Seedling transplanter

Abstract

To improve work efficiency by enabling a planned use of materials.SOLUTION: A seedling transplanter includes: a traveling vehicle body that has front wheels and rear wheels and that can travel in a farm field; a seeding planting unit that is provided on the traveling vehicle body and plants seedings scraped off from a seedling mat conveyed in a seedling tank by planting claws while the traveling vehicle body travels; and a control unit for controlling the seedling planting unit so as to change a seedling amount taken by the planting claws. The control unit has seedling-use amount information set in advance according to a work area, calculates a present seedling use amount, compares the use amount with a value of the use amount information, and outputs a warning in the case that a difference exists between the use amount and the value of the use amount information.SELECTED DRAWING: Figure 3

Description

Technical Field

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

Background Art

[0002] Conventionally, in a seedling transplanter that plants seedlings on the soil surface of a field while traveling in the field, in order to improve work efficiency by using a seedling mat systematically for the field, the slip ratio of the rear wheels (seedling transplanter) is calculated from the rotational speed of the rear wheels, etc., the travel distance is calculated in consideration of the calculated slip ratio, and a technique for calculating the actual working area from the working width set according to the travel distance considering the slip ratio and the number of rows for the planting operation is known (for example, see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the conventional technology as described above, since the slip ratio is calculated based on the relationship between the slip ratio and the amount of sinking of the rear wheels into the field, the calculation of the slip ratio that always changes depending on the state of the field becomes complicated, and in reality, the amount of seedlings used may vary. For this reason, the conventional technology as described above has room for improvement in terms of using materials such as seedling mats systematically.

[0005] The present invention has been made in view of the above, and an object thereof is to provide a seedling transplanter that enables systematic use of materials and can improve work efficiency.

Means for Solving the Problems

[0006] To solve the above-mentioned problems and achieve the objective, the seedling transplanter (1) according to the embodiment comprises: a traveling vehicle (2) having front wheels (11) and rear wheels (12) and capable of traveling within a field (F); a seedling planting unit (3) provided on the traveling vehicle (2) that, while the traveling vehicle (2) is traveling, plants seedlings picked up from seedling mats (MPL) transported in a seedling tank (35) by planting claws (38) into the field (F); and a control unit (100) that controls the seedling planting unit (3) to change the amount of seedlings picked up by the planting claws (38), wherein the control unit (100) has seedling usage amount information set in advance according to the work area, calculates the current amount of seedlings used, compares the amount used with the value of the usage amount information, and issues a warning if there is a discrepancy between the amount used and the value of the usage amount information. [Effects of the Invention]

[0007] According to the seedling transplanter of this embodiment, it becomes possible to use materials in a planned manner, thereby improving work efficiency. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a schematic side view showing a seedling transplanter according to an embodiment. [Figure 2] Figure 2 is a functional block diagram showing the control system of a seedling transplanter according to this embodiment. [Figure 3] Figure 3 is an explanatory diagram (part 1) for correcting the amount of seedlings to be picked. [Figure 4] Figure 4 is an explanatory diagram (part 1) for correcting the amount of seedlings to be picked. [Figure 5] Figure 5 is an explanatory diagram (part 1) of the compression mechanism of the seedling mat. [Figure 6] Figure 6 is an explanatory diagram (part 2) of the compression mechanism of the seedling mat. [Figure 7] Figure 7 is an explanatory diagram illustrating the detection of remaining seedling quantity using an electrode sensor. [Figure 8] Figure 8 shows the relationship between the current value and the position of the seedling mat. [Figure 9]Figure 9 is an explanatory diagram illustrating the detection of remaining seedling quantity using an ultrasonic sensor. [Figure 10] Figure 10 is an explanatory diagram (part 1) of the seedling mat counting mechanism. [Figure 11] Figure 11 is an explanatory diagram (part 2) of the seedling mat counting mechanism. [Figure 12] Figure 12 is an explanatory diagram (part 3) of the seedling mat counting mechanism. [Modes for carrying out the invention]

[0009] The embodiments of the seedling transplanter disclosed herein will be described in detail below with reference to the attached drawings. However, the present invention is not limited to the embodiments described below.

[0010] <Overview of the seedling transplanter> The outline of the seedling transplanter 1 according to the embodiment will be described with reference to Figure 1. Figure 1 is a schematic side view showing the seedling transplanter 1 according to the embodiment.

[0011] Note that some figures, including Figure 1, show a three-dimensional Cartesian coordinate system that includes a Z-axis with the positive direction being vertically upward (upward). For the sake of explanation, in the following, the positive direction of the X-axis is defined as left, the negative direction of the X-axis as right, the positive direction of the Y-axis as forward, and the negative direction of the Y-axis as backward. The X-axis direction is referred to as the left-right direction, the Y-axis direction as the front-back direction, and the Z-axis direction as the up-down direction.

[0012] Furthermore, in the following, the term "machine" may be used to refer to the seedling transplanter 1 and the vehicle body 2, which will be described later. The seedling transplanter 1 moves through field F (see Figure 3) and performs the task of planting seedlings on the soil surface of field F.

[0013] As shown in FIG. 1, the seedling transplanter 1 includes a traveling vehicle body 2 and a seedling planting unit 3. The traveling vehicle body 2 is capable of traveling within the field F. The seedling planting unit 3 is a working device of the seedling transplanter 1 and is provided on the traveling vehicle body 2. The seedling planting unit 3 plants seedlings on the soil surface of the field F. The seedling transplanter 1 is a ride-on type that an operator (also referred to as a "worker") rides on and operates, while having a function of automatically performing the seedling planting work while autonomously traveling along a preset work route.

[0014] The traveling vehicle body 2 includes a pair of left and right front wheels 11 and a pair of left and right rear wheels 12. In the traveling vehicle body 2, for example, a pair of left and right front wheels 11 are steering wheels, and a pair of left and right rear wheels 12 are drive wheels. In addition, for example, in the case of the 4WD mode, a pair of left and right front wheels 11 and a pair of left and right rear wheels 12 become drive wheels.

[0015] Further, at the front part of the main frame 13 that forms the vehicle body skeleton of the traveling vehicle body 2, there are provided a transmission case 14 that transmits driving force to the seedling planting unit 3 and the like described later, and a driving force supplied from a driving source such as an engine E (see FIG. 2) or a motor, that is, a hydraulic continuously variable transmission device (not shown) that outputs the rotation of the driving source (for example, the engine E) to the transmission case 14. The continuously variable transmission device is, for example, a hydrostatic continuously variable transmission called HST (Hydro Static Transmission). Hereinafter, the continuously variable transmission device will be referred to as "HST".

[0016] A sub-transmission mechanism (not shown) for switching the traveling mode during road travel or seedling planting is provided in the transmission case 14. In the traveling vehicle body 2, front wheel final cases 15 are provided on the left and right sides of the transmission case 14, and the front wheels 11 are respectively attached to the left and right front axles that project outward from the support portions capable of changing the steering directions of the left and right front wheel final cases 15.

[0017] Furthermore, at the rear of the main frame 13, rear wheel gear cases 16 are provided on the left and right sides of the rear frame which extends in the left-right direction, and rear wheels 12 are attached to the left and right rear axles which protrude outward from the rear wheel gear cases 16.

[0018] Furthermore, the upper part of the rear frame has left and right link support frames 18 that support the lifting link 17, which will be described later, extending upward. Between the left and right link support frames 18 are left and right upper links 19 and left and right lower link arms 20. Between the left and right upper links 19 and left and right lower link arms 20 in the left and right directions is a hydraulically driven lifting cylinder 21.

[0019] The left and right upper links 19 and left and right lower link arms 20 form a parallel link mechanism called a lifting link 17. The left and right upper links 19, left and right lower link arms 20 and lifting cylinder 21 are each connected at one end to the vehicle body 2 and at the other end to the seedling planting section 3.

[0020] Furthermore, the engine, which is the drive source, is mounted on the main frame 13. The rotational power of the engine is transmitted to the transmission case 14 via a belt drive system (not shown) and an HST. The rotational power transmitted to the transmission case 14 is shifted by a sub-transmission mechanism inside the transmission case 14, and then divided into driving power and power to be taken out externally.

[0021] Furthermore, the rotational power of the engine is transmitted to a hydraulic pump (not shown). The hydraulic pressure generated by the hydraulic pump is supplied to the HST, the power steering mechanism 23 of the steering wheel 22 (see Figure 2), the lifting cylinder 21, and the like.

[0022] External power extracted from the rotational power transmitted to the transmission case 14 is transmitted to the planting clutch 24 (see Figure 2) located at the rear of the vehicle body 2, and from the planting clutch 24 to the seedling planting unit 3 via a planting transmission shaft (not shown). Left and right drive shafts (not shown) are provided at the rear of the transmission case 14. Rotational power from the engine E is transmitted to the left and right rear wheel gear cases 16 via the transmission case 14 and the drive shafts.

[0023] Furthermore, upstream of the left and right drive shafts, side clutches 25 (see Figure 2) are provided to engage and disengage power transmission to the left and right drive shafts. As shown in Figure 1, for example, side clutch pedals (not shown) for engaging and disengaging the left and right side clutches 25 are provided at the front lower part of the driver's seat 26 and on the left and right sides.

[0024] By depressing the side clutch pedal on the inside of the turn to disengage the side clutch 25, and then operating the steering wheel 22 to turn, the drive rotation of the rear wheel 12 on the inside of the turn can be interrupted.

[0025] A bonnet 28 housing the engine E is provided in front of the floor step 27 of the vehicle body 2. A control panel 29 is provided at the rear of the bonnet 28. The control panel 29 is equipped with an instrument panel and various controls such as switches. A steering wheel 22 is also provided at the rear of the bonnet 28.

[0026] The bonnet 28 is also equipped with a rotatable steering handle (hereinafter referred to as "handle") 22 for adjusting the steering amount of the front wheels 11, a main transmission lever 30 for operating the HST and seedling planting unit 3, and a sub-transmission lever 31 for operating the sub-transmission mechanism (see Figure 2).

[0027] Furthermore, the hood 28 contains a fuel tank, a battery, and an interlocking mechanism that rotates the left and right front wheels 11 and the lower parts of the left and right front wheel final drive cases 15 in response to the operation of the steering wheel 22. The front part of the hood 28 is covered by an openable and closable front cover 28a.

[0028] A fertilizer application device 40, described later, is provided behind the cockpit 26 and at the rear of the main frame 13. The driving force for the fertilizer application device 40 is transmitted by a fertilizer transmission mechanism, which is provided so as to face the fertilizer application device 40 from one side of the left and right rear wheel gear cases 16.

[0029] Floor steps 27 are formed on the left and right sides of the lower part of the bonnet 28. The floor steps 27 are approximately horizontal and partially lattice-shaped, so that even if mud from the shoes of the operator (worker) walking on the floor steps 27 falls onto the floor steps 27, the fallen mud will fall into the field F.

[0030] Furthermore, at the front of the vehicle body 2, and on both the left and right sides, a spare seedling frame 34 is provided, on which multiple spare seedling trays 33 are arranged vertically at intervals on seedling frame support columns 32. The spare seedling frame 34 can hold work materials such as seedling mats MPL (see Figures 10-12) and fertilizer bags that are supplied to the seedling planting section 3.

[0031] Furthermore, a seedling tank 35, which holds a seedling mat MPL containing seedling PL (see Figure 3) to be planted in field F, is connected to the rear end of the lifting link 17 along with a sliding mechanism that allows it to slide in the left-right direction. The seedling tank 35 is provided with a fence to divide its upper surface (the surface on which the seedling mat MPL is placed) into multiple sections in the left-right direction. Below the seedling tank 35 is a planting device 36, which includes planting claws 38 that scrape the seedling PL from the loaded seedling mat MPL and plant the scraped seedling PL in field F.

[0032] The planting device 36 simultaneously plants the same number of seedlings PL as the number of planting rows separated by the fence described above. The planting device 36 comprises a planting transmission case 37, planting claws 38, and a planting rotary 39. In the planting device 36, the planting transmission case 37 is provided below the seedling tank 35 at intervals, and the planting rotary 39 that rotates the planting claws 38 is provided on the left and right sides of the planting transmission case 37. In the planting device 36, the planting claws 38 rotate and scrape the seedlings PL from the seedling mat MPL, and plant the scraped seedlings PL (see Figure 3) in the field F.

[0033] In this manner, the seedling planting unit 3 plants seedlings PL, which have been scraped from the seedling mat MPL transported in the seedling tank 35 by the planting claws 38, onto the soil surface of the field F while the traveling vehicle body 2 (seedling transplanter 1) is in motion. The amount of seedling PL scraped by the planting claws 38 (seedling amount) is controlled to be changeable by the control unit 100 (see Figure 2), which will be described later.

[0034] The fertilizer application device 40 comprises a fertilizer hopper 41, a dispensing device 42, a duct 43, a fertilizer hose (not shown), and a blower (not shown). The fertilizer hopper 41 stores fertilizer. The fertilizer hopper 41 is divided into the same number of sections as the number of working rows in the seedling planting section 3. Note that if the fertilizer hopper 41 is long in the left-right direction, for example, the convenience of loading and unloading fertilizer may be reduced. Therefore, it may also be a so-called side fertilization structure in which the fertilizer hopper 41 is divided into sections representing half of all rows (for example, four rows each in the case of eight rows) and arranged on the left and right sides.

[0035] The dispensing device 42 is provided at the bottom of the fertilizer hopper 41 for each row and supplies fertilizer in set amounts. The duct 43 is provided below the dispensing device 42 and allows the conveying air that moves the fertilizer to pass through. The fertilizer hose is provided below the dispensing device 42 and guides the fertilizer to the vicinity of the seedling planting position in the seedling planting section 3. The blower is provided at one end of the duct 43 and generates the conveying air using the driving force of an electric motor for the blower (not shown).

[0036] A float 44 is provided below the seedling planting section 3. The float 44 comprises a central float 44a and left and right side floats 44b. The center float 44a and the left and right side floats 44b make contact with the soil surface of the field F and slide on the soil surface as the vehicle body 2 moves forward.

[0037] Furthermore, the seedling planting section 3 is located in front of the float 44 and is equipped with a leveling rotor 45 for leveling the unevenness of the soil surface. The leveling rotor 45 is located in front of the center float 44a and in front of each of the left and right side floats 44b. The seedling planting section 3 plants seedlings on the soil surface leveled by the leveling rotor 45. Driving force is transmitted to the leveling rotor 45 via a rotor transmission shaft (not shown).

[0038] Furthermore, on the left and right sides of the seedling planting unit 3, there are line marking markers that, when one of them touches the soil surface of the field F, form grooves (guide lines) that serve as a guide for travel in the next work row (next process). When one of the left and right line marking markers lowers and touches the ground, the other rises. Also, when the seedling planting unit 3 is raised during a machine turn, both the left and right line marking markers rise, and when the seedling planting unit 3 is lowered after the machine turn, one of the left or right markers rises while the other lowers (touches the ground).

[0039] Furthermore, a center mascot 46 is erected in the center of the vehicle body 2 in the left-right direction, and in front of the bonnet 28, extending upward. By aligning the center mascot 46 with the guide lines formed on the soil surface of field F using the left and right line markers, it becomes possible to travel in accordance with the working position of the immediately preceding work row, thereby improving work accuracy and preventing the occurrence of non-work.

[0040] Depending on the soil type of field F, the guide lines formed by the left and right line markers may quickly become buried, causing the straight-line guide to disappear. In such cases, it is advisable to use the left and right side markers, which are positioned in front of the left and right line markers. That is, by moving the left and right side markers outwards and positioning them above the seedlings planted in the previous step, it becomes possible to perform planting work in line with the planting of seedlings in the previous work row.

[0041] Furthermore, as shown in Figure 1, the seedling transplanter 1 is equipped with a position information acquisition unit 50. The position information acquisition unit 50 acquires the current self-position P (see Figure 3) (position information) of the traveling vehicle body 2 (seedling transplanter 1). The position information acquisition unit 50 acquires the current position information of the seedling transplanter 1 using, for example, a satellite positioning system such as GPS (Global Positioning System) or GNSS (Global Navigation Satellite System). Note that the position information acquisition unit 50 may be composed of multiple devices.

[0042] Furthermore, the location information acquisition unit 50 is supported, for example, by an antenna frame 51 and positioned above the vehicle body 2.

[0043] Furthermore, the straight-line control program and the turning control program, which are created based on the position information from the position information acquisition unit 50, are stored in separate locations. The straight-line control program is stored, for example, in the straight-line control ECU (Electronic Control Unit) within the position information acquisition unit 50, and the turning control program is stored, for example, in the turning control ECU housed in the bonnet 28. The straight-line control ECU and the turning control ECU are included in the control unit 100 (see Figure 2), which will be described later. Note that the straight-line control ECU and the turning control ECU may be the same ECU.

[0044] <Control system for seedling transplanter> Next, the control system of the seedling transplanter 1 (see Figure 1) will be described with reference to Figure 2. Figure 2 is a functional block diagram showing the control system of the seedling transplanter 1 according to an embodiment. Note that Figure 2 shows an example of a control system centered on the control unit 100. As shown in Figure 2, the seedling transplanter 1 is capable of controlling each part by electronic control and is equipped with a control unit 100 that controls each part.

[0045] The control unit 100 includes, for example, a processing unit having a CPU (Central Processing Unit), a storage unit such as ROM (Read Only Memory) and RAM (Random Access Memory), and an input / output unit, all of which are connected to each other and capable of exchanging signals. The storage unit stores computer programs for controlling the seedling transplanter 1. The control unit 100 performs its various functions by reading the computer programs stored in the storage unit and other units.

[0046] The control unit 100 is connected to actuators such as a throttle motor 60, hydraulic control valves 61 and 62, a planting clutch operating solenoid 63, a side clutch operating solenoid 64, an HST motor 65, a steering motor 66, a line drawing marker lifting motor 67, and a differential lock switching motor 68.

[0047] The throttle motor 60 increases or decreases the rotational speed of the output shaft of engine E by operating a throttle that adjusts the intake volume of engine E. The hydraulic control valve 61 controls the extension and retraction movement of the lifting cylinder 21. The hydraulic control valve 62 controls the power steering mechanism 23. The planting clutch operating solenoid 63 operates the planting clutch 24.

[0048] The side clutch operating solenoid 64 operates the side clutch 25, which switches the power transmission state to the rear wheels 12 (see Figure 1). The HST motor 65 changes the tilt angle of the HST swash plate by changing the rotation angle of the HST trunnion. The steering motor 66 steers the front wheels 11 (see Figure 1), which are the steering wheels. The steering motor 66 is the motor that drives the handle 22, which adjusts the amount of steering (also called steering angle or steering angle) of the front wheels 11. The line marking marker lifting motor 67 raises and lowers the line marking marker.

[0049] The differential lock switching motor 68 is a motor that switches the operation and deactivation of the differential lock mechanism (hereinafter referred to as the differential lock mechanism) 69, which rotates the left and right driving wheels (for example, the left and right front wheels 11) at the same rotational speed. When the differential lock mechanism 69 is activated, the vehicle can be forced into four-wheel drive (4WD mode), and the left and right driving wheels rotate at the same rotational speed.

[0050] Furthermore, the control unit 100 is connected to a rear wheel rotation speed sensor 70, a steering amount sensor 71, a tilt sensor 72, and the like. Two rear wheel rotation speed sensors 70 are provided, one for each of the left and right rear wheels 12, and each detects the rotation speed of the left and right rear wheels 12.

[0051] The steering amount sensor 71 detects the rotation of the steering wheel 22, that is, the amount of steering of the front wheels 11 (see Figure 1). The steering amount sensor 71 is mounted, for example, on a shaft connected to the pitman arm.

[0052] The tilt sensor 72 detects the tilt angle (for example, roll angle, pitch angle) of the seedling transplanter 1 (traveling vehicle body 2).

[0053] Furthermore, the control unit 100 receives signals as operation signals from, for example, the main speed lever 30, the sub-speed lever 31, the seedling planting unit lifting switch 73, the line drawing marker automatic lifting switch 74, the automatic rotation switching switch 75, and the mode switching switch 76.

[0054] The seedling planting unit lifting switch 73 is a switch that switches the seedling planting unit 3 up and down. The seedling planting unit lifting switch 73 can be changed to an "up" or "down" position. When the seedling planting unit lifting switch 73 is in the "up" position, the seedling planting unit 3 rises to a predetermined non-working position, and the planting device 36 (see Figure 1) stops, resulting in a non-working state (seedling planting unit 3 is off). When the seedling planting unit lifting switch 73 is in the "down" position, the seedling planting unit 3 lowers to a predetermined working position, and the planting device 36 operates, resulting in a working state (seedling planting unit 3 is on). In other words, the seedling planting unit lifting switch 73 is a switch that can detect the working state of the seedling planting unit 3.

[0055] The automatic line marking marker lifting switch 74 is a switch that toggles whether or not to automatically raise and lower the line marking marker in conjunction with the steering amount of the steering wheel 22 (i.e., the steering amount of the front wheels 11). When the automatic line marking marker lifting switch 74 is "ON", control is performed to automatically raise and lower the line marking marker in conjunction with the steering amount. On the other hand, when the automatic line marking marker lifting switch 74 is "OFF", control is not performed to automatically raise and lower the line marking marker in conjunction with the steering amount.

[0056] The automatic turning switch 75 is a switch that enables or disables automatic turning when the operator manually controls the seedling transplanter 1. When the automatic turning switch 75 is "ON", automatic turning is enabled. When the automatic turning switch 75 is "OFF", automatic turning is disabled. The mode switch 76 is a switch that enables or disables autonomous driving of the seedling transplanter 1 (vehicle body 2).

[0057] The control unit 100 may also be connected to an orientation sensor (not shown). The orientation sensor detects the absolute azimuth angle of the direction of travel of the vehicle (vehicle body 2), for example, 0° (360°) for "north", 90° for "east", 180° for "south", and 270° for "west". The orientation sensor detects the absolute azimuth angle at regular intervals and transmits the detected absolute azimuth angle to the control unit 100.

[0058] The control unit 100 controls the steering wheel 22 via the steering motor 66 based on the detection result of the steering amount sensor 71. While controlling the steering wheel 22, the control unit 100 performs straight-line control and turning control of the vehicle body 2 based on the position information of the vehicle body 2 (self-position P of the vehicle body 2) acquired by the position information acquisition unit 50.

[0059] <Seedling quantity correction> Next, we will explain the seedling quantity correction with reference to Figures 3 and 4. Figures 3 and 4 are explanatory diagrams of the seedling quantity correction.

[0060] As shown in Figure 3, the control unit 100 (see Figure 2) corrects the amount of seedling PL scraped off (amount of seedlings picked) by the planting claws 38 (see Figure 1) of the seedling planting unit 3 (see Figure 1) based on the slip ratio of the rear wheels 12 (see Figure 1) of the seedling transplanter 1 (vehicle body 2) traveling within the field F.

[0061] In this case, the control unit 100 calculates the vehicle speed (first vehicle speed) of the vehicle 2 while it is traveling within the field F from the position information (self-position P of the vehicle 2) acquired by the position information acquisition unit 50 (see Figure 2). The control unit 100 also calculates the vehicle speed (second vehicle speed) of the vehicle 2 while it is traveling within the field F from the rotation speed of the rear wheels 12 detected by the rear wheel rotation speed sensor 70 (see Figure 2).

[0062] The control unit 100 calculates the slip ratio of the seedling transplanter 1 (vehicle body 2) within the field F from the difference between the first vehicle speed and the second vehicle speed.

[0063] As shown in Figure 3, in the seedling transplanter 1, the amount of seedlings picked by the planting claws 38 is set in advance according to a predetermined slip ratio. In the seedling transplanter 1, when the slip ratio is at the predetermined value, the distance D between seedlings PL in the direction of travel of the seedling transplanter 1 (traveling vehicle body 2) becomes the assumed distance, and the control unit 100 controls the planting claws 38 to plant the seedlings PL in the field F with the set amount of seedlings picked.

[0064] The control unit 100 controls the planting claws 38 to reduce the amount of seedlings picked, as the distance D(D1) between plants becomes shorter when the slip rate is above a predetermined value, i.e., when the slip rate is high. Conversely, the control unit 100 controls the planting claws 38 to increase the amount of seedlings picked, as the distance D(D2) between plants becomes longer when the slip rate is below a predetermined value, i.e., when the slip rate is low.

[0065] Thus, when the slip rate is above a predetermined value (i.e., when the slip rate is high), the distance D1 between plants becomes shorter, so fewer seedlings PL are planted. Conversely, when the slip rate is below a predetermined value (i.e., when the slip rate is low), the distance D2 between plants becomes longer, so more seedlings PL are planted. This suppresses fluctuations in the amount of seedlings PL used due to changes in the slip rate of the vehicle 2 (seedling transplanter 1) traveling within the field F.

[0066] In other words, it is possible to suppress fluctuations in the amount of seedlings used due to changes in the slip rate of the vehicle 2 (seedling transplanter 1) traveling within field F. This allows for the planned use of materials (seedlings, seedling mat MPL), thereby improving work efficiency.

[0067] As shown in Figure 4, the control unit 100 (see Figure 2) corrects the amount of seedlings to be picked in the area SW (referred to as the "working area") where seedlings PL (see Figure 3) are planted in the field F, based on the first vehicle speed calculated based on the position information (self-position P of the traveling vehicle body 2) acquired by the position information acquisition unit 50 (see Figure 2).

[0068] In this case, the control unit 100 calculates a predetermined working area SW by the seedling transplanter 1 (vehicle body 2) based on the first vehicle speed. The control unit 100 calculates the slip ratio of the seedling transplanter 1 (vehicle body 2) for each working area SW from the difference between the first and second vehicle speeds. The control unit 100 calculates the average value of the slip ratio in the working area SW.

[0069] The control unit 100 then corrects the amount of seedlings picked by the planting claws 38 (see Figure 1) for each working area SW based on the slip rate (average value) for each working area SW.

[0070] In this way, by correcting the amount of seedling PL used using the average slip ratio in a predetermined working area SW of the traveling vehicle body 2 (seedling transplanter 1), the amount of seedling PL used can be stabilized.

[0071] Furthermore, the control unit 100 has seedling PL usage information that is set in advance according to the work area SW. The control unit 100 calculates the current seedling PL usage and compares the calculated current seedling PL usage with the value of the usage information.

[0072] The control unit 100 then controls the alarm function of the seedling transplanter 1, for example, to issue a warning if there is a discrepancy between the current seedling PL usage and the value of the usage information. The warning of a discrepancy in seedling PL usage may be indicated by an alarm sound, a lamp illumination, or a monitor display.

[0073] By comparing the current seedling PL usage with the usage information values, it is possible to determine whether the seedling PL is being used as planned, for example, by using 20 seedling mats MPL for a 10-are work area SW. Furthermore, by issuing a warning if the seedling PL usage deviates from the plan, problems such as running out of seedling PL can be avoided. This can further improve work efficiency.

[0074] Furthermore, the control unit 100 controls the amount of seedling mat MPL (see Figures 10-12) fed in the seedling tank 35. The control unit 100 controls the seedling feeding belt 352 (see Figure 12) driven by the seedling feeding roller 351 (see Figure 12) of the seedling tank 35. This enables the control unit 100 to control the amount of seedling mat MPL fed in the seedling tank 35.

[0075] Furthermore, the control unit 100 can arbitrarily change the compression ratio of the seedling mat MPL by controlling the amount of seedling mat MPL that is fed.

[0076] In this way, by arbitrarily changing the compression ratio of the seedling mat MPL, the amount of seedling PL used can be automatically adjusted, and automatic adjustment of the amount of seedling PL used can be achieved with a simple configuration.

[0077] Figures 5 and 6 are explanatory diagrams of the compression mechanism 80 of the seedling mat MPL. In Figure 5, the left figure is a view of the seedling tank 35 from the front of the machine (a schematic front view of the seedling tank 35), and the right figure is a view of the seedling tank 35 from the left side of the machine (a schematic left side view of the seedling tank 35). Figure 6 schematically shows the configuration of the compression mechanism 80 of the seedling mat MPL.

[0078] As shown in Figure 5, the compression mechanism 80 for the seedling mat MPL is located on the opposite side (back side) of the seedling tank 35 from the seedling-holding surface on which the seedling mat MPL is placed.

[0079] As shown in Figure 6, the compression mechanism 80 of the seedling mat MPL comprises a seedling feeding cable 81, a cable stay 82, a motor 83, a gear section 84, a sensor 85, a cylinder 86, and a base section 87. One end of the seedling feeding cable 81 extends toward the arm on the seedling tank 35 side, and the other end extends toward the seedling feeding arm.

[0080] The seedling feed cable 81 is connected to the rotating arm of the adjustment lever, which is a mechanism for adjusting the amount of seedlings to be picked. When the adjustment lever is operated, the tension of the seedling feed cable 81 changes. When the adjustment lever is operated in the direction of increasing the amount of seedlings to be picked, the seedling feed cable 81 loosens, the seedling feed arm hangs down, and the amount of drive of the seedling feed belt 352 increases. The seedling feed arm is an arm for driving the seedling feed belt 352 of the seedling tank 35, and with the intervention of a one-way clutch, when the seedling feed arm is pushed up, the seedling feed belt 352 is driven, and the seedling feed arm returns to the direction of hanging down due to a biasing force such as a spring. The seedling feed cable 81 pulls up the seedling feed arm, and the position of the seedling feed arm changes depending on the tension of the seedling feed cable 81, which in turn changes the amount of drive of the seedling feed belt 352.

[0081] In the compression mechanism 80 of the seedling mat MPL, the tension direction of the seedling feeding cable 81, the input / output axis (operating axis) of the cable stay 82, and the rotation axis of the motor 83 are all in the same direction. Furthermore, in the compression mechanism 80 of the seedling mat MPL, the motor 83 and sensor 85 are located above the cable stay 82. By positioning the motor 83 and sensor 85 upward in this way, the intrusion of muddy water and other substances can be suppressed. The motor 83 moves the seedling feeding cable 81. The sensor 85 detects the amount of rotation of the gear section 84 that moves the cable stay.

[0082] The cable stay 82 is configured to move in the direction of the rotation axis of the motor 83 by the combination of the motor 83 and the gear section 84. This allows the rotation axis of the motor 83 and the direction of movement of the cable stay 82 to be aligned. The amount of movement of the cable stay 82 is determined by the pitch of the lead screw, and is, for example, a maximum of about ±2.0 mm, so the cable stay 82 moves only slightly in relation to the amount of rotation of the motor 83.

[0083] The cable stay 82 is provided with a notch for fixing the seedling feeding cable 81 and a cylinder 86 extending axially from the screw hole. The cable stay 82 moves smoothly axially due to the cylinder 86 and the pin of the base portion 87. The gear portion 84 rotates smoothly because its tip is inserted into a ball bearing provided in the base portion 87.

[0084] The control unit 100 measures the number of times the seedling tank 35 moves back and forth from side to side based on the operation of a so-called "tight-position switch" that moves the seedling tank 35 to either the left or right end, and measures the number of times the seedling tank 35 moves back and forth until additional seedling mat MPL is supplied. The control unit 100 then calculates the number of times the seedling tank 35 moves back and forth when one seedling mat MPL is used, based on the number of times the seedling tank 35 moves back and forth until several additional seedling mat MPL is supplied, and further calculates the compression ratio of the seedling mat from the amount of seedlings harvested.

[0085] Figure 7 is an explanatory diagram of the detection of the remaining amount of seedling PL (seedling mat MPL) using the electrode sensor 91. Figure 7 also shows a view of the seedling tank 35 from the front of the machine (a schematic front view of the seedling tank 35). Figure 8 is a diagram showing the relationship between the current value and the position of the seedling mat.

[0086] As shown in Figure 7, the seedling transplanter 1 (see Figure 1) is equipped with an electrode sensor 91. The electrode sensor 91 is installed in the seedling tank 35. The electrode sensor 91 is positioned to diagonally cross each transport path of the seedling mat MPL in the seedling tank 35. The electrode sensor 91 measures the current value of the seedling mat MPL.

[0087] Furthermore, it is preferable that the distance from the upper end to the lower end of the electrode sensor 91 is shorter than the width of one seedling mat MPL. Also, it is preferable that the electrode sensor 91 is positioned diagonally across the rectangular seedling mat MPL and smaller than the inner dimensions of the seedling mat MPL.

[0088] The control unit 100 calculates the remaining amount of seedling mat MPL based on the current value measured by the electrode sensor 91. As shown in Figure 8, the control unit 100 counts each time the current value measured by the electrode sensor 91 changes, as the seedling mat MPL acts as a resistor, as one seedling mat MPL. This allows the control unit 100 to calculate the remaining amount of seedling mat MPL.

[0089] In this way, by utilizing the fact that the current value fluctuates with the seedling mat MPL acting as a resistor, the remaining amount of seedling mat MPL (seedling PL) can be calculated. This makes it possible for workers to keep track of the remaining amount of seedling mat MPL (seedling PL).

[0090] As shown in Figure 7, an additional electrode sensor 91a may be provided below the electrode sensor 91 in each transport path of the seedling mat MPL. That is, the current value may be measured by two electrode sensors 91 and 91a in each transport path. It is preferable that the two electrode sensors 91 and 91a are not arranged parallel to each other. Furthermore, it is preferable that the lower electrode sensor 91a is arranged parallel to the sliding direction (left-right direction) of the seedling tank 35.

[0091] In detecting the remaining amount of seedling mat MPL using such electrode sensors 91 and 91a, if a detection switch (for example, a detection switch 96 described later using Figure 10) that detects the seedling mat MPL when pressed by the seedling mat MPL is provided in the transport path of the seedling mat MPL, the control unit 100 does not record the current value if the seedling detection switch is not pressed. If a seedling detection switch is provided, the two electrode sensors 91 and 91a are positioned above the seedling detection switch.

[0092] The control unit 100 records the current value of the seedling mat MPL in each transport path until the planting work in a predetermined area is completed. After the planting work in the predetermined area is completed, the control unit 100 predicts the remaining seedling quantity from the current value based on the recorded current value data.

[0093] The control unit 100 determines that when the recorded current value data is at its maximum, the seedling mat MPL is in contact with all of the electrode sensors 91, and when the recorded current value data is at its minimum, the seedling mat MPL is below the lower end of the electrode sensors 91. Furthermore, when the seedling mat MPL moves between the upper and lower ends of the electrode sensors 91, the control unit 100 estimates the current position of the seedling mat MPL by assuming that the output current moves linearly between the maximum and minimum values ​​of the recorded current. The current value of the seedling mat MPL is recorded each time the control unit detects that the seedling tank 35 has moved to either the left or right end during planting.

[0094] Figure 9 is an explanatory diagram for detecting the remaining amount of seedling PL (seedling mat MPL) using an ultrasonic sensor 92. In Figure 9, the left figure is a view of the seedling tank 35 from the left side of the machine (a schematic left side view of the seedling tank 35), and the right figure is a view of the seedling tank 35 from the rear of the machine (a schematic rear view of the seedling tank 35).

[0095] As shown in Figure 9, the seedling transplanter 1 (see Figure 1) may be equipped with an ultrasonic sensor 92 instead of the electrode sensor 91 (91a) described above. The ultrasonic sensor 92 is installed in the seedling tank 35. The ultrasonic sensor 92 is installed, for example, at the upper end of each transport path of the seedling mat MPL in the seedling tank 35. The ultrasonic sensor 92 measures the distance to the seedling mat MPL. That is, the ultrasonic sensor 92 measures the distance from a predetermined position at the upper end of the seedling tank 35 (transport path of the seedling mat MPL) to the upper end of the seedling mat MPL.

[0096] The control unit 100 calculates the remaining amount of seedling mat MPL based on the distance measured by the ultrasonic sensor 92. If the distance from a predetermined position to the seedling mat MPL changes abruptly (specifically, if the distance to the seedling mat MPL suddenly decreases), the control unit 100 determines that one seedling mat MPL has been added and counts it as one seedling mat MPL. This allows the control unit 100 to calculate the remaining amount of seedling mat MPL.

[0097] In this way, if the distance from a designated location to the seedling mat MPL changes abruptly (specifically, if the distance to the seedling mat MPL suddenly shortens), it can be determined that one seedling mat MPL has been added, and the used seedling mat MPL can be counted, allowing the remaining amount of seedling mat MPL (seedling PL) to be calculated. This enables workers to keep track of the remaining amount of seedling mat MPL (seedling PL).

[0098] Figures 10-12 are explanatory diagrams of the counting mechanism of the seedling mat MPL. In Figure 10, the left figure shows the seedling tank 35 viewed from the left side of the machine (a schematic left side view of the seedling tank 35), and the right figure shows the seedling tank 35 viewed from the rear of the machine (a schematic rear view of the seedling tank 35). Figures 11 and 12 also show the seedling tank 35 viewed from the rear of the machine (a schematic rear view of the seedling tank 35). In Figure 12, the left side of the figure shows the seedling mat MPL before vertical feeding, and the right side shows the seedling mat MPL after vertical feeding.

[0099] As shown in Figures 10-12, the counting mechanism of the seedling mat MPL consists of a seedling feeding roller 351 (see Figure 12) of the seedling tank 35, a seedling feeding belt 352 (see Figure 12), a stopper 95, and a detection switch 96.

[0100] The seedling feed rollers 351 are installed in each transport path of the seedling mat MPL in the seedling tank 35 and are rotationally driven to rotate the seedling feed belt 352 from top to bottom. The seedling feed rollers 351 are driven and controlled by the control unit 100 (see Figure 2). The seedling feed belt 352 is installed in each transport path of the seedling mat MPL in the seedling tank 35. The seedling feed belt 352 is installed so as to form a part of the transport surface of the transport path of the seedling mat MPL. The seedling feed belt 352 transports the seedling mat MPL from upstream to downstream of the transport path of the seedling mat MPL by the rotation of the seedling feed rollers 351.

[0101] The stopper 95 is installed at an intermediate position in each transport path of the seedling mat MPL. The stopper 95 is installed at a position where the seedling mat MPL and the seedling feed belt 352 overlap on the transport path of the seedling mat MPL. The stopper 95 is installed so as to be able to move forward and backward toward the transport path of the seedling mat MPL, for example from the side. By advancing toward the transport path, the stopper 95 restricts the downward movement of the seedling mat MPL at an intermediate position in the transport path. By retracting from the transport path, the stopper 95 releases the restriction on the seedling mat MPL, allowing the seedling mat MPL to be transported downstream.

[0102] The stopper 95 restricts the movement of the seedling mat MPL, thereby creating a gap B at the boundary between the upper and lower seedling mat MPL. The stopper 95 is driven and controlled by the control unit 100.

[0103] The detection switch 96 is installed downstream of the stopper 95 in each transport path of the seedling mat MPL. The detection switch 96 detects the presence or absence of the seedling mat MPL in the transport path. The detection switch 96 is positioned approximately in the center in the left-right direction of the transport path of the seedling mat MPL. Alternatively, one detection switch 96 may be placed in each row (transport path of the seedling mat MPL) that can be switched on and off by the ridge clutch. In this case, four detection switches 96 would be placed if planting is 8 to 7 rows, and three if planting is 6 to 5 rows.

[0104] When the control unit 100 detects a seedling mat MPL via the detection switch 96, it counts that one seedling mat MPL has been used. The control unit 100 counts the number of seedling mat MPLs each time a seedling mat MPL is detected via the detection switch 96.

[0105] As shown in Figure 12, when the control unit 100 detects the absence of a seedling mat MPL at the boundary B between the upper and lower seedling mat MPL on the transport path of the seedling mat MPL using the detection switch 96, it extends the stopper 95 to release the restriction on the seedling mat MPL by the stopper 95. The control unit 100 then rotates the seedling feed roller 351 to transport the upper seedling mat MPL until it contacts the lower seedling mat MPL, thereby eliminating the gap at the boundary B between the upper and lower seedling mat MPLs.

[0106] In this way, a gap is formed by the stopper 95 at the boundary B between the upper and lower seedling mats in the seedling mat MPL transport path, ensuring that the detection switch 96 can reliably count the seedling mats. Furthermore, by positioning the detection switch 96 downstream of the stopper 95, the detection switch 96 can reliably count the seedling mats. Additionally, since the restricted seedling mats in the seedling mat MPL transport path overlap with the seedling feed belt 352, even if the seedling mats are restricted by the stopper 95, the seedling mats will be transported downstream by the seedling feed belt 352.

[0107] Based on the embodiments described above, the following seedling transplanter 1 is realized.

[0108] (1) A seedling transplanter 1 comprising: a vehicle body 2 having front wheels 11 and rear wheels 12 and capable of traveling within a field F; a seedling planting unit 3 provided on the vehicle body 2 that plants seedlings picked up by planting claws 38 from seedling mat MPL transported in a seedling tank 35 into the field F while the vehicle body 2 is traveling; a control unit 100 that controls the seedling planting unit 3 to change the amount of seedlings picked by the planting claws 38; and a position information acquisition unit 50 that acquires position information of the vehicle body 2, wherein the control unit 100 calculates the slip ratio of the vehicle body 2 within the field F from the difference between a first vehicle speed of the vehicle body 2 calculated from the position information acquired by the position information acquisition unit 50 and a second vehicle speed of the vehicle body 2 calculated from the rotation speed of the rear wheels 12, corrects the amount of seedlings picked by the planting claws 38 based on the slip ratio, and the control unit 100 reduces the amount of seedlings picked if the slip ratio is greater than or equal to a predetermined value, and increases the amount of seedlings picked if the slip ratio is less than or equal to a predetermined value.

[0109] With this type of seedling transplanter 1, fluctuations in the amount of seedlings used due to changes in the slip rate of the vehicle body 2 (seedling transplanter 1) traveling within the field F can be suppressed. This allows for the planned use of materials (seedlings, seedling mats MPL), improving work efficiency. The slip rate of the vehicle body 2 (seedling transplanter 1) is set to a predetermined value according to the distance D between plants. With this type of seedling transplanter 1, when the slip rate is above a predetermined value (i.e., when the slip rate is high), the distance D (D1) between plants becomes shorter, so fewer seedlings PL are planted. Conversely, when the slip rate is below a predetermined value (i.e., when the slip rate is low), the distance D (D2) between plants becomes longer, so more seedlings PL are planted. This suppresses fluctuations in the amount of seedlings PL used due to changes in the slip rate of the vehicle body 2 (seedling transplanter 1) traveling within the field F.

[0110] (2) In the above (1), the control unit 100 calculates a predetermined working area by the seedling transplanter 1 based on the first vehicle speed, calculates the slip ratio for each working area, and corrects the amount of seedlings to be taken for each working area based on the slip ratio for each working area, the seedling transplanter 1.

[0111] With this type of seedling transplanter 1, in addition to the effects of (1) above, the amount of seedling PL used can be stabilized by correcting the amount of seedling PL used using the average slip ratio in a predetermined working area SW of the traveling vehicle body 2 (seedling transplanter 1).

[0112] (3) In the above (2), the control unit 100 has seedling usage amount information set in advance according to the work area, calculates the current seedling usage amount, compares the usage amount with the value of the usage amount information, and issues a warning if there is a discrepancy between the usage amount and the value of the usage amount information, seedling transplanter 1.

[0113] With this type of seedling transplanter 1, in addition to the effects described in (2) above, it is possible to determine whether the seedling PL is being used according to plan by comparing the current amount of seedling PL used with the value of the usage information. Furthermore, by issuing a warning when the amount of seedling PL used deviates from the plan, problems such as running out of seedling PL can be avoided. This further improves work efficiency.

[0114] (4) In the above (1), the control unit 100 controls the amount of seedling mat MPL fed in the seedling tank 35, and by controlling the amount of feed, the seedling transplanter 1 arbitrarily changes the compression ratio of the seedling mat MPL.

[0115] With this seedling transplanter 1, in addition to the effects of (1) above, the amount of seedling PL used can be automatically adjusted, and automatic adjustment of the amount of seedling PL can be performed with a simple configuration.

[0116] (5) The seedling transplanter 1, wherein the seedling tank 35 is provided with an electrode sensor 91 that measures the current value of the seedling mat MPL in the seedling tank 35, and the control unit 100 calculates the remaining amount of seedling mat MPL based on the current value measured by the electrode sensor 91.

[0117] With this seedling transplanter 1, in addition to the effect of (1) above, the remaining amount of seedling mat MPL (seedling PL) can be calculated by utilizing the fact that the current value fluctuates with the seedling mat MPL acting as a resistor. This makes it possible for the operator to keep track of the remaining amount of seedling mat MPL (seedling PL).

[0118] (6) The seedling transplanter 1, wherein the seedling tank 35 is provided with an ultrasonic sensor 92 that measures the distance to the seedling mat MPL in the seedling tank 35, and the control unit 100 calculates the remaining amount of seedling mat MPL based on the distance measured by the ultrasonic sensor 92.

[0119] With this seedling transplanter 1, in addition to the effects of (1) above, if the distance from a predetermined position to the seedling mat MPL changes rapidly (specifically, if the distance to the seedling mat MPL suddenly becomes shorter), it can be determined that one seedling mat MPL has been added, and the used seedling mat MPL can be counted, so the remaining amount of seedling mat MPL (seedling PL) can be calculated. This makes it possible for the operator to keep track of the remaining amount of seedling mat MPL (seedling PL).

[0120] (7) In any of (1) to (6) above, a seedling feed belt 352 is provided in the transport path of the seedling mat MPL in the seedling tank 35 and transports the seedling mat MPL from upstream to downstream of the transport path by the rotation of a seedling feed roller 351 which is driven and controlled by the control unit 100, and a stopper 95 is provided at an intermediate position in the transport path and at a position where the seedling mat MPL on the transport path and the seedling feed belt 352 overlap, and is driven and controlled by the control unit 100 to restrict the seedling mat MPL at the intermediate position and form a gap at the boundary B between the upper seedling mat MPL and the lower seedling mat MPL, and The seedling transplanter 1 is provided with a detection switch 96 located downstream of the conveying path from the PA 95, which detects the presence or absence of seedling mats MPL. The control unit 100 counts that one seedling mat MPL has been used each time the detection switch 96 detects that a seedling mat MPL has been detected. When the detection switch 96 detects that there is no seedling mat MPL at the boundary B between the upper and lower seedling mat MPLs on the conveying path, the control unit 100 releases the restriction on the seedling mat MPL by the stopper 95 and rotates the seedling feed roller 351 to convey the upper seedling mat MPL until it contacts the lower seedling mat MPL.

[0121] With this seedling transplanter 1, in addition to any of the effects (1) to (6) above, a gap is formed by the stopper 95 at the boundary B between the upper seedling mat MPL and the lower seedling mat MPL in the conveying path of the seedling mat MPL, so that the detection switch 96 can reliably count the seedling mat MPL. Also, by providing the detection switch 96 downstream of the stopper 95, the detection switch 96 can reliably count the seedling mat MPL. Furthermore, since the restricted (stopped) seedling mat MPL in the conveying path of the seedling mat MPL overlaps with the seedling feed belt 352, even if the seedling mat MPL is restricted (stopped) by the stopper 95, the seedling mat MPL will be conveyed downstream by the seedling feed belt 352.

[0122] Further effects and modifications can be readily derived by those skilled in the art. Therefore, broader aspects of the present invention are not limited to the specific details and representative embodiments expressed and described above. Accordingly, various modifications are possible without departing from the spirit or scope of the overall concept of the invention as defined by the appended claims and their equivalents. [Explanation of symbols]

[0123] 1 Seedling transplanter 2. Running vehicle 3 Seedling planting department 11 Front Wheel 12 Rear wheels 35 seedling tanks 38 Planting claws 50 Location information acquisition section 95 Stopper 96 detection switch 100 Control Unit 351 Seedling feeding roller 352 Seedling feeding belt B boundary D distance Field F MPL Seedling Mat PL seedlings SW working area

Claims

1. A vehicle body having front and rear wheels and capable of traveling within a field, A seedling planting unit is provided on the vehicle body, and while the vehicle is in motion, it plants seedlings that have been picked up from seedling mats transported in a seedling tank by planting claws into the field. A control unit controls the seedling planting unit to change the amount of seedlings picked by the planting claws, A seedling transplanter equipped with, The control unit, It has pre-set seedling usage information according to the work area, A seedling transplanter that calculates the current amount of seedlings used, compares the amount used with the value of the usage information, and issues a warning if there is a discrepancy between the amount used and the value of the usage information.

2. The control unit, The amount of seedlings picked by the planting claws is corrected based on the slip rate. The control unit, If the slip rate is greater than or equal to a predetermined value, the amount of seedlings to be picked will be reduced. The control unit, Control the amount of seedling mats fed in the seedling tank, By controlling the amount of feed, the compression ratio of the seedling mat can be arbitrarily changed. The seedling transplanter according to claim 1.

3. An ultrasonic sensor provided in the seedling tank for measuring the distance to the seedling mat in the seedling tank. Equipped with, The control unit, The remaining amount of seedling mat is calculated based on the distance measured by the ultrasonic sensor. A seedling transplanter according to claim 1 or 2.

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