 fixed to the rotating cylinders 15, 15 are connected to front wheel rotating arms 29, 29 fixed to the front wheel rotation fulcrum shaft 17 via links 30, 30.

[0037] A rake 32 for leveling the upper surface of the furrow U is provided between the left and right rotatable front wheels 3, 3. The rake 32 is rotatably attached to a rake support shaft 33 provided in front of the front wheel rotation fulcrum shaft 17. Rake swing arms 34, 34 fixed to the rotating cylindrical portions 15, 15 are connected to rake rotation arms 35, 35 fixed to the rake support shaft 33 via rake connecting rods 36, 36.

[0038] Hydraulic oil is supplied to the lifting cylinder 21 and the rolling cylinder 27 from the hydraulic pump 10. When the lifting cylinder 21 is extended or retracted, the left and right drive running wheels 2, 2 and the left and right free-wheeling front wheels 3, 3 move up and down in the same direction and by the same amount relative to the machine body, causing the machine body to rise and fall. In conjunction with this, the rake 32 also rises and falls.

[0039] When the rolling cylinder 27 is extended or retracted, the left and right drive running wheels 2, 2 and the left and right free-wheeling front wheels 3, 3 move up and down in opposite directions by the same amount relative to the machine body, causing the machine body to tilt left or right. In conjunction with this, the rake 32 also tilts left or right.

[0040] The lifting and lowering of the machine body will be described in detail later, but the control device 70 switches the electromagnetic hydraulic valve in the hydraulic valve unit 20 in accordance with the planting depth setting value 1 to 7 on the planting depth setting dial 72 so that the planting depth is at the position of the temperature sensor S1 to S7, which serves as a planting depth detection sensor such as a thermistor in the planting cup 6a, which serves as the corresponding planting tool, and expands and contracts the lifting cylinder 21, thereby moving the left and right drive running wheels 2,2 and the left and right free-wheeling front wheels 3,3 up and down relative to the machine body, thereby lifting and lowering the machine.

[0041] The left and right tilt of the aircraft is linked to the movement of the left and right tilt detection pendulum 45. When the aircraft tilts left or right and the pendulum 45 swings, the rolling hydraulic valve in the hydraulic valve unit 20 switches, and the rolling cylinder 27 operates to return the aircraft to a horizontal position.

[0042] The lower part of the seedling-planting transmission case 50, which receives power from the traveling transmission case 9, is fixed to the upper surface of the connecting frame 13. An intermediate gear case 52 is fixed to an upper frame 51 that spans the upper end of the seedling-planting transmission case 50 and the rear of the main frame 14. Power is transmitted from the seedling-planting transmission case 50 to the intermediate gear case 52 via a chain in a seedling-removal transmission case 53, and from the intermediate gear case 52 to the drive unit of the seedling tray transport device 4 via a shaft in a transmission pipe 54 and a chain in a vertical feed transmission case 55. The base of a first planting transmission case 56 is fixed to the top of the seedling-planting transmission case 50, and the base of a second planting transmission case 57 is fixed to the tip of the first planting transmission case. The first planting transmission case 56 and the second planting transmission case 54 are connected to the operating mechanism of the planting cup 6a (described later) of the seedling planting device 6.

[0043] The seedling tray transport device 4 comprises a seedling tray platform 60, which is inclined downward at the front and has a curved, arc-shaped bottom end, and a seedling tray guide rod 61 connected to the bottom end of the seedling tray platform, which defines a transport path for the seedling trays. A vertical feed mechanism (not shown) transports the seedling trays along the transport path. The vertical feed section, which is made up of the seedling tray platform 60 and other components, can move back and forth from side to side along left and right guide rails 62, 63.

[0044] Seedlings are removed from the cells of the seedling tray placed on the seedling tray placing stand 60 at the seedling removal position P by the seedling removal device 5. As the seedling tray placing stand 60 etc. move left and right intermittently, the seedlings in one horizontal row of the seedling tray are supplied one by one to the seedling removal position P. When the seedling tray placing stand 50 reaches the end of its left and right stroke and all the seedlings in one horizontal row of the seedling tray have been removed, the vertical feed mechanism is activated and the seedling tray is fed vertically downward by one cell. The seedling tray removed from the cell is passed from the seedling tray placing stand 60 to the seedling tray guide rod 61 and guided to the vicinity of the operating handle 7.

[0045] The seedling removal device 5 moves along a predetermined trajectory while changing its position on a vertical plane parallel to the direction of travel of the machine body, and opens and closes at appropriate times, thereby removing seedlings from the cells located at the seedling removal position P and supplying them to the seedling planting device 6 in planting cups 6a.

[0046] The seedling picking claw 5a is provided with a lighting device such as a white LED and a color sensor, and the lighting device illuminates the cell located at the seedling picking position P, and the color sensor detects the color inside the cell. The lighting device is provided closer to the tip of the seedling picking claw 5a than the color sensor.

[0047] If the color detected by the color sensor is the specified color, green, the control device 70 determines that a seedling is present in the cell located at the seedling removal position P, moves the machine forward, and the seedling removal claws 5a of the seedling removal device 5 remove the seedling from the cell located at the seedling removal position P and supply it to the planting cup 6a of the seedling planting device 6, whereupon the planting cup 6a continues the seedling transplanting work of planting the seedling in the furrow U.

[0048] If the color detected by the color sensor is other than the specified green color such as brown or black, the control device 70 determines that the seedlings are dead or not present in the cell located at the seedling removal position P, disengages the running clutch to stop the machine, and the seedling removal claws 5a of the seedling removal device 5 remove the dead seedlings or blocks with no seedlings from the cell located at the seedling removal position P and supply them to the planting cup 6a of the seedling planting device 6, which then discards them into the furrow U.

[0049] Then, the control device 70 uses the color sensor to detect the color inside the cell that has newly moved to the seedling removal position P, and if the detected color is the specified green color, it determines that a seedling is present in the cell, engages the traveling clutch to move the machine forward, and the seedling removal claws 5a of the seedling removal device 5 remove the seedling from the cell located at the seedling removal position P and supply it to the planting cup 6a of the seedling planting device 6, and the planting cup 6a resumes the seedling transplanting work of planting the seedling in the furrow U.

[0050] In summary, a lighting device installed on the seedling removal claw 5a illuminates the cell located at the seedling removal position P, and a color sensor detects the color within the cell. If the color detected by the color sensor is other than the specified green color such as brown or black, it is determined that there are dead or no seedlings in the cell located at the seedling removal position P, the running clutch is disengaged to stop the machine, and the seedling removal claw 5a of the seedling removal device 5 removes the dead seedling or a block with no seedlings from the cell located at the seedling removal position P and supplies it to the planting cup 6a of the seedling planting device 6, which then discards it in the furrow U, thereby preventing situations such as planting dead or defective seedlings or missing plants.

[0051] As shown in Figure 3, the seedling planting device 6 is equipped with a planting cup 6a whose lower part can be opened and closed back and forth and which moves up and down along a predetermined trajectory while maintaining a fixed posture. When the planting cup 6a is at the top dead point of its trajectory, it receives the seedlings dropped from the seedling removal claws 5a, and the planting cup 6a, having received the seedlings, descends and plunges into the topsoil of the furrow. At the bottom dead point of the trajectory, the bottom of the planting cup 6a opens, forming a hole for transplanting the seedling, and then the seedling is released into the hole and planted.

[0052] Temperature sensors S1 to S7 are provided at predetermined intervals on the side of the planting cup 6a from the tip upward, and the detected temperatures are input to the control device .

[0053] A control device 70 and an operation panel 71 are provided at the center of the left and right of the operating handle 7.

[0054] As shown in FIG. 4, an operation panel 71 is provided with a planting depth setting dial 72, which can be used to set the planting depth in seven stages.

[0055] The control device 70 stores the set planting depth when the set value of the planting depth is input using the planting depth setting dial 72.

[0056] Furthermore, the temperatures detected by the temperature sensors S1 to S7 provided on the side of the planting cup 6a are input to the control device 70, which calculates the planting depth of the seedlings from the temperatures detected by the temperature sensors S1 to S7.

[0057] That is, when comparing the outside air temperature and the underground temperature, the underground temperature is lower. Therefore, by comparing the temperatures detected by the temperature sensors S1 to S7, it is possible to determine which of the temperature sensors S1 to S7 is underground.

[0058] For example, in Figure 4, when the planting cup 6a of the seedling planting device 6 enters the furrow U to plant the seedlings, the temperature detected by the temperature sensors S1 to S4 is underground and therefore lower (usually 2 to 4 degrees lower) than the temperature detected by the temperature sensors S5 to S7 (outside air temperature).

[0059] Therefore, the control device 70 determines that the planting cup 6a has penetrated into the ground up to the position of the temperature sensor S4 to plant the seedlings, and the planting depth is the depth at the position of the temperature sensor S4.

[0060] The planting depth setting values ​​1 to 7 set by the planting depth setting dial 72 correspond to the positions of the temperature sensors S1 to S7, and if the planting depth setting dial 72 is set to planting depth setting value 4, the control device 70 will determine that the planting depth is appropriate.

[0061] Furthermore, if the planting depth setting dial 72 is set to planting depth setting value 3, the control device 70 will determine that the planting depth is deep, and will switch the electromagnetic hydraulic valve so that hydraulic oil is sent from the hydraulic pump 10 to the lifting cylinder 21, extending the lifting cylinder 21 and lowering the left and right drive running wheels 2,2 and the left and right free-wheeling front wheels 3,3 relative to the machine body, thereby raising the machine body.

[0062] That is, the temperature detected by the temperature sensors S1 to S3 of the planting cup 6a is increased until it becomes lower than the temperature detected by the temperature sensors S4 to S7 (outside air temperature), and the planting depth is set to the depth at the position of the temperature sensor S3.

[0063] Furthermore, if the planting depth setting dial 72 is set to a planting depth setting value of 5, the control device 70 will determine that the planting depth is shallow, and will switch the electromagnetic hydraulic valve to discharge hydraulic oil from the lifting cylinder 21, thereby contracting the lifting cylinder 21 and moving the left and right drive running wheels 2,2 and the left and right free-wheeling front wheels 3,3 up relative to the machine body, thereby lowering the machine body.

[0064] That is, the machine body is lowered until the temperatures detected by the temperature sensors S1 to S5 of the planting cup 6a become lower than the temperatures detected by the temperature sensors S6 and S7 (outside air temperature), and the planting depth is set to the depth at the position of the temperature sensor S5.

[0065] In summary, the machine body is controlled to rise and fall according to the planting depth setting value 1 to 7 on the planting depth setting dial 72 so that the planting depth is at the position of the corresponding temperature sensor S1 to S7, thereby achieving the desired planting depth for the seedlings.

[0066] The planting depth is detected by detecting the temperature using temperature sensors S1 to S7 that function as planting depth detection sensors provided in the planting cups 6a in which the seedlings are planted, so that the planting depth can be detected accurately and appropriate planting work can be carried out.

[0067] FIG. 5 shows an irrigation pump 65 as an irrigation device for irrigating the seedlings in the planting cups 6a.

[0068] This irrigation pump 65 is a plunger type pump, and by means of the plunger 65b sliding back and forth within the cylinder 65a, water supplied from a water tank provided on the machine body is sucked in through the intake port 65c and discharged from the discharge port 65d, and the water is irrigated to the seedlings in the planting cup 6a using an irrigation hose.

[0069] The irrigation pump 65 supports a cylinder 65a so that it can rotate freely around an outlet 65d as a fulcrum, and a drive crank 66 is connected to the rod of the plunger 65b. When the plunger 65b slides back and forth within the cylinder 65a due to the rotation of the drive crank 66, the entire irrigation pump 65 swings around the outlet 65d as a fulcrum. This structure reduces the sliding resistance of the plunger compared to a structure in which the cylinder is fixed, resulting in excellent durability and enabling the support section to be simplified and reduced in cost.

[0070] The drive crank 66 is attached to a drive shaft 67a of an electric motor 67 fixed to the side wall of the transmission case 50 of the seedling planting section.

[0071] Then, the control device 70 operates the electric motor 67 when the planting cup 6a enters the furrow U and reaches the lowest position, causing the irrigation pump 65 to irrigate the seedlings in the planting cup 6a.

[0072] In addition, the control device 70 compares the underground temperature with the outside air temperature using the temperatures detected by the temperature sensors S1 to S7 of the planting cup 6a, and operates the electric motor 67 so that the irrigation pump 65 discharges a standard amount of irrigation water when the temperature difference is in the range of 2 to 4 degrees, operates the electric motor 67 so that the irrigation pump 65 discharges a larger amount of irrigation water than the standard amount when the temperature difference is in the range of 2 to 4 degrees or more, and operates the electric motor 67 so that the irrigation pump 65 discharges a smaller amount of irrigation water than the standard amount when the temperature difference is in the range of 2 to 4 degrees or less.

[0073] Therefore, appropriate irrigation can be carried out according to the temperature difference between the ground and the outside air, resulting in good rooting of the seedlings.

[0074] A pair of left and right crushing wheels 80, 80 are provided behind the seedling planting position. These crushing wheels 80, 80 are attached diagonally to a crushing wheel frame 81, which is supported in the middle of the main frame 14 for vertical swinging, so that the spacing between them narrows toward the bottom. As the machine moves forward, they roll over the furrow surface, collapsing the soil around the seedling transplant hole after planting, backfilling the hole and lightly crushing the area. The crushing wheels 80, 80 are constantly pressed against the ground with a constant pressure by weights 82.

[0075] Temperature sensors S8 are provided at predetermined intervals on the ground contact surfaces of the outer peripheries of the suppression wheels 80, 80.

[0076] In addition, the control device 70 stores map data of the field, and a GPS antenna 83 is installed on the top of the intermediate gear case 52 to calculate the current position using the Global Positioning System, and the surface temperature of the ridge U detected by the temperature sensor S8 is sequentially stored in the map database.

[0077] Therefore, the ground surface temperature of the furrow U stored in the map data can be verified after transplanting and used as a reference for subsequent work such as irrigation, weeding, and tillage, or for the next seedling transplanting work. Verification is performed by extracting the data and using a computer or the like.

[0078] The control handle 7 has a generally U-shape in plan view with both ends extending rearward, and grips 7a, 7a are attached to both ends. Left and right side clutch levers 85, 85 are provided below the grips 7a, 7a. In addition, around the control handle 7, there are a planting lift lever 86 for engaging and disengaging the planting clutch that transmits power to the seedling planting section 1b and for raising and lowering the machine body, a main clutch lever 87 for engaging and disengaging the main clutch, a travel speed change lever 88 for changing the travel speed, an engine recoil knob 89, and other components.

[0079] When the operator grips and operates either of the left and right side clutch levers 85, 85, the left and right side clutches in the drive systems of the left and right drive running wheels 2, 2 on the side that is gripped and operated in the middle of the operating range are disengaged, allowing the vehicle to be steered left and right.

[0080] Furthermore, when the operator grips either of the left and right side clutch levers 85, 85 to the upper limit position of the operating range, the traveling clutch in the drive system of the left and right drive traveling wheels 2, 2 is disengaged, and the machine can be stopped.

[0081] Therefore, when moving forward along the furrow U to perform transplanting work, by gripping and operating either the left or right side clutch lever 85, 85 halfway through the operating range, the left and right side clutches in the drive systems of the left and right drive running wheels 2, 2 are disengaged, allowing the machine to be steered left and right with good operability.

[0082] In addition, if the direction of travel deviates significantly from the ridge U or an unforeseen incident occurs, by gripping and operating either the left or right side clutch lever 85, 85 to the upper limit position of the operating range, the traveling clutch in the drive system of the left and right drive traveling wheels 2, 2 is disengaged, stopping the machine, and easily preventing the machine from deviating significantly from the direction of travel, causing the ridge U to collapse or the planting position to shift significantly.

[0083] In addition, a sensor may be provided to detect when the left and right side clutch levers 85, 85 are gripped and operated to the upper limit position of the operating range, and when the sensor detects that either the left or right side clutch lever 85, 85 has been gripped and operated to the upper limit position of the operating range, the running clutch in the drive system of the left and right drive running wheels 2, 2 may be disengaged to stop the vehicle.

[0084] The control device 70 also calculates the current position using the global positioning system, and stores the positions where the left and right side clutches and the running clutch are disengaged by the left and right side clutch levers 85, 85 in the map database in sequence.

[0085] Therefore, the positions where the left and right side clutches and the traveling clutch were disengaged, which are stored in the map data, can be verified after transplanting work and used as a reference for subsequent work such as irrigation, weeding, and tillage, or for the next seedling transplanting work.

[0086] Above the machine body and in front of the seedling planting section 1b, there is provided a spare seedling tray placing section 95. This spare seedling tray placing section 95 is arranged above the bonnet 12 and the left and right travel transmission cases 16,16.

[0087] The spare seedling tray placing section 95 has side walls on the left and right ends of the placing surface on which the seedling trays are placed to prevent the seedling trays from falling, but there was a problem in that the side walls got in the way when an operator tried to remove the seedling trays from the spare seedling tray placing section 95, making it difficult to remove them.

[0088] Therefore, a pivot shaft is provided at the base of the side wall to pivot the side wall, allowing the side wall to rotate freely between a vertical state to prevent the seedling trays from falling and an open state in which it is rotated horizontally outward, and a biasing member is used to bias the side wall to the vertical state to prevent the seedling trays from falling.

[0089] Therefore, when a seedling tray is placed on the spare seedling tray placing section 95, the side walls are in a vertical seedling tray fall prevention state to prevent the seedling tray from falling, and when an operator wants to remove the seedling tray, the operator pulls the seedling tray to the side, and the side walls rotate horizontally outward against the urging force of the urging member, allowing the seedling tray to be easily removed.

[0090] The side walls may be configured to slide vertically. That is, the side walls move between a state in which they protrude above the mounting surface to prevent the seedling trays from falling and an open state in which they are retracted below the mounting surface, and a biasing member biases the side walls to the state in which they protrude above the mounting surface to prevent the seedling trays from falling.

[0091] A front sensor 90F such as ultrasonic waves or a laser that detects unevenness on the top surface of the ridge U is provided at the front of the machine ahead of the position where the planting cup 6a of the seedling planting device 6 plants seedlings in the ridge U, and a rear sensor 90R such as ultrasonic waves or a laser that detects unevenness on the top surface of the ridge U is provided at the rear of the machine behind the position where the planting cup 6a plants seedlings in the ridge U.

[0092] The control device 70 then compares the unevenness of the top surface of the ridge U detected by the front sensor 90F with the unevenness of the top surface of the ridge U detected by the rear sensor 90R, calculates the spacing between seedlings (the distance between seedlings) from the position of the seedlings planted in the ridge U by the planting cup 6a, and detects the presence or absence of seedlings (missing seedlings).

[0093] The control device 70 then calculates its current position using a global positioning system, and sequentially stores the positions of the seedlings planted in the ridges U, the spacing between plants, and any missing plants in the map database.

[0094] Therefore, the seedling positions, spacing between plants, and missing plants stored in the map data can be verified after transplanting and used as a reference for subsequent work such as irrigation, weeding, and tillage, or for the next seedling transplanting work. [Explanation of symbols]

[0095] 1a Running part 2. Running gear (left and right drive running wheels) 3 Running gear (left and right free-swinging front wheels) 5 Seedling extraction device 5a Seedling extraction claw 6 Planting equipment 6a Planting tool (planting cup) 7 Control Handle 21 Actuator (lifting cylinder) 65 Irrigation equipment (irrigation pump) 70 Control device 85 Left and right side clutch levers 90F Front Sensor 90R Rear Sensor S1~S7 Planting depth detection sensor (temperature sensor)

Claims

1. A transplanter having a planting device (6) that moves up and down on a traveling section (1a) equipped with traveling devices (2, 3) that move up and down by an actuator (21) to plant transplanted plants in a field, wherein the planting depth is detected by a planting depth detection sensor (S1 to S7) provided on a planting tool (6a) that enters the field of the planting device (6) to plant the transplants, and the actuator (21) is operated to control the elevation of the traveling devices (2, 3) to keep the planting depth of the planting device (6) constant; The planting depth detection sensors (S1 to S7) are temperature sensors (S1 to S7) provided in a plurality of positions in the direction in which the planting tool (6a) enters the field, and when the planting tool (6a) enters the field to plant a transplant, the position of the uppermost temperature sensor (S1 to S7) of the temperature sensors (S1 to S7) that have entered the field is determined as the planting depth based on the temperature difference between the underground temperature detected by the temperature sensors (S1 to S7) that have entered the field and the outside air temperature detected by the temperature sensors (S1 to S7) that have not entered the field; and an irrigation device (65) that irrigates the transplants is provided, and the amount of irrigation is increased when the temperature difference between the underground temperature detected by the temperature sensors (S1 to S7) and the outside air temperature is equal to or greater than a predetermined temperature, and the amount of irrigation is reduced when the temperature difference is equal to or less than the predetermined temperature.

2. A transplanter having a planting device (6) that moves up and down on a traveling section (1a) equipped with traveling devices (2, 3) that move up and down by an actuator (21) to plant transplanted plants in a field, wherein the planting depth is detected by a planting depth detection sensor (S1 to S7) provided on a planting tool (6a) that enters the field of the planting device (6) to plant the transplants, and the actuator (21) is operated to control the elevation of the traveling devices (2, 3) to keep the planting depth of the planting device (6) constant; This transplanter is characterized in that it is provided with a front sensor (90F) and a rear sensor (90R) for detecting unevenness of the field surface in front and behind the position where the planting tool (6a) will plant the transplants, and a control device (70) for comparing the unevenness of the field surface detected by the front sensor (90F) with the unevenness of the field surface detected by the rear sensor (90R) to calculate the spacing or presence or absence of the transplants planted by the planting tool (6a).

3. A transplanter having a planting device (6) that moves up and down on a traveling section (1a) equipped with traveling devices (2, 3) that move up and down by an actuator (21) to plant transplanted plants in a field, wherein the planting depth is detected by a planting depth detection sensor (S1 to S7) provided on a planting tool (6a) that enters the field of the planting device (6) to plant the transplants, and the actuator (21) is operated to control the elevation of the traveling devices (2, 3) to keep the planting depth of the planting device (6) constant; This transplanter is characterized in that a color sensor is provided on the seedling removal claws (5a) of a seedling removal device (5) that removes seedlings from cells in a seedling tray and supplies them to a planting tool (6a), and if the color detected by the color sensor by a control device (70) is other than a designated color, the control device (70) determines that the seedlings in the cell are dead or not present, disengages the traveling clutch, stops the machine, and the seedling removal claws (5a) remove the dead seedlings or blocks with no seedlings from the cells and supply them to the planting tool (6a), which then discards them in the field.

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