JP7718466B2 - Work vehicles - Google Patents

Description

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

A work vehicle is known that has a material transport device mounted at the front of the traveling body, a fertilizer applicator mounted at the rear of the traveling body, a first field information detection element mounted on the traveling body to detect field information, and a control device that changes the amount of fertilizer applied by the fertilizer applicator based on the field information detected by the first field information detection element, and in which the first field information detection element is mounted below the material transport device (see, for example, Patent Document 1).

JP 2016-198005 A

By the way, the inventor believes that the trend of implementing convenient functions one after another into work vehicles such as rice transplanters will continue to accelerate, taking into consideration the various needs of work vehicle users.

However, the inventors have noticed that conventional work vehicles are not always easy to use when utilizing convenient functions.

More specifically, the inventors have noticed that for work vehicles such as conventional rice transplanters, for example, fertility measurements for automatically adjusting the amount of fertilizer applied are not always readily available.

The present invention takes into consideration the above-mentioned conventional problems and aims to provide a work vehicle that can improve usability.

The first aspect of the present invention is a work vehicle that plants seedlings in a field while traveling,
a seedling planting device for planting the seedlings;
a sensor for detecting an electrical resistance of the soil between a first sensor electrode portion and a second sensor electrode portion in order to calculate the fertility of the soil in the field;
It is equipped with
the first sensor electrode unit and the second sensor electrode unit are attached to the seedling planting device,
The seedling planting device has a float whose bottom surface is brought into contact with the soil surface of the soil, and a seedling planting body frame from which the float is suspended;
The work vehicle is characterized in that the first sensor electrode unit and the second sensor electrode unit are attached to the seedling planting main body frame.
The second aspect of the present invention is a method for planting seedlings comprising the steps of:
the first sensor electrode portion and the second sensor electrode portion are attached to the front of the groove former,
In a first aspect of the present invention, the work vehicle is characterized in that the first sensor electrode portion and the second sensor electrode portion are higher than the bottom surface of the furrow former.
A third aspect of the present invention is the work vehicle according to the second aspect of the present invention, wherein the first sensor electrode portion and the second sensor electrode portion are lower than a bottom surface of the float.
The fourth aspect of the present invention is a method for planting seedlings comprising the steps of:
In a third aspect of the present invention, there is provided a work vehicle, wherein the first sensor electrode unit and the second sensor electrode unit are attached to the rear of the ground leveling rotor.
The fifth invention is a work vehicle according to the fourth invention, characterized in that the positions of the first sensor electrode unit and the second sensor electrode unit are shifted toward the inside or outside of the vehicle body based on the left-right direction compared to the positions of the left and right wheels.
The sixth aspect of the present invention is a work vehicle according to the fifth aspect of the present invention, characterized in that the calculation of the fertility based on the detected electrical resistance is adjusted according to the seedling planting depth at which the seedlings are planted.
The seventh aspect of the present invention is a method for planting seedlings, wherein the float is suspended from the seedling planting frame via a float suspension member rotatably attached to the seedling planting frame,
A seedling planting depth adjustment lever member is provided to rotate the float hanging member,
A pin member is erected on the float suspending member,
A pin member position sensor for detecting the position of the pin member is attached to the seedling planting main body frame,
A sixth aspect of the present invention is a work vehicle, characterized in that the orientation of the pin member is upward at a rotation angle of the float hanging member corresponding to the predetermined seedling planting depth.
A first invention related to the present invention is a work vehicle that plants seedlings in a field while traveling,
a seedling planting device for planting the seedlings;
a sensor for detecting an electrical resistance of the soil between a first sensor electrode portion and a second sensor electrode portion in order to calculate the fertility of the soil in the field;
It is equipped with
The work vehicle is characterized in that the first sensor electrode unit and the second sensor electrode unit are attached to the seedling planting device.

A second invention related to the present invention is that the seedling planting device has a float whose bottom surface is brought into contact with the soil surface of the soil, and a seedling planting main body frame from which the float is suspended,
A work vehicle according to a first invention related to the present invention is characterized in that the first sensor electrode unit and the second sensor electrode unit are attached to the seedling planting main body frame.

A third invention related to the present invention is a method for planting seedlings, the seedling planting device having a float whose bottom surface is brought into contact with the soil surface of the soil,
A first aspect of the present invention is a work vehicle related to the present invention, characterized in that the first sensor electrode portion and the second sensor electrode portion are attached to the bottom surface of the float.

A fourth aspect of the present invention is a seedling planting device having a furrow former for forming furrows in the soil surface,
the first sensor electrode portion and the second sensor electrode portion are attached to the front of the groove former,
A work vehicle according to a second invention related to the present invention is characterized in that the first sensor electrode portion and the second sensor electrode portion are higher than the bottom surface of the furrow former.

A fifth invention related to the present invention is a work vehicle of the fourth invention related to the present invention , characterized in that the first sensor electrode portion and the second sensor electrode portion are lower than the bottom surface of the float.

A sixth aspect of the present invention is that the seedling planting device has a soil leveling rotor for leveling the soil surface,
A fifth aspect of the present invention is a work vehicle related to the present invention, characterized in that the first sensor electrode unit and the second sensor electrode unit are attached to the rear of the ground leveling rotor.

A seventh invention related to the present invention is a work vehicle of the sixth invention related to the present invention, characterized in that the positions of the first sensor electrode unit and the second sensor electrode unit are shifted toward the inside or outside of the vehicle body based on the left-right direction compared to the positions of the left and right wheels.

An eighth invention related to the present invention is a work vehicle of the seventh invention related to the present invention, characterized in that the calculation of fertility based on the detected electrical resistance is adjusted according to the seedling planting depth at which the seedlings are planted.

A ninth invention related to the present invention is a method for planting seedlings, wherein the float is suspended from the seedling planting frame via a float suspension member rotatably attached to the seedling planting frame,
A seedling planting depth adjustment lever member is provided to rotate the float hanging member,
A pin member is erected on the float suspending member,
A pin member position sensor for detecting the position of the pin member is attached to the seedling planting main body frame,
An eighth invention of a work vehicle related to the present invention is characterized in that the orientation of the pin member is upward at a rotation angle of the float hanging member corresponding to the predetermined seedling planting depth.

The present invention can improve usability.
The first invention related to the present invention makes it possible to improve usability.

The second invention related to the present invention makes it possible to further improve usability in addition to the effect of the first invention related to the present invention .

The third invention related to the present invention makes it possible to further improve usability in addition to the effect of the first invention related to the present invention .

The fourth invention related to the present invention makes it possible to reduce the burden on the worker in addition to the effect of the second invention related to the present invention .

The fifth aspect of the present invention makes it possible to improve convenience in addition to the effect of the fourth aspect of the present invention .

The sixth aspect of the present invention makes it possible to further improve convenience in addition to the effects of the fifth aspect of the present invention .

The seventh aspect of the present invention makes it possible to improve practicality in addition to the effects of the sixth aspect of the present invention .

According to the eighth aspect of the present invention , in addition to the effect of the seventh aspect of the present invention , it is possible to improve reliability.

According to the ninth aspect of the present invention , in addition to the effect of the eighth aspect of the present invention , it is possible to simplify the configuration.

(a) is a left side view of the rice transplanter according to the embodiment of the present invention; (b) is a plan view of the rice transplanter according to the embodiment of the present invention; (a) is a perspective view of the vicinity of a float of the rice transplanter according to the embodiment of the present invention; (b) is a bottom view of the vicinity of the float of the rice transplanter according to the embodiment of the present invention; An explanatory diagram of a sensor of a rice transplanter according to an embodiment of the present invention. FIG. 1 is a left side view (part 1) of the vicinity of the float of the rice transplanter according to the first modified example of the embodiment of the present invention. FIG. 10 is a left side view (part 2) of the rice transplanter according to the first modified example of the embodiment of the present invention, in the vicinity of the float. (a) A left side view (part 3) of the vicinity of the float of the rice transplanter of the first modified example of the embodiment of the present invention, (b) A left side view (part 4) of the vicinity of the float of the rice transplanter of the first modified example of the embodiment of the present invention. FIG. 5 is a left side view of the vicinity of the float of the rice transplanter according to the first modified example of the embodiment of the present invention. FIG. 6 is a left side view (part 6) of the rice transplanter according to the first modified example of the embodiment of the present invention, in the vicinity of the float. FIG. 7 is a left side view of the vicinity of the float of the rice transplanter according to the first modified example of the embodiment of the present invention. FIG. 8 is a left side view of the vicinity of the float of the rice transplanter according to the first modified example of the embodiment of the present invention. FIG. 1 is a plan view (part 1) of the vicinity of the float of the rice transplanter according to the first modified example of the embodiment of the present invention. FIG. 1 is an explanatory diagram (part 1) of the fertility calculation adjustment of the rice transplanter according to the first modified example of the embodiment of the present invention. FIG. 2 is an explanatory diagram (part 2) of the fertility calculation adjustment of the rice transplanter according to the first modified example of the embodiment of the present invention. FIG. 3 is an explanatory diagram (part 3) of the fertility calculation adjustment of the rice transplanter according to the first modified example of the embodiment of the present invention. FIG. 9 is a left side view of the vicinity of the float of the rice transplanter according to the first modified example of the embodiment of the present invention. FIG. 2 is a plan view (part 2) of the vicinity of the float of the rice transplanter according to the first modified example of the embodiment of the present invention. FIG. 10 is a left side view of the vicinity of the float of the rice transplanter according to the first modified example of the embodiment of the present invention. FIG. 10 is an explanatory diagram of a fertilizer hopper device of a rice transplanter according to a second modified example of an embodiment of the present invention. An explanatory diagram of a fertilizer blower device of a rice transplanter according to a second modified example of an embodiment of the present invention.

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

As with the following, some components may not be shown in the drawings, or may be shown in perspective or in simplified form.

While explaining the operation of the rice transplanter according to an embodiment of the present invention, we will also explain a work vehicle operation control method according to an invention related to the present invention, which is realized by the rear controller 103 and other devices.

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

(1) First, we will specifically explain the configuration and operation of a rice transplanter according to an embodiment of the present invention.

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

For example, as shown in Figure 1(a), which is a left side view of a rice transplanter according to an embodiment of the present invention, and Figure 1(b), which is a plan view of a rice transplanter according to an embodiment of the present invention, when measuring fertility using the first sensor electrode unit 31 and the second sensor electrode unit 32 as rice transplanter float electrodes, the first sensor electrode unit 31 and the second sensor electrode unit 32 are attached at symmetrical float electrode placement position P.

In a rice transplanter equipped with a fertilizer applicator, soil fertility can be measured by placing the first sensor electrode unit 31 and the second sensor electrode unit 32 on the float 26 of the planting section of the seedling planting device 20. While configurations in which electrodes are placed by attaching so-called slip rings to wheels 10, such as the front wheels, tend to be expensive, placing the electrodes on the float 26 makes it possible to measure the fertility of field soil with an inexpensive configuration.

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

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

For example, as shown in Figure 2(a), which is a perspective view of the vicinity of the float 26 of a rice transplanter according to an embodiment of the present invention, and Figure 2(b), which is a bottom view of the vicinity of the float 26 of a rice transplanter according to an embodiment of the present invention, the attachment state of the first sensor electrode unit 31 and the second sensor electrode unit 32 can be seen from the top and bottom surfaces of the side floats of the float 26.

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

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

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

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

If a system that acquires location information using the Global Navigation Satellite System (GNSS) is installed, location information is recorded along with electrical conductivity when the vehicle travels a distance from the most recent point where electrical conductivity was recorded exceeds a predetermined distance. Because electrical conductivity is recorded for each predetermined distance, recording of redundant data is avoided.

Even if a system that acquires location information via GNSS is installed, if location information cannot be acquired via GNSS due to poor radio reception or other reasons, the location information will be recorded along with electrical conductivity each time the vehicle travel distance measured by the rear wheel rotation sensor reaches a predetermined distance.

If the vehicle is designed without a GNSS antenna and does not have a system for acquiring location information via GNSS, it is possible to record the location information along with the electrical conductivity each time the vehicle travel distance measured by the rear wheel rotation sensor reaches a predetermined distance.

The measured electrical conductivity of the field is not necessarily recorded, and it is possible to increase or decrease the amount of fertilizer applied depending on the measurement results. The amount of fertilizer applied can be adjusted depending on the fertility level.

An embodiment is also conceivable in which the amount of fertilizer applied is increased or decreased based on criteria such as the average and standard deviation of electrical conductivity only when a predetermined number of pieces of electrical conductivity data or more have been acquired.

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

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

By arranging electrical elements using diodes 104 and RC circuits 105 in the electrode input circuits of the first sensor electrode unit 31 and the second sensor electrode unit 32, a time delay occurs when a change in electrical conductivity occurs from a high state to a low state. Even if the first sensor electrode unit 31 and the second sensor electrode unit 32 momentarily lift up due to a vehicle bouncing in the field, for example, electrical conductivity is unlikely to immediately drop to zero. This electrical element arrangement is achieved by effectively utilizing the empty space in the existing fertilizer clogging sensor unit.

By using a separate diode electrical element arrangement instead, it is possible to avoid this time delay when a change in state occurs from a high electrical conductivity state to a low electrical conductivity state. This allows for immediate response even in the event of a sudden passage through a highly fertile area.

(2) Next, we will explain in more detail the configuration and operation of a rice transplanter according to an embodiment of the present invention.

The seedling planting device 20 has a float 26, the float's bottom surface 26f of which is brought into contact with the soil surface, and a seedling planting main frame 21 from which the float 26 is suspended. The first sensor electrode unit 31 and the second sensor electrode unit 32 are attached to the seedling planting main frame 21.

For example, as shown in Figure 4, which is a left side view (part 1) of the vicinity of the float 26 of a rice transplanter according to a first modified embodiment of the present invention, when measuring fertility using the first sensor electrode unit 31 and the second sensor electrode unit 32 as simple electrode sensors, when a large external force is applied, the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 rotate toward the rear of the vehicle against the elastic force of the spring 201, thereby preventing damage to the electrode plates.

In other words, the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 are made of leaf springs, ensuring that the electrode plates are always in contact with the soil surface while seedlings are being planted. This constant contact of the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 with the soil surface not only ensures accurate electrical resistance measurements that lead to accurate fertility calculations, but also reduces the risk of electrode plate damage by utilizing the leaf spring relief that accompanies rotation.

The pivot point for such rotation is located at the top of the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32, and by utilizing gravity, the electrode plates rotate under their own weight, ensuring contact of the electrode plates with the soil surface with an inexpensive configuration.

For example, as shown in Figure 5, which is a left side view (part 2) of the vicinity of the float 26 of a rice transplanter according to a first modified embodiment of the present invention, when a large external force is applied, the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 move away, but because spring 201 functions as a return spring, the electrode plates are smoothly returned to their normal positions.

In other words, by using a torque spring or the like, the spring 201 is inserted into the pivot point of the first sensor electrode unit 31 and the second sensor electrode unit 32. The electrode plate pressing force caused by the elastic force of the spring 201 applied toward the soil surface prevents the electrode plate from floating due to the planting unit bouncing on the seedling planting device 20, which would prevent electrical resistance measurements from being taken, and is therefore expected to enable accurate fertility calculations.

The leaf spring relief direction of the first sensor electrode unit 31 and the second sensor electrode unit 32 described above is toward the rear of the vehicle body. When the vehicle body is moving forward, damage to the electrode plate due to mechanical lock, which is likely to occur when the leaf spring relief direction is toward the front of the vehicle body, is unlikely to occur. Furthermore, when the vehicle body is moving backward, the planting section of the seedling planting device 20 is raised, so damage to the electrode plate due to the leaf spring relief almost never occurs.

For example, as shown in Figures 6(a) and 6(b), which are left side views (parts 3 and 4) of the vicinity of the float 26 of a rice transplanter according to a first modified embodiment of the present invention, the lock plate 202 abuts against the so-called planting unit frame, such as the seedling planting main body frame 21, so that the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 do not rotate excessively toward the front of the vehicle, and the electrode plates are reliably returned to their normal positions.

In other words, the lock plate 202 is attached to prevent the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 from rotating toward the front of the vehicle by an amount that exceeds the required rotational distance. This prevents damage to the electrode plates that can occur due to mechanical locking caused by excessive rotation toward the front of the vehicle.

The seedling planting device 20 has a furrow former 27 for creating furrows in the soil surface. The first sensor electrode unit 31 and the second sensor electrode unit 32 are attached to the front of the furrow former 27.

For example, as shown in Figure 7, which is a left side view (part 5) of the vicinity of the float 26 of a rice transplanter according to a first modified embodiment of the present invention, the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 are positioned in front of the furrow former 27.

That is, in a rice transplanter configured so that the first sensor electrode unit 31 and the second sensor electrode unit 32 are arranged in the planting section of the seedling planting device 20 as variable fertilization type electrode sensors, the first sensor electrode unit 31 and the second sensor electrode unit 32 are arranged closer to the front of the vehicle body than the furrow former 27. In a configuration in which the first sensor electrode unit 31 and the second sensor electrode unit 32 are arranged closer to the rear of the vehicle body than the furrow former 27, the electrical resistance that indicates fertility can change due to the influence of the sprayed fertilizer, but in a configuration in which the first sensor electrode unit 31 and the second sensor electrode unit 32 are arranged closer to the front of the vehicle body in this way, the electrical resistance is less likely to change due to the influence of the sprayed fertilizer.

The first sensor electrode portion 31 and the second sensor electrode portion 32 are higher than the groove former bottom surface 27f of the groove former 27.

For example, as shown in Figure 8, which is a left side view (part 6) of the vicinity of the float 26 of a rice transplanter according to a first modified embodiment of the present invention, the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 are positioned higher than the bottom surface 27f of the furrow former.

In other words, the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 are higher than the bottom surface 27f of the furrow former. Even when the planting unit of the seedling planting device 20 is lowered, there is almost no risk of electrode plate damage, which is likely to occur when the electrode plates are lower than the furrow former 27.

The first sensor electrode portion 31 and the second sensor electrode portion 32 are lower than the float bottom surface 26f.

For example, as shown in Figure 9, which is a left side view (part 7) of the vicinity of the float 26 of a rice transplanter according to a first modified embodiment of the present invention, the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 are positioned lower than the bottom surface 26f of the float.

In other words, the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 are lower than the bottom surface 26f of the float. Even when the water volume is small or the soil is hard, the electrode plate floating state that is likely to occur when the electrode plate is higher than the float 26 almost never occurs, promoting accurate electrical resistance measurement.

The seedling planting device 20 has a soil leveling rotor 28 for leveling the soil surface. The first sensor electrode unit 31 and the second sensor electrode unit 32 are attached to the rear of the soil leveling rotor 28.

For example, as shown in Figure 10, which is a left side view (part 8) of the vicinity of the float 26 of a rice transplanter according to a first modified embodiment of the present invention, the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 are positioned behind the leveling position of the soil leveling rotor 28.

In other words, the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 are located behind the position of the soil surface where leveling was performed by the soil leveling rotor 28. Since unevenness in the soil surface is almost completely eliminated by leveling by the soil leveling rotor 28, the electrode plate height is maintained stably.

The positions of the first sensor electrode unit 31 and the second sensor electrode unit 32 are shifted toward the inside or outside of the vehicle body relative to the positions of the left and right wheels 10, based on the left-right direction.

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

In other words, the electrode plates of the first sensor electrode unit 31 and the second sensor electrode unit 32 are positioned so that they do not overlap with the wheel tracks of the left and right wheels 10 and are not dependent on the number of seedling planting rows. This reduces variations in electrical resistance measurements caused by mud lifting, which is likely to occur due to the rotation of the wheels 10, promoting accurate electrical resistance measurements.

The fertility calculation based on the detected electrical resistance is adjusted depending on the seedling planting depth at which the seedlings are planted.

For example, as shown in Figures 12, 13, and 14, which are explanatory diagrams (parts 1 to 3) of the fertility calculation adjustment for a rice transplanter according to a first variant of the embodiment of the present invention, when the electrode plate depth corresponding to the cultivated soil depth changes, inappropriate results are often obtained in which the fertility expressed by SFV (Soil Fertility Value) changes. Therefore, even if the electrode plate depth changes, if the fertilizer concentration remains the same, the correction coefficient is adjusted so that appropriate results are obtained in which the fertility remains constant.

In other words, the correction value for the electrical resistance that gives the fertility level is changed according to the setting made via the seedling planting depth adjustment lever member 23 to accommodate various seedling planting depths. When the seedling planting depth is adjusted to increase, the electrode plate depth of the first sensor electrode unit 31 and the second sensor electrode unit 32 attached to the planting section of the seedling planting device 20 increases, and the fertility level tends to be overestimated, so the correction coefficient is adjusted to decrease. When the seedling planting depth is adjusted to decrease, the electrode plate depth of the first sensor electrode unit 31 and the second sensor electrode unit 32 attached to the planting section of the seedling planting device 20 decreases, and the fertility level tends to be underestimated, so the correction coefficient is adjusted to increase. When the seedling planting depth is changed, the electrode plate area of the first sensor electrode unit 31 and the second sensor electrode unit 32 that penetrate the soil changes. Although soil components such as the fertilizer concentration in the field change very little due to the depth, the electrical resistance that indicates fertility is easily affected by the seedling planting depth and changes inappropriately. However, by adjusting this correction coefficient, it is possible to properly measure electrical resistance that reflects uniform fertility, even when the seedling planting depth is adjusted.

The correction value for the electrical resistance used to determine fertility is adjusted according to the setting on the float sensitivity adjustment dial to accommodate various soil hardness levels. When the soil is hard, increasing the seedling planting depth increases the electrode plate depth of the first and second sensor electrodes 31 and 32 attached to the planting section of the seedling planting device 20, which tends to overestimate fertility. Therefore, the correction coefficient is adjusted to decrease. When the soil is soft, decreasing the seedling planting depth decreases the electrode plate depth of the first and second sensor electrodes 31 and 32 attached to the planting section of the seedling planting device 20, which tends to underestimate fertility. Therefore, the correction coefficient is adjusted to increase. When the seedling planting depth is changed in accordance with the setting on the float sensitivity adjustment dial, the electrode plate area of the first sensor electrode unit 31 and second sensor electrode unit 32 that penetrates the soil changes. Although soil components such as field fertilizer concentration change very little due to depth, the electrical resistance that indicates fertility is easily affected by the seedling planting depth and changes inappropriately. However, by adjusting the correction coefficient in this way, it is possible to properly measure electrical resistance that reflects uniform fertility, even when the seedling planting depth is adjusted in accordance with the setting on the float sensitivity adjustment dial.

The two electrode sensors, the first sensor electrode unit 31 and the second sensor electrode unit 32, are positioned symmetrically relative to the left-right direction. This symmetry suppresses the occurrence of differences in electrical resistance between the left and right sides that indicate fertility, and is expected to enable accurate data measurement.

The horizontal positions of the first sensor electrode unit 31 and the second sensor electrode unit 32 based on the left-right direction are set to the same width regardless of the number of seedling planting rows. Changing the installation width of the first sensor electrode unit 31 and the second sensor electrode unit 32 changes the electrical resistance, so changing the installation width depending on the number of seedling planting rows requires changing the control correction value. However, by setting them to the same width, fertility can be controlled using the same correction value regardless of the number of seedling planting rows.

If a button is pressed to start the fertility calculation using the electrical resistance measurement described above in conjunction with variable fertilization operation, and the float 26 is grounded, but the electrical resistance or fertility value is abnormal, an error message is output on a monitor, etc. Even if the user fails to confirm whether the electrical resistance measurement is being performed correctly, the occurrence of an abnormality can be reported.

If this error message is displayed while the rice transplanter robot is operating, the vehicle will automatically stop moving by returning the HST trunnion opening of the main transmission to neutral. Since the vehicle is stopped, the user can be sure that an error has occurred.

The float 26 is suspended from the seedling planting frame 21 via a float suspension member 22 rotatably attached to the seedling planting frame 21. A seedling planting depth adjustment lever member 23 is provided to rotate the float suspension member 22. A pin member 24 is erected from the float suspension member 22. A pin member position sensor 25 that detects the position of the pin member 24 is attached to the seedling planting frame 21.

For example, as shown in Figure 15, which is a left side view (part 9) of the vicinity of the float 26 of a rice transplanter according to a first modified embodiment of the present invention, a pin member 24 for detecting seedling planting depth using a pin member position sensor 25 protrudes from the float hanging member 22, which is sometimes called the seedling planting depth frame.

That is, the pin member position sensor 25 is installed near the seedling planting depth adjustment lever member 23, and measures the seedling planting depth. The set seedling planting depth can be accurately measured.

The pin member position sensor 25 is attached to a round pipe member or other component at the pivot point of the float hanging member 22, and measures the seedling planting depth. By attaching the sensor to this pivot point, measurement errors in seedling planting depth are reduced.

For example, as shown in Figure 16, which is a plan view (part 2) of the vicinity of the float 26 of a rice transplanter according to a first modified embodiment of the present invention, the pin member attitude sensor 25, which is sometimes called a seedling planting depth sensor, is located near the center of the vehicle body.

In other words, the pin member position sensor 25 is positioned near the center of the vehicle body, based on the left-right direction. Detection of field unevenness by the float 26, which involves float sensitivity adjustment, is performed near the center of the vehicle body, so mechanical errors are suppressed by avoiding sensor placement at the left and right ends of the vehicle body, where seedling planting depth measurement errors are likely to occur.

The orientation of the pin member 24 is upward at the rotation angle of the float hanging member 22 that corresponds to the predetermined seedling planting depth.

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

In other words, when the lever position of the seedling planting depth adjustment lever member 23 is at the seedling planting depth position predetermined as the standard position, the pin member 24 faces upward. Because the pin member position sensor 25 is positioned upward, problems caused by mud splashing, which tend to occur when the pin member 24 faces downward, hardly occur at all, and the effects of mud are expected to be reduced.

(3) Next, the configuration and operation of the rice transplanter according to an embodiment of the present invention will be explained in more detail, primarily with reference to Figures 18 and 19.

Here, Figure 18 is an explanatory diagram of the fertilizer hopper device 301 of a rice transplanter according to a second modified embodiment of the present invention, and Figure 19 is an explanatory diagram of the fertilizer blower device 302 of a rice transplanter according to a second modified embodiment of the present invention.

(3a) First, with primary reference to Figure 18, we will explain the fertilizer hopper device 301 of a rice transplanter according to an embodiment of the present invention.

In the fertilizer hopper lid fixing mechanism of the fertilizer hopper device 301, the hook portion used to fix the fertilizer hopper lid is made of wire processed into a U-shape, with both ends of the hook inserted into the pipe and the insertion portion located in the center being removable. Even if the hook portion is damaged, it can be easily replaced thanks to its plug-in design.

The hook section, which is removed from the lower fertilizer hopper body, pushes the fertilizer hopper lid into place. The hook section is configured by utilizing a diagonal cut in the round pipe at the pivot point. There is no need to provide components on both the fertilizer hopper lid and the fertilizer hopper body to secure the fertilizer hopper lid to the fertilizer hopper body. There is no need to provide a fixing member on the fertilizer hopper lid; simply providing the hook section on the fertilizer hopper body is sufficient, resulting in a simple configuration. Because the so-called fulcrum crossing in the round pipe section is utilized, the hook section is firmly fixed so that it does not move, even when it is in the released position.

(3b) Next, with primary reference to Figure 19, we will explain the fertilizer blower device 302 of a rice transplanter according to an embodiment of the present invention.

In the fertilizer blower of the fertilizer blower device 302, the power on/off of the fertilizer blower is linked to the fertilizer clutch of the rice transplanter. A sensor that detects this power on/off is provided in the fertilizer clutch. When the fertilizer clutch is on, the fertilizer blower is also on, and when the fertilizer clutch is off, the fertilizer blower is also off. By linking with the fertilizer clutch, when the fertilizer clutch is off and fertilization is not being performed, the fertilizer blower is turned off without continuing to rotate. This not only reduces wear on the blower brush and improves the durability of the fertilizer blower, but is also expected to improve battery life.

(3c) Next, we will explain the variable fertilization control mechanism of the rice transplanter according to an embodiment of the present invention.

For map data linked zones, users can select zones where real-time variable fertilization will be performed. By specifying zones where real-time variable fertilization will be performed, users can instruct the reduction of fertilizer in zones where excessive fertilizer application is determined to be occurring, thereby preventing rice plants from lodging and other problems.

For map data-linked zones, real-time variable fertilization can be performed only in zones where the amount of fertilizer applied is greater than the standard amount. This prevents excessive reduction in fertilizer application in zones where the amount of fertilizer applied is low, making it less likely that a reduction in yield will occur.

For map data-linked zones, real-time variable fertilization can be performed only in zones where the amount of fertilizer applied is less than the standard amount. By further reducing fertilization in zones with sufficient soil fertility, rice lodging and other problems can be more reliably prevented, and fertilizer reduction is expected.

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

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

Furthermore, the recording medium of the invention related to the present invention is a recording medium on which a program is recorded that causes a computer to execute all or some of the steps (or processes, operations, actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with a computer.

Note that the above phrase "some steps (or processes, operations, actions, etc.)" refers to one or several steps among those multiple steps.

Furthermore, the above-mentioned "operations of steps (or processes, actions, acts, etc.)" refer to the operations of all or part of the above-mentioned steps.

Furthermore, one form of use of the inventive program related to this invention may be a form in which it is transmitted through a transmission medium such as the Internet, light, radio waves, or sound waves, read by a computer, and operates in cooperation with the computer.

In addition, recording media include ROM (Read Only Memory).

Furthermore, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may also include firmware, an OS (Operating System), and even peripheral devices.

As mentioned above, the configuration of the present invention may be implemented in either software or hardware.

The work vehicle of the present invention can improve usability and is useful for use as a work vehicle such as a rice transplanter.

10 Wheel 20 Seedling planting device 21 Seedling planting main body frame 22 Float hanging member 23 Seedling planting depth adjustment lever member 24 Pin member 25 Pin member attitude sensor 26 Float 26f Float bottom surface 27 Furrow former 27f Furrow former bottom surface 28 Soil leveling rotor 30 Sensor 31 First sensor electrode portion 32 Second sensor electrode portion 101 Soil covering plate 102 Metal portion 103 Rear controller 104 Diode 105 RC circuit 201 Spring 202 Lock plate 301 Fertilizer application hopper device 302 Fertilizer application blower device P Float electrode arrangement position

Claims (7)

A work vehicle that plants seedlings in a field while traveling,
a seedling planting device for planting the seedlings;
a sensor for detecting an electrical resistance of the soil between a first sensor electrode portion and a second sensor electrode portion in order to calculate the fertility of the soil in the field;
It is equipped with
the first sensor electrode unit and the second sensor electrode unit are attached to the seedling planting device,
The seedling planting device has a float whose bottom surface is brought into contact with the soil surface of the soil, and a seedling planting main frame from which the float is suspended;
A work vehicle characterized in that the first sensor electrode unit and the second sensor electrode unit are attached to the seedling planting main body frame. The seedling planting device has a furrow former for forming furrows in the soil surface,
the first sensor electrode portion and the second sensor electrode portion are attached to the front of the groove former,
2. The work vehicle according to claim 1 , wherein the first sensor electrode portion and the second sensor electrode portion are higher than a bottom surface of the furrow former. 3. The work vehicle according to claim 2 , wherein the first sensor electrode portion and the second sensor electrode portion are lower than a bottom surface of the float. The seedling planting device has a ground leveling rotor for leveling the soil surface,
4. The work vehicle according to claim 3 , wherein the first sensor electrode unit and the second sensor electrode unit are attached to the rear of the ground leveling rotor. The work vehicle according to claim 4, characterized in that the positions of the first sensor electrode unit and the second sensor electrode unit are shifted toward the inside or outside of the vehicle body based on the left-right direction compared to the positions of the left and right wheels. 6. The work vehicle according to claim 5 , wherein the calculation of the fertility based on the detected electrical resistance is adjusted according to the seedling planting depth at which the seedlings are planted. The float is suspended from the seedling planting body frame via a float suspension member rotatably attached to the seedling planting body frame,
A seedling planting depth adjustment lever member is provided to rotate the float hanging member,
A pin member is erected on the float suspending member,
A pin member position sensor for detecting the position of the pin member is attached to the seedling planting main body frame,
7. The work vehicle according to claim 6 , wherein the pin member is oriented upward at a rotation angle of the float hanging member that corresponds to the predetermined seedling planting depth.