Transplanter

Abstract

Provided is a transplanter with which it is possible to reduce an operation load of an operator and assist in work for planting vegetable seedlings.　A transplanter (1) comprises: a planting work machine (4) that plants vegetable seedlings in a field; a traveling body (5) that travels, the planting work machine (4) being mounted on the traveling body (5); a driver seat (3); and an antenna unit (400) that receives satellite positioning information. The planting work machine (4) has a planting unit (525) including a plurality of constituent components for planting vegetable seedlings. A plurality of planting units (525) are provided. The plurality of planting units (525) are arranged side by side in a machine body width direction (K2). The antenna unit (400) is disposed within a range (526) in which a width (T1), which is the width between the outer ends of one constituent component among the plurality of constituent components in the planting unit (525) at one end in the machine body width direction (K2) and another constituent component that is the same as the one constituent component in the planting unit (525) at the other end in the machine body width direction, is extended in a machine body longitudinal direction (K1).

Description

transplant machine

[0001] The present invention relates to a riding vegetable transplanter for planting vegetable seedlings in, for example, a farm field.

[0002] A transplanter disclosed in Patent Document 1 is known.

[0003] The transplanter disclosed in Patent Document 1 is a riding vegetable transplanter that includes a planting machine that plants vegetable seedlings in a field, a running body that travels with the planting machine attached to the rear, and a driver's seat mounted on the running body.

[0004] The riding vegetable transplanter disclosed in Patent Document 2 comprises a planting implement for planting vegetable seedlings in a field, a running body on which the planting implement is mounted and which runs, a driver's seat provided on the running body in which a driver can be seated, and a steering handle provided in front of the driver's seat for steering the running body.

[0005] Japanese Patent Publication No. 2020-202798 and Japanese Patent Publication No. 7134921

[0006] In conventional riding vegetable transplanters, an operator operates a steering handle to move the traveling body along the ridges of a field, and then a planting implement plants seedlings in the ridges. In other words, the operator must operate the steering handle to move the traveling body along the ridges of the field. As a result, riding vegetable transplanters have the problem of imposing a burden on the operator.

[0007] In the riding vegetable transplanter disclosed in Patent Document 1, the driver operates the steering handle to move the traveling body along the ridges of the field, and the planting implement plants vegetable seedlings on the ridges. In other words, the driver must operate the steering handle to move the traveling body along the ridges of the field. Therefore, there is a problem with riding vegetable transplanters, in that they impose a burden on the driver (operator).

[0008] In view of the above problems, the present invention aims to provide a transplanter that can reduce the operating burden on an operator and assist in the planting of vegetable seedlings.

[0009] In view of the above problems, the present invention aims to provide a riding vegetable transplanter that can reduce the driving burden on the operator and assist planting work.

[0010] A transplanter according to one aspect of the present invention comprises a planting implement for planting vegetable seedlings in a field, a running body on which the planting implement is mounted and which runs, a driver's seat mounted on the running body, and an antenna unit for receiving satellite positioning information, wherein the planting implement has a planting unit including a plurality of components for planting the vegetable seedlings, and wherein a plurality of the planting units are provided and the plurality of planting units are arranged in a line in the width direction of the machine body, and the antenna unit is arranged within a range corresponding to the width between the outer ends of one of the plurality of components in the planting unit at one end in the width direction of the machine body and the same component as the one component in the planting unit at the other end in the width direction of the machine body, extending in the fore-and-aft direction of the machine body.

[0011] The antenna unit may be disposed at a substantially central portion of the range in the fuselage width direction.

[0012] The planting unit may include a planting body that plants seedlings in a field, and the one component may be the planting body.

[0013] The planting work machine may have a seedling loading table on which seedling trays are placed, and the planting unit may include a seedling removal device that removes seedlings from the seedling trays placed on the seedling loading table, and the one component may be the seedling removal device.

[0014] The planting unit may include a planting body for planting seedlings and a pair of soil covering wheels that roll in the field to compress the soil on both sides of the width of the machine body of the seedlings planted by the planting body, and the one component may be the pair of soil covering wheels.

[0015] The antenna unit may be positioned above approximately the center between the planting body of the planting unit at one end of the width direction of the body and the planting body of the planting unit at the other end of the width direction of the body.

[0016] The antenna unit may be positioned above the approximate center between the seedling removal device of the planting unit at one end of the machine body width direction and the seedling removal device of the planting unit at the other end of the machine body width direction.

[0017] The antenna unit may be positioned above the approximate center between the pair of soil covering rings of the planting unit at one end of the width direction of the body and the pair of soil covering rings of the planting unit at the other end of the width direction of the body.

[0018] The antenna unit may be disposed above the planting machine.

[0019] The antenna unit may be disposed above a substantially central portion of the planting machine in the width direction of the machine body.

[0020] The planting machine may have a plurality of seedling trays on which seedling trays are placed, the plurality of seedling trays being arranged in a line in the width direction of the machine body, and the antenna unit may be arranged above the outer ends of the seedling tray at one end of the machine body in the width direction and the seedling tray at the other end of the machine body in the width direction.

[0021] The antenna unit may be positioned above the approximate center between the seedling tray at one end of the machine body in the width direction and the seedling tray at the other end of the machine body in the width direction.

[0022] The plurality of seedling trays may be configured to be freely movable back and forth in the width direction of the machine body, and the antenna unit may be positioned approximately in the center of the movement area of ​​the plurality of seedling trays.

[0023] The transplanter may include a mounting body attached to the running body and extending from the running body above the planting machine, the mounting body to which the antenna unit is attached.

[0024] The transplanter may include a support member provided in an upright position at the rear of the running body, and the antenna unit may be supported by the support member.

[0025] The antenna unit may be disposed above the rear of the vehicle and within a widthwise range of the vehicle, and supported by the support body.

[0026] The antenna unit may be disposed above the center of the rear of the vehicle in the width direction of the vehicle or in the vicinity thereof and supported by the support body.

[0027] The vehicle may have, at its rear, a pair of rear wheels extending widthwise of the vehicle and a pair of rear axles extending widthwise of the vehicle that correspond to each of the rear wheels and support the rear wheels, and the antenna unit may be positioned above and between one of the rear axles and the other rear axle and supported by the support body.

[0028] The antenna unit may be disposed above or in the vicinity of a central portion between the one rear axle and the other rear axle and supported by the support body.

[0029] The transplanter is provided with a mounting frame to which the antenna unit is attached, and the support body has one frame member provided in an upright position on one side of the rear of the running body in the width direction of the body, and another frame member provided in an upright position on the other side of the rear of the running body in the width direction of the body, and the mounting frame may be arranged to connect the one frame member and the other frame member.

[0030] The mounting frame may be provided to connect upper portions of the one frame member and the other frame member to each other.

[0031] The one frame member and the other frame member may be disposed rearward of a seat portion of the driver's seat where an operator sits, and may protrude upward beyond the driver's seat.

[0032] The one frame member may be arranged on one side of the driver's seat in the width direction of the aircraft, and the other frame member may be arranged on the other side of the driver's seat in the width direction of the aircraft.

[0033] The support may have a plurality of spare seedling stands on which spare seedling trays are placed.

[0034] The support body may have a plurality of spare seedling stands on which spare seedling trays are placed, the spare seedling stands being attached to the one frame member and the other frame member.

[0035] The transplanter may include a communication antenna that receives a radio signal containing correction information for positioning errors, a communication device that acquires the correction information for positioning errors from the radio signal received by the communication antenna, and a control device that controls automatic steering of the vehicle based on the satellite positioning information and the correction information.

[0036] The transplanter may include a communication device that receives information regarding automatic steering from a mobile terminal, a setting unit that sets a reference direction from the information received by the communication device, and a control device that controls automatic steering to cause the running body to run along the reference direction.

[0037] The ride-on transplanter with a driver's seat is equipped with an antenna unit that receives satellite positioning information, allowing automatic steering control to be performed to move the transplanter (traveling body) along a reference direction (target travel line) based on the satellite positioning information received by the antenna unit. Controlling the automatic steering based on the satellite positioning information reduces the operator's burden and assists in planting vegetable seedlings.

[0038] According to the above configuration, the driving burden on the operator of the transplanter can be reduced, and planting work can be assisted.

[0039] 1 is a schematic side view of a riding vegetable transplanter. FIG. 2 is a schematic plan view of a riding vegetable transplanter. FIG. 3 is a schematic front view of a riding vegetable transplanter. FIG. 4 is a travel system configuration and control block diagram of a riding vegetable transplanter. FIG. 5 is a view of the steering column in front of the driver's seat as seen from the driver's seat side. FIG. 6 is a schematic plan view of a riding vegetable transplanter. FIG. 7 is a left side view of the upper part of a spare seedling table of the riding vegetable transplanter. FIG. 8 is a plan view of a position detection device attached to the center part of the connecting frame. FIG. 9 is an exploded perspective view of the upper part of a spare seedling table of the riding vegetable transplanter as seen from the lower left rear. FIG. 10 is an exploded perspective view of the upper part of a spare seedling table of the riding vegetable transplanter as seen from the upper left rear. FIG. 11 is a left side view of the upper part of the spare seedling table with the connecting frame in a stored position. FIG. 12 is a partial front view of a riding vegetable transplanter showing the spare seedling tables of the front spare seedling table device in a use position. FIG. 13 is a partial front view of a riding vegetable transplanter showing the spare seedling trays of the front spare seedling table and the rear spare seedling table in a non-use position. FIG. 14 is a perspective view of a seedling tray. FIG. 15 is a perspective view of a housing in a closed state as seen from the rear left. FIG. 16 is a perspective view of a housing in an open state as seen from the rear left. 11B。11B is a perspective view of the housing in the open state, seen from below and rear right. A side view showing the seedling tray movement path and the empty tray receiving section. A side view of the machine body. A front perspective view of the running body. A plan view of the running body, etc. A rear view showing the spare seedling tray in the use position and the folded position. A rear perspective view of the running body and the rear spare seedling table device. A rear view of the running body and the rear spare seedling table device. A perspective view of the support portion of the rear spare seedling table device. A plan view of the empty tray placing device and its surroundings. A front view of the empty tray placing device and its surroundings. A perspective view of the empty tray placing device. A plan view of the empty tray placing member. A cross-sectional view taken along the arrow Z1-Z1 in FIG. 11B. A cross-sectional view taken along the arrow Z2-Z2 in FIG. 11B. A perspective view of the anti-rotation structure. A perspective view of the holding member, etc. A side cross-sectional view of the anti-rotation structure. A right side view of the empty tray placing device. A perspective view of the support member. A front cross-sectional view of the pressing member, support member, etc. A perspective view of the main frame. A side view of the main frame and the planting work machine. Fig. 1 is a plan view of the main frame and the planting work machine. Fig. 2 is a plan view of the transplanting unit. Fig. 3 is a rear view showing the front support of the unit frame. Fig. 4 is a plan view showing the rear support of the unit frame. Fig. 5 is a side view showing the rear support of the unit frame. Fig. 6 is a side view of a power input section that inputs power to the drive main shaft. Fig. 7 is a plan view of the power input section.1 is a side view showing the work machine mounting device; FIG. 2 is a rear view of the support structure for the main frame; FIG. 3 is a rear view of the rolling mechanism; FIG. 4 is a side view of the rolling mechanism; FIG. 5 is a side view of the support structure for the sensing roller; FIG. 6 is a rear view of the support structure for the sensing roller; FIG. 7 is a plan view of the first transplanting unit and the second transplanting unit; FIG. 8 is a side view of the planting depth adjusting mechanism and the planting lifting mechanism; FIG. 9 is a rear view of the planting depth adjusting mechanism; FIG. 10 is a side view of the soil covering pressure adjusting mechanism; FIG. 11 is a plan view of the operating unit; FIG. 12 is a plan view of the planting lifting mechanism; FIG. 13 is a side view of the planting lifting mechanism; FIG. 14 is a plan view of the main frame and the seedling placing table; FIG. 15 is a plan view of the seedling placing table; FIG. 16 is a rear view of the connecting structure of the first seedling placing table and the second seedling placing table; FIG. 17 is a side view of the lower part of the seedling placing table; FIG. 18 is a rear view of the lateral feeding mechanism; FIG. 19 is a side view of the tray feeding mechanism and the seedling picking device; FIG. 19 is a plan view showing the range in which the antenna unit is arranged; FIG. 19 is a plan view showing the range in which the antenna unit is arranged. 1 is a side view showing an antenna unit arranged above the planting machine. FIG. 2 is a rear view showing an antenna unit arranged above the planting machine. FIG. 3 is a side view showing an antenna unit arranged above the rear of the traveling body. FIG. 4 is a rear view showing an antenna unit arranged above the rear of the traveling body. FIG. 5 is a plan view showing an antenna unit arranged above the rear of the traveling body. FIG. 6 is a partial front view of a riding vegetable transplanter when a communication antenna is retrofitted. FIG. 7 is a schematic perspective view of a portion including a fixing part for fixing the communication antenna. FIG. 8 is a schematic side view of a portion including a fixing part for fixing the communication antenna. FIG. 9 is a diagram showing an example of a memory table. FIG. 10 is a diagram showing an example of a memory table. FIG. 11 is a diagram showing an example of a memory table. FIG. 12 is a diagram showing an example of a memory table. FIG. 13 is a diagram showing an example of a memory table. FIG. 14 is a diagram showing an example of a memory table. FIG. 15 is a diagram showing an example of a memory table. FIG. 16 is a diagram showing an example of a display of various setting items on a display device. FIG. 17 is a diagram showing an example of a display of a direction input. FIG. 18 is a diagram showing an example of a direction call display. FIG. 19 is a diagram showing an example of a direction output display. FIG. 19 is a diagram showing an example of a field map. FIG. 19 is a diagram showing examples of the timing of seedling shortage detection, alarm and notification. FIG. 19 is a diagram showing examples of the timing of seedling shortage detection, alarm, notification and stopping of the traveling body.

[0040] Hereinafter, an embodiment of the present invention will be described with reference to the drawings as appropriate.

[0041] Fig. 1A is a schematic side view showing the overall configuration of a riding vegetable transplanter 1 according to this embodiment. Fig. 1B is a schematic plan view of the riding vegetable transplanter 1. Fig. 1C is a schematic front view of the riding vegetable transplanter 1. As shown in Fig. 1A, the riding vegetable transplanter 1 (hereinafter, appropriately abbreviated as transplanter 1) is a riding transplanter having a driver's seat 3 in which an operator (driver, operator, worker, user) 2 sits.

[0042] 1A and 1B, the transplanter 1 has a planting implement 4 that plants seedlings 7 (e.g., vegetable seedlings) in a field 6, and a traveling body 5 that travels with the planting implement 4 attached. Therefore, the transplanter 1 is a machine that plants seedlings 7 in the field 6 using the planting implement 4 while traveling through the field 6 using the traveling body 5. In other words, the transplanter 1 is a ride-on vegetable transplanter that plants seedlings 7 (e.g., vegetable seedlings). In this embodiment, the planting implement 4 is attached to the rear of the traveling body 5.

[0043] In the embodiment of the present invention, the direction in front of the operator 2 seated in the driver's seat 3 of the transplanter 1 (the direction of arrow A1 in Figures 1A and 1B) will be described as the forward direction, and the direction behind the operator 2 (the direction of arrow A2 in Figures 1A and 1B) will be described as the rearward direction. The direction of arrow K1 in Figures 1A and 1B will be referred to as the fore-and-aft direction of the machine. Furthermore, the right side of the operator 2 (the direction of arrow B1 in Figure 1B) will be described as the right side, and the left side of the operator 2 (the direction of arrow B2 in Figure 1B) will be described as the left side.

[0044] 1B, the horizontal direction perpendicular to the longitudinal direction of the fuselage (direction of arrow K1) will be referred to as the fuselage width direction (direction of arrow K2). A direction from the center of the fuselage 16 in the width direction to the right or left will be referred to as the fuselage width outward direction. In other words, the fuselage width outward direction is the fuselage width direction K2 direction away from the fuselage width center of the fuselage 16. The direction opposite to the fuselage width outward direction will be referred to as the fuselage width inward direction. In other words, the fuselage width inward direction is the fuselage width direction K2 direction approaching the fuselage width center of the fuselage 16.

[0045] First, an overview of the planting machine 4 will be described. As shown in FIG. 1A, the planting machine 4 has a seedling tray 9 on which a plurality of seedling trays (cell trays) 8 each containing a large number of seedlings 7 is placed (on which the seedling trays 8 are placed). As shown in FIG. 1B, in this embodiment, a plurality of seedling trays 9 are provided. The plurality of seedling trays 9 are arranged side by side in the width direction K2 of the machine body. In this embodiment, there are two seedling trays 9, but three or more may be used. Alternatively, there may be only one seedling tray 9.

[0046] As shown in Figure 3A, the seedling tray 8 is made of plastic, thin-walled, and flexible, and is rectangular in plan view. The seedling tray 8 has numerous pot sections 8a arranged vertically and horizontally in a grid pattern at a predetermined pitch. The opening edges of the pot sections 8a are connected by a flat top wall 8b. The pot sections 8a protrude from the top wall 8b to the rear side (downward). Seedlings 7 (soil block seedlings) are grown in the seedling tray 8 by supplying bed soil to the pot sections 8a, sowing seeds in the bed soil, and raising them (see Figure 1A).

[0047] As shown in Figure 4, the seedling loading platform 9 has a loading plate 10 on which the seedling trays 8 are placed at a downward incline (inclining in a direction that moves rearward as the seedling tray 8 moves downward). As shown in Figure 1A, the seedlings 7 in the seedling trays 8 are removed one by one by a seedling removal device 11 located at the lower rear of the seedling loading platform 9 and supplied to a planting body 12 below. The planting body 12 moves back and forth up and down, receiving the seedlings 7 at the top dead center position. When the planting body 12 descends, it plunges into the field 6 to plant the seedlings 7. Specifically, the planting body 12 is formed with an opener that can be opened and closed back and forth. When closed, it descends while holding the seedlings 7 inside. When it plunges into the field 6, it opens back and forth to form a planting hole in the field 6 and drop the seedlings 7 into the planting hole for planting. The planting machine 4 has a pair of soil covering wheels 62 that roll across the field 6 to compress the soil on both sides (left and right sides) of the seedlings 7 in the width direction K2 of the machine body, after they have been dropped from the planting bodies 12 into the planting holes. As the pair of soil covering wheels 62 roll across the field, soil is piled up around the edges of the seedlings 7 and the edges are compacted. The planting machine 4 removes the seedlings 7 from the seedling tray 8 and automatically plants them in the field 6 at predetermined intervals.

[0048] The planting body 12, the seedling removal device 11, and the pair of soil covering wheels 62 are components for planting vegetable seedlings 7. One or more planting units including these components (seedling removal device 11, planting body 12, and the pair of soil covering wheels 62) are provided depending on the number of seedling carrying tables 9. When there are multiple planting units, they are arranged side by side in the machine width direction K2 corresponding to the seedling carrying tables 9.

[0049] As shown in FIG. 4 , the mounting plate 10 can accommodate multiple seedling trays 8, arranged vertically along the inclined direction. The seedling trays 8 are arranged with their longitudinal axes aligned with the inclined direction. The seedling removal device 11 removes seedlings 7 from the lowest seedling tray 8 (8A) among the multiple seedling trays 8 mounted on the mounting plate 10. The seedling removal device 11 also removes seedlings 7 one by one from the seedling trays 8 while intermittently moving the seedling mounting table 9 laterally in the machine body width direction K2 by one pitch of the pot section 8a. After a horizontal row of seedlings 7 has been removed from the seedling tray 8, the seedling tray 8 is moved vertically downward along the inclined direction by one pitch of the pot section 8a. This allows the next horizontal row of seedlings 7 to be removed. The seedling mounting table 9 is then moved horizontally in the opposite direction to remove the seedlings 7. Once a horizontal row of seedlings 7 has been removed, the seedling tray 8 is moved vertically. By repeating this process sequentially, all seedlings 7 are removed from the seedling tray 8.

[0050] As shown in FIG. 4 , the seedling tray 9 has a reversing guide 13 at its bottom. After the seedlings 7 have been removed by the seedling removal device 11, the seedling trays 8 are fed vertically to the reversing guide 13. The seedling trays 8 are guided by the reversing guide 13 to the rear (lower) side 10A of the mounting plate 10. The seedling tray 9 also has an empty tray guide 14 at the rear side of the mounting plate 10. The empty tray guide 14 has a curved portion 14a at its bottom. The curved portion 14a receives the seedling trays 8 from the reversing guide 13 and guides them to a guide body 14b located on the rear side of the mounting plate 10. The empty seedling trays 8 are guided by the guide body 14b to the upper rear of the mounting plate 10. The empty tray guide 14 has an upper guide portion 14c at its top. The upper guide portion 14c extends forward from the top end of the guide body 14b toward the driver's seat 3. The empty seedling tray 8 can be removed from the upper guide portion 14c.

[0051] Next, the running body 5 will be described in detail. As shown in Fig. 1A, the running body 5 is disposed in front of the planting machine 4. As shown in Fig. 5, the running body 5 includes a machine body 16 on which the driver's seat 3 is mounted, and a running device 17 that supports the machine body 16 so that it can travel.

[0052] The vehicle body 16 has a prime mover 18, a prime mover frame 19, a transmission case 20, and a vehicle frame 21. The prime mover 18 is, for example, a diesel engine. The prime mover 18 is disposed at the front of the vehicle 5. The prime mover frame 19 is disposed below the prime mover 18 and supports the prime mover 18. The transmission case 20 is disposed rearward of the prime mover 18 and houses a transmission mechanism that changes the speed of the power output from the prime mover 18. The prime mover frame 19 is connected to the front of the transmission case 20. The vehicle frame 21 is disposed rearward of the transmission case 20. In other words, the vehicle frame 21 is disposed at the rear of the vehicle 5. The transmission case 20 is connected to the front of the vehicle frame 21. The vehicle frame 21 has a support body 22 at the rear. The driver's seat 3 is attached to the support body 22 via a seat mounting member 31.

[0053] The driver's seat 3 is disposed at the rear of the machine body 16 (mounted at the rear of the running body 5). The driver's seat 3 has a seat portion 3A and a backrest portion 3B. The seat portion 3A is the portion on which the operator 2 sits (rests his / her buttocks and thighs). The backrest portion 3B is the portion on which the seated operator 2 leans his / her back, and is provided to extend upward from the rear of the seat portion 3A.

[0054] 1A and 1B, in this embodiment, the traveling device 17 is a wheel-type traveling device having a pair of (left and right) front wheels 23 in the vehicle body width direction K2 and a pair of (left and right) rear wheels 24 in the vehicle body width direction K2. The front wheels 23 and the rear wheels 24 are rotated by the power output from the transmission case 20.

[0055] 1A and 1B, a steering wheel 25 for steering the vehicle 5 (front wheels 23), a hood 26, and a steering column 27 are provided in front of the driver's seat 3. A fuel tank and other components are housed inside the hood 26. The prime mover 18 is disposed below the hood 26. The steering column 27 covers a handle post and other components that support the steering wheel 25.

[0056] The driver's seat 3 , the steering wheel 25 , and the operating members such as the operating levers provided around the steering wheel 25 and the driver's seat 3 constitute a driving section 501 .

[0057] 5, 6, and 7, the running vehicle 5 has a floor seat 29 arranged below the driver's seat 3. The floor seat 29 has, at its front, a floor step 29a that forms the floor surface of the driver's section 501. The floor step 29a is arranged in front of and below the driver's seat 3. The floor step 29a has a main step portion 29a1 on which the operator 2 seated in the driver's seat 3 places his / her feet, and front step portions 29a2 on both sides of the hood 26 in the vehicle width direction K2. The main step portion 29a1 is formed as a walk-through passage in the vehicle width direction K2.

[0058] The transmission case 20 is disposed below the floor step 29a. A seat base cover 30 is provided behind the main step portion 29a1 and below the driver's seat 3, covering a portion 22A (see FIG. 5) of the support body 22 where the driver's seat 3 is supported.

[0059] A rear portion 32 of the floor seat 29 is located at a higher position than the floor step 29a and is located behind the seat base cover 30. Specifically, the rear portion 32 protrudes rearward from the rear lower end of the seat base cover 30. The left portion of the rear portion 32 protrudes leftward from the seat base cover 30, and the right portion protrudes rightward from the seat base cover 30. The left and right portions of the rear portion 32 are connected to the floor step 29a by an inclined portion 29b. The inclined portion 29b extends in an inclined direction that transitions upward as it moves rearward from the rear portion of the floor step 29a.

[0060] As shown in Figures 6 and 7, the running vehicle 5 has side steps 507 that protrude outward in the vehicle width direction from the floor step 29a. In this embodiment, the side steps 507 are provided on the left and right sides of the floor step 29a. That is, the running vehicle 5 has one side step 507L that protrudes from the floor step 29a to one side (left) in the vehicle width direction K2, and another side step 507R that protrudes from the floor step 29a to the other side (right) in the vehicle width direction K2. Note that the side step 507 may be either one of the one side step 507L or the other side step 507R.

[0061] One side step 507L and the other side step 507R are provided so as to protrude from the floor step 29a above the front wheels 23. One side step 507L and the other side step 507R are provided at approximately the same height as the floor step 29a. One side step 507L and the other side step 507R have rear portions 507a located on the lateral sides of the driver's seat 3.

[0062] As shown in Figure 7, the traveling body 5 has a rear step 33 provided between the floor step 29a and the planting implement 4. More specifically, the rear step 33 is provided between the driver's seat 3 and the planting implement 4. In other words, the rear step 33 is provided between the driver's seat 3 and the seedling tray 9 in the side view shown in Figure 4. The rear step 33 is also provided at a higher position than the floor step 29a and the side step 507. The rear step 33 is also provided at a lower position than the driver's seat 3.

[0063] The rear step 33 has a main section 33A, one side section 33L, and the other side section 33R. The main section 33A is located behind the driver's seat 3 and in front of the seedling trays (left and right seedling trays) 9, and extends in the machine body width direction K2.

[0064] The one-side portion 33L is located on one side (left side) of the main portion 33A in the width direction K2 of the machine body. Specifically, the rear portion of the one-side portion 33L protrudes outward in the width direction of the machine body from the left portion of the main portion 33A, and the front portion of the one-side portion 33L extends forward from the rear portion of the one-side portion 33L. The one-side portion 33L is located above one (left) rear wheel 24 so as to protrude outward in the width direction of the machine body beyond the one rear wheel 24. The one-side portion 33L (rear step 33) is located so as to protrude outward in the width direction of the machine body beyond the seedling tray 9. Specifically, the one-side portion 33L protrudes outward in the width direction of the machine body beyond the seedling tray 9 on one (left) side. The one-side portion 33L is located behind one side step 507L.

[0065] The other-side portion 33R is located on the other side (right side) of the main portion 33A in the width direction K2 of the machine body. Specifically, the rear portion of the other-side portion 33R protrudes outward in the width direction of the machine body from the right portion of the main portion 33A, and the front portion of the other-side portion 33R extends forward from the rear portion of the other-side portion 33R. The other-side portion 33R is located above the other (right) rear wheel 24 so as to protrude outward in the width direction of the machine body further than the other rear wheel 24. The other-side portion 33R (rear step 33) protrudes outward in the width direction of the machine body further than the seedling tray 9. Specifically, the other-side portion 33R protrudes outward in the width direction of the machine body further than the seedling tray 9 on the other (right) side. The other-side portion 33R is located behind the other side step 507R.

[0066] As shown in Figure 7, the rear step 33 protrudes outward in the width direction of the machine body more than the seedling loading trays 9. Specifically, a portion 33L on one side of the rear step 33 protrudes outward in the width direction of the machine body more than the seedling loading trays 9 on one side (left side) of the multiple seedling loading trays 9 in the width direction K2 of the machine body. A portion 33R on the other side of the rear step 33 protrudes outward in the width direction of the machine body more than the seedling loading trays 9 on the other side (right side) of the multiple seedling loading trays 9 in the width direction K2 of the machine body.

[0067] Since the rear step 33 is disposed in front of the seedling loading table 9, the operator 2 can place his / her foot on the rear step 33 when supplying (replenishing) the seedling trays 8 (seedlings 7) to the seedling loading table 9, and can easily replenish the seedling trays 8 by placing his / her foot on the rear step 33. Furthermore, since the rear step 33 is provided so as to protrude outward in the width direction of the machine body than the seedling loading table, that is, the rear step 33 is wide in the width direction K2 of the machine body, workability can be improved when the operator 2 stands on the rear step 33 (from the rear step 33 side) to perform seedling tray supply work of supplying seedling trays 8 to the seedling loading table 9.

[0068] Step members 508 are provided behind the side steps 507. The step members 508 are provided behind one side step 507L and the other side step 507R. The step members 508 are arranged behind and above the side steps 507 and on the lateral sides of the driver's seat 3. More specifically, one (left) step member 508 is arranged behind and above one side step 507L and on the left side of the driver's seat 3. The other (right) step member 508 is arranged behind and above the other side step 507R and on the right side of the driver's seat 3.

[0069] One step member 508 is higher than one side step 507L and is disposed at approximately the same height as one side portion 33L of the rear step 33. The other step member 508 is higher than the other side step 507R and is disposed at approximately the same height as the other side portion 33R of the rear step 33.

[0070] The step members 508 are provided on the path from the side step 507 to the rear step 33. Specifically, one step member 508 is provided between one side step 507L and one side portion 33L of the rear step 33. The other step member 508 is provided between the other side step 507R and the other side portion 33R of the rear step 33.

[0071] 1A to 1C, spare seedling tray devices 28 (front spare seedling tray device 28F, rear spare seedling tray device 28K) for carrying seedling trays 8 (spare seedlings 7 (spare seedling trays 8)) containing seedlings 7 are disposed at the front and rear of the traveling body 5. The operator 2 can remove the seedling trays 8 from the front spare seedling tray device 28F or rear spare seedling tray device 28K and supply (replenish) them to the planting work machine 4 (seedling carrying table 9).

[0072] Conventionally, transplanters 1 are only provided with a front spare seedling table device 28F, but in this embodiment, by providing a rear spare seedling table device 28K in addition to the front spare seedling table device 28F, the number of spare seedlings 7 that can be carried on the transplanter 1 can be increased, thereby improving the work efficiency of planting the seedlings 7.

[0073] In this embodiment, the front spare seedling table device 28F and the rear spare seedling table device 28K are provided on both sides of the running body 5 in the body width direction K2, but this is not limited to this, and it is sufficient that at least one front spare seedling table device 28F and one rear spare seedling table device 28K are provided.

[0074] The front auxiliary seedling tray device 28F is provided at the end side in the machine width direction K2 at the front of the running body 5. Specifically, the front auxiliary seedling tray device 28F is arranged on the side of the hood 26 (on the left and right sides in this embodiment).

[0075] Each of the left and right front auxiliary seedling tray devices 28F includes an auxiliary seedling tray 28A for supporting the seedling trays 8 (spare seedling trays 8) and a frame member 28B to which the auxiliary seedling trays 28A are attached. As shown in Figures 1A and 1C, the auxiliary seedling trays 28A are mounted vertically in multiple tiers (e.g., six tiers) on the frame member 28B. As shown in Figure 8, the base ends of the auxiliary seedling trays 28A are rotatably attached to the frame member 28B about an axis extending in the fore-aft direction K1 of the machine body. The auxiliary seedling trays 28A can be freely shifted between a use position UP1 (see the right side of Figure 8) in which the seedling trays 8 are supported and a folded position UP2 (see the left side of Figure 8) in which the auxiliary seedling trays 28A are raised from the use position UP1. Specifically, as shown in Figure 8, in the use position UP1, the tip end of the auxiliary seedling tray 28A opposite the base end is positioned in the width direction of the running body 5, allowing the auxiliary seedling trays 8 to be supported. Also, as shown in Figure 8, when the spare seedling tray 28A is in the folded position UP2, it is in an upright position with the tip of the spare seedling tray 28A raised so that it is close to the frame member 28B, so that a spare seedling tray 8 cannot be placed on it.

[0076] The frame members 28B are provided upright on both sides in the vehicle width direction K2 at the front of the running body 5, for example, on the left and right sides of the hood 26. The frame members 28B are provided on the end sides of the running body 5 in the vehicle width direction K2. The frame members 28B also extend upward from the lower part of the running body 5 to a position higher than the driver's seat 3. The frame members 28B are configured in a gate shape having a front support member 28B1 and a rear support member 28B2 arranged at an interval in the vehicle fore-and-aft direction K1, and an upper connecting portion 28B3 connecting an upper part of the front support member 28B1 and an upper part of the rear support member 28B2.

[0077] As shown in Figures 1A and 1B, the left and right rear auxiliary seedling table devices 28K are located behind the front auxiliary seedling table devices 28F, which are on the same side in the width direction K2 of the machine body. The rear auxiliary seedling table devices 28K are also located at the rear end of the running body 5 in the width direction K2 of the machine body. Specifically, as shown in Figure 1B, the rear step 33 protrudes outward in the width direction of the machine body beyond the seedling loading tray 9, and the rear auxiliary seedling table devices 28K are located on the outer end side of the protruding portions (portion 33L on one side, portion 33R on the other side) in the width direction K2 of the machine body. As a result, the rear auxiliary seedling table devices 28K are located outward in the width direction of the machine body beyond the front auxiliary seedling table devices 28F, as shown in Figures 1B and 1C.

[0078] In a transplanter 1 in which the planting implement 4 is mounted behind the running body 5, if a rear auxiliary seedling tray device 28K is provided behind the running body 5, the rear auxiliary seedling tray device 28K may interfere with the seedling supply operation when replenishing seedlings 7 into the planting implement 4. According to the transplanter 1 of this embodiment, by locating the rear auxiliary seedling tray device 28K further outward in the width direction of the machine than the front auxiliary seedling tray device 28F, the rear auxiliary seedling tray device 28K can be prevented from interfering with the seedling supply operation. Specifically, when the operator 2 stands on the rear step 33 (from the rear step 33 side) to perform seedling tray supply operation by replenishing seedling trays 8 onto the seedling tray 9, the rear auxiliary seedling tray device 28K is located on the outer end of the rear step 33 in the width direction K2 of the machine, so the rear auxiliary seedling tray device 28K can be prevented from interfering with the seedling supply operation. Furthermore, when an operator performs seedling tray supply work while standing on the ground behind one side portion 33L or the other side portion 33R of the rear step 33, the rear spare seedling tray device 28K is located on the outer end side of the rear step 33 in the width direction K2 of the machine body, so the rear spare seedling tray device 28K does not interfere with the seedling supply work. Furthermore, the rear step 33 is located in front of the seedling loading tray 9 and protrudes further in the width direction K2 of the machine body than the seedling loading tray 9, so work space is secured behind the one side portion 33L and the other side portion 33R of the rear step 33.

[0079] As shown in Figure 1C, each of the left and right rear auxiliary seedling table devices 28K has an auxiliary seedling table 28A on which a seedling tray 8 (spare seedling tray 8) is placed, and a frame member 28C to which the auxiliary seedling table 28A is attached. The auxiliary seedling table 28A of the rear auxiliary seedling table device 28K has a similar structure to the auxiliary seedling table 28A of the front auxiliary seedling table device 28F. As shown in Figure 8, the auxiliary seedling table 28A of the rear auxiliary seedling table device 28K is attached to the frame member 28C so that it can be freely changed between an in-use position UP1 and a folded position UP2, just like the auxiliary seedling table 28A of the front auxiliary seedling table device 28F. Furthermore, just like the auxiliary seedling table 28A of the front auxiliary seedling table device 28, the auxiliary seedling tables 28A of the rear auxiliary seedling table device 28K are attached to the frame member 28C in multiple rows (e.g., six rows) aligned vertically.

[0080] Since the rear spare seedling table device 28K is positioned further outward in the width direction of the machine body than the front spare seedling table device 28F, as shown in Figure 1F, the outer end in the width direction of the machine body of the spare seedling table 28A of the rear spare seedling table device 28K is positioned further outward in the width direction of the machine body than the outer end in the width direction K2 of the spare seedling table 28A of the front spare seedling table device 28F. In detail, as shown in Figure 1F, when the spare seedling trays 28A of the front spare seedling tray device 28F and the rear spare seedling tray device 28K are in the usage position UP1, the outer end in the width direction K2 of the spare seedling tray 28A of the rear spare seedling tray device 28K is located further outward in the width direction of the machine than the outer end in the width direction K2 of the spare seedling tray 28A of the front spare seedling tray device 28F, and as shown in Figure 1C, when the spare seedling tray 28A of the rear spare seedling tray device 28K is in the folded position UP2, it is located further inward in the width direction of the machine than the outer end in the width direction K2 of the spare seedling tray 28A of the front spare seedling tray device 28F, which is in the usage position UP1.

[0081] As shown in Figures 9A and 9B, the frame members 28C are provided upright on both sides in the vehicle width direction K2 at the rear of the running body 5, i.e., on the left and right sides of the rear step 33. The frame members 28C are also provided on the end sides of the running body 5 (rear step 33) in the vehicle width direction K2. In other words, one (left) frame member 28C (28CL) is disposed on one side (left) of the driver's seat 3 in the vehicle width direction K2, and the other (right) frame member 28C (28CR) is disposed on the other side of the driver's seat 3 in the vehicle width direction K2. The one frame member 28CL and the other frame member 28CR are also disposed rearward of the seat portion 3A of the driver's seat 3 and extend (protrude) upward from the bottom of the running body 5 to a position higher than the driver's seat 3.

[0082] As shown in Figure 9A, the frame member 28C is configured in a gate-like shape having a front support member 28C1 and a rear support member 28C2 arranged at a distance in the fore-and-aft direction K1 of the aircraft, and an upper connecting portion 28C3 connecting the upper part of the front support member 28C1 and the upper part of the rear support member 28C2.

[0083] As shown in Figure 9B, the frame member 28C of the rear spare seedling table device 28K is provided at the end side in the machine width direction K2 at the rear of the running body 5. More specifically, the frame member 28C of the rear spare seedling table device 28K is located at the end on the outer side in the machine width direction of the rear step 33. As shown in Figure 7, the rear step 33 protrudes outward in the machine width direction from the location where the front spare seedling table device 28F is provided at the front of the running body 5, and therefore the frame member 28C of the rear spare seedling table device 28K is located outward in the machine width direction from the frame member 28B of the front spare seedling table device 28F.

[0084] As shown in Figures 9B and 9C, the frame member 28C (rear auxiliary seedling table device 28K) is attached to the machine body 16 (machine frame 21) by a mounting structure 500. The transplanter 1 has a left-side mounting structure 500 that attaches the left-side frame member 28CL (rear auxiliary seedling table device 28K) to the machine body 16, and a right-side mounting structure 500 that attaches the right-side frame member 28CR (rear auxiliary seedling table device 28K) to the machine body 16. The left-side mounting structure 500 and the right-side mounting structure 500 are similarly constructed and symmetrically arranged, so they will be described together.

[0085] The mounting structure 500 has a first component 500A, a second component 500B, and a third component 500C. The first component 500A has a first portion 500a that is disposed below the rear step 33 and extends in the aircraft width direction K2, and a second portion 500b that extends upward from the outer end of the first portion 500a in the aircraft width direction K2. The first portion 500a of the first component 500A is attached to the aircraft 16 (aircraft frame 21) via one or more brackets.

[0086] The second portion 500b is located to the side of the lower portion of the front support member 28C1. A first bracket member 502 is fixed to the lower portion of the front support member 28C1. This first bracket member 502 is attached to the second portion 500b of the first component member 500A via bolts or the like. The first bracket member 502 has a front wall 502a fixed to the front side of the front support member 28C1, a rear wall 502b fixed to the rear side of the front support member 28C1, and a side wall 502c connecting the outer ends of the front wall 502a and the rear wall 502b in the aircraft width direction K2.

[0087] The second component member 500B is located to the side of the rear support member 28C2. A second bracket member 503 is fixed to the lower part of the rear support member 28C2. This second bracket member 503 is attached to the second component member 500B via bolts or the like. The second bracket member 503 has a front wall 503a fixed to the front side of the rear support member 28C2, a rear wall 503b fixed to the rear side of the rear support member 28C2, and a side wall 503c connecting the outer ends of the front wall 503a and the rear wall 503b in the aircraft width direction K2.

[0088] The third component 500C is disposed between the second portion 500b of the first component 500A and the lower portion of the second component 500B, connecting the second portion 500b and the second component 500B. Specifically, a stay member 504a fixed to the front portion of the third component 500C is connected to a stay member 504b fixed to the lower portion of the second portion 500b with bolts or the like, thereby connecting the front portion of the third component 500C to the first component 500A. The rear portion of the third component 500C is fixed to the lower portion of the second component 500B. A stay member 505a is fixed to a midpoint of the third component 500C in the fore-and-aft direction (K1) of the vehicle. This stay member 505a is connected to a stay member 505b fixed to the rear step 33 with bolts or the like.

[0089] 9A and 9B, the frame member 28C of one (left) rear auxiliary seedling table device 28K and the frame member 28C of the other (right) rear auxiliary seedling table device 28K are connected by a connecting member 506. Therefore, the connecting member 506 connects the pair of rear auxiliary seedling table devices 28K together (the left rear auxiliary seedling table device 28K and the right rear auxiliary seedling table device 28K).

[0090] The connecting member 506 is formed from a rod and extends in the width direction K2 of the machine body between the rear support member 28C2 of the left rear auxiliary seedling table device 28K and the rear support member 28C2 of the right rear auxiliary seedling table device 28K. Brackets 543, which are connected to the rear support members 28C2 by bolts or the like, are fixed to one and the other longitudinal ends of the connecting member 506. The connecting member 506 also connects the vertical midpoints of the pair of rear auxiliary seedling table devices 28K (the left frame member 28CL and the right frame member 28CR). As shown in FIG. 9B , the connecting member 506 is positioned at a height near the upper end of the backrest 3B of the driver's seat 3. By providing the connecting member 506 to connect the pair of rear auxiliary seedling table devices 28K, the pair of rear auxiliary seedling table devices 28K can reinforce each other and increase their rigidity.

[0091] As shown in FIG. 7 , the connecting member 506 is positioned in front of the seedling tray 9. The connecting member 506 is also positioned at a height near the top of the driver's seat 3 as shown in FIG. 9B . The top of the seedling tray 9 is located near the top of the driver's seat 3 and slightly below it as shown in FIG. 4 . Therefore, the connecting member 506 is positioned in front of the seedling tray 9 and near the top of the seedling tray 9. This allows the connecting member 506 to function as a support member for supporting the operator when loading seedling trays 8 onto the seedling tray 9 from the rear step 33 side, thereby stabilizing the operator's working posture. The connecting member 506 can also function as a gripping member when loading seedling trays 8 onto the seedling tray 9 from the rear step 33 side, when the operator moves along the rear step 33, etc.

[0092] 6, 7, 10A, and 10B, an empty tray placing device 509 for placing empty seedling trays 8 after the seedlings 7 have been removed is provided on the side of the driver's seat 3. In this embodiment, the empty tray placing device 509 is provided on the left side of the driver's seat 3, but the empty tray placing device 509 may also be provided on the right side of the driver's seat 3. Moreover, the empty tray placing device 509 may also be provided on both the left and right sides of the driver's seat 3.

[0093] As shown in Figure 11A, the empty tray loading device 509 has an empty tray loading member 510 on which an empty seedling tray 8 is placed, a pressing member 511 that presses down the empty seedling tray 8 placed on the empty tray loading member 510, a support member 512 that supports the pressing member 511 so that it can move freely in the vertical direction, and a pressing member 513 that presses the pressing member 511 downward.

[0094] The empty tray placing member 510 is disposed on the side of the driver's seat 3. The empty tray placing member 510 is also disposed at a position where the operator 2 can place an empty seedling tray 8 from the driver's seat 3 (the operator 2 seated in the driver's seat 3). As shown in Figures 7, 10 and 10B, the empty tray placing member 510 is disposed above the rear portion 507a of the side step 507. In this embodiment, the empty tray placing member 510 is disposed above the rear portion 507a and the step member 508.

[0095] As shown in Fig. 10A, the empty tray mounting member 510 has a mounting member main body 514 on which an empty seedling tray 8 is placed. As shown in Figs. 11A and 11B, the mounting member main body 514 is formed from a rod material. In plan view, the mounting member main body 514 is formed into a rectangular shape that is elongated in the machine body width direction K2. More specifically, the mounting member main body 514 is configured to have a pair of first rod portions 514a arranged opposite each other with a gap in the machine body fore-aft direction K1, and a pair of second rod portions 514b connecting the left and right ends of the pair of first rod portions 514a.

[0096] As shown in Figure 11A, the empty tray mounting member 510 has a support rod 515 that supports the mounting member main body 514. The support rod 515 extends in the front-rear direction and is located below the center of the mounting member main body 514 in the machine body width direction K2. The front end of the support rod 515 is fixed to the front first rod portion 514a, and the middle portion is fixed to the rear first rod portion 514a. The support rod 515 protrudes rearward from the mounting member main body 514. The support rod 515 penetrates the lower part of the front support member 28C1 of the frame member 28C (see Figure 11G).

[0097] 11C and 11D, the mounting member body 514 is formed so that when an empty seedling tray 8 is placed on the mounting member body 514, the first rod portion 514a and the second rod portion 514b fit between the pot portions 8a of the seedling tray 8. In addition, the support rod 515 is provided so that when an empty seedling tray 8 is placed on the mounting member body 514, the support rod 515 also fits between the pot portions 8a.

[0098] 11E and 11G, the empty tray mounting member 510 has a rotation prevention structure 516 that prevents the support rod 515 from rotating around its axis. The rotation prevention structure 516 has a tubular member 516A, an engaging member 516B, and a stop member (bolt) 516C. The support rod 515 penetrates the lower part of the front support member 28C1 and protrudes rearward from the front support member 28C1, with the tubular member 516A fitted onto the protruding portion. The stop member 516C is threaded into a screw hole 516a formed in the tubular member 516A. By rotating the stop member 516C in the screwing direction, the tubular member 516A is fixed to the support rod 515.

[0099] The engaging member 516B is formed from a rod and has a first portion 516B1 and a second portion 516B2. The first portion 516B1 is disposed so as to extend vertically behind the front support member 28C1, and its lower end is fixed to the tubular member 516A. The second portion 516B2 extends forward from an upper portion of the first portion 516B1 and passes through an insertion hole 520 formed in the front support member 28C1. This prevents the support rod 515 from rotating around its axis.

[0100] As shown in Fig. 11G, a vertically intermediate portion of the first portion 516B1 is held by a holding member (referred to as a first holding member) 518 attached to the front support member 28C1. The first holding member 518 is formed of an elastic member, and as shown in Fig. 11G, is attached to a mounting hole 521b formed in the front support member 28C1. Furthermore, as shown in Figs. 11F and 11E, the first holding member 518 has a bifurcated portion that sandwiches and holds the first portion 516B1.

[0101] The empty tray placing member 510 can be freely changed between a placing position E1 (see FIG. 11A) where it is positioned above the rear portion 507a and the step member 508 and where an empty seedling tray 8 can be placed, and a retracted position E2 (see the two-dot chain line in FIG. 10B) where it is retracted from the position above the rear portion 507a and the step member 508. By setting it to the retracted position E2, the empty tray placing member 510 can be prevented from getting in the way of a worker (such as operator 2) when the worker passes over the rear portion 507a and the step member 508.

[0102] The empty tray mounting member 510 can change the position of the mounting member body 514 between a mounting position E1 and a retracted position E2 by rotating the support rod 515 about its axis. Also, the anti-rotation mechanism 516 can be released to prevent the support rod 515 from rotating so that the mounting member body 514 can be moved between the mounting position E1 and the retracted position E2.

[0103] To change the empty tray mounting member 510 from the mounting position E1 to the retracted position E2, first, the support rod 515 is moved rearward (see arrow D1 in FIG. 11G ), the second portion 516B2 is pulled out of the insertion hole 520, and the first portion 516B1 is released from the first holding member 518 (see the two-dot chain line in FIG. 11G ). This releases the rotation prevention of the support rod 515 by the rotation prevention structure 516.

[0104] Next, the mounting member main body 514 is rotated around the axis of the support rod 515 (see arrow D2 in FIGS. 10B and 11G). Next, the mounting member main body 514 is moved rearward (see arrow D3 in FIG. 11G) to hold the rear first rod portion 514a on a holding member (referred to as a second holding member) 517 (see FIG. 11G) attached to the front support member 28C1. The second holding member 517 is formed of an elastic material and, as shown in FIG. 11G, is attached to a mounting hole 521a formed in the front support member 28C1. The second holding member 517 also has a bifurcated portion, as shown in FIG. 11F. This bifurcated portion holds the first rod portion 514a. The second holding member 517 can hold the mounting member main body 514 in the retracted position E2.

[0105] As shown in Figures 11A and 11H, the pressing member 511 has a vertical rod portion 511a extending in the vertical direction, a horizontal rod portion 511b extending forward from the lower end of the vertical rod portion 511a, a grip 511c attached to the upper part of the vertical rod portion 511a, and a spring support member (referred to as the first spring support member) 524 fixed to the lower part of the vertical rod portion 511a.

[0106] As shown in Figure 11I, the support member 512 has a front wall 512a, a rear wall 512b, a side wall 512c connecting the right ends of the front wall 512a and the rear wall 512b, a front protruding wall 512e protruding to the right from the front portion of the side wall 512c, a rear protruding wall 512f protruding to the right from the rear portion of the side wall 512c, a connecting wall 512g connecting the right ends of the front protruding wall 512e and the rear protruding wall 512f, a connecting plate 512j connecting the upper left portions of the front wall 512a and the rear wall 512b, and a spring support member (referred to as the second spring support member) 523 fixed to the lower ends of the front protruding wall 512e, the rear protruding wall 512f, and the connecting wall 512g.

[0107] 11A , the support member 512 is disposed such that the front support member 28C1 is sandwiched between the lower portion of the front wall 512a and the lower portion of the rear wall 512b. The lower portions of the front wall 512a and the rear wall 512b are attached to the front support member 28C1 with bolts 519. The connecting plate 512j abuts against the front support member 28C1. The front wall 512a is adjacent to the front wall 502a of the first bracket member 502, and the rear wall 512b is adjacent to the rear wall 502b of the first bracket member 502. The connecting plate 512j and the first bracket member 502 can prevent the support member 512 from rotating around the bolt 519.

[0108] As shown in Fig. 11I, a guide groove 512d is formed between the front protruding wall 512e and the rear protruding wall 512f of the side wall 512c. As shown in Fig. 11J, the guide groove 512d is formed from the upper end to the lower end of the side wall 512c. As shown in Fig. 11I, a locking groove 512h that is open upward is formed in the upper part of the connecting wall 512g.

[0109] 11J, the vertical rod 511a is inserted between the side wall 512c and the connecting wall 512g so as to be movable up and down. The vertical rod 511a also has a second spring bearing member 523 inserted therethrough.

[0110] The biasing member 513 is formed by a compression coil spring, and is fitted to the outside of the vertical rod portion 511a between the first spring bearing member 524 and the second spring bearing member 523. Therefore, the pressing member 511 is biased downward by the biasing force of the biasing member 513.

[0111] As shown in FIG. 11J, a pin 522 that fits into a guide groove 512d is attached to the vertical rod portion 511a, and the downward movement of the pressing member 511 is restricted by the pin 522 abutting against the lower end of the guide groove 512d.

[0112] 11A, the front portion of the horizontal rod portion 511b of the pressing member 511 is located above the rear first rod portion 514a. When placing an empty seedling tray 8 on the empty tray placing member 510, the operator pulls up the pressing member 511 against the biasing force of the biasing member 513. After placing the empty seedling tray 8 on the empty tray placing member 510, the horizontal rod portion 511b of the pressing member 511 can be brought into contact with the seedling tray 8 to press down on the seedling tray 8 placed on the empty tray placing member 510.

[0113] The holding member 511 can be freely switched between a holding position E3 (see FIG. 11A ) in which the horizontal rod portion 511b holds down an empty seedling tray 8, and a tray removal position E4 (see the two-dot chain lines in FIGS. 10A and 11H ) in which the horizontal rod portion 511b moves to a position where an empty seedling tray 8 placed on the empty tray placement member 510 can be removed by rotating the vertical rod portion 511a about its axis. Setting the holding member 511 to the tray removal position E4 facilitates the removal of seedling trays 8 stacked on the empty tray placement member 510. Furthermore, by setting the holding member 511 to the tray removal position E4, the holding member 511 can be retracted from above the step member 508 when the empty tray placement member 510 is not in use (when it is in the retracted position E2).

[0114] When removing seedling trays 8 stacked on the empty tray placing member 510, the worker can also remove the stacked seedling trays 8 by lifting up the pressing member 511 and maintaining that state.

[0115] To shift the presser member 511 from the presser position E3 to the tray removal position E4, as shown in FIG. 11J, first, the presser member 511 is moved upward (see arrow D4) against the biasing force of the biasing member 513 until the pin 522 is released from the guide groove 512d. Next, the presser member 511 is rotated 180 degrees (see arrow D5) around the axis of the vertical rod portion 511a. This positions the pin 522 above the locking groove 512h. Next, the presser member 511 is moved downward (see arrow D6) until the pin 522 is fitted into the locking groove 512h. This holds the presser member 511 in the tray removal position E4.

[0116] The empty tray placement device 509 is configured so that it can also be attached to the right front support member 28C1. In other words, it is configured so that it can be used on both the left and right sides. When the empty tray placement device 509 is attached to the right side, the orientation of the pin 522 is changed.

[0117] FIG. 1D is a block diagram of the travel system and control of the riding vegetable transplanter 1. As shown in FIG. 1D, the transplanter 1 includes a steering device 320. The steering device 320 includes a steering handle 25, a rotating shaft (steering shaft) 25b that rotates with the rotation of the steering handle 25, and an auxiliary mechanism (power steering mechanism) 25c that assists in steering the steering handle 25. The auxiliary mechanism 25c includes a hydraulic pump 133, a control valve 323 supplied with hydraulic oil discharged from the hydraulic pump 133, and a steering cylinder 321 operated by the control valve 323. The control valve 323 is an electromagnetic valve that operates based on a control signal. The control valve 323 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 323 can also be switched by steering the steering shaft 25b. The steering cylinder 321 is connected to an arm (knuckle arm) 322 that changes the direction of the front wheels 23.

[0118] Therefore, when the steering handle 25 is operated, the switching position and opening degree of the control valve 323 are switched in accordance with the operation of the steering handle 25, and the piston rod of the steering cylinder 321 moves left or right in accordance with the switching position and opening degree of the control valve 323, thereby changing the steering direction of the front wheels 23. Note that the above-described steering device 320 is an example, and is not limited to the above-described configuration.

[0119] As shown in FIG. 1D, the transplanter 1 includes a position detection device 330. As shown in FIGS. 1A and 1C, the position detection device 330 is attached to a connecting frame 420 that connects the upper connecting portion 28B3 of the left frame member 28B to the upper connecting portion 28B3 of the right frame member 28B. The position detection device 330 detects its own position (positioning information including latitude and longitude) using a satellite positioning system. That is, the position detection device 330 includes an antenna unit 400 that receives signals (e.g., the position of the positioning satellite, the transmission time, and correction information) transmitted from multiple positioning satellites, a communication antenna 403 (see FIG. 2A) that receives wireless signals containing positioning error correction information from base stations (reference stations) that can receive signals from the positioning satellites, and a communication device 401 that acquires the positioning error correction information from the wireless signals received by the communication antenna 403. The position detection device 330 detects its position (latitude and longitude) based on the received satellite positioning information and correction information. The position detection device 330 may also have an inertial measurement device such as a gyro sensor or an acceleration sensor, and may detect the position corrected by the inertial measurement device as its own position. The position detection device 330 can detect the position (running position) of the transplanter 1 (running body 5).

[0120] 1D, the transplanter 1 is equipped with a control device 131 that controls automatic steering of the traveling body 5 based on satellite positioning information received by the antenna unit 400. A position detection device 330 and a traveling detection device 341 of the traveling system are connected to the control device 131. Therefore, the control device 131 can acquire the position (traveling position) detected by the position detection device 330 and the detection value detected by the traveling detection device 341. The traveling detection device 341 is, for example, a crank sensor, a cam sensor, an engine rotation sensor, an accelerator sensor, a vehicle speed sensor, a steering angle sensor, etc.

[0121] The control device 131 controls the traveling system of the transplanter 1. The control device 131 controls, for example, the engine speed, vehicle speed, steering angle of the steering device 320, etc. based on the detection value detected by the traveling detection device 341. The control device 131 has a steering control unit 131A and a storage device 131B.

[0122] The control device 131 is composed of electric and electronic circuits, a processor, a memory, etc. The processor is, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), an ASIC (Application Specific Integrated Circuit), etc. The storage device 131B is, for example, a non-volatile memory, and stores various control programs (steering control program, setting program, etc.), various data, etc. For example, the above-mentioned processor of the control device 131 executes the steering control program stored in the storage device 131B, thereby functioning as the steering control unit 131A.

[0123] The steering control unit 131A (control device 131) can automatically control (auto-steering control) the steering of the transplanter 1 (traveling body 5) based on the set reference orientation. FIG. 1E is a view of the steering column in front of the driver's seat as seen from the driver's seat. As shown in FIGS. 1D and 1E, the transplanter 1 includes a shift lever 350, a steering selector switch (GS switch) 351, a first switch 352, a second switch 353, a main switch 354, a third switch 355, and a fourth switch 356. The shift lever 350, the steering selector switch 351, the first switch 352, the second switch 353, the main switch 354, the third switch 355, and the fourth switch 356 are connected to the control device 131.

[0124] The shift lever 350 is operated by the operator 2 to change gears in the transmission mechanism. The steering selector switch 351 is a switch that can be switched ON / OFF by the operator 2, and when ON, enables autosteering control, and when OFF, disables autosteering control. The first switch 352 is operated by the operator 2 to set the start point of the reference heading. The second switch 353 is operated by the operator 2 to set the end point of the reference heading. The third switch 355 is a switch that can be switched ON / OFF by the operator 2, and when ON, enables autosteering control without operating the steering selector switch 351 when a state in which automatic steering permission conditions are met. The fourth switch 356 is a switch that can be switched ON / OFF by the operator 2, and when ON, enables the row-to-row assist function, and when OFF, disables the row-to-row assist function.

[0125] The main switch 354 is a switch for turning the power supply on and off and the prime mover 18 on and off. Specifically, the main switch 354 can be switched to any of the start, run, and stop positions. When the operator 2 inserts the switch key into the main switch 354 and turns it to the start position, the prime mover 18 starts and the power to the transplanter 1 is turned on. When the operator 2 releases the switch key after the prime mover 18 has started, the switch key returns to the run position. In the run position, various electrical devices of the transplanter 1 operate. When the switch key is turned from the run position to the stop position, the prime mover 18 stops and the switch key can be inserted or removed.

[0126] 1E, the shift lever 350, steering selector switch 351, first switch 352, and second switch 353 are installed near the driver's seat 3 and can be operated by the operator 2. For example, the steering selector switch 351 is provided near the grip of the shift lever 350. The first switch 352 is provided on the upper part of the steering column 27 to the right of the display device 360, and the second switch 353 is provided on the upper part of the steering column 27 to the left of the display device 360. The main switch 354 is provided on the upper part of the steering column 27 at the front right side.

[0127] The control device 131 sets the position of the transplanter 1 (traveling body 5) in the field 6 when the first switch 352 is operated (the position of the antenna unit 400 determined based on satellite positioning information) as the start point of the reference orientation and stores this start point in the memory device 131B. Next, the operator 2 controls the transplanter 1 (traveling body 5) to move a certain distance or more, and then sets the position of the transplanter 1 (traveling body 5) when the second switch 353 is operated (the position of the antenna unit 400 determined based on satellite positioning information) as the end point of the reference orientation and stores this end point in the memory device 131B. The control device 131 then stores the orientation of the straight line route connecting the start point and the end point in the memory device 131B as the reference orientation.

[0128] When the steering changeover switch 351 is turned on and the conditions for permitting automatic steering are met, the control device 131 controls the automatic steering to make the transplanter 1 (traveling body 5) travel along the reference heading. The conditions for permitting automatic steering are that the reference heading is stored in the storage device 131B (i.e., the reference heading is set) and the difference between the traveling direction of the transplanter 1 (traveling body 5) and the reference heading is equal to or less than a tolerance value.

[0129] When the steering changeover switch 351 is turned on and auto-steering control is enabled, the steering control section 131A sets the switching position and opening degree of the control valve 323 so that the position of the running body 5 coincides with a planned running route that includes the running position (position of the running body 5) of the transplanter 1 (running body 5) and is parallel to the reference direction, i.e., so that the running body 5 moves on a planned running route that is parallel to the reference direction. In other words, when the steering changeover switch 351 is ON, the control device 131 sets the moving direction and moving amount of the piston rod of the steering cylinder 321 (the steering direction and steering angle of the front wheels 23) so that the running position of the transplanter 1 coincides with the planned running route.

[0130] In detail, when the auto-steering control is enabled, the steering control unit 131A compares the running position of the transplanter 1 (running body 5) detected by the position detection device 330 with the position indicated on the planned running route (planned running position), and if the running position and the planned running position match, the steering angle and steering direction of the steering handle 25 in the steering device 320 (the steering angle and steering direction of the front wheels 23) are maintained without change (the opening degree and switching position of the control valve 323 are maintained without change).

[0131] On the other hand, if the driving position does not match the planned driving position, the steering control unit 131A changes the steering angle and / or steering direction of the steering handle 25 in the steering device 320 (changes the opening and / or switching position of the control valve 323) so that the deviation (deviation) between the driving position and the planned driving position becomes zero.

[0132] In the above-described embodiment, the steering control unit 131A changes the steering angle of the steering device 320 based on the deviation between the traveling position and the planned traveling position during autosteering control. However, when the orientation of the planned traveling route R1 differs from the orientation (vehicle body orientation) of the traveling direction (traveling direction) of the transplanter 1 (traveling body 5), the steering control unit 131A may set the steering angle so that the vehicle body orientation matches the orientation of the planned traveling route R. Furthermore, the steering control unit 131A may set the final steering angle during autosteering control based on the steering angle calculated based on the deviation (position deviation) and the steering angle calculated based on the orientation deviation. The setting of the steering angle during autosteering control in the above-described embodiment is an example and is not limited thereto.

[0133] If the conditions for permitting automatic steering are met, the control device 131 starts controlling automatic steering based on satellite positioning information when the steering changeover switch 351 is turned on, and ends controlling automatic steering when the steering changeover switch 351 is turned off. In other words, the transplanter 1 can make the traveling body 5 travel along the reference direction by autosteering control by the steering control unit 131A (control device 131) from the time the steering changeover switch 351 is turned on until it is turned off.

[0134] On the other hand, when the auto-steering control is disabled, the steering control unit 131A sets the steering direction and steering angle of the front wheels 23, the vehicle speed, etc. based on the operation of the operator 2 (operation of the steering wheel 25 by the operator 2, operation of the accelerator by the operator 2, etc.) In this way, the steering control unit 131A can manually change the direction of the transplanter 1 (traveling body 5).

[0135] As shown in FIGS. 1D and 1E , the transplanter 1 includes a display device 360 ​​and a warning lamp 362. The display device 360 ​​is located in the center of the upper portion of the steering column 27 in front of the driver's seat 3. The warning lamp 362 is located on the steering column 27 to the right of the display device 360. The operator 2 can see the display device 360 ​​and the warning lamp 362 while seated in the driver's seat 3. The display device 360 ​​includes, for example, a segment display unit 361. The segment display unit 361 is a segment LCD (Liquid Crystal Display) that displays various information using multiple characters (e.g., four characters) in a segment format. The segment display unit 361 can display various setting information before the start of automatic steering, various display information related to automatic steering, and the like in a segment format. Note that the display device 360 ​​may include a dot-matrix display unit (e.g., a display unit configured with a liquid crystal panel, touch panel, etc.) with excellent expressiveness instead of the segment display unit 361. The alarm lamp 362 lights up or flashes under the control of the control device 131 when there is an abnormality or a warning in the transplanter 1, thereby alerting the operator 2.

[0136] As shown in FIGS. 1A and 1C, an antenna unit 400 that receives satellite positioning information and a housing 405 that houses a communication device 401 and a communication antenna 403 are attached to the connecting frame 420.

[0137] The antenna unit 400 is positioned higher than the components other than the antenna unit 400 .

[0138] Antenna unit 400 is attached to the upper side of connecting frame 420. Furthermore, housing 405 and rearview mirror 430 are attached to the lower side of connecting frame 420. Rearview mirror 430 is attached to the left end side of connecting frame 420.

[0139] 3B, 3C, and 3D are perspective views of the housing in the closed, open, and rear left and right states, respectively.

[0140] As shown in Figures 3B to 3D, the housing 405 includes, for example, a box-shaped upper body 408A having an opening at the bottom and a box-shaped lower body 408B having an opening at the top, such that the upper side of the lower body 408B can be inserted into the opening at the bottom of the upper body 408A. The upper body 408A has a top surface 408A1, a right side wall 408A2, a left side wall 408A3, a front wall 408A4, and a rear wall 408A5. Inside the upper body 408A, the speaker 402 is disposed on the side of the partition wall 406 closest to the driver's seat 3 (i.e., in the second space 405B). The lower body 408B has a bottom surface 408B1, a right side wall 408B2, a left side wall 408B3, a front wall 408B4, and a rear wall 408B5. 3C , communication device 401 and communication antenna 403 are disposed inside lower body 408B on the side farther from driver's seat 3 than partition wall 406 (i.e., first space 405A). Upper body 408A and lower body 408B are made of metal plate members processed into a box shape with their surfaces painted to prevent rust, but may also be made of materials other than metal, such as resin.

[0141] The housing 405 can be switched between a closed state shown in FIG. 3B and an open state (see FIGS. 3C and 3D ) that allows access to the communication device 401 inside the housing 405 from the driver's seat 3 side. Specifically, the housing 405 has an opening / closing shaft 408C that rotatably supports the lower body 408B relative to the upper body 408A. The opening / closing shaft 408C is an axial member that is located on the farther side of the upper body 408A and the lower body 408B from the driver's seat 3 and is parallel to the lateral side of the farther side. Therefore, the lower body 408B can be opened and closed relative to the upper body 408A using the opening / closing shaft 408C as a rotation axis.

[0142] 3B and 3D, housing 405 has fasteners 460 for maintaining the closed state on the left and right sides of housing 405. Fasteners 460 are U-shaped pin members as shown in FIGS.

[0143] 3C, one end 460a of the right fastener 460 is inserted into a through-hole 408B22 in the right side wall portion 408B2 of the lower body 408B, and a disk plate 461 having a diameter larger than that of the through-hole 408B22 is fixed to the one end 460a. A compression spring 462 is inserted into the one end 460a of the right fastener 460, and the compression spring 462 is positioned between the disk plate 461 at the one end 460a and the inner surface of the right side wall portion 408B2.

[0144] 3C, one end 460a of the left fastener 460 is inserted into a through-hole 408B32 in the left wall portion 408B3 of the lower body 408B, and a disk plate 461 having a diameter larger than that of the through-hole 408B32 is fixed to the one end 460a. A compression spring 462 is inserted into the one end 460a of the left fastener 460, and the compression spring 462 is positioned between the disk plate 461 at the one end 460a and the inner surface of the left wall portion 408B3.

[0145] The other end 460b of the right fastener 460 can be inserted into the through-hole 408A21 in the right side wall portion 408A2 of the upper body 408A and the through-hole 408B23 in the right side wall portion 408B2 of the lower body 408B when the housing 405 is in the closed state shown in Fig. 3B. Furthermore, the other end 460b of the left fastener 460 can be inserted into the through-hole 408A31 in the left side wall portion 408A3 of the upper body 408A and the through-hole 408B33 in the left side wall portion 408B3 of the lower body 408B when the housing 405 is in the closed state as shown in Fig. 3B. This places the housing 405 in the closed state shown in Fig. 3B.

[0146] Here, a brief description will be given of the opening operation of the housing 405. Operator 2 grasps the right fastener 460 and pulls it outward against the biasing force of the compression spring 462, thereby withdrawing the other end 460b of the right fastener 460 from the through-hole 408A21 in the right side wall portion 408A2 of the upper body 408A. That is, as shown in FIG. 3D , the other end 460b of the right fastener 460 is released, and the fastener 460 is rotated downward around the one end 460a as the rotation axis. Similarly, operator 2 grasps the left fastener 460 and pulls it outward against the biasing force of the compression spring 462, thereby withdrawing the other end 460b of the left fastener 460 from the through-hole 408A31 in the left side wall portion 408A3 of the upper body 408A. That is, as shown in FIG. 3D , the other end 460b of the left fastener 460 is released, and the fastener 460 is rotated downward around one end 460a as a rotation axis. When the other ends 460b of the left and right fasteners 460 are released in this manner, the lower body 408B of the housing 405 can be opened relative to the upper body 408A around the opening / closing axis 408C as a rotation axis. To close the housing 405, the operator 2 simply performs the reverse operation of the above. In other words, the housing 405 can be closed.

[0147] As shown in FIG. 3B , in the closed state of the housing 405, the upper body 408A and the lower body 408B are joined together, forming a first space 405A and a second space 405B separated by a partition wall 406 between the upper body 408A and the lower body 408B. Also, as shown in FIG. 3C , in the open state of the housing 405, the lower body 408B is opened downward relative to the upper body 408A, with the opening / closing shaft 408C as the pivot axis. In this open state, access to the communication device 401 inside the lower body 408B is possible from the driver's seat 3 side. The lower body 408B also includes a USB hub 404 (branching device) connected to the control device 131. The USB hub 404 includes two USB (Universal Serial Bus) ports 404A. When the housing 405 is in the open state, a USB cable connected to an external device (e.g., a mobile terminal 498) carried by the operator 2 can be connected to the USB port 404A, enabling charging and data communication with the external device via the USB cable.

[0148] As shown in Fig. 2B, antenna unit 400 is connected to control device 131 via cable CB1. Communication device 401 is connected to control device 131 via cable CB2. As shown in Fig. 3C, cable CB2 has a power cable CB21 for supplying power to communication device 401 and a communication cable CB22 for data communication between communication device 401 and control device 131. Speaker 402 is connected to the audio output circuit of control device 131 via cable CB3. USB port 404A inside housing 405 is connected to control device 131 via cable CB4.

[0149] The cables CB1 to CB4 are routed along the connecting frame 420. For example, the cables CB1 to CB4 are routed from approximately the center of the connecting frame 420 along the right side in the width direction, and then are routed downward along the rear support member 28B2 of the right frame member 28B.

[0150] The prime mover 18 is disposed below the hood 26, and a muffler is disposed on the left side of the prime mover 18. High-temperature exhaust gas from the prime mover 18 is exhausted to the outside through the muffler. As a result, the temperature of the left side of the hood 26 is higher than that of the right side. In other words, since the temperature of the right side (one side) of the hood 26 is lower than that of the left side (the other side), the side closer to the right side (one side) of the hood 26 is designated as the right frame member 28B (i.e., one support column), and the side closer to the left side (the other side) of the hood 26 is designated as the left frame member 28B (i.e., the other support column). Furthermore, if air is drawn in through an intake port formed on the right side of the hood 26, passes through the hood 26, and is exhausted from an exhaust port formed on the left side of the hood 26, the temperature of the left side of the hood 26 will be more significantly higher than that of the right side.

[0151] 1C , cables CB2 to CB4 to housing 405 are routed between right frame member 28B (one of the support pillars) and one side area of ​​connecting frame 420 from right frame member 28B to housing 405, and cable CB1 to antenna unit 400 is routed between right frame member 28B and one side area of ​​connecting frame 420 from antenna unit 400. Rearview mirror 430 is attached to connecting frame 420 at a location close to left frame member 28B (the other support pillar).

[0152] 3D , a right side wall 408A2 of the upper body 408A is provided with a cable passage 409. The cable passage 409 is a waterproof cable outlet through which the cable CB2 of the communication device 401, the cable CB3 of the speaker 402, and the cable CB4 of the USB hub 404 are passed.

[0153] 3C, the communication antenna 403 is provided inside the housing 405. The communication antenna 403 is connected to the communication device 401 via a cable CB5.

[0154] As shown in FIGS. 3B and 3C , the housing 405 has a transparent portion 405C through which wireless signals can pass. Specifically, a generally trapezoidal opening 408B31 is formed in the left side wall 408B3 of the lower body 408B. The transparent portion 405C is a plate member formed of a transparent or translucent material and larger than the opening 408B31. The transparent portion 405C is attached to the inner surface of the left side wall 408B3 so as to cover the opening 408B31. For example, fasteners such as bolts are inserted into through-holes formed at the four corners of the periphery of the opening 408B31 of the left side wall 408B3 and screwed into the screw holes in the transparent portion 405C, thereby screwing the transparent portion 405C to the inner surface of the left side wall 408B3. The transparent portion 405C is molded from, for example, a transparent or translucent resin material and can be used as a viewing window. In other words, the lighting status of the lamp display (e.g., a power lamp when power is being supplied, a communication status lamp indicating the communication status, etc.) of the communication device 401 inside the housing 405 can be confirmed from outside the housing 405 through the transparent portion 405C (viewing window).

[0155] The housing 405 may be formed of a radio wave transparent material that allows wireless signals to pass through. The housing 405 may be molded, for example, from a transparent or translucent resin material. Furthermore, at least a portion of the housing 405 may be formed from a transparent or translucent material. Here, the upper body 408A and the lower body 408B are made of metal, but this is not limiting. At least one of the upper body 408A and the lower body 408B may be molded from a transparent or translucent resin material. For example, the lower body 408B may be molded entirely from a transparent or translucent resin material, or may be molded only partially from a transparent or translucent resin material.

[0156] Figure 2E is a left side view of the upper portion of the spare seedling tray when the connecting frame is in the storage position. The connecting frame 420 is configured to be switchable between the upright position SP shown in Figure 2A and the storage position DP shown in Figure 2E by rotating around the horizontal axis X3 along the width direction (machine body width direction K2) of the running body 5. In the upright position SP of the connecting frame 420 shown in Figure 2A, the antenna unit 400 is positioned higher than the tops of both frame members 28B and can receive satellite positioning information. In the storage position DP of the connecting frame 420 shown in Figure 2E, the antenna unit 400 is lower than in the upright position SP and is positioned below the housing 405. Therefore, in the storage position DP, the antenna unit 400 cannot receive satellite positioning information or the reception is significantly impaired.

[0157] The control device 131 determines that the connecting frame 420 is in the stored position DP when the reception level of the signal indicating the satellite positioning information from the antenna unit 400 is equal to or lower than a specified value and when correction information for the positioning error has been acquired by the communication device 401. For example, when the control device 131 determines that the connecting frame 420 is in the stored position DP, it can alert the operator 2 by outputting a voice message from the speaker 402 saying "The connecting frame 420 is in the stored position DP," by displaying a character string indicating this in segments on the display device 360, or by illuminating the warning lamp 362.

[0158] Here, a configuration in which the connecting frame 420 can be switched between the standing position SP shown in FIG. 2A and the retracted position DP shown in FIG. 2E will be described. As shown in FIGS. 2C and 2D , the connecting frame 420 includes a left leg 421, a right leg 422, and a rod-shaped body 423. The left leg 421 has a left lower portion 421A connected to the upper connecting portion 28B3 of the left frame member 28B of the running body 5, and a first extending portion 421B bent upward and extending from the left lower portion 421A. The right leg 422 has a right lower portion 422A connected to the upper connecting portion 28B3 of the right frame member 28B of the running body 5, and a second extending portion 422B bent upward and extending from the right lower portion 422A. The rod-shaped body 423 is a member that connects the upper end of the first extending portion 421B and the upper end of the second extending portion 422B, and extends in the width direction of the running body 5 (machine body width direction K2).

[0159] A rotary support 28B4 is fixed to the upper part of the upper connecting portion 28B3 of the frame member 28B, and rotatably supports the connecting frame 420. In other words, a rotary support 28B4 is fixed to each of the frame members 28B on both the left and right sides.

[0160] The left-side pivotable support 28B4 comprises a pair of support walls 28B41 extending upward at a distance slightly larger than the lower left part 421A of the left leg 421, a semicircular protrusion 28B42 protruding upward from the center of the pair of support walls 28B41, and a fixing pin 28B43 inserted into a through hole formed in the protrusion 28B42 and a through hole formed at the tip of the lower left part 421A of the left leg 421.

[0161] In addition, the right-side pivotable support 28B4 has a pair of support walls 28B41 extending upward at a distance slightly larger than the lower right part 422A of the right leg 422, a semicircular protrusion 28B42 protruding upward from the center of the pair of support walls 28B41, and a fixing pin 28B43 inserted into a through hole formed in the protrusion 28B42 and a through hole formed at the tip of the lower right part 422A of the right leg 422.

[0162] Therefore, the connecting frame 420 is rotatable between an upright position SP shown in FIG. 2A and a retracted position DP shown in FIG. 2E.

[0163] The connecting frame 420 can be fixed in either an upright position SP shown in Fig. 2A or a retracted position DP shown in Fig. 2E. As shown in Fig. 2A, the left-side pivotable support 28B4 has a first female thread portion 28B61 for screwing the connecting frame 420 in the upright position SP and a second female thread portion 28B62 for screwing the connecting frame 420 in the retracted position DP. In the upright position SP shown in Fig. 2A, two fixing bolts 28B5 are inserted into vertical through-holes formed in the left lower portion 421A of the left leg 421, and the two fixing bolts 28B5 screw the left lower portion 421A of the left leg 421 to the first female thread portion 28B61 of the left-side pivotable support 28B4. Two fixing bolts 28B5 are inserted into vertical through-holes formed in the right lower portion 422A of the right leg 422, and the right lower portion 422A of the right leg 422 is screwed to the first female screw portion 28B61 of the right pivot support body 28B4 by the two fixing bolts 28B5. As a result, the connecting frame 420 is fixed to the frame member 28B in the upright position SP.

[0164] On the other hand, as shown in FIG. 2D , by removing two fixing bolts 28B5 from the left lower portion 421A of the left leg 421 and two fixing bolts 28B5 from the right lower portion 422A of the right leg 422, the connecting frame 420 becomes rotatable. The operator 2 rotates the connecting frame 420 about the horizontal axis X3 to the storage position DP shown in FIG. 2E . In the storage position DP shown in FIG. 2E , the two removed fixing bolts 28B5 are inserted into the vertical through-holes in the left lower portion 421A of the left leg 421 and screwed into the second female thread portion 28B62 of the left rotating support 28B4. The two removed fixing bolts 28B5 are inserted into the vertical through-holes in the right lower portion 422A of the right leg 422 and screwed into the second female thread portion 28B62 of the right rotating support 28B4. As a result, the connecting frame 420 is fixed to the frame member 28B in the storage position DP.

[0165] 2F and 2G are partial front views of the riding vegetable transplanter showing the spare seedling trays of the front and rear spare seedling trays in the use and folded positions, respectively.

[0166] As shown in FIG. 2F , the rearview mirror 430 is attached to the left end of the connecting frame 420 in a position adjustable manner. For example, a reinforcing plate 424L is attached to the left end of the connecting frame 420. Specifically, the reinforcing plate 424L is welded diagonally between a midpoint of the first extension 421B on the left end of the connecting frame 420 and a point near the left end of the rod-shaped body 423. A rod-shaped protrusion 425 is attached to the reinforcing plate 424L and penetrates it. Specifically, as shown in FIG. 2A , a male screw 425a is formed on the base end of the rod-shaped protrusion 425. With the base end of the rod-shaped protrusion 425 inserted into the through-hole of the reinforcing plate 424L from the rear side of the reinforcing plate 424L (i.e., the driver's seat 3 side), a nut 425c is threaded onto the male screw 425a protruding from the front side of the reinforcing plate 424L. As a result, the rod-shaped protrusion 425 is fixed to the reinforcing plate 424L. On the other hand, the tip side of the rod-shaped protrusion 425 has a spherical body 425b.

[0167] As shown in FIG. 2C , the rearview mirror 430 includes a frame 431, a mirror 432 held on the front side of the frame 431, and a grip 433 (see FIG. 2A ) provided on the rear surface of the frame 431. As shown in FIG. 2A , the grip 433 is, for example, a vertically cut cylinder formed by arranging two approximately semi-cylindrical halves with their inner surfaces facing each other, with a substantially spherical recess inside the vertically cut cylinder. A substantially circular opening is formed at the tip of the grip 433, and this opening is slightly smaller than the spherical body 425b at the tip of the rod-shaped protrusion 425. When the rod-shaped protrusion 425 of the reinforcing plate 424L is inserted into the opening of the grip 433 of the rearview mirror 430, the tip side of the grip 433 bends radially, inserting the rod-shaped protrusion 425 into the grip 433, and the inserted rod-shaped protrusion 425 is held by the grip 433. Furthermore, as the posture of the rearview mirror 430 is changed, the insertion state of the rod-shaped protrusion 425 in the grip portion 433 is changed, and the grip portion 433 holds the changed insertion state. Therefore, the rearview mirror 430 maintains the changed posture. For example, as shown in FIG. 2F , even if the rearview mirror 430 is changed from the horizontal posture indicated by the solid line to the vertical posture indicated by the dashed line, the grip portion 433 holds the vertical posture.

[0168] The antenna unit 400 has a directivity pattern that widens upward, as shown by the two-dot chain lines in Figures 2F and 2G. In Figures 2F and 2G, the reception range of the antenna unit 400 is located above the two-dot chain lines extending diagonally upward to the left and the two-dot chain lines extending diagonally upward to the right. The rearview mirror 430 is located outside the range of the directivity pattern of the antenna unit 400 (i.e., below the two-dot chain lines), so satellite signals are not blocked by the rearview mirror 430. Furthermore, although the rearview mirror 430 is attached to the connecting frame 420 so that its position can be changed, it is located outside the range of the directivity pattern of the antenna unit 400 regardless of the position of the rearview mirror 430.

[0169] As shown in Figures 2F and 2G, the spare seedling tray 28A of the front spare seedling tray device 28F has its base end 28A1 rotatably attached to the front support member 28B1 and the rear support member 28B2 about a front-to-rear axis X4 extending in the fore-to-aft direction of the running body 5, and is configured to be switchable between a use position UP1 shown in Figure 2F and a folded position UP2 shown in Figure 2G. As shown in Figure 2F, in the use position UP1 of the spare seedling tray 28A of the front spare seedling tray device 28F, the tip end 28A2 of the spare seedling tray 28A, opposite the base end 28A1, is positioned in the width direction of the running body 5, allowing spare seedlings to be placed on it. Furthermore, as shown in Figure 2G, in the folded position UP2 of the spare seedling tray 28A of the front spare seedling tray device 28F, the tip end 28A2 of the spare seedling tray 28A is in an inclined position raised toward the frame member 28B, making it impossible to place spare seedlings on it. In addition, the rear spare seedling table device 28K has a support similar to the frame member 28B of the front spare seedling table device 28F, and the spare seedling table 28A of the front spare seedling table device 28F can also be switched between the use position UP1 and the folded position UP2 of the spare seedling table 28A, just like the front spare seedling table device 28F.

[0170] As shown in Figure 2G, the rod-shaped body 423 of the connecting frame 420 is positioned higher than the uppermost spare seedling table 28A when the uppermost spare seedling table 28A is in the folded position UP2. In other words, the rod-shaped body 423 of the connecting frame 420 is positioned a third height H3 from the uppermost spare seedling table 28A of the front spare seedling table device 28F and a third height H4 from the uppermost spare seedling table 28A of the rear spare seedling table device 28K. Note that, as shown in Figure 2G, the uppermost spare seedling table 28A of the front spare seedling table device 28F and the rear spare seedling table device 28K are positioned outside the range of the directional pattern when in the folded position UP2.

[0171] Next, the planting machine 4 will be described in detail.

[0172] As shown in Figures 1A and 1B, the planting machine 4 has a transplanting frame 36. As shown in Figures 1B and 14, the transplanting frame 36 has a main frame 37 and a plurality of unit frames 38. The plurality of unit frames 38 include a first unit frame 38R and a second unit frame 38L.

[0173] 12 , the main frame 37 has a first frame 39, a second frame 40, a third frame 42, and a fourth frame 48. The first frame 39 is disposed in the front portion of the main frame 37. The first frame 39 has a first support column 39a on the right side, a second support column 39b on the left side, and a connecting portion 39c that connects the upper portions of the first support column 39a and the second support column 39b. The first support column 39a and the second support column 39b are bent forward at their midpoints in the up-down direction.

[0174] The second frame 40 includes a first member 40a, a second member 40b, and multiple third members 40c. The first member 40a is disposed extending in the fuselage width direction K2 to connect the first support column 39a and the second support column 39b. The right portion of the first member 40a of the second frame 40 protrudes rightward beyond the first support column 39a, and the left portion protrudes leftward beyond the second support column 39b. The second member 40b is disposed below the first member 40a at intervals. The multiple third members 40c are disposed side by side between the first member 40a and the second member 40b at intervals in the fuselage width direction K2, connecting the first member 40a and the second member 40b.

[0175] The third frame 42 protrudes rearward from a vertically intermediate portion of the second frame 40. The third frame 42 has a first portion 42a, a second portion 42b, and a third portion 42c. The front portion of the first portion 42a is connected to a vertically intermediate portion of the right-most third member 40c and protrudes rearward from the third member 40c. The front portion of the second portion 42b is connected to a vertically intermediate portion of the left-most third member 40c and protrudes rearward from the third member 40c. The third portion 42c connects the rear portions of the first portion 42a and the second portion 42b.

[0176] The fourth frame 48 is disposed approximately in the center of the main frame 37 in the vehicle width direction K2, and connects the member 41 connecting the central pair of third members 40c to the third portion 42c of the third frame 42. A fixed plate 53 is provided between the central pair of third members 40c. A rolling shaft 54 ​​(see FIG. 21) is attached to the fixed plate 53 so as to protrude forward. The rolling shaft 54 ​​has a rolling axis X1 (see FIGS. 21 and 22) extending in the vehicle fore-and-aft direction K1. The rolling shaft 54 ​​is disposed approximately in the center of the main frame 37 in the vehicle width direction K2.

[0177] As shown in FIG. 35 , a rail member (referred to as the first rail) 56 extending in the vehicle width direction K2 is disposed on the rear side of the first member 40a of the second frame 40. The first rail 56 is formed of a channel steel member and opens rearward. A reinforcing member 559 extending in the vehicle fore-and-aft direction K1 is fixed to the front surface of the first rail 56. A rail member (referred to as the second rail) 58 extending in the vehicle width direction K2 is disposed above a midpoint of the third frame 42 in the vehicle fore-and-aft direction K1. The second rail 58 is formed of a channel steel member and opens forward. A reinforcing member 560 extending in the vehicle fore-and-aft direction K1 is fixed to the rear surface of the second rail 58. The first rail 56, reinforcing member 559, second rail 58, and reinforcing member 560 are attached to the main frame 37 via a pair of left and right mounting frames 44.

[0178] 15, a plurality of connecting plates 61 are provided on the rear of the main frame 37. The connecting plates 61 include a first connecting plate 61R and a second connecting plate 61L. The first connecting plate 61R is fixed to the right portion of the third section 42c of the third frame 42, and the second connecting plate 61L is fixed to the left portion of the third section 42c.

[0179] 1B and 14, the first unit frame 38R is disposed on the right side of the main frame 37, and the second unit frame 38L is disposed on the left side of the main frame 37. Specifically, the first unit frame 38R and the second unit frame 38L are disposed between the first portion 42a and the second portion 42b of the third frame 42, with the first unit frame 38R disposed on the right side between the first portion 42a and the second portion 42b, and the second unit frame 38L disposed on the left side between the first portion 42a and the second portion 42b. A first connecting plate 61R is disposed behind the first unit frame 38R, and a second connecting plate 61L is disposed behind the second unit frame 38L.

[0180] As shown in FIG. 14, the first unit frame 38R and the second unit frame 38L are provided with a seedling extracting device 11, a planting body 12, and a soil covering wheel (ground contact roller) 62, respectively.

[0181] A plurality of seedling taking-out devices 11 are provided, and the plurality of seedling taking-out devices 11 include a first seedling taking-out device 11R provided on the first unit frame 38R and a second seedling taking-out device 11L provided on the second unit frame 38L.

[0182] A plurality of planting bodies 12 are provided, including a right planting body 12R mounted on the first unit frame 38R and a left planting body 12L mounted on the second unit frame 38L. The right planting body 12R constitutes part of a first planting device 35R (see FIG. 15) that plants seedlings 7 taken out by the first seedling taking device 11R in the field 6. The left planting body 12L constitutes part of a second planting device 35L (see FIG. 15) that plants seedlings 7 taken out by the second seedling taking device 11L in the field 6.

[0183] The soil covering wheels 62 include a first soil covering wheel 62R mounted on the first unit frame 38R and a second soil covering wheel 62L mounted on the second unit frame 38L. Two first soil covering wheels 62R and two second soil covering wheels 62L are provided. The two first soil covering wheels 62R are arranged side by side in the width direction K2 of the machine body. The two second soil covering wheels 62L are also arranged side by side in the width direction K2 of the machine body. The first soil covering wheel 62R is positioned behind the right planting body 12R and rolls on the left and right sides of the seedlings 7 planted in the right planting body 12R, piling up soil around the seedlings' periphery and compacting the periphery. The second soil covering wheel 62L is positioned behind the left planting body 12L and rolls on the left and right sides of the seedlings 7 planted in the left planting body 12L, piling up soil around the seedlings' periphery and compacting the periphery.

[0184] As shown in Figure 15, the first unit frame 38R, the first seedling removal device 11R, the right planting body 12R (first planting device 35R), and the first soil cover wheel 62R constitute a first transplanting unit 63R. The second unit frame 38L, the second seedling removal device 11L, the left planting body 12L (second planting device 35L), and the second soil cover wheel 62L constitute a second transplanting unit 63L.

[0185] The number of transplanting units may be one or three or more. The number of seedling carriers 9 is determined according to the number of transplanting units.

[0186] 15 and 16 , the first unit frame 38R has a frame main body 64 that is rectangular in plan view. The frame main body 64 has a first side frame 65A and a second side frame 65B that are arranged facing each other with a gap in the vehicle width direction, a front frame (referred to as a first front frame 66) that connects the front portions of the first side frame 65A and the second side frame 65B, a rear frame 67 that connects the front portions of the first side frame 65A and the second side frame 65B, and a second front frame 68 that is arranged rearward of the first front frame 66 and connects the first side frame 65A and the second side frame 65B. The first side frame 65A is arranged outward of the second side frame 65B.

[0187] The second unit frame 38L also has a frame main body 64 having a similar configuration to that of the first unit frame 38R.

[0188] A first unit bracket 69 and a second unit bracket 70 are provided at the front of each frame main body 64 and are spaced apart in the aircraft width direction K2. The first unit bracket 69 and the second unit bracket 70 have their upper portions fixed to the first front frame 66 and the second front frame 68, and protrude downward from the frame main body 64. The first unit bracket 69 is disposed on the outer side of the frame main body 64 toward the aircraft, and the second unit bracket 70 is disposed on the inner side of the frame main body 64 toward the aircraft.

[0189] 15, a drive shaft 71 is disposed at the front of the first unit frame 38R (first transplantation unit 63R) and the second unit frame 38L (second transplantation unit 63L) so as to extend in the width direction K2 of the machine body. The drive shaft 71 is also disposed at the front of the main frame 37 so as to extend in the width direction of the machine body.

[0190] The front portions of the first unit frame 38R and the second unit frame 38L are supported by the drive shaft 71 so as to be movable in the width direction K2 of the machine body. Specifically, the drive shaft 71 has an axis extending in the width direction K2 of the machine body and is provided from the front portion of the first portion 42a to the front portion of the second portion 42b of the third frame 42. The left side of the drive shaft 71 is rotatably supported by the first support bracket 59 via a bearing 72, and the right side is rotatably supported by the second support bracket 60 via a bearing 73.

[0191] 16 , the first unit frame 38R and the second unit frame 38L are disposed above a drive main shaft 71. The drive main shaft 71 passes through the lower parts of the first unit bracket 69 and the second unit bracket 70 of the first unit frame 38R and the second unit frame 38L, and is rotatably supported by bearings 74 provided on the first unit bracket 69 and the second unit bracket 70. As a result, the front parts of the first unit frame 38R and the second unit frame 38L are supported by the drive main shaft 71 so as to be movable in the machine body width direction K2.

[0192] As shown in Figures 15 and 17, the first unit frame 38R has a first mounting plate 76R attached to the first connecting plate 61R, and the second unit frame 38L has a second mounting plate 76L attached to the second connecting plate 61L.

[0193] As shown in Figures 17 and 18, the first mounting plate 76R is attached to the rear frame 67 of the first unit frame 38R by bolts 77A and nuts 77B so that its position can be adjusted in the vehicle width direction K2. The second mounting plate 76L is attached to the rear frame 67 of the second unit frame 38L by bolts 77A and nuts 77B so that its position can be adjusted in the vehicle width direction K2. The first mounting plate 76R is attached to the first connecting plate 61R by bolts 78A and nuts 78B so that its position can be adjusted in the vehicle width direction K2. The second mounting plate 76L is attached to the second connecting plate 61L by bolts 78A and nuts 78B so that its position can be adjusted in the vehicle width direction K2. By changing the mounting position of the first mounting plate 76R relative to the first connecting plate 61R in the vehicle width direction K2, the position of the first unit frame 38R relative to the main frame 37 can be adjusted in the vehicle width direction K2. By changing the attachment position of the second attachment plate 76L relative to the second connecting plate 61L in the width direction K2 of the machine body, the position of the second unit frame 38L can be adjusted in the width direction K2 of the machine body relative to the main frame 37. In other words, the first transplanting unit 63R and the second transplanting unit 63L are supported by the main frame 37 so that their positions can be adjusted independently in the width direction K2 of the machine body.

[0194] By adjusting the positions of the first unit frame 38R and the second unit frame 38L in the width direction K2 of the machine body, the row spacing W1 (see Figure 15), which is the distance between the right planting body 12R and the left planting body 12L in the width direction K2 of the machine body (the distance between the seedlings 7 planted in the right planting body 12R and the seedlings 7 planted in the left planting body 12L in the width direction K2 of the machine body), can be adjusted.

[0195] As shown in Figure 17, the first mounting plate 76R and the second mounting plate 76L are provided with indicators 78. The first connecting plate 61R and the second connecting plate 61L are provided with row-spacing indicators 79. The row-spacing indicators 79 have numbers indicating the row-spacing W1 written on them. By aligning the indicators 78 with the numbers on the row-spacing indicators 79, the row-spacing W1 can be easily adjusted.

[0196] 16 , an input sprocket 83, which is an input member that inputs rotational power to the drive main shaft 71, is provided at the center of the drive main shaft 71 so as to rotate integrally with it. The input sprocket 83 is supported by a bearing 84, and the bearing 84 is attached to a stay member 85 fixed to the fourth frame 48.

[0197] FIG. 19 shows a side view of the power input section 86 that inputs power to the drive main shaft 71, and FIG. 20 shows a plan view in which a part of the power input section 86 is developed.

[0198] As shown in FIGS. 19 and 20, the power input unit 86 has an input shaft 87, a gear transmission mechanism 88, and a wrapping transmission mechanism 89 including the input sprocket 83.

[0199] As shown in FIG. 1A , power is transmitted to the input shaft 87 from a PTO shaft (power take-off shaft) 90 that protrudes rearward from the transmission case 20. Specifically, a first joint shaft 92 is operatively connected to the PTO shaft 90 via a planting clutch (row spacing clutch) 91, and a second joint shaft 93 is operatively connected to the first joint shaft 92. The second joint shaft 93 is operatively connected to the input shaft 87. The planting clutch 91 intermittently transmits the power output from the PTO shaft 90 to the input shaft 87. When the planting clutch 91 is disengaged, the planting bodies 12, seedling removal device 11, etc., stop operating. When the planting clutch 91 is engaged, the planting bodies 12, seedling removal device 11, etc. resume operating. Therefore, the control device 131 can plant seedlings 7 at a predetermined spacing by adjusting the disengagement time of the planting clutch 91.

[0200] 19 and 20 , the gear transmission mechanism 88 has a first bevel gear 88A fitted to the input shaft 87 so as to be rotatable together with the input shaft 87, and a second bevel gear 88B meshing with the first bevel gear 88A. The wrapping transmission mechanism 89 has a first transmission sprocket 94 rotatable together with the second bevel gear 88B, a second transmission sprocket 95 to which power is transmitted from the first transmission sprocket 94, and a third transmission sprocket 96 to which power is transmitted from the second transmission sprocket 95. Power is transmitted from the third transmission sprocket 96 to the input sprocket 83.

[0201] 1A and 21, the main frame 37 (planting machine 4) is attached to the traveling body 5 via an attachment device 123. The attachment device 123 has a mounting frame 124 to which the main frame 37 (planting machine 4) is detachably attached, and an attachment mechanism 125 to raise and lower the main frame 37 (planting machine 4).

[0202] As shown in Figure 21, the mounting frame 124 has a bearing body 128 that rotatably supports the rolling shaft 54 ​​around the rolling axis X1. The main frame 37 can swing around the rolling axis X1 relative to the mounting frame 124. The right planting body 12R and the left planting body 12L are arranged side by side in the machine width direction K2, sandwiching the rolling axis X1 therebetween.

[0203] The work implement lifting mechanism 125 has a connecting link mechanism 129 that connects the running body 5 and the mounting frame 124, and a lifting drive body (lifting cylinder 130) that drives the planting work implement 4 to lift up and down.

[0204] The connecting link mechanism 129 is configured with parallel links and has an upper link 129A and a lower link 129B arranged below the upper link 129A. The front portion of the upper link 129A is connected to the rear portion of the machine body 16 (machine body frame 21) so as to be rotatable around its axis in the machine body width direction K2. The rear portion of the upper link 129A is connected to the mounting frame 124 so as to be rotatable around its axis in the machine body width direction K2. The front portion of the lower link 129B is connected to the rear portion of the machine body 16 (machine body frame 21) so as to be rotatable around its axis in the machine body width direction K2. The rear portion of the lower link 129B is connected to the mounting frame 124 so as to be rotatable around its axis in the machine body width direction K2. The connecting link mechanism 129 allows the planting implement 4 to move up and down in a parallel manner.

[0205] The lifting drive body is, for example, a lifting cylinder 130 formed by a hydraulic cylinder. One end of the lifting cylinder 130 (the bottom side of the cylinder body 130A) is connected to the rear of the machine body 16 (machine body frame 21) so as to be rotatable about an axis in the machine body width direction K2. The other end of the lifting cylinder 130 (a connecting body 130C attached to the tip end side of the piston rod 130B) is connected to the mounting frame 124 so as to be rotatable about an axis in the machine body width direction K2. One end of the lifting cylinder 130 is pivotally supported concentrically with the front part of the upper link 129A, and the other end is pivotally supported concentrically with the rear part of the lower link 129B.

[0206] As shown in Figure 21, the transplanter 1 is equipped with a control valve 132 that controls the lift cylinder 130. The control valve 132 is controlled by a control device 131. The control valve 132 is formed by an electromagnetic valve, and is configured, for example, as a three-position directional valve that can be switched between a neutral position, a raised position, and a lowered position. The control valve 132 is connected to the control device 131 by electrical wiring or the like, and is also connected to the cylinder body 451 of the lift cylinder 130, the hydraulic pump 133, and the hydraulic oil tank 134 via hydraulic lines. When the control device 131 issues a lift command signal to the control valve 132, the control valve 132 is switched to the raised position, hydraulic oil is supplied from the hydraulic pump 133 to the bottom side of the cylinder body 451, the lift cylinder 130 is extended, and the main frame (planting machine 4) is raised. In addition, when a lowering command signal is sent from the control device 131 to the control valve 132, the control valve 132 is switched to the lowering position, hydraulic oil is supplied to the rod side of the cylinder body 451, the lifting cylinder 130 contracts, and the main frame 37 lowers.

[0207] The lifting drive body may be configured as an electric cylinder (electric actuator) or an electric hydraulic cylinder (electric hydraulic actuator). An electric cylinder is an electrically driven cylinder, for example, an actuator that rotates a ball screw around its axis using an electric motor to move a ball screw nut, and moves the rod forward and backward by moving this ball screw nut. An electric hydraulic cylinder is an actuator that integrates, for example, an electric motor, an oil tank, a hydraulic pump, a valve, a hydraulic cylinder, etc., and is an actuator in which the rotation of the electric motor rotates the hydraulic pump and switches the valve to operate the hydraulic cylinder.

[0208] As shown in Figure 22, the transplanter 1 has a rolling mechanism 135 that swings the planting implement 4 around the rolling axis X1. The rolling mechanism 135 has a rolling motor 136, a rolling roller 137, and a cable 138. The rolling motor 136 and the rolling roller 137 are mounted on the mounting frame 124 (implementation implement mounting device 123). The rolling motor 136 and the rolling roller 137 are disposed above the rolling axis 54 and at a position corresponding to the center of the main frame 37 in the machine body width direction K2. The rolling roller 137 is disposed above the rolling motor 136. The rolling motor 136 is an electric motor that can rotate forward and backward. The rolling motor 136 is also connected to a control device 131. The control device 131 controls the rolling mechanism 135.

[0209] 23 and 24, the power of the rolling motor 136 is transmitted to the rolling roller 137 via a transmission mechanism (gear transmission mechanism) 139. The transmission mechanism 139 has a first gear 139A that is rotationally driven by the power of the rolling motor 136, and a second gear 139B that meshes with the first gear 139A. The second gear 139B has a larger diameter than the first gear 139A and rotates integrally with the rolling roller 137. Therefore, the power of the rolling motor 136 causes the rolling roller 137 to rotate forward and backward.

[0210] The cord 138 is formed of, for example, a wire or a cable, and is wound around the rolling roller 137. A right side 138R of the cord 138 extends to the right from the rolling roller 137, and a left side 138L of the cord 138 extends to the left from the rolling roller 137. The right side 138R of the cord 138 is connected to the right side of the planting machine 4 in the width direction K2 of the machine body, and the left side 138L of the cord 138 is connected to the left side of the planting machine 4 in the width direction K2 of the machine body. More specifically, as shown in FIG. 22 , the right side 138R of the cord 138 is connected to one end of a first buffer spring 140R, and the left side 138L is connected to one end of a second buffer spring 140L. The other end of the first buffer spring 140R is hooked to the first spring hook stay 52R of the main frame 37, and the other end of the second buffer spring 140L is hooked to the second spring hook stay 52L. In other words, one end of the cord 138 is connected to one side of the main frame 37 in the body width direction K2 via the first buffer spring 140R, and the other end is connected to the other side of the main frame 37 in the body width direction K2 via the second buffer spring 140L.

[0211] When the rolling roller 137 is rotated in one direction, forward or reverse, for example, clockwise in FIG. 22 , the left side of the rope 138 is pulled. This causes the main frame 37 (planting machine 4) to swing clockwise in FIG. 22 around the rolling axis X1. When the rolling motor 136 rotates the rolling roller 137 in the other direction, forward or reverse (counterclockwise in FIG. 22 ), the right side of the rope 138 is pulled. This causes the main frame 37 (planting machine 4) to swing counterclockwise in FIG. 22 around the rolling axis X1. As described above, the main frame 37 (planting machine 4) can freely swing around the rolling axis X1.

[0212] As shown in Figure 23, the mounting frame 124 is provided with a detection sensor 141 that detects large swings of the planting machine 4 around the rolling axis X1. The detection sensor 141 includes a first limit switch 141R that detects clockwise swings of the planting machine 4 and a second limit switch 141L that detects counterclockwise swings of the planting machine 4. One of the many teeth of the second gear 139B is a detection tooth 142 that protrudes radially outward from the other teeth. When this detection tooth 142 comes into contact with the contact of the first limit switch 141R or the second limit switch 141L, large swings of the planting machine 4 around the rolling axis X1 are detected. When the first limit switch 141R or the second limit switch 141L detects the detection tooth 142, it stops driving the rolling motor 136, for example.

[0213] As shown in Figure 1B, the planting implement 4 has a first sensing roller 126R (sensing roller 126) located in front of the right planting body 12R and a second sensing roller 126L (sensing roller 126) located in front of the left planting body 12L. The first sensing roller 126R is provided on the first unit frame 38R. That is, the first transplanting unit 63R includes the first sensing roller 126R. The second sensing roller 126L is provided on the second unit frame 38L. That is, the second transplanting unit 63L includes the second sensing roller 126L.

[0214] 22, the first sensing roller 126R is a member for detecting the height of the first planting surface 144R, which is the planting surface of the field 6 corresponding to the right planting body 12R. In other words, the first sensing roller 126R is a member for detecting the height of the first ridge 143R where the seedlings 7 are planted in the right planting body 12R.

[0215] The second sensing roller 126L is a member for detecting the height of the second planting surface 144L, which is the planting surface of the field 6 corresponding to the left planting body 12L. In other words, the second sensing roller 126L is a member for detecting the height of the second ridge 143L in which the seedlings 7 are planted in the left planting body 12L.

[0216] The first sensing roller 126R rolls on the first planting surface 144R, moving up and down in response to changes in the height of the first planting surface 144R. The second sensing roller 126L rolls on the second planting surface 144L, moving up and down in response to changes in the height of the second planting surface 144L.

[0217] 25, the first sensing roller 126R is supported by the first unit frame 38R by a first roller support mechanism 145R so as to be able to swing up and down. The second sensing roller 126L is supported by the second unit frame 38L by a second roller support mechanism 145L so as to be able to swing up and down.

[0218] The first roller support mechanism 145R includes a first roller bracket 146R that supports the first sensing roller 126R so that it can swing up and down, and a first biasing spring 147R that biases the first roller bracket 146R downward to press the first sensing roller 126R against the field surface (ground). The first roller bracket 146R includes a first arm 148A, a second arm 148B, and a connecting member 148C. The first arm 148A is located on the outer side of the machine body of the first sensing roller 126R, and the second arm 148B is located on the inner side of the machine body of the first sensing roller 126R. The first arm 148A and the second arm 148B protrude forward from the first sensing roller 126R. The connecting member 148C connects the first arm 148A and the second arm 148B to the front side of the first sensing roller 126R.

[0219] As shown in Figures 25 and 27, a support bracket 149 is provided on the first unit frame 38R. The support bracket 149 has a fixed plate 149A extending between the first unit bracket 69 and the second unit bracket 70, and a mounting plate 149B fixed to the fixed plate 149A. The mounting plate 149B is disposed in front of the first sensing roller 126R. The mounting plate 149B has a width corresponding to the width of the first sensing roller 126R in the machine body width direction K2. The mounting plate 149B also has a first side plate 149a on the outer end side in the machine body width direction K2 and a second side plate 149b on the inner end side in the machine body width direction K2. Front portions of the first arm 148A and the second arm 148B are pivotally supported by pivots 150 to the first side plate 149a and the second side plate 149b. A first sensing roller 126R is rotatably supported at the rear of the first arm 148A and the second arm 148B by a roller shaft 151 having an axis extending in the machine body width direction K2.

[0220] 25 and 26, the first biasing spring 147R is formed of a compression coil spring and is fitted onto the outside of the rod member 152. The lower part of the rod member 152 is pivotally supported on a rod support shaft 153 fixed to the second arm 148B. The upper part of the rod member 152 is supported by a support stay 154 fixed to the second side frame 65B of the first unit frame 38R so as to be movable up and down along the axial direction of the rod member 152. The first biasing spring 147R is interposed in a compressed state between a spring receiving plate 155 attached to the rod member 152 and the support stay 154.

[0221] The second roller support mechanism 145L includes a second roller bracket 146L that supports the second sensing roller 126L so that it can swing up and down, and a second biasing spring 147L that biases the second roller bracket 146L downward to press the second sensing roller 126L against the field surface (ground). The second roller bracket 146L has a similar structure to the first roller bracket 146R. The second roller bracket 146L is supported on the second unit frame 38L by a support bracket 149 and rotatably supports the second sensing roller 126L by a roller shaft 151. The second biasing spring 147L is formed by a compression coil spring and is fitted onto a rod member 152 on the second unit frame 38L. The rod member 152 is pivotally supported on the second roller bracket 146L and is supported by a support stay 154 fixed to the second side frame 65B of the second unit frame 38L.

[0222] The height (height change) of the first planting surface 144R is detected by the first sensor mechanism 156R as the amount of swing of the first roller bracket 146R (the amount of change in the vertical position of the first sensing roller 126R).The height (height change) of the second planting surface 144L is detected by the second sensor mechanism 156L as the amount of swing of the second roller bracket 146L (the amount of change in the vertical position of the second sensing roller 126L).

[0223] As shown in Figures 25 and 27, the first sensor mechanism 156R includes a first height detection sensor 157R and a first detection arm 159R. The first height detection sensor 157R is formed by a potentiometer. The first height detection sensor 157R is attached to a sensor bracket 158 ​​fixed to the second side plate portion 149b on the first unit frame 38R side. The first detection arm 159R includes an arm main body 160 and an abutment 161. The front portion of the arm main body 160 is connected to the rotation detector of the first height detection sensor 157R and is rotatable together with the rotation detector. The abutment 161 is fixed to the rear portion of the arm main body 160. The abutment 161 is formed by a pin and abuts against the second arm 148B of the first roller bracket 146R. The arm body 160 can swing up and down concentrically with the first roller bracket 146R, and the first detection arm 159R swings up and down together with the first roller bracket 146R, causing the first height detection sensor 157R to detect the amount of swing of the first roller bracket 146R. This allows the height (height change) of the first planting surface 144R to be detected.

[0224] The second sensor mechanism 156L includes a second height detection sensor 157L and a second detection arm 159L. The second height detection sensor 157L is also formed of a potentiometer. The second height detection sensor 157L is attached to a sensor bracket 158 ​​fixed to the second side plate portion 149b on the second unit frame 38L side. The second detection arm 159L includes an arm main body 160 and an abutment 161. The front portion of the arm main body 160 is connected to the rotation detector of the second height detection sensor 157L and is rotatable together with the rotation detector. The abutment 161 is fixed to the rear portion of the arm main body 160. The abutment 161 is formed by a pin and abuts against the second arm 148B of the second roller bracket 146L. The arm body 160 can swing up and down concentrically with the second roller bracket 146L, and the second detection arm 159L swings up and down together with the second roller bracket 146L, allowing the second height detection sensor 157L to detect the amount of swing of the second roller bracket 146L. This allows the height (height change) of the second planting surface 144L to be detected.

[0225] 25 and 26 , the first roller support mechanism 145R is provided with a scraper 162 that scrapes mud off the first sensing roller 126R. The scraper 162 is attached to a scraper bracket 163. The scraper bracket 163 is provided so as to straddle the first sensing roller 126R and is fixed to the first roller bracket 146R. Similarly, the second roller support mechanism 145L is provided with a scraper 162 that scrapes mud off the second sensing roller 126L.

[0226] 22, the first height detection sensor 157R and the second height detection sensor 157L are connected to the control device 131 and transmit their detection values ​​to the control device 131. The control device 131 acquires the detection values ​​detected by the first height detection sensor 157R and the second height detection sensor 157L.

[0227] If there is a difference in height between the first planting surface 144R and the second planting surface 144L, the planting depth of the seedlings 7 planted in the right planting body 12R will differ from the planting depth of the seedlings 7 planted in the left planting body 12L. Therefore, when a difference in height occurs between the first planting surface 144R and the second planting surface 144L, the planting implement 4 is swung around the rolling axis X1 to set the first height H1, which is the height of the right planting body 12R relative to the first planting surface 144R (planting surface), and the second height H2, which is the height of the left planting body 12L relative to the second planting surface 144L (planting surface), to predetermined heights. More specifically, the control device 131 calculates the difference in height between the first height H1 and the second height H2 based on the detection values ​​detected by the first sensing roller 126R and the second sensing roller 126L, and swings the planting machine 4 around the rolling axis X1 in a direction that reduces this difference in height. In other words, the control device 131 calculates the difference in height between the first sensing roller 126R and the second sensing roller 126L based on the detection values ​​detected by the first sensing roller 126R and the second sensing roller 126L, and swings the planting machine 4 around the rolling axis X1 in a direction that reduces the difference in height between the first sensing roller 126R and the second sensing roller 126L.

[0228] More specifically, if the second planting surface 144L is higher than the first planting surface 144R, a height difference will occur between the first and second sensing rollers 126R and 126L. In this case, the control device 131 swings the planting implement 4 around the rolling axis X1 so that the left side rises and the right side falls. This essentially ensures that the planting depth of the seedlings 7 planted with the right planting body 12R is the same as the planting depth of the seedlings 7 planted with the left planting body 12L. Note that if a height difference between the first height H1 and the second height H2 is set in advance using the angle adjustment unit 194 (described later), the planting implement 4 is swung around the rolling axis X1 to return to this set height.

[0229] In addition, the control device 131 raises and lowers the planting implement 4 based on the unevenness of the planting surface (field 6) detected by one of the first sensing roller 126R or the second sensing roller 126L, and calculates the difference in height between the first sensing roller 126R and the second sensing roller 126L based on the one of the sensing rollers.

[0230] In this embodiment, the first sensing roller 126R detects the unevenness of the first planting surface 144R, and the planting implement 4 is raised and lowered in response to the unevenness of the first planting surface 144R to ensure that the seedlings 7 are planted at the same depth in the fore-and-aft direction of the implement (arrow K1), i.e., the longitudinal direction of the furrow. Specifically, when the planting surface becomes higher, the planting implement 4 is raised, and when the planting surface becomes lower, the planting implement 4 is lowered. Furthermore, the height difference is calculated by using the first sensing roller 126R as a reference and calculating the height difference between the first sensing roller 126R and the second sensing roller 126L relative to the first sensing roller 126R. By calculating the height difference between the first sensing roller 126R and the second sensing roller 126L using either the first sensing roller 126R or the second sensing roller 126L as a reference, rolling control that swings the planting implement 4 around the rolling axis X1 can be performed stably.

[0231] In addition, the second sensing roller 126L can be used to detect unevenness on the second planting surface 144L, the planting implement 4 can be raised and lowered, and the difference in height between the first sensing roller 126R and the second sensing roller 126L can be calculated using the second sensing roller 126L as a reference.

[0232] Furthermore, in this embodiment, if the difference in height between the first sensing roller 126R and the second sensing roller 126L is less than a predetermined value, the control device 131 does not perform rolling control, and the height difference is absorbed by the free swing of the planting implement 4 about the rolling axis X1. When the difference in height between the first planting surface 144R and the second planting surface 144L becomes equal to or greater than a predetermined value, the control device 131 activates the rolling mechanism 135 to perform rolling control.

[0233] 28, the first unit frame 38R and the second unit frame 38L are each provided with a swingable frame 164 that can swing up and down. Since the first unit frame 38R and the second unit frame 38L are fixed to the main frame 37, the swingable frame 164 can swing up and down relative to the main frame 37 (transplant frame 36).

[0234] The oscillating frame 164 provided on the first unit frame 38R is referred to as the first oscillating frame 164R, and the oscillating frame 164 provided on the second unit frame 38L is referred to as the second oscillating frame 164L. The first oscillating frame 164R and the second oscillating frame 164L are bilaterally symmetrical and have the same structure, so the first oscillating frame 164R and the second oscillating frame 164L will be described together.

[0235] As shown in Figures 28 and 29, the oscillating frame 164 has a first side frame portion 164A on the outer side of the aircraft, a second side frame portion 164B on the inner side of the aircraft, an intermediate frame portion 164C connecting the front and rear middle portions of the first side frame portion 164A and the second side frame portion 164B, a rear frame portion 164D connecting the rear portions of the first side frame portion 164A and the second side frame portion 164B, a first support portion 164E fixed to the front portion of the first side frame portion 164A by bolts or welding, etc., and a second support portion 164F fixed to the front portion of the second side frame portion 164B by bolts or welding, etc.

[0236] The first support part 164E is supported by the first unit bracket 69 so as to be rotatable about a horizontal axis (an axis extending in the width direction of the machine body), and the second support part 164F is supported by the second unit bracket 70 so as to be rotatable about the horizontal axis. Therefore, the rear part of the swing frame 164 can swing up and down. More specifically, a planting drive shaft 165 is supported between the first unit bracket 69 and the second unit bracket 70 so as to be rotatable about the horizontal axis, and the first support part 164E and the second support part 164F are rotatably supported on this planting drive shaft 165. A transmission gear 166 is provided on the planting drive shaft 165 so as to rotate integrally with it, and rotational power is transmitted to this transmission gear 166 from the drive main shaft 71, causing the planting drive shaft 165 to rotate.

[0237] As shown in Figures 28 and 29, the first swinging frame 164R is provided with a first planting lifting mechanism 167R (planting lifting mechanism 167), and the right planting body 12R is provided to this first planting lifting mechanism 167R so that it can move back and forth up and down. The second swinging frame 164L is provided with a second planting lifting mechanism 167L (planting lifting mechanism 167), and the left planting body 12L is provided to this second planting lifting mechanism 167L so that it can move back and forth up and down. The right planting body 12R and the first planting lifting mechanism 167R constitute the first planting device 35R (planting device 35), and the left planting body 12L and the second planting lifting mechanism 167L constitute the second planting device 35L (planting device 35).

[0238] The first soil cover wheel 62R is supported by a first roller frame (roller frame 168) 168R on a first swing frame 164R so as to be able to swing up and down. The second soil cover wheel 62L is supported by a second roller frame 168L (roller frame 168) on the swing frame 164R so as to be able to swing up and down.

[0239] The first roller frame 168R and the second roller frame 168L are formed to have the same structure, and therefore the first roller frame 168R and the second roller frame 168L will be described together.

[0240] As shown in Figures 29 and 30, the roller frame 168 is formed from a pipe or the like and has a first side rod 168A on the outer side of the aircraft body, a second side rod 168B on the inner side of the aircraft body, and a rear rod 168C at the rear. The first side rod 168A has a first section 168a extending in the fore-and-aft direction of the aircraft body and a second section 168b extending upward from the rear end of the first section 168a. The front section of the first section 168a is rotatably connected to a bracket member 169 protruding downward from the first side frame 65A around a horizontal axis. The second side rod 168B has a first section 168c extending in the fore-and-aft direction of the aircraft body and a second section 168d extending upward from the rear end of the first section 168c. The front portion of the first portion 168c is rotatably connected to a bracket member 170 that protrudes downward from the second side frame 65B around a horizontal axis. The rear rod portion 168C connects the rear portions of the first side rod portion 168A and the second side rod portion 168B. More specifically, it connects the upper ends of the second portion 168b and the second portion 168d. The soil cover wheel 62 is attached to the rear portions of the first portion 168a and the first portion 168c via stay members 171.

[0241] A first planting depth adjustment mechanism 172R (planting depth adjustment mechanism 172) is provided across the first swing frame 164R and the first roller frame 168R, and a second planting depth adjustment mechanism 172L (planting depth adjustment mechanism 172) is provided across the second swing frame 164L and the second roller frame 168L. The first planting depth adjustment mechanism 172R and the second planting depth adjustment mechanism 172L have the same structure, so the first planting depth adjustment mechanism 172R and the second planting depth adjustment mechanism 172L will be described together.

[0242] The planting depth adjustment mechanism 172 is a mechanism that adjusts the planting depth of the seedlings 7 by variably fixing the distance between the roller frame 168 and the swing frame 164 and changing the distance.

[0243] As shown in Figures 29 and 30, the planting depth adjustment mechanism 172 has a mechanism frame 173, an adjustment motor 174, a drive mechanism 175, and a link member 176. The mechanism frame 173 is erected on the rear frame portion 164D of the swing frame 164. The adjustment motor 174 is formed by an electric motor and is connected to the control device 131. The adjustment motor 174 is attached to the mechanism frame 173. More specifically, the adjustment motor 174 is attached to the upper part of the mechanism frame 173. The drive mechanism 175 is driven by the adjustment motor 174. More specifically, the drive mechanism 175 has a first gear 177 driven by the adjustment motor 174 and a second gear 178 that rotates in mesh with the first gear 177. The link member 176 connects the drive mechanism 175 and the roller frame 168 and moves up and down in conjunction with the drive of the drive mechanism 175.

[0244] The first gear 177 is formed by a pinion gear, and the second gear 178 is formed by a sector gear. The first gear (pinion gear) 177 is rotatably attached to the upper part of the mechanism frame 173. The second gear (sector gear) 178 has a lower part pivotally supported by the mechanism frame 173 and an upper part having a gear portion 178a that meshes with the first gear (pinion gear) 177. The second gear 178 (sector gear) has a connecting portion 178b that connects to a link member 176. The upper part 176a of the link member 176 is connected to the connecting portion 178b via a ball joint. The lower part 176b of the link member 176 is connected via a ball joint to a bracket member 179 fixed to the rear rod portion 168C.

[0245] In the planting depth adjustment mechanism 172, the first gear 177 is rotated by the adjustment motor 174, causing the second gear 178 to swing around the pivot 180. When the second gear 178 swings, the connecting portion 178b moves up and down, causing the link member 176 to move up and down. When the link member 176 moves up and down, the swing frame 164 swings up and down relative to the roller frame 168. This changes the distance between the roller frame 168 and the swing frame 164 and the height of the planting bodies 12 relative to the soil cover ring 62. Changing the height of the planting bodies 12 relative to the soil cover ring 62 changes the height of the planting bodies 12 relative to the planting surface, allowing the planting depth to be changed. Furthermore, by stopping the drive of the adjustment motor 174, the distance between the roller frame 168 and the swing frame 164 is fixed, allowing the set planting depth to be maintained.

[0246] The oscillating frame 164 oscillates up and down as the soil cover wheel 62 follows the unevenness of the field 6. The oscillating frame 164 is set to be located at the center of the allowable oscillating range. When the planting depth is changed, the oscillating frame 164 oscillates up and down relative to the transplanting frame 36, changing its vertical position relative to the transplanting frame 36. Therefore, when the distance between the roller frame 168 and the oscillating frame 164 is changed, the control device 131 raises and lowers the main frame 37 (transplanting frame 36) in a direction that returns the relative position of the oscillating frame 164 to its original position relative to the transplanting frame 36 in accordance with the change in the distance between the roller frame 168 and the oscillating frame 164.

[0247] The planting depth adjustment mechanism 172 has a detection unit 182 that detects the amount of change in the gap between the roller frame 168 and the swing frame 164. The detection unit 182 is connected to the control device 131 and feeds back the amount of change in the gap between the roller frame 168 and the swing frame 164 to the control device 131. The detection unit 182 is composed of, for example, a potentiometer. The rotation detector of the detection unit 182 is connected to a pivot 181 that pivots around the second gear 178. The pivot 181 rotates integrally with the second gear 178. Therefore, the detection unit 182 detects the amount of rotation of the second gear 178.

[0248] 31 shows a soil covering pressure adjustment mechanism 183 that adjusts the soil covering pressure (the force with which the soil covering wheel 62 presses against the ground) of the soil covering wheel 62. The soil covering pressure adjustment mechanism 183 has a support plate 185, an operating lever 184, a spring hook arm 186, a first fixed bracket 187A, a second fixed bracket 187B, an interlocking link 188, and an adjustment spring 189.

[0249] The support plate 185 is fixed to the rear of the unit frame 38. The operating lever 184 is attached to the support plate 185 by a pivot 185A so as to be swingable. The spring hook arm 186 is fixed to the operating lever 184 by a bolt and swings integrally with the operating lever 184. The first fixed bracket 187A is fixed to the swing frame 164. The second fixed bracket 187B is fixed to the unit frame 38. The interlocking link 188 has a first link 188A pivotally supported by the first fixed bracket 187A and a second link 188B pivotally supported by the second fixed bracket 187B. The first link 188A and the second link 188B are pivotally connected. The adjustment spring 189 is formed by a tension coil spring, one end of which is hooked into a locking hole 186a formed at the end of the spring hook arm 186, and the other end of which is hooked into a locking hole 188a formed in the first link 188A.

[0250] In the soil covering pressure adjustment mechanism 183, the soil covering pressure can be adjusted by swinging the operating lever 184 around the pivot 185A to change the spring force of the adjustment spring 189. A plurality of locking portions 185a are provided on the upper part of the support plate 185, and by locking the locking pieces 184a of the operating lever 184 to the locking portions 185a, the operating lever 184 can be fixed in a plurality of positions.

[0251] As shown in Figure 32, the planting depth adjustment mechanism 172 is operated by an operating unit 127. As shown in Figures 1A and 1B, the operating unit 127 is provided near the driver's seat 3. More specifically, the operating unit 127 is provided on the upper part of the steering column 27 in front of the driver's seat 3, inclined so as to become upward as it moves forward. The operating unit 127 is also located below the steering handle 25. The operating unit 127 can be operated by the operator 2 seated in the driver's seat 3. As shown in Figures 21 and 30, the operating unit 127 is connected to the control device 131.

[0252] As shown in Figure 32, the operating unit 127 sends an operating signal to the control device 131 to operate the planting depth adjustment mechanism 172. The operating unit 127 also has a planting depth adjustment unit 190 that operates the planting depth adjustment mechanism 172. The planting depth adjustment unit 190 is provided at the rear (lower) of the operating unit 127. The planting depth adjustment unit 190 has an operating dial (rotating operating member) 191 and an indicator 192 that indicates the rotation position of the operating dial 191. The indicator 192 is provided on the top surface of the operating dial 191. The planting depth adjustment mechanism 172 (adjusting motor 174) is operated by rotating the operating dial 191 left or right. The planting depth adjustment unit 190 has a depth display unit 193 that indicates the operating direction of the operating dial 191. The depth display section 193 has the word "deep" provided on the right side of the operation dial 191 and the word "shallow" provided on the left side of the operation dial 191.

[0253] In the planting depth adjustment unit 190, when the operation dial 191 is turned clockwise, a first operation signal S1 is sent from the operation unit 127 to the control device 131. When the control device 131 receives the first operation signal S1, it operates the planting depth adjustment unit 190 in the direction of deepening the planting depth. The standard planting depth is set when the indicator 192 faces forward (upward) as shown in FIG. 32 , and the more the operation dial 191 is turned clockwise from the state in which the indicator 192 faces forward, the deeper the planting depth becomes from the standard depth. When the operation dial 191 is turned counterclockwise, a second operation signal S2 is sent from the operation unit 127 to the control device 131. When the control device 131 receives the second operation signal S2, it operates the planting depth adjustment unit 190 in the direction of shallowing the planting depth. The more the operation dial 191 is turned counterclockwise from the state where the indicator 192 faces forward, the shallower the planting depth becomes from the standard depth. Note that the operation dial 191 may be configured so that turning it clockwise deepens the planting depth and turning it counterclockwise shallows the planting depth.

[0254] The operation dial 191 can be operated in stages, and the planting depth can be adjusted in stages. The operation dial 191 can also be operated continuously, and the planting depth can be adjusted continuously.

[0255] The operator 2 can operate the planting depth adjustment mechanism 172 while seated in the driver's seat 3 using the planting depth adjustment unit 190, making it easy to adjust the planting depth of the seedlings 7.

[0256] The operating unit 127 has an angle adjustment unit 194. The angle adjustment unit 194 is used to lower one side of the planting implement 4 in the machine body width direction K2 around the rolling axis X1 or the other side. By lowering one side of the planting implement 4 in the machine body width direction K2, the planting body 12 on that side is lowered, and by lowering the other side of the planting implement 4 in the machine body width direction K2, the planting body 12 on the other side is lowered. This allows fine adjustment of the planting depth.

[0257] For example, even if the first planting surface 144R and the second planting surface 144L are at the same height, the planting depth of the seedlings 7 planted in the right planting body 12R may differ slightly from the planting depth of the seedlings 7 planted in the left planting body 12L. In such cases, the planting depth can be finely adjusted by, for example, lowering the planting body 12 with the shallower planting depth. Rolling control is performed with this adjustment made.

[0258] As shown in Figure 32, the angle adjuster 194 is provided at the front (top) of the operating unit 127 and has a right-lowering switch 195 and a left-lowering switch 196 arranged side by side in the machine body width direction K2. The right-lowering switch 195 sends a first lowering signal to the control device 131 to lower the right side (the side where the first planting object is placed) of the planting tool 4 about the rolling axis X1. In other words, the right-lowering switch 195 sends a first lowering signal S3 to the control device 131 to lower the first planting object placed side of the planting tool 4 about the rolling axis X1. When the control device 131 receives the first lowering signal S3, it lowers the right side of the planting tool 4.

[0259] The left lowering switch 196 sends a second lowering signal S4 to the control device 131 to lower the left side of the planting implement 4 in the machine body width direction K2 (the side where the second planting object is placed) around the rolling axis X1. When the control device 131 receives the second lowering signal S4, it lowers the left side of the planting implement 4.

[0260] For example, each time the right-lowering switch 195 or the left-lowering switch 196 is pressed, the planting implement 4 rotates a predetermined angle around the rolling axis X1, allowing the planting depth to be finely adjusted in predetermined dimensional units (in units of a few millimeters or a few centimeters). However, this is not limitative.

[0261] The operating unit 127 also has a transplanting unit height adjustment unit 197. The transplanting unit height adjustment unit 197 is located midway through the operating unit 127 (between the angle adjustment unit 194 and the planting depth adjustment unit 190), and has a raising switch 198 and a lowering switch 199. The lowering switch 199 is located to the right and behind (below) the raising switch 198.

[0262] The transplanting unit height adjustment unit 197 corrects the difference in the amount of sinking between the sensing roller 126 and the soil covering wheel 62. It is also used to correct deviations in the mechanical and electrical initial values. The aim is to prevent the swinging frame 164 from moving too far above or below the swing range.

[0263] This will be explained in detail below. The numerical values ​​described in the following explanation are illustrative and not limiting.

[0264] The planting bodies 12 and the soil covering wheel 62 are attached to a swinging frame 164 that swings up and down around the front part (planting drive shaft 165) as a fulcrum. When the soil covering wheel 62 (which is in contact with the ground) is raised by, for example, 1 cm relative to the swinging frame 164, the swinging frame 164 lowers and the planting bodies 12 penetrate approximately 1 cm deeper into the ground, increasing the planting depth by approximately 1 cm.

[0265] The swinging frame 164 has a swing range of approximately 4 cm at the soil covering wheel 62 portion, and if the soil covering wheel 62 is in the center of the swing range, the planting depth can be kept constant even if the unevenness of the ridge is ±2 cm.

[0266] However, if the height of the transplanting frame 36 (height of the pivot point (planting drive shaft 165) of the swinging frame 164) is the same, raising the soil covering wheel 62 by 1 cm will shift the swinging frame 164 to the lower side of its swing range, and the range of adaptability to ridge irregularities will be -1 cm to +3 cm. Therefore, to increase the planting depth by 1 cm, the soil covering wheel 62 is raised by 1 cm and the transplanting frame 36 is lowered by 1 cm so that the swinging frame 164 is in the center of its swing range.

[0267] The planting depth adjustment range is -2cm to +5cm, and 0 means that the top of the root ball (the bed soil for the seedling 7) and the top of the ridge are flush. 0 does not necessarily mean that they are flush, but rather there is a large margin for adjustment on the deep planting side.

[0268] Incidentally, the ground contact height of the sensing roller 126 and the soil covering wheel 62 are not the same. That is, because the soil covering wheel 62 has a higher compression load than the sensing roller 126, the soil covering wheel 62 sinks and becomes lower than the sensing roller 126. By design, the soil covering wheel 62 is expected to be 1 cm lower, but the difference in the amount of sinking changes depending on the adjustment of the compression load of the soil covering wheel 62, the hardness of the top surface of the ridge, the presence or absence of mulch film, etc. To correct this difference in the amount of sinking, a transplanting section height adjustment section 197 is provided.

[0269] When the lowering switch 199 is pressed, the transplanting unit height adjustment unit 197 sends a correction value (first correction value S5) to the control device 131, which then lowers the transplanting frame 36 based on that correction value. Specifically, if the difference in contact surface between the sensing roller 126 and the soil covering wheel 62 is normally 1 cm, but the ridges are soft and the soil covering wheel 62 sinks significantly (the swinging frame 164 is shifted below the swing range), resulting in a large difference in contact surface—for example, 1.5 cm—then the lowering switch 199 ("lower") is pressed to lower the transplanting frame 36 by 0.5 cm (raising the sensing roller by 0.5 cm), correcting the swinging frame 164 so that it is in the center of the swing range.

[0270] Furthermore, when the raise switch 198 is pressed, the transplanting unit height adjustment unit 197 sends a correction value (second correction value S6) to the control device 131, and the control device 131 raises the transplanting frame 36 based on that correction value. Specifically, when the ridges are hard or when a mulch film is used, the difference in contact surface height between the sensing roller 126 and the soil covering wheel 62 is small, and the swinging frame 164 shifts to the upper side of its swing range. Therefore, the raise switch 198 ("high") is pressed to raise the transplanting frame 36.

[0271] The raising switch 198 and lowering switch 199 may be configured to change the value in a predetermined unit of measurement each time they are pressed. Furthermore, if the target planting depth for the soil cover ring 62 is 2 cm, the sensor roller 126 will aim for 3 cm, 1 cm higher than the soil cover ring 62. That is, when the detection value of the sensor roller 126 reaches +1 cm (4 cm), the transplanting frame 36 will be raised, and when it reaches -1 cm (2 cm), the transplanting frame 36 will be lowered. Pressing the raising switch 198 to "raise" the transplanting frame height by 0.5 cm will control the sensor roller 126 to aim for 2.5 cm, 0.5 cm higher than the soil cover ring 62 (1 - 0.5 = 0.5 cm). (Although the target sensor roller height value decreases, the transplanting frame height increases.) That is, when the detection value of the sensor roller 126 reaches +1 cm (3.5 cm), the transplanting frame 36 will be raised, and when it reaches -1 cm (1.5 cm), the transplanting frame 36 will be lowered. Also, when the lowering switch 199 is pressed to "lower" the transplanting frame height by 0.5 cm, the sensor roller 126 controls the height to a target of 3.5 cm, which is (1 + 0.5 =) 1.5 cm higher than the soil covering wheel 62. In other words, when the detection value of the sensor roller 126 reaches +1 cm (4.5 cm), the transplanting frame 36 is raised, and when it reaches -1 cm (2.5 cm), the transplanting frame 36 is lowered.

[0272] The first planting lifting mechanism 167R and the second planting lifting mechanism 167L will now be described with reference to Figures 33 and 34. The first planting lifting mechanism 167R and the second planting lifting mechanism 167L are bilaterally symmetrical and have similar structures, so the first planting lifting mechanism 167R and the second planting lifting mechanism 167L will be described together.

[0273] As shown in Figures 33 and 34, the planting lifting mechanism 167 has a first rotating case 201, a second rotating case 202, and a support plate 121. The first rotating case 201 is rotatably supported by the first side frame portion 164A via a first support shaft 205. More specifically, a bearing member 204 is provided on a bracket member 169 provided on the first side frame portion 164A, and the first support shaft 205 rotatably supports the first rotating case 201. A sprocket 203 is attached to the first support shaft 205 so as to rotate integrally therewith. As shown in Figure 28, power is transmitted to the sprocket 203 from a sprocket 207 attached to the planting drive shaft 165 so as to rotate integrally therewith.

[0274] As shown in Figures 33 and 34, the second rotating case 202 is supported rotatably around a second support shaft 206 on the free end side of the first rotating case 201. The support plate 121 is supported by the second rotating case 202. In detail, a bearing member 209 is provided on the upper part of the support plate 121 via a pivot shaft 208, and a bearing member 211 is fixed to the lower end side of a plate member 210 that protrudes downward from this bearing member 209, and a third support shaft 215 provided on the second rotating case 202 is supported by this bearing member 211. The planting body 12 is supported on the support plate 121. In detail, the planting body 12 has a front component 12A and a rear component 12B, and the upper front side of the front component 12A is rotatably supported around a pivot 212A provided on the support plate 121, and the upper rear side of the rear component 12B is rotatably supported around a pivot 212B provided on the support plate 121.

[0275] The planting lifting mechanism 167 is driven by power transmitted to the first support shaft 205 to raise and lower the planting body 12. Specifically, as shown in Figure 34, a power transmission device is provided inside the first rotating case 201 and the second rotating case 202 so that when the first rotating case 201 rotates around the first support shaft 205 in the direction of arrow Y1, the second rotating case 202 rotates in the opposite direction (direction of arrow Y2) to the first rotating case 201 in conjunction with the rotation of the first rotating case 201. As the first rotating case 201 and the second rotating case 202 rotate, the support plate 121 moves back and forth while moving up and down in parallel, causing the planting body 12 to move up and down along an elliptical trajectory (raising and lowering).

[0276] As shown in Figure 34, the planting body 12 is provided to the side of the planting lifting mechanism 167 (second rotating case 202). Specifically, the planting body 12 is provided in a position where it overlaps with the second rotating case 202 in a side view. This allows the planting device (planting body 12 and planting lifting mechanism 167) to be configured compactly, and as shown in Figure 33, the planting body 12 can be brought close to the seedling loading table 9 while preventing interference with the seedling loading table 9.

[0277] As shown in Figure 35, the first seedling tray 9R and the second seedling tray 9L are arranged side by side in the width direction K2 of the machine body and mounted on the main frame 37. The first seedling tray 9R and the second seedling tray 9L are supported by rail members (first rail 56, second rail 58) of the main frame 37 so as to be movable in the width direction K2 of the machine body.

[0278] As shown in Figure 36, the reversing guides 13 are provided at the center, right and left sides of the lower part of the seedling loading tray 9 in the width direction K2 of the machine body, and are attached to support rods 217 provided at the lower part of the seedling loading tray 9. The empty tray guide 14 has a first rod 14A arranged on the outer side of the machine body of the seedling loading tray 9, a second rod 14B arranged on the inner side of the machine body of the seedling loading tray 9, and a connecting rod 14C connecting the upper parts of the first rod 14A and the second rod 14B. The lower part of the seedling loading tray 9 has a first storage section 218 provided on the right side and a second storage section 219 provided on the left side.

[0279] As shown in Figure 36, a seedling shortage sensor 281 is provided below the seedling loading platform 9 to detect when the seedling trays 8 need to be replenished. When the seedling shortage sensor 281 is activated, two seedling trays 8 can be replenished on the loading plate 10.

[0280] As shown in Figures 37 and 38, the first seedling tray 9R has a first holder member 221R. The first holder member 221R has an upper holder 222R and a lower holder 223R located below the upper holder 222R. The upper holder 222R has a first stay 224R attached to the first storage section 218, a second stay 225R attached to the second storage section 219, and a connecting stay 226R connecting the first stay 224R and the second stay 225R. A first stay plate 227R is fixed to the inside (left side) of the machine body of the connecting stay 226R. A connecting bracket 228 is fixed to the connecting stay 226R (see Figure 37). The connecting bracket 228 is located on the outside of the machine body of the first stay plate 227R and is also fixed to the first stay plate 227R. An operating shaft 229 extending in the width direction K2 of the machine body is rotatably provided at the bottom of the first seedling tray 9R. The outer side of the operating shaft 229 protrudes farther outward than the first storage section 218. Two followers 230 are attached to the operating shaft 229 and are spaced apart in the width direction K2 of the machine body.

[0281] The lower holder 223R has a first stay 231R attached to the first accommodating portion 218, a second stay 232R attached to the second accommodating portion 219, and a connecting stay 233R connecting the first stay 231R and the second stay 232R.

[0282] A plurality of first rollers 234R are rotatably attached to the connecting stays 226R and 233R. The first rollers 234R attached to the connecting stay 226R are supported on the first rail 56 so as to be movable in the width direction K2 of the machine body. The first rollers 234R attached to the connecting stay 233R are supported on the second rail 58 so as to be movable in the width direction K2 of the machine body.

[0283] As shown in Figures 37 and 38, the second seedling tray 9L has a second holder member 221L. The second holder member 221L has an upper holder 222L and a lower holder 223L provided below the upper holder 222L. The upper holder 222L has a first stay 224L attached to the first storage section 218, a second stay 225L attached to the second storage section 219, and a connecting stay 226L connecting the first stay 224L and the second stay 225L. A second stay plate 227L is fixed to the inside (right side) of the connecting stay 226L. The lower holder 223L has a first stay 231L attached to the first accommodating portion 218, a second stay 232L attached to the second accommodating portion 219, and a connecting stay 233L connecting the first stay 231L and the second stay 232L.

[0284] A plurality of second rollers 234L are rotatably attached to the connecting stays 226L and 233L. The plurality of second rollers 234L attached to the connecting stay 226L are supported on the first rail 56 so as to be movable in the width direction K2 of the machine body. The plurality of second rollers 234L attached to the connecting stay 233L are supported on the second rail 58 so as to be movable in the width direction K2 of the machine body.

[0285] As shown in Figure 37, a connecting member 235 is provided, extending in the width direction K2 of the machine body from the left part of the first seedling tray 9R to the second seedling tray 9L. The first stay plate 227 is fixed with bolts to the right part of the connecting member 235. The second stay plate 227L is fixed with bolts to the connecting member 235 so that its position can be adjusted in the width direction K2 of the machine body.

[0286] Since the first seedling loading tray 9R and the second seedling loading tray 9L are connected via a connecting member 235, the first seedling loading tray 9R and the second seedling loading tray 9L move integrally in the width direction K2 of the machine body along the first rail 56 and the second rail 58.

[0287] 37 shows the state of the first seedling tray 9R and the second seedling tray 9L when the row spacing W1 is at its narrowest. From this state, by changing the mounting position of the second stay plate 227L, the distance between the first seedling tray 9R and the second seedling tray 9L in the machine width direction K2 can be adjusted in accordance with the adjustment of the row spacing W1.

[0288] Figure 39 shows a lateral feed mechanism 236 that intermittently feeds the first seedling tray 9R and the second seedling tray 9L laterally by one pitch of the pot section 8a in the width direction K2 of the machine body. The lateral feed mechanism 236 has a lateral feed shaft 237 located below the first seedling tray 9R. The lateral feed shaft 237 extends in the width direction K2 of the machine body and is supported by a support 238 fixed to the first unit frame 38R. The support 238 is provided on the frame body 64 of the first unit frame 38R. The support 238 includes a first bracket 238A attached to the frame main body 64, a second bracket 238B fixed to the first bracket 238A, a third bracket 238C fixed to the right end of the second bracket 238B, a gearbox 238D fixed to the second bracket 238B and the third bracket 238C, and a fourth bracket 238E attached to the second bracket 238B on the side opposite the gearbox 238D. The cross feed shaft 237 is provided between the gearbox 238D and the fourth bracket 238E. A first transmission sprocket 239 is provided at the bottom of the third bracket 238C and is rotatable integrally with the drive shaft 71 and movable in the axial direction. The first transmission sprocket 239 is capable of transmitting power to a second transmission sprocket 240 attached to the second bracket 238B. The power transmitted to the second transmission sprocket 240 is transmitted from an input shaft provided so as to be rotatable integrally with the second transmission sprocket 240 to the cross feed shaft 237 via a transmission mechanism in the gear box 238D.

[0289] The lateral feed shaft 237 uses a Napier screw with a spiral groove (so-called traverse groove) 237a that reciprocates in the axial direction and is formed on the outer surface. A slider 241 having an engaging portion 241a that engages with the traverse groove 237a is fitted to the lateral feed shaft 237. A connecting shaft 242 is provided on the slider 241, and the connecting shaft 242 is connected to a connecting bracket 228 provided on the first holder member 221R of the first seedling loading tray 9R. Vertical feed cams (operating bodies) 243 are fixed to one end and the other end of the lateral feed shaft 237.

[0290] When the lateral feed shaft 237 rotates, the engaging portion 241a is guided along the traverse groove 237a, causing the slider 241 to reciprocate in the width direction K2 of the machine body. This allows the first seedling tray 9R to reciprocate in the width direction K2 of the machine body. In addition, since the second seedling tray 9L is connected to the first seedling tray 9R via the connecting member 235, the first seedling tray 9R and the second seedling tray 9L can reciprocate together in the width direction K2 of the machine body.

[0291] When adjusting the row spacing W1, the first seedling tray 9R and the first unit frame 38R (first transplanting unit 63R) are connected via the lateral feed mechanism 236, and the first seedling tray 9R and the second seedling tray 9L are connected by the connecting member 235. Therefore, the first seedling tray 9R, the second seedling tray 9L, and the first transplanting unit 63R are integrally positioned in the width direction K2 of the machine body. The position of the second transplanting unit 63L is adjusted separately from the first transplanting unit 63R. After adjusting the first transplanting unit 63R and the second transplanting unit 63L in the width direction K2 of the machine body, the second seedling tray 9L is positioned to match the adjusted row spacing W1.

[0292] Figure 40 shows the seedling extracting device 11 and a vertical feed mechanism 244 that vertically feeds the seedling trays 8 downward along the inclined direction by one pitch of the pot sections 8a. The vertical feed mechanism 244 has a tray feed mechanism 245 provided in each of the first and second storage sections 218 and 219 of each seedling tray 9. The tray feed mechanism 245 has a drive sprocket 246, a driven sprocket 247, and an endless conveyor chain 248 wound around the drive sprocket 246 and the driven sprocket 247. The conveyor chain 248 has conveyor pins 249 spaced apart along its length that fit between the pot sections 8a. By rotating the drive sprocket 246 in the direction of arrow Y3 in Figure 40, the seedling trays 8 are conveyed vertically downward along the mounting plate 10 (in the direction of arrow Y4 in Figure 40) via the conveyor chain 248 and the conveyor pins 249.

[0293] As shown in Figure 40, the seedling removal device 11 is located at the lower rear of the seedling loading platform 9 and has seedling removal claws 250. The seedling removal claws 250 penetrate into the pot portion 8a from the rear, pierce the root ball of the seedling 7, and then remove the seedling 7 from the pot portion 8a by retracting from the pot portion 8a with the root ball still pierced. After removing the seedling 7, the seedling removal claws 250 change their position so that the bed soil (root ball) of the seedling 7 faces the planting body 12 below, and then release the seedling 7 and place it into the planting body 12.

[0294] In the above-described transplanter 1, an example has been given in which the antenna unit 400 that receives satellite positioning information is placed above the center of the front part of the hood 26 in the width direction K2 of the machine body, but the location where the antenna unit 400 is placed is not limited to the location shown in the above embodiment.

[0295] For example, as shown in Figures 41A, 41B, and 41C, in a transplanter 1 in which planting units 525 including multiple components for planting vegetable seedlings 7 (e.g., planting bodies 12, seedling removal devices 11, and a pair of soil covering wheels 62) are arranged in the width direction K2 of the machine body, the antenna unit 400 may be arranged within a range 526 obtained by extending the width (machine width direction width) T1 between the outer ends of one of the multiple components (planting bodies 12, seedling removal devices 11, and a pair of soil covering wheels 62) in the planting unit 525 at one end (left end) of the machine body width direction K2 and the same component as the one component in the planting unit 525 at the other end (right end) of the machine body width direction K2 in the fore-and-aft direction K1 of the machine body.

[0296] Specifically, Figure 41A shows a case where the width T1 in the machine body width direction and the width T2 in the machine body fore-and-aft direction of the range 526 in which the antenna unit 400 is arranged are set as follows: In Figure 41A, the machine body width direction width T1 is the distance between the outer ends of the planting bodies 12 of the left planting unit 525 and the planting bodies 12 of the right planting unit 525 in the machine body width direction K2, and the machine body fore-and-aft direction width T2 is the distance in the machine body fore-and-aft direction K1 from a position near the front end of the transplanter 1 (traveling body 5) to a position near the rear end of the transplanter 1 (planting work machine 4).

[0297] In Figure 41B, the width T1 of the machine body is the distance between the outer ends of the seedling removal device 11 of the left planting unit 525 and the seedling removal device 11 of the right planting unit 525 in the machine body width direction K2. The width T2 of the machine body in the front-rear direction is the same as in Figure 41A above.

[0298] In Figure 41C, the width T1 of the machine body is the distance between the outer ends of the pair of soil covering wheels 62 of the left planting unit 525 and the pair of soil covering wheels 62 of the right planting unit 525 in the width direction K2 of the machine body. The width T2 of the machine body in the fore-aft direction is the same as in Figure 41A above. The outer ends of the pair of soil covering wheels 62 are the outer ends of the soil covering wheels 62 in the width direction K2 of the machine body that are located outward in the width direction K2 of the machine body.

[0299] The width T1 in the fuselage width direction is, for example, the distance between the outer ends of the multiple components in the fuselage width direction K2 when the row spacing W1 is set to the maximum row spacing.

[0300] The antenna unit 400 is preferably disposed approximately in the center of the range 526 in the width direction K2 of the machine body. Figure 41A illustrates a case in which the antenna unit 400 is disposed above the approximate center between the planting body 12 of the planting unit 525 at one end of the machine body in the width direction K2 and the planting body 12 of the planting unit 525 at the other end of the machine body in the width direction K2. Figure 41B illustrates a case in which the antenna unit 400 is disposed above the approximate center between the seedling removal device 11 of the planting unit 525 at one end of the machine body in the width direction K2 and the seedling removal device 11 of the planting unit 525 at the other end of the machine body in the width direction K2. Figure 41C illustrates a case in which the antenna unit 400 is disposed above the approximate center between the pair of soil covering wheels 62 of the planting unit 525 at one end of the machine body in the width direction K2 and the pair of soil covering wheels 62 of the planting unit 525 at the other end of the machine body in the width direction K2.

[0301] When the antenna unit 400 is disposed above the running body 5, for example, the antenna unit 400 is attached to a frame member provided on the running body 5 (see FIGS. 1A and 43A). The frame member is not limited to one provided on the running body 5, and may be a frame member provided separately for attaching the antenna unit 400. When the antenna unit 400 is disposed above the planting machine 4, for example, the antenna unit 400 is attached to a frame member attached to the running body 5 and extending from the running body 5 above the planting machine 4 (see FIG. 42A). When the antenna unit 400 is disposed above the planting machine 4, the frame member to which the antenna unit 400 is attached may also be attached to the main frame 37.

[0302] 41A, 41B, and 41C illustrate an example in which two sets of planting units 525 are provided in the width direction K2 of the machine body, but the number of planting units 525 is not limited to two, and three or more sets of planting units 525 may be provided in the width direction K2 of the machine body. Furthermore, the components for planting vegetable seedlings 7 are not limited to the above three components.

[0303] 42A and 42B illustrate an example in which the antenna unit 400 is disposed above the planting machine 4. There are no limitations on the location of the antenna unit 400 as long as it is above the planting machine 4. Specifically, in the embodiment shown in Figs. 42A and 42, the range in which the antenna unit 400 is disposed is defined as the width in the machine body width direction K2 of the planting machine 4 and the width in the machine body fore-and-aft direction K1 of the planting machine 4.

[0304] 42A and 42B show an example in which a mounting body 527 is attached to the frame member 28C of the rear auxiliary seedling stand device 28K, and an antenna unit 400 is attached to this mounting body 527.

[0305] As shown in Figures 42A and 42B, the mounting body 527 is composed of left and right first rod portions 529 extending rearward from brackets 528 attached to the upper connecting portions 28C3 of the left and right frame members 28C, left and right second rod portions 530 extending upward from the rear ends of the first rod portions 529, a third rod portion 531 connecting the upper ends of the left and right second rod portions 530, and left and right fourth rod portions 532 having one end connected to the connecting member 506 via a connecting member (tubular member) 533 and the other end connected to the first rod portion 529 via a connecting member (tubular member) 534.

[0306] The mounting body 527 is not limited to the structure shown in the figure, and various design modifications are possible. The mounting body 527 is not limited to being attached to the frame member 28C, and may be configured to be attached to a frame member that is separately provided on the running body 5 for attaching the mounting body 527. The mounting body 527 can also be attached to the main frame 37.

[0307] As shown by solid lines in Figures 42A and 42B, the antenna unit 400 is preferably disposed above approximately the center of the planting machine 4 in the width direction K2 of the machine body. In the solid lines in Figures 42A and 42B, the antenna unit 400 is disposed above the center of the machine body in the width direction K2 between the seedling tray 9 at one end of the machine body in the width direction K2 and the seedling tray 9 at the other end of the machine body in the width direction K2. Specifically, the antenna unit 400 is disposed approximately in the center of the movement area of ​​the multiple seedling trays 9. However, the present invention is not limited to this, and the antenna unit 400 may also be disposed above the outer ends of the seedling tray 9 at one end of the machine body in the width direction K2 and the seedling tray 9 at the other end of the machine body in the width direction K2. Also, in this embodiment, the antenna unit 400 may be positioned above approximately the center in the width direction K2 of the machine body of a plurality of planting bodies 12 arranged in a row in the width direction K2 of the machine body, or above approximately the center in the width direction K2 of the seedling removal device 11 arranged in a row in the width direction K2 of the machine body, or above approximately the center in the width direction K2 of a pair of soil covering wheels 62 arranged in a row in the width direction K2 of the machine body.

[0308] In this embodiment, the antenna unit 400 is positioned above the planting machine 4 to receive satellite positioning information (position information) above the planting machine 4. In other words, the position of the transplanter 1 itself (the transplanter 1) is detected above the planting machine 4. As a result, when automatic steering is controlled to move the transplanter 1 (the traveling body 5) along a reference direction (target traveling line) based on the satellite positioning information received by the antenna unit 400, the position of the transplanter 1 itself is detected above the planting machine 4. By controlling the automatic steering to position the planting machine 4 relative to the target traveling line (controlling the automatic steering so that the planting machine 4 moves along the target traveling line), deviation of the planting machine 4 in the machine body width direction K2 relative to the target traveling line can be suppressed. This in turn suppresses misalignment of the seedlings 7 in the machine body fore-aft direction K1.

[0309] In addition, by positioning the antenna unit 400 above approximately the center in the width direction K2 of the machine body between the seedling loading platform 9 at one end of the width direction K2 of the machine body and the seedling loading platform 9 at the other end of the width direction K2 of the machine body, above approximately the center in the width direction K2 of the machine body of a plurality of planting bodies 12 arranged in a row in the width direction K2 of the machine body, above approximately the center in the width direction K2 of the machine body of the seedling removal device 11 arranged in a row in the width direction K2 of the machine body, or above approximately the center in the width direction K2 of a pair of soil covering wheels 62 arranged in a row in the width direction K2 of the machine body, it is possible to effectively suppress positional deviation in the width direction K2 of the machine body relative to the target running line of the planting work machine 4.

[0310] Figures 43A, 43B, and 43C illustrate an example in which the antenna unit 400 is supported on a support (in the illustrated example, one and the other frame members 28C) provided upright at the rear of the running body 5. Specifically, the support in the embodiment illustrated in Figures 43A, 43B, and 43C includes the frame member 28C (28CL) of the rear auxiliary seedling table device 28K on one side (left) of the machine body width direction K2 and the frame member 28C (28CR) of the rear auxiliary seedling table device 28K on the other side (right) of the machine body width direction K2. However, this is not limited thereto, and the support supporting the antenna unit 400 may be a separate support provided at the rear of the running body 5 for attaching the antenna unit 400. In this embodiment, utilizing the support (one and the other frame members 28C) provided on the transplanter 1 simplifies the configuration and reduces costs.

[0311] 43A, 43B, and 43C, the antenna unit 400 is disposed above the center or near the center of the rear of the vehicle 5 in the vehicle width direction K2 and is supported by supports (one and the other frame members 28C). In more detail, as shown in Fig. 43C, one rear wheel 24 in the vehicle width direction K2 is supported by a rear axle 537 supported by one rear axle case 536 provided at the rear of the vehicle 16, and the other rear wheel 24 in the vehicle width direction K2 is supported by a rear axle 537 supported by the other rear axle case 536 provided at the rear of the vehicle 16, and the antenna unit 400 is disposed above between the one rear axle 537 and the other rear axle 537 and is supported by supports (one and the other frame members 28C). More specifically, the antenna unit 400 is disposed above the center between one rear axle 537 and the other rear axle 537 or in the vicinity thereof, and is supported by supports (one and the other frame members 28C). Without being limited to this, the antenna unit 400 may be disposed above the rear of the vehicle 5 within the range of the vehicle 5 in the body width direction K2, and supported by supports (the left and right frame members 28C).

[0312] In this embodiment, an antenna unit 400 for receiving satellite positioning information is supported on a support (one or the other frame member 28C) provided upright at the rear of the running body 5, and the satellite positioning information (position information) is received above the rear of the running body 5. When automatic steering is controlled to move the transplanter 1 (running body 5) along a reference direction (target running line) based on the satellite positioning information received by the antenna unit, the automatic steering controls the position of the running body 5 relative to the target running line at the rear of the running body 5 (near the center of rotation) (the automatic steering is controlled so that the rear of the running body 5 moves along the target running line), thereby reducing positional deviation of the running body 5 in the vehicle body width direction K2 relative to the target running line. Furthermore, because position information is detected at the rear of the running body 5, i.e., a position close to the planting implement 4, and the transplanter 1 is controlled relative to the target running line, positional deviation of the planting implement 4 in the vehicle body width direction K2 relative to the target running line can also be reduced. This, in turn, reduces misalignment of the seedlings 7 in the vehicle body fore-aft direction K1.

[0313] In addition, by placing the antenna unit 400 above the center of the vehicle width direction K2 at the rear of the running body 5 or near the center, or above the area between one rear axle 537 and the other rear axle 537, or further, by placing it above the center of the vehicle width direction K2 at the rear of the running body 5 or near the center, and receiving satellite positioning information (position information) at each of these positions, it is possible to effectively suppress positional deviation in the vehicle width direction K2 from the target running line of the running body 5 and the planting work machine 4.

[0314] 43A, 43B, and 43C, a mounting frame 542 is provided to which the antenna unit 400 is attached, and the mounting frame 542 is provided to connect one frame member 28C (28CL) to the other frame member 28C (28CR). Specifically, the mounting frame 542 is provided to connect the upper portions of the one frame member 28C (28CL) and the other frame member 28C (28CL).

[0315] In detail, the mounting frame 542 is composed of left and right first rod portions 539 extending rearward from brackets 538 attached to the upper connecting portions 28C3 of the left and right frame members 28C, left and right second rod portions 540 extending upward from the rear ends of the first rod portions 539, and a third rod portion 541 connecting the upper ends of the left and right second rod portions 540 together.

[0316] 41A to 41C, 42A, 42B, and 43A to 43C, the housing 405 (communication device 401 and communication antenna 403) is not shown, but the housing 405 may be provided below the antenna unit 400, at the position shown in FIGS. 1A and 1B, or in another location.

[0317] In the transplanter 1 of this embodiment, in the setting mode in which settings are made before the start of automatic steering, it is possible to set the reference heading based on information received from the portable terminal 498.

[0318] The communication device 401 receives information related to automatic steering from the mobile terminal 498. Specifically, the communication device 401 may have a wireless communication module that acquires the positioning error correction information by communicating via the Internet or a telephone communication network, in addition to acquiring the positioning error correction information from the wireless signal received by the communication antenna 403. The communication device 401 may also have a short-range wireless communication module that receives the wireless signal including the positioning error correction information from the mobile terminal 498. This short-range wireless communication module is a device that performs wireless communication using, for example, Bluetooth (registered trademark) Low Energy or the like in the Bluetooth (registered trademark) specifications of the IEEE 802.15.1 series of communication standards.

[0319] 1D, the control device 131 has a setting unit 131C. The setting unit 131C sets a reference heading based on information received by the communication device 401, that is, information related to automatic steering from the mobile terminal 498. The control device 131 controls automatic steering to cause the traveling object 5 to travel along the reference heading.

[0320] The communication device 401 is also capable of transmitting setting information to the mobile terminal 498. The setting information is various information set in the transplanter 1, and includes information related to automatic steering.

[0321] For example, when the control device 131 is in a setting mode for performing settings before the start of automatic steering, the control device 131 causes all of the reference orientations stored in the storage device 131B or a selected reference orientation from among them to be transmitted to the portable terminal 498 by the communication device 401. Furthermore, when an instruction to overwrite a new reference orientation is received from the portable terminal 498, the setting unit 131C overwrites the selected reference orientation or the stored reference orientation instructed from the portable terminal 498 with the new reference orientation from the portable terminal 498 and stores the new reference orientation in the storage device 131B.

[0322] 1D, the transplanter 1 has an alarm device 440. The memory device 131B can store up to a predetermined upper limit number (e.g., 10) of reference orientations. When the control device 131 is in the setting mode and one of the reference orientations stored in the memory device 131B is selected, the control device 131 displays the selected reference orientation on the segment display unit 361 and causes the alarm device 440 to notify the selected reference orientation.

[0323] When an instruction to overwrite a new reference orientation is given, the setting unit 131C overwrites the selected stored reference orientation with the new reference orientation and stores it in the storage device 131B.

[0324] The notification device 440 includes, for example, a speaker 402, a sound output device 402A such as headphones, etc. When one of the reference directions stored in the storage device 131B is selected, the control device 131 causes the sound output device 402A to output the selected reference direction as sound.

[0325] Furthermore, in the setting mode of the transplanter 1 of this embodiment, various information settings can be made manually by the operator 2. For example, in the setting mode of the transplanter 1 of this embodiment, the reference orientation can be set manually by the operator 2 without having to travel the transplanter 1 in the field 6 to obtain the reference orientation. Furthermore, in the setting mode, information other than the reference orientation can also be set manually by the operator 2. For this reason, the setting mode is a mode in which the operator 2 can manually input, call up, change, etc., setting values ​​for various setting items before the start of automatic steering.

[0326] The control device 131 transitions the transplanter 1 to the setting mode based on a predetermined operation. The predetermined operation here refers to, for example, simultaneously pressing and holding the third switch 355 and the fourth switch 356 while the main switch 354 is on (e.g., the switch key is in the start or drive position). The predetermined operation may also refer to pressing the steering selector switch 351 while the main switch 354 is off (i.e., the switch key is in the stop position), turning the main switch 354 on (e.g., the switch key is in the start or drive position), and then releasing the steering selector switch 351 within two seconds, or to some other operation. When the transplanter 1 is not in the setting mode, it is in a non-setting mode, in which various settings cannot be configured. The non-setting mode allows tasks other than configuring various settings, such as manual or automatic steering.

[0327] As shown in FIG. 1D , the control device 131 includes a setting unit 131C. For example, the aforementioned processor of the control device 131 functions as the setting unit 131C by executing a setting program stored in the storage device 131B. The setting unit 131C performs settings related to the travel and operation of the transplanter 1 (such as the automatic sensitivity setting, azimuth setting, GPS adjustment, row spacing setting, and RTK setting shown in FIG. 46A ). Regarding azimuth setting, the setting unit 131C can set an azimuth input (e.g., manually input) by an operator as the reference azimuth. More specifically, when in the setting mode, the setting unit 131C accepts azimuth input (e.g., manual azimuth input by an operator) and stores the input azimuth in the storage device 131B as the reference azimuth.

[0328] As shown in FIG. 46A , the storage device 131B stores a storage table DT1 that associates multiple items (i.e., setting items) with setting values ​​for each of the multiple items (setting items). The multiple setting items include automatic sensitivity setting (GS sensitivity setting), azimuth setting, GPS adjustment, row spacing setting, and RTK setting. The setting items in the storage table DT1 are broadly divided into major items and minor items. The major items are items in the first hierarchical level, which is the highest hierarchical level. The minor items are items in the second hierarchical level, which is lower than the first hierarchical level. The automatic sensitivity setting item, azimuth setting item, GPS adjustment item, row spacing setting item, and RTK setting item are all items in the first hierarchical level. The azimuth setting item includes an azimuth input item and an azimuth recall item, which are stored as minor items (items in the second hierarchical level). The setting values ​​for each of the multiple setting items are values ​​in the third hierarchical level, which is lower than the second hierarchical level. The setting values ​​are hierarchically classified into first, second, third, and fourth ranks according to the type of setting item.

[0329] The automatic sensitivity setting item is an item for setting the sensitivity of straight-line steering, and its setting values ​​are assigned only to the first value and are broadly categorized as standard, sensitive, and insensitive. The automatic sensitivity setting setting values ​​can be set to "DEF" indicating standard, a "+ value (an integer such as +1 or +2)" indicating sensitivity, or a "- value (an integer such as -1 or -2)" indicating insensitive. When set to standard, the steering angle of the automatic steering with respect to the position deviation and azimuth deviation is normal; when set to sensitive, the steering angle of the automatic steering is made larger than normal in accordance with the numerical value; and when set to insensitive, the steering angle of the automatic steering is made smaller than normal in accordance with the numerical value. In FIG. 46A, the value "DEF" is stored as the setting value corresponding to the automatic sensitivity setting item.

[0330] The "orientation setting" item is an item related to orientation setting. The "orientation input" item is a subitem for manually inputting orientation information (i.e., a reference orientation), and its setting value corresponds to the value of the integer part of the orientation (orientation integer part: first-place value) and the value of the decimal part of the orientation (orientation decimal part: second-place value). In FIG. 46A, the value "H359" indicating the integer part of an orientation of 359.99° is stored as the first-place value (orientation integer part) of the setting value corresponding to the "orientation input" item, and the value "L_99" indicating the decimal part (up to two decimal places) of an orientation of 359.99° is stored as the second-place value (orientation decimal part).

[0331] The "direction call" item is a sub-item for calling up a registered direction, and its setting values ​​correspond to the direction name (first place value), the registration date (second place value), the direction integer part (third place value), and the direction decimal part (fourth place value). In Fig. 46A, among the setting values ​​corresponding to the "direction call" item, "A4" (identification number) is stored as the first place value (direction name), "2022", "0823", and "1658" as the second place value (registration date), "H359" as the third place value (direction integer part), and "L_99" as the fourth place value (direction decimal part).

[0332] The GPS adjustment item is an item for adjusting the GPS position, and its setting value is assigned only to the first digit value and is roughly classified into standard, positive correction, and negative correction. The GPS adjustment setting value can be set to "DEF" indicating standard, "+ value (an integer such as +1, +2)" indicating positive correction, or "- value (an integer such as -1, -2)" indicating negative correction. In FIG. 46A, the value "DEF" is stored as the setting value corresponding to the GPS adjustment item.

[0333] The row spacing setting item is an item for setting the distance between adjacent rows to be used for row spacing assist. Row spacing assist is a function that notifies the operator 2 of the "deviation" between adjacent rows when starting straight-ahead driving, and provides assistance by automatic steering to eliminate the "deviation" between the adjacent rows. Only the first value is associated with the row spacing setting value, and "1200" indicating 1200 mm, which is the distance between adjacent rows, and "1320" indicating 1320 mm, etc. are stored as default values. Values ​​other than these may also be used as default values. In FIG. 46A, the value "1200" is stored as the setting value corresponding to the row spacing setting item.

[0334] The RTK setting item is an item for setting RTK, and its setting value is roughly classified into standard and custom, with only the first value being associated with it. In Fig. 46A, the value "DEF" indicating standard is stored as the setting value corresponding to the RTK setting item.

[0335] As shown in FIG. 46B , the storage device 131B stores a storage table DT2 in which a direction call item is associated with a plurality of direction names, and direction information (i.e., a reference direction) and registration information (i.e., a registration date and time) are associated with each of the plurality of direction names. In the storage table DT2 shown in FIG. 46B , first to fourth direction names (e.g., "A1" to "A4") are stored as a plurality of direction names. For example, the first direction name ("A1") is associated with registration information including the registration date (the number "2022" indicating the year (e.g., 2022), the number "0322" indicating the date (e.g., March 2), and the number "0845" indicating the hour and minute in 24-hour format (e.g., 8:45)), as well as direction information including the direction integer portion (e.g., the value "H302") and the direction decimal portion (e.g., the value "L_79").

[0336] When the control device 131 is in setting mode, it displays the selected item from among multiple items and its setting value in sequence on the segment display unit 361, and if there are multiple setting values ​​that are hierarchically divided, it displays the multiple setting values ​​in hierarchical order on the segment display unit 361.

[0337] In addition, the steering selector switch 351 was a button for instructing the start and end of automatic steering in the non-setting mode, but functions as a decision button in the setting mode. Also, the first switch 352 and the second switch 353 were buttons for instructing the start and end points of the reference heading in the non-setting mode, but function as selection buttons in the setting mode. For example, in the setting mode, the first switch 352 can change or increase the value in ascending order, and the second switch 353 can change or decrease the value in descending order. In other words, the control device 131 makes the functions (instructions) of the steering selector switch 351, the first switch 352, and the second switch 353 different between the non-setting mode and the setting mode.

[0338] Here, a case where operator 2 manually sets the reference heading will be described. When in the setting mode, the control device 131 switches between the multiple items shown in FIG. 47A and displays them on the segment display unit 361 of the display device 360 ​​based on the operation of at least one of the first switch 352 and the second switch 353. That is, the segment display unit 361 switches between and displays each of the items, namely, automatic sensitivity setting (GS sensitivity setting), heading setting, GPS adjustment, row spacing setting, and RTK setting, in ascending order each time the first switch 352 is operated, and switches between and displays each of the items in descending order each time the second switch 353 is operated. Operator 2 can understand that the various segment displays shown in FIG. 47A, i.e., "GAIN," "A--B," "I--N," "READ," "ADJ," "JOU," and "GPS," represent automatic sensitivity setting (GS sensitivity setting), heading setting, heading input, heading call, GPS adjustment, row spacing setting, and RTK setting.

[0339] When the steering changeover switch 351 is operated while the heading setting item is selected, that is, while the segment display unit 361 displays the large item shown in FIG. 47B (for example, "A--B"), the control device 131 selects the heading setting item and switches between the heading input and the heading call in turn based on the operation of at least one of the first switch 352 and the second switch 353.

[0340] When the steering selector switch 351 is operated while the heading input item is selected, i.e., while the subitem (e.g., "I--N") shown in FIG. 47B is displayed on the segment display unit 361, the control device 131 causes the segment display unit 361 to display the heading value of the reference heading stored in the memory device 131B. Specifically, the segment display unit 361 displays the heading integer part (third layer) value "H359," which is the set value shown in FIG. 47B, followed by the heading decimal part (fourth layer) value "L_99," which is the set value, after a predetermined number of seconds. The control device 131 changes the heading value displayed on the segment display unit 361 based on the operation of at least one of the first switch 352 and the second switch 353. For example, when the first switch 352 is operated while the heading integer part is displayed, the control device 131 increases the value of the displayed heading integer part, and when the second switch 353 is operated, the control device 131 decreases the value. When the steering selector switch 351 is operated, the control device 131 associates the changed heading value with the heading input item as the reference heading and stores it in the storage device 131B. For example, if the changed heading value is 359.97°, this value is stored as the reference heading. Note that if the steering selector switch 351 is operated while the heading value remains the original value, it may not be stored, or it may be overwritten and stored.

[0341] Next, a case will be described in which the operator 2 manually recalls a stored direction (registered direction) to change the reference direction. When the steering selector switch 351 is operated in the setting mode with the direction recall item selected, i.e., with a major item (e.g., "READ") shown in FIG. 47A displayed on the segment display unit 361, the control device 131 selects the direction recall item. The control device 131 displays the direction information and registration information of the currently set direction name among the multiple direction names stored in the storage device 131B on the segment display unit 361 and also notifies the notification device 440. That is, the segment display unit 361 displays the information and the speaker 402 outputs the information. The memory table DT1 shown in FIG. 46A stores currently set setting items and their setting values ​​(direction name, registration date, direction integer part, direction decimal part). 47C, the control device 131 causes the segment display unit 361 to display the fourth direction name and its setting value in that order, and also outputs them as voice from the speaker 402. That is, the segment display unit 361 displays "A4," "2022," "0823," "1658," "H359," and "L_99" in that order, and also outputs them as voice from the speaker 402.

[0342] Then, when there is a third operation indicating an instruction to overwrite the new reference orientation (for example, pressing the steering selector switch 351 twice in a short period of time), the setting unit 131C overwrites the stored reference orientation, which is the notified orientation information, with the new reference orientation and stores it in the storage device 131B. Note that the third operation may be a pressing operation of the third switch 355 or the fourth switch 356. For example, if the new reference direction manually input by operator 2 or the new reference direction from mobile terminal 498 is "359.01°", when the third operation of steering switch 351 (two presses in a short period of time) is performed, the direction information for the fourth direction name "A4" is overwritten with the direction integer part (for example, the value "H359") and the direction decimal part (for example, the value "L_01"), and the registration information is overwritten with a number indicating the current registration date and time (for example, the values ​​"2023", "0523", or "0846").

[0343] For example, operator 2 may confirm the direction value indicated by the fourth direction name, but may also set the direction value indicated by the second direction name. Specifically, the control device 131 can select any direction name from among the multiple direction names displayed on the segment display unit 361 based on the operation of at least one of the first switch 352 and the second switch 353 while the fourth direction name is displayed. As shown in FIG. 46B , the first to fourth direction names and their direction information are stored in the memory table DT2. When the second direction name "A2" in the memory table DT2 is selected, the second direction name "A2" and its setting value are displayed in sequence. When the steering selector switch 351 is operated while the second direction name "A2" is displayed, the direction indicated by the direction information of the selected direction name is set as the reference direction. For example, the direction value indicated by the setting value of the selected second direction name "A2," i.e., 358.44°, which is the direction value of the direction name "A2" shown in FIG. 46B , is set as the reference direction.

[0344] Next, a case where the operator 2 manually sets the row spacing will be described. When the control device 131 is in the setting mode and the row spacing setting item is selected from multiple items, that is, when the steering selector switch 351 is operated with the major item (e.g., "JOU") shown in FIG. 47A displayed on the segment display unit 361, the control device 131 selects the row spacing setting item. The control device 131 causes the segment display unit 361 to display the row spacing setting stored in the memory device 131B. The segment display unit 361 displays the row spacing setting value stored in the memory table DT1 shown in FIG. 46A, that is, "1200" indicating 1200 mm, which is the distance between adjacent rows.

[0345] When the first switch 352 is operated while the row spacing setting value (here, "1200") is displayed, the control device 131 increases the displayed setting value, and when the second switch 353 is operated, decreases the setting value. When the steering changeover switch 351 is operated, the control device 131 stores the row spacing setting value displayed on the segment display unit 361 as the changed row spacing setting value. For example, if the changed row spacing setting value is "1300," this value is stored as the row spacing setting. Note that if the row spacing setting value remains the original value and the steering changeover switch 351 is operated, the original value may not be stored, or may be overwritten and stored.

[0346] Next, a case where the operator 2 manually changes the setting value of the automatic steering sensitivity will be described. In the setting mode, when the steering selector switch 351 is operated with the automatic steering sensitivity setting item selected from among multiple items, that is, with a major item (e.g., "GAIN") shown in FIG. 47A displayed on the segment display unit 361, the control device 131 selects the automatic steering sensitivity item. The control device 131 causes the segment display unit 361 to display the setting value of the automatic steering sensitivity stored in the memory device 131B. The segment display unit 361 changes the setting value of the automatic steering sensitivity displayed on the segment display unit 361 based on the operation of at least one of the first switch 352 and the second switch 353. For example, when the steering selector switch 351 is operated while the setting value is displayed, the control device 131 stores the changed setting value of the automatic steering sensitivity in the memory device 131B in association with the automatic steering sensitivity setting item.

[0347] When not in the setting mode (non-setting mode), the control device 131 acquires the position of the running object 5 when the first switch 352 is operated as the start point, and acquires the position of the running object 5 when the second switch 353 is operated after the running object 5 has traveled a certain distance from the start point as the end point. Then, the control device 131 displays on the segment display unit 361 the bearing value (assumed to be 290.13° in this example) indicating the bearing of the line connecting the start point and the end point.

[0348] When the second switch 353 is operated in a first manner (e.g., a long press) while the heading value is displayed on the segment display unit 361, the control device 131 displays the heading name on the segment display unit 361. The control device 131 selects an available heading name ("A5") based on the operation of at least one of the first switch 352 and the second switch 353. The control device 131 may automatically select the heading name ("A5") next to the stored heading name ("A4"). When the steering selector switch 351 is operated, the control device 131 sets the heading value (heading 290.13°) as the reference heading, associates the reference heading with the selected heading name ("A5"), and stores them in the memory device 131B. The control device 131 is also equipped with a real-time clock, and stores the date indicated by the real-time clock at the time of storage as the registration date.

[0349] In addition, in the non-setting mode, the operator 2 can display (output) the stored reference heading on the segment display unit 361 to check it before starting work. When the second switch 353 is operated by a second operation (e.g., a short press) while not in the setting mode (non-setting mode), if a reference heading has been stored in the memory device 131B, the control device 131 causes the segment display unit 361 to display the reference heading and heading name stored in the memory device 131B. Specifically, the control device 131 causes the segment display unit 361 to display the reference heading and heading name stored in the memory table DT1 shown in FIG. 46A. For example, as shown in FIG. 47D, the control device 131 displays "A4," "2022," "0823," "1658," "H359," and "L_99" in that order on the segment display unit 361. The control device 131 does not start automatic steering control while the heading value (heading 359.99°) is displayed on the segment display unit 361. Furthermore, the control device 131 does not erase the start point and end point while the azimuth value (azimuth 359.99°) is displayed on the segment display unit 361.

[0350] The control device 131 may set at least two or more setting items that are relevant to the field 6 among the multiple setting items as relevant settings.

[0351] 46C stores related setting items that associate items related to the field 6, and multiple setting values ​​associated with the related setting items, and the multiple setting values ​​include two or more of the reference orientation, row spacing, and automatic steering sensitivity. In Figure 46C, the setting values ​​for orientation call, row spacing setting, and automatic sensitivity setting (GS sensitivity setting) for the same field 6 are stored in association with each other. In other words, the setting values ​​for the reference orientation, row spacing setting, and automatic sensitivity setting (GS sensitivity setting) are setting values ​​for the same field 6.

[0352] When the control device 131 is in the setting mode, if the steering selector switch 351 is operated while a related setting item is selected from among multiple items based on the operation of at least one of the first switch 352 and the second switch 353, i.e., while the related setting item (e.g., "RS") shown in FIG. 46C is displayed on the segment display unit 361, the control device 131 selects the related setting item. The control device 131 sequentially displays multiple setting values ​​of the related setting item stored in the memory device 131B on the segment display unit 361. That is, the segment display unit 361 displays "READ," "A4," "2022," "0823," "1658," "H359," "L_99," "JOU," "1200," "GAIN," and "DEF" in that order. The operator 2 can check the setting values ​​of the reference heading, row spacing, and automatic steering sensitivity displayed sequentially on the segment display unit 361 at a glance.

[0353] The transplanter 1 may set the selected reference direction to the portable terminal 498 and overwrite the new reference direction from the portable terminal 498.

[0354] As shown in FIG. 46D, the multiple items may include an external communication item. This external communication item is composed of, for example, a major item "T--R" and subitems "R--X" indicating reception and "T--X" indicating transmission. The storage device 131B stores multiple setting values ​​corresponding to the subitem "transmission" of external communication. For example, among the setting values ​​corresponding to the subitem "transmission" ("T--X"), the following values ​​are stored: "A4" (identification number) as the first-place value (direction name), "2022," "0823," and "1658" as the second-place value (registration date), "H359" as the third-place value (direction integer portion), and "L_99" as the fourth-place value (direction decimal portion).

[0355] When the control device 131 is in the setting mode and the external communication item is selected, that is, when the steering selector switch 351 is operated with the major item shown in FIG. 46D (for example, "T--R") displayed on the segment display unit 361, the control device 131 selects the external communication item and transmits a plurality of setting values ​​(the values ​​of "A4," "2022," "0823," "1658," "H359," and "L_99") corresponding to the minor items of external communication transmission from the communication device 401 to the mobile terminal 498. The mobile terminal 498 displays the received plurality of setting values ​​(the values ​​of "A4," "2022," "0823," "1658," "H359," and "L_99") on the display screen of the mobile terminal 498.

[0356] When a user who owns the portable terminal 498 inputs a new reference direction into the portable terminal 498 or selects a new reference direction already stored in the portable terminal 498 and then operates the portable terminal 498 to instruct transmission, the portable terminal 498 transmits the new reference direction to the transplanter 1. In this example, the new reference direction is 358.02°, and the registration date, time, and minute of the new reference direction in the portable terminal 498 are assumed to be April 10, 2023, 9:22 AM.

[0357] When the setting unit 131C receives an instruction from the portable terminal 498 to overwrite the new reference heading, the setting unit 131C stores the new reference heading (358.02°), date, and time from the portable terminal 498 as multiple setting values ​​(values ​​of "2023," "0410," "0922," "H358," and "L_02") corresponding to the sub-item "reception of external communications" in the storage device 131B. Then, when the third operation of the steering selector switch 351 (two presses within a short period of time) is performed, the setting unit 131C overwrites the current reference heading with the new reference heading (358.02°) from the portable terminal 498, and also overwrites the multiple setting values ​​corresponding to the sub-item "reception of external communications" with the multiple setting values ​​corresponding to the sub-item "transmission" and stores them in the storage device 131B.

[0358] Here, the communication device 401 transmits the selected reference orientation to the portable terminal 498, but it may also transmit all of the reference orientations. When all of the reference orientations in the storage device 131B are transmitted to the portable terminal 498 and the user changes at least one or more of the reference orientations on the portable terminal 498, only the changed reference orientation or all of the reference orientations including the changed reference orientation may be transmitted from the portable terminal 498 to the transplanter 1 and overwritten and stored therein.

[0359] The alarm device 440 of the transplanter 1 can issue an alarm indicating the need to replenish seedling trays 8. As shown in FIG. 1D , the seedling-out sensor 281 is connected to the control device 131. When the control device 131 detects that it is time to replenish seedling trays 8 using the seedling-out sensor 281, it instructs the alarm device 440 to issue an alarm. The alarm device 440 issues an alarm indicating the need to replenish seedling trays 8. That is, when the seedling-out sensor 281 detects that it is time to replenish seedling trays 8, the alarm device 440 issues an alarm indicating the need to replenish seedling trays 8. For example, the alarm device 440 outputs a sound, such as "Please replenish seedling trays," from the audio output device 402A (speaker 402) to indicate the need to replenish seedling trays 8.

[0360] The alarm device 440 may include an indicator lamp 441 that displays a visual alert indicating the need to replenish seedling trays 8. That is, the alarm device 440 may include the indicator lamp 441 instead of or in addition to the audio output device 402A (speaker 402). For example, the indicator lamp 441 lights up, for example, red when it is detected that seedling trays 8 need to be replenished, and turns off or lights up green when it is not detected that seedling trays 8 need to be replenished. A label reading "Seedling Out Warning" is attached near the indicator lamp 441. This allows the operator 2 to recognize that the indicator lamp 441 is a lamp that warns of the need to replenish seedlings. The indicator lamp 441 displays a visual alert instead of or in addition to the audio alert from the audio output device 402A (speaker 402). The indicator lamp 441 is not limited to the above-described display configuration and may have various display configurations.

[0361] 48A , the storage device 131B pre-stores a field map MP1 including the field 6, the position information (latitude and longitude) of the field 6, and the work end position Pg of the field 6. For example, when the operator 2 (e.g., the driver) turns on the steering selector switch 351, the control device 131 starts automatic steering from the work start position Ps, which is the position where the steering selector switch 351 was turned on, and causes the traveling body 5 to travel along the reference direction of the field 6 (e.g., along the straight line L1a which is the longitudinal direction of the ridge), and the planting machine 4 starts transplanting the seedlings 7 into the field 6. When the operator 2 (e.g., the driver) turns off the steering selector switch 351 at the end of the straight line L1a, i.e., the end of the ridge, the control device 131 ends automatic steering of the traveling body 5 and ends the transplanting of the seedlings 7 by the planting machine 4. Next, in order to direct the traveling vehicle 5 to the next furrow, the operator 2 manually turns the steering handle 25 to turn the traveling vehicle 5. Here, the traveling vehicle 5 is turned along the turning route L1b without a turning operation, but it may also be turned along a turning route with a turning operation.

[0362] The position detection device 330 detects the position (latitude, longitude) of the traveling body 5 based on satellite positioning information. When the seedling shortage sensor 281 detects the time to replenish the seedling trays 8, the control device 131 does not issue the notification via the notification device 440 if the traveling body 5 is located within a predetermined distance PD from the work end position Pg.

[0363] The memory device 131B pre-stores the predetermined distance PD. This predetermined distance PD is smaller than the planting travel distance, which is the distance the traveling body 5 travels to plant the vegetable seedlings 7 remaining in the seedling tray 8 when the time to replenish the seedling tray 8 is detected. As shown in FIG. 10 , the seedling tray 8 has, for example, 16 pots 8a vertically and 8 pots horizontally, for a total of 128 pots 8a. Assume that when the time to replenish the seedling tray 8 is detected, the number of vegetable seedlings 7 remaining in the seedling tray 8 is 7 pots vertically and 8 pots horizontally, for a total of 56 pots. The memory device 131B also pre-stores a set spacing value BS (e.g., any value between 25 cm and 80 cm). The predetermined distance PD can be determined using the formula: predetermined distance PD = 56 pots × set spacing value BS. For example, if the plant spacing setting value BS is 25 cm, the specified distance PD is 14 m (= 56 x 0.25 cm), so if the running body 5 is located within the specified distance PD (= 14 m) from the work end position Pg, the alarm device 440 will not issue the above-mentioned alarm.

[0364] 1A, the planting machine 4 includes a seedling tray 9 on which a plurality of seedling trays 8 can be placed in a downwardly tilted state in the feed direction, a tray feed mechanism 245 (see FIGS. 38 and 42) that feeds the downstream seedling tray 8 on the seedling tray 9 downstream, and a seedling removal device 11 that is disposed downstream of the seedling tray 9 and removes seedlings 7 from the seedling tray 8. The alarm device 440 issues an alarm during a specified period T11 during which new seedling trays 8 can be continuously added without leaving any gaps between the downstreammost seedling trays 8 on the seedling tray 9.

[0365] For example, as shown in FIG. 42 , of the four transport pins 249 transporting the downstream seedling tray 8 from which seedlings 7 have been removed by the seedling removal device 11, the upstream transport pin 249 is positioned above the mounting plate 10. The first transport pin 249 for transporting the next seedling tray 8 is positioned on the mounting surface (boundary) of the mounting plate 10. In other words, the above-mentioned specified period T11 is the period from when the previous transport pin 249 is positioned on the mounting surface (boundary) of the mounting plate 10 until the next transport pin 249 is positioned on the mounting surface (boundary) of the mounting plate 10. If the next transport pin 249 exceeds the mounting surface (boundary) of the mounting plate 10, the downstream end of the newly supplied seedling tray 8 will come into contact with this transport pin 249. Therefore, the newly supplied seedling tray 8 will not be connected to the downstream seedling tray 8, and a gap of the length between the previous transport pin 249 and the next transport pin 249 will be created, resulting in a missing seedling when the newly supplied seedling tray 8 is transported. That is, there will be sections in the field 6 where no vegetable seedlings 7 are planted. Therefore, the operator 2 will try to replenish new seedling trays 8 while the alarm device 440 is notifying, thereby reducing the number of missing seedlings.

[0366] Furthermore, if the seedling-out sensor 281 does not change to "no detection" within the specified period T11 from when it detects that the seedling trays 8 need to be replenished, the control device 131 stores in the storage device 131B work report information indicating that the seedling trays 8 have not been replenished and the position information of the traveling unit 5 in association with the field map MP1. In other words, if the seedling trays 8 are not delivered in time, the control device 131 stores the seedling-out position Pe (latitude, longitude) in the field map MP1, as shown in FIG. 48A. The seedling-out position Pe may be the position of the traveling unit 5 at the end of the specified period T11, or the position of the traveling unit 5 when all the seedlings 7 have been removed from the seedling trays 8.

[0367] 1D, the transplanter 1 is equipped with a warning device 445 that outputs a warning sound. The warning device 445 is, for example, a buzzer that emits a warning sound. When the seedling-out sensor 281 detects that it is time to replenish the seedling trays 8, the control device 131 controls the warning device 445 to output the warning sound and controls the notification device 440 to issue the notification multiple times (for example, twice) while the warning device 445 is outputting the warning sound.

[0368] The control device 131 (i) stores in the memory device 131B work report information indicating the replenishment of seedling trays 8, the position information of the moving body 5, and the number of alerts in association with the field map MP1 when the seedling out sensor 281 changes to no detection within the specified period T11 from when the seedling out sensor 281 detects the time to replenish seedling trays 8, and (ii) stores in the memory device 131B work report information indicating the non-replenishment of seedling trays 8, the position information of the moving body 5, and the number of alerts in association with the field map MP1 when the seedling out sensor 281 does not change to no detection within the specified period T11 from when the seedling out sensor 281 detects the time to replenish seedling trays 8.

[0369] The communication device 401 may also communicate with a server 499 that manages work information. When the out-of-seedling sensor 281 detects that it is time to replenish the seedling trays 8 and the out-of-seedling sensor 281 does not change to no detection within a specified period T11 from the detection, the control device 131 transmits work report information indicating that the seedling trays 8 have not been replenished and the position information of the traveling body 5 to the server 499 via the communication device 401.

[0370] Furthermore, as shown in FIG. 48B, when the seedling shortage sensor 281 detects that it is time to replenish the seedling tray 8, the control device 131 may cause the warning device 445 to output a warning sound, and may also cause the alarm device 440 to execute the above-mentioned alarm while the warning sound is being output by the warning device 445, and may reduce the volume of the warning sound by the warning device 445 during the period of the audio alarm.

[0371] For example, as shown in FIG. 48B , if the time to replenish seedling trays 8 is detected at time t10, a warning sound (e.g., a beep) is output at a second volume at time t10. If the time to replenish seedling trays 8 continues to be detected, the warning sound (e.g., a beep) is output at a first volume lower than the second volume from time t11 to time t12, and the first audio notification by the alarm device 440 (e.g., an audio message such as "Please replenish new seedling trays") is output at a third volume from the audio output device 402A. The third volume is at least greater than the first volume. If the first volume is not zero, the warning sound at the first volume can also notify the user that the warning is continuing.

[0372] The third volume may be higher or lower than the second volume. When the third volume is higher than the second volume, the audio notification is set to the loudest volume, thereby maximally emphasizing the audio notification. On the other hand, when the third volume is lower than the second volume but higher than the first volume, the audio notification volume can be set to a level that does not exceed the second volume, so that it is not too loud. The volume of the audio notification is set to a value that ensures an appropriate volume difference from the reduced warning sound of the first volume, thereby appropriately emphasizing the audio notification.

[0373] If the detection of the time to replenish seedling trays 8 continues, the warning sound (e.g., a "beep" sound) is returned to the second volume and output from time t12 to t13. The first audio notification by the alarm device 440 has already ended between time t12 and t13, so no audio notification is made. If the detection of the time to replenish seedling trays 8 continues, the warning sound (e.g., a "beep" sound) is again lowered to the first volume and output from time t13 to t14, and a second audio notification by the alarm device 440 (e.g., an audio message such as "Please replenish new seedling trays by the time this audio notification ends") is output from the audio output device 402A at the third volume. Normally, the operator 2 appropriately replenishes new seedling trays 8 before time t14, preventing the occurrence of missing seedlings.

[0374] If the detection of the time to replenish seedling trays 8 continues, the warning sound (e.g., a beep) is output at the second volume after time t14. Even if new seedling trays 8 are replenished after time t14, the new seedling trays 8 will not be connected to the seedling trays 8 furthest downstream, resulting in a missing seedling.

[0375] 48C , if the out-of-seedling sensor 281 does not change to no detection within a predetermined period T12 that is shorter than the specified period T11 from the time the out-of-seedling sensor 281 detects that it is time to replenish the seedling trays 8, the control device 131 may cause the alarm device 440 to issue an alarm to stop the traveling body 5 to replenish the seedling trays 8. At time t21 between times t13 and t14, the control device 131 stops the traveling body 5.

[0376] In the above-described embodiment, communication antenna 403 is housed inside housing 405, but instead of communication antenna 403, external communication antenna 403A can be attached to a structure other than housing 405, for example, to connecting frame 420. For example, as shown in FIG. 44 , a fixing portion 435 for fixing communication antenna 403A can be attached to reinforcing plate 424R on the right end side of connecting frame 420.

[0377] As shown in FIGS. 45A and 45B , the fixing portion 435 includes a base plate 435a supported on the upper surface thereof, and a first extending plate 435b and a second extending plate 435c extending downward from one end of the base plate 435a. A female thread 435b1 is formed in the first extending plate 435b. A through-hole is formed in the base plate 435a to match the mounting hole of the communication antenna 403A. A bolt 437 is inserted from above into the mounting hole of the communication antenna 403A placed on the upper surface of the base plate 435a and protrudes from the through-hole in the base plate 435a. A nut 438 is fastened to the bolt 437 to fix the communication antenna 403A to the fixing portion 435. As shown in FIG. 1C , a reinforcing plate 424R is attached to the right end of the connecting frame 420. Specifically, the reinforcing plate 424R is welded diagonally across a midpoint of the second extending portion 422B on the right end side of the connecting frame 420 and a position close to the right end side of the rod-shaped body 423. A through hole 424R1 is formed in the reinforcing plate 424R.

[0378] As shown in FIG. 45A , the fixing portion 435 is positioned on the front surface of the reinforcing plate 424R, and as shown in FIG. 45B , one side of the upper surface of the base plate 435a is abutted against the connecting frame 420. Then, a bolt 436 is inserted into the through-hole 424R1 from the rear surface side of the reinforcing plate 424R (i.e., the driver's seat 3 side) and screwed into the female screw 435b1 of the first extension plate 435b. This fixes the fixing portion 435 to the front surface side of the reinforcing plate 424L. In other words, the fixing portion 435 to which the communication antenna 403A is attached is fixed to the reinforcing plate 424L. The communication antenna 403A is connected to the communication device 401 inside the housing 405 via a cable CB5.

[0379] 44, when communication antenna 403A is fixed by fixing part 435, it is located outside the range of the directivity pattern of antenna unit 400. Because communication antenna 403A is located outside the range of the directivity pattern of antenna unit 400 (i.e., located below the two-dot chain line), satellite signals are not blocked by communication antenna 403A.

[0380] A preferred embodiment of the present invention provides a transplanter 1 as described in the following paragraphs.

[0381] (Item 1-1) A transplanter 1 comprising: a planting implement 4 that plants vegetable seedlings 7 in a field 6; a running body 5 that runs with the planting implement 4 attached; a driver's seat 3 mounted on the running body 5; and an antenna unit 400 that receives satellite positioning information, wherein the planting implement 4 has a planting unit 525 that includes a plurality of components for planting the vegetable seedlings 7; a plurality of the planting units 525 are provided, and the plurality of planting units 525 are arranged side by side in a machine body width direction K2; and the antenna unit 400 is arranged within a range 526 obtained by extending, in a machine body fore-and-aft direction K1, a width T1 between outer ends of one of the plurality of components in the planting unit 525 at one end in the machine body width direction K2 and the same component as the one component in the planting unit 525 at the other end in the machine body width direction K2.

[0382] According to the transplanter 1 of this item 1-1, the riding transplanter 1 with a driver's seat 3 is equipped with an antenna unit 400 that receives satellite positioning information, which makes it possible to control automatic steering that causes the transplanter 1 (traveling body 5) to travel along a reference direction (target travel line) based on the satellite positioning information received by the antenna unit 400. Furthermore, by controlling the automatic steering based on the satellite positioning information, the driving burden on the operator 2 can be reduced and the planting work of vegetable seedlings 7 can be supported.

[0383] (Item 1-2) The transplanter 1 according to Item 1-1, wherein the antenna unit 400 is disposed in the approximate center of the range 526 in the machine body width direction K2.

[0384] The transplanter 1 according to this item 1-2 receives satellite positioning information at the center of the range 526 in the machine body width direction K2, which is the width between the outer ends of one of the multiple components in the planting unit 525 at one end in the machine body width direction K2 and the same component in the planting unit 525 at the other end in the machine body width direction K2, extending in the machine body fore-and-aft direction K1. This effectively prevents misalignment of the transplanter 1 in the machine body width direction K2 with respect to the target running line. This in turn prevents the seedlings 7 from being planted out of alignment in the machine body fore-and-aft direction K1.

[0385] (Item 1-3) The transplanter 1 according to Item 1-1 or 1-2, wherein the planting unit 525 includes a planting body 12 that plants seedlings 7 in the field 6, and the one component is the planting body 12.

[0386] The transplanter 1 according to item 1-3 receives satellite positioning information within a range 526 that is the width between the outer ends of the planting bodies 12 in the planting unit 525 at one end in the machine body width direction K2 and the planting bodies 12 in the planting unit 525 at the other end in the machine body width direction K2, thereby effectively preventing misalignment in the machine body width direction K2 with respect to the target travel line of the transplanter 1. This in turn prevents the seedlings 7 from being planted out of alignment in the machine body width direction K1.

[0387] (Item 1-4) The planting work machine 4 has a seedling loading table 9 on which seedling trays 8 are placed, the planting unit 525 includes a seedling removal device 11 that removes seedlings 7 from the seedling trays 8 placed on the seedling loading table 9, and the one component is the seedling removal device 11, as described in item 1-1 or 1-2.

[0388] The transplanter 1 according to item 1-4 receives satellite positioning information within a range 526 that is the width between the outer ends of the seedling removal device 11 in the planting unit 525 at one end in the width direction K2 of the machine body and the seedling removal device 11 in the planting unit 525 at the other end in the width direction K2 of the machine body, extending in the fore-and-aft direction K1 of the machine body, thereby effectively preventing misalignment of the transplanter 1 in the width direction K2 of the machine body with respect to the target running line. This in turn prevents the seedlings 7 from being planted out of alignment in the fore-and-aft direction K1 of the machine body.

[0389] (Item 1-5) The planting unit 525 includes a planting body 12 that plants seedlings 7, and a pair of soil covering wheels 62 that roll in the field 6 to compress the soil on both sides of the seedlings 7 planted by the planting body 12 in the machine width direction K2, and the one component is the pair of soil covering wheels 62, as described in item 1 or 2.

[0390] The transplanter 1 according to item 1-5 receives satellite positioning information within a range 526 that is the extension in the fore-and-aft direction K1 of the width T1 between the outer ends of the pair of soil covering wheels 62 in the planting unit 525 at one end in the width direction K2 of the machine body and the pair of soil covering wheels 62 in the planting unit 525 at the other end in the width direction K2 of the machine body, thereby effectively preventing misalignment in the width direction K2 of the machine body with respect to the target running line of the transplanter 1. This in turn prevents the seedlings 7 from being planted out of alignment in the fore-and-aft direction K1 of the machine body.

[0391] (Item 1-6) The antenna unit 400 is arranged above the approximate center between the planting body 12 of the planting unit 525 at one end of the machine body width direction K2 and the planting body 12 of the planting unit 525 at the other end of the machine body width direction K2.

[0392] The transplanter 1 according to item 1-6 receives satellite positioning information above the approximate center between the planting body 12 of the planting unit 525 at one end in the machine body width direction K2 and the planting body 12 of the planting unit 525 at the other end in the machine body width direction K2, thereby effectively preventing misalignment of the transplanter 1 in the machine body width direction K2 with respect to the target travel line. This in turn prevents the seedlings 7 from being planted out of alignment in the machine body fore-and-aft direction K1.

[0393] (Item 1-7) The antenna unit 400 is arranged above the approximate center between the seedling removal device 11 of the planting unit 525 at one end of the machine body width direction K2 and the seedling removal device 11 of the planting unit 525 at the other end of the machine body width direction K2.

[0394] The transplanter 1 according to item 1-7 receives satellite positioning information above the approximate center between the seedling take-out device 11 of the planting unit 525 at one end in the machine body width direction K2 and the seedling take-out device 11 of the planting unit 525 at the other end in the machine body width direction K2, thereby effectively preventing positional deviation in the machine body width direction K2 from the target running line of the transplanter 1. This in turn prevents the seedlings 7 from being planted out of alignment in the machine body fore-and-aft direction K1.

[0395] (Item 1-8) The antenna unit 400 is arranged above the approximate center between the pair of soil covering wheels 62 of the planting unit 525 at one end of the machine body width direction K2 and the pair of soil covering wheels 62 of the planting unit 525 at the other end of the machine body width direction K2.

[0396] The transplanter 1 according to item 1-8 receives satellite positioning information above the approximate center between the pair of soil covering wheels 62 of the planting unit 525 at one end in the width direction K2 of the machine body and the pair of soil covering wheels 62 of the planting unit 525 at the other end in the width direction K2 of the machine body, thereby effectively preventing positional deviation in the width direction K2 of the machine body from the target running line of the transplanter 1. This in turn prevents the seedlings 7 from being planted out of alignment in the fore-and-aft direction K1 of the machine body.

[0397] In addition, the following items 2-1 to 2-6, 3-1 to 3-11, 4-1 to 4-6, 5-1 to 5-9, 6-1 to 6-11, A1 to A16, B1 to B12, C1 to C12, and D1 to D11 may be subordinate to items 1-1 to 1-8.

[0398] (Item 2-1) A transplanter 1 comprising a planting machine 4 that plants vegetable seedlings 7 in a field 6, a running body 5 that runs with the planting machine 4 attached, a driver's seat 3 mounted on the running body 5, and an antenna unit 400 that receives satellite positioning information, the antenna unit 400 being positioned above the planting machine 4.

[0399] According to the transplanter 1 of this item 2-1, the riding transplanter 1 with a driver's seat 3 is equipped with an antenna unit 400 that receives satellite positioning information, which makes it possible to control automatic steering that causes the transplanter 1 (traveling body 5) to travel along a reference direction (target travel line) based on the satellite positioning information received by the antenna unit 400. Furthermore, by controlling automatic steering based on the satellite positioning information, the driving burden on the operator 2 can be reduced and the planting work of vegetable seedlings 7 can be supported.

[0400] Furthermore, by placing the antenna unit 400 above the planting machine 4 and receiving satellite positioning information at a position above the planting machine 4, it is possible to prevent the planting machine 4 from shifting its position relative to the target travel line. This in turn prevents the seedlings 7 from being planted in an incorrect alignment in the fore-and-aft direction K1 of the machine body.

[0401] (Item 2-2) The transplanter 1 according to Item 2-1, wherein the antenna unit 400 is disposed above a substantial center of the planting implement 4 in the machine body width direction K2.

[0402] According to the transplanter 1 relating to item 2-2, by positioning the antenna unit 400 above approximately the center of the planting work machine 4 in the machine body width direction K2, it is possible to effectively suppress positional deviation of the planting work machine 4 in the machine body width direction K2 relative to the target running line.

[0403] (Item 2-3) The transplanter 1 described in Item 2-1 or 2-2, wherein the planting work machine 4 has a plurality of seedling carrying tables 9 on which seedling trays 8 are placed, the plurality of seedling carrying tables 9 being arranged in a line in the width direction K2 of the machine body, and the antenna unit 400 is arranged above the outer ends of the seedling carrying tables 9 at one end of the width direction K2 of the machine body and the seedling carrying tables 9 at the other end of the width direction K2 of the machine body.

[0404] The transplanter 1 according to item 2-3 can also effectively prevent the planting implement 4 from shifting in position in the machine body width direction K2 relative to the target travel line.

[0405] (Item 2-4) The antenna unit 400 is arranged above the approximate center between the seedling loading tray 9 at one end of the machine body width direction K2 and the seedling loading tray 9 at the other end of the machine body width direction K2.

[0406] According to the transplanter 1 relating to item 2-4, it is further possible to effectively suppress positional deviation of the planting implement 4 in the machine body width direction K2 from the target travel line.

[0407] (Item 2-5) A transplanter 1 described in items 2-3 or 2-4, in which the multiple seedling carrying tables 9 are configured to be freely movable back and forth in the width direction K2 of the machine body, and the antenna unit 400 is positioned approximately in the center of the movement range of the multiple seedling carrying tables 9.

[0408] The transplanter 1 according to item 2-5 can also effectively prevent the planting implement 4 from shifting in position in the machine body width direction K2 relative to the target travel line.

[0409] (Item 2-6) The transplanter 1 according to any one of Items 2-1 to 2-5, further comprising an attachment body 527 attached to the running body 5 and extending from the running body 5 above the planting work machine 4, the attachment body 527 having the antenna unit 400 attached thereto.

[0410] According to the transplanter 1 according to this item 2-6, by attaching the mounting body to which the antenna unit 400 is attached to the running body 5, it is possible to stably receive satellite positioning information.

[0411] (Item 3-1) A transplanter 1 comprising: a planting machine 4 that plants vegetable seedlings 7 in a field 6; a running body 5 that runs with the planting machine 4 attached to the rear; a driver's seat 3 mounted on the running body 5; a support body (one frame member 28CL, the other frame member 28CR) that is provided in an upright position at the rear of the running body 5; and an antenna unit 400 that receives satellite positioning information, wherein the antenna unit 400 is supported by the support body.

[0412] According to the transplanter 1 according to this item 3-1, the riding transplanter 1 with the driver's seat 3 is equipped with an antenna unit 400 that receives satellite positioning information, which makes it possible to control automatic steering that causes the transplanter 1 (traveling body 5) to travel along a reference direction (target travel line) based on the satellite positioning information received by the antenna unit 400. Furthermore, by controlling the automatic steering based on the satellite positioning information, the driving burden on the operator 2 can be reduced and the planting work of vegetable seedlings 7 can be supported.

[0413] Furthermore, in a transplanter 1 with the planting implement 4 attached to the rear of the running body 5, the antenna unit 400 is supported on a support provided upright at the rear of the running body 5, and satellite positioning information is received at a position behind the running body 5 and close to the planting implement 4, thereby preventing the running body 5 and the planting implement 4 from misaligning with the target running line. This in turn prevents the seedlings 7 from being planted in an incorrect alignment in the fore-and-aft direction K1 of the machine body.

[0414] (Item 3-2) The transplanter 1 described in Item 3-1, wherein the antenna unit 400 is positioned above the rear of the running body 5 within a range 526 in the body width direction K2 of the running body 5 and is supported by the support body.

[0415] The transplanter 1 according to this item 3-2 can also suppress positional deviation of the traveling body 5 and the planting work machine 4 in the machine body width direction K2 relative to the target traveling line.

[0416] (Item 3-3) The transplanter 1 according to item 3-1 or 3-2, wherein the antenna unit 400 is positioned above the center of the rear of the running body 5 in the machine width direction K2 or in the vicinity thereof and supported by the support body.

[0417] According to the transplanter 1 relating to this item 3-3, it is possible to effectively suppress positional deviation of the traveling body 5 and the planting work machine 4 in the machine body width direction K2 from the target traveling line.

[0418] (Item 3-4) The transplanter 1 described in any one of items 3-1 to 3-3, wherein the running body 5 has, at the rear, a pair of rear wheels 24 in the machine width direction K2, and a pair of rear axles 537 in the machine width direction K2 that are provided corresponding to each of the rear wheels 24 and support the rear wheels 24, and the antenna unit 400 is positioned above and between one of the rear axles 537 and the other rear axle 537 and is supported by the support body.

[0419] According to the transplanter 1 relating to this item 3-4, it is possible to more effectively suppress the positional deviation of the traveling body 5 in the machine body width direction K2 with respect to the target traveling line.

[0420] (Item 3-5) The transplanter 1 according to Item 3-4, wherein the antenna unit 400 is positioned above or near the center between the one rear axle 537 and the other rear axle 537 and supported by the support.

[0421] According to the transplanter 1 relating to this item 3-5, the positional deviation of the traveling body 5 in the machine body width direction K2 from the target traveling line can be suppressed even more effectively.

[0422] (Item 3-6) A transplanter 1 according to any one of items 3-1 to 3-5, which includes a mounting frame 542 to which the antenna unit 400 is attached, and the support body has one frame member 28CL provided upright on one side of the rear of the running body 5 in the body width direction K2, and the other frame member 28CR provided upright on the other side of the rear of the running body 5 in the body width direction K2, and the mounting frame 542 is provided to connect the one frame member 28CL and the other frame member 28CR.

[0423] According to the transplanter 1 according to item 3-6, the rigidity of the support can be improved by the mounting frame 542. Furthermore, by using the mounting frame 542 to which the antenna unit 400 is attached to improve the rigidity of the support, the structure can be simplified and costs can be reduced.

[0424] (Item 3-7) The transplanter 1 according to Item 6, wherein the attachment frame 542 is provided to connect the upper portions of the one frame member 28CL and the other frame member 28CR to each other.

[0425] The transplanter 1 according to item 3-7 also makes it possible to improve the rigidity of the support, simplify the structure, and reduce costs.

[0426] (Items 3-8) The transplanter 1 described in Items 6 or 7, wherein the one frame member 28CL and the other frame member 28CR are positioned rearward of the seat portion of the driver's seat 3 where the operator 2 sits and protrude upward above the driver's seat 3.

[0427] According to the transplanter 1 according to item 3-8, the support for supporting the antenna unit 400 can be suitably disposed at the rear of the running body 5.

[0428] (Item 3-9) The transplanter 1 described in Item 8, wherein one of the frame members 28CL is positioned to one side of the driver's seat 3 in the machine width direction K2, and the other frame member 28CR is positioned to the other side of the driver's seat 3 in the machine width direction K2.

[0429] The transplanter 1 according to item 3-9 also allows the support for supporting the antenna unit 400 to be suitably disposed at the rear of the running body 5.

[0430] (Item 3-10) The transplanter 1 according to any one of Items 3-1 to 3-9, wherein the support has a plurality of spare seedling tables 28A on which spare seedling trays 8 are placed.

[0431] According to the transplanter 1 relating to item 3-10, the support body is a spare seedling table device 28 provided at the rear of the running body 5, and the antenna unit 400 can be attached using the spare seedling table device 28, thereby simplifying the structure and reducing costs.

[0432] (Items 3-11) The support body is a transplanter 1 described in item 6 or 7, which has a spare seedling table 28A on which spare seedling trays 8 are placed, and which has a plurality of spare seedling tables 28A attached to the one frame member 28CL and the other frame member 28CR.

[0433] The transplanter 1 according to item 3-11 also simplifies the structure and reduces costs.

[0434] (Item 4-1) A transplanter 1 comprising a planting implement 4 for planting seedlings 7 in a field 6, a running body 5 that runs with the planting implement 4 attached to the rear, a pair of rear spare seedling table devices 28K provided at the rear of the running body 5 in the machine body width direction K2, and a connecting member 506 that connects the pair of rear spare seedling table devices 28K together.

[0435] According to the transplanter 1 relating to this item 4-1, in a transplanter 1 in which a planting implement 4 is attached to the rear of the running body 5, by providing a rear spare seedling tray device 28K at the rear of the running body 5, it is possible to improve the efficiency of supplying seedlings 7 from the spare seedling tray device to the planting implement 4. Furthermore, by providing a connecting member 506 that connects the pair of rear spare seedling tray devices 28K together, the pair of rear spare seedling tray devices 28K can reinforce each other, increasing their rigidity.

[0436] (Item 4-2) A transplanter 1 described in Item 4-1, which is equipped with a driver's seat 3 mounted on the running body 5 and a rear step 33 provided between the driver's seat 3 and the planting work machine 4, one of the rear spare seedling table devices 28K is arranged on one end side of the rear step 33 in the machine body width direction K2, the other rear spare seedling table device 28K is arranged on the other end side of the rear step 33 in the machine body width direction K2, and the connecting member 506 connects the upper and lower middle parts of the pair of rear spare seedling table devices 28K.

[0437] According to the transplanter 1 relating to item 4-2, when an operator stands on the rear step 33 and supplies seedlings 7 placed on the rear auxiliary seedling table device 28K to the planting machine 4, or when the operator moves along the rear step 33, the connecting member 506 can function, for example, as a gripping member.

[0438] (Item 4-3) The pair of rear auxiliary seedling table devices 28K have a front support member 28C1, a rear support member 28C2 arranged rearward of the front support member 28C1, and an upper connecting portion 28C3 that connects the upper portions of the front support member 28C1 and the rear support member 28C2, and the connecting member 506 connects the rear support member 28C2 of one of the rear auxiliary seedling table devices 28K to the rear support member 28C2 of the other rear auxiliary seedling table device 28K, a transplanter 1 described in item 4-1 or 4-2.

[0439] According to the transplanter 1 relating to this item 4-3, when an operator supplies seedlings 7 to the planting work machine 4 from the rear side of the connecting member 506, the connecting member 506 can be prevented from becoming an obstacle.

[0440] (Item 4-4) A transplanter 1 according to any one of items 4-1 to 4-3, comprising a driver's seat 3 mounted on the running body 5, and the connecting member 506 being positioned at a height near the upper end of a backrest portion 3B that supports the back of the operator 2 in the driver's seat 3.

[0441] According to the transplanter 1 according to this item 4-4, the connecting member 506 can be disposed at a position where it can function as a gripping member.

[0442] (Item 4-5) The running body 5 has a pair of rear wheels 24 in the machine width direction K2 provided at the rear of the running body 5, and a portion 33L on one side of the rear step 33 in the machine width direction K2 is provided above one of the rear wheels 24 so as to protrude outward in the machine width direction more than the one rear wheel 24, and a portion 33R on the other side of the rear step 33 in the machine width direction K2 is provided above the other rear wheel 24 so as to protrude outward in the machine width direction more than the other rear wheel 24. The transplanter 1 described in Item 4-2.

[0443] According to the transplanter 1 relating to item 4-5, the width of the rear step 33 in the machine body width direction K2 can be widened, thereby improving workability when an operator stands on the rear step 33 and supplies seedlings 7 placed on the rear spare seedling table device 28K to the planting work machine 4.

[0444] (Items 4-6) The running body 5 has a floor step 29a that forms the floor surface of the driver's section 501 having the driver's seat 3, and one side step 507L that protrudes from the floor step 29a to one side in the machine body width direction K2 and the other side step 507R that protrudes to the other side, and the one side portion 33L of the rear step 33 is arranged behind the one side step 507L, and the other side portion 33R of the rear step 33 is arranged behind the other side step 507R, as described in item 5 of the transplanter 1.

[0445] According to the transplanter 1 according to item 4-6, the operator 2 can easily move from the floor step 29a to the rear step 33.

[0446] (Item 5-1) A transplanter 1 comprising a planting implement 4 for planting seedlings 7 in a field 6, a running body 5 which runs with the planting implement 4 attached to the rear, at least one front spare seedling table device 28F provided at the end side of the front part of the running body 5 in the width direction K2 of the machine body, and at least one rear spare seedling table device 28K provided behind the front spare seedling table device 28F and at the end side of the rear part of the running body 5 in the width direction K2 of the machine body, wherein the rear spare seedling table device 28K is positioned outward in the width direction of the machine body than the front spare seedling table device 28F.

[0447] According to the transplanter 1 relating to item 5-1, by providing a rear spare seedling table device 28K in addition to the front spare seedling table device 28F, the number of seedlings 7 that can be carried on the transplanter 1 can be increased, thereby improving the work efficiency of planting the seedlings 7.

[0448] Furthermore, in a transplanter 1 in which the planting implement 4 is attached to the rear of the running body 5, if a rear spare seedling tray device 28K is provided at the rear of the running body 5, the rear spare seedling tray device 28K may interfere with the seedling supply work when supplying seedlings 7 to the planting implement 4. In the transplanter according to item 5-1, by locating the rear spare seedling tray device 28K further outward in the width direction of the machine than the front spare seedling tray device 28F, it is possible to prevent the rear spare seedling tray device 28K from interfering with the seedling supply work.

[0449] (Item 5-2) The front spare seedling table device 28F and the rear spare seedling table device 28K have a spare seedling table 28A on which a spare seedling tray 8 is placed, and the outer end in the machine width direction K2 of the spare seedling table 28A of the rear spare seedling table device 28K is located further outward in the machine width direction K2 than the outer end in the machine width direction K2 of the spare seedling table 28A of the front spare seedling table device 28F.

[0450] The transplanter 1 according to item 5-2 can also prevent the rear auxiliary seedling table device 28K from interfering with the seedling supplying work.

[0451] (Item 5-3) The spare seedling tray 28A can be freely changed between a usage position UP1 in which a spare seedling tray 8 is placed, and a folded position UP2 in which it is raised from the usage position UP1, and when the spare seedling trays 28A of the front spare seedling tray device 28F and the rear spare seedling tray device 28K are in the usage position UP1, the outer end in the body width direction K2 of the spare seedling tray 28A of the rear spare seedling tray device 28K is located outward in the body width direction than the outer end in the body width direction K2 of the spare seedling tray 28A of the front spare seedling tray device 28F, and when the spare seedling tray 28A of the rear spare seedling tray device 28K is in the folded position UP2, it is located inward in the body width direction than the outer end in the body width direction K2 of the spare seedling tray 28A of the front spare seedling tray device 28F which is in the usage position UP1.

[0452] The transplanter 1 according to item 5-3 can also prevent the rear auxiliary seedling table device 28K from interfering with seedling supply work.

[0453] (Item 5-4) A transplanter 1 described in Item 5-2 or 5-3, wherein the front spare seedling table device 28F has a frame member 28B to which the spare seedling table 28A is attached, the rear spare seedling table device 28K has a frame member 28C to which the spare seedling table 28A is attached, the frame member 28B of the front spare seedling table device 28F is provided on the end side of the running body 5 in the body width direction K2, and the frame member 28C of the rear spare seedling table device 28K is provided on the end side of the running body 5 in the body width direction K2, and is positioned outward in the body width direction from the frame member 28B of the front spare seedling table device 28F.

[0454] The transplanter 1 according to item 5-4 can also prevent the rear auxiliary seedling table device 28K from interfering with seedling supply work.

[0455] (Item 5-5) A transplanter 1 described in any one of items 5-1 to 5-4, which is equipped with a driver's seat 3 mounted on the rear of the running body 5 and a rear step 33 provided between the driver's seat 3 and the planting work machine 4, wherein the planting work machine 4 has a seedling loading platform 9 on which seedling trays 8 are placed, the rear step 33 protruding outward in the width direction of the machine body more than the seedling loading platform 9, and the rear spare seedling loading device 28K is located on the outer end side of the protruding portion in the width direction K2 of the machine body.

[0456] According to the transplanter 1 relating to item 5-5, the operator can stand on the rear step 33 and improve workability when supplying seedlings 7 placed on the rear spare seedling table device 28K to the planting work machine 4.

[0457] (Item 5-6) The transplanter 1 described in Items 5-1 to 5-5 includes a driver's seat 3 mounted on the rear of the running body 5 and a rear step 33 provided between the driver's seat 3 and the planting implement 4, and the planting implement 4 has seedling trays 9 on which seedling trays 8 are placed, the seedling trays 9 being arranged in a row in the width direction K2 of the machine body, and a portion 33L of the rear step 33 on one side in the width direction K2 of the machine body protrudes outward in the width direction of the machine body further than the seedling trays 9 on one side of the plurality of seedling trays 9 in the width direction K2 of the machine body, and a portion 33R of the rear step 33 on the other side in the width direction K2 of the machine body protrudes outward in the width direction of the machine body further than the seedling trays 9 on the other side of the plurality of seedling trays 9 in the width direction K2 of the machine body.

[0458] The transplanter 1 relating to item 5-6 can also improve workability when an operator stands on the rear step 33 and supplies seedlings 7 placed on the rear spare seedling table device 28K to the planting work machine 4.

[0459] (Items 5-7) The front spare seedling table device 28F and the rear spare seedling table device 28K are provided on both sides of the running body 5 in the machine width direction K2, and one of the rear spare seedling table devices 28K is positioned on the outer end side of the machine width direction K2 of the one side portion 33L of the rear step 33, and the other rear spare seedling table device 28K is positioned on the outer end side of the machine width direction K2 of the other side portion 33R of the rear step 33, in the transplanter 1 described in item 6.

[0460] According to the transplanter 1 relating to item 5-7, the rear auxiliary seedling tray device 28K can be prevented from interfering with the seedling supplying work.

[0461] (Item 5-8) The running body 5 has a floor step 29a that forms the floor surface of the driver's section 501 having the driver's seat 3, and one side step 507L that protrudes from the floor step 29a to one side in the machine body width direction K2 and the other side step 507R that protrudes to the other side, and the one side portion 33L of the rear step 33 is arranged behind the one side step 507L, and the other side portion 33R of the rear step 33 is arranged behind the other side step 507R, a transplanter 1 described in item 5-6 or 5-7.

[0462] According to the transplanter 1 relating to item 5-8, the operator 2 can easily move from the floor step 29a to the rear step 33.

[0463] (Item 5-9) The running body 5 has a pair of rear wheels 24 provided at the rear of the running body 5 in the machine width direction K2, and the portion 33L on one side of the rear step 33 is provided above one of the rear wheels 24 so as to protrude outward in the machine width direction more than the one rear wheel 24, and the portion 33R on the other side of the rear step 33 is provided above the other rear wheel 24 so as to protrude outward in the machine width direction more than the other rear wheel 24. A transplanter 1 described in any one of items 5-6 to 5-8.

[0464] According to the transplanter 1 relating to item 5-9, the width of the rear step 33 in the machine body width direction K2 can be increased, thereby improving workability when supplying seedlings 7 to the planting work machine 4.

[0465] (Item 6-1) A transplanter 1 comprising a planting machine 4 that removes seedlings 7 from seedling trays 8 placed on a seedling loading platform 9 and plants them in a field 6, a running body 5 that runs with the planting machine 4 attached to the rear, a driver's seat 3 mounted on the running body 5, and an empty tray placing member 510 for placing the empty seedling trays 8 after the seedlings 7 have been removed, the empty tray placing member 510 being positioned to the side of the driver's seat 3.

[0466] According to the transplanter 1 relating to item 6-1, the empty tray placing member 510 for placing the empty seedling tray 8 after the seedlings 7 have been removed can be positioned on the side of the driver's seat 3, making it easy to place the empty tray.

[0467] (Item 6-2) The transplanter 1 according to Item 6-1, wherein the empty tray placement member 510 is disposed at a position where the operator 2 can place the empty seedling tray 8 from the driver's seat 3.

[0468] The transplanter 1 according to item 6-2 also makes it easy to place empty trays.

[0469] (Item 6-3) The transplanter 1 described in item 6-1 or 6-2, wherein the running body 5 has a floor step 29a that forms the floor surface of the driving section 501 having the driver's seat 3, and a side step 507 that protrudes laterally from the floor step 29a, the side step 507 having a rear portion 507a located on the lateral side of the driver's seat 3, and the empty tray placement member 510 is located above the rear portion 507a.

[0470] According to the transplanter 1 relating to this item 6-3, the empty tray placing member 510 can be positioned at a position where the operator 2 can place the empty seedling tray 8 from the driver's seat 3.

[0471] (Item 6-4) The transplanter 1 described in Item 6-3, wherein the empty tray mounting member 510 is freely changeable between a mounting position E1 located above the rear portion 507a in which the empty seedling tray 8 can be mounted, and a retracted position E2 in which the empty tray mounting member 510 is retracted from the upper position of the rear portion 507a.

[0472] According to the transplanter 1 according to this item 6-4, when the empty tray placement member 510 is not in use, the empty tray placement member 510 can be retracted to a position where it will not get in the way.

[0473] (Item 6-5) The transplanter 1 described in item 6-3 or 6-4, wherein the running body 5 has a rear step 33 provided between the floor step 29a and the planting implement 4, and a step member 508 provided on the path from the side step 507 to the rear step 33, the step member 508 being located rearward and above the side step 507 and to the side of the driver's seat 3, and the empty tray placement member 510 being located above the rear portion 507a and the step member 508.

[0474] The transplanter 1 according to this item 6-5 can also position the empty tray placing member 510 at a position where the operator 2 can place the empty seedling tray 8 from the driver's seat 3.

[0475] (Item 6-6) The transplanter 1 according to Item 5, which cites Item 4, wherein the empty tray placement member 510 retracts from a position above the rear portion 507a and the step member 508 in the retracted position E2.

[0476] The transplanter 1 according to this item 6-6 also allows the empty tray placement member 510 to be retracted to a position where it will not get in the way when it is not in use.

[0477] (Items 6-7) The empty tray placing member 510 has a placing member main body 514 on which the empty seedling tray 8 is placed, a support rod 515 that supports the placing member main body 514 and extends in the front-to-back direction, and an anti-rotation structure 516 that prevents the support rod 515 from rotating around its axis, and further, the empty tray placing member 510 is capable of freely releasing the anti-rotation structure 516 that prevents the support rod 515 from rotating so as to change the position of the placing member main body 514 between the placing position E1 and the retracted position E2 by rotating the support rod 515 around its axis, as described in item 4 of the transplanter 1.

[0478] According to the transplanter 1 relating to item 6-7, the empty tray mounting member 510 can be easily changed between the mounting position E1 and the retracted position E2.

[0479] (Items 6-8) The transplanter 1 according to Item 7, further comprising a holding member 517 for holding the mounting member body 514 in the retracted position E2.

[0480] According to the transplanter 1 relating to item 6-8, when the mounting member body 514 is set to the retracted position E2, it can be maintained in the retracted position E2.

[0481] (Item 6-9) The transplanter 1 according to any one of items 6-1 to 6-8, further comprising a pressing member 511 for pressing down the empty seedling tray 8 placed on the empty tray placing member 510.

[0482] According to the transplanter 1 relating to item 6-9, the seedling trays 8 placed on the empty tray placing member 510 can be prevented from coming off the empty tray placing member 510 due to wind or the like.

[0483] (Item 6-10) The transplanter 1 according to Item 6-9, further comprising a support member 512 that supports the pressing member 511 so as to be movable in the vertical direction, and a biasing member 513 that biases the pressing member 511 downward.

[0484] According to the transplanter 1 relating to item 6-10, the seedling tray 8 can be easily placed on the empty tray placing member 510 by moving the pressing member 511 upward, and the seedling tray 8 placed on the empty tray placing member 510 can be firmly held down by the spring member 513.

[0485] (Item 6-11) The transplanter 1 described in Item 6-9, wherein the pressing member 511 has a vertical rod portion 511a extending in the up-down direction and a horizontal rod portion 511b extending forward from the lower end of the vertical rod portion 511a, and further wherein the pressing member 511 can be changed between a pressing position E3 in which the horizontal rod portion 511b presses down the empty seedling tray 8, and a tray removal position E4 in which the horizontal rod portion 511b has moved to a position where the empty seedling tray 8 placed on the empty tray placing member 510 can be removed by rotating the vertical rod portion 511a around its axis.

[0486] According to the transplanter 1 relating to item 6-11, by setting the pressing member 511 to the tray removal position E4, the operation of removing the seedling trays 8 stacked on the empty tray placing member 510 becomes easier.

[0487] (Item A1) A riding vegetable transplanter 1 (transplanter 1) comprising: a planting implement 4 that plants vegetable seedlings 7 in a field 6; a running body 5 that runs with the planting implement 4 attached; a driver's seat 3 that is provided on the running body 5 and in which an operator can be seated; an antenna unit 400 that receives satellite positioning information; a communication antenna 403 that receives radio signals that include correction information for positioning errors; a communication device 401 that acquires the correction information for positioning errors from the radio signals received by the communication antenna 403; and a control device 131 that controls automatic steering of the running body 5 based on the satellite positioning information and the correction information.

[0488] This configuration allows the correction information to reduce positioning errors caused by satellite positioning information, enabling more accurate automatic steering in the riding vegetable transplanter 1. This reduces positional deviations caused by positioning errors in the riding vegetable transplanter 1, reduces the driving burden on the operator of the riding vegetable transplanter 1, and supports planting work.

[0489] (Item A2) The riding vegetable transplanter 1 described in Item A1 comprises frame members 28B erected on both the left and right sides of the running body 5 and extending to a position higher than the driver's seat 3, a connecting frame 420 connecting the upper parts of both frame members 28B, and a housing 405 accommodating the communication device 401, and the antenna unit 400 and the housing 405 are attached to the connecting frame 420.

[0490] According to this configuration, both frame members 28B erected on the left and right sides of the vehicle 5 extend to a position higher than the driver's seat 3. An antenna unit 400 is provided on a connecting frame 420 connecting the upper parts of both frame members 28B. That is, since the antenna unit 400 is provided at the highest position of the vehicle 5, the reception condition of the antenna unit 400 can be made the best. In addition, a housing 405 is attached to the connecting frame 420 on which the antenna unit 400 is provided, and a communication device 401 is housed in this housing 405. Therefore, the communication device 401 can be positioned near the antenna unit 400.

[0491] (Item A3) The riding vegetable transplanter 1 described in Item A2 is provided with a bracket 410 attached to the connecting frame 420, the antenna unit 400 is attached to the upper part of the bracket 410, and the housing 405 is attached to the lower part of the bracket 410, and when viewed in a plane, the antenna unit 400 and the housing 405 are positioned so as to overlap via the bracket 410.

[0492] According to this configuration, the antenna unit 400 is attached to the upper part of the bracket 410 attached to the connecting frame 420, and the housing 405 is attached to the lower part of the bracket 410, and the antenna unit 400 and the housing 405 are arranged in a position where they overlap via the bracket 410 in a plan view. Therefore, the antenna unit 400 and the communication device 401 can be arranged close to each other above and below.

[0493] (Item A4) The riding vegetable transplanter 1 described in Item A2 or A3, wherein the housing 405 has a transparent portion 405C through which a wireless signal can pass, and the communication antenna 403 is provided inside the housing 405.

[0494] According to this configuration, the housing 405 has a transparent portion 405C that allows wireless signals to pass through, so the communication antenna 403 can receive the wireless signals inside the housing 405, and the communication device 401 can acquire positioning error correction information from the wireless signals. Since the housing 405 includes the communication antenna 403 and the communication device 401, the communication antenna 403 and the communication device 401 can be disposed in close proximity to each other. Furthermore, the housing 405 can protect the communication antenna 403 and the communication device 401 from rain, dust, ultraviolet rays, and the like, thereby extending the service life of the communication antenna 403 and the communication device 401.

[0495] (Item A5) The housing 405 is formed of a radio wave transparent material that allows wireless signals to pass through, and the communication antenna 403 is provided inside the housing 405. A riding vegetable transplanter 1 described in item A2 or A3.

[0496] According to this configuration, since the housing 405 is formed of a radio wave transparent material that allows radio signals to pass through, the communication antenna 403 can receive the radio signals inside the housing 405, and the communication device 401 can acquire positioning error correction information from the radio signals. Since the housing 405 includes the communication antenna 403 and the communication device 401, the communication antenna 403 and the communication device 401 can be disposed in close proximity to each other. Furthermore, the housing 405 can protect the communication antenna 403 and the communication device 401 from rain, dust, ultraviolet rays, etc., thereby extending the service life of the communication antenna 403 and the communication device 401.

[0497] (Item A6) The riding vegetable transplanter 1 described in Item A2 or A3, wherein the connecting frame 420 can be fitted with a fixing portion 435 for fixing the communication antenna 403.

[0498] According to this configuration, by attaching the fixing portion 435 that fixes the communication antenna 403 to the connecting frame 420, the communication antenna 403 can be retrofitted to the connecting frame 420. In other words, the communication antenna 403 can be arranged near the antenna unit 400.

[0499] (Item A7) The riding vegetable transplanter 1 according to Item A4, wherein the transparent portion 405C is formed of a transparent or translucent material.

[0500] According to this configuration, the transparent portion 405C is made of a transparent or translucent material, and therefore the transparent portion 405C can be used as a viewing window. That is, the user can see the inside of the housing 405 through the viewing window (transparent portion 405C) and visually confirm the communication device 401, the communication antenna 403, and the like. This reduces the user's need to open the housing 405 to check.

[0501] (Item A8) The riding vegetable transplanter 1 described in Item A5, wherein at least a portion of the housing 405 is formed from a transparent or translucent material.

[0502] According to this configuration, at least a portion of the housing 405 is made of a transparent or translucent material, and the portion made of the transparent or translucent material can be used as a viewing window. That is, the user can see inside the housing 405 through the viewing window and visually check the communication device 401, the communication antenna 403, and the like. This reduces the user's need to open the housing 405 to check.

[0503] (Item A9) The communication device 401 has a wireless communication module that acquires positioning error correction information by communicating via the Internet or a telephone communication network. The riding vegetable transplanter 1 described in any one of items A1 to A8.

[0504] According to this configuration, the wireless communication module acquires correction information for the positioning error by communicating via the Internet or a telephone communication network, which allows for efficient acquisition of the correction information and high-precision automatic steering.

[0505] (Item A10) The riding vegetable transplanter 1 described in Item A9, wherein the communication device 401 has a short-range wireless communication module that receives a wireless signal including correction information for positioning errors from a mobile terminal 498.

[0506] According to this configuration, in addition to receiving wireless signals via the communication antenna 403, correction information for positioning errors can be obtained via short-range wireless communication with the mobile terminal 498. This allows for an expanded range of ways to obtain correction information, enabling highly accurate automatic steering to be performed in response to various reception conditions.

[0507] (Item A11) The riding vegetable transplanter 1 described in Item A3, in which the housing 405 can be changed between a closed state and an open state in which work can be performed on the communication device 401 inside the housing 405 from the driver's seat 3 side.

[0508] According to this configuration, by opening the housing 405, the operator can perform operations on the communication device 401 inside the housing 405 from the driver's seat 3 side, which provides excellent workability.

[0509] (Item A12) The riding vegetable transplanter 1 described in Item A11, wherein the housing 405 houses a speaker 402, and the speaker 402 is attached to the housing 405 in a position facing toward the driver's seat 3.

[0510] According to this configuration, the speaker 402 is attached to the housing 405 in a position facing the driver's seat 3, so that audio can be output in an easily audible manner to the operator seated in the driver's seat 3, and appropriate audio notifications can be given to the operator.

[0511] (Item A13) The riding vegetable transplanter 1 described in Item A12, wherein the housing 405 has a partition wall 406 that separates a first space 405A that houses the communication device 401 from a second space 405B that houses the speaker 402.

[0512] According to this configuration, the housing 405 has a first space 405A that houses the communication device 401 and a second space 405B that houses the speaker 402, and the first space 405A and the second space 405B are separated by a partition wall 406. This makes it possible to reduce the electromagnetic waves from the speaker 402 from reaching the communication device 401, and makes effective use of the housing 405.

[0513] (Item A14) The housing 405 has an upper body 408A, a lower body 408B, and an opening / closing axis 408C located on the inner side of the upper body 408A and the lower body 408B far from the driver's seat 3 and parallel to the width side of the inner side, the speaker 402 is disposed on the inner side of the upper body 408A on the side of the partition wall 406 closer to the driver's seat 3, the communication device 401 is disposed on the inner side of the lower body 408B on the side farther from the driver's seat 3 than the partition wall 406, and the closed state is A state in which the upper body 408A and the lower body 408B are joined together, forming the first space 405A and the second space 405B separated by the partition wall 406 between the upper body 408A and the lower body 408B, and the open state is a state in which the lower body 408B is opened downward relative to the upper body 408A with the opening / closing axis 408C as a rotation axis, and work on the communication device 401 inside the lower body 408B can be performed from the driver's seat 3 side.

[0514] According to this configuration, when housing 405 is in an open state, that is, when lower body 408B is opened downward relative to upper body 408A in which speaker 402 is disposed, communication device 401 inside lower body 408B is exposed toward driver's seat 3, and speaker 402 on upper body 408A and communication device 401 on lower body 408B are separated from each other. Therefore, speaker 402 on upper body 408A and communication device 401 on lower body 408B can be accessed, and therefore, work on speaker 402 on upper body 408A and communication device 401 on lower body 408B can be easily performed.

[0515] (Item A15) The connecting frame 420 is configured to be switchable between an upright position SP in which the antenna unit 400 is positioned higher than the top of both frame members 28B and can receive the satellite positioning information, and a stored position DP in which the antenna unit 400 is lower than the upright position SP and is positioned below the housing 405, by rotating around a horizontal axis along the width direction of the running body 5. This is the riding vegetable transplanter 1 described in Item A3.

[0516] According to this configuration, the connecting frame 420 can be switched between an upright position SP and a retracted position DP by rotating around a horizontal axis along the width direction of the running body 5. When the connecting frame 420 is in the upright position SP, the antenna unit 400 is positioned higher than the tops of both frame members 28B, enabling it to receive satellite positioning information. On the other hand, when the connecting frame 420 is in the retracted position DP, the antenna unit 400 is lower than the upright position SP and po...

Claims

1. A transplanter comprising a planting work machine for planting vegetable seedlings in a field, a traveling body on which the planting work machine is mounted and travels, a driver's seat mounted on the traveling body, and an antenna unit for receiving satellite positioning information. The planting work machine has a planting unit including a plurality of components for planting the vegetable seedlings. A plurality of the planting units are provided, and the plurality of the planting units are arranged side by side in the machine width direction. The antenna unit is arranged within a range where the width between the outer ends of one component among the plurality of components in the planting unit at one end in the machine width direction and the same component as the one component in the planting unit at the other end in the machine width direction is extended in the longitudinal direction of the machine body.

2. The transplanter according to claim 1, wherein the antenna unit is arranged at a substantially central portion in the machine width direction of the range.

3. The transplanter according to claim 1 or 2, wherein the planting unit includes a planter for planting seedlings in a field, and the one component is the planter.

4. The planting work machine has a seedling placing table on which a seedling tray is placed. The planting unit includes a seedling taking-out device for taking out seedlings from the seedling tray placed on the seedling placing table. The transplanter according to claim 1 or 2, wherein the one component is the seedling taking-out device.

5. The planting unit includes a planter for planting seedlings and a pair of covering wheels that roll on the field to press the soil on both sides in the machine width direction of the seedlings planted by the planter. The transplanter according to claim 1 or 2, wherein the one component is the pair of covering wheels.

6. The transplanter according to claim 3, wherein the antenna unit is arranged above a substantially central portion between the planter of the planting unit at one end in the machine width direction and the planter of the planting unit at the other end in the machine width direction.

7. The transplanter according to claim 4, wherein the antenna unit is arranged above a substantially central portion between the seedling taking-out device of the planting unit at one end in the machine width direction and the seedling taking-out device of the planting unit at the other end in the machine width direction.

8. The transplanter according to claim 5, wherein the antenna unit is arranged above a substantially central portion between the pair of covering wheels of the planting unit at one end in the machine width direction and the pair of covering wheels of the planting unit at the other end in the machine width direction.

9. The transplanter according to claim 1, wherein the antenna unit is disposed above the planting work implement.

10. The transplanter according to claim 9, wherein the antenna unit is disposed above a substantially central portion in the machine width direction of the planting work implement.

11. The planting work implement has a plurality of seedling placing tables on which seedling trays are placed, the plurality of seedling placing tables are arranged side by side in the machine width direction, and the antenna unit is disposed above between outer ends of the seedling placing table at one end in the machine width direction and the seedling placing table at the other end in the machine width direction. The transplanter according to claim 9.

12. The transplanter according to claim 11, wherein the antenna unit is disposed above a substantially central portion between the seedling placing table at one end in the machine width direction and the seedling placing table at the other end in the machine width direction.

13. The plurality of seedling placing tables are configured to be reciprocally movable in the machine width direction, and the antenna unit is disposed at a substantially central portion of a moving range of the plurality of seedling placing tables. The transplanter according to claim 11.

14. The transplanter according to any one of claims 9 to 13, further comprising an attachment body attached to the traveling body and extending upward from the traveling body above the planting work implement, the attachment body being for attaching the antenna unit.

15. The transplanter according to claim 1, further comprising a support body provided upright at a rear portion of the traveling body, and the antenna unit is supported by the support body.

16. The transplanter according to claim 15, wherein the antenna unit is disposed above a rear portion of the traveling body within a range in the machine width direction of the traveling body and is supported by the support body.

17. The transplanter according to claim 15 or 16, wherein the antenna unit is disposed above a central portion or its vicinity in the machine width direction of a rear portion of the traveling body and is supported by the support body.

18. The traveling body has, at a rear portion, a pair of rear wheels in the machine width direction and a pair of rear axles in the machine width direction provided corresponding to the respective rear wheels for supporting the rear wheels, and the antenna unit is disposed above between one of the rear axles and the other rear axle and is supported by the support body. The transplanter according to claim 15.

19. The transplanter according to claim 18, wherein the antenna unit is disposed above a central portion or its vicinity between one of the rear axles and the other rear axle and is supported by the support body.

20. The transplanting machine according to claim 15, further comprising a mounting frame to which the antenna unit is attached, wherein the support includes one frame member provided upright on one side in the machine width direction at the rear part of the traveling body, and the other frame member provided upright on the other side in the machine width direction at the rear part of the traveling body, and the mounting frame is provided to connect the one frame member and the other frame member.

21. The transplanting machine according to claim 20, wherein the mounting frame is provided to connect the upper portions of the one frame member and the other frame member.

22. The transplanting machine according to claim 20 or 21, wherein the one frame member and the other frame member are arranged behind a seat portion where an operator sits in the driver's seat and protrude above the driver's seat.

23. The transplanting machine according to claim 22, wherein the one frame member is arranged on one side in the machine width direction with respect to the driver's seat, and the other frame member is arranged on the other side in the machine width direction with respect to the driver's seat.

24. The transplanting machine according to claim 15, wherein the support has a plurality of spare seedling trays on which spare seedling trays are placed.

25. The transplanting machine according to claim 20 or 21, wherein the support has a plurality of spare seedling trays on which spare seedling trays are placed and are attached to the one frame member and the other frame member.

26. The transplanting machine according to claim 1, further comprising a communication antenna that receives a radio signal including correction information for a positioning error, a communication device that obtains the correction information for the positioning error from the radio signal received by the communication antenna, and a control device that controls automatic steering of the traveling body based on the satellite positioning information and the correction information.

27. The transplanting machine according to claim 1, further comprising a communication device that receives information regarding automatic steering from a portable terminal, a setting unit that sets a reference azimuth from the information received by the communication device, and a control device that controls automatic steering to cause the traveling body to travel along the reference azimuth.

Images