Transplanter

Abstract

The present invention comprises: a seedling placement table on which a seedling mat is placed; a planting mechanism for retrieving a seedling from the seedling mat and transplanting the seedling to a field; a lateral feeding mechanism 22 for driving reciprocation of the seedling placement table in a lateral direction in conjunction with driving of the planting mechanism; a lateral-feeding-amount-changing mechanism 16 for changing the lateral feeding amount, which is the speed at which the lateral feeding mechanism 22 drives reciprocation; and a detection unit 34 for automatically detecting the lateral feeding amount in conjunction with movement of the lateral-feeding-amount-changing mechanism 16.

Description

transplant machine

[0001] The present invention relates to a transplanter.

[0002] For example, in the transplanter disclosed in Japanese Patent Publication No. 2010-213638 (Patent Document 1), the lateral feed mechanism is equipped with a detection unit (referred to in the document as a "lateral feed sensor (104)") that detects the lateral feed amount of the seedling carrier.

[0003] Japanese Patent Application Publication No. 2010-213638

[0004] However, the backside of the seedling carrier, especially the area where the lateral feed mechanism is located, tends to be crowded with other mechanisms and equipment. Furthermore, since the lateral feed mechanism is constantly in operation during rice planting, if the detector is constantly linked to the lateral feed mechanism, there is a possibility that the detector may break down due to factors such as sliding wear. Therefore, the challenge is to find a simpler configuration to detect the lateral feed amount.

[0005] An object of the present invention is to provide a transplanter that is capable of detecting the lateral feed amount of a lateral feed mechanism with a simple configuration.

[0006] The transplanter according to the present invention is characterized by comprising a seedling carrier table on which a seedling mat is placed, a planting mechanism that removes the seedlings from the seedling mat and transplants them into a field, a lateral feed mechanism that drives the seedling carrier table back and forth in the left and right directions in conjunction with the drive of the planting mechanism, a lateral feed amount change mechanism that changes the lateral feed amount, which is the speed at which the lateral feed mechanism drives back and forth, and a detection unit that automatically detects the lateral feed amount in conjunction with the movement of the lateral feed amount change mechanism.

[0007] According to the present invention, the detector automatically detects the lateral feed amount in conjunction with the movement of the lateral feed amount change mechanism. With this configuration, the detector moves only when the lateral feed amount change mechanism moves, and the risk of the detector being subject to sliding wear is reduced compared to a configuration in which the detector is always in conjunction with the lateral feed mechanism. This realizes a transplanter that can detect the lateral feed amount of the lateral feed mechanism with a simple configuration.

[0008] In the present invention, a link-type operating device is provided that is connected to the lateral feed amount change mechanism and accepts manual operation to change the lateral feed amount, and the detection unit is configured to detect the lateral feed amount that is changed based on operation of the link-type operating device, and it is preferable that the detection unit is arranged on the opposite side of the link-type operating device from the lateral feed amount change mechanism.

[0009] According to this configuration, the detection unit detects the lateral feed amount that is changed based on the operation of the link-type operating device. This configuration allows the detection unit to detect the operation amount and operation position of the link-type operating device and detect the operation amount and operation position as the lateral feed amount. This simplifies the configuration of the detection unit compared to a configuration in which the detection unit directly detects the operation of the lateral feed amount change mechanism. Furthermore, the detection unit is provided on the opposite side of the link-type operating device from the lateral feed amount change mechanism. This configuration makes it easier to arrange the detection unit in a space that avoids interference with devices such as the lateral feed mechanism and the lateral feed amount change mechanism, as well as other sensors, and also simplifies maintenance, compared to a configuration in which the detection unit is provided on the side where the lateral feed mechanism and the lateral feed amount change mechanism are located.

[0010] In the present invention, it is preferable that the lateral feed amount change mechanism is arranged in a central region in the left-right direction of the machine body, and the detection unit is arranged in a region laterally outside the machine body with respect to the lateral feed amount change mechanism.

[0011] This configuration places the detector in a position that is easily reachable by the operator, making it easier for the operator to check and maintain the detector.

[0012] In the present invention, it is preferable that the lateral feed mechanism extends along the left-right direction of the machine body, and the detection unit is arranged in an area corresponding to the outer lateral end of the lateral feed mechanism of the machine body in the left-right direction of the machine body.

[0013] With this configuration, the detector is placed in a space that avoids interference with other devices, sensors, etc., and is positioned not far from the position of the traverse mechanism, which makes it easier to make the configuration of the traverse mechanism, including the detector, compact.

[0014] In the present invention, it is preferable that the lateral feed mechanism extends along the left-right direction of the aircraft, and that the detection unit is arranged in an area laterally outer than the outer end of the lateral feed mechanism in the left-right direction of the aircraft.

[0015] With this configuration, the detector is placed in a space that avoids interference with other devices and sensors, and is positioned within easy reach of workers, making it even easier for workers to check and maintain the detector.

[0016] In the present invention, a link-type operating device is provided that is connected to the lateral feed amount change mechanism and accepts manual operation to change the lateral feed amount, and it is preferable that the link-type operating device is provided with a swing lever that accepts the manual operation, a first rod that is pivotally connected to the swing lever and connected to the lateral feed amount change mechanism, and a second rod that is pivotally connected to the swing lever and connected to the detection unit.

[0017] According to this configuration, the rocking lever is connected to the lateral feed amount change mechanism via the first rod. Therefore, the lateral feed amount is changed in response to the operator rocking the rocking lever. The detection unit is connected to the rocking lever via the second rod. This configuration enables the detection unit to detect the amount of operation and the operating position of the rocking lever, and detect the amount of operation and the operating position as the lateral feed amount.

[0018] In the present invention, it is preferable that the second rod is pivotally connected to a portion of the rocking lever that is closer to the rocking axis of the rocking lever than the portion where the second rod is connected to the first rod.

[0019] With this configuration, the second rod is connected to a location between the connection point with the first rod and the location of the oscillation axis. Compared to a configuration in which the second rod is connected to the free end side of the connection point with the first rod, this configuration makes it possible to shorten the second rod while avoiding interference between the second rod and other mechanisms.

[0020] In the present invention, it is preferable that the detection unit is a swing-type potentiometer and is pivotally connected to the second rod.

[0021] This configuration further simplifies the configuration of the detection unit.

[0022] In the present invention, it is preferable that an acquisition unit that acquires the lateral feed amount detected by the detection unit as work information, and a notification unit that notifies the work information including the lateral feed amount are provided.

[0023] This configuration allows the operator or the like to easily grasp the lateral feed amount.

[0024] 4 is a side view of the entire rice transplanter. FIG. 5 is a diagram showing the configuration of the vertical feed mechanism and the horizontal feed mechanism. FIG. 6 is a rear view showing the configuration of the first seedling out sensor and the second seedling out sensor. FIG. 7 is a cross-sectional view taken along line IV-IV in FIG. 3 showing the configuration of the first seedling out sensor. FIG. 8 is a block diagram showing the configuration of the seedling harvesting amount adjustment system. FIG. 9 is a flowchart showing the processing flow of the seedling harvesting amount adjustment system. FIG. 10 is a diagram for explaining the vertical length of the seedling mat. FIG. 11 is a plan view showing the configuration of the link-type operating device.

[0025] An embodiment illustrating the rice transplanter of the present invention will be described based on a riding rice transplanter (an example of a transplanter) shown in Figures 1 to 8. Note that the direction of the arrow "F" shown in the figures is the "forward direction of the machine body," the direction of the arrow "B" shown in the figures is the "rearward direction of the machine body," the direction of the arrow "L" shown in the figures is the "leftward direction of the machine body," the direction of the arrow "R" shown in the figures is the "rightward direction of the machine body," the direction of the arrow "U" shown in the figures is the "upward direction of the machine body," and the direction of the arrow "D" shown in the figures is the "downward direction of the machine body."

[0026] [Overall Structure of the Ride-On Rice Transplanter] As shown in Figures 1 and 2, the rice transplanter comprises a ride-on vehicle body 1. The vehicle body 1 comprises four-wheel drive wheels 2, a spare seedling storage tray 3, and a driver's unit 4. The driver's unit 4 is provided in the rear area of ​​the vehicle body 1, and an operator rides in the vehicle. Note that the term "operator" also includes the term "driver." A GNSS (Global Navigation Satellite System, GPS, GLONASS, Galileo, BeiDou, etc.) receiver 5 is provided above the spare seedling storage tray 3. Based on the positioning signal received by the receiver 5, at least one of automatic driving and automatic steering is possible.

[0027] A seedling planting device 10 is supported at the rear of the machine body 1 so as to be able to move up and down via a link mechanism 9. The seedling planting device 10 plants seedlings in the field. The seedling planting device 10 is also configured so that it can oscillate left and right relative to the machine body 1 by rolling.

[0028] Although not described in detail, an engine (not shown) is mounted on the machine body 1. The power of the engine is transmitted to the wheels 2 and the seedling planting device 10, respectively.

[0029] As shown in Figures 1 and 2, the seedling planting device 10 includes multiple (four in this embodiment) transmission cases 11, multiple (eight in this embodiment) rotating cases 12, soil leveling floats 13, and seedling carriers 14. The rotating cases 12 are rotatably supported on the left and right rear sides of each transmission case 11. A pair of rotary planting arms 15 is provided at both ends of each rotating case 12. The seedling planting device 10 is equipped with multiple soil leveling floats 13, which level the paddy field surface. Seedling mats are placed on the seedling carriers 14. The seedling mats are mat-shaped seedlings for planting. The seedling planting device 10 also includes a seedling quantity change mechanism 25 (see Figure 5). The seedling quantity change mechanism 25 changes the amount of seedlings that the planting arms 15 take from the seedling carriers 14. The planting arm 15 is an example of a "planting mechanism."

[0030] As shown in Figure 3, the seedling carrier 14 has multiple (eight in this embodiment) loading surface sections 14a arranged in the left-right direction of the machine body. The left-right width of each loading surface section 14a corresponds to the left-right width of the seedling mat. Each loading surface section 14a is configured to be able to load one row of seedling mat. This allows eight rows of seedling mats to be loaded on the seedling carrier 14. The number of loading surface sections 14a may be seven or less, or nine or more.

[0031] The lateral feed mechanism 22 (described later) drives the seedling carrier 14 to move back and forth between the left and right, while each rotating case 12 is driven to rotate by power transmitted from the transmission case 11, and each planting arm 15 alternately picks up seedlings from the bottom of the seedling carrier 14 and plants them on the surface of the paddy field. In other words, the seedling planting device 10 is configured so that the planting arms 15 of multiple rotating cases 12 plant seedlings.

[0032] 2, the seedling planting device 10 has a vertical feed mechanism 21 and a horizontal feed mechanism 22. The seedling planting device 10 is provided with a transmission mechanism 16. The machine body 1 is also provided with a PTO shaft (not shown) for transmitting power from an engine (not shown) to the seedling planting device 10. The transmission mechanism 16 receives power from the engine from the PTO shaft via a universal joint.

[0033] The lateral feed mechanism 22 reciprocates the seedling carrier 14 in the left and right direction in conjunction with the drive of the planting arm 15. The lateral feed mechanism 22 has a lateral feed shaft 22a and a lateral feed member 22b. The lateral feed shaft 22a rotates by power from the transmission mechanism 16.

[0034] The traverse member 22b is attached to the traverse shaft 22a in a state in which it can rotate relative to the traverse shaft 22a and can slide relative to the traverse shaft 22a. The traverse member 22b is also connected to the seedling carrier 14.

[0035] When the lateral feed shaft 22a rotates, the lateral feed member 22b is reciprocated in the direction of extension of the lateral feed shaft 22a by the spiral feed groove formed in the lateral feed shaft 22a. As a result, the seedling carrier 14 is reciprocated left and right. With this configuration, the seedling planting device 10 reciprocates the seedling carrier 14 left and right while performing the seedling planting operation with the planting arm 15.

[0036] That is, the seedling planting device 10 is configured to reciprocate the seedling carrier 14 left and right while performing the seedling planting operation. As the seedling carrier 14 reciprocates left and right, the position of the seedling carrier 14 relative to the machine body 1 changes left and right.

[0037] As shown in FIG. 2, the vertical feed mechanism 21 includes a vertical feed shaft 21a, a first transmission arm 21b, a second transmission arm 21c, a driven arm 21d, a one-way clutch 21e, a drive shaft 21f, and a vertical feed belt 21g.

[0038] In this embodiment, the rice transplanter is designed for eight-row planting, so eight vertical feed belts 21g are provided. The number of vertical feed belts 21g may be seven or less, or nine or more, as long as it is the same as the number of loading surface sections 14a.

[0039] The vertical feed shaft 21a is rotated by power from the transmission mechanism 16. The first transmission arm 21b and the second transmission arm 21c are fixed to the vertical feed shaft 21a in a state where they cannot rotate relative to the vertical feed shaft 21a. The first transmission arm 21b is located to the left of the second transmission arm 21c.

[0040] The driven arm 21d is connected to a drive shaft 21f via a one-way clutch 21e, and the vertical feed belt 21g is configured to rotate in conjunction with the rotation of the drive shaft 21f.

[0041] When the seedling tray 14 reaches the left stroke end, the driven arm 21d enters the rotation range of the first transmission arm 21b. As a result, the first transmission arm 21b contacts the driven arm 21d. Then, the power of the vertical feed shaft 21a is transmitted to the drive shaft 21f via the first transmission arm 21b, the driven arm 21d, and the one-way clutch 21e.

[0042] As a result, the drive shaft 21f rotates by the set rotation angle, and the vertical feed belt 21g rotates by an amount corresponding to a predetermined feed distance.

[0043] When the seedling carrier 14 reaches the right stroke end, the driven arm 21d enters the rotation range of the second transmission arm 21c. This causes the second transmission arm 21c to come into contact with the driven arm 21d. The power of the vertical feed shaft 21a is then transmitted to the drive shaft 21f via the second transmission arm 21c, the driven arm 21d, and the one-way clutch 21e.

[0044] As a result, the drive shaft 21f rotates by the set rotation angle, and the vertical feed belt 21g rotates by an amount corresponding to a predetermined feed distance.

[0045] The vertical feed belt 21g is configured to come into contact with the seedling mats placed on the seedling tray 14. Therefore, when the vertical feed belt 21g rotates, the seedling mats placed on the seedling tray 14 move downward by a preset feed distance. The feed distance when the vertical feed belt 21g rotates is the vertical feed amount per rotation in the vertical feed mechanism 21.

[0046] [Regarding the seedling out sensor] As shown in Figure 3, the rice transplanter of this embodiment is equipped with a first seedling out sensor 23 and multiple second seedling out sensors 24. The first seedling out sensor 23 and multiple second seedling out sensors 24 are configured to detect a seedling out state in which the vertical length of the seedling mat left on the seedling carrier 14 falls below a preset length. In other words, the first seedling out sensor 23 and multiple second seedling out sensors 24 are configured to detect a state in which the remaining seedling amount falls below a preset amount based on the vertical length of the seedlings in the seedling mat placed on the seedling carrier 14. The first seedling out sensor 23 corresponds to a "seedling out sensor."

[0047] The first out-of-seedling sensor 23 is provided in the second-row placement surface section 14a from the right end of the machine body. The second out-of-seedling sensor 24 is provided in each placement surface section 14a. The first out-of-seedling sensor 23 is not limited to the second-row placement surface section 14a from the right end of the machine body, but may be provided in any placement surface section 14a. Furthermore, two or more first out-of-seedling sensors 23 may be provided in any of the eight placement surface sections 14a.

[0048] As shown in Figure 3, the first out-of-seedling sensor 23 is provided above the seedling tray 14 in the vertical direction of the machine body. Each second out-of-seedling sensor 24 is provided below the seedling tray 14 in the vertical direction of the machine body. In other words, the first out-of-seedling sensor 23 is provided at a higher position than the second out-of-seedling sensors 24.

[0049] As shown in Figure 4, the first seedling out sensor 23 has a support portion 23A, a swinging portion 23B, and a sensor portion 23C. The swinging portion 23B is supported by the support portion 23A so that it can swing around a swing axis P1. A torsion spring is wound around the swing base end of the swinging portion 23B. This biases the swinging portion 23B to swing upward. The swinging portion 23B has a mountain-shaped portion in side view. This mountain-shaped portion is formed with a base-end inclined portion 23o, a peak portion 23p, and a sharp end portion 23q.

[0050] When the seedling mat steps on the first out-of-seedling sensor 23, the first out-of-seedling sensor 23 is displaced downward. As a result, the first out-of-seedling sensor 23 is in a state where it does not detect out-of-seedling conditions, i.e., is in a non-detection state. At this time, the sharp end 23q comes close to the sensor portion 23C. Also, when the seedling mat is not stepping on the first out-of-seedling sensor 23, the first out-of-seedling sensor 23 swings upward due to the biasing force of the torsion spring. As a result, the first out-of-seedling sensor 23 is in a detection state where it detects the out-of-seedling condition. At this time, the sharp end 23q moves away from the sensor portion 23C.

[0051] FIG. 3 shows the first height H1. When the seedling top position in the placement surface section 14a is higher than the first height H1, the first out-of-seedling sensor 23 located in that placement surface section 14a is in a non-detection state. The seedling top position refers to the position of the top of the seedling mat placed on the placement surface section 14a. When the seedling top position in the placement surface section 14a where the first out-of-seedling sensor 23 is located is below the first height H1, the first out-of-seedling sensor 23 detects the out-of-seedling state. The length between the bottom end of the placement surface section 14a and the first height H1 corresponds to the "first length." In other words, the first out-of-seedling sensor 23 detects the out-of-seedling state when the vertical length of the seedling mat remaining on the seedling tray 14 falls below a predetermined length (first length).

[0052] When the first seedling-out sensor 23 is in a detection state for detecting the out-of-seedling state, the extension direction Q of the sharp end 23q is at an angle close to a right angle to the extension direction of the placement surface section 14a. In other words, the intersection angle of the extension direction Q of the sharp end 23q with the extension direction of the placement surface section 14a is more perpendicular than the intersection angle of the extension direction R of the base-end inclined portion 23o with the extension direction of the placement surface section 14a.

[0053] With this configuration, when seedling mats are replenished onto the seedling tray 14, as the seedling mats slide downward from the upper end of the seedling tray 14 along the placement surface section 14a, the base end inclined portion 23o abuts against the bottom of the seedling mat, causing the swinging portion 23B to swing smoothly downward. This allows the first out-of-seedling sensor 23 to switch from a non-detecting state to a detecting state for out-of-seedlings without interfering with the downward sliding of the seedling mat. This allows the first out-of-seedling sensor 23 to switch from a non-detecting state to a detecting state for out-of-seedlings without interfering with the downward sliding of the seedling mat. Furthermore, because the base end inclined portion 23o has a gentler slope than the sharp end portion 23q, seedling mats can be detected over as much area of ​​the swinging portion 23B as possible.

[0054] When the seedling top edge position drops below the first height H1 from the first height H1, the upper edge of the seedling mat passes the top portion 23p and is transported downstream in the transport direction. The sharp end portion 23q is bent at a nearly right angle from the top portion 23p, and the upper edge of the seedling mat immediately ceases to contact the sharp end portion 23q after passing the top portion 23p. At this time, the sharp end portion 23q no longer contacts the bottom of the seedling mat, and the oscillating portion 23B firmly oscillates upward due to the biasing force of the torsion spring. This allows the first seedling-out sensor 23 to immediately detect the seedling-out state when the seedling top edge position drops below the first height H1 from the first height H1. Furthermore, because the sharp end portion 23q is located at the free end of the oscillating portion 23B, the sharp end portion 23q oscillates significantly around the oscillating axis P1. This allows the sensor unit 23C to reliably detect the presence or absence of the sharp end portion 23q, and the first seedling cut sensor 23 to reliably detect the presence or absence of the seedling mat.

[0055] When the seedling mat steps on the second out-of-seedling sensor 24, the second out-of-seedling sensor 24 is displaced downward. As a result, the first out-of-seedling sensor 23 is in a state where it does not detect out-of-seedlings, i.e., in a non-detection state. Also, when the seedling mat does not step on the second out-of-seedling sensor 24, the second out-of-seedling sensor 24 is displaced upward by the biasing force of the biasing member. As a result, the second out-of-seedling sensor 24 is in a detection state where it detects the out-of-seedling state.

[0056] 3 shows the second height position H2. When the upper end of the seedlings in the placement surface section 14a is higher than the second height position H2, the second out-of-seedling sensor 24 located in that placement surface section 14a is in a non-detection state. When the upper end of the seedlings in the placement surface section 14a is lower than the second height position H2, the second out-of-seedling sensor 24 located in that placement surface section 14a detects the out-of-seedling state.

[0057] [Configuration of seedling harvesting amount adjustment control] As shown in Figure 5, the seedling harvesting amount adjustment system of this embodiment is equipped with a control device C, a number acquisition unit 31, a length acquisition unit 32, a vertical feed detection unit 33, and a horizontal feed detection unit 34. The control device C is configured as a collection of programs and hardware incorporated into a microcomputer device such as an ECU (electronic control unit) provided in the rice transplanter. The control device C is equipped with a seedling harvesting amount adjustment unit 30 and a work information acquisition unit 35.

[0058] The seedling quantity adjustment unit 30 is configured to receive information from each of the first seedling cut sensor 23, the number acquisition unit 31, the length acquisition unit 32, the vertical feed detection unit 33, and the horizontal feed detection unit 34, and to control the seedling quantity change mechanism 25 to set or change the seedling quantity based on the information.

[0059] The work information acquisition unit 35 acquires, as work information, the lateral feed amount detected by the lateral feed detection unit 34. In addition to the lateral feed amount, the work information acquisition unit 35 also acquires, as work information, the number of vertical feeds (vertical feed amount) detected by the vertical feed detection unit 33, the detection result of the first seedling out sensor 23, and the detection result of the second seedling out sensor 24. This work information is sent from the work information acquisition unit 35 to the notification unit 26.

[0060] The notification unit 26 may be, for example, a display monitor provided on the operation panel of the driving unit 4, a stacked indicator light, a buzzer, an audio speaker, or a mobile terminal (smartphone or tablet computer) carried by an operator. The notification unit 26 is configured to notify work information including the lateral feed amount. The notification unit 26 may also be configured to receive the calculation results of the actual seedling harvest amount calculated by the seedling harvest amount adjustment unit 30 and notify the actual seedling harvest amount, or to notify the number of seedling mats required in the field based on the calculation results.

[0061] The number acquisition unit 31 and the length acquisition unit 32 may be set, for example, on an operation panel of the driving unit 4, or may receive data from a remote management computer or a mobile terminal via a wireless communication network. The mobile terminal may be, for example, a smartphone or a tablet computer.

[0062] The number acquisition unit 31 acquires the number of seedling mats to be used for planting seedlings in the field (planned number of mats to be used). The planned number of seedling mats to be used is set based on the type of seedlings, the number of plants per unit area, etc.

[0063] The length acquisition unit 32 is configured to acquire the actual length L3 (see FIG. 7) of the area on the seedling carrier 14 where the seedling mats are placed before the planting mechanism begins work. In this embodiment, a scale 14B (see FIGS. 3 and 4) is engraved vertically on the top of the seedling carrier 14. The operator reads the position of the top end of the seedling mat placed on the placement surface section 14a, i.e., the seedling top end position, on the scale 14B and inputs the information on the scale 14B into the length acquisition unit 32. The actual length L3 of the area on the seedling carrier 14 where the seedling mats are placed in the vertical direction corresponds to the "second length."

[0064] The length acquisition unit 32 is also configured to acquire the vertical dimension L2 (see FIG. 7) of the seedling mat before it is placed on the seedling tray 14. The vertical dimension L1 (see FIG. 7) of one seedling mat may be preset to a standard (e.g., 580 mm). The length acquisition unit 32 may be configured to acquire a known dimension L2, or may be configured to acquire the dimension L2 based on manual input.

[0065] The vertical feed detection unit 33 is a switch-type sensor that detects the operation of the passive arm 21d, drive shaft 21f, and vertical feed belt 21g of the vertical feed mechanism 21 shown in Figure 2. The lateral feed detection unit 34 is a swing-type potentiometer that is interlocked and connected to the link-type operating device 40 (see Figure 8). The lateral feed detection unit 34 detects the lateral feed amount of the lateral feed mechanism 22 by detecting the position of the swing lever 41 of the link-type operating device 40. The lateral feed amount is the speed at which the lateral feed mechanism 22 reciprocates. The number of lateral feeds is calculated by dividing the stroke amount of the reciprocating movement of the lateral feed mechanism 22 by the lateral feed amount. In other words, the lateral feed detection unit 34 detects the number of lateral feeds between the first drive of the vertical feed mechanism 21 and the next drive.

[0066] The flow of the seedling quantity adjustment control will be explained based on the flowchart shown in Figure 6. In step #01, the seedling quantity adjustment unit 30 determines whether seedling mats have been placed on the seedling carrier 14 before rice planting begins. "Putting seedling mats on" here means that seedling mats have been placed on the carrier surface section 14a where the first seedling out sensor 23 is located, from a state where no seedling mats have been placed until the first seedling out sensor 23 no longer detects a seedling out state. The seedling quantity adjustment unit 30 determines whether the first seedling out sensor 23 has not detected a seedling out state. If the first seedling out sensor 23 detects a seedling out state (step #01: No), the determination in step #01 loops.

[0067] If the first seedling-out sensor 23 has not detected a seedling-out state (step #01: Yes), in steps #02 to #06, the seedling quantity adjustment unit 30 acquires the information necessary to initially set the seedling quantity.

[0068] In step #02, the seedling harvesting amount adjusting unit 30 acquires the number of seedling mats to be used for planting seedlings in the field (planned number of sheets to be used) from the number acquiring unit 31. The planned number of sheets to be used may be the number of sheets to be used in the entire field, or the planned number of sheets to be used per unit area (e.g., 10 ares).

[0069] In step #03, the seedling quantity adjusting unit 30 obtains the vertical dimension L2 of the seedling mat before it is placed on the seedling tray 14 from the length obtaining unit 32. This dimension L2 is shown in Figure 7. Dimension L2 is derived from the dimension L1 of one seedling mat and the vertical number of seedling mats placed on the seedling tray 14. In this embodiment, the seedling tray 14 is configured to be able to hold two seedling mats vertically. Therefore, dimension L2 is "dimension L1 x 2."

[0070] In step #04, the seedling quantity adjusting unit 30 acquires the actual length L3 of the seedling mat placed on the seedling tray 14 from the length acquiring unit 32. The length L3 is shown in Figure 7. Since a scale 14B is engraved along the vertical direction on the top of the seedling tray 14, the length L3 is acquired based on the scale 14B.

[0071] In step #05, the seedling quantity adjusting unit 30 acquires the crush amount ΔL from the length acquiring unit 32. As shown in Figure 7, the length acquiring unit 32 acquires the crush amount ΔL when the seedling mat is placed on the seedling tray 14 based on the difference between the vertical dimension L2 of the seedling mat before being placed on the seedling tray 14 and the actual length L3 of the seedling mat placed on the seedling tray 14. In other words, the crush amount ΔL is "dimension L2 - length L3".

[0072] In step #06, the seedling picking amount adjusting unit 30 acquires the lateral feed amount (number of lateral feeds) of the lateral feed mechanism 22 detected by the lateral feed detection unit 34. This is because the seedling picking amount to be set differs depending on the lateral feed amount.

[0073] Then, in step #07, the seedling quantity adjusting unit 30 calculates the seedling quantity to be picked by the planting arm 15 as an initial setting based on the information acquired in the processing of steps #02 to #06. At this time, the seedling quantity adjusting unit 30 accurately sets the initial seedling quantity based on the crushing amount ΔL.

[0074] Once the seedling quantity is initially set, the rice transplanter begins planting. In step #08, the seedling quantity adjustment unit 30 determines whether the first seedling-out sensor 23 has detected a seedling-out condition. If the seedling quantity has just been initially set in step #07, the determination in step #08 will be No. However, as the rice transplanter continues planting, the remaining number of seedlings placed on the seedling tray 14 continues to decrease. Then, when the top end position of the seedlings in the placement surface section 14a where the first seedling-out sensor 23 is located falls below the first height position H1, the first seedling-out sensor 23 detects a seedling-out condition (step #08: Yes). Figure 7 shows the vertical length L4 of the seedling mat when the top end position of the seedlings falls below the first height position H1.

[0075] When the answer to step #08 is Yes, the vertical length (first length) of the seedling mat left on the seedling tray 14 when the first seedling-out sensor 23 detects the seedling-out state is known as length L4 shown in Figure 7. Therefore, the seedling amount adjustment unit 30 calculates the difference between the actual vertical length L3 of the seedling mat when the seedling amount was initially set and the vertical length L4 of the seedling mat left on the seedling tray 14 when the first seedling-out sensor 23 detected the seedling-out state. This difference is the consumed length L5, as shown in Figure 7. In step #09, the seedling amount adjustment unit 30 calculates the consumed vertical length L5 of the seedling mat.

[0076] In step #10, the seedling quantity adjustment unit 30 obtains from the vertical feed detection unit 33 the number of vertical feeds of the vertical feed mechanism 21 between the time the seedling quantity is initially set in step #07 and the time the first seedling out sensor 23 detects the seedling out state in step #08 (step #08: Yes).

[0077] The seedling quantity adjusting unit 30 then calculates the actual seedling quantity (actual seedling quantity) of the planting arm 15 based on the length L5 of the seedling mat consumed in the vertical direction and the number of vertical feeds of the vertical feed mechanism 21 from when the seedling quantity was initially set until the first seedling-out sensor 23 detected the seedling-out state (step #11). Because the vertical feed amount per time of the vertical feed mechanism 21 is preset, the calculated total vertical feed amount of the seedling mat can be calculated by multiplying the vertical feed amount per time by the number of vertical feeds.

[0078] If the number of vertical feeds by the vertical feed mechanism 21 is less than the length L5 of the seedling mat consumed in the vertical direction, the calculated total vertical feed amount of the seedling mat will be shorter than length L5. If the calculated total vertical feed amount of the seedling mat is shorter than length L5, the planting arm 15 will pick up more seedlings than the target number due to factors such as the seedling mat being soft and easily crumbled.

[0079] If the number of vertical feeds by the vertical feed mechanism 21 is greater than the length L5 of the seedling mat consumed in the vertical direction, the calculated total vertical feed amount of the seedling mat will be longer than the length L5. If the calculated total vertical feed amount of the seedling mat is longer than the length L5, the planting arm 15 will pick up fewer seedlings than the target number due to factors such as the seedling mat being hard.

[0080] Once the actual seedling harvesting volume is calculated, the seedling harvesting volume adjustment unit 30 controls the seedling harvesting volume change mechanism 25 so that the actual seedling harvesting volume of the planting arm 15 approaches the target seedling harvesting volume (step #12). Because the planting arm 15 harvests seedlings from the lower end of the seedling carrier 14, the actual seedling harvesting volume of the planting arm 15 is related to the distance between the planting arm 15 and the lower end of the seedling carrier 14 when the planting arm 15 harvests seedlings. Therefore, if the actual seedling harvesting volume is less than the target seedling harvesting volume, the seedling harvesting volume adjustment unit 30 controls the seedling harvesting volume change mechanism 25 so that the distance between the planting arm 15 and the lower end of the seedling carrier 14 when the planting arm 15 harvests seedlings is shortened. On the other hand, if the actual seedling harvesting volume is greater than the target seedling harvesting volume, the seedling harvesting volume adjustment unit 30 controls the seedling harvesting volume change mechanism 25 so that the distance between the planting arm 15 and the lower end of the seedling carrier 14 when the planting arm 15 harvests seedlings is lengthened.

[0081] In this way, when the first seedling-out sensor 23 detects that the seedlings are out of stock, the seedling-picking amount adjuster 30 adjusts the seedling picking amount of the planting arm 15, which picks up seedlings from the seedling mat, based on the detection result of the vertical feed detector 33. This configuration makes it possible to accurately plant the number of seedling mats prepared in advance in the field, reducing the possibility of running out of seedling mats or having excess seedling mats.

[0082] 8, the rice transplanter of this embodiment is provided with a link-type operating device 40 that changes the lateral feed amount of the lateral feed mechanism 22. The link-type operating device 40 is provided with a swing lever 41, a first rod 42, a bracket 43, and a second rod 44.

[0083] A support frame 14F is provided at the bottom of the seedling carrier 14, and extends in the left-right direction of the machine body. A bracket 43 is fixed to the support frame 14F with bolts, and the swing lever 41 is supported by a pin on the bracket 43 so that it can swing about a swing axis P2. In other words, the swing lever 41 is supported by the support frame 14F via the bracket 43.

[0084] The portion of the swing lever 41 that is forward of the swing axis P2 is an operating portion that receives manual operation by an operator. Also, a first rod 42 is pivotally connected to the end of the swing lever 41 that is rearward of the swing axis P2.

[0085] When an operator swings the swing lever 41, the first rod 42 is displaced left and right. The end of the first rod 42 opposite the end pivotally connected to the swing lever 41 is connected to a mechanism inside the transmission mechanism 16. A traverse feed amount change mechanism is built into the transmission mechanism 16. The traverse feed amount change mechanism changes the traverse feed amount. The traverse feed amount is the speed at which the traverse feed mechanism 22 reciprocates. As the first rod 42 is displaced left and right, the traverse feed amount change mechanism inside the transmission mechanism 16 operates in conjunction with this, changing the traverse feed amount of the traverse feed mechanism 22. The link-type operating device 40 is connected to the traverse feed amount change mechanism and receives manual operation to change the traverse feed amount of the traverse feed mechanism 22.

[0086] The structure of the traverse feed detector 34 for detecting the position of the swing lever 41 will now be described. The traverse feed detector 34 detects the traverse feed amount, which is changed based on the operation of the link-type operating device 40. The traverse feed detector 34 is connected to the swing lever 41 via the second rod 44. One end of the second rod 44 is pivotally connected to a location between the swing lever 41's portion where the swing axis P2 is located and the connection portion with the first rod 42. In other words, the second rod 44 is pivotally connected to a location of the swing lever 41 closer to the swing axis P2 of the swing lever 41 than the connection portion with the first rod 42. The other end of the second rod 44 is pivotally connected to the free end of a swing arm connected to the input shaft of a potentiometer in the traverse feed detector 34. As a result, when the swing lever 41 is swung, the potentiometer of the traverse feed detector 34 rotates in conjunction with the movement of the swing lever 41's swing amount change mechanism. As a result, the traverse feed detector 34 automatically detects the traverse feed amount in conjunction with the movement of the traverse feed amount change mechanism.

[0087] The distance D2 between the rotation axis P3 of the potentiometer in the lateral feed detection unit 34 and the connecting point of the second rod 44 is shorter than the distance D1 between the oscillation axis P2 of the rocking lever 41 and the connecting point of the second rod 44. Therefore, when the rocking lever 41 is operated to rock, the potentiometer in the lateral feed detection unit 34 rotates at an angle larger than the rocking of the rocking lever 41. As a result, the operation amount of the rocking lever 41 is amplified in the lateral feed detection unit 34. Therefore, even if the operation amount of the rocking lever 41 is small, the lateral feed detection unit 34 can reliably detect the position of the rocking lever 41.

[0088] The lateral feed detection unit 34 is disposed on the opposite side of the link-type operating tool 40 from the transmission mechanism 16. Specifically, the transmission mechanism 16 is disposed in a central region in the left-right direction of the machine body, and the lateral feed detection unit 34 is disposed in a region laterally outer of the machine body relative to the transmission mechanism 16. The lateral feed mechanism 22 extends along the left-right direction of the machine body. The lateral feed detection unit 34 is disposed in a region laterally outer of the machine body relative to the end of the lateral feed mechanism 22 on the left-right direction of the machine body.

[0089] The traverse mechanism 22 is located between the swing lever 41 and the transmission mechanism 16 in the left-right direction of the machine body. In addition, the ground leveling rotor 50 is located in front of the swing lever 41, and the lifting drive mechanism 51 for lifting and lowering the ground leveling rotor 50 is located between the swing lever 41 and the transmission mechanism 16 in the left-right direction of the machine body. Therefore, if the traverse detection unit 34 is located between the swing lever 41 and the transmission mechanism 16, it will be necessary to locate the traverse detection unit 34 in a narrow space, which will make the work of assembling the traverse detection unit 34 complicated. As shown in Figure 8, if the traverse detection unit 34 is configured to be located on the opposite side of the link-type operating device 40 from the transmission mechanism 16, it will be possible to assemble the traverse detection unit 34 in a space larger than the space between the swing lever 41 and the transmission mechanism 16.

[0090] A mudguard plate 52 is attached to the frame of the ground leveling rotor 50. Although not shown in Figure 8, the wheels 2 are located in front of the mudguard plate 52. The mudguard plate 52 receives mud kicked up by the wheels 2 at its rear. The lateral feed detection unit 34 is located behind the mudguard plate 52. The lateral feed detection unit 34 overlaps with the mudguard plate 52 when viewed in the fore-and-aft direction of the vehicle. This makes it less likely that the lateral feed detection unit 34 will be hit by mud kicked up by the wheels 2. The lateral feed detection unit 34 is also located directly above the ground leveling float 13. This makes it less likely that the lateral feed detection unit 34 will be hit by mud from below.

[0091] Other Embodiments The present invention is not limited to the configurations exemplified in the above-described embodiments, and other representative embodiments of the present invention will be exemplified below.

[0092] (1) In the above-described embodiment, the lateral feed detection unit 34 is disposed in a region laterally outboard of the machine body in the left-right direction of the machine body relative to the outer lateral end of the lateral feed mechanism 22. This embodiment is not limiting, and for example, the lateral feed detection unit 34 may be disposed in a region corresponding to the outer lateral end of the lateral feed mechanism 22 in the left-right direction of the machine body.

[0093] (2) In the above-described embodiment, the link-type operating device 40 includes the swing lever 41, and the swing lever 41 swings around the swing axis P2. However, this is not limited to this embodiment, and the swing lever 41 may be, for example, a slide-type lever.

[0094] (3) In the above-described embodiment, the rocking lever 41 and the lateral feed detection unit 34 are supported by the same support frame 14F. However, this is not limiting, and for example, a configuration may be adopted in which the rocking lever 41 is supported by the support frame 14F and the lateral feed detection unit 34 is supported by a frame separate from the support frame 14F.

[0095] (4) In the above-described embodiment, the lateral feed detection unit 34 is a potentiometer. However, the present invention is not limited to this embodiment. For example, the lateral feed detection unit 34 may be configured to detect the position of the swing lever 41 using a magnetic or optical linear gauge sensor, or may be configured to detect the position of the swing lever 41 using a distance measuring device such as LiDAR. Furthermore, the lateral feed detection unit 34 may be configured to detect a predetermined lateral feed position using a contact sensor.

[0096] (5) In the above-described embodiment, a riding rice transplanter is exemplified as an example of a transplanter. However, the present invention is not limited to this embodiment, and the transplanter may be, for example, a vegetable transplanter, a potted seedling transplanter, or a walk-behind rice transplanter.

[0097] The configurations disclosed in the above-described embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with the configurations disclosed in other embodiments, unless a contradiction occurs. Furthermore, the embodiments disclosed in this specification are merely examples, and the present invention is not limited to these, and can be modified as appropriate within the scope of the purpose of the present invention.

[0098] The present invention is applicable to transplanters.

[0099] 1: Machine body 14: Seedling carrier 15: Planting arm (planting mechanism) 16: Transmission mechanism (lateral feed amount change mechanism) 22: Lateral feed mechanism 26: Notification unit 34: Lateral feed detection unit (detection unit) 35: Work information acquisition unit (acquisition unit) 40: Link-type operating device 41: Swing lever 42: First rod 44: Second rod P2: Swing axis of swing lever

Claims

1. A transplanter comprising: a seedling stage on which a seedling mat is placed; a planting mechanism that removes seedlings from the seedling mat and plants the seedlings in a field; a lateral feed mechanism that reciprocally drives the seedling stage in the left-right direction in conjunction with the drive of the planting mechanism; a lateral feed amount changing mechanism that changes a lateral feed amount which is a speed at which the lateral feed mechanism reciprocally drives; and a detection unit that automatically detects the lateral feed amount in conjunction with the movement of the lateral feed amount changing mechanism.

2. The transplanter according to claim 1, further comprising a link-type operating tool that is connected to the lateral feed amount changing mechanism and receives a manual operation for changing the lateral feed amount, wherein the detection unit is configured to detect the lateral feed amount changed based on the operation of the link-type operating tool, and the detection unit is disposed on a side opposite to the lateral feed amount changing mechanism with the link-type operating tool interposed therebetween.

3. The transplanter according to claim 1 or 2, wherein the lateral feed amount changing mechanism is disposed in a central region in the left-right direction of the machine body, and the detection unit is disposed in a region outside the lateral side of the machine body with respect to the lateral feed amount changing mechanism.

4. The transplanter according to any one of claims 1 to 3, wherein the lateral feed mechanism extends along the left-right direction of the machine body, and the detection unit is disposed in a region corresponding to an end portion outside the lateral side of the machine body of the lateral feed mechanism in the left-right direction of the machine body.

5. The transplanter according to any one of claims 1 to 3, wherein the lateral feed mechanism extends along the left-right direction of the machine body, and the detection unit is disposed in a region outside the lateral side of the machine body rather than an end portion outside the lateral side of the machine body of the lateral feed mechanism in the left-right direction of the machine body.

6. The transplanter according to any one of claims 1 to 5, further comprising a link-type operating tool that is connected to the lateral feed amount changing mechanism and receives a manual operation for changing the lateral feed amount, wherein the link-type operating tool includes a swing lever that receives the manual operation, a first rod that is pivotally connected to the swing lever and connected to the lateral feed amount changing mechanism, and a second rod that is pivotally connected to the swing lever and connected to the detection unit.

7. The transplanter according to claim 6, wherein the second rod is pivotally connected to a portion of the swing lever on the side of the swing axis of the swing lever rather than a connection portion of the swing lever with the first rod.

8. The transplanter according to claim 6 or 7, wherein the detection unit is a swing-type potentiometer and is pivotally connected to the second rod.

9. An acquisition unit that acquires, as work information, the lateral feed amount detected by the detection unit, and a notification unit that notifies the work information including the lateral feed amount. The transplanter according to any one of claims 1 to 8, which is provided with these components.

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