Ride-on seedling transplanter

Abstract

To provide a sulky type seedling transplanter that is inexpensive by using a satellite positioning system of a small airplane, in order to solve a problem that a conventional sulky type seedling transplanter that is equipped with a satellite positioning system (GPS) and performs autonomous travel requires two GPSs for various types of work performed by the sulky type seedling transplanter equipped with a GPS and a small airplane equipped with a GPS, which is expensive.SOLUTION: A sulky type seedling transplanter equipped with a seedling planting part 4 in a traveling vehicle body 2 is provided with a landing base 6a on which a small airplane 8 equipped with a satellite positioning system 7 lands. The sulky type seedling transplanter performs autonomous travel or assisted travel by using the satellite positioning system 7 of the small airplane 8 that has landed on the landing base 6a.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a riding seedling transplanter equipped with a satellite positioning system such as GPS or GNSS. [Background technology]

[0002] BACKGROUND ART Conventionally, there is a ride-on rice transplanter that is equipped with a satellite positioning system (GPS) and travels autonomously (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2017-112962 Summary of the Invention [Problem to be solved by the invention]

[0004] Various tasks were carried out using a ride-on rice transplanter equipped with a GPS and a small airplane equipped with a GPS, which required two GPS units and was expensive.

[0005] The present invention has been made in consideration of the above, and aims to provide an inexpensive ride-on seedling transplanter that uses the satellite positioning system of a small airplane. [Means for solving the problem]

[0006] The first aspect of the present invention is In a riding seedling transplanter having a traveling body (2) equipped with a seedling planting unit (4), a landing pad (6a) is provided on which a small airplane (8) equipped with a satellite positioning system (7) can land, and the small airplane (8) that has landed on the landing pad (6a) uses the satellite positioning system (7) to travel autonomously or with travel assistance; The small airplane (8) and the ride-on seedling transplanter (1) are remotely controlled by a single remote controller (93), The worker remotely controls the small airplane (8) with a remote control (93) and flies it to two reference points for the start of rice planting work in the field F. The small airplane (8) receives signals from the positioning satellite (13) using the satellite positioning system (7), and the control unit (92) calculates position information of the two reference points and transmits it using the wireless communication device (90). The riding seedling transplanter (1) receives the transmitted position information of the two reference points by the wireless communication device (36), and the control device (37) calculates and stores a straight line connecting the two reference points from the position information of the two reference points. The control device (37) of the ride-on seedling transplanter (1) receives signals from the positioning satellite (13) via the satellite positioning system (7) of the small airplane (8) that has landed on the landing pad (6a), and the control unit (92) calculates position information and transmits the calculated position information via the wireless communication device (90). This position information is then received via the wireless communication device (36), and the ride-on seedling transplanter is characterized in that it automatically steers the vehicle along a straight line connecting two reference points or a straight line parallel to that line while acquiring its own vehicle position information, and travels autonomously to perform rice planting work. According to the first aspect of the present invention, it is possible to use multiple satellite positioning systems and consolidate expensive satellite positioning systems into one, resulting in high cost performance. Also, while the reference position acquisition in the conventional straight line assist function required moving the aircraft body to acquire the reference position, the straight line assist function and robot operations can be performed by acquiring the reference position using a small aircraft. The second aspect of the present invention is This is the first ride-on seedling transplanter of the present invention, characterized in that the remote control (93) is provided with sticks (94L, 94R) for controlling the aircraft, a mode switching switch (95), and a monitor (96) for displaying image data from the camera (91) of the small airplane (8). First invention related to the present invention is a ride-on seedling transplanter equipped with a seedling planting unit 4 on a running body 2, and is provided with a landing pad 6a on which a small airplane 8 equipped with a satellite positioning system 7 can land, and the ride-on seedling transplanter uses the satellite positioning system 7 of the small airplane 8 that has landed on the landing pad 6a to travel autonomously or with travel assistance.

[0007] First invention related to the present invention According to the method, a landing pad 6a is provided on which a small airplane 8 equipped with a satellite positioning system 7 can land, and the satellite positioning system 7 of the small airplane 8 that has landed on the landing pad 6a is used to drive autonomously or assist its driving, so that by sharing the satellite positioning system 7 of the small airplane 8, an inexpensive ride-on seedling transplanter can be provided.

[0008] Second invention related to the present invention The small airplane 8 can be remotely controlled by a remote controller 93. First invention related to the present invention It is a riding seedling transplanter.

[0009] Third invention related to the present invention The small airplane 8 and the ride-on seedling transplanter 1 are remotely controlled by a single remote controller 93. First invention related to the present invention It is a riding seedling transplanter.

[0010] The fourth invention related to the present invention The remote controller 93 is provided with sticks 94L and 94R for controlling the aircraft, a mode changeover switch 95, and a monitor 96 for displaying image data captured by the camera 91 of the small airplane 8. The second or third invention related to the present invention It is a riding seedling transplanter. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a side view of a riding rice transplanter according to an embodiment of the present invention. [Figure 2] FIG. [Figure 3] FIG. 2 is a perspective view for explaining the operation of the material supply device. [Figure 4] FIG. 10 is a side view for explaining the operation of the material supply device. [Figure 5] FIG. 10 is a side view for explaining the operation of the material supply device. [Figure 6] FIG. 10 is a perspective view for explaining the function of the supply body. [Figure 7] FIG. 10 is a perspective view for explaining the function of the supply body. [Figure 8] FIG. 10 is a perspective view for explaining the function of the supply body. [Figure 9] FIG. 10 is a side view for explaining the operation of the material supply device. [Figure 10] FIG. 10 is a side view for explaining the operation of the material supply device. [Figure 11] FIG. 10 is a perspective view showing another embodiment of the material supply device. [Figure 12] FIG. 10 is a perspective view illustrating the operation of another embodiment of the material supply device. [Figure 13] FIG. 1 is a perspective view of a drone. [Figure 14] FIG. [Figure 15] 10 is an explanatory diagram of the operation of the left and right sticks of the remote control. [Figure 16] FIG. 10 is a perspective view showing another embodiment of the remote control. [Figure 17] FIG. [Figure 18] FIG. [Figure 19] FIG. [Figure 20] This is a side view of the main parts of a riding rice transplanter equipped with a sub-float. [Figure 21] This is a plan view of the main parts of a riding rice transplanter equipped with a sub-float. [Figure 22] FIG. 10 is a plan view of a main part showing another embodiment in which a sub-float is attached. [Figure 23] This is a plan view of the main parts of a riding rice transplanter equipped with a front wheel rake. [Figure 24] This is a side view of the main parts of a riding rice transplanter equipped with a front wheel rake. [Figure 25] FIG. 1 is a plan view of a riding rice transplanter equipped with a brush cutter. [Figure 26] FIG. 1 is a side view of a riding rice transplanter equipped with a brush cutter. DETAILED DESCRIPTION OF THE INVENTION

[0012] Preferred embodiments of the present invention will now be described with reference to the drawings.

[0013] <Overall structure> Figure 1 is a side view of a riding rice transplanter equipped with a fertilizer applicator, which is one embodiment of the riding seedling transplanter of the present invention. In this riding rice transplanter 1 with a fertilizer applicator, a seedling planting unit 4 is attached to the rear of a traveling body 2 via a lifting link device 3 so that it can be raised and lowered. The main body of the fertilizer applicator 5 is located on the upper rear of the traveling body 2. A drone 8, a type of small airplane equipped with a satellite positioning system such as GPS7 or GNSS (hereinafter referred to as GPS7), is located on the upper end of a front frame 6 attached to the front of the traveling body 2. Note that the left and right directions when looking forward in the riding seedling transplanter are referred to as left and right, respectively, and the forward and backward directions are referred to as front and rear, respectively.

[0014] <Running vehicle 2> As shown in Figure 1, the vehicle body 2 is a four-wheel drive vehicle equipped with a pair of left and right front wheels 10, 10 and a pair of left and right rear wheels 11, 11, which are drive wheels. A transmission case 12 is arranged at the front of the vehicle body, and front wheel final cases are provided on the left and right sides of the transmission case 12. The left and right front wheels 10, 10 are respectively attached to left and right front wheel axles that protrude outward from each front wheel support part that can change the steering direction of the left and right front wheel final cases.

[0015] In addition, the front end of the main frame 15 is fixed to the back of the transmission case 12, and the rear wheel gear case is supported so as to be able to roll freely, with the rear wheel rolling axis set horizontally in the center of the rear end of the main frame 15 as a fulcrum, and the rear wheels 11, 11 are attached to the rear wheel axles that protrude outward from the rear wheel gear case.

[0016] The engine 20 is mounted on an engine bracket 19 provided at the front of the vehicle body 2, and the rotational power of the engine 20 is transmitted to the transmission case 12 via a belt transmission device 21 and an HST 23.

[0017] The rotational power transmitted to the transmission case 12 is changed in speed by the transmission inside the transmission case 12, and then separated into traveling power and externally taken out power. A portion of the traveling power is transmitted to the front wheel final case to drive the front wheels 10, 10, and the remainder is transmitted to the rear wheel gear case to drive the rear wheels 11, 11. The externally taken out power is transmitted to a planting clutch case provided at the rear of the traveling body 2, and then transmitted to the seedling planting section 4 by a planting transmission shaft and to the fertilizer application device 5 by a fertilizer application transmission mechanism.

[0018] The upper, front, left and right sides of the engine 20 are covered by a hood 30. Floor steps 31 are provided on both the left and right sides and at the rear of the hood 30.

[0019] The engine bracket 19 is fixed to the front end of the main frame 15 by welding, and the rigidity of the main frame 15 is improved to cope with vibrations of the engine 20.

[0020] The floor step 31 is attached to the main frame 15. Of the floor step 31, for example, a part near the operator's seat 32 is formed in a lattice shape in a plan view so that mud adhering to the worker's shoes can be washed off into the rice paddy field.

[0021] The rear center portion of the floor step 31 is formed in a convex shape, and a pilot's seat 32 is provided on the upper surface thereof.

[0022] A rear step 33 is provided at the rear end of the floor step 31 and is configured high and also serves as a fender for the left and right rear wheels 11, 11.

[0023] Various operating mechanisms are provided on the top of the bonnet 30, and above this, a handle 34 for steering the front wheels 10, 10 is provided.

[0024] The lifting link device 3 has a parallel link configuration and includes one upper link 40 and a pair of left and right lower links 41, 41. The bases of these links 40, 41, 41 are rotatably attached to a link base frame 42, which is shaped like a portal when viewed from the rear and is erected at the rear end of the main frame 15, and a vertical link 43 is connected to the tip of the link. A connecting shaft rotatably supported on the seedling planting unit 4 is inserted and connected to the lower end of the vertical link 43, and the seedling planting unit 4 is connected to the connecting shaft so that it can roll freely around the center.

[0025] A lifting hydraulic cylinder is provided between the link base frame 42 and the vertical link 43, and by hydraulically extending and contracting the lifting hydraulic cylinder, the lifting link device 3 rotates up and down, and the seedling planting section 4 rises and falls while maintaining an almost constant posture.

[0026] On both the left and right sides of the front of the traveling body 2, left and right spare seedling carriers 44 for carrying spare seedlings to be supplied to the seedling carrier 51 of the seedling planting section 4, and left and right line drawing markers are provided.

[0027] At the rear of the traveling vehicle body 2, a material supplying device 9 is provided which supplies seedlings to the seedling carrier 51 of the seedling planting section 4 and fertilizer to the fertilizer hopper 60 of the fertilizing device 5.

[0028] In addition, a front frame 6 is provided at the front of the running vehicle body 2, with its base fixed to the aircraft frame such as an engine bracket 19 and extending upward, and a drone 8, a type of small airplane equipped with a GPS 7, is placed on a flat landing pad 6a provided at the upper end of the front frame 6.

[0029] <Seedling planting section 4> The seedling planting section 4 has a typical 10-row planting configuration and is equipped with a transmission case 50 fixed to a frame provided on the left and right sides of the machine body, a seedling carrying platform 51 which is made up of 10 seedling carrying sections 51a arranged side by side on the left and right sides and which each carry a mat of soil-attached seedlings Na and which moves back and forth from side to side, and a seedling planting device 52 which takes out seedlings one by one from the bottom end of each seedling carrying section 51a of the seedling carrying platform 51 and plants them in the field.

[0030] A center float 55 is provided in the center of the lower part of the seedling planting section 4, and left and right side floats 56 are provided on either side of it. When the machine is advanced with these floats 55, 56 in contact with the muddy surface of the field, the floats 55, 56 glide over the muddy surface while leveling it, and the seedling planting device 52 plants seedlings in the leveled area.

[0031] Each float 55, 56 is attached so that it can rotate freely, allowing its front end to move up and down in response to the unevenness of the topsoil surface of the field. During planting work, the up and down movement of the front of the center float 55 is detected by an angle-of-attack control sensor, and the hydraulic valve that controls the lifting hydraulic cylinder is switched in response to the detection result to raise and lower the seedling planting section 4, thereby maintaining a constant seedling planting depth.

[0032] The seedling planting section 4 is equipped with a soil leveling rotor 27, which is an example of a soil leveling device.

[0033] <Fertilizer 5> The fertilizer applicator 5 dispenses a fixed amount of granular fertilizer stored in a fertilizer hopper 60 using a dispensing section 61, and guides the fertilizer by a fertilizer hose 62 to fertilizer guides 63 attached to both the left and right sides of the floats 55, 56, and then drops the fertilizer into a fertilizer area formed near the side of the seedling planting row by a furrow-making body 64 provided in front of the fertilizer guide 63.

[0034] Air generated by a blower driven by an electric blower motor is blown into the fertilizer application hose 62 via an air chamber 65 that is long in the left-right direction, and the fertilizer in the fertilizer application hose 62 is forcibly transported by wind pressure.

[0035] <Material supply device 9> As shown in Figures 1 and 2, a material supply device 9 is provided at the rear of the traveling vehicle body 2, and is composed of a support frame 70 and a material rack 71 supported by the support frame 70 and used to supply seedlings to the seedling carrier 51 of the seedling planting section 4 and to supply fertilizer to the fertilizer hopper 60 of the fertilizer application device 5.

[0036] The support frame 70 is gate-shaped when viewed from the front, with the lower left and right ends fixed to the main frame 15 of the running body 2, and the left and right support bars 70a are installed horizontally across the left and right of the body in front of the fertilizer hopper 60 of the fertilizer application device 5 and above the rear of the driver's seat 32 (the left and right lengths of the left and right support bars 70a are set slightly longer than the left and right widths of the seedling loading sections 51a arranged side by side on the seedling loading platform 51).

[0037] The support frame 70 also functions as a handrail for workers who are performing seedling supplying work or fertilizer supplying work on the traveling vehicle body 2.

[0038] The material rack 71 is composed of a mounting frame 72 that serves as a mounting body for placing empty seedling boxes N and fertilizer bags F', which are U-shaped when viewed from the side, and a supply body 73 that supplies soil-covered mat seedlings Na and fertilizer Fa, and is supported so as to be rotatable in the front-to-back direction by a pivot shaft 74a at the tip of a connecting arm 74, the base of which is attached to the left and right support bars 70a of the support frame 70 so as to be able to slide and rotate freely in the left-to-right direction of the body.

[0039] Therefore, the material rack 71 can be moved left and right between the left and right sides of the rear of the running body 2 by sliding the connecting arm 74 left and right along the left and right support bars 70a; in other words, it can be moved left and right within the left and right width of the seedling carrying platform 51 of the seedling planting section 4.

[0040] As shown in Figure 1, the material rack 71 is rotatably mounted in the front-to-rear direction on a pivoting support shaft 74a at the tip of a connecting arm 74, the base of which is rotatably mounted on the left and right support bars 70a. Therefore, the rotational position can be freely changed to a hanging position (a) in which the material rack 71 is suspended from the left and right support bars 70a on the left and right sides of the operator's seat 32, a forward-inclined seedling supply position (b) in which the material rack 71 is in contact with the seedling carrier 51 of the seedling planting section 4, and a backward-inclined fertilizer supply position (c) in which fertilizer is supplied to the fertilizer hopper 60 of the fertilizer application device 5.

[0041] Furthermore, if the length of the connecting arm 74 is made adjustable, the position of the material rack 71 can be adjusted to a position that is easy for the worker to work in accordance with his or her physique, and further, seedling supply work and fertilizer supply work can be performed easily and efficiently.

[0042] As shown in Figures 2 and 3, the mounting frame 72 is composed of a base body 72a welded and fixed to the supply body 73, an intermediate body 72b attached to the base body 72a so as to be rotatable and fixed by a rotation shaft 80a, and a tip body 72c attached to the intermediate body 72b so as to be rotatable and fixed by the rotation shaft 80b.

[0043] The base body 72a, intermediate body 72b, and tip body 72c are configured in a frame shape by connecting left and right L-shaped frames 81 with rod bodies 82, and their posture can be freely changed between a U-shaped frame state in side view as shown in Figure 2 and a flat state in the same plane as shown in Figure 3.

[0044] Therefore, in the U-shaped frame state as seen from the side as shown in FIG. 2, the mounting frame 72 can mount a plurality of seedling trays N stacked on top of each other, and can also mount one fertilizer bag F'.

[0045] The mounting frame 72 is open on the left, right and top sides, so seedling boxes N and fertilizer bags F' can be put in and taken out from above or from the left and right sides, improving workability.

[0046] That is, a plurality of stacked seedling boxes N can be easily taken out from the mounting frame body 72 by sliding them laterally to the left and right, and a heavy fertilizer bag F' can be placed on the mounting frame body 72 from the left and right sides without lifting it to a high position.

[0047] In addition, when they are in the flat state shown in Figure 3, the tip of the tip body 72c can be freely connected to the rear end of each seedling loading section 44a, 44b, 44c of the spare seedling loading platform 44, and the seedling boxes N placed on each seedling loading section 44a, 44b, 44c of the spare seedling loading platform 44 can be slid over the base body 72a, intermediate body 72b and tip body 72c which are in the flat state and are in the flat state to the rear of the running body 2 (the front end of the seedling loading platform 51 of the seedling planting section 4), making it easy to supply seedlings to the seedling loading platform 51.

[0048] As shown in Figures 6 and 7, the supply body 73 has one surface which is a seedling slide surface 73c with left and right side walls 73b erected on the left and right ends of a curved flat plate 73a, one end 73d1 has a pointed wedge shape so as to enter the seedling box N and scoop up the soil-covered mat seedlings Na, and the other end 73d2 is an open end.

[0049] The other surface of the supplier 73 has left and right side walls 73e and a rear wall 73f at one end 73d1 to form a recessed fertilizer flow-down guide surface 73g, and three left and right walls 73h at the other end 73d2.

[0050] The material rack 71 is held in a seedling supplying position (B) for the seedlings to the seedling tray 51 by fitting the upper end of the seedling tray 51 between the three left and right wall bodies 73h at the other end 73d2.

[0051] The left and right side walls 73i of the supply body 73 are provided with rotation holes 73j through which the rotation support shafts 74a at the tips of the connecting arms 74 are inserted.

[0052] As shown in FIGS. 8 and 9, the bases of left and right support rods 73k that support the bottom surfaces of the seedling trays N are fixed to the left and right side walls 73i of the supply body 73.

[0053] The left and right support rods 73k are L-shaped rods, and a tip receiving portion 73k' extending in the left and right direction of the machine body at the tip is disposed in front of one end 73d1 of the supply body 73.

[0054] The tip receiving portions 73k' of the left and right support rods 73k also serve as gripping portions for the operator, and the operator can grip the tip receiving portions 73k' to rotate and move the material rack 71 left and right easily and efficiently.

[0055] Next, the seedling supplying operation and the fertilizer supplying operation will be described with the mounting frame 72 of the material supplying device 9 set in a U-shaped frame state when viewed from the side.

[0056] (Seedling supply work) As shown in FIG. 1, the riding rice transplanter 1 is stopped, and the seedling planting section 4 is raised to the highest position.

[0057] Then, the material rack 71 is rotated from a hanging position (a) in which it is hung from the left and right support bars 70a to a forward-inclined seedling supply position (b) in which it is in contact with the upper end of the seedling carrier 51 of the seedling planting section 4, and the material rack 71 is slid along the left and right support bars 70a to a position facing the seedling carrier section 51a of the seedling carrier 51 from which the seedlings are supplied.

[0058] Next, the worker holds the seedling box N and places the bottom of the seedling box N on the tip receiving portion 73k' of the left and right support rods 73k, inserts one end 73d1 of the supply body 73 under the bottom of the bed soil of the soil-covered mat seedlings Na in the seedling box N, and pushes the seedling box N toward the supply body 73.The soil-covered mat seedlings Na in the seedling box N are scooped up by one end 73d1 of the supply body 73 and transferred onto the seedling slide surface 73c, and the soil-covered mat seedlings Na slide downward along the seedling slide surface 73c and are supplied to the seedling loading section 51a of the seedling loading platform 51.

[0059] Then, the empty seedling tray N passes over the tip receiving portions 73k' of the left and right support rods 73k and is placed and stored inside the placement frame body 72.

[0060] At this time, since there is a space between the tip receiving portions 73k' of the left and right support rods 73k, the operator can push the seedling tray N toward the supply body 73 without being obstructed by the tip receiving portions 73k' of the left and right support rods 73k, improving workability.

[0061] Then, the material rack 71 is slid along the left and right support bars 70a to a position opposite the seedling placement portion 51a of the seedling placement table 51 to which seedlings are to be next supplied, and seedlings are supplied in the same manner.

[0062] Therefore, the material supply device 9 can take out the seedlings Na with soil from the seedling tray N and supply them to the seedling placing section 51a of the seedling placing table 51 easily and with good workability.

[0063] Furthermore, when the seedling trays N placed and stored in the mounting frame 72 become full, the stacked seedling trays N can be easily removed by sliding them laterally from the mounting frame 72 to the left and right.

[0064] (Fertilizer supply work) As shown in Figures 1, 5, and 10, the operator places the material rack 71 in a hanging position (A) in which it is hung from left and right support bars 70a on the left and right sides of the operator's seat 32, places the fertilizer bag F' with its upper end open inside the mounting frame 72, opens the lid 60a of the fertilizer hopper 60 of the fertilizer application device 5, and rotates the material rack 71 around the pivot shaft 74a at the tip of the connecting arm 74 to place it in a fertilizer supply position (C) inclined backward.The fertilizer Fa flowing out from the upper opening of the fertilizer bag F' is guided by the fertilizer flow-down guide surface 73g of the supply body 73 and is supplied into the fertilizer hopper 60 of the fertilizer application device 5.

[0065] Therefore, the fertilizer bag F' can be placed on the material rack 71 in a low hanging position (A), and the connecting arm 74 can be rotated around the pivot shaft 74a at the tip thereof to assume a backward inclined fertilizer supply position (C), thereby supplying the fertilizer Fa into the fertilizer hopper 60, thereby enabling easy and efficient supply of fertilizer.

[0066] 11 and 12 show another embodiment of the mounting frame 72. FIG.

[0067] That is, the mounting frame 72 is composed of a base body 72a which is L-shaped in side view and welded to the supply body 73, and a tip body 72c which is provided on the base body 72a so as to be rotatable and fixed by a rotation shaft 80b.

[0068] The base body 72a and the tip body 72c can be freely changed in position between a U-shaped frame state in a side view shown in FIG. 11 and an L-shaped state shown in FIG.

[0069] Therefore, in the L-shaped state shown in FIG. 12, it can be used as an auxiliary seat for an assistant other than the operator, and if a simple cushion 85 is placed on the seat surface, there is no problem with comfort.

[0070] <Operation of drone 8 and riding rice transplanter 1> The configuration and operation of the drone 8 and the control and operation of the riding rice transplanter 1 will be described with reference to Figures 1, 13, 14 and 15.

[0071] The drone 8 is equipped with a GPS 7, a wireless communication device 90, a camera 91 and a control unit 92.

[0072] The riding rice transplanter 1 is equipped with a wireless communication device 36 and a control device 37.

[0073] The control device 37 of the riding rice transplanter 1 receives a signal from the positioning satellite 13 using the GPS 7 of the drone 8 placed on the landing pad 6a at the upper end of the front frame 6, and the control unit 92 calculates the position information using the satellite positioning system and transmits the position information using the wireless communication device 90.The control device 37 then receives the position information using the wireless communication device 36 to obtain the vehicle's own position information.

[0074] The control device 37 of the riding rice transplanter 1 then automatically steers the left and right front wheels 10, 10 based on the vehicle position information so that the vehicle travels autonomously and performs rice planting work in a direction parallel to a straight line connecting two reference points for the start of rice planting work in the field F that have been detected in advance.

[0075] The path parallel to the straight line connecting the two reference points along which the ride-on rice transplanter 1 autonomously travels within the field F to perform rice planting work is a round trip process in which the ride-on rice transplanter 1 moves forward straight from the ridge or road R on one side of the field F to the ridge or road R on the other side to plant seedlings, and when it reaches the vicinity of the ridge or road R on the other side, it turns to a path for performing the next planting work and moves forward straight toward the ridge or road R on one side to plant seedlings.

[0076] A worker on a ridge or road R near the field F remotely controls the drone 8 and the riding rice transplanter 1 using a remote control 93.

[0077] As shown in FIG. 14, the remote controller 93 is equipped with a left stick 94L, a right stick 94R, a changeover switch 95, and a monitor 96.

[0078] The switch 95 can be freely switched between a mode for operating the drone 8 and a mode for operating the riding rice transplanter 1, and can also be freely switched between mode 1 and mode 2 for operating the left stick 94L and right stick 94R, as shown in Figure 15.

[0079] To explain in detail based on Figure 15, when the mode for operating the drone 8 is set to mode 1 using the switch 95, operating the left stick 94L left and right will cause the drone 8 to turn left and right, and operating the left stick 94L forward and backward will cause the drone 8 to move forward and backward.

[0080] When the right stick 94R is operated left or right, the drone 8 moves left or right, and when the right stick 94R is operated forward or backward, the drone 8 rises or descends.

[0081] Furthermore, when the mode for operating the drone 8 is set to mode 2 using the switch 95, operating the left stick 94L left and right causes the drone 8 to turn left and right, and operating the left stick 94L forward and backward causes the drone 8 to rise and fall.

[0082] When the right stick 94R is operated left or right, the drone 8 moves left or right, and when the right stick 94R is operated forward or backward, the drone 8 moves forward or backward.

[0083] In addition, when the mode for operating the riding rice transplanter 1 is set to mode 1 using the changeover switch 95, operating the left stick 94L left and right causes the riding rice transplanter 1 to turn the handlebars 34 left and right, and operating the left stick 94L forward and backward causes the riding rice transplanter 1 to move forward and backward.

[0084] When the right stick 94R is operated left and right, the riding rice transplanter 1 turns the planting clutch on and off, and when the right stick 94R is operated forward and backward, the riding rice transplanter 1 raises and lowers the seedling planting section 4.

[0085] In addition, when the mode for operating the riding rice transplanter 1 is set to mode 2 using the selector switch 95, operating the left stick 94L left and right causes the riding rice transplanter 1 to turn the handlebars 34 left and right, and operating the left stick 94L forward and backward causes the riding rice transplanter 1 to raise and lower the seedling planting section 4.

[0086] When the right stick 94R is operated left and right, the riding rice transplanter 1 engages and disengages the planting clutch, and when the right stick 94R is operated forward and backward, the riding rice transplanter 1 moves forward and backward.

[0087] The monitor 96 displays the image captured by the camera 91 and is used when operating the ride-on rice transplanter 1 and the drone 8. When the monitor is in the mode for operating the ride-on rice transplanter 1, it displays the status of the various components of the ride-on rice transplanter 1 (information on instruments such as the amount of seedlings on the seedling carrier 51, the amount of fertilizer stored in the fertilizer hopper 60, the remaining amount of fuel in the fuel tank, and various information about the engine 20), and when the monitor is in the mode for operating the drone 8, it displays information on the various components and instruments of the drone 8.

[0088] In addition, the image data from the camera 91 and the location information from the GPS 7 are recorded in the control device and used as information for field management and crop management.

[0089] The drone 8, the riding rice transplanter 1, and the remote control 93 can communicate with each other using wireless communication devices.

[0090] (Rice planting using drone 8 and riding rice transplanter 1) A worker on a ridge or road R near field F remotely controls drone 8 using remote control 93 to fly it to two reference points for the start of rice planting work in field F.

[0091] Then, the drone 8 receives a signal from the positioning satellite 13 using the GPS 7, and the control unit 92 calculates the position information of the two reference points using the satellite positioning system and transmits it via the wireless communication device 90.

[0092] The riding rice transplanter 1 receives the transmitted position information of the two reference points using the wireless communication device 36, and the control device 37 calculates and stores a straight line connecting the two reference points from the position information of the two reference points.

[0093] Then, a worker on a ridge or road R near the field F remotely controls the drone 8 using a remote control 93 to fly it to a flat landing pad 6a provided at the upper end of the front frame 6 of the riding rice transplanter 1 and land it.

[0094] Then, a worker on a ridge or road R near the field F remotely controls the riding rice transplanter 1 using the remote control 93 to move it to one of the two reference points and start rice planting work.

[0095] The control device 37 of the riding rice transplanter 1 then receives a signal from the positioning satellite 13 via the GPS 7 of the drone 8, and the control unit 92 calculates the position information using the satellite positioning system and transmits it via the wireless communication device 90. The control device 37 then receives the position information via the wireless communication device 36, and while acquiring the vehicle's own position information, automatically steers the left and right front wheels 10, 10 to follow the straight line connecting the two reference points, allowing the vehicle to travel autonomously and perform rice planting work.

[0096] Then, when the riding rice transplanter 1 reaches the other of the two reference points, the machine turns, and in the next process, the left and right front wheels 10, 10 are automatically steered based on the vehicle's position information so that the machine travels parallel to the line connecting the two reference points, and performs rice planting work. Rice planting work is then performed in the same manner in the field F.

[0097] As described above, the riding rice transplanter 1 can share the GPS 7 of the drone 8, resulting in an inexpensive configuration.

[0098] In addition, the riding rice transplanter 1 and the drone 8 can be easily remotely controlled using a single remote control 93.

[0099] In the above example, the ride-on rice transplanter 1 autonomously moves straight ahead using the GPS 7 of the drone 8, but the ride-on rice transplanter 1 may also autonomously move along the travel path within the field F based on field data that records the travel path within the field F stored in the control device 37, or the control device 37 may calculate the travel path within the field F from the field data.

[0100] In addition, the riding rice transplanter 1 may use the GPS 7 of the drone 8 to display the direction of travel on a monitor or the like to assist with the direction of travel.

[0101] 16 to 19 show a dedicated remote controller 93' for operating the riding rice transplanter 1 as another embodiment.

[0102] The dedicated remote control 93' has a grip 96' at its left end, a main operating lever 97 at its right end, an engine switch 98 above the main operating lever 97 for starting and stopping the engine 20, an open / close first monitor 99a in the center for displaying images captured by the camera 91 of the drone 8, and a fixed second monitor 99b for displaying various operation settings of the riding rice transplanter 1 and various information about the detection device, and a ridge clutch switch 100 at the bottom for stopping the seedling planting device 52 in two rows at a time, and a monitor operating dial 101 for setting the display of the first monitor 99a and the second monitor 99b.

[0103] When the main operating lever 97 is operated forward and backward, the riding rice transplanter 1 moves forward and backward, and when it is operated left and right, the handle 34 of the riding rice transplanter 1 turns left and right.

[0104] On the left side of the main operating lever 97 is provided an upper cut-off switch 102 which, when pressed once, cuts off the working clutch in the planting clutch case, cutting off the transmission to the seedling planting section 4 and the fertilizer application device 5, and when pressed again, raises the seedling planting section 4; and a lower planting switch 103 which, when pressed once, lowers the seedling planting section 4, and when pressed again, turns on the working clutch in the planting clutch case, turning on the transmission to the seedling planting section 4 and the fertilizer application device 5.

[0105] In front of the main operating lever 97, there is provided an on / off switch 104 which turns on and off the control for autonomous driving by automatically steering the left and right front wheels 10, 10 based on the vehicle's position information so that the riding rice transplanter 1 moves parallel to the straight line connecting the two reference points, and there is also provided an acquisition switch 105 which acquires the straight line connecting the two reference points from the two reference points.

[0106] On the upper surface of the main operating lever 97, there is an open switch 106 which switches the three seedling carrying sections 44a of the left and right spare seedling carrying trays 44 from a three-tiered stacked state in the vertical direction to a flat state in the front-to-back direction, a closed switch 107 which switches the three seedling carrying sections 44a of the left and right spare seedling carrying trays 44 from a flat state in the front-to-back direction to a three-tiered stacked state in the vertical direction, an automatic switch which automatically switches the left and right line drawing markers from a stored state to an active state alternately left and right, a double-extension switch which puts both the left and right line drawing markers into an active state, and a marker switch 108 which switches each time it is pressed while leaving the left and right line drawing markers in a stored state, and a left and right changeover switch 109 which switches the left and right line drawing markers from a stored state to an active state alternately left and right each time it is pressed.

[0107] <Other embodiments>

[0108] (1) Figures 20 and 21 show an embodiment in which a sub-float 110 is provided to push back mud from the left and right in the wake of the left and right front wheels 10, 10 and the left and right rear wheels 11, 11, thereby leveling the ground.

[0109] That is, a sub-float 110 is provided at the front end of a support 110a that extends forward from the front part of the cover 27a of the ground leveling rotor 27.

[0110] The sub-floats 110 are provided opposite to each other at positions sandwiching the rear wheel 11 from the left and right, and are located between the rear wheel 11 and the internal auxiliary wheel 11a and between the rear wheel 11 and the external auxiliary wheel 11b.

[0111] The two sub-floats 110 sandwiching the rear wheel 11 from the left and right have opposing front portions that narrow toward the rear, and are positioned so that their bottom surfaces are at the same height as the lower end of the ground leveling rotor 27 and the bottom surfaces of the side floats 56.

[0112] Therefore, the two sub-floats 110 sandwiching the rear wheel 11 from the left and right push back mud from the left and right into the wake of the left and right front wheels 10, 10 and the left and right rear wheels 11, 11, leveling the ground, so that the field is leveled to some extent before the leveling rotor 27 levels the ground, improving the leveling effect of the leveling rotor 27.

[0113] (2) FIG. 22 shows another embodiment in which a sub-float 110 is provided to push back mud from the left and right in the wake of the left and right front wheels 10, 10 and the left and right rear wheels 11, 11, thereby leveling the ground.

[0114] That is, the sub-float 110 is provided at the front end of a support 110a that extends forward from the front portion of the side float 56.

[0115] The sub-floats 110 are provided opposite to each other at positions sandwiching the rear wheel 11 from the left and right, and are located between the rear wheel 11 and the internal auxiliary wheel 11a and between the rear wheel 11 and the external auxiliary wheel 11b.

[0116] The two sub-floats 110 sandwiching the rear wheel 11 from the left and right have opposing front portions that narrow toward the rear, and are positioned so that their bottom surfaces are at the same height as the lower end of the ground leveling rotor 27 and the bottom surfaces of the side floats 56.

[0117] Therefore, the two sub-floats 110 sandwiching the rear wheel 11 from the left and right push back mud from the left and right into the wake of the left and right front wheels 10, 10 and the left and right rear wheels 11, 11, leveling the ground and leveling the field scene during and after planting.

[0118] In addition, the sub-floats 110 are grounded to prevent the side floats 56 from sinking into the tracks of the left and right front wheels 10, 10 and the left and right rear wheels 11, 11 and tilting downward at the front, thereby preventing problems such as mud getting on the side floats 56 and causing the front to sink or pushing against the mud at the front.

[0119] (3) Figures 23 and 24 show an embodiment in which a front wheel rake 111 is provided to push back mud from the left and right in the wake of the left and right front wheels 10, 10 and level the ground.

[0120] That is, the front wheel rakes 111 are provided opposite each other at a position behind the front wheel 10, sandwiching it from the left and right, with the opposing surfaces narrowing as they go further rearward, and they push back mud from the left and right into the wake of the front wheel 10 to level the ground, and also receive the muddy water and mud immediately after it is pushed out to the left and right by the front wheel 10, preventing the muddy water and mud from flowing into adjacent rows.

[0121] The front wheel rakes 111 push back mud from the left and right in the wake of the front wheels 10, allowing the rear wheels 11 to travel on the leveled area, preventing the rear wheels 11 from sinking and contributing to improved travel performance on wet fields.

[0122] In addition, the front wheel rake 111 is provided at the front end of a rake frame 113, the middle part of which is supported on the main frame 15 so as to be freely rotatable by a left-right pivot shaft 112, and the rear end of the rake frame 113 is connected to the front end of the lifting link device 3 by a connecting link 114.

[0123] Therefore, during rice planting work with the seedling planting section 4 lowered by the lifting link device 3, the front part of the rake frame 113 is lowered by the connecting link 114, and the front wheel rake 111 is put into an operating state to push back mud from the left and right into the wake of the front wheels 10 and level the ground, and when turning with the seedling planting section 4 raised or traveling on the road, the front part of the rake frame 113 is raised by the connecting link 114, and the front wheel rake 111 is put into a raised, stored state.

[0124] (4) Figures 25 and 26 show an embodiment in which a brush cutter 120 is attached to the outer side of the lowest seedling carrying section 44a of the left spare seedling carrying table 44 of the six-row planting riding rice transplanter 1.

[0125] The brush cutter 120 has a general configuration that is commercially available, and is provided with a drive source 121 such as an engine and a U-shaped operating handle 122 at the top, and a disc-type cutting blade 123 at the bottom.

[0126] The spare seedling carrier 44 is composed of three seedling carriers 44a: a middle seedling carrier 44a fixed to the upper end of a support frame 44b whose base is fixed to the machine frame, and upper and lower seedling carriers 44a which are rotatable by links 44c.By operating the operation switch of the electric motor which rotates the links 44c, the carriers can be switched between a three-tiered stacked state in the vertical direction and a flush state in the front-to-back direction, where the upper seedling carrier 44a rotates downward in front of the middle seedling carrier 44a and the lower seedling carrier 44a rotates upward behind the middle seedling carrier 44a.

[0127] The support frame 44b can be rotated and fixed on a vertical pivot shaft, and the three seedling carriers 44a can be rotated and moved between a state where they are positioned outside the machine body and a state where they are stored inside the machine body.

[0128] The brush cutter 120 has an operating handle 122 fixed to the bottom surface of the lower seedling carrying section 44a of the spare seedling carrying platform 44 by a fixing device 124, and the cutting blade 123 is positioned below and outside the riding rice transplanter 1, and moves up and down as the lower seedling carrying section 44a rotates upward and downward due to the rotation of the link 44c, and moves forward and backward as the lower seedling carrying section 44a rotates forward and backward due to the rotation of the support frame 44b.

[0129] Therefore, by driving the brush cutter 120 to move the riding rice transplanter 1 forward or backward, grass can be cut on the sides of the machine body.

[0130] Furthermore, the vertical position of the cutting blade 123 can be adjusted by rotating the lower seedling carrying part 44a of the spare seedling carrying platform 44 upward and downward, and the forward and backward position of the cutting blade 123 can be adjusted by rotating the lower seedling carrying part 44a back and forth by rotating the support frame 44b, resulting in good workability.

[0131] Furthermore, even when the riding rice transplanter 1 is stopped, the cutting blade 123 can be moved up and down by the upward and downward rotation of the lower seedling carrying part 44a of the spare seedling carrying platform 44, and the cutting blade 123 can be moved forward and backward by the forward and backward rotation of the lower seedling carrying part 44a caused by the rotation of the support frame 44b, so that grass can be mowed in the surrounding area.

[0132] On the other hand, a rotating blade 131 is provided on a support shaft 130 extended to the side of the seedling planting device 52, and the base of a plate body 132 which serves as the rear wall and has a width approximately the same as the left-right width and height of the seedling carrier 51 is fixed to the rear end of the transmission case 50, and a guide body 133 is provided on the top of the seedling carrier 51 to insert grass, etc. between the seedling carrier 51 and the plate body 132 from the traveling vehicle body 2 side.

[0133] Therefore, when the seedling planting section 4 is driven, the rotary blade 131 also rotates as the seedling planting device 52 is driven to rotate, and grass or the like can be thrown between the seedling carrier 51 and the plate body 132 and cut.

[0134] Furthermore, by raising the seedling planting section 4 and placing a container 134 such as a basket, box or bag below the seedling planting section 4 for storing cut grass, etc., the grass, etc. cut by the rotary blade 131 can be stored therein.

[0135] Furthermore, when the seedling planting section 4 is driven, the seedling carrier 51 moves back and forth from side to side, so that grass etc. thrown between the seedling carrier 51 and the plate body 132 can be loosened and properly cut by the rotary blade 131 without clogging.

[0136] When the seedling planting section 4 is not driven, grass and the like can be thrown and stored between the seedling carrier 51 and the plate body 132, and the machine can also be used as a transporter. [Explanation of symbols]

[0137] 2 Running vehicle 4 Seedling planting department 6a Landing Pad 7. GPS 8. Small aircraft (drones) 91 Camera 93 Remote Control 94L Left stick for controlling the aircraft 94R Right stick for controlling the aircraft 95 Mode changeover switch 96 monitors

Claims

1. A ride-on seedling transplanter equipped with a seedling planting section (4) on a traveling body (2), which is provided with a landing pad (6a) on which a small airplane (8) equipped with a satellite positioning system (7) can land, and which uses the satellite positioning system (7) of the small airplane (8) that has landed on the landing pad (6a) to travel autonomously or assist in traveling, The small airplane (8) and the ride-on seedling transplanter (1) are remotely controlled by a single remote controller (93), The worker remotely controls the small airplane (8) using a remote control (93) to fly it to two reference points for the start of rice planting work in the field F, The small airplane (8) receives signals from a positioning satellite (13) using a satellite positioning system (7), and a control unit (92) calculates position information of two reference points and transmits it using a wireless communication device (90); The riding seedling transplanter (1) receives the transmitted position information of the two reference points by a wireless communication device (36), and a control device (37) calculates and stores a straight line connecting the two reference points from the position information of the two reference points; The control device (37) of the ride-on seedling transplanter (1) receives signals from a positioning satellite (13) via a satellite positioning system (7) of a small airplane (8) that has landed on a landing pad (6a), and a control unit (92) calculates position information and transmits the calculated position information via a wireless communication device (90). The control device (37) of the ride-on seedling transplanter (1) receives the position information via a wireless communication device (36), and automatically steers the vehicle along a straight line connecting two reference points or a straight line parallel to the straight line while acquiring its own vehicle position information, thereby autonomously traveling and performing rice planting work.

2. The ride-on seedling transplanter according to claim 1, characterized in that the remote control (93) is provided with sticks (94L, 94R) for controlling the aircraft, a mode switching switch (95), and a monitor (96) for displaying image data from the camera (91) of the small airplane (8).

Images