Transplantation Work System

Abstract

To provide a transplanting operation system capable of efficiently performing transplanting operation with a plurality of transplanting operation machines because although there is a transplanting operation system which recognizes already planted seedling rows during transplanting operation and matches an advancing direction and the already planted seedling rows, it is the transplanting operation system for matching an advancing direction of a single rice transplanter and the already planted seedling rows but not for performing transplanting operation with a plurality of transplanting working machines.SOLUTION: A transplanting operation system includes an object 13 to be a target in a travel direction of transplanting operation machines 1B, 1C following a preceding transplanting operation machine 1A, and controls traveling directions and travel speeds of the following transplanting working machine 1B, 1C on the basis of a travel direction and a distance from the preceding transplanting working machine 1A measured with detection means 14 for detecting the object 13 provided for the following transplanting working machines 1B, 1C, so that the following transplanting working machines 1B, 1C follow and travel at a lateral position at the back of the preceding transplanting operation machine 1A.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a transplanting system for performing transplanting work using a plurality of transplanting machines. [Background technology]

[0002] There is a transplanting work system that uses a camera to recognize rows of already planted seedlings during transplanting work and aligns the moving direction with the rows of already planted seedlings (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-157333 Summary of the Invention [Problem to be solved by the invention]

[0004] However, this system is a transplanting system that aligns the direction of travel of a single rice transplanter with rows of already planted seedlings, and is not a transplanting system that uses multiple transplanting machines to perform transplanting work.

[0005] The present invention has been made in view of the above, and has as its object to provide a transplanting system that allows transplanting work to be carried out efficiently using a plurality of transplanting machines. [Means for solving the problem]

[0006] The first aspect of the present invention is A target (13) is provided on the leading transplanting machine (1A) to serve as a guide for the traveling direction of the following transplanting machines (1B, 1C), and detection means (14) for detecting the target (13) are provided on the following transplanting machines (1B, 1C) to measure the traveling direction and the distance to the leading transplanting machine (1A). Based on the measured traveling direction and distance to the leading transplanting machine (1A), the traveling direction and traveling speed of the following transplanting machines (1B, 1C) are controlled so that the following transplanting machines (1B, 1C) follow and travel at a lateral position behind the leading transplanting machine (1A). This transplanting system is characterized in that when the leading transplanter (1A) starts turning at the edge of the paddy field, it sends a signal to the following transplanter (1B, 1C) by wireless communication device to start turning, and the following transplanter (1B, 1C) memorizes the distance to the leading transplanter (1A) measured by the detection means (14) when it receives the signal, moves forward by the said distance, performs rice planting work, and then stops. According to the first aspect of the present invention, it is possible to provide a transplanting system that is inexpensive and capable of efficiently carrying out transplanting work using a plurality of transplanting machines 1A, 1B, and 1C. The second aspect of the present invention is This is a first transplanting work system of the present invention, characterized in that the following transplanting work machine (1B, 1C) is provided with a second detection means (16) for detecting the row of already planted seedlings (N) to measure the traveling direction, and the traveling direction of the following transplanting work machine (1B, 1C) is controlled based on the measured traveling direction and the traveling direction measured by the detection means (14). The third aspect of the present invention is This is a second transplanting system of the present invention, characterized in that the leading transplanter (1A) turns at the edge of the paddy field, advances a predetermined distance to perform rice planting work in the next process, and when it stops, it sends information to the following transplanter (1B, 1C) via a wireless communication device that it has finished turning and stopped, and the following transplanter (1B, 1C) receives the information, turns and stops using automatic turning control, and sends information to the leading transplanter (1A) via a wireless communication device that it has finished turning and stopped. The fourth aspect of the present invention is This is a third transplanting system of the present invention, characterized in that the leading transplanter (1A) receives information that the following transplanter (1B, 1C) has finished turning and stopped, resumes rice planting, and sends information that rice planting has resumed to the following transplanter (1B, 1C) via a wireless communication device, and the following transplanter (1B, 1C) receives the information and resumes rice planting. First invention related to the present invention A target 13 is provided on the leading transplanting machine 1A to serve as a guide for the following transplanting machines 1B and 1C in the traveling direction, and the following transplanting machines 1B and 1C are instructed to follow the target 13. This transplanting system is provided with a detecting means 14 for detecting the direction of travel and the distance to the preceding transplanting machine 1A, and based on the measured direction of travel and the distance to the preceding transplanting machine 1A, the traveling direction and traveling speed of the following transplanting machines B, 1C are controlled so that the following transplanting machines 1B, 1C follow and travel at a lateral position behind the preceding transplanting machine 1A.

[0007] First invention related to the present invention According to the above, a detection means 14 for detecting a target 13 provided on the leading transplanting machine 1A is provided on the trailing transplanting machines 1B, 1C, and the traveling direction and distance to the leading transplanting machine 1A are measured, and the traveling direction and traveling speed of the trailing transplanting machines 1B, 1C are controlled so that the trailing transplanting machines 1B, 1C follow the lateral position behind the leading transplanting machine 1A, thereby providing a transplanting system with an inexpensive configuration that allows transplanting work to be performed efficiently using multiple transplanting machines 1A, 1B, 1C.

[0008] Second invention related to the present invention The following transplanting work machines 1B, 1C are provided with a second detection means 16 for detecting the rows of already planted seedlings N to measure the traveling direction, and the traveling direction of the following transplanting work machines 1B, 1C is controlled based on the measured traveling direction and the traveling direction measured by the detection means 14. First invention related to the present invention It is a porting work system.

[0009] Second invention related to the present invention According to the system, the trailing transplanters 1B, 1C are provided with a second detection means 16 that detects the row of already planted seedlings N to measure the running direction, and the running direction of the trailing transplanters 1B, 1C is controlled based on the measured running direction and the running direction measured by the detection means 14, so that the trailing transplanters 1B, 1C control their running direction by aligning with two points in front and to the side, and perform accurate following running to carry out proper rice transplanting work.

[0010] Third invention related to the present inventionWhen the leading transplanter 1A starts turning at the edge of the paddy field, it sends a signal to the following transplanters 1B and 1C by wireless communication device to start turning. The following transplanters 1B and 1C memorize the distance to the leading transplanter 1A measured by the detection means 14 when they receive the signal, move forward by the distance, perform rice planting work, and stop. The first or second invention related to the present invention It is a porting work system.

[0011] The fourth invention related to the present invention The preceding transplanter 1A turns at the edge of the paddy field, advances a predetermined distance to perform rice planting work in the next process, and when it stops, it sends information to the following transplanters 1B and 1C by wireless communication device that it has finished turning and stopped. The following transplanters 1B and 1C receive this information, turn and stop by automatic turning control, and send information to the preceding transplanter 1A by wireless communication device that it has finished turning and stopped. Third invention related to the present invention It is a porting work system.

[0012] Fifth Invention Related to the Present Invention The leading transplanter 1A receives information that the following transplanters 1B and 1C have stopped turning and resumes rice planting, and sends the information that the following transplanters 1B and 1C have resumed rice planting via wireless communication device. The following transplanters 1B and 1C then receive the information and resume rice planting. The fourth invention related to the present invention It is a porting work system. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a plan view illustrating the operation of the transplanting system according to an embodiment of the present invention during straight rice transplanting work. [Figure 2] FIG. 10 is a side view for explaining the operation of the transplanting system during straight rice transplanting work. [Figure 3] FIG. 10 is a plan view illustrating the operation of the transplanting system when turning at the edge of a field. [Figure 4] FIG. 10 is a plan view illustrating the operation of the transplanting system when planting around the furrow. [Figure 5] FIG. 10 is a plan view illustrating the operation of a transplantation system according to another embodiment of the present invention. [Figure 6]FIG. 10 is a plan view illustrating the operation of a transplantation system according to another embodiment of the present invention. [Figure 7] FIG. 10 is a schematic diagram illustrating the configuration of a management system according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, a rice planting system including three riding rice transplanters 1A, 1B, and 1C, which are transplanting machines for performing rice planting work in a farm field F, will be described with reference to the drawings as a preferred embodiment of the present invention.

[0015] The preceding transplanting machine is referred to as the parent machine, riding rice transplanter 1A, and the following transplanting machines are referred to as the first sub-machine, riding rice transplanter 1B, and the second sub-machine, riding rice transplanter 1C.

[0016] <Ride-on rice transplanters 1A, 1B, 1C> 1 and 2, in ride-on rice transplanters 1A, 1B, and 1C, a six-row seedling planting unit 3 is attached to the rear of a traveling body 2 via a lifting link device so that it can be raised and lowered. Note that the left and right directions of the ride-on rice transplanter 1 as it moves forward are referred to as left and right, respectively, and the forward and backward directions are referred to as front and rear, respectively.

[0017] The traveling vehicle body 2 is a four-wheel drive vehicle equipped with a pair of left and right front wheels 4,4 and a pair of left and right rear wheels 5,5 which are drive wheels. A transmission case is arranged at the front of the vehicle body, and left and right front wheel final cases are provided on the left and right sides of the transmission case. The left and right front wheels 4,4 are respectively attached to left and right front wheel axles which protrude outward from the respective front wheel support parts which can change the steering direction of the left and right front wheel final cases.

[0018] The front end of the main frame is fixed to the rear of the transmission case, 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 as a fulcrum. The rear wheels 5, 5 are attached to the rear wheel axles that protrude outward from the rear wheel gear case.

[0019] The engine is mounted at the front of the vehicle body 2, and the rotational power of the engine is transmitted to the transmission case via a belt transmission and an HST. The rotational power transmitted to the transmission case is changed in speed by the transmission inside the transmission case, and then separated into traveling power and externally extracted power.

[0020] A portion of the traveling power is transmitted to the front wheel final case to drive the front wheels 4, 4, and the remainder is transmitted to the rear wheel gear case to drive the rear wheels 5, 5. The externally extracted 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 3 by a planting transmission shaft.

[0021] A seat 6 is installed on the center of the traveling vehicle body 2. In front of the seat 6 is a front cover 7 incorporating various operating mechanisms, and above that is provided a handle 8 for steering the front wheels 4,4.

[0022] The lower left and right sides and rear of the front cover 7 form horizontal floor steps 9. Part of the floor step 9 is lattice-shaped, so that mud on the shoes of an operator walking on the floor step 9 falls into the field. The rear part above the floor step 9 forms a rear step 10 that also serves as a rear wheel fender.

[0023] The lifting link device has a parallel link configuration and is equipped with one upper link and a pair of lower links on the left and right, the base side of which is rotatably attached to a link base frame that is shaped like a portal when viewed from the rear and is erected at the rear end of the main frame, and the tip side of which is connected to a vertical link.

[0024] A connecting shaft rotatably supported on the seedling planting section 3 is inserted and connected to the lower end of the vertical link, and the seedling planting section 3 is connected so as to be able to roll freely around the connecting shaft.

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

[0026] The seedling planting section 3 is configured for six-row planting and is equipped with a transmission case that also serves as a frame, a seedling carrier 11 that carries mat seedlings and moves back and forth from side to side, supplying seedlings one by one to the seedling outlet of each row, and transporting the seedlings downward by a seedling feed belt that supplies all of the seedlings in a horizontal row to the seedling outlet, and a seedling planting device that plants the seedlings supplied to the seedling outlet in the field.

[0027] A center float is provided in the center of the lower part of the seedling planting section 3, and side floats are provided on both the left and right sides of it.When the machine is moved forward while it is in contact with the muddy surface of the field, it glides over the muddy surface while leveling it, and seedlings are planted in the leveled area by the seedling planting device.

[0028] The center float and the left and right side floats are rotatably attached so that their front ends can move up and down in response to the unevenness of the topsoil surface in the field. During planting work, the up and down movement of the front part of the center float 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 3, thereby maintaining a constant seedling planting depth.

[0029] Next, the detailed configuration of the riding rice transplanter 1A will be described.

[0030] At the front of the riding rice transplanter 1A, which is the parent machine, left and right targets 13, 13 are provided at the ends of left and right line drawing markers 12, 12 provided on both the left and right sides.

[0031] As shown in Figure 1, when the parent machine, riding-on rice transplanter 1A, moves forward while performing rice planting work, the first sub-machine, riding-on rice transplanter 1B, and the second sub-machine, riding-on rice transplanter 1C, which follow behind on both sides and perform rice planting work, move forward with the left and right centers of their bodies aligned with the left and right targets 13, 13, and then the three machines, parent machine 1A, first sub-machine, riding-on rice transplanter 1B, and second sub-machine, riding-on rice transplanter 1C, will plant 18 rows in an orderly manner, six rows each.

[0032] The front of the parent riding rice transplanter 1A is equipped with a GPS receiver, a control unit, and a wireless communication device.

[0033] The main machine, the riding rice transplanter 1A, receives signals from positioning satellites using a GPS receiver and calculates its position using a satellite positioning system.The machine is also equipped with a well-known straight-line assist function, which displays the current position and straight-line direction on the monitor, and the operator operates the steering wheel 8 to follow the straight-line direction display to perform straight-line rice transplanting work.

[0034] A rotation sensor is provided in the drive system of the left and right rear wheels 5, 5, and the control unit calculates the travel distance from the number of rotations of the rotation sensor.

[0035] The parent machine, the riding rice transplanter 1A, is equipped with a well-known automatic turning control, and when the handle 8 is turned at the edge of the paddy field, the drive to the seedling planting unit 3 is automatically cut off, the seedling planting unit 3 is raised, the machine turns to the position for the next process shown in Figure 3, the seedling planting unit 3 is lowered, and the drive to the seedling planting unit 3 is turned on to carry out forward rice planting work.

[0036] Next, detailed configurations of the riding rice transplanter 1B, which is the first sub-machine, and the riding rice transplanter 1C, which is the second sub-machine, will be described.

[0037] At the front of the first sub-machine, the riding rice transplanter 1B, and the second sub-machine, the riding rice transplanter 1C, a camera 14 is provided as a detection means for photographing targets 13, 13 on the left and right of the parent machine, the riding rice transplanter 1A, which is traveling ahead, to detect the direction and distance.

[0038] A control unit and a wireless communication device are mounted on the front of the riding rice transplanter 1B, which is the first sub-machine, and the riding rice transplanter 1C, which is the second sub-machine.

[0039] The riding rice transplanter 1A, which is the parent machine, the riding rice transplanter 1B, which is the first child machine, and the riding rice transplanter 1C, which is the second child machine, communicate with each other via wireless communication devices.

[0040] The first sub-machine, the riding rice transplanter 1B, and the second sub-machine, the riding rice transplanter 1C, are equipped with a variable speed electric motor that automatically changes the speed of the HST in response to commands from the control unit, and a steering electric motor that operates the handle 8 in response to commands from the control unit.

[0041] Furthermore, a rotation sensor is provided in the drive system of the left and right rear wheels 5, 5, and the control unit calculates the travel distance from the number of rotations of the rotation sensor.

[0042] The riding rice transplanter 1B, which is the first sub-machine, and the riding rice transplanter 1C, which is the second sub-machine, are equipped with the same automatic turning control as the riding rice transplanter 1A, which is the main machine.

[0043] As shown in Figure 1, the first sub-machine, ride-on rice transplanter 1B, and the second sub-machine, ride-on rice transplanter 1C, which move forward on both sides behind the parent machine, ride-on rice transplanter 1A, which is moving forward in advance while performing rice planting work, capture left and right targets 13, 13 with a camera 14, and the control unit operates the steering electric motor to steer the machine so that the left and right center of the machine moves forward in line with the left and right targets 13, 13, and also operates the variable speed electric motor to change the forward speed so that the distance from the parent machine, ride-on rice transplanter 1A, is maintained at a predetermined distance.

[0044] Therefore, a camera 14 for detecting targets 13, 13 mounted on the transplanter 1A, which is the parent machine, is mounted on the first sub-machine, ie, riding-on rice transplanter 1B, and the second sub-machine, ie, riding-on rice transplanter 1C, to measure the traveling direction and distance to the parent machine, ie, transplanter 1A, and to control the traveling direction and traveling speed of the first sub-machine, ie, riding-on rice transplanter 1B, and the second sub-machine, ie, riding-on rice transplanter 1C, so that the first sub-machine, ie, riding-on rice transplanter 1B, and the second sub-machine, ie, riding-on rice transplanter 1C, follow the left and right lateral positions behind the parent machine, ie, transplanter 1A, in a transplanting work system. This makes it possible to provide an inexpensive transplanting work system in which transplanting work can be performed efficiently using three transplanters, ie, parent machine 1A, first sub-machine, riding-on rice transplanter 1B, and second sub-machine, riding-on rice transplanter 1C.

[0045] In addition, the first sub-machine, the riding rice transplanter 1B, and the second sub-machine, the riding rice transplanter 1C, are equipped with a sub-camera 16 as a second detection means on a side marker 15 for tracing the already planted seedling row N and steering the machine to move the machine forward along the seedling row.

[0046] The control unit then operates the steering electric motor to steer the machine so that the first sub-machine, the riding rice transplanter 1B, and the second sub-machine, the riding rice transplanter 1C, which perform rice planting work by moving forward behind the left and right targets 13, 13 on both the left and right sides of the parent machine, the riding rice transplanter 1A, capture them with camera 14 and move forward with the left and right centers of the machine aligned with the left and right targets 13, 13, and so that the machine moves forward along the row N of already planted seedlings photographed by the sub-camera 16.

[0047] Therefore, the camera 14 captures the target object 13 in front, the sub-camera 16 captures the row of already planted seedlings N to the side, and the control unit operates the steering electric motor to steer the machine, so that the machine moves forward while always aligning with two points in front and to the side, and the first sub-machine, the riding rice transplanter 1B, and the second sub-machine, the riding rice transplanter 1C, can follow the parent machine, the riding rice transplanter 1A, with high precision along a path parallel to the path, thereby enabling proper rice planting work.

[0048] In addition, the riding rice transplanter 1C, which is the second sub-machine that performs rice planting work at the next process side of the parent machine, the riding rice transplanter 1A, is equipped with a line-drawing marker 17 that draws a center line in the field along which the parent machine, the riding rice transplanter 1A, will travel at the next process after turning at the edge of the paddy field.

[0049] As shown in Figure 3, the parent machine, the riding rice transplanter 1A, turns at the edge of the paddy field, and the second child machine, the riding rice transplanter 1C, runs with its center marker aligned with the center line drawn by the line drawing marker 17 to perform rice planting work.

[0050] Therefore, the riding rice transplanter 1C, which is the second sub-machine that performs rice planting work at the next process side of the parent machine, the riding rice transplanter 1A, is equipped with a line-drawing marker 17 that draws a center line in the field along which the parent machine, the riding rice transplanter 1A, will travel in the next process after turning at the edge of the paddy field.Therefore, the left and right length of the line-drawing marker 17 can be made shorter than when a line-drawing marker is attached to the parent machine, the riding rice transplanter 1A.

[0051] <Rice planting system> First, based on Figure 1, we will explain the rice planting system in which the parent machine, the riding rice transplanter 1A, the first sub-machine, the riding rice transplanter 1B, and the second sub-machine, the riding rice transplanter 1C, move straight ahead to perform rice planting work.

[0052] The left and right line-drawing markers 12, 12 provided on both the left and right sides of the parent machine, the riding rice transplanter 1A, are deployed to the left and right to put it into working mode, and with left and right targets 13, 13 positioned on the left and right sides of the machine body, the operator seated in the seat 6 uses the straight-line assist function to perform straight-line rice transplanting work.

[0053] Then, the first sub-machine, riding-on rice transplanter 1B, and the second sub-machine, riding-on rice transplanter 1C, which are moving forward while performing rice planting work on the left and right rear of the parent machine, riding-on rice transplanter 1A, capture left and right targets 13, 13 with camera 14 and move forward so that the left and right centers of the machine are aligned with left and right targets 13, 13, and the control unit operates the steering electric motor to steer the machine so that the machine moves forward along the row N of already planted seedlings photographed by sub-camera 16. In other words, the machine moves forward by always steering while aligning two points, front and side, and travels with high precision along the traveling path of the parent machine, riding-on rice transplanter 1A. Note that the first sub-machine, riding-on rice transplanter 1B, and the second sub-machine, riding-on rice transplanter 1C, are unmanned, with no operator on board.

[0054] The control unit of the first sub-machine, the riding rice transplanter 1B, and the second sub-machine, the riding rice transplanter 1C, operates the variable speed electric motor to change the forward speed based on the distance from the parent machine, the riding rice transplanter 1A, captured by the camera 14, thereby maintaining the distance from the parent machine, the riding rice transplanter 1A, at a predetermined distance.

[0055] Therefore, the first sub-machine, ride-on rice transplanter 1B, and the second sub-machine, ride-on rice transplanter 1C, maintain a predetermined distance and appropriately follow the parent machine, ride-on rice transplanter 1A, and the three machines, parent machine ride-on rice transplanter 1A, first sub-machine ride-on rice transplanter 1B, and second sub-machine ride-on rice transplanter 1C, plant 18 rows in an orderly fashion, with 6 rows each.

[0056] Next, based on Figure 3, we will explain the rice planting system when the main machine, the riding rice transplanter 1A, the first sub-machine, the riding rice transplanter 1B, and the second sub-machine, the riding rice transplanter 1C, turn at the edge of the paddy field.

[0057] At the edge of the paddy field, a planting width of 18 rows is set as headland A so that when planting in the headland, the main machine, riding rice transplanter 1A, the first sub-machine, riding rice transplanter 1B, and the second sub-machine, riding rice transplanter 1C, can travel simultaneously and perform rice planting work.

[0058] When the riding rice transplanter 1A, which is the parent machine, reaches the planting end / planting start position B on the headland A at the edge of the paddy field, the operator turns the handle 8.

[0059] Then, the parent machine, the riding rice transplanter 1A, cuts off the drive of the seedling planting section 3 using automatic turning control, causing the seedling planting section 3 to rise (the left and right line drawing markers 12, 12 with left and right targets 13, 13 also rise in conjunction), rotates to the position for the next process three processes ahead, and when it reaches the planting end / planting start position B on the headland A, lowers the seedling planting section 3 (the left and right line drawing markers 12, 12 with left and right targets 13, 13 also lower in conjunction), turns on the drive of the seedling planting section 3, and the first subsidiary machine, the riding rice transplanter 1B, and the second subsidiary machine, the riding rice transplanter 1C, move forward a predetermined distance to perform rice planting work, before stopping.

[0060] Then, at the start of control when the operator turns the handle 8 and the automatic turning control is activated, the control unit of the parent riding rice transplanter 1A sends information about the start of turning (the drive to the planting unit 3 is turned off) to the first child riding rice transplanter 1B and the second child riding rice transplanter 1C via a wireless communication device.

[0061] The control units of the first sub-machine, the riding rice transplanter 1B, and the second sub-machine, the riding rice transplanter 1C, then store the distance from the parent machine, the riding rice transplanter 1A, captured by the camera 14 when they receive information that the parent machine, the riding rice transplanter 1A, has started turning (the drive of the planting unit 3 is turned off), and calculate the traveled distance from the number of rotations of the rotation sensors installed in the drive systems of the left and right rear wheels 5, 5, and then move forward that distance, perform rice planting work, and stop.

[0062] At this time, the stopping positions of the riding rice transplanter 1B, which is the first sub-machine, and the riding rice transplanter 1C, which is the second sub-machine, are necessarily the planting end / planting start position B on the headland A.

[0063] Then, when the parent machine, riding rice transplanter 1A, turns and performs rice planting work forward a predetermined distance in the next process before stopping, the control unit of parent machine, riding rice transplanter 1A, sends information via wireless communication device to the first child machine, riding rice transplanter 1B, and the second child machine, riding rice transplanter 1C, that the turning has ended and the machine has stopped.

[0064] When the control units of the first slave riding rice transplanter 1B and the second slave riding rice transplanter 1C receive information that the parent riding rice transplanter 1A has finished turning and stopped, they each start turning using automatic turning control, turn to the position of the next process three processes ahead, and stop when they reach the planting end / planting start position B on the headland A, and send information that they have finished turning and stopped to the parent riding rice transplanter 1A via a wireless communication device.

[0065] At this time, the parent machine, riding rice transplanter 1A, has finished turning first, so the first sub-machine, riding rice transplanter 1B, and the second sub-machine, riding rice transplanter 1C, turn at positions one step apart, allowing the two to turn simultaneously without interfering with each other.

[0066] The control unit of the parent machine, riding rice transplanter 1A, then receives information that the first sub-machine, riding rice transplanter 1B, and the second sub-machine, riding rice transplanter 1C, have finished turning and stopped, starts moving forward, resumes rice planting work, and sends information that rice planting work has resumed to the first sub-machine, riding rice transplanter 1B, and the second sub-machine, riding rice transplanter 1C, via a wireless communication device.

[0067] Then, the control units of the first sub-machine, riding rice transplanter 1B, and the second sub-machine, riding rice transplanter 1C, receive information that the parent machine, riding rice transplanter 1A, has resumed rice planting work, and begin moving forward to start rice planting work.

[0068] As described above, the first sub-machine, ride-on rice transplanter 1B, and the second sub-machine, ride-on rice transplanter 1C, maintain a predetermined distance and appropriately follow the parent machine, ride-on rice transplanter 1A, and the three machines, parent machine ride-on rice transplanter 1A, first sub-machine ride-on rice transplanter 1B, and second sub-machine ride-on rice transplanter 1C, plant 18 rows in an orderly fashion, with 6 rows each.

[0069] In the above embodiment, an example is shown in which the first sub-machine, the riding rice transplanter 1B, and the second sub-machine, the riding rice transplanter 1C, turn simultaneously, but the first sub-machine, the riding rice transplanter 1B, and the second sub-machine, the riding rice transplanter 1C, may also turn one by one in sequence.

[0070] In other words, when the parent machine, riding rice transplanter 1A, turns and performs rice planting work by moving forward a predetermined distance so that the first sub-machine, riding rice transplanter 1B, and the second sub-machine, riding rice transplanter 1C, follow in the next process, and then stops, the control unit of parent machine, riding rice transplanter 1A, sends information via wireless communication device to the first sub-machine, riding rice transplanter 1B, and the second sub-machine, riding rice transplanter 1C, that the turning has ended and they have stopped.

[0071] First, when the control unit of the second slave machine, riding rice transplanter 1C, receives information that the parent machine, riding rice transplanter 1A, has finished turning and has stopped, it starts turning using automatic turning control, turns to the position of the next process three processes ahead, and reaches the planting end / planting start position B on the headland A, whereupon camera 14 captures the left target 13 of the parent machine, riding rice transplanter 1A, causing it to stop, and then sends information that the turning has finished and stopped to the parent machine, riding rice transplanter 1A, and the first slave machine, riding rice transplanter 1B, via a wireless communication device.

[0072] Next, when the control unit of the first sub-machine, riding rice transplanter 1B, receives information that the second sub-machine, riding rice transplanter 1C, has finished turning and has stopped, it starts turning using automatic turning control, turns to the position of the next process three processes ahead, reaches the planting end / planting start position B on the headland A, and stops when camera 14 captures the right target 13 of the parent machine, riding rice transplanter 1A, and sends information that the turning has finished and stopped to the parent machine, riding rice transplanter 1A, and the second sub-machine, riding rice transplanter 1C, via a wireless communication device.

[0073] The control unit of the parent machine, riding rice transplanter 1A, then receives information that both the first sub-machine, riding rice transplanter 1B, and the second sub-machine, riding rice transplanter 1C, have finished turning and stopped, starts moving forward, resumes rice planting work, and sends information that rice planting work has resumed to the first sub-machine, riding rice transplanter 1B, and the second sub-machine, riding rice transplanter 1C, via a wireless communication device.

[0074] Then, the control units of the first sub-machine, riding rice transplanter 1B, and the second sub-machine, riding rice transplanter 1C, receive information that the parent machine, riding rice transplanter 1A, has resumed rice planting work, and begin moving forward to start rice planting work.

[0075] Therefore, the parent machine, riding rice transplanter 1A, the first sub-machine, riding rice transplanter 1B, and the second sub-machine, riding rice transplanter 1C, do not turn at the same time, so even if one of them becomes unable to proceed in the field and stops, a collision can be avoided.

[0076] Next, based on Figure 4, we will explain the rice planting system in which the parent machine, the riding rice transplanter 1A, the first sub-machine, the riding rice transplanter 1B, and the second sub-machine, the riding rice transplanter 1C, perform circular planting (headland planting) along the edge of the paddy field F.

[0077] The riding rice transplanter 1A, which is the parent machine on which the operator rides, travels right next to the ridge 1' to perform rice planting work, and the first sub-machine, riding rice transplanter 1B, and the second sub-machine, riding rice transplanter 1C, follow the inside of the parent machine, riding rice transplanter 1A, to perform rice planting work.

[0078] When planting in the headland, the parent machine, the riding rice transplanter 1A, and the first child machine, the riding rice transplanter 1B, which runs inside it, follow each other on the inside (in Figure 4, the left line drawing marker 12 is in the active state and the left target 13 is deployed).

[0079] Therefore, the riding rice transplanter 1A, which is the parent machine on which the operator rides, travels right next to the ridge 1' to perform rice planting work, and the operator steers the machine along the ridge 1' to avoid obstacles, etc., while the first sub-machine, riding rice transplanter 1B, and the second sub-machine, riding rice transplanter 1C, follow and travel inside the parent machine, riding rice transplanter 1A, in a process where there are no obstacles, etc., resulting in a safe and easy-to-operate work system.

[0080] First, the left line-drawing markers 12 of the parent riding rice transplanter 1A and the first sub-machine riding rice transplanter 1B are unfolded to put them into working mode, and with the left target 13 positioned to the left of the machine body, the operator seated in the seat 6 of the parent riding rice transplanter 1A steers the machine along the ridge 1' to perform rice planting work along the ridge 1'.

[0081] Then, the first sub-machine, riding rice transplanter 1B, which is moving forward while performing rice planting work behind the left of the parent machine, riding rice transplanter 1A, captures the left target 13 of the parent machine, riding rice transplanter 1A, with camera 14 and aligns the left-right center of the machine with the left target 13, and the control unit operates the steering electric motor to steer the machine so that the machine moves forward along the row N of already planted seedlings photographed by sub-camera 16.In other words, the machine moves forward by always steering while aligning two points, front and side, and accurately follows the traveling path of the parent machine, riding rice transplanter 1A, parallel to the traveling path.

[0082] The second sub-machine, riding-on rice transplanter 1C, moves forward while performing rice planting work to the left rear of the first sub-machine, riding-on rice transplanter 1B. The control unit operates the steering electric motor to steer the machine so that it moves forward while aligning the left-right center of the machine with the left target 13 of the first sub-machine, riding-on rice transplanter 1B, with the camera 14, and so that the machine moves forward along the row N of already planted seedlings photographed by the sub-camera 16. In other words, the machine moves forward by always steering while aligning two points, front and side, and travels in a highly accurate manner parallel to the travel path of the first sub-machine, riding-on rice transplanter 1B.

[0083] The control unit of the first sub-machine, the riding rice transplanter 1B, operates the variable speed electric motor to change the forward speed based on the distance from the parent machine, the riding rice transplanter 1A, captured by the camera 14, thereby maintaining the distance from the parent machine, the riding rice transplanter 1A, at a predetermined distance.

[0084] The control unit of the second sub-machine, riding rice transplanter 1C, operates the variable speed electric motor to change the forward speed based on the distance to the first sub-machine, riding rice transplanter 1B, captured by camera 14, thereby maintaining the distance to the first sub-machine, riding rice transplanter 1B, at a predetermined distance.

[0085] Therefore, the first sub-machine, ride-on rice transplanter 1B, and the second sub-machine, ride-on rice transplanter 1C, maintain a predetermined distance and appropriately follow the parent machine, ride-on rice transplanter 1A, and the three machines, parent machine ride-on rice transplanter 1A, first sub-machine ride-on rice transplanter 1B, and second sub-machine ride-on rice transplanter 1C, plant 18 rows of rice in an orderly manner in the headland, with 6 rows each.

[0086] Next, how to bend at the corners of the field F will be explained.

[0087] An operator riding on the parent machine, the riding rice transplanter 1A, moves the parent machine, the riding rice transplanter 1A, forward along the ridge 1' until the front end of the machine reaches the opposing ridge 2', performs rice planting work, and then stops the machine.

[0088] Then, the control unit of the parent machine, riding rice transplanter 1A, sends stop information to the first child machine, riding rice transplanter 1B, and the second child machine, riding rice transplanter 1C, via a wireless communication device.

[0089] Then, the control units of the first sub-machine, riding rice transplanter 1B, and the second sub-machine, riding rice transplanter 1C, receive information that the parent machine, riding rice transplanter 1A, has stopped and stop both machines.

[0090] At this time, the control unit of the first sub-machine, riding rice transplanter 1B, stores the distance from the parent machine, riding rice transplanter 1A, captured by camera 14, and the control unit of the second sub-machine, riding rice transplanter 1C, stores the distance from the first sub-machine, riding rice transplanter 1B, captured by camera 14.

[0091] When the operator on board the riding rice transplanter 1A, which is the parent machine, operates the machine to move backward, the backlift function is activated, the seedling planting section 3 is raised, and the machine moves backward.

[0092] Then, when the vehicle is driven backward to a position where it can turn, the vehicle is operated to move forward, and then the handle 8 is operated to turn the vehicle until it is parallel to the ridge 2' and stop.

[0093] Then, the machine is operated to move backward until the rear end of the seedling planting section 3 approaches the edge of the ridge 1', at which point the machine is stopped and the seedling planting section 3 is lowered.

[0094] Then, the seedling planting unit 3 is driven to move forward along the ridge 2' to perform rice planting work, and the first sub-machine, the riding rice transplanter 1B, and the second sub-machine, the riding rice transplanter 1C, move forward to a position where they can follow, and the machine is stopped.

[0095] Then, the control unit of the parent riding rice transplanter 1A sends information that it has turned a corner and stopped to the first child riding rice transplanter 1B and the second child riding rice transplanter 1C via a wireless communication device.

[0096] The control device of the first sub-machine, the riding rice transplanter 1B, then receives information that the parent machine, the riding rice transplanter 1A, has turned a corner and stopped, and moves forward while performing rice planting work the distance from the parent machine, the riding rice transplanter 1A, that has been stored, and then stops.

[0097] Then, the seedling planting section 3 is raised and the machine is moved backward until it reaches a position where it can turn, and then the machine is moved forward and the handle 8 is steered to turn the machine until it is parallel to the ridge 2'.

[0098] Then, the machine moves forward until the distance between it and the parent machine, the riding rice transplanter 1A, captured by the camera 14, reaches a predetermined following distance, performs rice planting work, and stops, and sends information that it has turned a corner and stopped to the parent machine, the riding rice transplanter 1A, and the second child machine, the riding rice transplanter 1C, via a wireless communication device.

[0099] Then, the control device of the second sub-machine, riding rice transplanter 1C, receives information that the first sub-machine, riding rice transplanter 1B, has turned a corner and stopped, and moves forward while performing rice planting work the distance from the first sub-machine, riding rice transplanter 1B, that has been stored, and then stops.

[0100] Then, the seedling planting section 3 is raised and the machine is moved backward until it reaches a position where it can turn, and then the machine is moved forward and the handle 8 is steered to turn the machine until it is parallel to the ridge 2'.

[0101] Then, the rice planter moves forward until the distance between it and the first sub-machine, the riding rice transplanter 1B, captured by the camera 14, reaches a predetermined following distance, performs rice planting work, and stops, and sends information that it has turned a corner and stopped to the parent machine, the riding rice transplanter 1A, and the first sub-machine, the riding rice transplanter 1B, via a wireless communication device.

[0102] The control unit of the parent machine, riding rice transplanter 1A, then receives information that both the first sub-machine, riding rice transplanter 1B, and the second sub-machine, riding rice transplanter 1C, have finished turning and stopped, starts moving forward, resumes rice planting work, and sends information that rice planting work has resumed to the first sub-machine, riding rice transplanter 1B, and the second sub-machine, riding rice transplanter 1C, via a wireless communication device.

[0103] Then, the control units of the first sub-machine, riding rice transplanter 1B, and the second sub-machine, riding rice transplanter 1C, receive information that the parent machine, riding rice transplanter 1A, has resumed rice planting work, and begin moving forward, following the parent machine, riding rice transplanter 1A, to perform rice planting work.

[0104] The same process continues, planting around the edges of field F.

[0105] Finally, other exemplary embodiments will be described.

[0106] That is, as shown in Figure 5, the rice planting system may be two units, a parent unit, a riding rice transplanter 1A, and a first sub-unit, a riding rice transplanter 1B. This rice planting system is a system that performs rice planting work similar to the above embodiment, excluding the riding rice transplanter 1C, which is the second sub-unit of the three rice planting system.

[0107] As shown in FIG. 6, the rice planting system may also be a five-unit system consisting of a parent riding rice transplanter 1A, a first sub-unit riding rice transplanter 1B, a second sub-unit riding rice transplanter 1C, a third sub-unit riding rice transplanter 1D, and a fourth sub-unit riding rice transplanter 1E. This rice planting system adds a third sub-unit riding rice transplanter 1D that follows behind the first sub-unit riding rice transplanter 1B of the three rice planting system, and a fourth sub-unit riding rice transplanter 1E that follows behind the second sub-unit riding rice transplanter 1C, and is a system that performs rice planting work similar to the above-described embodiment.

[0108] In addition, a fifth sub-machine, a riding-type rice transplanter, and / or a sixth sub-machine, a riding-type rice transplanter, may be added to follow behind the third sub-machine, riding-type rice transplanter 1D, and / or the fourth sub-machine, riding-type rice transplanter 1E, and any number of sub-machines may be provided to follow behind them.

[0109] In addition, the parent machine, the riding rice transplanter 1A, may be an autonomous driving type that calculates a work route for rice planting work in the field F registered in a map database, receives signals from a positioning satellite via GPS, calculates position information using a satellite positioning system, and autonomously drives along the work route to automatically perform rice planting work.

[0110] If the parent machine, the riding rice transplanter 1A, is made autonomous, the rice planting system will become an unmanned robot system that performs rice planting work with fully automatic driving.

[0111] <Other embodiments>

[0112] (1) FIG. 7 is a schematic diagram showing the configuration of a management system that manages the environment of field F, the growth state of crops, etc.

[0113] That is, the management system registers the field F owned by the user in a map database of the management server 21 in the ground base 20, sets up one or more monitoring points 22 in the field F, and periodically flies a small aircraft 23 such as a drone from the ground base 20 to the monitoring points 22 along a predetermined route L1 to measure and photograph the environment of the field F and the growth state of the crops at the monitoring points 22, and transmits the measured and photographed data of the environment of the field F and the growth state of the crops to the management server 21 in the ground base 20 or to a mobile terminal 24 such as the user's smartphone, and the environment of the field F and the growth state of the crops can be confirmed on the management server 21 or the mobile terminal 24.

[0114] A management server 21 in a ground base 20 sets a route L1 and a flight start time for a small aircraft 23 such as a drone to fly round trip to one or more monitoring points 22 set up in a field F owned by a user registered in a map database, and transmits the map data with the route L1 and the flight start time to the small aircraft 23 via a wireless device 25.

[0115] A small aircraft 23 such as a drone is equipped with a camera 23a and measuring equipment 23b for temperature, humidity, wind speed, precipitation, and sunlight, etc., and at the set flight start time, it flies from the ground base 20 along route L1 to one or more monitoring points 22 set up within the field F, photographs the crop growth status at the monitoring points 22 with the camera 23a, measures the temperature, humidity, wind speed, precipitation, and sunlight, etc. with the measuring equipment 23b, and transmits each of these data to the management server 21 or the user's mobile terminal 24. At the specified time, it flies from the monitoring point 22 along route L1 and returns to the ground base 20.

[0116] The management server 21 or mobile terminal 24 in the ground base 20 receives the data transmitted from the small aircraft 23 and provides it to the user or manager in the form of a predetermined data map or data table, and the user or manager can check the condition of the field by looking at the data map or data table.

[0117] In this way, users and managers can check the condition of the field by viewing the data map or data table on the management server 21 or mobile terminal 24 without having to go to the field, so they can understand the growth status of the crops and the condition of the field, and easily carry out fertilization management and harvest planning.

[0118] In particular, when the field F is located in a mountainous area or on a slope, field management, which is usually heavy work, can be carried out efficiently and easily. [Explanation of symbols]

[0119] 1A Preceding transplanting machine (parent machine, riding rice transplanter) 1B Trailing transplanter (first sub-machine, riding rice transplanter) 1C Trailing transplanter (second sub-machine, riding rice transplanter) 13 Target 14 Detection means (camera) 16 Second detection means (sub-camera) N Already planted seedling row

Claims

1. A target (13) is provided on the leading transplanting machine (1A) to serve as a guide for the traveling direction of the following transplanting machines (1B, 1C), and the following transplanting machines (1B, 1C) are provided with detection means (14) for detecting the target (13) to measure the traveling direction and the distance to the leading transplanting machine (1A), and the traveling direction and traveling speed of the following transplanting machines (1B, 1C) are controlled based on the measured traveling direction and distance to the leading transplanting machine (1A), so that the following transplanting machines (1B, 1C) follow and travel at a lateral position behind the leading transplanting machine (1A); This transplanting system is characterized in that when a leading transplanter (1A) starts turning at the edge of a paddy field, it sends a signal to the following transplanter (1B, 1C) by wireless communication device to start turning, and the following transplanter (1B, 1C) memorizes the distance to the leading transplanter (1A) measured by the detection means (14) when it receives the signal, moves forward by the said distance, performs rice planting work, and then stops.

2. The transplanting system according to claim 1, characterized in that the following transplanting machine (1B, 1C) is provided with a second detection means (16) for detecting the row of already planted seedlings (N) to measure the running direction, and the running direction of the following transplanting machine (1B, 1C) is controlled based on the measured running direction and the running direction measured by the detection means (14).

3. A transplanting system as described in claim 2, characterized in that the preceding transplanter (1A) turns at the edge of the paddy field, advances a predetermined distance to perform rice planting work in the next process, and when it stops, sends information to the following transplanter (1B, 1C) via a wireless communication device that it has finished turning and stopped, and the following transplanter (1B, 1C) receives the information, turns and stops using automatic turning control, and sends information to the preceding transplanter (1A) via the wireless communication device that it has finished turning and stopped.

4. The transplanting system according to claim 3, characterized in that the leading transplanter (1A) receives information that the following transplanter (1B, 1C) has finished turning and stopped, resumes rice planting, and sends information that rice planting has resumed to the following transplanter (1B, 1C) via a wireless communication device, and the following transplanter (1B, 1C) receives the information and resumes rice planting.

Images