Seedling transplanter

Abstract

To provide a work vehicle which allows a user to easily grasp setting of a work device in a case where a travel mode is changed.SOLUTION: A seedling transplanter according to an aspect of an embodiment comprises: a travel vehicle body; a seedling planting part which is attached to the travel vehicle body and plants seedlings in a farm field; a plurality of levee clutches which change the number of planting rows of seedlings in the seedling planting part; and a control device which controls the levee clutches. The control device controls the levee clutches so as to make space in a headland region having the width of the planting scheduled row number of integral multiples of the reaping row number of a combine-harvester executing harvest in the farm field to the inner side from the levee edge of the farm field.SELECTED DRAWING: Figure 6

Description

[Technical Field]

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

[0002] BACKGROUND ART A seedling transplanter that plants seedlings in a field by repeating straight-ahead travel and turning travel is known (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-76056 Summary of the Invention [Problem to be solved by the invention]

[0004] When crops planted with a seedling transplanter are harvested with a combine harvester, the number of rows planted by the seedling transplanter may differ from the number of rows harvested by the combine harvester. In this case, when harvesting the crops with the combine harvester, row alignment by the combine harvester is required.

[0005] The present invention has been made in view of the above, and aims to provide a seedling transplanter that facilitates harvesting work using a combine.

[0006] In order to solve the above-mentioned problems and achieve the object, a seedling transplanter (1) according to one aspect of the embodiment includes a traveling body (2), a seedling planting section (4) attached to the traveling body (2) for planting seedlings in a field, a plurality of ridge clutches (27a) for changing the number of rows of seedlings planted in the seedling planting section (4), a control device (100) for controlling the ridge clutches (27a), a plurality of seedling feeding devices (60) provided according to the number of rows to be planted, and a control device (100) for switching the ridge clutches (27a) between an on state and an off state. Row clutch operating motor (83) and switching the seedling feeding device (60) between a seedling feeding state and a stop state; Row clutch operating motor(83) is different Seedling feed switching motor (84). The control device (100) Row clutch operating motor (83) to control the furrow clutch (27a), Seedling feed switching motor (84) to control the seedling feeding device (60), and the ridge clutch (27a) is controlled so that a headland area having a width of a number of rows to be planted that is an integral multiple of the number of rows to be cut by the combine that will harvest the field is opened inward from the edge of the field, and when seedlings are planted in the headland area, the ridge clutch (27a) is controlled so that the number of seedlings planted is an integral multiple of the number of rows to be cut by the combine. Row clutch operating motor (83) switches the furrow clutch (27a) between the on state and the off state by the first cam (111). Seedling feed switching motor (84) switches the seedling feeding device (60) between the seedling feeding state and the stop state by means of a second cam (115). The first cam (111) and the second cam (115) are arranged side by side along the axial direction of the first cam (111). [Effects of the Invention]

[0007] According to one aspect of the embodiment, the seedling transplanter can facilitate harvesting operations using a combine. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a side view showing a seedling transplanter according to an embodiment. [Figure 2] FIG. 2 is a plan view showing the seedling transplanter according to the embodiment. [Figure 3] FIG. 3 is a block diagram showing a control system centered around a controller of the seedling transplanter according to the embodiment. [Figure 4] FIG. 4 is a diagram showing a mechanism for operating the row clutch. [Figure 5] FIG. 5 shows one of the levers in the second operating position. [Figure 6] FIG. 6 is a diagram illustrating the reciprocating planting area and the headland area. [Figure 7] FIG. 7 is a flowchart illustrating the planting process according to the embodiment. [Figure 8] FIG. 8 is a flowchart illustrating the seedling feeding belt operation process according to the embodiment. [Figure 9] FIG. 9 is a diagram showing planting in a headland area in a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0009] (Overview of seedling transplanter) First, an overview of the seedling transplanter 1 according to the embodiment will be described with reference to Figures 1 and 2. Figure 1 is a side view showing the seedling transplanter 1 according to the embodiment. Figure 2 is a plan view showing the seedling transplanter 1 according to the embodiment.

[0010] In the following description, the forward / backward direction refers to the direction of travel of the seedling transplanter 1 when traveling straight, with the forward side of the traveling direction being defined as "front" and the rear side being defined as "rear." The traveling direction of the seedling transplanter 1 is the direction from the operator's seat 41 toward the handle 35 (steering device) when traveling straight (see Figures 1 and 2).

[0011] The left-right direction is a direction that is horizontally perpendicular to the front-rear direction and defines left and right facing the "front." In other words, when the operator (also referred to as an operator) is seated in the operator's seat 41 and facing forward, the left-hand side is the "left" and the right-hand side is the "right."

[0012] The up-down direction is the vertical direction. The front-rear direction, left-right direction, and up-down direction are perpendicular to each other. Each direction is defined for the convenience of explanation, and the present invention is not limited to these directions.

[0013] As shown in FIGS. 1 and 2, the seedling transplanter 1 is provided with a seedling planting unit 4 that can be raised and lowered via a lifting link mechanism 3 at the rear of a traveling body 2 to plant seedlings in a field.

[0014] The main body of the fertilizer applicator 5 is located above the rear of the traveling body 2 as a working device. The traveling body 2 is a four-wheel drive vehicle equipped with left and right front wheels 10 and rear wheels 11, which are drive wheels. On the front side of the main frame 15 that forms the body framework of the traveling body 2, there are provided a transmission case 13 that transmits driving force to the seedling planting section 4 and the like, and a hydraulic continuously variable transmission 14 that outputs driving force supplied from the engine 30, i.e., the rotation generated by the engine 30, to the transmission case 13.

[0015] The continuously variable transmission 14 is a hydrostatic continuously variable transmission known as an HST (Hydro Static Transmission). In the following, a case where the continuously variable transmission is the HST 14 will be described.

[0016] An auxiliary transmission mechanism 16 is provided within the transmission case 13 to switch the driving mode of the traveling vehicle body 2 between high-speed mode for road driving and low-speed mode for planting seedlings, etc. Front wheel final cases 10a are provided on the left and right sides of the transmission case 13, and front wheels 10 are attached to left and right front axles 10b that protrude outward from front wheel support parts that can change the steering direction of the left and right front wheel final cases 10a.

[0017] In addition, rear wheel gear cases 11a are attached to both the left and right sides of a rear frame 22 (see Figure 2) that is arranged laterally on the rear side of the main frame 15, and rear wheels 11 are attached to left and right rear axles 11b that protrude outward from the rear wheel gear cases 11a, respectively.

[0018] Left and right link support frames 23 that support the lifting link mechanism 3 protrude upward from the upper part of the rear frame 22. A pair of left and right lower link arms 24 are provided below and between the left and right link support frames 23. A hydraulically operated lifting cylinder 25 is provided between the left and right lower link arms 24.

[0019] An upper link arm 26 is provided above the lifting cylinder 25, forming a parallel link mechanism, the lifting link mechanism 3. The left and right lower link arms 24, the lifting cylinder 25, and the other end of the upper link arm 26, each of which has one end connected to the traveling vehicle body 2, are attached to the front of the seedling planting section 4.

[0020] An engine 30 is mounted on the main frame 15. Rotational power of the engine 30 is transmitted to the transmission case 13 via the belt transmission device 21 and the HST 14. The rotational power transmitted to the transmission case 13 is changed in speed by the sub-transmission mechanism 16 inside the transmission case 13, and then separated into traveling power and externally extracted power.

[0021] The rotational power of the engine 30 is transmitted to a hydraulic pump (not shown). The hydraulic pressure generated by the hydraulic pump is supplied to the HST 14, a power steering mechanism 88 (see FIG. 3) of the handle 35, the lift cylinder 25, etc.

[0022] The externally extracted power extracted from the rotational power transmitted to the transmission case 13 is transmitted to the planting clutch case 27 provided at the rear of the running body 2, and is transmitted from the planting clutch case 27 to the seedling planting section 4 via the planting transmission shaft 67.

[0023] Meanwhile, left and right drive shafts 42 are provided at the rear of the transmission case 13. Rotational power from the engine 30 is transmitted via the transmission case 13 and the drive shafts 42 to the left and right rear wheel gear cases 11a.

[0024] A side clutch 44 (see FIG. 3) that turns on and off the power transmission to the left and right drive shafts 42 is disposed upstream of the left and right drive shafts 42 in the power transmission direction. As shown in FIG. 1, a side clutch pedal 43a that turns on and off the left and right side clutches 44 is provided at the front lower part of the cockpit 41 and on one of the left and right sides.

[0025] Of the left and right side clutch pedals 43a, when the side clutch pedal 43a on the inside of the turn is depressed to disengage the side clutch 44, and then the steering wheel 35 is operated to make a turn, the drive rotation of the rear wheel 11 on the inside of the turn can be completely cut off.

[0026] A bonnet 39 with an operation panel 38 (operation unit) arranged on top for operating each unit is provided on the upper front side of the traveling vehicle body 2. The operation panel 38 is provided with a monitor, operation buttons, an operation panel, etc.

[0027] The bonnet 39 is also provided with a handle 35 for steering the traveling vehicle body 2, a speed change control lever 36 for operating the HST 14 and the seedling planting section 4, and an auxiliary speed change control lever 37 for operating the auxiliary speed change mechanism 16.

[0028] An openable front cover 40 is provided in front of the hood 39. Inside the front cover 40, a fuel tank, a battery, and an interlocking mechanism that rotates the left and right front wheels 10 and the lower sides of the left and right front wheel final cases 10a in response to steering of the handlebars 35 are provided. The front wheels 10 are, for example, steerable wheels that turn in response to steering of the handlebars 35.

[0029] An engine cover 30a that covers the top and sides of the engine 30 is provided behind the hood 39 and above the engine 30, and a pilot's seat 41 where the pilot sits is provided above the engine cover 30a.

[0030] The fertilizer applicator 5 is provided behind the driver's seat 41, at the rear end of the main frame 15. The driving force of the fertilizer applicator 5 is transmitted by a fertilizer transmission mechanism provided so as to face the fertilizer applicator 5 from one of the left and right rear wheel gear cases 11a.

[0031] Approximately horizontal floor steps 33 are formed on both the left and right sides of the lower part of the engine cover 30a and the hood 39. As shown in Fig. 2, the floor steps 33 are partially lattice-shaped, so that even if mud on the shoes of an operator walking on the floor steps 33 falls off, the fallen mud will fall into the field.

[0032] 2, a rear step 330 is connected to the rear of the floor step 33. The surface of the rear step 330 is preferably provided with an anti-slip finish, for example, with a pattern of multiple protrusions, to prevent feet from slipping during work.

[0033] In addition, on the front side of the traveling body 2 and on both the left and right sides, spare seedling frames 50 are provided, each with a seedling frame support 51 on which multiple spare seedling loading tables 52 are arranged at intervals in the vertical direction, so that work materials such as seedlings and fertilizer bags to be replenished in the seedling planting section 4 can be placed.

[0034] Additionally, a seedling tank 53 for carrying seedlings to be planted in the field is attached to the rear end of the lifting link mechanism 3, along with a sliding mechanism for sliding it left and right. Seedling partition fences 54, which are long in the vertical direction, are arranged on the seedling tank 53 at predetermined intervals in the horizontal direction. The seedling partition fences 54 divide the seedling tank 53 into eight sections in the horizontal direction. Seedling mats are placed in each section of the seedling tank 53 divided by the seedling partition fences 54. Each seedling mat is transported downward by a seedling transport belt 60 (seedling transport device). The seedling transport belt 60 includes a belt and a drive device for moving the belt. Below the seedling tank 53 is a seedling planting device 55 that picks up the loaded seedlings and plants them in the field.

[0035] The seedling planting device 55 plants eight rows at the same time, the same number as the number of rows separated by the seedling partition fence 54. Four planting transmission cases 56 are arranged at intervals below the seedling tank 53, and planting rotaries 57 are attached to both the left and right sides of the planting transmission cases 56, which rotate to pick up seedlings using planting rods 58 and plant them in the field.

[0036] In the fertilizer applicator 5, the fertilizer hopper 70 that stores the fertilizer is divided into the same number of sections as the number of working rows in the seedling planting section 4 (eight rows in the example shown in FIG. 2). Note that the eight-row fertilizer hopper 70 is long in the left-right direction, which reduces the convenience of adding fertilizer and attaching and detaching it, so it may have a so-called side fertilizer application structure, in which sections divided into four rows are lined up on each side.

[0037] Below the fertilizer hopper 70, a dispensing device 71 that supplies a set amount of fertilizer is provided for each row. Below the dispensing device 71, a ventilation duct 72 is provided in the left-right direction, through which conveying air passes to move the fertilizer. Below the dispensing device 71, a fertilizer hose 73 is provided to guide the fertilizer near the seedling planting position in the seedling planting section 4. Also, at one end of the ventilation duct 72, a blower 74 that is operated by an electric blower motor 76 to generate conveying air is provided.

[0038] 1 and 2, a center float 62C that slides on the field surface and two side floats 62L and 62R are provided rotatably about axes below the seedling planting section 4. The center float 62C and the left and right side floats 62L and 62R are sometimes collectively referred to as floats 62.

[0039] In addition, below the seedling planting section 4, and forward of the float 62, a ground leveling rotor 63 for leveling unevenness in the field surface is provided. Driving force is transmitted to the ground leveling rotor 63 from the rear wheel gear case 11a on the other left or right side via a rotor transmission shaft 63a.

[0040] 1, line-drawing markers 65 are provided on both the left and right sides of the seedling planting section 4. One of the markers 65 touches the ground on the field surface to form a groove that serves as a guide for traveling in the next work row (next process). When one of the markers 65 touches the ground, the other moves upward, and when the seedling planting section 4 is raised during rotation, both the left and right sides move upward, and when the seedling planting section 4 is lowered after rotation, one of the markers 65 moves upward and the other moves downward.

[0041] 1 and 2, a center mascot 66 that is long in the vertical direction is provided in the center of the left and right of the traveling vehicle body 2, and in front of the hood 39. By aligning the center mascot 66 with the grooves formed in the field by the left and right line markers 65, it becomes possible to travel in accordance with the work position of the previous work row, improving work accuracy and preventing non-working.

[0042] Depending on the soil quality of the field, the guide lines formed by the left and right line-drawing markers 65 may quickly become buried, causing the guide for going straight to disappear. In such cases, it is advisable to use the left and right side markers 19, which are located forward of the left and right line-drawing markers 65. In other words, by moving the left and right side markers 19 outward and positioning them above the planted seedlings, planting work can be performed in accordance with the planting of the seedlings in the previous work row.

[0043] As shown in FIG. 1, the seedling transplanter 1 is also equipped with a position acquisition device 150. The position acquisition device 150 acquires the current position and orientation of the seedling transplanter 1. The position acquisition device 150 includes, for example, an orientation sensor and a positioning means such as a Global Positioning System (GPS) or a Global Navigation Satellite System (GNSS). The position acquisition device 150 may be composed of multiple devices. The position acquisition device 150 may include a camera or an ultrasonic sensor, and may acquire a turning position in the field and detect the distance to the turning position.

[0044] For example, the position acquisition device 150 receives positioning information from a positioning means, creates current position information and direction information of the traveling vehicle body 2 based on the received positioning information, and acquires the current position and direction. The position acquisition device 150 is attached to the mounting stay 59, for example, and disposed above the traveling vehicle body 2.

[0045] A straight running control program and a turning control program, which are created based on position information from position acquisition device 150, are stored in different locations. The straight running control program is stored, for example, in a straight running control ECU (Electronic Control Unit) 100a in position acquisition device 150, and the turning control program is stored, for example, in a turning control ECU 100b housed in hood 39. Note that straight running control ECU 100a and turning control ECU 100b are included in controller 100 (see FIG. 3), which will be described later. Straight running control ECU 100a and turning control ECU 100b may be stored in the same ECU.

[0046] The mounting stay 59 is provided with a three-color light 130 that indicates the state of the seedling transplanter 1 when the seedling transplanter 1 is traveling autonomously.

[0047] (Seedling transplanter control system) Next, the control system of the seedling transplanter 1 will be described with reference to Fig. 3. Fig. 3 is a block diagram showing the control system centered around the controller 100 of the seedling transplanter 1 according to the embodiment. The seedling transplanter 1 is capable of controlling each part by electronic control, and is equipped with the controller 100 (control device) that controls each part.

[0048] The controller 100 is provided with a processing section having a CPU (Central Processing Unit) and the like, a memory section such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input / output section, which are interconnected to allow signals to be exchanged between them. The memory section stores computer programs and the like for controlling the seedling transplanter 1. The controller 100 performs each function by reading out the computer programs and the like stored in the memory section.

[0049] The controller 100 is connected to actuators such as a throttle motor 80, hydraulic control valves 81, 82, a ridge clutch actuation motor 83 (first switching device), a seedling feed switching motor 84 (second switching device), an HST motor 85, a line drawing marker lifting motor 87, a steering motor 95, and a differential lock switching motor 96.

[0050] The throttle motor 80 increases or decreases the rotation speed of the output shaft of the engine 30 by operating a throttle that adjusts the amount of air intake into the engine 30. The hydraulic control valve 81 controls the extension and retraction of the lift cylinder 25. The hydraulic control valve 82 controls the power steering mechanism 88.

[0051] The ridge clutch actuation motor 83 actuates the ridge clutch 27a. As shown in Figure 4, the ridge clutch actuation motor 83 operates a first cam 111 via a first gear mechanism 110. Figure 4 is a diagram showing a mechanism for actuating the ridge clutch 27a.

[0052] As the first cam 111 rotates, the multiple ridge clutches 27a are switched between an "on" state and a "off" state. Specifically, the first cam 111 rotates multiple levers 112 provided corresponding to the multiple ridge clutches 27a. Each lever 112 is connected to the corresponding ridge clutch 27a by a first wire 113. One lever 112 corresponds to two ridge clutches 27a. For example, if the number of planting rows of the seedling transplanter 1 is "8 rows," four levers 112 are provided.

[0053] The "on state" is a state in which the ridge clutch 27a is connected, power is transmitted to the planting rotary 57, and the planting rod 58 operates. The "off state" is a state in which the ridge clutch 27a is disconnected, power is not transmitted to the planting rotary 57, and the planting rod 58 does not operate.

[0054] At the first reference position where the first cam 111 is not in contact with the lever 112, the ridge clutch 27a is in the "on state." When the first cam 111 comes into contact with the lever 112 and the lever 112 rotates from the first reference position to the first operating position, the ridge clutch 27a is in the "off state."

[0055] The seedling feeding switching motor 84 switches the operating states of the plurality of seedling feeding belts 60 between a "seedling feeding state" and a "stopped state."

[0056] The "seedling feeding state" is a state in which the seedling mat is fed downward. The "stop state" is a state in which the seedling mat is not fed downward.

[0057] As shown in Figure 4, the seedling feeding switching motor 84 operates a second cam 115 via a second gear mechanism 114. The rotation of the second cam 115 rotates a plurality of levers 112. Each lever 112 is connected to the corresponding seedling feeding belt 60 by a second wire 116. That is, the lever 112 is connected to a first wire 113 and a second wire 116. The second cams 115 are arranged side by side along the axial direction of the first cam 111.

[0058] The first wire 113 and the second wire 116 connected to the same lever 112 correspond to the furrow clutch 27a and the seedling feeding belt 60 of the same row.

[0059] For example, a first wire 113 that operates the ridge clutch 27a corresponding to the first and second planting rods 58 from the right side of the seedling transplanter 1 is connected to a lever 112, and a second wire 116 that operates a seedling feed belt 60 that moves the seedling mat to be planted by the first and second planting rods 58 from the right side of the seedling transplanter 1 is connected to the lever 112.

[0060] In the second reference position where the second cam 115 is not in contact with the lever 112, the seedling feeding belt 60 is in the "seedling feeding state." When the second cam 115 is in contact with the lever 112 and the lever 112 rotates from the second reference position to the second operating position, the seedling feeding belt 60 is in the "stopped state."

[0061] The second operating position has a larger rotation amount of the lever 112 than the first operating position. That is, the first cam 111, the second cam 115, and the lever 112 are arranged so that the rotation amount of the lever 112 in the second operating position is larger than the rotation amount of the lever 112 in the first operating position. When the lever 112 is in the first operating position, the seedling feeding belt 60 is in the "seedling feeding state."

[0062] For example, in the state shown in Figure 4, one of the levers 112 is in the first operating position, the ridge clutch 27a corresponding to the lever 112 in the first operating position is in the "off state," and the other ridge clutches 27a are in the "on state." Also, all seedling feeding belts 60 are in the "seedling feeding state."

[0063] When the second cam 115 rotates from the state shown in Fig. 4 to the state shown in Fig. 5 and one of the levers 112 reaches the second operating position, the seedling feeding belt 60 corresponding to the lever 112 that has reached the second operating position is brought into a "stopped state", while the other seedling feeding belts 60 are maintained in a "seedling feeding state". Fig. 5 is a diagram showing the state in which one of the levers 112 has reached the second operating position.

[0064] Returning to Figure 3, the HST motor 85 changes the rotation angle of the trunnion of the HST 14, thereby changing the tilt angle of the swash plate of the HST 14. The steering motor 95 is a motor that drives the handle 35, which is a steering device that adjusts the steering amount (steering angle) of the front wheels 10 (see Figure 1) when automatic turning control is performed. The steering motor 95 rotates the handle 35. The line drawing marker lifting motor 87 lifts and lowers the line drawing marker 65.

[0065] The controller 100 is connected to detection devices such as a rotation speed sensor 90, a steering amount sensor 91, and an inclination sensor 92. Two rotation speed sensors 90 are provided corresponding to the left and right rear wheels 11, and detect the rotation speeds of the left and right rear wheels 11, respectively. Note that the rotation speed sensors 90 may also detect the rotation speeds of the left and right front wheels 10.

[0066] The steering amount sensor 91 detects the amount of operation of the steering wheel 35, which is a steering device, i.e., the steering amount (steering angle) of the front wheels 10. The steering amount sensor 91 is provided, for example, on a shaft connected to a pitman arm. The steering amount is detected in both the left and right directions, with the value when the steering wheel 35 is in a preset straight-ahead position being used as a reference value.

[0067] In addition, signals are input to the controller 100 as operation signals from the speed change operation lever 36, the auxiliary speed change operation lever 37, the autonomous driving switch 46, the planting section lifting / lowering switch 47, the automatic straight-line movement switch 45, the automatic turning switch 48, the line drawing marker automatic lifting / lowering switch 49, the remote control operation switch 160, etc.

[0068] The autonomous driving changeover switch 46 is a switch that switches whether or not autonomous driving is performed. Specifically, the autonomous driving changeover switch 46 is a switch that switches the driving mode between the autonomous driving mode and the manual driving mode.

[0069] For example, when the autonomous driving selector switch 46 is "ON," the driving mode is set to autonomous driving mode. When the autonomous driving selector switch 46 is "OFF," the driving mode is set to manual driving mode. When the autonomous driving selector switch 46 is turned "ON," the automatic straight driving selector switch 45 and the automatic turning selector switch 48 are turned "ON." Note that even if the automatic straight driving selector switch 45 and the automatic turning selector switch 48 are once turned "ON," they can be changed to "OFF" by the operator.

[0070] The autonomous driving modes include an automatic straight-line mode and an automatic turning mode, which will be described later. The manual driving modes include a remote control mode and a fully manual mode.

[0071] The remote control mode is a mode in which the seedling transplanter 1 travels and performs work by operating the remote control device 170 (hereinafter referred to as "remote control 170"). For example, when the remote control button (not shown) on the remote control 170 is turned "ON", the travel mode changes to the remote control mode. The fully manual mode is a mode in which the seedling transplanter 1 travels and performs work by operating the operator.

[0072] The planting section lifting / lowering switch 47 is a switch that switches whether to lift or lower the seedling planting section 4. The planting section lifting / lowering switch 47 can be changed to the "up" and "down" positions.

[0073] When the planting unit lift switch 47 is in the "up" position, the seedling planting unit 4 rises to a predetermined non-working position and the seedling planting device 55 stops, entering a non-working state. When the planting unit lift switch 47 is in the "down" position, the seedling planting unit 4 descends to a predetermined working position and the seedling planting device 55 enters a working state where it operates. In other words, the planting unit lift switch 47 is a switch that detects the working state of the seedling planting unit 4. Note that a separate switch may be provided to detect the working state of the seedling planting unit 4. The non-working position is a position where the seedling planting unit 4 rises to a predetermined elevated position and stops. The non-working position may include a position above the predetermined working position.

[0074] The automatic line drawing marker lifting / lowering switch 49 is a switch that switches whether or not the line drawing marker 65 is automatically lifted / lowered in conjunction with the amount of operation of the handlebars 35, i.e., the amount of steering of the front wheels 10. When the automatic line drawing marker lifting / lowering switch 49 is "ON," control is executed to automatically lift / lower the line drawing marker 65 in conjunction with the amount of steering. On the other hand, when the automatic line drawing marker lifting / lowering switch 49 is "OFF," control is not executed to automatically lift / lower the line drawing marker 65 in conjunction with the amount of steering.

[0075] The automatic straight-line driving selector switch 45 is a switch that switches whether or not automatic straight-line driving is enabled. When the automatic straight-line driving selector switch 45 is set to "ON," the driving mode becomes the automatic straight-line driving mode described below, the driving assist function is enabled, and automatic straight-line driving can be performed. When the automatic straight-line driving selector switch 45 is set to "OFF," the driving assist function is disabled, and automatic straight-line driving cannot be performed.

[0076] The automatic turning selector switch 48 is a switch that switches whether or not automatic turning is enabled. When the automatic turning selector switch 48 is set to "ON," the driving mode becomes the automatic turning mode described below, the turning assist function is enabled, and automatic turning can be performed. When the automatic turning selector switch 48 is set to "OFF," the turning assist function is disabled and automatic turning cannot be performed. When the automatic turning selector switch 48 is set to "OFF," automatic turning is not performed even if the conditions for performing automatic turning are met.

[0077] The remote control operation switch 160 is a switch that switches whether or not the seedling transplanter 1 can be operated using the remote control 170. When the remote control operation switch 160 is set to "ON", operation using the remote control 170 is enabled, and operation using the remote control 170 is possible. When the remote control operation switch 160 is set to "OFF", operation using the remote control 170 is disabled, and operation using the remote control 170 is not possible. When the remote control operation switch 160 is set to "OFF", all operations from the remote control 170 are rejected.

[0078] Furthermore, the controller 100 receives input of information such as the current position of the traveling vehicle body 2 from the position acquisition device 150. The controller 100 executes an autonomous traveling mode in which the traveling vehicle body 2 performs work while traveling automatically.

[0079] Also, various types of information are input to the controller 100 from a remote control 170. For example, various types of information are input to the controller 100 from the remote control 170 via a receiver 180 (see FIG. 1). The receiver 180 is attached to, for example, a mounting stay 59 (see FIG. 1), and is disposed above the front side of the traveling vehicle body 2. Note that multiple receivers 180 may be provided.

[0080] The remote control 170 can remotely control the seedling transplanter 1. The remote control 170 may be a terminal device such as a smartphone. The remote control 170 transmits a control signal in response to an operation by an operator. The remote control 170 is communicably connected to the controller 100 via short-range wireless communication such as Wi-fi (registered trademark) or BLE (Bluetooth (registered trademark) Low Energy), but is not limited thereto, and may be communicably connected via a communication network or the like in addition to or instead of short-range wireless communication.

[0081] The remote control 170 may include, for example, a direction sensor or a positioning means such as a GPS or a GNSS. The remote control 170 may transmit its position information to the controller 100.

[0082] (Autonomous driving mode) Here, we will explain the autonomous travel (automatic travel) in the field by the seedling transplanter 1. The seedling transplanter 1 can plant seedlings in the field while traveling autonomously in a reciprocating planting area set in the field.

[0083] The reciprocating planting area is set according to field information, seedling transplanter 1 information, and combine information. Field information includes field location information, field size information, etc. Seedling transplanter 1 information includes the number of planting rows of the seedling transplanter 1. Combine information includes the number of harvesting rows of the combine.

[0084] The reciprocating planting area may be set by the controller 100 or by the remote control 170. The reciprocating planting area may be set by another device and received via the remote control 170. The reciprocating planting area may be set by performing teaching travel, which will be described later, and setting a reference straight path.

[0085] The reciprocating planting area is set so that a predetermined headland area is left inward from the edge of the field. The predetermined headland area has a width from the edge of the field that is an integer multiple of the number of rows to be planted.

[0086] For example, if the number of planting rows of the seedling transplanter 1 is "8 rows" and the number of harvesting rows of the combine is "5 rows," the predetermined headland area is an area having a width equal to the planned number of planting rows of "10 rows," which is twice 5 rows, as shown in Figure 6. Figure 6 is a diagram explaining the reciprocating planting area and the headland area.

[0087] The controller 100 (see FIG. 3) has an autonomous driving mode in which it controls the steering motor 95 (see FIG. 3) to operate the steering wheel 35 (see FIG. 3) while feeding back the steering amount (steering angle) of the front wheels 10 (see FIG. 1), which are steered wheels. The autonomous driving mode includes an automatic straight-ahead mode and an automatic turning mode.

[0088] In the automatic straight-line mode, the steering motor 95 is controlled so that the traveling body 2 moves straight along a straight-line path. In the automatic straight-line mode, the traveling body 2 moves straight without the driver's operation while the seedling planting unit 4 plants seedlings in the field. In other words, the traveling assist function for transplanting seedlings into the field is enabled and executed while the traveling body 2 moves automatically straight.

[0089] The straight path in the automatic straight-line mode is set by setting a reference straight-line path. For example, the straight path is a path parallel to the reference straight-line path. The reference straight-line path is set, for example, by performing teaching travel. In teaching travel, a start point and an end point are set by the operator when traveling by operating the operator. The reference straight-line path is a path connecting the start point and the end point. The start point and the end point may be notified to the operator based on information about the reciprocating planting area and position information of the seedling transplanter 1. The reference straight-line path may be set based on information about the field (such as the reciprocating planting area) and information about the seedling transplanter 1. Note that teaching travel may be performed with the travel mode set to teaching mode.

[0090] The reciprocating planting area may be set, for example, by performing teaching travel in the field and setting a reference straight path. For example, the reciprocating planting area may be set based on field information, the reference straight path, the number of planting rows of the seedling transplanter 1, and the number of harvesting rows of the combine harvester.

[0091] In the automatic turning mode, when the traveling vehicle body 2 reaches a predetermined planting end position, the seedling planting unit 4 stops planting seedlings, and the steering motor 95 is controlled to turn the traveling vehicle body 2 along a preset turning path. The predetermined planting end position is set based on information about the round-trip planting area, the straight path, and the position information of the traveling vehicle body 2.

[0092] In the automatic turning mode, for example, the seedling planting unit 4 is raised from the working position and changed to the non-working position, and the traveling body 2 turns without the operator's operation. In other words, the turning assist function that turns the traveling body 2 without the seedling planting unit 4 planting seedlings is enabled, and the turning assist function is executed.

[0093] In the automatic turning mode, when the turning is completed and the planting start position for the next process is reached, the seedling planting section 4 descends from the non-working position and is changed to the working position.

[0094] In the automatic turning mode, the controller 100 turns the traveling vehicle body 2 so that a headland area is opened inward from the edge of the field ridge. For example, in the field shown in Fig. 6, the controller 100 controls the seedling planting unit 4 during turning and turns the traveling vehicle body 2 so that a headland area having a width corresponding to the planned number of planting rows of 10 is opened from the edge of the field ridge.

[0095] The automatic straight-line mode may include a control to stop the seedling planting unit 4 from planting seedlings when the traveling vehicle body 2 reaches a predetermined planting end position. The automatic straight-line mode may also include a control to change the seedling planting unit 4 to a working position when the traveling vehicle body 2 reaches a predetermined planting end position. For example, in the automatic straight-line mode, when the traveling vehicle body 2 reaches a predetermined planting end position, the traveling vehicle body 2 is stopped, the seedling planting by the seedling planting unit 4 is stopped, and the seedling planting unit 4 is changed from the working position to the non-working position. Then, when the traveling vehicle body 2 is manually turned by the operator and reaches a planting start position for the next process, the traveling vehicle body 2 is stopped and the seedling planting unit 4 is changed from the non-working position to the working position.

[0096] Controller 100 controls ridge clutch 27a so that the headland area is free during the first planting step of the reciprocating planting area (for example, the planting step on the reference straight path) and the last planting step of the reciprocating planting area. The first planting step and the last planting step of the reciprocating planting area are determined by controller 100 based on information about the reciprocating planting area and position information about traveling vehicle body 2. The first planting step of the reciprocating planting area may be determined by performing teaching travel.

[0097] For example, in the example shown in Figure 6, when planting on the standard straight path, the controller 100 controls the ridge clutches 27a to put the two ridge clutches 27a at the right end of the traveling body 2 into the "off state" and the other ridge clutches 27a into the "on state."

[0098] Also, when planting in the final planting step of the reciprocating planting area, the controller 100 controls the ridge clutches 27a to put the two ridge clutches 27a at the right end of the traveling body 2 into the "off state" and the other ridge clutches 27a into the "on state."

[0099] For example, when planting is performed by rotating counterclockwise in the headland area, the controller 100, during the first rotation, puts the ridge clutches 27a for the two rows at the left end of the traveling body 2 into the "on" state and the other ridge clutches 27a into the "off" state. This allows the seedling transplanter 1 to plant two rows of seedlings in the inner headland area. Next, during the second rotation, the controller 100 puts all ridge clutches 27a into the "on" state and plants seedlings in the remaining headland area. This allows the seedling transplanter 1 to plant 10 rows of seedlings in the headland area while preventing the seedlings planted during the first rotation from being trampled during the second rotation.

[0100] (Planting treatment) Next, the planting process according to the embodiment will be described with reference to Fig. 7. Fig. 7 is a flowchart illustrating the planting process according to the embodiment. Here, seedlings are planted in a field while autonomously traveling in an automatic straight-line mode and an automatic turning mode.

[0101] The controller 100 sets a reciprocating planting area (S100). The controller 100 determines whether the first planting process in the field is being performed (S101). Note that the reciprocating planting area may be set after the reference straight path is set.

[0102] If the first planting process is being performed (S101: Yes), the controller 100 executes ridge clutch regulated travel (S102). The controller 100 plants seedlings by disengaging part of the ridge clutch 27a according to the number of harvesting rows of the combine harvester and the number of planting rows of the seedling transplanter 1.

[0103] If the first planting step has not been performed (S101: No), the controller 100 performs all-row planting travel (S103). The controller 100 puts all ridge clutches 27a into the "on" state and plants the seedlings. When the traveling vehicle body 2 reaches a predetermined planting end position, the controller 100 puts the seedling planting unit 4 into a non-working position and turns the traveling vehicle body 2 so that the headland area is clear.

[0104] The controller 100 determines whether the final planting step is being performed (S104).

[0105] If the controller 100 has not executed the final planting step (S104: No), it returns to step S101 and repeats the above process. If the controller 100 has executed the final planting step (S104: Yes), it executes ridge clutch regulated travel (S105). The controller 100 plants the seedlings by disengaging part of the ridge clutch 27a according to the number of harvesting rows of the combine and the number of planting rows of the seedling transplanter 1.

[0106] (Seedling feeding belt operation processing) Next, the seedling feeding belt operation process according to the embodiment will be described with reference to Fig. 8. Fig. 8 is a flowchart illustrating the seedling feeding belt operation process according to the embodiment.

[0107] The controller 100 determines whether there is a ridge clutch 27a to be put into the "disengaged state" (S200). If there is no ridge clutch 27a to be put into the "disengaged state" (S200: No), the controller 100 ends the current processing.

[0108] If there is a ridge clutch 27a to be disengaged (S200: Yes), the controller 100 disengages the ridge clutch 27a to be disengaged (S201). The controller 100 activates the ridge clutch operating motor 83 to rotate the first cam 111 and set the lever 112 corresponding to the ridge clutch 27a to be disengaged to the first operating position. This causes the ridge clutch 27a to be disengaged.

[0109] The controller 100 determines whether a predetermined time has elapsed since the ridge clutch 27a was put into the "disconnected state" (S202). If the predetermined time has not elapsed (S202: No), the controller 100 waits until the predetermined time has elapsed. The predetermined time is a preset time, which is the time required for one seedling feed of the seedling mat. The predetermined time may be set according to the vehicle speed.

[0110] When a predetermined time has elapsed (S202: Yes), the controller 100 switches the seedling feed belt 60 corresponding to the ridge clutch 27a that has been switched off to a stopped state (S203). The controller 100 activates the seedling feed switching motor 84 to rotate the second cam 115, and sets the lever 112 corresponding to the seedling feed belt 60 to the second operating position. This switches the seedling feed belt 60 to a stopped state.

[0111] When the ridge clutch 27a is set to the "off state," power is not transmitted to the planting rotary 57, and the planting rod 58 stops. After a predetermined time has passed, the seedling feed belt 60 enters the "stop state." This ensures that the seedlings can be planted reliably when the ridge clutch 27a enters the "on state" and planting of seedlings by the planting rod 58 resumes. In other words, the seedling transplanter 1 can prevent missing seedlings.

[0112] The seedling transplanter 1 comprises a traveling vehicle body 2, a seedling planting unit 4, multiple ridge clutches 27a, and a controller 100. The seedling planting unit 4 is attached to the traveling vehicle body 2 and plants seedlings in the field. The multiple ridge clutches 27a change the number of rows of seedlings planted in the seedling planting unit 4. The controller 100 controls the ridge clutches 27a so that a headland area is left open inward from the edge of the ridges of the field, with a width equal to the number of planned planting rows that is an integral multiple of the number of reaping rows of the combine that will harvest the field.

[0113] This allows the seedling transplanter 1 to match the number of rows of seedlings planted in the headland area to the number of rows that the combine harvester can harvest. When a combine harvester is used to circumnavigate the headland area to harvest crops, the combine harvester can harvest the number of rows of crops that matches the number of rows that the combine harvester can harvest. This makes it easier for the combine harvester to align the rows, and the seedling transplanter 1 can facilitate the harvesting work by the combine harvester.

[0114] For example, because the seedling transplanter 1 travels in different directions in the reciprocating planting area and the headland area, the distance between stalks may differ when viewed from the circling direction (the direction in which it travels around the headland area). Therefore, when the combine harvester reaps crops while circling the headland area, for example, multiple stalks may be supplied to one row of crop in the reciprocating planting area, which could result in some crops being missed. There is also a risk that the combine harvester's cutting blades may split stalks.

[0115] The seedling transplanter 1 can prevent the occurrence of the above problems and improve the harvesting efficiency of the combine by controlling the row clutch 27a so as to leave open a headland area with a width equal to the number of rows planned for planting that is an integer multiple of the number of rows harvested by the combine.

[0116] Furthermore, the seedling transplanter 1 can prevent areas in the field from being left unplanted, which can prevent the occurrence of manual planting of seedlings by an operator.

[0117] Furthermore, for example, in the final planting step of the reciprocating planting area, if a headland area the width of the entire row of seedling transplanter 1 is free at the edge of the ridge, the seedling transplanter 1 can omit part of the route for traveling around the headland area. As a result, the seedling transplanter 1 can improve the efficiency of planting work.

[0118] The controller 100 controls the seedling planting unit 4 when the traveling body 2 turns so that a headland area having a number of planned planting rows that is an integral multiple of the number of harvesting rows of the combine is left open inward from the edge of the field.

[0119] This allows the seedling transplanter 1 to create a headland area on the extension of the route of the reciprocating planting area, with a planned number of rows to be planted that is an integral multiple of the number of rows that the combine harvester can harvest. The seedling transplanter 1 can match the number of rows of seedlings planted in the headland area to the number of rows that the combine harvester can harvest. When harvesting crops by circling the headland area with a combine harvester, the combine harvester can harvest the number of rows of crops that matches the number of rows that the combine harvester can harvest. This makes it easier for the combine harvester to align the rows, and the seedling transplanter 1 can facilitate harvesting work by the combine harvester.

[0120] When planting seedlings in the headland area, the controller 100 controls the ridge clutch 27a so that the number of seedlings planted is an integral multiple of the number of harvesting rows of the combine.

[0121] This allows the seedling transplanter 1 to plant seedlings in the headland area along the circumferential direction that is an integer multiple of the number of harvesting rows of the combine. When harvesting crops by circling the headland area with a combine, the combine can harvest the number of rows of crops that matches the number of harvesting rows of the combine. This makes it easier for the combine to align the rows, and the seedling transplanter 1 can facilitate the harvesting work by the combine.

[0122] The seedling transplanter 1 is equipped with multiple seedling feed belts 60, a ridge clutch actuation motor 83, and a seedling feed switching motor 84. The multiple seedling feed belts 60 are provided according to the number of planting rows. The ridge clutch actuation motor 83 switches the ridge clutch 27a between an "on" state and an "off" state. The seedling feed switching motor 84 switches the seedling feed belts 60 between a "seedling feed" state and a "stopped" state.

[0123] This allows the seedling transplanter 1 to separately control the ridge clutch 27a and the seedling feed belt 60. Even when the ridge clutch 27a is in the "off state," the seedling transplanter 1 can move the seedling mat downward, and when the ridge clutch 27a is again in the "on state," the seedlings can be removed from the seedling mat by the planting rod 58, thereby preventing missing seedlings.

[0124] After the ridge clutch 27a is put into the "disconnected state," the controller 100 controls the seedling feeding switching motor 84 so that the seedling feeding belt 60 corresponding to the ridge clutch 27a that has been put into the "disconnected state" is put into the "stopped state."

[0125] As a result, after part of the ridge clutch 27a is put into the "off state," the seedling transplanter 1 can move the seedling mat downward using the seedling feed belt 60. Therefore, when part of the ridge clutch 27a is put into the "on state" again, the seedlings can be planted in the field using the planting rod 58, and the occurrence of missing plants can be reduced.

[0126] The ridge clutch actuation motor 83 switches the ridge clutch 27a between an "on" state and a "off" state using a first cam 111. The seedling feed switching motor 84 switches the seedling feed belt 60 between a "feed" state and a "stop" state using a second cam 115. The first cam 111 and the second cam 115 are arranged side by side along the axial direction of the first cam 111.

[0127] As a result, the seedling transplanter 1 can prevent the device from becoming large in size in a configuration in which the ridge clutch 27a and the seedling feeding belt 60 are controlled separately.

[0128] The seedling transplanter 1 according to the modified example may control the ridge clutch 27a that forms the headland area based on the travel path of the combine. This allows the seedling transplanter 1 to form a headland area that matches the path that the combine will take. Therefore, the seedling transplanter 1 can facilitate the harvesting work of the combine when it harvests crops in the headland area.

[0129] The seedling transplanter 1 according to the modified example may control the ridge clutches 27a at the edge of the field ridges (on the outer periphery of the field) during the first rotation in the headland area, as shown in Figure 9. Then, during the second rotation, the seedling transplanter 1 may plant seedlings in the headland area on the inside of the first rotation by setting all ridge clutches 27a to the "on" state. Figure 9 is a diagram showing planting in the headland area according to the modified example. In the seedling transplanter 1 according to the modified example, when the ridge clutch 27a is in the "off state," the seedling mat is sent downward once by the seedling feed belt 60 corresponding to the ridge clutch 27a that has been in the "off state," and then the seedling feed belt 60 corresponding to the "off state" ridge clutch 27a may be put into the "stop state." Whether or not the seedling mat has been sent downward once is detected by a sensor.

[0130] The seedling transplanter 1 according to the modified example may be provided with a switch for switching on and off the ridge clutch 27a, and a switch for switching on and off the seedling feeding belt 60. Each switch can be operated by an operator.

[0131] In the seedling transplanter 1 according to the modified example, if the seedling feed belt 60 is stopped before the ridge clutch 27a is switched to the disengaged state, the seedling transplanter 1 switches the ridge clutch 27a to the disengaged state. After switching the ridge clutch 27a to the disengaged state, the seedling transplanter 1 sounds a buzzer to alert the operator of the malfunction. The seedling transplanter 1 may also alert the operator of the malfunction by changing the color of the center mascot 66.

[0132] The seedling transplanter 1 according to the modified example may restrict the switching of the driving mode by the remote control when the seat switch detects that the operator is seated. For example, the remote control operation is restricted so that the driving mode is not switched to a remote control mode or an autonomous driving mode, which would change the behavior of the traveling body 2. The restriction may be performed by the seedling transplanter 1 or the remote controller 170.

[0133] The seedling transplanter 1 according to the modified example may be restricted so that it does not accept any remote control commands for driving, switching between forward and backward movement, or accelerating or decelerating when the seat switch detects that the operator is seated and the driving mode is the remote control mode or the autonomous driving mode. The presence or absence of such restrictions may be set by the operation panel 38.

[0134] The seedling transplanter 1 according to the modified example may change the lighting state of the switch when a switch (such as the autonomous driving selector switch 46) that enables the autonomous driving mode or the remote control mode is turned on. The seedling transplanter 1 may turn on the switch when it is in the autonomous driving mode and autonomous driving is possible. The seedling transplanter 1 may turn off the switch when it is in the autonomous driving mode and autonomous driving is not possible. The seedling transplanter 1 may flash the switch when it is in a mode other than the autonomous driving mode.

[0135] Further advantages and modifications will readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents. [Explanation of symbols]

[0136] 1 seedling transplanter) 2 Running vehicle 4 Seedling planting department 27a Ridge Clutch 60 Seedling feed belt (seedling feed device) 83 Row clutch operating motor (first switching device) 84 Seedling feed switching motor (second switching device) 100 Controller (control device) 110 First gear mechanism 111 First Cam 112 Lever 114 Second gear mechanism 115 Second Cam 150 Position Acquisition Device

Claims

1. A running vehicle body, a seedling planting unit attached to the traveling vehicle body and configured to plant seedlings in a field; A plurality of row clutches for changing the number of rows of seedlings planted in the seedling planting section; A control device that controls the row clutch; A plurality of seedling feeding devices are provided according to the number of planting rows; a ridge clutch actuation motor for switching the ridge clutch between an on state and a off state; a seedling feeding switching motor that switches the seedling feeding device between a seedling feeding state and a stop state and is different from the row clutch operating motor; Equipped with The control device controlling the ridge clutch by controlling the ridge clutch actuation motor; Controlling the seedling feeding switch motor to control the seedling feeding device; The ridge clutch is controlled so that a headland area having a width equal to the number of planned planting rows that is an integral multiple of the number of reaping rows of a combine that performs harvesting in the field is opened inward from the edge of the field. When planting seedlings in the headland area, the ridge clutch is controlled so that the number of seedlings planted is an integer multiple of the number of reaping rows of the combine harvester; The ridge clutch actuation motor switches the ridge clutch between the on state and the off state using a first cam, The seedling feeding switching motor switches the seedling feeding device between the seedling feeding state and the stop state by a second cam; A seedling transplanter, wherein the first cam and the second cam are arranged side by side along the axial direction of the first cam.

2. The seedling transplanter according to claim 1, wherein the control device controls the seedling planting unit when the traveling body turns so that a headland area having a number of planned planting rows that is an integer multiple of the number of harvesting rows of the combine is left open inward from the edge of the field.

3. The seedling transplanter according to claim 1 or 2, wherein the control device controls the furrow clutch based on a travel path of the combine harvester.

4. The seedling transplanter according to claim 1, wherein the control device controls the seedling feed switching motor so that the seedling feed device corresponding to the ridge clutch that has been put into the disengaged state is stopped after the ridge clutch is put into the disengaged state.

5. The seedling transplanter of claim 4, wherein the control device sets a predetermined time according to the vehicle speed of the traveling vehicle body, and controls the seedling feed switching motor so that the seedling feed device corresponding to the ridge clutch that has been disengaged is stopped when the predetermined time has elapsed since the ridge clutch was disengaged.

Images