Seedling transplanter

Abstract

To provide a seedling transplanter that makes traveling with aligned adjacent rows easy.SOLUTION: A seedling transplanter according to an aspect of an embodiment includes: a traveling vehicle body; a seedling transplanting part attached to the traveling vehicle body; and a side marker that is attached to the traveling vehicle body and emits light. The side marker can emit light toward an adjacent row adjacent to a transplanting route for transplanting seedlings by the seedling transplanting part.SELECTED DRAWING: Figure 4

Description

Technical Field

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

Background Art

[0002] Conventionally, when transplanting seedlings in a field, a seedling transplanter that draws a driving reference line for the next process on the field with a line marker is known (see, for example, Patent Document 1). When the seedling transplanter travels in the next process, it can travel along the driving reference line, so that it can travel in accordance with the working position of the immediately preceding working strip, and the adjacent strip intervals can be aligned.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Also, when the amount of water in the field is large, etc., the driving reference line by the line marker may be difficult to visually recognize. Therefore, it is known that the seedling transplanter is provided with adjacent markers that project in the left-right direction of the traveling vehicle body on the lateral side of the front side of the machine body. Even when the driving reference line is difficult to visually recognize, the operator can align the adjacent strip intervals and plant the seedlings in the field by driving the seedling transplanter with the adjacent markers aligned with, for example, the end of the immediately preceding working strip.

[0005] However, it is not easy for the operator to drive the seedling transplanter with the adjacent markers aligned with the end of the immediately preceding working strip, and it may be difficult to align the adjacent strip intervals and plant the seedlings in the field.

[0006] The present invention has been made in view of the above, and an object thereof is to provide a seedling transplanter that facilitates traveling with adjacent strip intervals aligned.

Means for Solving the Problems

[0007] To solve the above-mentioned problems and achieve the objective, a seedling transplanter according to one embodiment comprises a traveling vehicle body, a seedling planting unit attached to the traveling vehicle body, and a side marker attached to the traveling vehicle body that emits light. The side marker is capable of emitting light toward adjacent rows adjacent to the planting process in which seedlings are planted by the seedling planting unit. The side marker is mounted so as to be rotatable in the left-right direction on the vehicle body and comprises an illuminating section that emits light and a motor that rotates the illuminating section. . [Effects of the Invention]

[0008] According to one embodiment, the seedling transplanter can easily travel while keeping adjacent rows aligned. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a side view showing a seedling transplanter. [Figure 2] Figure 2 is a plan view showing a seedling transplanter. [Figure 3] Figure 3 is a schematic diagram of the side marker viewed from the rear. [Figure 4] Figure 4 is a schematic diagram of the side marker viewed from above. [Figure 5] Figure 5 is a block diagram showing the control system, centered around the control device of the seedling transplanter. [Figure 6] Figure 6 is a schematic block diagram of the controller. [Figure 7] Figure 7 is a flowchart illustrating the irradiation process using a side marker according to the first embodiment. [Figure 8] Figure 8 is a block diagram showing the control system according to the second embodiment. [Figure 9] Figure 9 is a flowchart illustrating the automatic switching process of the ridge clutch according to the second embodiment. [Figure 10] Figure 10 shows the positional relationship between the irradiated area and the ridge. [Figure 11] Figure 11 shows the seedling trays being transported to the rear. [Figure 12]Figure 12 is a view of the seedling box seen from the rear. [Figure 13] Figure 13 is a view of the seedling box seen from above. [Figure 14] Figure 14 is a side view showing the arrangement of the seedling box collection bucket. [Figure 15] Figure 15 is a perspective view of the seedling box seen from the lower side. [Figure 16] Figure 16 is a perspective view showing the state where the seedling box is guided by the rail. [Figure 17] Figure 17 is a diagram for explaining the mechanism for transporting the seedling box. [Figure 18] Figure 18 is an enlarged view of the vicinity of the roller. [Figure 19] Figure 19 is a diagram showing the state where the link is moved upward.

Mode for Carrying Out the Invention

[0010] (First Embodiment) First, the outline of the seedling transplanter 1 according to the embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 is a side view showing the seedling transplanter 1. FIG. 2 is a plan view showing the seedling transplanter 1.

[0011] [[ID=�5]]In the following description, the front-rear direction is the traveling direction when the seedling transplanter 1 travels straight, and the front side in the traveling direction is defined as "front" and the rear side as "rear". The traveling direction of the seedling transplanter 1 is the direction from the driver's seat 41 towards the steering wheel 35 when traveling straight (see FIGS. 1 and 2).

[0012] The left-right direction is a direction horizontally orthogonal to the front-rear direction, and the left and right are defined towards the "front" side. That is, when the operator (also referred to as the worker) is seated in the driver's seat 41 and facing forward, the left hand side is "left" and the right hand side is "right".

[0013] The up-down direction is the vertical direction. The front-rear direction, the left-right direction, and the up-down direction are orthogonal to each other. Each direction is defined for the convenience of explanation, and the present invention is not limited by these directions.

[0014] In this embodiment, the seedling transplanter 1 is described as a ride-on type seedling transplanter equipped with a seedling planting unit 4 as a working machine, which receives seedlings in the field. As shown in Figures 1 and 2, the seedling transplanter 1 is equipped with a liftable seedling planting unit 4 for planting seedlings in the field, via a lifting link mechanism 3 on the rear side of the vehicle body 2. The main body of the fertilizer applicator 5 is positioned on the upper rear side of the vehicle body 2.

[0015] The vehicle body 2 is a four-wheel drive vehicle equipped with left and right front wheels 10 and rear wheels 11, which are both wheels and drive wheels. On the front side of the main frame 15 that constitutes the vehicle body frame of the vehicle body 2, there is a transmission case 13 that transmits driving force to the seedling planting unit 4 and the like, and a hydraulic continuously variable transmission 14 that outputs the driving force supplied from the engine 30, that is, the rotation generated by the engine 30, to the transmission case 13.

[0016] The continuously variable transmission 14 is a hydrostatic continuously variable transmission known as an HST (Hydro Static Transmission). The following explanation will describe the case where the continuously variable transmission is an HST 14.

[0017] The transmission case 13 is equipped with a sub-transmission mechanism 16 that switches the driving mode of the vehicle body 2, such as when driving on the road in high speed mode or when planting seedlings in low speed mode. Front wheel final cases 10a are provided on the left and right sides of the transmission case 13, and the front wheels 10 are attached to the left and right front axles 10b that protrude outward from the front wheel support parts of the left and right front wheel final cases 10a, which can change the steering direction.

[0018] Furthermore, rear wheel gear cases 11a are attached to both the left and right sides of a rear frame 22 (see Figure 2) which is provided laterally on the rear side of the main frame 15, and the rear wheels 11 are attached to the left and right rear axles 11b which protrude outward from the rear wheel gear cases 11a.

[0019] Furthermore, left and right link support frames 23, which support the lifting link mechanism 3, are provided projecting upward from the upper part of the rear frame 22. A pair of left and right lower link arms 24 are provided on the lower side of the left and right link support frames 23 and between them. A hydraulically operated lifting cylinder 25 is provided between the left and right lower link arms 24.

[0020] An upper link arm 26 is provided above the lifting cylinder 25, forming a lifting link mechanism 3, which is a parallel link mechanism. The left and right lower link arms 24, each with one end connected to the vehicle body 2, the lifting cylinder 25, and the other end of the upper link arm 26 are mounted on the front of the seedling planting section 4.

[0021] Furthermore, an engine 30 is mounted on the main frame 15. The rotational power of the engine 30 is transmitted to the transmission case 13 via a belt drive 21 and an HST 14. The rotational power transmitted to the transmission case 13 is shifted by a sub-transmission mechanism 16 inside the transmission case 13, and then divided into driving power and externally extracted power.

[0022] Furthermore, the rotational power of the engine 30 is transmitted to a hydraulic pump (not shown). The hydraulic pressure generated by the hydraulic pump is supplied to the HST 14, the power steering mechanism 88 of the steering wheel 35 (see Figure 5), the lifting cylinder 25, and the like.

[0023] External power extracted from the rotational power transmitted to the transmission case 13 is transmitted to the planting clutch case 27 located at the rear of the vehicle body 2, and from the planting clutch case 27 to the seedling planting unit 4 via the planting transmission shaft 67.

[0024] Meanwhile, the left and right drive shafts 42 are provided at the rear of the transmission case 13. The rotational power from the engine 30 is transmitted to the left and right rear wheel gear cases 11a via the transmission case 13 and the drive shafts 42.

[0025] Furthermore, a side clutch 44 (see Figure 5) for switching power transmission to the left and right drive shafts 42 is positioned upstream of the left and right drive shafts 42 in the transmission direction. As shown in Figure 1, a side clutch pedal 43a for operating the left and right side clutches 44 is provided on the front lower part of the driver's seat 41, on one side.

[0026] By depressing the side clutch pedal 43a on the inside of the turn, disengaging the side clutch 44, and then operating the steering wheel 35 to turn, the drive rotation of the inner rear wheel 11 can be completely shut off.

[0027] A bonnet 39 is provided on the upper front of the vehicle body 2, with a control panel 38 for operating various parts positioned on top. The control panel 38 is equipped with a monitor 86 (see Figure 5), etc.

[0028] The bonnet 39 is also equipped with a steering wheel 35 for steering the vehicle body 2, a gear shift lever 36 for operating the HST 14 and seedling planting unit 4, and a sub-gear shift lever 37 for operating the sub-gear shift mechanism 16. When the gear shift lever 36 is operated, the vehicle body 2 can be switched between forward and reverse.

[0029] Furthermore, a front cover 40 that can be opened and closed is provided on the front side of the bonnet 39. Inside the front cover 40 are the fuel tank, battery, and an interlocking mechanism that rotates the left and right front wheels 10 and the lower parts of the left and right front wheel final cases 10a in response to the steering of the steering wheel 35. The front wheels 10 are, for example, steering wheels that turn in response to the steering of the steering wheel 35.

[0030] An engine cover 30a is provided behind the bonnet 39 and above the engine 30, covering the top and sides of the engine 30, and a cockpit 41 where the driver sits is provided on top of the engine cover 30a.

[0031] A fertilizer application device 5 is provided behind the cockpit 41, at the rear end of the main frame 15. The driving force for the fertilizer application device 5 is transmitted by a fertilizer transmission mechanism, which is provided so as to face the fertilizer application device 5 from one side of the left and right rear wheel gear cases 11a.

[0032] On both the left and right sides of the lower part of the engine cover 30a and bonnet 39, a roughly horizontal floor step 33 is formed. As shown in Figure 2, the floor step 33 is partially lattice-shaped, so that, for example, if mud from the driver's shoes falls onto the floor step 33, the fallen mud will fall onto the field.

[0033] Furthermore, a rear step 330 is connected to the rear of the floor step 33, as shown in Figure 2. It is preferable that the surface of the rear step 330 be treated with an anti-slip finish, for example, by forming multiple protrusion patterns, to prevent feet from slipping during work.

[0034] Furthermore, on the front side of the vehicle body 2, and on both the left and right sides, there are spare seedling frames 50 on seedling frame support posts 51, each with multiple spare seedling trays 52 arranged at vertical intervals, allowing for the placement of seedlings to be replenished in the seedling planting section 4, as well as work materials such as fertilizer bags.

[0035] Furthermore, a seedling tank 53 for loading seedlings to be planted in the field is attached to the rear end of the lifting link mechanism 3, along with a sliding mechanism for sliding it in the left-right direction. Long seedling partition fences 54 are arranged on the seedling tank 53 at predetermined intervals in the left-right direction. Below the seedling tank 53 is a seedling planting device 55 for scooping up the loaded seedlings and planting them in the field.

[0036] The seedling planting device 55 plants the same number of rows as the number of planting work rows separated by the seedling partition fence 54, i.e., 8 rows simultaneously. Four planting transmission cases 56 are arranged at intervals below the seedling tank 53, and planting rotary tools 57 are attached to both the left and right sides of the planting transmission cases 56, which rotate and pick up seedlings with planting rods 58 to plant in the field.

[0037] The fertilizer application device 5 has a fertilizer hopper 70 where fertilizer is stored, which is divided into the same number of sections as the number of work rows in the seedling planting section 4 (eight sections in the example shown in Figure 2). However, since an eight-section fertilizer hopper 70 is long in the left-right direction, it reduces the convenience of loading and unloading fertilizer. Therefore, a so-called side fertilizer application structure may be used, where sections divided into four sections are arranged on the left and right sides.

[0038] At the bottom of the fertilizer hopper 70, a dispensing device 71 is provided for each row to supply a set amount of fertilizer. Below the dispensing device 71, a ventilation duct 72 is provided in the left-right direction through which the airflow that moves the fertilizer passes. Below the dispensing device 71, a fertilizer hose 73 is provided to guide the fertilizer to the vicinity of the seedling planting position in the seedling planting section 4. In addition, a blower 74 is provided at one end of the ventilation duct 72, which is operated by an electric motor 76 to generate the airflow for conveying the fertilizer.

[0039] As shown in Figures 1 and 2, below the seedling planting section 4, a center float 62C that makes contact with and slides on the field surface, and two side floats 62L and 62R on each side are provided so as to be rotatable around an axis. Note that the center float 62C and the left and right side floats 62L and 62R are sometimes collectively referred to as float 62.

[0040] Furthermore, below the seedling planting section 4, in front of the float 62, a leveling rotor 63 is provided to smooth out any unevenness in the field surface. The leveling rotor 63 receives driving force from the rear wheel gear cases 11a on the left and right sides via rotor transmission shafts 63a.

[0041] Furthermore, as shown in Figure 1, line markers 65 are provided on both the left and right sides of the seedling planting unit 4. One of these markers touches the field surface, forming a groove that serves as a guide for travel in the next work row (next stroke). When one side of the line markers 65 touches the ground, the other side moves upward and apart. When the seedling planting unit 4 is raised during a turn, both sides move upward and apart. After the turn, when the seedling planting unit 4 is lowered, one side moves upward and the other side touches the ground.

[0042] Furthermore, as shown in Figures 1 and 2, a vertically elongated center mascot 66 is provided in the left-right center of the vehicle body 2 and in front of the bonnet 39. By aligning the center mascot 66 with the grooves formed in the field using the left and right line markers 65, it becomes possible to travel in alignment with the working position of the immediately preceding working row (adjacent row) adjacent to the planting process (work process), thereby improving work accuracy and preventing the occurrence of non-work.

[0043] Depending on the soil type of the field, the guide lines formed by the left and right line markers 65 may quickly become buried, causing the indicator for driving straight to disappear. In such cases, it is advisable to use the left and right side markers 19, which are positioned in front of the left and right line markers 65.

[0044] The side marker 19 emits light. The side marker 19 is attached to the main frame 15 of the vehicle body 2. For example, the side marker 19 is positioned closer to the center in the left-right direction than the end of the seedling planting section 4 in the left-right direction. The side marker 19 can emit light toward adjacent rows.

[0045] The side marker 19 will be explained with reference to Figures 3 and 4. Figure 3 is a schematic view of the side marker 19 from the rear. Figure 4 is a schematic view of the side marker 19 from above. Figures 3 and 4 show a schematic of the side marker 19 located on the left side of the vehicle body 2.

[0046] The side marker 19 comprises an illumination unit 19a and a rotating unit 19b. The illumination unit 19a is, for example, an LED (Light Emitting Diode). The illumination unit 19a emits a linear beam of light parallel to the front-rear direction of the vehicle body 2. In Figure 4, the linear beam of light emitted by the illumination unit 19a is shown by a dashed line. The illumination unit 19a emits light when the power switch of the seedling transplanter 1 is ON, and does not emit light when the power switch is OFF. That is, the illumination unit 19a switches the illumination on or off in conjunction with the ON / OFF of the power switch. The illumination unit 19a may also switch the illumination on or off in response to the operation of a switch that switches the illumination on or off. In addition, the side marker 19 may emit light using the illumination unit 19a on the side where the seedling was planted by the seedling transplanter 1. In this case, for example, the controller 100 sets the illumination unit 19a that emits light based on the operating direction (operation history) of the handle 35.

[0047] The rotating section 19b comprises a side marker adjustment motor 19c (motor) and a transmission mechanism 19d. The side marker adjustment motor 19c rotates the illumination section 19a via the transmission mechanism 19d. The transmission mechanism 19d comprises, for example, a plurality of gears 19e, 19f. For example, the first gear 19e receives rotation from the rotating shaft of the side marker adjustment motor 19c. The first gear 19e meshes with the second gear 19f and transmits the rotation transmitted from the side marker adjustment motor 19c to the second gear 19f.

[0048] The second gear 19f is rotatably supported on the vehicle body 2 by a support shaft 19g. The support shaft 19g is an axis parallel to the front-rear direction. An illumination unit 19a is attached to the second gear 19f. The illumination unit 19a rotates together with the second gear 19f. As the second gear 19f rotates, the illumination unit 19a rotates, and the rotation angle of the illumination unit 19a is changed. Specifically, the rotation angle of the illumination unit 19a is changed in the left-right direction. That is, the illumination unit 19a is attached to the vehicle body 2 so that it can rotate in the left-right direction.

[0049] The transmission mechanism 19d described above is merely an example and is not limited thereto. The transmission mechanism 19d may have three or more gears. The transmission mechanism 19d only needs to be able to transmit the rotation of the side marker adjustment motor 19c and rotatably support the irradiation unit 19a.

[0050] For example, the rotation angle of the irradiation unit 19a is changed to an initial angle and a positioning angle. The initial angle is the angle at which the light emitted by the irradiation unit 19a is directed downwards. The positioning angle is the angle at which the seedling transplanter 1 moves in a straight line in line with the light emitted from the side marker 19, thereby enabling it to travel in accordance with the working position of the adjacent row.

[0051] For example, the rotation angle becomes the alignment angle, and the light emitted from the irradiation unit 19a is aligned with the seedlings of the adjacent row (for example, the seedling at the end closest to the seedling transplanter 1), allowing the transplanter 1 to move in a straight line and maintain consistent spacing between plants (between adjacent rows) relative to the adjacent row.

[0052] Next, the control system of the seedling transplanter 1 will be described with reference to Figure 5. Figure 5 is a block diagram showing the control system of the seedling transplanter 1, centered on the control device 100. Figure 5 shows that the seedling transplanter 1 is capable of controlling each part by electronic control and is equipped with a control device (hereinafter referred to as a controller) 100 that controls each part.

[0053] As shown in Figure 6, the controller 100 includes a processing unit 110a with a CPU (Central Processing Unit), a storage unit 110b with ROM (Read Only Memory) and RAM (Random Access Memory), and an input / output unit 110c. These are connected to each other and can exchange signals. Figure 6 is a schematic block diagram of the controller 100.

[0054] The memory unit 110b stores computer programs for controlling the seedling transplanter 1. The memory unit 110b also stores machine information for the seedling transplanter 1. This machine information includes the model of the seedling transplanter 1 and information such as the width of the seedling transplanter 1. The machine information also includes information on the alignment angle of the illumination section 19a of the side marker 19, according to the model of the seedling transplanter 1.

[0055] The controller 100 performs its various functions by reading computer programs and other data stored in the memory unit 110b.

[0056] Returning to Figure 5, the controller 100 is connected to actuators such as the throttle motor 80, hydraulic control valves 81 and 82, planting clutch operating solenoid 83, side clutch operating solenoid 84, HST motor 85, line drawing marker lifting motor 87, differential lock switching motor 96, side marker adjustment motor 19c, and ridge clutch operating solenoid 120.

[0057] The throttle motor 80 increases or decreases the rotational speed of the engine 30's output shaft by operating a throttle that adjusts the intake volume of the engine 30. The hydraulic control valve 81 controls the extension and retraction of the lifting cylinder 25. The hydraulic control valve 82 controls the power steering mechanism 88. The power steering mechanism 88 changes the direction of the front wheels 10, which are the steering wheels of the vehicle body 2. The planting clutch operating solenoid 83 operates the planting clutch 27a.

[0058] The side clutch operating solenoid 84 operates the side clutch 44, which switches the power transmission state to the rear wheels 11 (see Figure 1). Note that a side clutch 44 is provided for each of the left and right rear wheels 11, and two side clutch operating solenoids 84 are provided, one for each side clutch 44.

[0059] The ridge clutch operating solenoid 120 operates the ridge clutch 121 (row number switching unit). Multiple ridge clutch operating solenoids 120 and ridge clutches 121 are provided. For example, if the number of working rows of the seedling planting unit 4 is 8, four ridge clutch operating solenoids 120 and ridge clutches 121 are provided. Four ridge clutches 121 are provided to correspond to each planting transmission case 56. Each ridge clutch 121 switches the power transmission state to each planting transmission case 56. When a ridge clutch 121 is in the off state, power is no longer transmitted to the planting transmission case 56 corresponding to the off ridge clutch 121. Then, seedling transplanting by the planting rod 58 of the planting transmission case 56, which is no longer receiving power, is stopped.

[0060] The HST motor 85 changes the tilt angle of the swash plate of the HST14 by changing the rotation angle of the trunnion of the HST14. The line marking marker lifting motor 87 raises and lowers the line marking marker 65.

[0061] The differential lock switching motor 96 is a motor that switches the operation and deactivation of the differential lock mechanism 97 (hereinafter referred to as the differential lock mechanism), which rotates the left and right driving wheels, specifically the left and right front wheels 10, at the same rotational speed. When the differential lock mechanism 97 is engaged, the left and right driving wheels rotate at the same rotational speed.

[0062] The controller 100 is connected to detection devices such as a rotation speed sensor 90, a steering amount sensor 91, a tilt sensor 92, and a rotation angle detection sensor 124. Two rotation speed sensors 90 are provided, one for each of the left and right rear wheels 11, and each detects the rotation speed of the left and right rear wheels 11. Alternatively, the rotation speed sensors 90 may also detect the rotation speed of the left and right front wheels 10.

[0063] The steering amount sensor 91 detects the operating position of the steering wheel 35, that is, the steering amount (steering angle) of the front wheels 10. The steering amount sensor 91 is mounted, for example, on an axis connected to the pitman arm. The steering amount is detected in both the left and right directions, with the value when the steering wheel 35 is in a preset straight-ahead position as the reference value.

[0064] The tilt sensor 92 detects the tilt of the vehicle body 2. The tilt sensor 92 detects the tilt of the vehicle body 2 in the left-right direction and the front-rear direction. Multiple tilt sensors 92 may be provided.

[0065] The rotation angle detection sensor 124 detects the rotation angle of the irradiation unit 19a. The rotation angle detection sensor 124 is, for example, a potentiometer. The rotation angle detection sensor 124 detects the rotation angle of the irradiation unit 19a by, for example, detecting the angle of the second gear 19f (see Figure 3).

[0066] Furthermore, the controller 100 receives signals as operation signals from the gear shift lever 36, the sub-gear shift lever 37, the planting unit lifting switch 47, the ridge clutch button 123, and the monitor 86, among others.

[0067] The planting unit lifting switch 47 is a switch that toggles whether or not to raise or lower the seedling planting unit 4. The planting unit lifting switch 47 can be changed to the "up" and "down" positions.

[0068] When the planting unit lifting switch 47 is in the "up" position, the seedling planting unit 4 rises to a predetermined non-working position, and the seedling planting device 55 stops, resulting in a non-working state. When the planting unit lifting switch 47 is in the "down" position, the seedling planting unit 4 lowers to a predetermined working position, and the seedling planting device 55 operates, resulting in a working state. In other words, the planting unit lifting switch 47 is a switch that detects the working state of the seedling planting unit 4. Note that a separate switch may be provided to detect the working state of the seedling planting unit 4.

[0069] The ridge clutch button 123 is a button for activating the ridge clutch 121. Multiple ridge clutch buttons 123 are provided to correspond to the ridge clutches 121. For example, if the number of working rows in the seedling planting unit 4 is 8, four ridge clutch buttons 123 are provided. When a ridge clutch button 123 is operated, the ridge clutch 121 corresponding to that button 123 is activated. Specifically, when a ridge clutch button 123 is pressed and put into the off state, the ridge clutch 121 is activated by the ridge clutch activation solenoid 120 corresponding to the ridge clutch button 123, and the ridge clutch 121 is put into the off state (OFF). In other words, the ridge clutch 121 corresponding to a ridge clutch button 123 that is not pressed by the operator and is in the on state becomes on. Note that the ridge clutch button 123 may also be a lever or the like.

[0070] The monitor 86 is, for example, a touch panel, and various settings for the seedling transplanter 1 can be entered. For example, the model number of the seedling transplanter 1 can be entered via the monitor 86.

[0071] Furthermore, the seedling transplanter 1 may be capable of autonomous driving in the field. For example, the seedling transplanter 1 may be capable of performing automatic straight-line driving, planting seedlings while moving in a straight line automatically without operator intervention. Also, the seedling transplanter 1 may be capable of automatic turning without operator intervention. In this case, the seedling transplanter 1 has a position detection device, etc., for detecting the position of its own vehicle.

[0072] Next, the irradiation process using the side marker 19 according to the embodiment will be described with reference to Figure 7. Figure 7 is a flowchart illustrating the irradiation process using the side marker 19 according to the first embodiment.

[0073] The controller 100 determines whether the power switch of the seedling transplanter 1 is ON or OFF (S100). If the power switch of the seedling transplanter 1 is ON (S100: Yes), the controller 100 sets the rotation angle of the irradiation unit 19a to the alignment angle (S101).

[0074] Specifically, the controller 100 controls the side marker adjustment motor 19c so that the rotation angle of the irradiation unit 19a becomes the alignment angle. For example, if the rotation angle of the irradiation unit 19a is at the initial angle, the controller 100 drives the side marker adjustment motor 19c to change the rotation angle of the irradiation unit 19a from the initial angle to the alignment angle. Also, if the rotation angle of the irradiation unit 19a is already at the alignment angle, the controller 100 maintains the rotation angle of the irradiation unit 19a at the alignment angle. When the power switch is turned from OFF to ON, the rotation angle of the irradiation unit 19a becomes the alignment opening.

[0075] If the power switch of the seedling transplanter 1 is not ON (S100: No), that is, if the power switch is OFF, the controller 100 sets the rotation angle of the irradiation unit 19a to the initial angle (S102).

[0076] Specifically, the controller 100 controls the side marker adjustment motor 19c so that the rotation angle of the irradiation unit 19a becomes the initial angle.

[0077] Furthermore, even when the power switch of the seedling transplanter 1 is turned OFF, power is supplied to some devices from a battery or other source in order to perform the power-off process. Therefore, even when the power switch is turned OFF, the controller 100 can change the rotation angle of the irradiation unit 19a to the initial angle by driving the side marker adjustment motor 19c.

[0078] The rotation angle of the illumination unit 19a may be fixed to the alignment angle. For example, the rotation angle of the illumination unit 19a may be set to the alignment angle as the initial angle. The alignment angle may also be adjustable, for example, by operation on the monitor 86. Furthermore, the illumination unit 19a may also be rotatable in the longitudinal direction of the vehicle body 2. That is, the illumination position of the side marker 19 in the longitudinal direction of the vehicle body 2 may be adjustable.

[0079] The seedling transplanter 1 comprises a traveling body 2, a seedling planting unit 4 attached to the traveling body 2, and a side marker 19 attached to the traveling body 2 that emits light. The side marker 19 is capable of emitting light toward adjacent rows adjacent to the planting process in which seedlings are planted by the seedling planting unit 4.

[0080] As a result, when the operator drives the seedling transplanter 1 in alignment with adjacent rows using the side markers 19, they can easily drive the transplanter 1 while maintaining the spacing between adjacent rows, that is, driving with the rows aligned, by aligning the light emitted from the side markers 19 with the adjacent rows.

[0081] The side marker 19 is mounted on the vehicle body 2 so as to be rotatable in the left-right direction and comprises an illuminating section 19a that emits light and a side marker adjustment motor 19c that rotates the illuminating section 19a.

[0082] This allows the seedling transplanter 1 to adjust the position of the light emitted by the irradiation unit 19a.

[0083] The seedling transplanter 1 is equipped with a controller 100 that adjusts the rotation angle of the irradiation unit 19a by controlling the side marker adjustment motor 19c. Based on the machine information of the seedling transplanter 1, the controller 100 adjusts the rotation angle of the irradiation unit 19a from the initial angle to the alignment angle.

[0084] As a result, the seedling transplanter 1 can adjust the rotation angle of the irradiation unit 19a according to the machine information of the seedling transplanter 1, such as the width in the left-right direction. Therefore, the operator can easily align the light emitted from the irradiation unit 19a with the adjacent rows, thereby ensuring that the rows are aligned.

[0085] (Second Embodiment) Next, the seedling transplanter 1 according to the second embodiment will be described. Here, only the differences from the first embodiment will be described, and explanations of the same configuration as the first embodiment will be omitted. As shown in Figure 8, the controller 100 is connected to a rotation angle adjustment button 125 and a ridge clutch automatic switching button 126. Figure 8 is a block diagram showing the control system according to the second embodiment.

[0086] The rotation angle adjustment button 125 is a button that allows the rotation angle of the illumination unit 19a to be changed. Specifically, the rotation angle adjustment button 125 is a button that allows the rotation angle of the illumination unit 19a in the left-right direction of the vehicle body 2 to be adjusted. When the rotation angle adjustment button 125 is operated, the illumination position of the illumination unit 19a in the left-right direction is changed.

[0087] The ridge clutch automatic switching button 126 is a switch that switches whether or not to activate the ridge clutch 121 according to the distance to the ridge. When the ridge clutch automatic switching button 126 is ON, the distance to the ridge is calculated using the side marker 19, and the ridge clutch 121 is activated based on the calculated distance. When the ridge clutch automatic switching button 126 is OFF, the distance to the ridge is not calculated using the side marker 19, and no operation according to the distance to the ridge occurs in the ridge clutch 121. When the ridge clutch automatic switching button 126 is OFF, the ridge clutch 121 is activated according to the operation of each ridge clutch button 123.

[0088] When the automatic ridge clutch switching button 126 is ON, the controller 100 calculates the distance to the ridge based on the rotation angle of the irradiation part 19a of the side marker 19, and activates the ridge clutch 121 based on the calculated distance.

[0089] Next, the automatic ridge clutch switching process will be explained with reference to Figure 9. Figure 9 is a flowchart illustrating the automatic ridge clutch switching process according to the second embodiment.

[0090] The controller 100 determines whether the ridge clutch automatic switching button 126 is ON or OFF (S200). If the ridge clutch automatic switching button 126 is ON (S200: Yes), the controller 100 detects the rotation angle of the illumination part 19a of the side marker 19 (S201).

[0091] Next, the controller 100 calculates the distance to the ridge from the detected rotation angle of the irradiation unit 19a (S202). It is assumed that the light emitted from the irradiation unit 19a is directed to the ridge, for example, the edge of the ridge on the field side, by operating the rotation angle adjustment button 125.

[0092] In this case, the relationship between the irradiation section 19a of the side marker 19 and the ridge is as shown in Figure 10. Figure 10 is a diagram showing the positional relationship between the irradiation section 19a and the ridge.

[0093] The side marker 19 is attached to the vehicle body 2, and the height H of the illumination unit 19a is a known value. The height H of the illumination unit 19a may be corrected based on the rotation angle α of the illumination unit 19a. For example, the height H of the illumination unit 19a is set according to the rotation angle α of the illumination unit 19a.

[0094] When the light emitted from the irradiation unit 19a is aligned with the ridge, the distance L to the ridge is calculated using equation (1), with respect to the height H of the irradiation unit 19a and the rotation angle α of the irradiation unit 19a.

[0095] Distance L to the ridge = Height H of the irradiated area 19a × tanα···(1)

[0096] Returning to Figure 9, the controller 100 then controls the ridge clutch 121 based on the distance to the ridge (S202). The controller 100 selects a ridge clutch 121 to be turned off based on the distance to the ridge and turns the selected ridge clutch 121 off. The controller 100 activates the ridge clutch operating solenoid 120 corresponding to the ridge clutch 121 to be turned off, thereby turning the ridge clutch 121 off.

[0097] Specifically, the controller 100 controls the ridge clutch 121 so that an unplanted area equal to the number of working rows of the seedling planting unit 4 (for example, 8 rows) is created between the ridge and the seedlings to be planted during the planting process.

[0098] For example, if the calculated distance to the ridge is the distance of 12 rows, the controller 100 will disengage the ridge clutches 121 for 4 rows on the ridge side so that an unplanted area of ​​8 rows is created between the ridge and the seedlings planted during the planting process. As a result, an unplanted area corresponding to the number of working rows of the seedling planting unit 4 is formed in the outer perimeter of the field.

[0099] If the automatic ridge clutch switching button 126 is not ON (S200: No), that is, if the automatic ridge clutch switching button 126 is OFF, the current process is terminated.

[0100] The seedling transplanter 1 includes a ridge clutch 121 for switching the number of rows of seedlings planted in the seedling planting section 4, and a controller 100 for controlling the ridge clutch 121.

[0101] The controller 100 calculates the distance to the ridge based on the rotation angle of the irradiation unit 19a when light is irradiated onto the ridge by the irradiation unit 19a, and controls the ridge clutch 121 based on the distance to the ridge.

[0102] As a result, the seedling transplanter 1 can plant seedlings in the field while accurately forming an unplanted area for the number of working rows of the seedling planting unit 4 on the outer perimeter of the field. Furthermore, the seedling transplanter 1 can form an unplanted area for the number of working rows of the seedling planting unit 4 on the outer perimeter of the field without the operator having to operate the ridge clutch 121, thereby reducing the workload on the operator.

[0103] The modified seedling transplanter 1 may have the following configurations, etc.

[0104] When a ridge clutch button 123 is pressed by an operator, the seedling transplanter 1 changes the rotation angle of the irradiation unit 19a according to the number of rows for which the ridge clutch button 123 is pressed. For example, when planting is performed according to the number of rows for which the ridge clutch button 123 is not pressed, the controller 100 changes the rotation angle of the irradiation unit 19a so that the light emitted from the irradiation unit 19a indicates the position where an unplanted area is formed between the ridge and the seedling to be planted, corresponding to the number of rows worked by the seedling planting unit 4.

[0105] This allows the worker to know the number of planting rows that can form an unplanted area on the outer perimeter of the seedling planting section 4, i.e., the number of ridge clutches 121 that should be cut.

[0106] Furthermore, the seedling transplanter 1 may notify the operator when the ridge clutch button 123 is pressed, which is the state in which the light emitted from the irradiation unit 19a coincides with (or is closest to) the edge of the ridge.

[0107] The seedling transplanter 1 may start irradiating light with the irradiation unit 19a of the side marker 19 when the seedling planting unit 4 starts planting seedlings. The seedling transplanter 1 may also start irradiating light when the seedling planting unit 4 is in a predetermined working position.

[0108] As a result, the seedling transplanter 1 can shorten the light irradiation time by the side marker 19 and suppress power consumption in the side marker 19.

[0109] The seedling transplanter 1 may correct the rotation angle of the irradiation unit 19a in accordance with the tilt of the vehicle body 2 detected by the tilt sensor 92. Specifically, the controller 100 corrects the rotation angle of the irradiation unit 19a in accordance with the tilt of the vehicle body 2 in the left-right direction. For example, if the vehicle body 2 tilts so that the left side is higher, the controller 100 corrects the rotation angle of the irradiation unit 19a so that the rotation angle of the irradiation unit 19a becomes smaller (closer to the initial angle).

[0110] As a result, even if the seedling transplanter 1 is tilted to the left or right, the operator can easily align the light emitted from the irradiation unit 19a with the adjacent rows by moving the machine accordingly, thus ensuring that the machine moves in a aligned manner between adjacent rows.

[0111] The side marker 19 may have multiple illumination modes. The side marker 19 changes its illumination mode according to the working state of the seedling transplanter 1. Specifically, the controller 100 changes the illumination mode in the illumination unit 19a. For example, the side marker 19 can change the color of the light in the illumination unit 19a. The side marker 19 can also make the light in the illumination unit 19a continuous or blink.

[0112] For example, the controller 100 emits green light from the irradiation unit 19a when the seedling transplanter 1 is operating normally. The controller 100 also emits red light from the irradiation unit 19a when the seedling transplanter 1 is operating abnormally. An abnormal operating state of the seedling transplanter 1 could be, for example, a sensor malfunction or blockage by seedlings or mud.

[0113] For example, the controller 100 turns on the light of the illumination unit 19a when the working status of the seedling transplanter 1 is normal. The controller 100 also makes the light of the illumination unit 19a blink when the working status of the seedling transplanter 1 is abnormal.

[0114] As a result, the seedling transplanter 1 can inform the operator of its working status using the side marker 19.

[0115] The controller 100 may illuminate the light of the illumination unit 19a when the gear shift lever 36 is in the forward position. The controller 100 may flash the light of the illumination unit 19a when the gear shift lever 36 is in the reverse position.

[0116] The seedling transplanter 1 may also be used as a marker that projects linear light onto the field using the center mascot 66.

[0117] The seedling transplanter 1 may adjust the rotation angle of the irradiation unit 19a depending on the state of the seedling planting unit 4. Specifically, when the seedling planting unit 4 is not planting seedlings, the controller 100 adjusts the rotation angle of the irradiation unit 19a so that it irradiates light toward the outermost position (outermost dimension position) of the seedling transplanter 1 in the left-right direction of the traveling vehicle body 2. For example, when the planting unit lifting switch 47 is in the "up" position, the controller 100 adjusts the rotation angle of the irradiation unit 19a so that it irradiates light toward the outermost position of the seedling transplanter 1 in the left-right direction of the traveling vehicle body 2.

[0118] The outermost position of the seedling transplanter 1 is determined based on the model of the seedling transplanter 1. For example, if the length of the seedling planting section 4 in the left-right direction is longer than the length of the vehicle body 2 in the left-right direction, the outermost position of the seedling transplanter 1 is the outermost position of the seedling planting section 4.

[0119] This allows the operator to visually confirm, for example, the position where the front plate guard of the seedling planting section 4 passes when moving the seedling transplanter 1 into or out of the barn. As a result, the seedling transplanter 1 can be prevented from coming into contact with obstacles.

[0120] The seedling planting unit 4 may be foldable in the left-right direction relative to the vehicle body 2. For example, the seedling planting unit 4 is folded when the seedling transplanter 1 is brought into a barn. The seedling transplanter 1 may adjust the rotation angle of the irradiation unit 19a according to the folded state of the seedling planting unit 4. Specifically, when the seedling planting unit 4 is folded, the controller 100 adjusts the rotation angle of the irradiation unit 19a so that light is directed toward the outermost position of the seedling transplanter 1 when the seedling planting unit 4 is folded.

[0121] This allows the operator to accurately see the outermost position of the seedling transplanter 1 using the light from the illumination unit 19a.

[0122] The seedling transplanter 1 may be equipped with the following mechanism for removing spare seedling mats 200 from the seedling tray 201. As shown in Figure 11, when the seedling tray 201 is transported to the rear, the seedling transplanter 1 removes the seedling mats 200 from the seedling tray 201 using an L-shaped insertion plate 202. Figure 11 shows the state in which the seedling tray 201 is being transported to the rear.

[0123] As shown in Figure 12, the seedling tray 201 has a slit 205 formed on its rear end side so that the insertion plate 202 can be inserted. Figure 12 is a view of the seedling tray 201 from the rear. The slit 205 is formed on the rear end side of the seedling tray 201. The slit 205 is formed to open towards the rear. The slit 205 is also formed to open downwards. Furthermore, the slit 205 is formed to open upwards, as shown in Figure 13, so that the seedling tray 201 can fall downwards when the front end of the insertion plate 202 is inserted to the front end side of the seedling tray 201. Figure 13 is a view of the seedling tray 201 from above. Note that the slit 205 may also be provided on the front end side of the seedling tray 201.

[0124] The insertion plate 202 is inserted into the slit 205 from the rear side of the seedling tray 201 and placed between the mat seedlings 200 and the seedling tray 201. In other words, the insertion plate 202 supports the mat seedlings 200 from below. The insertion plate 202 is supported from below by a support member. For example, the insertion plate 202 is detachable from the support member.

[0125] As the seedling tray 201 is transported further to the rear, it falls downward so that the insertion plate 202 passes through the upward-opening slit 205. At this time, the mat seedlings 200 remain on the insertion plate 202 because they are supported from below by the insertion plate 202. In this way, the mat seedlings 200 are removed from the seedling tray 201 by the insertion plate 202.

[0126] The empty seedling trays 201 that fall along the insertion plate 202 are collected in the seedling tray collection bucket 206 shown in Figure 14. Figure 14 is a side view showing the arrangement of the seedling tray collection bucket 206.

[0127] A projection 207 is formed on the upper surface of the seedling tray 201, projecting upward. Additionally, a recessed hole 208 is formed on the lower surface of the seedling tray 201, as shown in Figure 15. Figure 15 is a perspective view of the seedling tray 201 from below. The hole 208 is formed so that the projection 207 can be inserted when the seedling trays 201 are stacked vertically. As a result, when the seedling trays 201 are placed in the seedling tray collection bucket 206, the projection 207 of the lower seedling tray 201 is inserted into the hole 208 of the upper seedling tray 201.

[0128] Furthermore, a rail guide groove 210 is formed on the side of the seedling tray 201, which is guided by the rail 209 shown in Figure 16 when the seedling tray 201 is transported backward. The rail 209 prevents the seedling tray 201 from floating upward. Figure 16 is a perspective view showing the seedling tray 201 guided by the rail 209.

[0129] As shown in Figure 17, the seedling tray 201 may have grooves 214 into which gear-shaped rollers 212 can engage. Figure 17 is a diagram illustrating a mechanism for transporting the seedling tray 201. The grooves 214 are provided on the side of the seedling tray 201. The grooves 214 are formed in a row in the front-to-back direction. Multiple rollers 212 are provided in the front-to-back direction. The multiple rollers 212 are connected by a belt or chain and rotated by a drive unit such as a motor.

[0130] A cam 215 may be attached to the roller 212, as shown in Figure 18. Figure 18 is an enlarged view of the area around the roller 212. The cam 215 is positioned to push the seedling tray 201, for example, the protruding portion 207, downward when the seedling tray 201 is transported to the rear end. This biases the empty seedling tray 201 toward the seedling tray collection bucket 206 (see Figure 14), and the empty seedling tray 201 is then placed in the seedling tray collection bucket 206.

[0131] The roller 212 is supported so as to be movable in the vertical direction by the sliding of the node 219a of the link 219 on the slide bar 218. By sliding the node 219a of the link 219, the link 219 can be moved upward, as shown in Figure 19. Figure 19 shows the state in which the link 219 has been moved upward. As a result, the roller 212 moves upward together with the link 219. Note that the feed for each row may be changed to an on state or an off state by a clutch.

[0132] The seedling transplanter 1 may be configured such that a contact switch is pressed by the seedling tray 201 when the seedling tray 201 is transported to the rear end. The seedling transplanter 1 may also count the number of seedlings used based on the number of times the contact switch is pressed.

[0133] The seedling transplanter 1 counts the time since the contact switch was pressed, and if the contact switch remains pressed after a certain period of time has elapsed, it may determine that the movement of the empty seedling trays 201 to the seedling tray collection bucket 206 is not normal. In this case, the seedling transplanter 1 may notify the operator that the collection of the seedling trays 201 is abnormal.

[0134] The seedling transplanter 1 may be equipped with a weight sensor to measure the weight of the seedling trays 201 in the seedling tray collection bucket 206. The seedling transplanter 1 counts the collected seedling trays 201 based on the weight measured by the weight sensor.

[0135] The seedling transplanter 1 may be equipped with a proximity sensor near the position where the seedling tray collection bucket 206 becomes full. The seedling transplanter 1 may also use the proximity sensor to notify the operator that the seedling tray collection bucket 206 is full.

[0136] The seedling transplanter 1 may automatically replenish seedlings when the timing for seedling replenishment is detected by a seedling reduction switch located in the seedling tank 53. In this case, the next waiting seedling tray 201 is transported backward, pushing the seedling mat supported by the insertion plate 202 into the seedling tank 53. The seedling tray 201 may be pushed by a push cylinder or the like.

[0137] 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]

[0138] 1 Seedling transplanter 2. Running vehicle 4 Seedling planting department 19 Side Marker 19a Irradiation section 19b Rotating part 19c Side Marker Adjustment Motor (Motor) 92 Tilt Sensor 100 controllers 120 Ridge clutch operating solenoid 121 Ridge Clutch 123 Ridge Clutch Button 124 Rotation Angle Detection Sensor 125 Rotation Angle Adjustment Buttons 126 Ridge clutch automatic switching button

Claims

1. The vehicle body and The seedling planting unit attached to the vehicle body, A side marker that is attached to the vehicle body and emits light and Equipped with, The side marker is capable of irradiating light toward adjacent rows adjacent to the planting process in which seedlings are planted by the seedling planting unit. The aforementioned side marker is, The vehicle body is rotatably mounted in the left-right direction and includes an irradiating unit that emits light, A motor that rotates the irradiation unit and A seedling transplanter equipped with the following features.

2. The seedling transplanter according to claim 1, wherein the side marker emits linear light parallel to the front-rear direction of the traveling vehicle body.

3. A controller that adjusts the rotation angle of the irradiation unit by controlling the motor. Equipped with, The aforementioned controller, The seedling transplanter according to claim 1, wherein the rotation angle is adjusted from an initial angle to a predetermined angle that allows light to be irradiated toward the adjacent rows, based on the machine information of the seedling transplanter.

4. The seedling transplanter according to claim 1, wherein the side marker starts irradiating light when the seedling planting unit starts planting seedlings.

5. The seedling transplanter according to claim 1, wherein the side marker starts irradiating light when the seedling planting section reaches a predetermined working position.

6. An inclination sensor that detects the tilt angle of the vehicle body in the left-right direction. Equipped with, The seedling transplanter according to claim 3, wherein the controller corrects the rotation angle according to the tilt angle.

7. The seedling transplanter according to claim 1, wherein the side marker has multiple irradiation modes, and the irradiation mode is changed according to the working state of the seedling transplanter.

8. The aforementioned controller, The seedling transplanter according to claim 3, wherein, in a non-working state where seedlings are not planted by the seedling planting unit, the rotation angle is adjusted so that light is directed toward the outermost position of the seedling transplanter in the left-right direction of the traveling vehicle body.

9. The seedling planting section is foldable in the left-right direction of the vehicle body. The aforementioned controller, The seedling transplanter according to claim 8, wherein, when the seedling planting section is in a folded state, the rotation angle is adjusted so that light is directed toward the outermost position of the seedling planting section in the folded state.

10. The seedling planting section includes a row number switching unit for switching the number of rows to plant seedlings, A controller that controls the number of rows switching unit and Equipped with, The aforementioned controller, Based on the rotation angle of the irradiation unit when light is shone onto the ridge by the irradiation unit, the distance to the ridge is calculated. The seedling transplanter according to claim 1, wherein the row number switching unit is controlled based on the distance to the aforementioned ridge.

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