JP7083318B2 - Multi rice transplanter - Google Patents

Description

The present invention relates to a multi-rice transplanter capable of feeding a roll-shaped sheet as the field travels to cover the field scene and transplanting seedlings from the sheet onto the field.

In general, when planting a rectangular field with a rice transplanter, the planting work is performed in a range excluding the headland set to a predetermined width from the ridge while traveling back and forth. Finally, go around the headland and finish the planting work in the field. In a multi-rice transplanter that transplants seedlings from the top of a sheet to a field, it is necessary to manage the starting position of covering the field with the sheet so that uncovered parts and overlapping covered parts of the field do not occur.

Conventionally, a mileage measuring means for measuring a mileage based on the amount of rotation of a wheel and a sheet cutting means for cutting the sheet are provided, and traveling by the mileage measuring means by cutting the sheet by the sheet cutting means. There has been proposed a multi-field planting machine that starts measuring a distance and notifies by a notification means when the measured mileage reaches a preset predetermined distance (Patent Document 1). As a result, by storing, for example, the length required for turning the traveling machine in the headland as a predetermined distance, the operator can perform planting while covering the field with a sheet after turning the traveling machine in the headland. You can know the proper position to resume work.

JP-A-2018-333382

Since the multi-rice transplanter according to Patent Document 1 measures the mileage based on the amount of rotation of the wheel, the slip between the wheel and the rice field surface is affected by the measurement of the mileage. Since the field surface is muddy soil, the slip ratio of the wheels is relatively large, and especially when the aircraft turns on a headland, turning resistance acts and the slip ratio changes significantly, resulting in a large error in mileage measurement. May occur.

The present invention is provided in a traveling machine (3) supported by wheels (1, 2), a planting work machine (6) supported by the traveling machine so as to be able to move up and down, and a field. A mulch provided with a sheet storage unit (10) capable of storing a roll-shaped sheet covering a surface, and the planting work machine (6) planting seedlings from the continuously fed sheet onto a field. In the rice transplanter (P)
A GPS receiver (28) capable of detecting the position information of the traveling machine and the longitudinal direction line (L0) of the traveling machine, and
The forward direction (L1) at the time of planting the multi-rice transplanter is specified from the longitudinal direction line (L0), the position where the planting clutch is disengaged in the previous stroke, and the forward direction after turning on the headland of the traveling machine. The same position in the above is specified by the position information, and the planting work machine is provided with a control unit (U) for performing a lowering operation and a notification prompting the start of planting at the same position.
It is in a multi-rice transplanter that is characterized by that.

A sheet cutting mechanism (15) capable of cutting the roll-shaped sheet is provided.
When the traveling machine travels a predetermined distance (D2) in the forward direction from the position where the planting clutch is disengaged, the control unit (U) notifies the sheet cutting mechanism to urge the sheet to be cut.

The reference numerals in parentheses are for comparison with the drawings, but they do not affect the description of the claims.

According to the present invention according to claim 1, the position where the planting clutch was disengaged in the previous stroke and the same position in the forward direction are specified by the information from the GPS receiver, and the planting work machine is lowered at that position. Since the notification prompting the start of planting is performed, there is no measurement error of the mileage due to the change in the slip ratio of the wheels, and the end position of the previous process and the current planting start position can be matched.

According to the second aspect of the present invention, when the planting clutch is disengaged and the vehicle travels a predetermined distance in the forward direction, a notification prompting the seat to be cut is given, so that the multi-seat can be cut at an appropriate position. can.

The side view which shows the mulch rice transplanter which is an embodiment of this invention. It is a figure which shows the operation part, (a) is a perspective view which shows the whole operation part, (b) is a front view of an input panel, (c) is a front view of a display panel. A perspective view showing a GPS receiver of a multi-rice transplanter. The side view which shows the hydraulic pressure control device which raises and lowers a planting work machine. It is a figure which shows the sheet storage apparatus, (a) is a side view which shows the open state of a paper holder, (b) is a side view which shows the closed state of a paper holder. A side view showing a piece of paper switch of a sheet storage device. The block diagram which shows the control part. The flow chart which shows the raising and lowering operation of a planting work machine. A flow chart showing ridge measurement control. A flow chart showing direction setting control. A flow chart showing automatic straight-ahead control. The flow chart which shows the control at the time of turning. A flow chart showing ascending regulation control. The plan view which shows the traveling path of a rice transplanter in the whole field. Top view showing the requirements of the travel route.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. As shown in FIG. 1, the passenger-type multi-rice transplanter P according to the present embodiment has a traveling machine body 3 supported by a front wheel 1 and a rear wheel 2 (wheels), and a traveling machine body 3 is provided at the rear portion of the traveling machine body 3. The planting work machine 6 is supported so as to be able to move up and down via the raising and lowering link mechanism 5. The elevating link mechanism 5 has a lift cylinder 7 interposed between the traveling machine 3 and the planting work machine 6, and corresponds to the expansion / contraction operation of the lift cylinder 7 by the hydraulic control mechanism (see FIG. 4) described later. The planting work machine 6 is raised and lowered.

The planting work machine 6 includes a work machine frame 8 supported by an elevating link mechanism 5, a seedling stand 9 on which mat seedlings are placed, and a sheet storage unit 10 for horizontally storing roll-shaped sheets wound around a core. , A planting mechanism 11 for transplanting seedlings to a field, a cylindrical roller float 12 sliding on a field scene, a paper holding roll 13, a sheet cutting mechanism 15, and the like. The planting mechanism 11 transplants the seedlings scraped from the mat seedlings from the sheet S, which is continuously fed out as the traveling machine 3 travels and is fed out to cover the field scene, into the field. The drawn sheet S is appropriately separated from the roll-shaped sheet stored in the sheet storage unit 10 by the sheet cutting mechanism 15. The roller float 12 is formed in a cylindrical shape extending to the left and right and is provided in parallel in the front-rear direction, and the paper holding roll 13 is formed in a cylindrical shape extending to the left and right and is arranged behind the roller float 12. The roller float 12 and the paper holding roll 13 slide on the field scene while pressing the drawn sheet S against the field scene, and the paper holding roll 13 is configured to have a smaller contact area than the roller float 12.

In the traveling machine 3, a driving unit 24 having a steering 21 and a seat 22 is arranged in the center thereof, a bonnet 23 that covers the engine in front of the steering unit 21, a spare seedling stand 25 on the left and right sides thereof, and an auxiliary roll cover 26 and the like on the outside thereof. Is arranged, and a GPS (position information measurement system) receiver 28 is arranged via a mounting bracket 27 extending upward so as to be laterally attached to the bonnet 23. The traveling machine body 3 is provided with a transmission for transmitting the power from the engine to the wheels 1 and 2 and the planting work machine 6, and the transmission has a planting clutch for connecting and disconnecting the power to the planting work machine. (Not shown) etc. are intervening.

As shown in FIG. 2, the display panel 30 and the operation panel 31 are arranged in the front part of the operation unit 24, the main shift lever 32 is arranged on the left side, and the auxiliary shift lever 33 and the work equipment operation lever 35 are arranged on the right side. Is placed. As shown in FIG. 2C, various notification lamps such as the paper replenishment notification lamp 36 are arranged on the display panel 30. In addition to lighting the notification lamp 36, the notification buzzer also operates for the paper supply notification. As shown in FIG. 2B, the operation panel 31 is provided with a distance adjustment dial 37, a work equipment preparation switch 39, a notification control switch 40, and the like on the left side, which can set the headland distance in an adjustable manner. Further, an automatic planting operation dial 41 and an alarm stop switch 44 are arranged on the right side, and the switch comprises a dial type push button switch, and the width D0 of the headland (see FIG. 14) is set by operating the dial. By pressing the push button, the planting clutch is automatically engaged after a predetermined turn.

The work machine preparation switch 39 is a switch that enables driving of the planting work machine, and the notification control switch 40 is a switch that switches the operation of the notification lamp and the notification buzzer on and off. The work machine operation lever 35 is a lever for raising and lowering the planting work machine, and the up and down operation of the planting work machine can also be performed by a push button 34 arranged at the grip portion of the main speed change lever 32. As shown in FIG. 3, two GPS receivers 28 are arranged at predetermined intervals in the width direction of the machine, and the positions of the rice transplanters can be detected by these two receivers 28 and 28, and the position of the rice transplanter can be detected. The traveling direction L0 of the traveling machine body 3 is detected by the misalignment of the two receivers.

As shown in FIG. 4, the hydraulic control device 48 that controls the raising and lowering of the planting work machine 6 is an ascending switch 35a or a descending switch 35b (FIG. 7) that is operated by the push button 34 of the working equipment operating lever 35 or the main speed change lever 32. It has a cam motor 42, a hydraulic control valve 43 operated by the cam motor, and a work equipment operation cam 45. The work machine operation cam 45 is operated to each position of "up", "fixed", "automatic (down)", and "planting" based on the drive of the work machine operation cam motor 42. Then, in the "elevation" position, the planting work machine 6 is raised (the planting clutch is disengaged), and in the "fixed" position, the planting work machine 6 is fixed at an arbitrary height (the planting clutch is disengaged). , In the "automatic (lower)" position, the planting work machine 6 is lowered until the float 12 touches the ground (the planting clutch is disengaged), and in the "planting" position, the planting clutch is engaged via the cam follower 46. Let me. In the "automatic (descending)" and "planting" positions, mechanical automatic ascending / descending control based on the ground height detection by the float 12 is executed. Further, each position of the working machine operation cam 45 is detected by the potentiometer 47.

As shown in FIG. 5, the sheet storage portion 10 is swingably supported by a paper holder 51 that extends from a base end portion provided near the paper roll case 50 and is swingably supported. A paper holder operation lever 52 for opening and closing the paper holder 51 and a paper feeding knob 53 rotatably supported at both left and right ends of the sheet storage portion are provided. A roll-shaped sheet is housed in the paper roll case 50, and the paper holder 51 receives and holds the sheet S unwound from the paper roll case 50 from below when the planting work machine 6 is raised. The paper feeding knob 53 rotates the sheet stored in the paper roll case 50 by being manually rotated by the operator, and feeds the sheet to the outside of the sheet storage unit 10.

The paper holder 51 extends substantially rearward from the base end and is stored in the paper roll case 50 in a closed state (FIG. 5 (b)) for performing planting work and extends downward and rearward from the base end. It has an open state (FIG. 5A) in which it is easy to manually feed the sheet. When the tip of the paper holder operating lever 52 is operated clockwise in the left side view in the closed state, the rear end of the paper holder 51 is lowered to be in the open state (FIG. 5A). When the tip of the paper holder operating lever 59 is operated counterclockwise when viewed from the left side, the rear end of the paper holder 51 rises to be in a closed state for performing planting work (FIG. 5 (b)).

In the closed state shown in FIG. 5B, the planting work machine 6 is in the lowered planting position, and the sheet S of the paper roll case 50 is pressed onto the rice paddy surface by the roller float 12 (and the paper presser roll 13). , The seedlings laid on the surface of the rice field as the rice transplanter P travels and are grasped by the planting mechanism 11 are planted by breaking through the laid sheet S. In this way, the multi-rice planting work progresses, and the sheet S of the paper roll case 50 is consumed.

As shown in FIG. 6, a paper cut switch 56 is arranged in the sheet storage portion 10 via a bracket 55. When the paper roll case 50 has a sheet, the paper out switch 56 is in a rotating position against the urging force when the operating lever 58 comes into contact with the sheet S, and the paper out switch 56 is in the ON state. When the roll sheet of the paper roll case 50 disappears, the sheet does not come into contact with the operating lever 58, and the operating lever 58 is rotated by the urging force to turn off the paper cut switch 56 and the paper roll case 50. Detects that the sheet is gone.

As shown in FIG. 1, the sheet cutting mechanism 15 has an arm 64 that is pivotally supported in the vicinity of the roller float 12 and extends rearward, and is located in the width direction at the tip of the arm 64 that protrudes rearward of the planting work machine 6. Is provided with a long cutting blade 15a. A bowden wire 68 is connected to the opposite side of the pivot portion of the arm 64, and the other end of the bowden wire extends to the traveling machine body 3 and is connected to a multi-seat cutting operation lever 63 near the seat 22. The cutting operation lever 63 is pivotally supported on one side rear of the seat 22 and extends upward to have a tip grip portion 63a, and the other end of the bowden wire 68 is connected to the vicinity of the pivot portion. Therefore, the operator sits on the seat 22 and looks in the direction of the planting work machine 6 while holding the grip portion 63a and tilting the cutting operation lever 63 forward so that the arm 64 rotates downward. The cutting blade 15a cuts the multi-sheet S.

As shown in FIG. 7, the traveling machine body 3 is provided with a control unit U that controls each operation of the planting work, and the control unit U is a switch and a sensor operated by each of the operation means. The signal from is input and is output to each display unit and actuator. As the input means, each position (position) of the upper switch 35a and the lower switch 35b operated by the work preparation switch 39, the work machine operation lever 35 or the push button switch 34 of the main speed change lever 32, and the work machine operation cam 45. The working machine operation cam potentiometer 47 that detects the above, the lift angle potentiometer 62 that detects the elevating position of the planting work machine 6 by the angle of the elevating link mechanism 5, the turning angle of the front wheel 1 by the operation of the alarm stop switch 44 and the steering 21. There is a steering angle sensor 67 and the like for detecting. Further, as input means of the control unit U, a GPS control switch 60 for operating the GPS receiver 28, a direction setting switch 61 for operating the setting of the traveling direction of the aircraft by the two receivers 28, and the GPS receiver. There is a detector 66 that detects the position information of the traveling machine (rice planting machine) by 28, and further there is a multi-detection sensor 56 that detects the multi-seat and a switch 63b that detects the cutting of the multi-seat by the sheet cutting mechanism 15.

As the output means, there are a work machine operation cam motor 42 for operating the work machine operation cam 45, a buzzer 71a and a lamp 71b which are notification means, and the like. Further, in the present multi-rice transplanter P, the steering 21 can be automatically steered by a manual external motor, and there is a steering motor 70 as the output means.

Next, the work machine operation control S3 will be described with reference to FIG. First, whether or not there is a short-time (not long-pressed) signal due to the lower switch 35b (hereinafter, the operation of the button switch of the main shift operation lever is omitted) by the button switch 34 of the work equipment operation lever 35 or the main shift lever 32. It is determined (S11), and if there is, ON / OFF of the work equipment preparation switch 39 is determined (S12). When the work preparation switch is ON, it is determined by the lift angle potentiometer 62 or the working machine operating cam potentiometer 47 whether or not the planting working machine 6 is raised (S13). Further, when the working machine is not raised, the operation cam potentiometer 47 similarly determines whether the working machine 6 is automatic or non-automatic (S14). It is determined whether the valve) 45 is fixed or non-fixed (S15). In the case of other than fixing, that is, in the (planting) working position, it is returned, and in the case of fixing, the working machine operation cam motor 42 is set to automatic (lowering), and the planting working machine 6 is lowered to the automatic position where the float touches the ground. (S16).

In step S12, when the work preparation switch is OFF, it is determined by the operation cam potentiometer whether or not the work machine is raised (S17), and when it is not raised, it is determined whether or not the work machine operation cam position is fixed (S18). If it is in the fixed position, it is set to automatic (descending), and the planting work machine is in the automatic (descending) state where the float is in contact with the ground (S19). Further, in step S14, when the working machine is in the automatic (descending) position, it is determined whether the operation time T is longer than the predetermined time T0 (S37), and when it is shorter (S37; YES), that is, in the case of one-shot operation. The lift angle potential 62 determines whether or not the work machine is in the descending operation (S20), and if it is not stopped (NO), it is in the state of waiting for the planting clutch to be engaged (S21), and if it is stopped (YES), the work is performed. The machine operation cam is set to planting and the planting work is started (S22). If the operation time is long (NO) in step S37, the ridge measurement control (S50) described later is included and returned.

In steps S13 and S17, when the working machine is in the ascending position, the working machine operation cam is set to be fixed, the working machine is in the fixed state (S23), and is returned together with the steps other than the fixing in step S18.

Therefore, when the operator operates the work equipment operation lever 35 to the lower side (35b) for a short time (1 shot), the work equipment operation cam moves one step lower, that is, ascending → fixed, fixed → automatic (descending), and automatically (descending). ) → Change to planting (planting is maintained as it is).

If there is no lower operation in step S11, it is determined whether or not there is a short-time operation of the upper switch 35a of the work equipment operation lever 35 (S24). If there is no operation, it is determined whether or not the planting clutch is in the on-waiting state in step S21 (S25), and if it is in the on-waiting state (YES), it is determined by the lift angle potentiometer 62 whether or not the work equipment lowering operation is stopped. (S26). When stopped (YES), the work machine operation cam is set to the planting position and the planting work is started (S27), as in step S22.

When there is a short-time operation of the upper operation in step S24, it is determined whether or not the working machine is in the ascending position (S29). If it is ascending, it is continued as it is (return), if it is not ascending, it is determined whether the working machine is automatic (descending) or planting (S32), and if it is automatic (descending), the lifting angle potentiometer 62 causes the working machine to descend. It is determined whether it is in the stopped state (S33). If the operation is stopped (YES), it is set to ascending (S34). When the lowering operation is in progress (NO), the working machine operation cam is set to be fixed and the working machine is in a fixed state (S35). In the case other than automatic in step S32, in step S39, the operation cam potentiometer 47 determines whether the operation cam 45 is in the planting position, and if it is in the planting position, the automatic (planting) state is secured ( S40), in the case of fixing, the work equipment operation cam is set to the ascending position in combination with the work equipment lowering operation stop (YES) in step S33 (S34). That is, in general, the working machine is in the planting automatic (lowering) state (S32; automatic or S40), the working machine is in the lowering (automatic) operation (S33; NO), and the operation cam 14 is in the fixed position. (S35). Further, after returning, since the operation cam is in the fixed position (S39; fixed), the operation cam 14 is in the ascending position and the working machine is ascended (S29; ascending). Then, the lift angle potentiometer detects the rise of the working machine, and the rising of the working machine is maintained.

Next, the ridge measurement control S50 will be described with reference to FIGS. 9 and 14. Generally, as shown in FIG. 14, the rice transplanting work proceeds by reciprocating planting while leaving the headland M at the ridge and making a U-turn on the passenger rice transplanter P at the headland, and finally, the headland M portion. Plant around 2 times to complete the planting work. The headland M is usually twice the planting width of the rice transplanter P, but if the length of the machine is short compared to the number of planting rows, one circumference is sufficient, and it is not always around two. However, it is appropriately set by the distance adjustment dial 37 according to the shape of the field and the like. The passenger rice transplanter P that has entered the field moves backward toward the ridge, and lowers the planting work machine 6 so that the rear end of the planting work machine 6 is aligned with the ridge. The passenger rice transplanter P stores the distance (D0) for two strokes from the ridge, and after traveling for two strokes, the planting clutch is turned on and the planting work is automatically started. (Automatic planting control) is provided. Further, in this state, the work machine preparation switch 39 is ON (S51; ON), the GPS control switch 60 that activates the GPS receiver 28 is also ON (S57; ON), and the work is performed. It is determined whether or not the state of the machine is fixed (S58), and in this state, the working machine is in the fixed state (S58; YES).

When the operator determines that the rear end of the machine is aligned with the ridge, the work machine operation lever 35 is operated by pressing and holding the work machine operation lever 35 downward. Since the work equipment operating lever 35 is being operated on the lower side, step S52 is present, and it is determined whether the operating lever is for a predetermined time or longer (long press operation) (S53), and the operation is performed for a predetermined time T0. If the above operation is performed (S53; YES), it is determined whether the aircraft is in the stopped state (S55). Since the passenger rice transplanter P is moved backward at the ridge and the work machine is stopped in a state where the rear end coincides with the ridge, the step S55 is YES and the position information P0 is acquired by the GPS receiver 28. Then, the subtraction of the headland mileage D0 is started (S56).

In this state, the operator operates the main speed change lever 32, and the rice transplanter P travels forward on the headland M, and the mileage is set from the headland mileage D0 defined by the preset headland distance. It is subtracted. Then, in the forward state of the rice transplanter, the long press operation of the work machine operation lever 35 is completed, and step S52 is none (S52; none). When the headland mileage D0 becomes 0 (S60; YES) due to the running of the rice transplanter P, the running of the headland M set as two strokes is completed. When it is determined that the headland running is finished, the notification that the planting start position is reached is started (S61), the countdown of the mileage D is also cleared (S62), and the vehicle is returned.

As a result, the planting work machine P is put into the planting state by the operator's operation to the planting position or automatically. In this state, the determination in step S58 is other than fixing (NO), and it is determined whether or not the state of the working machine is planted (S63). The working machine is in the planting position (S63; YES), and the planting start position notification ends (S65).

Next, the direction setting control will be described with reference to FIG. In the direction setting control S70, the work preparation switch 39, the GPS control switch 60, and the direction setting switch 61 are ON (S71, S72, S73). Since the planting work machine has just after the work machine operation lever 35 has been planted, step S75 is NO, and since the planting work machine is in the planting state, step S76 is YES, and the planting start position A'point in FIG. 14 is set. It is set (S77) and returned. In the next flow, since step S75 was in the planting state also in the previous time, the process proceeds from planting to planting to step S78. In this state, the planting end point B'point of one planting process is set, and as a result, as shown in FIG. 3, the two GPS receivers 28 and 28 set the planting start point A'and the planting end point A'. A straight line L0 connecting the end points B'is set, the forward direction L1 at the time of planting the multi-rice transplanter is specified from the straight line L0, and the direction setting switch 61 is turned off (S78).

Next, the straight-ahead automatic control will be described with reference to FIG. In the straight-ahead automatic control S80, the work preparation switch 39 and the GPS control switch 60 are ON (S81, S82), and the steering angle sensor 67 determines whether or not the steering 21 is operated at a predetermined turning angle β or more (S83). As described above, at the planting start position A', the rice transplanter P is normally in a straight-ahead state (S83; NO), and the straight line L0 is set in step S78, but the forward direction L1 due to this is set. Since it is not set (S84; NO), it is determined whether the working machine state has changed from descending to planting (S85), and YES is set if the planting work has started. As described above, the rice transplanter is in a straight line state (S86; YES), thereby proceeding to step S87, starting from the current position based on the GPS receiver 28, and a straight line parallel to the straight line L0 set in step S78. Set L1. In this state, as shown in FIG. 15, the rice transplanter P is in a straight-ahead state and is in a position where the rice transplanter P is advanced by a short distance F in a straight-line manner, and the straight line L1 is a forward direction line. Then, the automatic straight-ahead control in the forward direction is started, and a notification to that effect is given (S87).

Since it is returned and in step S84, the forward direction L1 is set (YES), it is determined whether the work machine has moved from planting to the automatic mode when turning the headland (S88), and it is not the automatic mode (NO). ), It is determined whether the work machine has been planted (S89), and the planting work has started (YES), so that the rice transplanter starts straight running by automatic straight-ahead control (S90). When the planting work progresses to reach the planting end point B'of one step and the automatic mode is set (S88; YES), the automatic straight-ahead control is stopped (S91). Even in the planting work by automatic straight-line control, if the operator operates the steering for some reason (S83; YES), the forward direction (straight line) L0 is set (S91; YES), so that the forward direction L1 Is reset (S92). Further, when the GPS control switch 60 is turned off, both the straight line L0 and the forward straight line L1 are reset (S93).

Next, the turning control will be described with reference to FIG. The work equipment preparation switch 39 and the GPS control switch 60 are ON (S101, S102), and it is determined whether or not there is a multi-disconnection operation (S103). The multi-cutting determination is determined by detecting that the sheet cutting mechanism 15 is operated by the cutting operation lever 63 with the detection switch 63b, but if there is no cutting determination (NO), the steering is operated by a predetermined turning angle β or more. It is determined whether or not it has been done (S105).

When there is no steering angle β (S105; NO) and the working machine is in the automatic planting mode from planting (S108; YES) in step S108, the rice planting machine disengages the planting clutch by the GPS receiver 28. The position information P of the above is stored, and the relative distance D along the forward direction L1 (direction parallel to the straight line L0) of the aircraft is calculated for the position information (S112). When the relative distance D in the forward direction exceeds the predetermined distance D2 from the planting clutch disengagement position P (S113; YES), the disconnection request flag of the multi-seat is turned on and the disconnection request notification is started (S115). The predetermined distance D2 is set by adding a slight margin (+ α) to the distance from the planting claw of the planting mechanism 11 to the cutting blade 15a of the sheet cutting mechanism 15. The operator can operate the cutting operation lever 63 by the cutting request notification to cut the mulch sheet at an appropriate position. When the multi-disconnection operation is performed (S103; YES), when the disconnection request flag is ON (S116; YES), the disconnection request flag is turned off, the disconnection request notification is stopped, and the ascending restriction flag is turned off (S117). When the rice transplanter finishes the planting work and enters the headland and the steering is operated (S105; YES), it is determined whether or not the ascending restriction flag is OFF (S106).

As shown in FIG. 13, in the ascending regulation control S130, the work preparation switch and the GPS control switch are ON (S131, S132), and it is determined whether or not there is a multi-disconnect operation (S133). If there is no multi-cutting operation (NO), it is determined whether the working machine is lowered (automatic) (S135), and even if it is not lowered, it is determined whether the working machine is in the planted state (S136). When the working machine is lowered or planted, it is determined whether the traveling machine is in the running state. That is, in this state, since the planting work machine is performing the planting work, it should be avoided to raise the work machine even when cutting the multi-sheet, and the ascending restriction flag is turned ON (S138). .. When the multi-disconnection operation is performed in step S133 (YES), the rise restriction flag is turned OFF (S139).

Returning to FIG. 12, since the ascending restriction flag in step S106 is OFF (YES), the alignment restriction flag is turned ON and the working machine ascends (S107). In this state, the seat storage portion 10 is in the raised state, and the multi-seat S is separated from the field scene. As a result, after cutting the mulch sheet S, the planting work machine 6 rises, so that the mulch sheet can be raised as the planting work machine rises, and the seedlings can be prevented from being stripped.

When the steering is not operated at the turning angle β or more (S105; NO) and the working machine is in the planted state (S108; NO), it is determined whether the alignment control flag is ON (S109). The alignment control is a control in which the GPS receiver 28 aligns the same position as the disengagement position of the planting clutch in the previous stroke in the forward direction L1, and step S109 becomes YES in the step S107, and the traveling machine body. 3 is the forward direction L1, that is, the GPS receiver 28 detects the position information D in the direction parallel to the longitudinal direction line L0 of the aircraft (S110). The position information D in the forward direction L1 gradually increases as it turns and moves toward the ridge from the position where the planting clutch is disengaged, and gradually decreases as the traveling machine turns and moves in the planting direction. Then, when the headland turning is completed and the rice transplanter reaches the position (D = 0) where the planting clutch is disengaged in the previous stroke, the position information D in the forward direction L1 also becomes 0 (S110; YES). , It will be in the forward state in this process and will be the planting start position. In this state, the lowering timing of the working machine is notified, the machine is stopped, the working machine is put into the planting state, and the alignment flag is turned off (S111). Then, when entering the headland from the previous stroke, the mulch seat is cut, and it is at the same position as the disengagement position of the planting clutch in the previous stroke and the forward direction (alignment control), and the lowering timing of the work machine is set. Notify and notify to prompt the working machine to be in the planted state (S111). In step S87, the user is notified to start the automatic straight-ahead control. As a result, the rice transplanter can perform the planting work by automatic straight-ahead control.

1, 2 wheels (front wheels, rear wheels)
3 Traveling machine 6 Planting work machine 10 Seat storage unit 15 Sheet cutting mechanism 28 GPS receiver P Multi rice transplanter U Control unit

Claims (2)

A traveling machine supported by wheels, a planting work machine supported by the traveling machine so as to be able to move up and down, and a sheet storage unit provided in the planting work machine and capable of storing a roll-shaped sheet covering a field scene. In a multi-rice transplanter in which the planting work machine is continuously fed out from the sheet to plant seedlings in a field.
A GPS receiver capable of detecting the position information of the traveling machine and the longitudinal direction line of the traveling machine, and
The forward direction at the time of planting the multi-rice transplanter is specified from the longitudinal direction line, and the same position in the forward direction after turning on the headland of the traveling machine is the same position as the position where the planting clutch is disengaged in the previous stroke. It is provided with a control unit that is specified by information and that performs a lowering operation and a notification prompting the start of planting of the planting work machine at the same position.
A multi-rice transplanter featuring that. A sheet cutting mechanism capable of cutting the roll-shaped sheet is provided.
When the control unit travels a predetermined distance in the forward direction from the position where the planting clutch is disengaged, the control unit notifies the sheet cutting mechanism to prompt the sheet to be cut.
The multi-rice transplanter according to claim 1.

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