Seedling transplanter

Abstract

To provide a seedling transplanter capable of calculating the compression rate of a seedling mat at more flexible timing.SOLUTION: A seedling transplanter includes a seedling-placing table 70 and a planting machine for planting seedlings of a seedling mat M placed on the seedling-placing table 70 in a farm field. On the seedling-placing table 70, a plurality of seedling-placing plates is arranged side-by-side in the width direction of the transplanter. The seedling-placing plates include: a seedling top position detection member 74 that comprises a seedling-placing plate body on which a seedling mat M is placed and an extended seedling-placing plate 73 attached to the top part of the seedling-placing plate body and can measure the length from the bottom edge of the seedling-placing plate body to the upper edge of the seedling mat M which is placed; and a seedling input detection member 75 for detecting input of the seedling mat M into the extended seedling-placing plate. The seedling transplanter is characterized by being configured to calculate the compression rate of the seedling mat M and controlling the amount of seedling takeout of the planting machine on the basis of information detected by the seedling top position detection member 74 and the seedling input detection member 75.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a seedling transplanter that transplants seedlings into a field using a seedling mat. [Background technology]

[0002] When planting seedlings in a field, the worker plans in advance the number of seedling mats to be used for the field. Therefore, it is necessary to adjust the seedling picking amount of the seedling transplanter so that the planned number of seedling mats can actually be planted. For example, Patent Document 1 discloses a seedling transplanter that is provided with a vertical picking amount adjustment lever that can change the vertical position of the planting tines relative to the seedling mats in multiple stages by raising and lowering the seedling carrier that carries the seedling mats. The vertical picking amount (vertical picking amount) of seedling mats scraped by the planting tines can be adjusted by the worker operating this vertical picking amount adjustment lever.

[0003] Furthermore, Patent Document 2 discloses a seedling transplanter that calculates the number of seedling mats to be used from the compression rate of the seedling mats, which is calculated based on the vertical feed amount of the seedling mats placed on the seedling carrier and the number of seedling transfers of the seedling mats, and automatically corrects the seedling amount to be planted based on the calculated number of seedling mats to be used and information such as the remaining work area of ​​the field, so that the number of seedling mats to be planted is as planned. This reduces the effort required for the operator to adjust the seedling amount based on experience, etc. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-213638 [Patent Document 2] Patent Publication No. 2021-101667 Summary of the Invention [Problem to be solved by the invention]

[0005] Here, in order to calculate and adjust the appropriate seedling collection volume based on a predetermined number of seedling mats, as in the seedling transplanter described in Patent Document 2, it is essential to accurately grasp the compression rate of the seedling mats. The compression rate of the seedling mats is expressed as a percentage, indicating the degree of compression of the seedling mats. That is, when seedling mats are placed on the seedling carrier in a vertically tilted position during planting, their overall length (length in the feed direction) is compressed by their own weight and the weight of other seedling mats. Therefore, for the same seedling collection volume, the more compressed the seedling mats are, the faster they will be consumed. Therefore, if the compression rate of the seedling mats is calculated inaccurately, the rate at which seedlings are consumed during planting cannot be accurately grasped, resulting in a discrepancy between the final number of seedling mats consumed and the planned number.

[0006] The seedling transplanter described in Patent Document 2 includes a movement amount detection unit that detects the amount of movement of the seedling mat on the seedling tray's mounting surface, and a seedling mat presence / absence detection unit that is disposed at a height approximately one seedling mat above the bottom of the seedling tray and detects the presence or absence of a seedling mat for each row. The movement amount detection unit detects the amount of movement of the seedling mat placed on the seedling tray, and calculates the number of seedling successions (the number of times seedling mats have been added to the seedling tray) from the detected movement amount. Furthermore, when the seedling mat presence / absence detection unit transitions from a state in which it detects a seedling mat to a state in which it does not detect a seedling mat, the device calculates the compression rate of the seedling mat by adding the movement amount detected by the movement amount detection unit to a predetermined remaining amount, and dividing the calculated length by the designed length of the seedling mat before compression for the number of seedling successions.

[0007] However, in the conventional technique described above, the number of seedling mats is calculated based on the amount of seedling mat movement on the seedling tray. This method is prone to errors between the number of seedling mats actually supplied to the seedling tray and the calculated number based on the amount of seedling mat movement due to factors such as mat slippage and compression. As a result, the compression rate of the seedling mats may not be calculated accurately. Additionally, a device for detecting the movement of seedling mats on the seedling tray may interfere with the smooth movement of the seedling mats. Furthermore, in a configuration in which the seedling mat presence / absence detection unit, which detects the presence or absence of seedling mats on the seedling tray, calculates the compression rate of the seedling mats when the mat presence / absence detection unit transitions from a detected state to an undetected state, for example, if an operator continuously supplies seedling mats to the seedling tray, the mat presence / absence detection unit may continue to detect the seedling mats, potentially making it impossible to calculate the compression rate of the seedling mats. Therefore, the conventional seedling transplanter described in Patent Document 2 leaves room for improvement in the calculation method for the seedling mat compression rate.

[0008] Therefore, the present invention solves such problems by providing a seedling transplanter that does not hinder the movement of seedling mats supplied to the loading table and counts the number of seedling mats more accurately than conventional methods, thereby making it possible to accurately calculate the compression rate of the seedling mats and also capable of calculating the compression rate of the seedling mats at more flexible timing. [Means for solving the problem]

[0009] In order to achieve the above object, the first invention is: A seedling transplanter comprising a seedling carrier that moves back and forth left and right and transports a placed seedling mat downward by a seedling feed belt, and a planting device that takes out the seedlings from the placed seedling mat in order from the downstream side in the transport direction by a planting rod that moves around, and plants them in a field, The seedling carrier has a plurality of seedling carrier plates arranged in the width direction of the machine body, The seedling carrier plate includes a seedling carrier plate body on which a seedling mat is placed, and an extension seedling carrier plate attached to the top of the seedling carrier plate body, and further, The device is provided with a seedling top position detection member that can measure the length from the lower end of the seedling carrying plate body to the upper end of the seedling mat by detecting the seedling top position, and a seedling insertion detection member that detects the insertion of the seedling mat onto the extension seedling carrying plate, The present invention provides a seedling transplanter that is configured to calculate the compression rate of the placed seedling mats from information relating to the length to the top end of the placed seedling mats measured by the seedling top end position detection member and the number of seedling mats inserted detected by the seedling insertion detection member, and to adjust the seedling removal amount of the planting device based on the calculated compression rate.

[0010] According to the first aspect of the present invention, the seedling insertion detection element detects the passage (insertion) of seedling mats on the extended seedling carrier plate, enabling faster and more accurate counting than conventional methods. Furthermore, by counting seedling mats on the extended seedling carrier plate, rather than on the seedling carrier plate itself as in conventional methods, seedling mats can be counted effectively even when continuously inserted. Furthermore, by counting seedling mats by rotating the sensor plate, false detections can be prevented and counting can be performed with high accuracy. As a result, the compression rate of the seedling mats can be calculated with high accuracy. Additionally, the seedling top position detection element allows the seedling height (actual seedling length) of each row of seedling mats on the carrier plate to be calculated at appropriate timing. This allows for more flexible timing for calculating the compression rate of the seedling mats.

[0011] The second invention, in addition to the configuration of the first invention, the seedling insertion detection member is provided with a rotating arm that can rotate around a rotation axis, and a sensor plate that is fixed to the tip of the rotating arm and detects the seedling mat inserted by rotation, The sensor plate comprises a flat plate portion connected to the pivoting arm, and an arc-shaped plate portion formed integrally with the flat plate portion and arc-shaped so as to be convex relative to the loading surface of the extended seedling loading plate, and is arranged so as to be exposed on the loading surface side of the extended seedling loading plate through a slit provided in the extended seedling loading plate.

[0012] According to the second invention, in addition to the effects of the first invention, the arc-shaped plate portion is formed in an arc shape so as to be convex relative to the loading surface of the extended seedling loading plate, which makes it less likely to interfere with the movement of the seedling mat and enables smooth counting.

[0013] The third invention, in addition to the configuration of the second invention, The seedling insertion detection member is characterized in that it is configured to determine whether the seedling mat has been inserted by detecting that the rotation angle of the sensor plate has increased from the initial angle using an angle detection potentiometer provided on the seedling insertion detection member.

[0014] According to the third invention, in addition to the effects of the second invention, by counting the number of seedling mats when the sensor plate starts to rotate, it is possible to count them quickly when they are added, and further, the rotation of the sensor plate further effectively prevents the movement of the seedling mats supplied to the loading table from being hindered.

[0015] The fourth invention, in addition to the configuration of the third invention, Furthermore, the device is characterized in that it is configured so that the amount of movement of the upper end of the seedling mat on the placement surface of the extension seedling placement plate can be calculated from the change in the rotation angle of the sensor plate.

[0016] According to the fourth aspect of the present invention, in addition to the effects of the third aspect of the present invention, By utilizing the fact that the amount of movement of the upper end of the seedling mat M on the placement surface of the extended seedling placing plate can be calculated from the change in the rotation angle of the sensor plate 7, the position of the upper end of the seedling mat can be detected by the seedling insertion detection member even when the upper end of the seedling mat is located above the upper limit of the detection range of the seedling upper end position detection member. This makes it possible to detect the position of the upper end of the seedling mat over a wider range on the seedling placing platform.

[0017] The fifth invention, in addition to the configuration of the first invention, The seedling top position detection member comprises a color detection device that is movable on the seedling carrying plate along the transport direction of the seedling mat, a rail that serves as the movement track for the color detection device, and supports that support and fix both ends of the rail to the seedling carrying platform, and is characterized in that the color detection device is configured to be able to detect the position of the top end of the seedling mat placed on it by acquiring color information as it moves on the seedling carrying plate.

[0018] According to the fifth invention, in addition to the effects of the first invention, the color detection device is configured to move along a rail, and by acquiring color information while moving on the seedling carrying plate, the upper end of the seedling mat can be detected well without contact and without interfering with the movement of the seedling mat.

[0019] The sixth invention, in addition to the configuration of the first invention, The device is characterized in that it is configured to calculate the average compression rate of each row of the seedling carrier and control the seedling removal amount for the entire planting row of the planting device based on the calculated average value.

[0020] According to the sixth aspect of the invention, in addition to the effect of the first aspect of the invention, the trouble of adjusting the seedling picking amount of each planting device can be avoided, and planting work can be carried out smoothly. [Effects of the Invention]

[0021] According to the present invention, a seedling transplanter can be provided that does not interfere with the movement of seedling mats supplied to the loading table and counts the number of seedling mats more accurately than conventional methods, making it possible to accurately calculate the compression rate of the seedling mats and also to calculate the compression rate of the seedling mats at more flexible timing. [Brief explanation of the drawings]

[0022] [Figure 1] FIG. 1 is a side view of a seedling transplanter according to a preferred embodiment of the present invention. [Figure 2] FIG. 2 is a plan view of the same. [Figure 3] 3 is a left side view of the main part of the seedling carrier of FIG. 1. FIG. [Figure 4]FIG. 4 is a plan view of the seedling carrier plate of FIG. [Figure 5] 5 is an enlarged left side view of the seedling insertion detection member and its surroundings in FIG. 3. FIG. [Figure 6] 6 is a left side view showing the operation of the seedling insertion detecting member of FIG. [Figure 7] FIG. 7 is a left side view of the same. [Figure 8] FIG. 8 is a left side view of the same. [Figure 9] FIG. 9 is a left side view of the same. [Figure 10] 10(a) is a cross-sectional side view of the internal structure of the seedling top position detecting member of FIG. 3, and FIG. 10(b) is a functional block diagram of the seedling top position detecting member of FIG. [Figure 11] FIG. 11 is a functional block diagram of a control system for adjusting the seedling harvesting amount of the seedling transplanter of FIG. [Figure 12] FIG. 12 is an explanatory diagram for explaining the concept of compression ratio calculation. [Figure 13] FIG. 13 is an explanatory diagram of the same. [Figure 14] FIG. 14 is an enlarged left side view of the seedling insertion detection member and its surroundings for explaining the calculation of the initial compression rate. [Figure 15] FIG. 15 is an enlarged left side view of a main part of a seedling carrier according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0023] <1. Overall configuration of the seedling transplanter> Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, the overall configuration of a seedling transplanter 1 according to a preferred embodiment of the present invention will be described. Fig. 1 is a side view of the seedling transplanter 1 according to a preferred embodiment of the present invention, and Fig. 2 is a plan view. The seedling transplanter 1 according to this embodiment is configured as a six-row rice transplanter, for example.

[0024] This seedling transplanter 1 has a seedling planting unit 4 mounted on the rear of a traveling body 2 via a lifting link device 3 so that it can be raised and lowered, and the main body of a fertilizer applicator 5 is provided on the upper rear part of the traveling body 2. With the operator riding the rice transplanter as the reference point, the forward and backward directions are referred to as "front" and "rear", respectively, and the left and right directions relative to the forward direction are referred to as "left" and "right", respectively.

[0025] The traveling 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 that serve as drive wheels, with a transmission case 12 disposed at the front of the vehicle body, front wheel final cases 13, 13 provided on the left and right sides of the transmission case 12, and the left and right front wheels 10, 10 respectively attached to left and right front wheel axles that protrude outward from front wheel support parts that can change the steering direction of the left and right front wheel final cases 13, 13. In addition, the front end of a main frame 15 is fixed to the rear part of the transmission case 12, and rear wheel gear cases 18, 18 are supported so as to be able to roll freely around rear wheel rolling axes that are provided horizontally fore and aft at the center of the rear end of the main frame 15, and the rear wheels 11, 11 are attached to the rear wheel axles that protrude outward from the rear wheel gear cases 18, 18.

[0026] The engine 20 is mounted on the main frame 15, and rotational power of the engine 20 is transmitted to the transmission case 12 via a belt transmission 21 and an HST 22. The rotational power transmitted to the transmission case 12 is shifted by a transmission within the case 12 and then separated into propulsion power and externally extracted power. A portion of the propulsion power is transmitted to the front wheel final cases 13, 13 to drive the front wheels 10, 10, and the remainder is transmitted to the rear wheel gear cases 18, 18 to drive the rear wheels 11, 11. The externally extracted power is transmitted to a planting clutch case 25 provided at the rear of the traveling body 2, and then transmitted to the seedling planting section 4 by a planting transmission shaft 26 and to the fertilizer application device 5 by a fertilizer application transmission mechanism.

[0027] The top of the engine 20 is covered by an engine cover 30, and a seat 31 is installed on top of it. In front of the seat 31 is a front cover 32 that houses various operating mechanisms, and above that is provided a handle 34 for steering the front wheels 10, 10. Horizontal floor steps 35 are formed on both the left and right sides of the lower ends of the engine cover 30 and front cover 32. Part of the floor step 35 is lattice-shaped (see Figure 2), so that mud on the shoes of an operator walking on the step 35 falls into the field. The rear part above the floor step 35 is a rear step 36 that also serves as a rear wheel fender.

[0028] 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 behind and is erected at the rear end of the main frame 15. A vertical link 43 is connected to the tip of each link. A connecting shaft 44, which is rotatably supported on the seedling planting unit 4, is inserted and connected to the lower end of the vertical link 43. The seedling planting unit 4 is connected to the connecting shaft 44 so that it can roll freely around the connecting shaft 44. A lifting hydraulic cylinder 46 is provided between a support member fixed to the main frame 15 and the tip of a swing arm (not shown) integrally formed with the upper link 40. By hydraulically extending and retracting the cylinder 46, the upper link 40 rotates up and down, lifting and lowering the seedling planting unit 4 while maintaining a substantially constant posture.

[0029] The seedling planting section 4 has a six-row planting configuration and is equipped with a transmission case 50 that also serves as a frame, a seedling carrier 70 that carries mat seedlings and moves back and forth from side to side to supply one seedling at a time to each row's seedling outlets 51a, etc., and once all the seedlings in a horizontal row have been supplied to the seedling outlets 51a, etc., the seedlings are transported downward by seedling feed belts 51b, etc., a planting device 52 equipped with a planting rod 52a that rotates to plant the seedlings at the bottom of the seedling mat M supplied to the seedling outlets 51a, etc. into the field, etc., and a pair of left and right line-drawing markers 92 that draw a line on the topsoil surface to indicate the machine's path for the next stroke. A center float 55 is provided in the center of the lower part of the seedling planting section 4, and side floats 56, 56 are provided on both sides of it.

[0030] The fertilizer application device 5 delivers a fixed amount of granular fertilizer stored in a fertilizer hopper 60 by means of delivery units 61, which guide the fertilizer by means of fertilizer application hoses 62 to fertilizer application guides (not shown) attached to both the left and right sides of the floats 55, 56, 56, and then drops the fertilizer into a fertilization area formed near the side of the seedling planting row by means of furrow-making bodies (not shown) attached in front of the fertilizer application guides. Air generated by a blower 58 driven by an electric blower motor 53 is blown into the fertilizer application hoses 62 via an air chamber 59 that is long in the left-right direction, and the fertilizer in the fertilizer application hoses 62 is forcibly transported by wind pressure.

[0031] A soil leveling rotor (the combination of the first soil leveling rotor 27a and the second soil leveling rotor 27b is sometimes simply referred to as the soil leveling rotor), which is an example of a soil leveling device, is attached to the seedling planting section 4. In addition, a pair of spare seedling frames 38, 38 equipped with multi-tiered spare seedling loading tables 38a, 38b, 38c for placing supplementary seedlings are provided on both the left and right sides of the front of the traveling body 2. These spare seedling frames 38, 38 are supported on a vertical axis and are rotatable between a working position where they extend outward from the machine body and a storage position where they do not extend outward.

[0032] <2. Configuration of seedling carrier 70> FIG. 3 is a left side view of the main part of the seedling carrier 70 of FIG. The seedling carrier 70 is made of a plate-like member on which the seedling mat M can be placed, and is arranged so that it is inclined so that it is high in the front and low in the rear when viewed from the side of the machine body. The seedling carrier 70 is configured to slide left and right on a guide rail 65 with a generally L-shaped cross section that slidably supports it.

[0033] FIG. 4 is a plan view of the seedling carrying plate 71 of FIG. On the rear side of the seedling carrier 70, rectangular seedling carrier plates 71 having a carrier surface on which seedling mats M are placed are arranged in the width direction of the machine body according to the number of rows of the seedling transplanter 1. The seedling carrier plates 71 are equipped with a seedling carrier main body 72 on which the seedling mats M are placed, and an extension seedling carrier plate 73 detachably attached to the top of the seedling carrier main body 72.

[0034] The seedling transplanter 1 of this embodiment has six planting rows, so six seedling carrier plates 71 are arranged on the guide rail 65. A seedling mat M (see Figures 1, 6, etc.) is placed in an inclined position on the mounting surface of the seedling carrier plate 71. As shown in Figure 3, the seedling carrier 70 is moved up and down relative to the traveling body 2 by an arm 70b using an actuator 70a, thereby changing the distance between the rotation trajectory 52r of the planting rod 52a and the seedling removal opening 51a, which is provided by cutting out the rear part of the guide rail 65, and thereby adjusting the amount of seedlings to be removed.

[0035] The seedling carrying plate main body 72 has a seedling feed belt 51b on the carrying surface that transports the placed seedling mat M by intermittent operation, and a seedling upper end position detection member 74 is provided on the side that can measure the length from the lower end of the seedling carrying plate main body 72 to the upper end of the seedling mat M within the entire length of the seedling carrying plate main body 72.

[0036] The extended seedling carrier plate 73 is flush with the loading surface of the seedling carrier plate main body 72, and allows the seedling mat M placed on the extended seedling carrier plate 73 by the operator to slide down and supply it to the loading surface of the seedling carrier plate main body 72, thereby assisting in the supply of seedling mat M to the seedling carrier plate 71. The extended seedling carrier plate 73 is provided with a plurality of approximately rectangular slits 73a, which are elongated holes provided on the extended seedling carrier plate 73, and a seedling insertion detection member 75, which detects the insertion of seedling mat M into the seedling carrier table 70, is arranged so that a sensor plate 75c, described later, is exposed from the slits 73a on the loading surface side of the extended seedling carrier plate 73.

[0037] <3. Configuration of seedling insertion detection member 75> FIG. 5 is an enlarged left side view of the seedling insertion detection member 75 and its surroundings. As shown in FIG. 5, the seedling insertion detection member 75 includes a rotating arm 75b that can rotate around a rotating shaft 75a, and a sensor plate 75c that is fixed to the tip of the rotating arm 75b and detects the seedling mat M.

[0038] The rotating shaft 75a is rotatably mounted on a rotating base 75d, which is a case member incorporating a bearing and a spring (not shown). The rotating shaft 75a is rotatably supported by the bearing on the rotating base 75d and is biased counterclockwise in the plane of the drawing in Figure 5 by a spring, which is a biasing member. The rotating base 75d is attached to a position in front of the extended seedling carrier plate 73 by a mounting fixture 75e fixed to the top of the seedling carrier plate main body 72.

[0039] As a result, the rotating arm 75b is configured to be rotatable within a range in which the rotation angle α becomes a maximum angle θ1, with the initial angle θ0 as a reference (see FIG. 5). The initial angle θ0 is the angle of the rotating arm 75b in the longitudinal direction when no force is applied to the rotating arm 75b. Here, the rotating arm 75b is engaged with a protrusion (not shown) provided on the rotation base 75d, so that upward rotation of the rotating arm 75b is restricted when the initial angle θ0 is reached, and downward rotation of the rotating arm 75b is restricted when the maximum angle θ1 is reached. The rotation angle α of the rotating arm 75b is detected by an angle detection potentiometer 75s built into the rotation base 75d, and the detected value is transmitted to a control unit C (described later) (see FIG. 11).

[0040] As shown in Figure 4, the sensor plate 75c is a plate member formed in a rectangular shape when viewed in a plane, and comprises a flat plate portion 751 and an arc-shaped plate portion 752 formed integrally and continuously with the flat plate portion 751 and formed in an arc shape so as to be convex relative to the mounting surface of the extended seedling mounting plate 73.

[0041] 6 to 9 are left side views showing the operation of the seedling insertion detecting member 75 of FIG. Next, referring to Figures 6 to 9, the operation of the seedling insertion detection member 75 when the seedling mat M is inserted will be described. Figure 6 shows the state in which the inserted seedling mat M slides down the placement surface of the extended seedling placement plate 73 and its lower end abuts the sensor plate 75c. As a result, the sensor plate 75c is pushed by the lower end of the seedling mat M and begins to rotate downward. At this time, the angle detection potentiometer 75s detects that the rotation angle α of the sensor plate 75c has increased from the initial angle θ0, and the control unit C, which acquires this detection value, determines that the seedling mat M has been inserted. In other words, it counts the number of seedling mats M inserted by one. In this way, when an external force from the seedling mat M is applied to the sensor plate 75c, the number of seedling mats M inserted is counted.

[0042] 7 shows the state in which the seedling mat M slides further down from the state in FIG. 6 and completely rides onto the sensor plate 75c, causing the rotation angle α of the sensor plate 75c to reach the maximum angle θ1. At this time, the flat plate portion 751 is parallel to (or flush with) the placement surface of the extended seedling placement plate 73.

[0043] FIG. 8 shows the state in which the seedling mat M slides further down from the state shown in FIG. 7, with the upper end of the seedling mat M passing the flat plate portion 751 and abutting against the arc-shaped plate portion 752. The arc-shaped plate portion 752 is arc-shaped so as to be convex relative to the placement surface of the extended seedling placement plate 73. This reduces friction when it comes into contact with the seedling mat M, making it less likely to impede the movement of the seedling mat M. Furthermore, as the upper end of the seedling mat M moves downward (in the conveying direction), the sensor plate 75c gradually rotates upward, reducing the rotation angle α and approaching the initial angle θ0. When the upper end of the seedling mat M is in this state of abutting against the arc-shaped plate portion 752, the control unit C can calculate the amount of movement of the seedling mat M (or its upper end) on the placement surface of the extended seedling placement plate 73 from the change in the rotation angle α of the sensor plate 75c.

[0044] FIG. 9 shows the state in which the seedling mat M slides further down from the state shown in FIG. 8, and the upper end of the seedling mat M passes over the arc-shaped plate portion 752, causing the rotation angle α of the sensor plate 75c to return to the initial angle θ0. At this time, the angle detection potentiometer 75s detects that the rotation angle α of the sensor plate 75c has decreased and returned to the initial angle θ0. The control unit C, having acquired this detection value, enters a standby state to count the next seedling mat M. Thus, the seedling insertion detection member 75 detects the passage of the seedling mat M on the extended seedling placement plate 73, allowing for faster and more accurate counting than conventional methods without interfering with the movement of the seedling mats M supplied to the placement table 70. Furthermore, by counting the seedling mats M on the extended seedling placement plate 73, rather than on the seedling placement plate main body 72 as in conventional methods, the seedling mats M can be counted accurately even when seedling mats M are continuously inserted. Furthermore, by counting the seedling mats M by rotating the sensor plate 75c, false detections can be prevented and counting can be performed accurately. As a result, the control unit C, which will be described later, can calculate the compression rate P of the seedling mat M with high accuracy.

[0045] 6 to 9 show the detection range β of the seedling insertion detection member 75 in the conveying direction, and the seedling insertion detection member 75 can detect the passage of seedling mats M on the placement surface of the extended seedling placement plate 73 within the range from the detection range upper limit β1 to the detection range upper limit β2 using the angle detection potentiometer 75s. As a result, as described above, when the lower end of the seedling mat M enters the detection range upper limit β1, the seedling insertion detection member 75 detects the seedling mat M, and the control unit C counts one seedling mat M as the number of seedling mats M inserted. When the upper end of the seedling mat M passes the detection range lower limit β2, the seedling insertion detection member 75 no longer detects the seedling mat M, and the control unit C can enter a standby state to count the next seedling mat M.

[0046] <4. Configuration of seedling top position detection member 74> As shown in Figure 3, the seedling upper end position detection member 74 comprises a color detection device 74a that is movable on the seedling carrying plate 71 of the seedling carrying platform 70 along the transport direction F of the seedling mat M, a rail 74b that serves as the movement track for the color detection device 74a, and supports 74c that support and fix both ends of the rail 74b to the seedling carrying platform 70.

[0047] 10(a) is a cross-sectional side view of the internal structure of the seedling top position detecting member 74 of FIG. 3, and FIG. 10(b) is a functional block diagram of the seedling top position detecting member 74 of FIG. 10(a), the color detection device 74a includes a seedling identification sensor s1, a color sensor for detecting color, located at the bottom of the housing (the side where the seedling carrier plate 71 is placed). The housing also includes a controller 74m, an information processing device equipped with a CPU, ROM, and RAM, a battery unit 741 that supplies power to each component of the device, a drive roller 743 driven in both directions by a drive motor 742, a driven roller 744 sandwiching the rail 74b between the drive roller 743, a roller rotation speed detection sensor s2 that detects the rotation speed of the drive roller 743 using a proximity sensor, an upper end detection switch s3 that detects the upper end of the rail 74b, and a lower end detection switch s4 that detects the lower end of the rail 74b. The upper end detection switch s3 and the lower end detection switch s4 can also be configured to be located at the upper and lower ends of the rail 74b.

[0048] As shown in FIG. 10(b), the controller 74m is connected to a seedling identification sensor s1, a roller rotation speed detection sensor s2, an upper end detection switch s3, and a lower end detection switch s4, and is capable of acquiring detection information from these sensors. The acquired detection information is transmitted to the controller C via a unit communication unit 744, which can communicate with the controller C (described later), and a control command to measure the upper end position of the seedling mat M can be received from the controller C. The upper end detection switch s3 and the lower end detection switch s4 are contact-sensing sensors, and can detect the end of the rail 74b by contacting the upper or lower end of the rail 74b. Thus, when the color detection device 74a reaches the end of the rail 74b, the controller 74m detects contact with the upper end detection switch s3 or the lower end detection switch s4 and stops the movement of the color detection device 74a.

[0049] As a result, the seedling top position detection member 74 is configured so that the color detection device 74a can move along the rail 74b by driving the drive roller 743. As it moves, the seedling identification sensor s1 acquires color information from the seedling placement surface of the seedling placement plate 71 in the range from the bottom to the top of the seedling placement plate body 72, allowing it to detect the top of the seedling mat M in a non-contact manner without interfering with the movement of the seedling mat M. Note that the control unit C acquires detection information on the number of rotations of the drive roller 743 from the bottom of the rail 74b using the roller rotation speed detection sensor s2 (start of counting the number of rotations), and can calculate the seedling height H (hereinafter also referred to as actual seedling length), which indicates the length from the bottom end of the placement table 70 to the top of the seedling mat M, from the information on the total number of rotations of the drive roller 743 acquired when the top of the seedling mat M is detected (in other words, the color change due to passing the top of the seedling mat M is detected) (end of counting the number of rotations). That is, for example, when calculating the seedling height (actual seedling length) H, the seedling upper end position detection member 74 first moves to the lower end of the rail 74b, and then moves from the lower end as a starting point toward the upper end of the rail 74b until it detects the upper end of the seedling mat M. In addition, since the seedling upper end position detection member 74 is arranged on each seedling placing plate 71 (six in this embodiment), the seedling height (actual seedling length) H of each row can be calculated.

[0050] When the seedling top position detection member 74 configured in this manner receives a control command from the control unit C to measure the seedling top position of the seedling mat M, it first drives the drive roller 743 to move to the bottom end of the seedling placing plate main body 72, and then operates to move to the top end of the seedling placing plate main body 72 while acquiring color information using the seedling identification sensor s1, and transmits the detection information of the seedling identification sensor s1 and the roller rotation speed detection sensor s2 to the control unit C. This allows the control unit C to calculate the seedling height (actual seedling length) H of each row of the seedling mat M on the placing table 70 at an appropriate timing. This allows the control unit C, described later, to calculate the compression rate P of the seedling mat M with more flexible timing.

[0051] <5. Configuration of control unit C> FIG. 11 is a functional block diagram of a control system for adjusting the seedling harvesting amount of the seedling transplanter 1 of FIG. Although not shown in Fig. 1, the seedling transplanter 1 is equipped with a control unit C at an appropriate position to control various mechanisms. The control unit C is an information processing device configured by combining multiple ECUs (Electronic Control Units). Each of these multiple ECUs is configured with a CPU that performs arithmetic processing and memory that can read and write information necessary for the arithmetic processing. The CPU operates in accordance with various control programs stored in the memory to realize the configuration shown as functional blocks in Fig. 11.

[0052] As shown in Figure 11, the control unit C is connected to an input operation unit 91, a seedling insertion detection member 75, a seedling upper end position detection member 74, a left and right end detection switch 65s, an output unit 80, a seedling removal amount adjustment mechanism 92, and a communication device 93, and is configured to be able to send and receive information to and from these devices and mechanisms.

[0053] The input operation unit 91 is an information input device that functions as an input interface, and receives input operations from the operator to the control unit C. Various information can be inputted into the input operation unit 91. The input operation unit 91 is, for example, a switch or a touch panel provided near the handle 34 in Fig. 1. Alternatively, it may be a tablet or a smartphone that is provided so as to be able to communicate with the control unit C.

[0054] As described above, the control unit C also acquires detection information on the rotation angle α of the rotating arm 75b from the angle detection potentiometer 75s of the seedling insertion detection member 75. Furthermore, it acquires detection information from the seedling identification sensor s1, roller rotation speed detection sensor s2, upper end detection switch s3, and lower end detection switch s4 from the seedling upper end position detection member 74, and is capable of transmitting a control command for measuring the seedling upper end position of the seedling mat M for each row.

[0055] The left and right end detection switches 65s are contact-sensing switches that detect when the seedling carrier 70 moves to the end of the guide rail 65 during planting work, and are provided on both the left and right ends of the guide rail 65 (see Figure 2). By acquiring the detection information from the left and right end detection switches 65s, the control unit C can calculate the number of times n (one return is counted) the seedling carrier 70 moves back and forth during planting work, which is used to calculate the compression rate P described below.

[0056] The output unit 80 is an information output device that functions as an output interface that outputs various information in the form of images and sounds, and is, for example, a monitor 80 provided near the steering wheel 34 in Fig. 1. Alternatively, it may be a tablet, a smartphone, or the like that is provided so as to be able to communicate with the control unit C.

[0057] The seedling quantity adjusting mechanism 92 is a mechanism for adjusting the seedling quantity of the seedling planting unit 4, and is composed of the above-mentioned actuator 70a, arm 70b, etc. The control unit C can control the seedling quantity by driving and controlling the actuator 70a.

[0058] The communication device 93 is a device that is connected to a network and configured to be able to send and receive various types of information. The network may be, for example, the Internet, but other networks such as a cellular network, a Wi-Fi network, a Low Power Wide Area Network (LPWA), a Wide Area Network (WAN), a Local Area Network (LAN), or other public or dedicated lines may also be used depending on the situation.

[0059] In addition, the control unit C is equipped with, as control programs, a work setting unit c1 that makes various settings related to planting work, a compression rate calculation unit c2 that calculates the compression rate P of the seedling mat M, a seedling mat remaining amount calculation unit c3 that calculates the remaining amount of seedling mat M, and an appropriate seedling amount calculation unit c4 that calculates the appropriate seedling amount based on the planned number of seedling mats set by the work setting unit c1, information related to the compression rate P calculated by the compression rate calculation unit c2, and information related to the remaining amount of seedling mats calculated by the seedling mat remaining amount calculation unit c3.

[0060] The work setting unit c1 outputs a setting screen for various settings related to the planting work to the output unit 80 and accepts input operations related to the various settings from the input operation unit 91, thereby making various settings related to the planting work. The set information is stored in a memory unit (not shown). As various settings, for example, before the start of planting work, input of the number of seedling mats planned in advance in the field to be worked on (hereinafter referred to as the planned number of mats) can be accepted and set. Furthermore, the total area of ​​the field to be worked on can be input and set.

[0061] The compression ratio calculation unit c2 calculates the compression ratio P of the seedling mat M based on the detection information of the seedling insertion detection member 75 and the seedling upper end position detection member. The specific method for calculating the compression ratio P will be described later. The compression ratio P is calculated at appropriate timing (for example, each time the insertion of the seedling mat M is detected).

[0062] During planting work, the seedling mat remaining quantity calculation unit c3 counts the number Q of seedling mats M inserted based on the detection information from the seedling insertion detection member 75, and subtracts this from the number of seedling mats set by the work setting unit c1 to calculate the remaining seedling mat quantity (the number of remaining seedling mats M) at appropriate times (for example, each time the insertion of seedling mats M is detected). The calculated remaining seedling mat quantity is output to the output unit 80 so that the worker can check it.

[0063] The appropriate seedling harvest amount calculation unit c4 calculates the appropriate seedling harvest amount based on the planned number of seedling mats set by the work setting unit c1 and information related to the compression rate P calculated by the compression rate calculation unit c2. The calculation of the appropriate seedling harvest amount can be configured to be performed by the compression rate calculation unit c2 each time the compression rate P is calculated. For example, the appropriate seedling harvest amount can be calculated by calculating the standard seedling harvest amount X1 at a standard compression rate P1 (e.g., 10%) based on the total area of ​​the field to be worked on and the planned number of mats set, and then correcting the standard seedling harvest amount X1 based on the compression rate P2 calculated by the compression rate calculation unit c2 during planting work to calculate the appropriate seedling harvest amount X2. For example, the calculation can be performed using the following formula: seedling harvest amount X2 = seedling harvest amount X1 * (1 - compression rate P2) / (1 - compression rate P1) (*: multiplication symbol, / : division symbol, same below). For example, when the compression rate P1 is 10%, the compression rate P2 is 28%, and the standard seedling quantity X1 is 2 cm, the calculated appropriate seedling quantity X2 is 2 cm × (1 − 0.28) / (1 − 0.1) = 1.6 cm. The calculated seedling quantity X2 is output to the output unit 80 so that the worker can check it, thereby prompting the worker to change the seedling quantity. The control unit C may also be configured to automatically control the seedling quantity adjustment mechanism 92 so that the calculated seedling quantity X2 is achieved.

[0064] <5. Calculation method of compression ratio P> Next, an example of a method for calculating the compression ratio P of the seedling mat M by the compression ratio calculation unit c2 will be described. FIG. 12 is an explanatory diagram for explaining the concept of compression ratio calculation, and FIG. 13 is an explanatory diagram for the same. The compression ratio P in this specification is calculated based on the concept explained below. The compression rate P indicates the rate of loss per seedling mat (in other words, the loss rate) caused by the seedling mat M being compressed on the seedling carrier 70. The control unit C can calculate the compression rate P for each row.

[0065] Here, since the seedling mat M is scraped off and used (transplanted into the field) at a fixed area depending on the seedling collection amount at the seedling planting section 4 during planting work, the amount of seedling mat M can be considered as a pseudo area of ​​the seedling mat M. Therefore, if the compression rate of one seedling mat M is P, as illustrated in Figure 12, the total area V, which indicates the amount of seedling mat M before being placed on the seedling carrier 70, is multiplied by the compressed area V, which is the area lost due to compression of the seedling mat M. L The remaining area Vs is the area of ​​the seedling mat M currently present on the seedling carrier 70 (in other words, the area of ​​the unused seedling mat M present on the seedling carrier 70), and the consumed area V is the area already scraped off and consumed by the seedling planting unit 4 (transplanted in the field). A Here, K in the figure indicates the length (distance) that the seedling mat M travels in the transport direction F when the seedling carrier 70 makes one round trip from side to side, and n indicates the number of round trips that the seedling carrier 70 makes (the value that the count increases by 1 for each round trip).

[0066] Total area V, compressed area V L , remaining area Vs, consumed area V A Since the left and right widths Mx (for example, 280 mm) of the seedling mats M are all the same, these areas are proportional to the length of the seedling mat M in the transport direction F (i.e., the vertical length of the seedling mat M). Therefore, in calculating the compression ratio P, it is sufficient to consider each length of the seedling mat M in the transport direction F (hereinafter simply referred to as length) as a quantity. Then, as shown in Figure 12, for the total length My (for example, 580 mm) of one seedling mat M in the transport direction F, the compression area V L The length in the conveying direction F is My*P, the length of the remaining area Vs is My*(1-P)-K*n, and the consumed area V AThe length of the remaining area Vs is K*n. Here, the length of the remaining area Vs is the same as the seedling height (measured seedling length) H, which indicates the length from the bottom end of the mounting table 70 to the top end of the seedling mat M, calculated by the control unit C based on the detection value by the seedling top end position detection member 74. Therefore, equation (1) in the figure holds. By solving equation (1) for the compression rate P, the compression rate P of each seedling mat M can be calculated from the seedling height (measured seedling length) H.

[0067] Next, a method for calculating the compression rate P of the seedling mats M when multiple mats (Q mats) are loaded onto the seedling carrier 70 will be described with reference to FIG. 13. When Q seedling mats M of length My are loaded onto the seedling carrier 70, as described above, considering only the length of the seedling mats M in the transport direction F, the amount of seedlings loaded can be expressed as My * Q. Furthermore, the amount of compressed seedlings lost due to compression of the seedling mats M can be expressed as My * P * Q. Furthermore, the remaining seedling amount, which is the amount of seedling mats M currently present on the seedling carrier 70 (in other words, unused seedling mats M), can be expressed as seedling height (actual seedling length) H, as described above. Furthermore, the consumed seedling amount, which is the amount already scraped off and consumed by the seedling planting section 4 (transplanted into the field), can be expressed as K * n, as described above. Therefore, equation (2) in the figure can be obtained, and by solving this for the compression rate P, equation (3) can be obtained.

[0068] The seedling transplanter 1 of this embodiment can accurately count the number of seedling mats Q based on the detection information from the seedling insertion detector 75. Furthermore, the seedling height (measured seedling length) H can be accurately calculated from the seedling top position detector 74 within the range from the bottom to the top of the seedling carrier plate body 72. Information about the total length My of each seedling mat M in the transport direction F is pre-stored in the control unit C through input by the operator before starting work. Therefore, the control unit C can calculate the compression ratio P of the seedling mats M at an appropriate timing upon acquiring information about the number of seedling mats Q and the seedling height (measured seedling length) H. For example, the control unit C may be configured to transmit a control command to the seedling top position detector 74 to measure the seedling top position of the seedling mat M each time the seedling insertion detector 75 detects the insertion of a new seedling mat M. The compression ratio calculation unit c2 then acquires information about the number of seedling mats Q and the seedling height (measured seedling length) H and calculates the compression ratio P. This makes it possible to grasp changes in the compression rate P frequently, enabling precise control of the seedling harvest amount.

[0069] <6.Other> Here, adjusting the seedling removal rate for each row of the seedling planting unit 4 (planting device 52) based on the calculated compression rate P is cumbersome. Therefore, when controlling the seedling removal rate, the control unit C is preferably configured to calculate the average value of the compression rate P for each row and control the seedling removal rate for the entire planting row of the seedling planting unit 4 (planting device 52) based on the calculated average value. In this case, the seedling top position detection element 74 and the seedling insertion detection element 75 do not necessarily need to be provided for all rows of the planting row. However, if they are provided for some rows, they are preferably provided near the center, taking into account planting work at the ridge edge (for example, in the case of six rows of planting, the location corresponds to the center rows 3 and 4). Information regarding the calculated compression rate P is stored in the control unit C, but the data may be reset when the work area is reset upon completion of work, when the automatic travel route is deleted, or when the planting work in the headland process, the final step, is completed.

[0070] <6. Calculation method of initial compression ratio P0 (variation example)> Next, a method for calculating the compression ratio P in the modified example will be described. Figure 14 is an enlarged left side view of the seedling insertion detection member 75 and its surroundings to explain the calculation of the initial compression rate P0. The calculation method of the initial compression rate P0, which indicates the initial compression rate P from the initial state before work begins, will be explained below. Here, in the initial state before work begins, two seedling mats M are placed on the seedling carrier 70, and the upper ends of the seedling mats M are at a height position that reaches the seedling insertion detection member 75 as shown in Figure 14, and that height position (the length from the lower end of the seedling carrier plate body 72 to the upper end of the seedling mats M) is defined as H0.

[0071] Here, the initial rotation seedling height H1 indicates the height position of the upper end of the seedling mat M (the length from the lower end of the seedling carrying plate main body 72 to the upper end of the seedling mat M) at which the sensor plate 75c begins to rotate as the upper end of the seedling mat M gradually drops from the initial state as the seedling planting work by the seedling planting unit 4 progresses, and the value of this initial rotation seedling height H1 is assumed to be stored in advance in the control unit C.

[0072] Based on the detection information from the seedling insertion detection member 75, the control unit C determines that the upper end of the seedling mat M has reached the initial rotation seedling height H1 and calculates the initial number of reciprocations n0, which is the number of reciprocations of the seedling carrier 70 until the upper end of the seedling mat M reaches the initial rotation seedling height H1. Note that, as in Figures 12 and 13, K in the figure indicates the length (distance) of the seedling mat M in the conveying direction F when the seedling carrier 70 makes one reciprocation back and forth. Since equations (2-1) to (2-3) in the figure are established, solving these equations for the initial compression ratio P0 yields equation (2-4) in the figure. In this way, the control unit C can calculate the initial compression ratio P0 by calculating the initial number of reciprocations n0 from equation (2-4). This allows the control unit C to calculate the initial compression ratio P0, which indicates the initial compression ratio P, extremely quickly after the start of work (when the upper end of the seedling mat M reaches the initial rotation seedling height H1), and thus enables the control of the seedling collection amount based on this.

[0073] <7. Another embodiment (part 1)> The embodiments of the present invention have been described above. The present invention is not limited to the above-described embodiments. It goes without saying that the present invention can be modified appropriately within the scope of the technical concept. FIG. 15 is an enlarged left side view of a main part of a seedling carrier 70 according to another embodiment. In another embodiment shown in FIG. 15, the upper end of the extended seedling carrier 731 is configured to be rotatable within a predetermined range around a pivot shaft 732 relative to the seedling carrier body 72, and a spring or other biasing member biases the leading end upward when no external force is applied. When a seedling mat M is placed on the extended seedling carrier 731, the leading end rotates downward. At this time, the contact detection sensor 733 comes into contact with the extended seedling carrier 731, detecting the rotation of the extended seedling carrier 731 and thus detecting the insertion of the seedling mat M. The detection information from the contact detection sensor 733 is transmitted to the control unit C. This allows for accurate detection of the insertion of the seedling mat M into the seedling carrier 70 with a simple configuration.

[0074] <8. Another embodiment (part 2)> As shown in Figure 8, the control unit C can calculate the amount of movement of the seedling mat M (upper end) on the loading surface of the extended seedling loading plate 73 from the change in the rotation angle α of the sensor plate 75c, and the control unit C may be configured to detect the position of the upper end of the seedling mat M using the seedling insertion detection member 75 when the upper end of the seedling mat M is located above the upper limit of the detection range of the seedling upper end position detection member 74. This makes it possible to detect the position of the upper end of the seedling mat M over a wider area on the seedling loading platform 70.

[0075] <9. Another embodiment (part 3)> As the seedling insertion detection member 75, a photoelectric sensor may be disposed above the extended seedling placing plate 73 so as to face the placing surface side, and the photoelectric sensor may be used to detect the insertion of the seedling mat M. [Explanation of symbols]

[0076] 1 Seedling transplanter 2 Running vehicle 3 Lifting link device 4 Seedling planting department 5 Fertilizer application equipment 10 Front wheels 11 Rear wheel 12 Transmission case 13 Front wheel final case 15 Mainframe 18 Rear wheel gear case 20 Engine 30 Engine cover 34 Handle 35 Floor Steps 38 Spare seedling frame 51b Seedling feeding belt 52 Planting equipment 65 guide rail 65s Left and right edge detection switch 70 Seedling stand 71 Seedling board 72 Seedling board main body 73 Extended seedling board 74 Seedling top position detection member 74a Color detection device 75 Seedling insertion detection member 75a Rotating shaft 75b Rotating arm 75c sensor plate 751 Flat plate part 752 Arc plate part 91 Input operation section s1 Seedling identification sensor s2 Roller rotation speed detection sensor s3 Upper end detection switch s4 Bottom end detection switch C control section M Seedling Mat

Claims

1. A seedling transplanter comprising a seedling carrier that moves back and forth left and right and transports a placed seedling mat downward by a seedling feed belt, and a planting device that takes out the seedlings from the placed seedling mat in order from the downstream side in the transport direction by a planting rod that moves around, and plants them in a field, The seedling carrier has a plurality of seedling carrier plates arranged in the width direction of the machine body, The seedling carrier plate includes a seedling carrier plate body on which a seedling mat is placed, and an extension seedling carrier plate attached to the top of the seedling carrier plate body, and further, The device is provided with a seedling top position detection member that can measure the length from the lower end of the seedling carrying plate body to the upper end of the seedling mat by detecting the seedling top position, and a seedling insertion detection member that detects the insertion of the seedling mat onto the extension seedling carrying plate, The seedling transplanter is characterized in that the control unit calculates the compression rate of the placed seedling mats using information regarding the length to the top end of the placed seedling mats measured by the seedling top position detection element, the number of seedling mats detected by the seedling insertion detection element, and the amount of seedlings consumed calculated based on the transport distance of the seedling mats on the seedling carrier, and is configured to adjust the seedling amount of the planting device based on the calculated compression rate using a seedling amount adjustment mechanism that adjusts the distance between the seedling removal outlet of the seedling carrier and the planting rod.

2. The seedling insertion detection member includes a rotating arm that can rotate around a rotation axis, and a sensor plate that is fixed to the tip of the rotating arm and detects the seedling mat inserted by rotation. The seedling transplanter described in claim 1, characterized in that the sensor plate comprises a flat plate portion connected to the pivot arm, and an arc-shaped plate portion formed integrally with the flat plate portion and arc-shaped so as to be convex relative to the loading surface of the extended seedling loading plate, and is arranged so as to be exposed on the loading surface side of the extended seedling loading plate through a slit provided in the extended seedling loading plate.

3. The seedling transplanter according to claim 2, characterized in that the seedling mat is determined to have been inserted by detecting an increase in the rotation angle of the sensor plate from the initial angle using an angle detection potentiometer provided on the seedling insertion detection member.

4. The seedling transplanter according to claim 3, further comprising a mechanism for calculating the amount of movement of the upper end of the seedling mat on the placement surface of the extension seedling placement plate from the change in the rotation angle of the sensor plate.

5. The seedling transplanter described in claim 1, characterized in that the seedling upper end position detection member comprises a color detection device that is movable on the seedling carrying plate in the transport direction of the seedling mat, a rail that forms the movement track of the color detection device, and supports that support and fix both ends of the rail to the seedling carrying platform, and is configured so that the color detection device can detect the position of the upper end of the seedling mat placed on the seedling carrying plate by acquiring color information while moving on the seedling carrying plate.

6. The seedling transplanter according to claim 1, characterized in that it is configured to calculate the average compression rate of each row of the seedling carrier and control the seedling removal amount of the entire planting row of the planting device based on the calculated average value.

Images