Work vehicles

Abstract

To solve a problem with a conventional work vehicle that when convenient functions are used, the usability is not always satisfactory, and more specifically, with a work vehicle such as a conventional rice transplanter, its fertility degree measurement function for automatically adjusting a fertilizer application amount cannot always be used easily.SOLUTION: A work vehicle for transplanting seedlings to a farm field while travelling includes: a seedling planting device for planting seedlings; and a sensor for detecting electric resistance of soil between a first sensor electrode part and a second sensor electrode part for calculating a fertility degree of soil in the farm field. The first sensor electrode part and the second sensor electrode part are attached to the seedling planting device, and the seedling planting device includes a float whose bottom face is caused to come in contact with a soil surface of the soil. The first sensor electrode part and the second sensor electrode part are attached to the float bottom face.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a work vehicle such as a rice transplanter.

Background Art

[0002] In a work vehicle provided with a material transport device at the front part of a traveling vehicle body, a fertilizer application device at the rear part of the traveling vehicle body, a first field information detection member for detecting field information on the traveling vehicle body, and a control device for changing the fertilizer application amount of the fertilizer application device from the field information detected by the first field information detection member, there is known a work vehicle provided with the first field information detection member below the material transport device (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] By the way, the inventor of the present invention considers various needs of work vehicle users and believes that the trend of continuously implementing convenient functions on work vehicles such as rice transplanters is accelerating more and more.

[0005] However, the inventor has noticed that the usability when using convenient functions for conventional work vehicles is not always good.

[0006] More specifically, the inventor has noticed that for a work vehicle such as a conventional rice transplanter, for example, the fertility measurement for automatically adjusting the fertilizer application amount is not always easily available.

[0007] An object of the present invention is to provide a work vehicle that can improve usability in consideration of the above-described conventional problems.

Means for Solving the Problems

[0008] The first aspect of the present invention is a work vehicle for planting seedlings in a field while driving, A seedling planting device for planting the aforementioned seedlings, A sensor for detecting the electrical resistance of the soil between a first sensor electrode and a second sensor electrode in order to calculate the soil fertility of the field, It is equipped with, The first sensor electrode section and the second sensor electrode section are attached to the seedling planting device, and the seedling planting device has a float whose bottom surface is in contact with the soil surface of the soil. The first sensor electrode portion and the second sensor electrode portion are attached to the bottom surface of the float. The float has a furrowing device for creating furrows on the soil surface, The first sensor electrode section and the second sensor electrode section are mounted in front of the furrowing device. The first sensor electrode portion and the second sensor electrode portion are higher than the bottom surface of the furrowing machine. This is a work vehicle characterized by the following features.

[0009] (delete)

[0010] (delete)

[0011] The 2 The present invention is characterized in that the first sensor electrode portion and the second sensor electrode portion are lower than the bottom surface of the float. 1 These are the work vehicles described. [Effects of the Invention]

[0012] The first aspect of this invention makes it possible to improve ease of use. Furthermore, it is possible to reduce the burden on workers.

[0013] (delete)

[0014] (delete)

[0015] The 2 With the present invention, the 1In addition to the effects of the present invention, it is possible to improve convenience.

Brief Description of the Drawings

[0016] [Figure 1] (a) Left side view of the rice transplanter according to the embodiment of the present invention, (b) Plan view of the rice transplanter according to the embodiment of the present invention [Figure 2] (a) Perspective view near the float of the rice transplanter according to the embodiment of the present invention, (b) Bottom view near the float of the rice transplanter according to the embodiment of the present invention [Figure 3] Explanation diagram of the sensor of the rice transplanter according to the embodiment of the present invention [Figure 4] Left side view (part 1) near the float of the rice transplanter according to the first modification of the embodiment of the present invention [Figure 5] Left side view (part 2) near the float of the rice transplanter according to the first modification of the embodiment of the present invention [Figure 6] (a) Left side view (part 3) near the float of the rice transplanter according to the first modification of the embodiment of the present invention, (b) Left side view (part 4) near the float of the rice transplanter according to the first modification of the embodiment of the present invention [Figure 7] Left side view (part 5) near the float of the rice transplanter according to the first modification of the embodiment of the present invention [Figure 8] Left side view (part 6) near the float of the rice transplanter according to the first modification of the embodiment of the present invention [Figure 9] Left side view (part 7) near the float of the rice transplanter according to the first modification of the embodiment of the present invention [Figure 10] Left side view (part 8) near the float of the rice transplanter according to the first modification of the embodiment of the present invention [Figure 11] Plan view (part 1) near the float of the rice transplanter according to the first modification of the embodiment of the present invention [Figure 12] Explanation diagram (part 1) of the fertility calculation and adjustment of the rice transplanter according to the first modification of the embodiment of the present invention [Figure 13]Diagram illustrating the adjustment of soil fertility for a rice transplanter in a first modified embodiment of the present invention (Part Two) [Figure 14] Diagram illustrating the adjustment of soil fertility for a rice transplanter in a first modified embodiment of the present invention (Part 3) [Figure 15] Left side view (9) of the float vicinity of the rice transplanter of the first modified embodiment of the present invention [Figure 16] Plan view (part two) of the vicinity of the float of a rice transplanter in the first modified embodiment of the present invention. [Figure 17] Left side view (number 10) of the float vicinity of the rice transplanter of the first modified embodiment of the present invention [Figure 18] Diagram illustrating the fertilizer hopper device of a rice transplanter according to a second modified embodiment of the present invention. [Figure 19] Diagram illustrating a fertilizer blower device for a rice transplanter, representing a second modified embodiment of the present invention. [Modes for carrying out the invention]

[0017] Embodiments of the present invention will be described in detail with reference to the drawings.

[0018] The same applies below, however, some components may not be shown in the drawings, or they may be shown in perspective or in an abbreviated form.

[0019] While describing the operation of the rice transplanter according to the embodiment of the present invention, a method for controlling the operation of a work vehicle related to the present invention, which is realized by the rear controller 103 and the like, will also be described.

[0020] Such a rice transplanter is a work vehicle that plants seedlings in a field while moving, and is a specific example of a work vehicle in the present invention.

[0021] (1) First, the configuration and operation of the rice transplanter according to the embodiment of the present invention will be described in detail.

[0022] Sensor 30 is a sensor that detects the electrical resistance of the soil between a first sensor electrode section 31 and a second sensor electrode section 32 in order to calculate the soil fertility of the field. The first sensor electrode section 31 and the second sensor electrode section 32 are attached to a seedling planting device 20 for planting seedlings.

[0023] For example, as shown in Figure 1(a), a left side view of a rice transplanter according to an embodiment of the present invention, and Figure 1(b), a top view of a rice transplanter according to an embodiment of the present invention, in measuring soil fertility using a first sensor electrode section 31 and a second sensor electrode section 32 as float electrodes for a rice transplanter, the first sensor electrode section 31 and the second sensor electrode section 32 are mounted at symmetrical float electrode positions P.

[0024] In a rice transplanter equipped with a fertilizer applicator, soil fertility can be measured by arranging the first sensor electrode section 31 and the second sensor electrode section 32 on the float 26 of the planting section of the seedling planting device 20. While configurations in which electrodes are arranged by providing slip rings on the wheels 10, such as the front wheels, tend to be expensive, arranging the electrodes on the float 26 allows for the measurement of soil fertility in the field in a low-cost configuration.

[0025] The first sensor electrode section 31 and the second sensor electrode section 32 are arranged symmetrically with respect to the left-right direction so that the float 26, which is the central float of the planting section, is sandwiched between them. By measuring the electrical resistance between two points in the soil sandwiched between the first sensor electrode section 31 and the second sensor electrode section 32, the amount of electrolytes inside the soil can be estimated.

[0026] The seedling planting device 20 has a float 26 whose bottom surface 26f is in contact with the soil surface. The first sensor electrode section 31 and the second sensor electrode section 32 are attached to the bottom surface 26f of the float.

[0027] For example, as shown in Figure 2(a), a perspective view of the vicinity of the float 26 of the rice transplanter according to an embodiment of the present invention, and Figure 2(b), a bottom view of the vicinity of the float 26 of the rice transplanter according to an embodiment of the present invention, the mounting state of the first sensor electrode portion 31 and the second sensor electrode portion 32 can be seen from the upper surface and the bottom surface of the side float of the float 26.

[0028] The first sensor electrode section 31 and the second sensor electrode section 32 are fastened to the float section of the float 26 with bolts or the like, and are positioned at two or more locations on the bottom surface 26f of the float. They are not in electrical contact with other electrodes or metal parts 102 such as the metal frame, and are insulated from them. This electrode insulation of the first sensor electrode section 31 and the second sensor electrode section 32 allows for accurate measurement of the electrical resistance between two points in the soil while eliminating unnecessary electrical resistance.

[0029] The first sensor electrode section 31 and the second sensor electrode section 32 are attached to the float 26 by fastening them together with the soil cover plate 101, and by utilizing the electrical conductivity with the soil cover plate 101, a sufficient contact area between the sensor electrodes and the soil can be secured.

[0030] Of course, since it is important to ensure such a sensor electrode contact area, a configuration in which the soil cover plate 101 overlaps with the first sensor electrode portion 31 and the second sensor electrode portion 32 in a plan view may be adopted, or a configuration in which the soil cover plate 101 does not overlap with the first sensor electrode portion 31 and the second sensor electrode portion 32 in a plan view may be adopted.

[0031] The electrical conductivity of the soil described above is measured and recorded from the electrical resistance between two or more electrodes, such as the first sensor electrode 31 and the second sensor electrode 32. Such electrical conductivity can be calculated from the surface area of ​​the electrodes, the internal resistance of the circuit, and the detected voltage.

[0032] In systems that acquire location information using GNSS (Global Navigation Satellite System), location information is recorded along with electrical conductivity when the vehicle's travel distance from the most recent point where electrical conductivity was recorded exceeds a predetermined distance. Since electrical conductivity is recorded at predetermined distance intervals, redundant data recording is avoided.

[0033] Even when a system for acquiring location information using GNSS is implemented, if poor radio wave reception or other issues prevent the acquisition of location information via GNSS, the location information, along with the electrical conductivity, is recorded each time the vehicle's travel distance, measured by the rear wheel rotation sensor, reaches a predetermined distance.

[0034] In cases where a specification without a GNSS antenna is adopted and a system for acquiring position information via GNSS is not implemented, it is conceivable that position information, along with electrical conductivity, be recorded each time the vehicle's travel distance, measured by the rear wheel rotation sensor, reaches a predetermined distance.

[0035] The measured electrical conductivity of the field is not necessarily recorded, and it is conceivable that the amount of fertilizer applied may be increased or decreased according to the measurement results. The amount of fertilizer can be adjusted according to the fertility.

[0036] One possible approach is to increase or decrease the amount of fertilizer applied based on criteria such as the average value and standard deviation of electrical conductivity, only when a predetermined number of electrical conductivity data points or more have been obtained.

[0037] The pass / fail determination of the grounding state of the float 26, performed by a float angle sensor in the center float section, such as a float elevation angle sensor, can be adopted as one of the electrical conductivity recording conditions for the first sensor electrode section 31 and the second sensor electrode section 32.

[0038] For example, as shown in Figure 3, an explanatory diagram of the sensor 30 of the rice transplanter according to an embodiment of the present invention, in the fertilizer clogging sensor input circuit of the rear controller 103, which is repurposed as the sensor electrode part of the fertilizer clogging sensor, there is almost no time delay when the voltage rises from 0 volts to 5 volts due to the diode 104, but there is a time delay due to the RC circuit 105 that reduces noise through the filtering effect.

[0039] By arranging the electrical elements in the electrode input circuits of the first sensor electrode section 31 and the second sensor electrode section 32 using diodes 104 and RC circuits 105, a time delay is generated when a state change occurs from a state of high electrical conductivity to a state of low electrical conductivity. Even if the first sensor electrode section 31 and the second sensor electrode section 32 momentarily float up due to vehicle bouncing in the field, the electrical conductivity is less likely to immediately become zero. This arrangement of electrical elements is achieved by effectively utilizing the empty space in the existing fertilizer clogging sensor section.

[0040] By adopting an electrical element arrangement using a different diode, it is possible to avoid such a time delay when a state change from a high electrical conductivity state to a low electrical conductivity state is induced. This allows for immediate response even when passing through areas with high fertility.

[0041] (2) Next, the configuration and operation of the rice transplanter according to the embodiment of the present invention will be described in more detail.

[0042] The seedling planting device 20 includes a float 26 whose bottom surface 26f is in contact with the soil surface, and a seedling planting main frame 21 from which the float 26 is suspended. The first sensor electrode section 31 and the second sensor electrode section 32 are attached to the seedling planting main frame 21.

[0043] For example, as shown in Figure 4, which is a left side view (part 1) of the vicinity of the float 26 of a rice transplanter in the first modified embodiment of the present invention, when a large external force is applied to the soil fertility measurement using the first sensor electrode section 31 and the second sensor electrode section 32 as simple electrode sensors, the electrode plates of the first sensor electrode section 31 and the second sensor electrode section 32 move away in a rotational direction toward the rear of the vehicle body against the elastic force of the spring 201, thereby suppressing the occurrence of electrode plate damage.

[0044] In other words, the electrode plates of the first sensor electrode section 31 and the second sensor electrode section 32 are made of leaf springs, and contact between the electrode plates and the soil surface is always guaranteed when seedlings are being planted. Because the electrode plates of the first sensor electrode section 31 and the second sensor electrode section 32 are always in contact with the soil surface in this way, not only is accurate electrical resistance measurement, which leads to accurate calculation of soil fertility, performed, but the occurrence of electrode plate damage is suppressed by utilizing the relief of the leaf springs with rotation.

[0045] The pivot points for this rotation are provided on the upper part of the electrode plates of the first sensor electrode section 31 and the second sensor electrode section 32. By utilizing gravity, the rotation of the electrode plates is achieved by their own weight, and contact between the electrode plates and the soil surface is guaranteed with an inexpensive configuration.

[0046] For example, as shown in Figure 5, which is a left side view (part two) of the vicinity of the float 26 of a rice transplanter in the first modified embodiment of the present invention, when a large external force is applied, the electrode plates of the first sensor electrode section 31 and the second sensor electrode section 32 move away, but the spring 201 functions as a return spring, so that the electrode plates return to their normal position smoothly.

[0047] In other words, by utilizing a torque spring or the like, the spring 201 is inserted into the pivot points of the first sensor electrode section 31 and the second sensor electrode section 32. The electrode plate pressing force due to the elastic force of the spring 201 applied toward the soil surface suppresses the occurrence of electrode plate lift-up caused by the planting section bouncing of the seedling planting device 20, which makes electrical resistance measurement impossible, thus enabling accurate calculation of soil fertility.

[0048] The leaf spring relief direction of the first sensor electrode section 31 and the second sensor electrode section 32 described above is toward the rear of the vehicle body. When the vehicle body moves forward, electrode plate damage due to mechanical locking, which is likely to occur in specifications where the leaf spring relief direction is toward the front of the vehicle body, is unlikely to occur. When the vehicle body moves backward, the planting section of the seedling planting device 20 is raised, so electrode plate damage due to leaf spring relief hardly occurs at all.

[0049] For example, as shown in Figures 6(a) and 6(b), which are left side views (third and fourth) of the vicinity of the float 26 of a rice transplanter in the first modified embodiment of the present invention, the lock plate 202 abuts against a so-called planting section frame such as the seedling planting main frame 21. Therefore, the electrode plates of the first sensor electrode section 31 and the second sensor electrode section 32 do not rotate excessively in a rotational direction toward the front of the vehicle body, and the electrode plates are reliably returned to their normal positions.

[0050] In other words, a lock plate 202 is attached to prevent the electrode plates of the first sensor electrode section 31 and the second sensor electrode section 32 from rotating toward the front of the vehicle by an amount of rotation exceeding the required amount. This suppresses the occurrence of electrode plate damage due to mechanical locking, which can occur due to excessive rotation toward the front of the vehicle.

[0051] The seedling planting device 20 has a furrowing device 27 for creating furrows on the soil surface. The first sensor electrode section 31 and the second sensor electrode section 32 are mounted in front of the furrowing device 27.

[0052] For example, as shown in Figure 7, which is a left side view (number five) of the vicinity of the float 26 of a rice transplanter in the first modified embodiment of the present invention, the electrode plates of the first sensor electrode section 31 and the second sensor electrode section 32 are positioned in front of the furrowing device 27.

[0053] In other words, in a rice transplanter configured to have a first sensor electrode section 31 and a second sensor electrode section 32 as variable fertilization type electrode sensors arranged in the planting section of the seedling planting device 20, the first sensor electrode section 31 and the second sensor electrode section 32 are positioned on the front side of the vehicle body compared to the furrowing device 27. In a configuration where the first sensor electrode section 31 and the second sensor electrode section 32 are positioned on the rear side of the vehicle body compared to the furrowing device 27, the electrical resistance that provides fertility may change due to the influence of the fertilizer that has been spread. However, in a configuration where the first sensor electrode section 31 and the second sensor electrode section 32 are positioned on the front side of the vehicle body in this way, the electrical resistance is less likely to change due to the influence of the fertilizer that has been spread.

[0054] The first sensor electrode section 31 and the second sensor electrode section 32 are higher than the bottom surface 27f of the furrowing machine 27.

[0055] For example, as shown in Figure 8, which is a left side view (number six) of the vicinity of the float 26 of a rice transplanter in the first modified embodiment of the present invention, the positions of the electrode plates of the first sensor electrode section 31 and the second sensor electrode section 32 are arranged to be higher than the position of the bottom surface 27f of the furrowing machine.

[0056] In other words, the electrode plates of the first sensor electrode section 31 and the second sensor electrode section 32 are higher than the bottom surface 27f of the furrowing device. Even when the planting section of the seedling planting device 20 is lowered, electrode plate damage, which is likely to occur in specifications where the electrode plates are lower than the furrowing device 27, hardly occurs at all.

[0057] The first sensor electrode section 31 and the second sensor electrode section 32 are lower than the float bottom surface 26f.

[0058] For example, as shown in Figure 9, which is a left side view (number seven) of the vicinity of the float 26 of a rice transplanter in the first modified embodiment of the present invention, the positions of the electrode plates of the first sensor electrode section 31 and the second sensor electrode section 32 are arranged to be lower than the position of the float bottom surface 26f.

[0059] In other words, the electrode plates of the first sensor electrode section 31 and the second sensor electrode section 32 are lower than the float bottom surface 26f. Even when the water volume is small or the soil is hard, the electrode plate floating condition that is likely to occur in specifications where the electrode plates are higher than the float 26 hardly occurs at all, and accurate electrical resistance measurement is promoted.

[0060] The seedling planting device 20 has a leveling rotor 28 for leveling the soil surface. The first sensor electrode section 31 and the second sensor electrode section 32 are mounted behind the leveling rotor 28.

[0061] For example, as shown in Figure 10, which is a left side view (number eight) of the vicinity of the float 26 of a rice transplanter in the first modified embodiment of the present invention, the positions of the electrode plates of the first sensor electrode section 31 and the second sensor electrode section 32 are arranged to be behind the position of leveling by the leveling rotor 28.

[0062] In other words, the positions of the electrode plates of the first sensor electrode section 31 and the second sensor electrode section 32 are behind the position of the soil surface that has been leveled by the leveling rotor 28. Since the unevenness of the soil surface is almost completely eliminated by leveling by the leveling rotor 28, the height of the electrode plates is stably maintained.

[0063] The positions of the first sensor electrode portion 31 and the second sensor electrode portion 32 are shifted inward or outward relative to the left-right direction, compared to the positions of the left and right wheels 10.

[0064] For example, as shown in Figure 11, which is a plan view (part 1) of the vicinity of the float 26 of a rice transplanter in the first modified embodiment of the present invention, the positions of the electrode plates of the first sensor electrode section 31 and the second sensor electrode section 32 are symmetrical with respect to the left-right direction, independent of the number of seedling planting rows, and are arranged so as not to overlap with the wheel trajectory of the wheel 10.

[0065] In other words, the electrode plates of the first sensor electrode section 31 and the second sensor electrode section 32 are positioned in a location that does not overlap with the wheel trajectories of the left and right wheels 10 and is independent of the number of seedling planting rows. This suppresses variations in measured electrical resistance caused by the lifting of mud that is likely to occur due to the rotation of the wheels 10, thereby promoting accurate electrical resistance measurement.

[0066] The calculation of soil fertility based on detected electrical resistance is adjusted according to the planting depth at which the seedlings are planted.

[0067] For example, as shown in Figures 12, 13, and 14, which are explanatory diagrams (1 to 3) for adjusting the soil fertility calculation of a rice transplanter in the first modified embodiment of the present invention, when the depth of the electrode plate corresponding to the topsoil depth changes, an inappropriate result is often obtained in which the soil fertility expressed by SFV (Soil Fertility Value) changes. Therefore, the correction coefficient is adjusted so that an appropriate result is obtained in which the soil fertility remains constant even when the electrode plate depth changes, provided that the fertilizer concentration is the same.

[0068] In other words, the correction value of the electrical resistance that provides fertility is changed according to the setting from the seedling planting depth adjustment lever member 23 to accommodate various seedling planting depths. When the seedling planting depth is adjusted to increase, the electrode plate depth of the first sensor electrode section 31 and the second sensor electrode section 32 attached to the planting section of the seedling planting device 20 increases, and fertility tends to be overestimated, so the correction coefficient is adjusted to decrease. When the seedling planting depth is adjusted to decrease, the electrode plate depth of the first sensor electrode section 31 and the second sensor electrode section 32 attached to the planting section of the seedling planting device 20 decreases, and fertility tends to be underestimated, so the correction coefficient is adjusted to increase. When the seedling planting depth is changed, the electrode plate area of ​​the first sensor electrode section 31 and the second sensor electrode section 32 that penetrate the soil changes. Although soil components such as fertilizer concentration in the field hardly change regardless of depth, the electrical resistance that indicates fertility tends to change inappropriately due to the influence of the seedling planting depth. However, by adjusting such a correction coefficient, it is possible to appropriately measure the electrical resistance that reflects uniform fertility even when the seedling planting depth is adjusted.

[0069] The correction value for the electrical resistance that indicates soil fertility is changed according to the setting on the float sensitivity adjustment dial to accommodate various soil hardnesses. When the soil is hard, the seedling planting depth is increased, which increases the electrode plate depth of the first sensor electrode section 31 and the second sensor electrode section 32 attached to the planting section of the seedling planting device 20. Since soil fertility tends to be overestimated, the correction coefficient is adjusted to decrease. When the soil is soft, the seedling planting depth is decreased, which decreases the electrode plate depth of the first sensor electrode section 31 and the second sensor electrode section 32 attached to the planting section of the seedling planting device 20. Since soil fertility tends to be underestimated, the correction coefficient is adjusted to increase. As the seedling planting depth is changed according to the setting on the float sensitivity adjustment dial, the electrode plate area of ​​the first sensor electrode section 31 and the second sensor electrode section 32 that penetrate the soil changes. Although soil components such as the fertilizer concentration in the field hardly change regardless of the depth, the electrical resistance that indicates fertility tends to change inappropriately due to the influence of the seedling planting depth. However, by adjusting such a correction coefficient, even when the seedling planting depth is adjusted according to the setting on the float sensitivity adjustment dial, it is possible to appropriately measure the electrical resistance that reflects uniform fertility.

[0070] The two electrode sensors, the first sensor electrode section 31 and the second sensor electrode section 32, are positioned symmetrically with respect to the left-right direction. This symmetry suppresses the generation of differences in electrical resistance between the left and right sides, which contribute to fertility, thus enabling accurate data measurement.

[0071] The lateral positions of the first sensor electrode section 31 and the second sensor electrode section 32, relative to the left-right direction, are set to the same width regardless of the number of seedling planting rows. Changing the mounting width of the first sensor electrode section 31 and the second sensor electrode section 32 changes the electrical resistance, so changing the mounting width depending on the number of seedling planting rows requires changing the control correction value. However, by adopting this setting of the same width, soil fertility can be controlled with the same correction value regardless of the number of seedling planting rows.

[0072] If the fertility calculation using the aforementioned electrical resistance measurement is initiated in conjunction with variable rate fertilization work (by pressing a button, etc.), and the float 26 is grounded, but the electrical resistance value or fertility value is abnormal, an error message will be displayed on the monitor or other device. This allows the user to be notified of the occurrence of an abnormality even if they fail to confirm whether the electrical resistance measurement is being performed correctly.

[0073] When the so-called rice transplanter robot is in operation and such an error message is displayed, the vehicle will automatically stop moving by returning the HST trunnion opening of the main transmission to the neutral position. Since the vehicle stops, the user can be sure that an error has occurred.

[0074] The float 26 is suspended from the seedling planting main frame 21 via a float suspension member 22 that is rotatably attached to the seedling planting main frame 21. A seedling planting depth adjustment lever member 23 is provided to rotate the float suspension member 22. A pin member 24 is erected on the float suspension member 22. A pin member attitude sensor 25 for detecting the attitude of the pin member 24 is attached to the seedling planting main frame 21.

[0075] For example, as shown in Figure 15, which is a left side view (nine) of the vicinity of the float 26 of a rice transplanter in the first modified embodiment of the present invention, a pin member 24 for detecting the seedling planting depth by a pin member attitude sensor 25 protrudes from a float suspension member 22, which is sometimes also called a seedling planting depth frame.

[0076] In other words, the pin member attitude sensor 25 is located near the seedling planting depth adjustment lever member 23, and the seedling planting depth is measured. The set seedling planting depth can be accurately measured.

[0077] The pin member attitude sensor 25 is installed on a round pipe member or the like at the pivot point of the float suspension member 22, and measures the seedling planting depth. By attaching the sensor to the pivot point in this way, measurement errors in the seedling planting depth are suppressed.

[0078] For example, as shown in Figure 16, which is a plan view (part two) of the vicinity of the float 26 of a rice transplanter in the first modified embodiment of the present invention, the pin member attitude sensor 25, sometimes also called a seedling planting depth sensor, is located near the center of the vehicle body.

[0079] In other words, the pin member attitude sensor 25 is positioned near the center of the vehicle body, with the left-right direction as the reference. Since the detection of field irregularities by the float 26, which is accompanied by float sensitivity adjustment, is performed near the center of the vehicle body, mechanical errors are suppressed by avoiding the placement of sensors at the left and right ends of the vehicle body, where measurement errors in seedling planting depth are likely to occur.

[0080] The orientation of the pin member 24 is upward, corresponding to the rotation angle of the float suspension member 22 which is predetermined to be the seedling planting depth.

[0081] For example, as shown in Figure 17, which is a left side view (number 10) of the vicinity of the float 26 of a rice transplanter in the first modified embodiment of the present invention, the orientation of the pin member 24, sometimes also called the seedling planting depth lever detection pin, is upward.

[0082] In other words, when the lever position of the seedling planting depth adjustment lever member 23 is at the seedling planting depth predetermined as the standard position, the orientation of the pin member 24 is upward. Since the pin member attitude sensor 25 is positioned upward, problems caused by mud splashing, which are likely to occur in specifications where the orientation of the pin member 24 is downward, are almost completely eliminated, and a reduction in the impact of mud can be expected.

[0083] (3) Next, the configuration and operation of the rice transplanter according to the embodiment of the present invention will be described in more detail, mainly with reference to Figures 18 and 19.

[0084] Here, Figure 18 is an explanatory diagram of the fertilizer hopper device 301 of a rice transplanter, which is a second modified example of an embodiment of the present invention, and Figure 19 is an explanatory diagram of the fertilizer blower device 302 of a rice transplanter, which is a second modified example of an embodiment of the present invention.

[0085] (3a) First, the fertilizer hopper device 301 of the rice transplanter according to the embodiment of the present invention will be described, mainly with reference to Figure 18.

[0086] In the fertilizer hopper lid fixing mechanism of the fertilizer hopper device 301, the hook portion for fixing the fertilizer hopper lid is made of a wire processed into a U shape, with both ends of the hook inserted into the pipe, and the insertion portion located in the center being removable. Even if the hook portion is damaged, it can be easily replaced due to the insertable design.

[0087] The hook portion, which is extended from the lower fertilizer hopper body, is designed to push against the fertilizer hopper lid. The hook portion is constructed by utilizing the diagonal cut of the round pipe at the pivot point. There is no need to provide fixing members for the fertilizer hopper lid to the fertilizer hopper body on both the lid and the fertilizer hopper body. It is sufficient to provide only the hook portion on the fertilizer hopper body side, without needing to provide fixing members on the lid side, resulting in a simple structure. Because the so-called pivot point overcoming in the round pipe section is utilized, the hook portion is firmly fixed so that it does not move even when it is in the release position.

[0088] (3b) Next, with reference to Figure 19, the fertilizer blower device 302 of the rice transplanter according to the embodiment of the present invention will be described.

[0089] In the fertilizer blower of the fertilizer blower device 302, the power of the fertilizer blower is turned on and off in conjunction with the fertilizer clutch of the rice transplanter. A sensor for detecting this power on / off state is provided in the fertilizer clutch section. When the fertilizer clutch is on, the fertilizer blower is also turned on, and when the fertilizer clutch is off, the fertilizer blower is also turned off. Due to the linkage with the fertilizer clutch, when the fertilizer clutch is turned off and no fertilization work is performed, the fertilizer blower is turned off without continuing to rotate, which not only suppresses wear on the blower brush and improves the durability of the fertilizer blower but also improves battery life.

[0090] (3c) Next, the variable fertilizer control mechanism of the rice transplanter according to the embodiment of the present invention will be described.

[0091] For map data-linked zones, it is possible to select zones where real-time variable fertilization is performed. By specifying zones where real-time variable fertilization is performed, users can instruct the system to reduce fertilizer application in zones where excessive fertilizer application is suspected, thereby suppressing issues such as rice lodging.

[0092] For zones linked to map data, real-time variable fertilization can be performed only in zones where the amount of fertilizer applied exceeds the standard amount. This suppresses excessive reduction in fertilizer in zones where the amount of fertilizer is low, thus reducing the likelihood of a decrease in yield.

[0093] For zones linked to map data, real-time variable fertilization can be performed only in zones where the amount of fertilizer applied is less than the standard amount. By further reducing fertilizer in zones where soil fertility is sufficient, lodging of rice plants can be more reliably suppressed, and a reduction in fertilizer use can be expected.

[0094] For each zone linked to map data, the fertilizer reduction rate for real-time variable fertilization can be changed. This allows for more precise fertilization, which is expected to lead to more uniform rice growth.

[0095] Furthermore, the program of the invention related to the present invention is a program that causes a computer to execute all or part of the steps (or processes, operations, and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with the computer.

[0096] Furthermore, 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 part of the steps (or processes, operations, and actions, etc.) of the work vehicle 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 the computer.

[0097] Furthermore, the "some steps (or processes, actions, and functions, etc.)" mentioned above refers to one or more of those steps.

[0098] Furthermore, the "actions of the steps (or processes, movements, and actions, etc.)" mentioned above refer to all or part of the actions of the steps mentioned above.

[0099] Furthermore, one form of use of the program of the invention related to the present invention may be that it is transmitted through a transmission medium such as the internet, light, radio waves, or sound waves, read by a computer, and operates in cooperation with the computer.

[0100] Furthermore, recording media include ROM (Read Only Memory), among others.

[0101] 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.

[0102] As mentioned above, the configuration of the present invention may be implemented in software or in hardware. [Industrial applicability]

[0103] The work vehicle in this invention can be made more user-friendly and is useful for use as a work vehicle such as a rice transplanter. [Explanation of Symbols]

[0104] 10 wheels 20 Seedling planting device 21 Seedling planting frame 22 Float suspension member 23 Seedling planting depth adjustment lever component 24 Pin component 25 Pin component attitude sensor 26 Floats 26ft float bottom 27 Groove machine 27f Groove cutter bottom 28. Ground leveling rotor 30 sensors 31 First sensor electrode section 32 Second sensor electrode section 101 Soil cover plate 102 Metal parts 103 Rear Controller 104 diode 105 RC circuit 201 Spring 202 Lock Plate 301 Fertilizer hopper device 302 Fertilizer Blower System P Float electrode placement position

Claims

1. It is a work vehicle that plants seedlings in the field while moving, A seedling planting device for planting the aforementioned seedlings, A sensor for detecting the electrical resistance of the soil between a first sensor electrode and a second sensor electrode in order to calculate the soil fertility of the field, It is equipped with, The first sensor electrode section and the second sensor electrode section are attached to the seedling planting device, and the seedling planting device has a float whose bottom surface is in contact with the soil surface of the soil. The first sensor electrode section and the second sensor electrode section are attached to the bottom surface of the float, and the float has a furrowing device for creating furrows on the soil surface. The first sensor electrode section and the second sensor electrode section are mounted in front of the furrowing device. A work vehicle characterized in that the first sensor electrode section and the second sensor electrode section are higher than the bottom surface of the furrowing machine.

2. The work vehicle according to claim 1, characterized in that the first sensor electrode portion and the second sensor electrode portion are lower than the bottom surface of the float.

Images