rice planter

Abstract

To solve the problem with a conventional rice planting machine that usability is not always good when using a convenient function, more specifically, a configuration in which a fertility sensor electrode is provided in a front wheel tends to be complicated.SOLUTION: A rice planting machine (1) for planting seedling in a rice field while travelling includes: a seedling planting device for planting the seedlings, including a float (110) whose bottom surface of the float is brought into contact with soil; a fertilizer applicator for scattering fertilizer in the rice field; and an electrode (310) for detecting electric conductivity of soil for calculating fertility of the soil in the rice field, the electrode (310) being attached to the float (110); and a fertilizer jamming sensor for notifying an occurrence of jamming of the fertilizer in the fertilizer applicator. The electric conductivity of the soil is detected between the electrode (310) and the second fertilizer jamming sensor electrode of the fertilizer jamming sensor for calculating fertility of the soil in the rice field.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a rice transplanter that plants seedlings in a paddy field while traveling. [Background technology]

[0002] A fertilizer application machine is known that is mounted on a mobile vehicle capable of traveling in a field and includes a soil property measuring device that detects the soil properties of the field, a fertilizer amount calculation device that calculates the amount of fertilizer by adjusting an initial setting value in accordance with the soil properties detected by the soil property measuring device, and a fertilizer application device that supplies the field with an amount of fertilizer in accordance with the amount of fertilizer calculated by the fertilizer amount calculation device.The fertilizer application machine is equipped with a fertilizer standard value calculation means that calculates a fertilizer standard value from the soil properties detected by the soil property measuring device when the mobile vehicle travels a specified section within the field, and the fertilizer amount calculation device compares the fertilizer standard value with the soil properties detected by the soil property measuring device as the vehicle travels thereafter, and adjusts an initial setting value based on the comparison result to calculate the amount of fertilizer applied by the fertilizer application device (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-146219 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, the inventor believes that the trend of implementing convenient functions one after another into rice transplanters will continue to accelerate, taking into consideration the various needs of users.

[0005] However, the inventors have noticed that conventional rice transplanters are not necessarily easy to use when using convenient functions.

[0006] More specifically, the inventors have realized that a configuration in which fertility sensor electrodes are provided on the front wheels tends to be complicated.

[0007] The present invention has been made in consideration of the above-mentioned conventional problems, and aims to provide a rice transplanter that can improve usability. [Means for solving the problem]

[0008] The first aspect of the present invention is a rice transplanter (1) that plants seedlings in a paddy field while traveling, A seedling planting device (100) for planting the seedlings; The seedling planting device (100) has a float (110) whose bottom surface is brought into contact with the soil, a fertilizer applicator (200) for spreading fertilizer on the paddy field; an electrode (310) for detecting the electrical conductivity of the soil in order to calculate the fertility of the soil of the paddy field; The electrode (310) is attached to the float (110), a fertilizer clogging sensor (400) that notifies the occurrence of clogging of the fertilizer in the fertilizer applicator (200); Detecting the electrical conductivity of the soil between the electrode (310) and the second fertilizer clogging sensor electrode (420) of the fertilizer clogging sensor (400) to calculate the fertility of the soil of the paddy field. death, The fertilizer clogging sensor (400) detects the electrical conductivity between the first fertilizer clogging sensor electrode (410) and the second fertilizer clogging sensor electrode (420) to notify the fertilizer clogging; The seedling planting device (100) has a furrow former (120) whose bottom surface is brought into contact with the soil, The fertilizer applicator (200) has a fertilizer applicator hose member (210) having a fertilizer applicator hose outlet (211) inserted into the furrow former (120), The first fertilizer clogging sensor electrode (410) is provided on the upper portion of the furrow former (120) so as not to come into contact with the soil; The second fertilizer clogging sensor electrode (420) is provided at the bottom of the furrow former (120) so as to be in contact with the soil. This is a rice transplanter characterized by the following.

[0009] In a second aspect of the present invention, the electrode (310) has an upper electrode portion (311) extending downward from a recess formed in the bottom surface of the float (110), and a lower electrode portion (312) protruding to a position lower than a portion of the bottom surface of the float (110) around the recess, The rice transplanter according to claim 1, wherein the width of the upper electrode portion (311) decreases from bottom to top.

[0010] (delete)

[0011] No. 3 In the present invention, the electrode (310) and the first fertilizer clogging sensor electrode (410) have the same polarity; The second fertilizer clogging sensor electrode (420) is of a different polarity from the electrode (310) and the first fertilizer clogging sensor electrode (410). 1 This is the rice transplanter described in [Effects of the Invention]

[0012] According to the first aspect of the present invention, it is possible to improve usability and simplify the configuration. Moreover, the reliability can be further improved.

[0013] According to the second aspect of the present invention, in addition to the effect of the first aspect of the present invention, it is possible to further improve reliability.

[0014] (delete)

[0015] No. 3 According to the present invention, 1 In addition to the above-mentioned effects of the present invention, the configuration can be further simplified. [Brief explanation of the drawings]

[0016] [Figure 1] (a) is a left side view of a rice transplanter according to an embodiment of the present invention; (b) is a plan view of the rice transplanter according to an embodiment of the present invention; [Figure 2] 1 is a partial left side view (part 1) of a rice transplanter according to an embodiment of the present invention; [Figure 3] (a) Partial left side view (part 2) of the rice transplanter according to the embodiment of the present invention, (b) Partial front view of the rice transplanter according to the embodiment of the present invention [Figure 4] (a) is a schematic partial left side view of a rice transplanter according to an embodiment of the present invention; (b) is a partial plan view of the rice transplanter according to an embodiment of the present invention; [Figure 5]An explanatory diagram of an electrical circuit of a rice transplanter according to an embodiment of the present invention. [Figure 6] (a) An explanatory diagram (part 1) of the electric circuit voltage change of the rice transplanter according to the embodiment of the present invention, (b) An explanatory diagram (part 2) of the electric circuit voltage change of the rice transplanter according to the embodiment of the present invention, (c) An explanatory diagram (part 3) of the electric circuit voltage change of the rice transplanter according to the embodiment of the present invention, (d) An explanatory diagram (part 4) of the electric circuit voltage change of the rice transplanter according to the embodiment of the present invention. [Figure 7] (a) An explanatory diagram (part 1) of a fertilization mechanism of a rice transplanter according to an embodiment of the present invention, (b) An explanatory diagram (part 2) of a fertilization mechanism of a rice transplanter according to an embodiment of the present invention. [Figure 8] (a) An explanatory diagram (part 3) of the fertilization mechanism of the rice transplanter according to the embodiment of the present invention, (b) An explanatory diagram (part 4) of the fertilization mechanism of the rice transplanter according to the embodiment of the present invention. [Figure 9] (a) An explanatory diagram (part 1) of the fertilization work of the rice transplanter according to the embodiment of the present invention, (b) An explanatory diagram (part 2) of the fertilization work of the rice transplanter according to the embodiment of the present invention. [Figure 10] 1 is an explanatory diagram of the fertilization operation of the rice transplanter according to the embodiment of the present invention (part 3) [Figure 11] 1 is an explanatory diagram of the fertilization operation of the rice transplanter according to the embodiment of the present invention (part 4) DETAILED DESCRIPTION OF THE INVENTION

[0017] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the drawings.

[0018] Similarly, some components may not be shown in the drawings, or may be shown in perspective or in simplified form.

[0019] While explaining the operation of the rice transplanter 1 according to the embodiment of the present invention, a rice transplanter operation control method according to the invention related to the present invention, which is realized by the rear controller 503 and the like, will also be explained.

[0020] The rice transplanter 1 according to the embodiment of the present invention is a rice transplanter that plants seedlings in a paddy field while traveling, and is a specific example of the rice transplanter according to the present invention.

[0021] (1) First, the configuration and operation of a rice transplanter 1 according to an embodiment of the present invention will be specifically described with reference mainly to FIGS. 1(a), 1(b) and 2.

[0022] Here, Figure 1(a) is a left side view of a rice transplanter 1 according to an embodiment of the present invention, Figure 1(b) is a plan view of a rice transplanter 1 according to an embodiment of the present invention, and Figure 2 is a partial left side view (part 1) of a rice transplanter 1 according to an embodiment of the present invention.

[0023] In these drawings, a general rice transplanter configuration is shown for reference, without being limited to the embodiment of the present invention.

[0024] The fertility sensor 300 is a sensor that detects the electrical conductivity of the soil between the first fertility sensor electrode 310 and the second fertility sensor electrode 320 in order to calculate the fertility of the soil in the paddy field.

[0025] Here, the first fertility sensor electrode 310 is the positive electrode and the second fertility sensor electrode 320 is the negative electrode.

[0026] The fertilizer clogging sensor 400 is a sensor that detects the electrical conductivity between the first fertilizer clogging sensor electrode 410 and the second fertilizer clogging sensor electrode 420 to notify of the occurrence of fertilizer clogging in the fertilizer application device 200 that spreads fertilizer on rice paddies.

[0027] Here, the first fertilizer plug sensor electrode 410 is the positive electrode and the second fertilizer plug sensor electrode 420 is the negative electrode.

[0028] The seedling planting device 100 for planting seedlings has a float 110 whose bottom surface is in contact with the soil. A first fertility sensor electrode 310 is attached to the bottom surface of the float.

[0029] As shown in FIG. 3(a), a partial left side view (part 2) of a rice transplanter 1 according to an embodiment of the present invention, and FIG. 3(b), a partial front view of a rice transplanter 1 according to an embodiment of the present invention, in a so-called rice transplanter with a fertilizer applicator, the first fertility sensor electrode 310 is attached to the bottom of the center float 110, which serves as the center float. The fertility of the field is measured by measuring the electrical conductivity of the field. A configuration in which fertility sensor electrodes such as the first fertility sensor electrode 310 and the second fertility sensor electrode 320 are attached to the front wheel 501 tends to be complicated and often requires expensive components. This configuration, which uses the first fertility sensor electrode 310 and other electrodes, is simple and allows the electrical conductivity of the field to be measured using inexpensive components.

[0030] The first fertilizer jam sensor electrode 410 or the second fertilizer jam sensor electrode 420 also serves as the second fertility sensor electrode 320 .

[0031] Here, the second fertilizer blockage sensor electrode 420 doubles as the second fertility sensor electrode 320 .

[0032] The first fertility sensor electrode 310 is a flat electrode having a first fertility sensor electrode upper part 311 standing downward from the ceiling of a recess 111 formed in the bottom surface of the float, and a first fertility sensor electrode lower part 312 protruding to a position lower than the part of the bottom surface of the float around the recess 111. The width of the first fertility sensor electrode upper part 311 decreases from bottom to top.

[0033] The first fertility sensor electrode upper portion 311 has a window 311w.

[0034] The seedling planting device 100 has a furrow former 120 whose bottom surface is in contact with the soil. The fertilization device 200 has a fertilization hose member 210 whose fertilization hose outlet 211 is inserted into the furrow former 120. The first fertilizer clogging sensor electrode 410 is provided on the top of the furrow former 120 so as not to come into contact with the soil. The second fertilizer clogging sensor electrode 420 is provided on the bottom of the furrow former 120 so as to come into contact with the soil.

[0035] As shown in FIG. 4( a), which is a schematic partial left side view of a rice transplanter 1 according to an embodiment of the present invention, and FIG. 4( b), which is a partial plan view of a rice transplanter 1 according to an embodiment of the present invention, the first fertility sensor electrode 310, which is the electrode on the bottom of the float, is a positive electrode, and the second fertility sensor electrode 320, which is also the second fertilizer clogging sensor electrode 420 of the fertilizer clogging sensor 400 at the fertilizer hose outlet 211, is a negative electrode. As described above, a configuration in which fertility sensor electrodes are provided on the left and right front wheels 501 can result in a complex configuration. Because the second fertilizer clogging sensor electrode 420 of the fertilizer clogging sensor 400 is constantly in contact with the soil in the field during seedling planting, the second fertilizer clogging sensor electrode 420, which is an existing component, can also be suitably used as the second fertility sensor electrode 320.

[0036] The seedling planting device 100 has a plurality of furrow formers 120. A plurality of fertilizer application hose members 210 and a plurality of fertilizer clogging sensors 400 are respectively provided to the plurality of furrow formers 120. The fertility sensor 300 detects the electrical conductivity of the soil between the first fertility sensor electrode 310 and each of the plurality of second fertility sensor electrodes 320.

[0037] The first fertility sensor electrode 310, which is a float electrode, is located in the center of the vehicle in the left-right direction. The first fertility sensor electrode 310 is located in the center, and the second fertility sensor electrodes 320, which also serve as the second fertilizer clogging sensor electrodes 420, are placed at the fertilizer hose outlets 211 of each seedling planting row according to the number of seedling planting rows. Since current flows radially from the center, accurate measurements can be made to cover multiple seedling planting positions evenly.

[0038] The first fertility sensor electrode 310 is positioned forward in the longitudinal direction of the vehicle body relative to the seedling planting position. By sensing at a position forward relative to the seedling planting position, the fertility level at the position immediately before seedling planting can be determined prior to fertilization, which is expected to allow for timely adjustment of the amount of fertilizer to be applied.

[0039] The first fertility sensor electrode 310 protrudes from the bottom surface of the float 110 toward the underside of the vehicle body. By protruding from the bottom surface of the float, when the float 110 is grounded, the first fertility sensor electrode 310 is reliably pierced into the ground, allowing for stable measurement of soil fertility.

[0040] The protrusion of the first fertility sensor electrode 310 increases from the front end of the vehicle to the rear end of the vehicle. When seedlings are planted, the mud flow near the bottom of the float hits this protrusion. Therefore, the protrusion of the first fertility sensor electrode 310 toward the underside of the vehicle is retracted at the front end of the vehicle, thereby reducing the adverse effects of increased mud resistance.

[0041] The protrusion of the first fertility sensor electrode 310 does not exceed the protrusion of the lower end of the fertilizer clogging sensor 400 from the bottom surface of the float. To prevent the movement of the float 110 from being obstructed, the protrusion of the first fertility sensor electrode 310 is limited so as not to be deeper than the furrow former 120 in which the fertilizer clogging sensor 400 is installed, for example.

[0042] The electrode surface area of ​​the first fertility sensor electrode 310 increases toward the bottom of the vehicle. This electrode shape, which has a larger electrode surface area toward the bottom of the vehicle, suppresses fluctuations in the electrode surface area below the water surface in the field caused by the floating and sinking of the float 110, and is expected to stabilize measurement values.

[0043] When location information can be obtained via GNSS, the next electrical conductivity is recorded together with the location information when the vehicle travels a distance from the most recent point where the field's electrical conductivity was recorded exceeds a predetermined value. In this way, the electrical conductivity is recorded discontinuously, which is expected to improve the efficiency of data processing.

[0044] When position information cannot be obtained by GNSS, a mode is also conceivable in which the next electrical conductivity is recorded together with the position information when the distance traveled by the vehicle from the most recent point at which electrical conductivity was recorded, measured by the rear wheel rotation sensor of rear wheel 502, exceeds a predetermined value. In this way, in specifications where a GNSS antenna is not implemented, the rear wheel rotation detection system can be used instead of GNSS.

[0045] It is also possible to consider a system in which the amount of fertilizer applied can be adjusted on the spot based on the measured electrical conductivity without using a field map.Like so-called FV type rice transplanters that are equipped with a real-time sensing variable fertilization function, it is possible to realize specifications that change the amount of fertilizer applied depending on the fertility level.

[0046] If the electric conductivity of the field is acquired more than a predetermined number of times, the amount of fertilizer application is changed based on the calculated average and standard deviation of the electric conductivity. As described above, a user-friendly variable fertilization function can be similarly realized.

[0047] 5, which is an explanatory diagram of the electrical circuit of the rice transplanter 1 according to the embodiment of the present invention, a first fertilizer clogging sensor electrode 410 and a second fertilizer clogging sensor electrode 420, an RC circuit 504, and a diode 505 are arranged inside the rear controller 503. The first fertilizer sensor electrode 310 may be connected to the first fertilizer clogging sensor electrode 410, which is the upper electrode of the fertilizer clogging sensor 400. The second fertilizer sensor electrode 320 is connected to the lower ground electrode of the second fertilizer clogging sensor electrode 420, which is the lower electrode of the fertilizer clogging sensor 400.

[0048] The voltage at circuit point 506 rises or falls based on the sensor resistance value: when the sensor resistance value is 0 [Ω], the voltage at circuit point 506 is 0 [V], when the sensor resistance value is 1000 [kΩ], the voltage at circuit point 506 is 2.5 [V], and when the sensor resistance value is infinite, the voltage at circuit point 506 is 5 [V].

[0049] As shown in Figure 6(a), which is an explanatory diagram (part 1) of the change in electrical circuit voltage of the rice transplanter 1 according to an embodiment of the present invention, when the voltage at circuit point 506 drops from Va = 5 [V] to 0 [V], current flows from the analog input of the microcomputer through diode 505 without passing through RC circuit 504, so no time delay occurs due to changes in the electrical conductivity of the field.

[0050] As shown in Figure 6(b), which is an explanatory diagram (part 2) of the change in electrical circuit voltage of the rice transplanter 1 according to an embodiment of the present invention, when the voltage at circuit point 506 rises from 0 [V] to Va = 5 [V], current flows through the RC circuit 504, and a time delay occurs according to the time constant τ = RC, which is the reciprocal of the exponential decay coefficient 1 / RC.

[0051] As shown in Figures 6(c) and 6(d), which are explanatory diagrams (parts 3 and 4) of the electrical circuit voltage changes of the rice transplanter 1 according to an embodiment of the present invention, when the polarity of the diode 505 in the rear controller 503 is reversed, a transient phenomenon with a time delay occurs in an inverse relationship with the change in electrical conductivity.

[0052] The input circuit configuration of the first fertility sensor electrode 310 includes an RC circuit 504 and a diode 505, which create a time delay associated with the change from a high electrical conductivity state to a low electrical conductivity state. Even if the first fertility sensor electrode 310 momentarily lifts due to, for example, a vehicle bouncing in the field, this time delay prevents the electrical conductivity from immediately returning to zero. Since unused fertilizer jamming sensors 400 are often available, the circuits of such fertilizer jamming sensors 400 can be utilized as is. In other words, when utilizing the RC circuit 504 in the circuit configuration of the fertilizer jamming sensors 400 for planting 9 seedling rows and 10 seedling rows, which are not used in rice transplanters with a lower-level specification than the 8-row rice transplanter, simply adding the diode 505 is sufficient.

[0053] The polarity orientation of the diode 505 arranged in this manner eliminates the time delay associated with the change from a low to a high conductivity state, ensuring a rapid sensor response even when a sudden change from a low to a high conductivity state occurs due to the sudden appearance of a highly fertile area.

[0054] After the electrical conductivity is acquired, when it is confirmed that the vehicle travel distance exceeds a predetermined value at a non-zero vehicle speed while the float 110 remains in contact with the ground, fertilizer application amount control is performed to adjust the amount of fertilizer applied. Fertilizer application amount control is not performed to stabilize the sensor value until the vehicle has traveled a distance of several meters after starting to move forward. This is because a delay in the sensor value may occur due to the time delay associated with the placement of the RC circuit 504, so it is desirable to ensure sufficient time for the sensor value to stabilize.

[0055] Reference value data on the electric conductivity or fertility of the field is input via the so-called main monitor, and the amount of fertilizer applied is controlled based on the input reference value data and the actual electric conductivity obtained from the first fertility sensor electrode 310. Variable fertilization is performed by inputting the reference value data arbitrarily, without measuring the electric conductivity in the field prior to planting seedlings.

[0056] Reference value data, such as information on the electrical conductivity of the same field measured in the previous year, is called up from an external database device such as a tablet PC, and fertilizer application amount control is carried out based on the called up data. Since past reference value data on fertility can be used as is, convenience is improved.

[0057] Information regarding the presence or absence of basal fertilizer is included in such reference value data.

[0058] The reference value of fertility for reducing fertilization in variable fertilization is set high in fields where basal fertilization is applied. Since fertility is high when basal fertilization is applied, the amount of fertilizer applied is controlled according to the high fertility.

[0059] Information about changes in elevation in the paddy fields is stored as paddy field map data. If it is determined based on the paddy field map data that the elevation exceeds a predetermined level, the fertility index is not updated.

[0060] Map information regarding the elevation in the rice field, also known as field height, is included in the recalled reference value data.

[0061] Variable fertilization based on measured fertility is not performed in areas where not only basal fertilization is present but also where the field elevation in the map information is greater than the average field elevation by a certain level. This is because at high altitudes, the paddy fields may not be sufficiently filled with water, making the fertility measurements unreliable. When there is little water, the dissolved basal fertilizer tends to remain instead of spreading throughout the field, so the measured fertility is often inflated.

[0062] (2) Next, the configuration and operation of the rice transplanter 1 according to the embodiment of the present invention will be described in more detail.

[0063] By using map data from the variable fertilizer rice transplanter, it is possible to precisely control the seedling planting depth according to the work position using an electric motor, etc. Since field conditions are not necessarily uniform, the optimal planting depth varies depending on the work position, but by controlling the seedling planting depth in this way, uniform growth can be expected.

[0064] The planting depth of seedlings is changed based on fertility data obtained from electronegativity, etc. Basically, growth is often good in locations with high fertility, so deep planting is desirable, while growth is often poor in locations with low fertility, so shallow planting is desirable, as it is easier for the seedlings to take root.

[0065] The seedling planting depth is changed based on the field depth data. Basically, deep planting is desirable in deep field positions, and shallow planting is desirable in shallow field positions.

[0066] The seedling planting depth control described above is performed when the float 110 is in the grounded state, and seedling planting according to the set seedling quantity or seedling planting depth position is performed when the float is not in the grounded state. This is because it is difficult to accurately determine the reference position for seedling planting depth when the float is not in the grounded state, and the optimization of the reference position for seedling planting depth is not necessarily guaranteed.

[0067] Such seedling planting depth control settings can be turned on and off via a monitor, etc. This increases user convenience as manual changes may be preferred over automatic seedling planting depth control.

[0068] As shown in Figures 7(a) and 7(b), which are explanatory diagrams (parts 1 and 2) of the fertilizer application mechanism of a rice transplanter 1 according to an embodiment of the present invention, the amount of fertilizer applied is finely adjusted by an electric fertilizer application adjustment mechanism that uses a motor or other device to change the fertilizer opening that applies the fertilizer amount. When the fertilizer amount is set on the fertilizer amount setting screen of the monitor, subtle problems can arise due to uncertainties such as the fertilizer condition and wheel slip rate. However, if the fertilizer amount adjustment is attempted by changing the set fertilizer amount itself, the set fertilizer amount is likely to become unclear to the user. Therefore, a user-friendly configuration is realized by fine-tuning the set fertilizer amount standard without changing the set fertilizer amount itself.

[0069] As shown in Figures 8(a) and 8(b), which are explanatory diagrams (parts 3 and 4) of the fertilization mechanism of the rice transplanter 1 of an embodiment of the present invention, the gauge for changing the amount of fertilizer delivered is moved by a motor or the like, thereby fine-tuning the standard set amount of fertilizer to be applied.

[0070] This fine adjustment of the fertilizer application amount can be achieved by simple monitor operation. For example, by monitor operation, fine adjustment of the standard set fertilizer application amount according to the indication of one scale is performed at a predetermined ratio to the set fertilizer application amount. This adjustment specification is easy to understand and user-friendly.

[0071] Therefore, when a fine adjustment of the amount of fertilizer is instructed by operating the monitor, the gauge that changes the amount of fertilizer delivered operates so that the standard set amount of fertilizer is finely adjusted, but the set amount of fertilizer displayed on the monitor itself does not change at all.

[0072] The control settings for fine-tuning the fertilizer application rate described above can be turned on and off via a monitor, etc. This improves user convenience as manual changes may be preferred over automatic seedling planting depth control.

[0073] (3) Next, the configuration and operation of the rice transplanter 1 according to the embodiment of the present invention will be described in more detail.

[0074] As shown in Figure 9(a), which is an explanatory diagram (part 1) of the fertilization work of the rice transplanter 1 of an embodiment of the present invention, the field grid cell 601 is a rectangular cell with a field grid north-south size α and a field grid east-west size β.

[0075] As shown in Figure 9(b), which is an explanatory diagram (part 2) of the fertilization operation of the rice transplanter 1 according to the embodiment of the present invention, the field given by the field outline 602, in which a planting operation processing zone 608 and the like are provided, is a rectangular field divided into 112 (= 8 x 14) field grid cells 601. Such a field is made up of rectangular cells with a field north-south size γ and a field east-west size δ. An origin 603 that gives the minimum coordinate value in the field grid north-south direction and the minimum coordinate value in the field grid east-west direction, and a maximum point 604 that gives the maximum coordinate value in the field grid north-south direction and the maximum coordinate value in the field grid east-west direction are provided. Representative field grid cells 601 include the starting field grid cell, field grid cell 605, located in row 0, column 0; the ending field grid cell, field grid cell 606, located in row 7, column 13; and the 14th field grid cell, field grid cell 607, located in row 0, column 13.

[0076] While traveling in the rice paddy, the fertility level is calculated, and subsequent fertilizer application is controlled based on the calculated fertility level. When traveling while fertilizer application is controlled, the fertility level is calculated again along the way and updated, and subsequent fertilizer application is controlled based on the updated fertility level. The timing at which the fertility level is updated is determined based on the area of ​​the rice paddy.

[0077] 10, which is an explanatory diagram (part 3) of the fertilization operation of the rice transplanter 1 according to an embodiment of the present invention, shows a rice transplanter equipped with a fertilization function that combines map-based fertilization, in which predetermined fertilizer application areas are specified using a fertilizer application map, and variable fertilization, in which the amount of fertilizer is adjusted based on real-time detection of field fertility and field depth. The timing for acquiring reference values ​​for real-time variable fertilization is changed according to the information in the fertilizer application map. While it is conceivable that reference values ​​for the field's electrical conductivity and other parameters are acquired manually or automatically during the seedling planting process in the third seedling planting row, adopting a specification that allows the fertility reference value to be flexibly updated as the seedling planting operation progresses in the field allows for recovery through subsequent acquisition of reference values ​​even if an error in acquiring the reference value occurs, and also improves the accuracy of fertilizer reduction and other adjustments as the seedling planting operation progresses.

[0078] As shown in FIG. 11, which is an explanatory diagram (part 4) of the fertilization operation of the rice transplanter 1 according to the embodiment of the present invention, the timing for obtaining and updating the reference fertility value is determined based on field area data in a fertilization rate map relating to the area of ​​the paddy field, etc. The reference value is updated each time seedling planting is performed at a predetermined rate relative to the field area. For example, when ISOXML field map data is used, the reference value is automatically updated based on the area data of each field described in the map.

[0079] When the work area in each field, obtained by the rear wheel rotation sensor of rear wheel 502 or the like, exceeds a predetermined threshold ratio to the field area obtained from the fertilizer amount map, automatic acquisition of a fertility reference value begins. Although it is conceivable that such a reference value is acquired uniformly during the seedling planting process in the third seedling planting row, by managing it as a ratio to the field area, the reference value is acquired at a more appropriate position.

[0080] The number of predetermined percentage thresholds for the field area obtained from the fertilizer application map, from which the reference value for fertility is automatically obtained, is multiple. Although it is conceivable that the reference value is automatically obtained only once, four percentage thresholds, for example, 10%, 30%, 50%, and 70%, are set and the reference values ​​are automatically obtained four times. This not only eliminates the need for the so-called diagonal running process for detecting the field fertility in advance, but also improves the accuracy of fertilizer reduction as the seedling planting work progresses.

[0081] Information regarding updates to the fertility is stored as fertility update history information. When the fertility is further updated, the newly calculated fertility is corrected using the fertility update history information, thereby updating the fertility.

[0082] When updating the reference value for the nth seedling planting process, not only the newly acquired reference value for the nth seedling planting process but also the past reference values ​​from the first seedling planting process to the (n-1)th seedling planting process are used. For example, a weight of (n-1) / n is assigned to the past reference value from the first seedling planting process to the (n-1)th seedling planting process, and a weight of 1 / n is assigned to the latest reference value for the nth seedling planting process. This data mix is ​​weighted to take performance into account to calculate the updated value. Of course, in this embodiment, the acquired reference value itself or the calculated reference value may be used as the past reference value. While other embodiments are possible, such as discarding the past reference value or resetting the stored value each time the reference value is updated, using a data mix with the stored value not only enables rapid, real-time variable fertilization immediately after the start of work, but also improves the accuracy of fertilizer reduction as the seedling planting work progresses.

[0083] The reference value for fertility is given as the mean and standard deviation of the acquired data. In updating the reference value for the nth seedling planting process, a weight of (n-1) / n is assigned to the set of values ​​generated based on past reference values, and a weight of 1 / n is assigned to the most recent reference value for the nth seedling planting process. The updated value is calculated using a data mix with a weighting ratio that takes into account the size of the data points. Even in fields with frequent changes, such as sudden changes in the average field depth or the unevenness of the field surface, reference value updating can be performed without losing valuable information on past reference values. For example, if the number of reference value data points for the third seedling planting process is 40, normally distributed data is generated from the past reference values ​​given as the mean and standard deviation, and a set of 60 values ​​is created by equally dividing the cumulative probability range from 1 to 99%, resulting in the calculation of the mean and standard deviation for a total of 100 data points (=40 + 60).

[0084] The automatic acquisition of the fertility reference value is performed during the seedling planting process after the working area exceeds a predetermined percentage threshold of the field area obtained from the fertilizer rate map and vehicle rotation is detected.

[0085] If the mean value of the nth seedling planting process differs from the mean value of the (n-1)th seedling planting process by more than twice the standard deviation, the reference value for the nth seedling planting process will not be updated, and whether or not to update the reference value for the (n+1)th seedling planting process will be examined as necessary. By determining whether or not to update the reference value based on the magnitude of the mean value, it is expected that inappropriate updates to the reference value due to postponement of the update will be avoided when large differences in the reference values ​​between adjacent seedling planting processes occur due to vehicle movement accompanied by entry into a culvert, etc.

[0086] If the standard deviation of the nth seedling planting process deviates from the standard deviation of the (n-1)th seedling planting process by more than a predetermined level, the reference value for the nth seedling planting process is not updated, and whether or not to update the reference value for the (n+1)th seedling planting process is examined as necessary. By determining whether or not to update the reference value based on the magnitude of the standard deviation, it is expected that inappropriate updating of the reference value by postponing the update can be avoided when a large difference in fertilizer concentration or field surface unevenness between adjacent seedling planting processes occurs as a difference in the magnitude of the standard deviation.

[0087] The value and number of predetermined percentage thresholds for the field area obtained from the fertilizer amount map, from which the fertility reference value is automatically obtained, are adjusted according to the field area. If the field area is small, a small number of points from which the reference value is obtained is often sufficient, so the number of reference value updates is set to be small. If the field area is large, the number of reference value updates is set to be large, which is expected to improve the accuracy of fertilizer reduction as the seedling planting work progresses.

[0088] It is often desirable to set a higher number of baseline updates for larger field areas.

[0089] It is also conceivable that the timing of obtaining and updating the reference fertility value is determined based on the fertilization setting value set in the fertilization rate map. The field area itself is not used for automatically updating the reference value in such a case. For example, in a general-purpose cultivation management support system in which fertilization setting values ​​of 1 to 5 can be set for a single field, the timing of updating the reference value is determined according to the average value of the set fertilization setting values.

[0090] When the counter value of the so-called fertilizer amount counter of this machine exceeds a predetermined percentage threshold, such as the fertilizer amount set value in the fertilizer amount map, the fertility reference value is automatically updated. Specifically, the reference value is updated every time such a counter value exceeds an integer multiple of the fertilizer amount set value in the fertilizer amount map. For example, if the fertilizer amount set value is 40 [kg] / 10 [a], an automatic reference value update is performed along with a counter reset every time the counter value exceeds 40 [kg].

[0091] The timing for obtaining and updating the reference value is determined, for example, based on the field grid east-west size β, which is the length of the long side of the field grid frame in the fertilizer rate map. The field area itself is not used for automatic reference value updating in this embodiment. In ISOXML field map data, the origin 603, which is the map reference point, and the field north-south size γ and field east-west size δ, which are the vertical and horizontal lengths, are described in latitude and longitude, respectively, so the field size can be indirectly estimated.

[0092] When the product of the vehicle width and the number of turns exceeds a predetermined level, the reference value is automatically updated based on the field grid east-west direction size β, which is the length of the long side of the field grid frame. The field grid east-west direction size β is often suitable for determining the field size and can be used not only for determining the number of turns but also for determining the vehicle work position in the field.

[0093] In addition, the program of the invention related to the present invention is a program that causes a computer to execute all or some of the steps (or processes, operations and actions, etc.) of the rice transplanter operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with a computer.

[0094] In addition, the recording medium of the invention related to the present invention is a recording medium that records a program for causing a computer to execute all or some of the operations of all or some of the steps (or processes, operations and actions, etc.) of the rice transplanter operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with a computer.

[0095] It should be noted that the above-mentioned "some steps (or processes, operations, actions, etc.)" means one or some steps among the plurality of steps.

[0096] Furthermore, the above-mentioned "operations of steps (or processes, operations, actions, etc.)" means the operations of all or part of the above-mentioned steps.

[0097] Furthermore, one mode of use of the inventive program related to the present invention may be in the form of being transmitted through a transmission medium such as the Internet, light, radio waves, or sound waves, being read by a computer, and operating in cooperation with the computer.

[0098] The recording medium also includes a ROM (Read Only Memory).

[0099] Furthermore, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may also include firmware, an OS (Operating System), and even peripheral devices.

[0100] As described above, the configuration of the present invention may be realized in software or hardware. [Industrial Applicability]

[0101] The rice transplanter of the present invention can improve ease of use and is useful for use as a rice transplanter that plants seedlings in paddy fields while traveling. [Explanation of symbols]

[0102] 1. Rice planter 100 Seedling planting device 110 Float 111 recess 120 Groove machine 200 Fertilizer application equipment 210 Fertilizer hose parts 211 Fertilizer hose outlet 300 Fertility Sensor 310 First Fertility Sensor Electrode 311 First fertility sensor electrode upper part 311w window 312 First fertility sensor electrode lower part 320 Second Fertility Sensor Electrode 400 Fertilizer clogging sensor 410 First fertilizer clogging sensor electrode 420 Second fertilizer clogging sensor electrode 501 front wheel 502 rear wheel 503 Rear Controller 504 RC circuit 505 Diode 506 Circuit Points 601 field grid cells 602 Field Outline 603 Origin 604 maximum points 605 0th row, 0th column field grid cell 606 7th row, 13th column field grid cell 607 Row 0, Column 13 Field grid cell 608 Planting Work Processing Zone α Field grid size in the north-south direction β Field grid size in the east-west direction γ Field size in the north-south direction δ East-west size of the field

Claims

1. A rice planter (1) that plants seedlings in a paddy field while traveling, A seedling planting device (100) for planting the seedlings; The seedling planting device (100) has a float (110) whose bottom surface is brought into contact with the soil, a fertilizer applicator (200) for spreading fertilizer on the paddy field; an electrode (310) for detecting the electrical conductivity of the soil in order to calculate the fertility of the soil of the paddy field; The electrode (310) is attached to the float (110), a fertilizer clogging sensor (400) that notifies the occurrence of clogging of the fertilizer in the fertilizer application device (200); detecting the electrical conductivity of the soil between the electrode (310) and a second fertilizer clogging sensor electrode (420) of the fertilizer clogging sensor (400) to calculate the fertility of the soil of the paddy field; The fertilizer clogging sensor (400) detects the electrical conductivity between the first fertilizer clogging sensor electrode (410) and the second fertilizer clogging sensor electrode (420) and notifies the fertilizer clogging; The seedling planting device (100) has a furrow former (120) whose bottom surface is brought into contact with the soil, The fertilizer application device (200) has a fertilizer hose outlet (211) inserted into the furrow former (120). A fertilizer application hose member (210) is inserted into the fertilizer application hose member (210), The first fertilizer clogging sensor electrode (410) is provided on the top of the furrow former (120) so as not to be in contact with the soil; The second fertilizer clogging sensor electrode (420) is connected to the A rice transplanter characterized in that it is installed below a furrow former (120).

2. The electrode (310) has an upper electrode portion (311) extending downward from a recess formed in the bottom surface of the float (110), and a lower electrode portion (312) protruding to a position lower than the bottom surface of the float (110) around the recess, The rice transplanter according to claim 1, characterized in that the width of the upper electrode portion (311) decreases from bottom to top.

3. The electrode (310) and the first fertilizer clogging sensor electrode (410) have the same polarity, 2. The rice transplanting device according to claim 1, wherein the second fertilizer clogging sensor electrode (420) is a different electrode from the electrode (310) and the first fertilizer clogging sensor electrode (410). E machine.

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