JP2021101666A - Seeding type implement - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a planting system working machine capable of accurately obtaining a soil depth. SOLUTION: A planting section 8 is connected to a planting system work machine so as to be able to move up and down via a link mechanism 9 to the rear portion of a traveling machine body 1 to perform planting work, and swings up and down below the planting section 8. A float 13 that is possibly provided and touches the rice field surface, a link sensor 18 that detects the height position of the link mechanism 9, a float sensor 19 that detects the height position of the float 13 and a depth from the rice field surface to the plow G. It is provided with a soil depth calculation unit for calculating the soil depth D. The soil depth calculation unit calculates the soil depth D based on the detection result of the link sensor 18 and the detection result of the float sensor 19. [Selection diagram] Fig. 3

Description

The present invention relates to a planting system working machine.

Conventionally, as a planting system working machine, for example, the planting system working machine described in Patent Document 1 is known. The planting system work machine described in Patent Document 1 is movably connected to the rear part of a traveling machine (“traveling machine [C]” in the document) via a link mechanism (“link mechanism [21]” in the document). The planting section (“seedling planting device [W]” in the literature) that performs the planting work and the soil depth calculation section that calculates the soil depth, which is the depth from the rice field to the cultivated board (in the literature, “” A control device [75] ”) and is provided. The soil depth calculation unit calculates the soil depth based on the detection result of the ultrasonic sensor [80].

Japanese Unexamined Patent Publication No. 2019-110817

In the planting system work machine described in Patent Document 1, due to the principle of an ultrasonic sensor, if mud on a rice field adheres to the ultrasonic sensor, the error of the ultrasonic sensor becomes large, so that the soil depth can be obtained accurately. Can not.

In view of the above situation, there is a demand for a planting work machine capable of accurately obtaining the soil depth.

The feature of the present invention is that the planting portion is connected to the rear portion of the traveling machine body so as to be able to move up and down via a link mechanism to perform the planting work, and the planting portion is provided so as to be swingable up and down below the planting portion and is grounded on the rice field surface. Float, a link sensor that detects the height position of the link mechanism, a float sensor that detects the height position of the float, and a soil depth that calculates the soil depth, which is the depth from the rice field to the plow. A calculation unit is provided, and the soil depth calculation unit calculates the soil depth based on the detection result of the link sensor and the detection result of the float sensor.

Here, a planting system working machine provided with a link mechanism and a float is usually provided with a link sensor and a float sensor. It is known that the link sensor and the float sensor can accurately detect the height position of the link mechanism and the height position of the float. According to this feature configuration, the soil depth can be accurately obtained by using the detection results of the link sensor and the float sensor. That is, according to this feature configuration, it is possible to realize a planting work machine capable of accurately obtaining the soil depth.

Further, in the present invention, the planting portion height calculation unit that calculates the height from the reference height position of the lower part of the planting portion to the plowing board based on the detection result of the link sensor, and the float sensor. A float height calculation unit that calculates the height from the reference height position to the lower end of the float based on the detection result is provided, and the soil depth calculation unit calculates the planting portion height calculation unit. It is preferable to calculate the soil depth based on the result and the calculation result of the float height calculation unit.

According to this feature configuration, the height from the reference height position to the tillage board and the height from the reference height position to the lower end (field surface) of the float can be known, so that the depth from the rice field surface to the tillage board (soil depth) can be known. ) Can be easily calculated.

Further, in the present invention, it is preferable that the soil depth calculation unit calculates the soil depth by subtracting the calculation result of the float height calculation unit from the calculation result of the planting portion height calculation unit. ..

According to this feature configuration, the soil depth can be calculated more easily by a simple calculation method.

Further, in the present invention, the planting portion is a planting portion for planting seedlings, and is provided with a planting depth sensor for detecting the planting depth of seedlings by the planting portion. It is preferable that the depth calculation unit calculates the soil depth based on the detection result of the link sensor, the detection result of the float sensor, and the detection result of the planting depth sensor.

According to this feature configuration, the soil depth can be obtained more accurately by calculating the soil depth in consideration of the detection result of the link sensor and the detection result of the float sensor as well as the detection result of the planting depth sensor. be able to.

Further, in the present invention, it is preferable to include a first correction unit that corrects the soil creation depth calculated by the soil creation depth calculation unit according to the traveling speed of the traveling machine.

Here, the float tends to float as the traveling speed of the traveling aircraft increases. According to this feature configuration, the soil depth can be obtained more accurately by correcting the soil depth calculated by the soil depth calculation unit according to the traveling speed of the traveling machine.

Further, in the present invention, it is preferable to include a second correction unit that corrects the soil depth calculated by the soil depth calculation unit according to the inclination of the traveling machine in the front-rear direction.

Here, when the traveling aircraft is tilted in the front-rear direction, the float tends to be tilted in the front-rear direction as well. According to this feature configuration, the soil depth can be obtained more accurately by correcting the soil depth calculated by the soil depth calculation unit according to the inclination of the traveling machine in the front-rear direction.

It is a left side view which shows a passenger rice transplanter. It is a block diagram which shows the control structure. It is a figure which shows typically the detection composition of the soil depth. It is a block diagram which shows the control configuration which concerns on another embodiment.

A mode for carrying out the present invention will be described with reference to the drawings. In the following explanation, the direction of the arrow F is the "front side of the aircraft", the direction of the arrow B is the "rear side of the aircraft", the direction on the left side toward the direction of the arrow F is the "left side of the aircraft", and the direction is the direction of the arrow F. The direction on the right side is the "right side of the aircraft".

[Overall configuration of passenger rice transplanter]
FIG. 1 shows a passenger rice transplanter (corresponding to the “planting system working machine” according to the present invention). The machine is provided with a traveling machine 1. The traveling machine body 1 is provided with a pair of left and right front wheels 2F and a pair of left and right rear wheels 2B. A driving portion 3 is provided at the front portion of the traveling machine body 1. The driving unit 3 is provided with an engine E and a bonnet 4 for accommodating the engine E.

A driving unit 5 is provided behind the driving unit 3. The driver unit 5 is provided with a driver's seat 6 and a steering handle 7. A planting portion 8 (corresponding to the "planting portion" and the "planting portion" according to the present invention) for planting seedlings is connected to the rear portion of the traveling machine body 1 so as to be able to move up and down via a link mechanism 9. ing. The link mechanism 9 is supported at the rear portion of the traveling machine body 1 so as to be able to swing around the swing axis X1 extending in the left-right direction of the machine body. A hydraulic cylinder C for raising and lowering the planting portion 8 is provided over the rear portion of the traveling machine body 1 and the planting portion 8.

The planting section 8 rotatably supports a seedling stand 10 on which mat-shaped seedlings are placed, a planting device 11 that takes out seedlings from the lower part of the seedling stand 10 and plants them on the rice field surface, and a planting device 11. A planting case 12 to be planted and a float 13 provided at the lower part of the planting portion 8 so as to be swingable up and down and grounded on the rice field surface are provided. The float 13 is configured to be swingable around a swing axis X2 extending along the left-right direction of the machine body. A fertilizer application unit 14 for performing fertilizer application work is provided between the operation unit 5 and the planting unit 8.

A GPS antenna unit 15 is provided at the front portion of the traveling machine body 1. The GPS antenna unit 15 is a device that receives radio waves transmitted from GPS (Global Positioning System) and acquires the position information of the machine. The GPS antenna unit 15 is attached to an attachment frame 16 provided at the front portion of the traveling machine body 1.

[Control configuration]
FIG. 2 is a block diagram showing a control configuration related to this machine. The control configuration according to this machine includes a control device 17, a link sensor 18, a float sensor 19, a planting depth sensor 20, and a GPS antenna unit 15.

The link sensor 18 detects the height position of the link mechanism 9 (the swing angle around the swing axis X1). The float sensor 19 detects whether or not the float 13 is in contact with the ground surface. In the present embodiment, the float sensor 19 is configured by a potentiometer that detects the height position of the float 13 (the swing angle around the swing axis X2). The planting depth sensor 20 detects the planting depth of the seedlings by the planting portion 8.

The control device 17 includes a planting section height calculation section 21 (corresponding to the “planting section height calculation section” according to the present invention), a float height calculation section 22, and a soil depth calculation section 23. It is equipped.

As shown in FIGS. 2 and 3, the planting portion height calculation unit 21 is the planting portion height Hl which is the height from the reference height position Ps to the plowing board G based on the detection result of the link sensor 18. Is calculated. The reference height position Ps is set at the lower part of the planting portion 8 (for example, the lower surface of the planting case 12). The float height calculation unit 22 calculates the float lower end height Hf, which is the height from the reference height position Ps to the lower end of the float 13 (height to the rice field surface) based on the detection result of the float sensor 19.

Here, the planting portion height Hl and the float lower end height Hf can be calculated, for example, as follows.

More specifically, where the height dimension of the link mechanism 9 is known, if the link sensor 18 knows the swing angle around the swing axis X1 of the link mechanism 9, the reference height position Ps can be obtained. When the height dimension of the rear wheel 2B is known and the height position of the lower end of the rear wheel 2B corresponds to the height position of the upper surface of the tillage board G, the reference height position Ps and the rear wheel 2B The difference from the height position of the lower end (the height position of the upper surface of the tillage board G) is the planting portion height Hl.

Further, if the float sensor 19 knows the swing angle around the swing axis X2 of the float 13, the height position of the lower end of the float 13 can be obtained. Then, the difference between the reference height position Ps and the height position of the lower end of the float 13 is the float lower end height Hf.

The soil depth calculation unit 23 starts from the field surface based on the calculation result of the planting part height calculation unit 21 (planting part height Hl) and the calculation result of the float height calculation unit 22 (float lower end height Hf). The soil depth D, which is the depth to the plowing board G, is calculated. Specifically, the soil depth calculation unit 23 calculates the soil depth D by subtracting the float lower end height Hf from the planting portion height Hl. That is, the soil depth calculation unit 23 calculates the soil depth D based on the detection result of the link sensor 18 and the detection result of the float sensor 19.

[Another Embodiment]
(1) In the above embodiment, the soil depth calculation unit 23 calculates the soil depth D based on the detection result of the link sensor 18 and the detection result of the float sensor 19. However, the soil depth calculation unit 23 may calculate the soil depth D based on the detection result of the link sensor 18, the detection result of the float sensor 19, and the detection result of the planting depth sensor 20.

(2) In the above embodiment, the control device 17 is provided with a planting portion height calculation unit 21, a float height calculation unit 22, and a soil depth calculation unit 23. However, as shown in FIG. 4, in addition to the planting section height calculation section 21, the float height calculation section 22 and the soil depth calculation section 23, the control device 17 has a first correction section 24 and a second correction section. 25 may be provided. The first correction unit 24 corrects the soil depth D calculated by the soil depth calculation unit 23 according to the traveling speed of the traveling machine 1. The second correction unit 25 corrects the soil depth D calculated by the soil depth calculation unit 23 according to the inclination of the traveling machine body 1 in the front-rear direction.

(3) In the above embodiment, the "planting portion" according to the present invention is the planting portion 8. However, the "planting portion" according to the present invention may be a seeding portion for performing seeding work.

The present invention can be used not only for a passenger rice transplanter but also for a passenger sowing machine.

1 Traveling machine 8 Planting part (planting part, planting part)
9 Link mechanism 13 Float 18 Link sensor 19 Float sensor 20 Planting depth sensor 21 Planting part height calculation part (planting part height calculation part)
22 Float height calculation part 23 Soil depth calculation part 24 First correction part 25 Second correction part D Soil depth G Plow board Hf Float lower end height (height from the reference height position to the lower end of the float)
Hl Planting height (height from standard height position to plowing board)
Ps reference height position

Claims (6)

A planting section that is connected to the rear of the traveling machine so that it can be raised and lowered via a link mechanism to perform planting work.
A float that is vertically rockable at the bottom of the planting part and touches the surface of the rice field,
A link sensor that detects the height position of the link mechanism and
A float sensor that detects the height position of the float and
It is equipped with a soil depth calculation unit that calculates the soil depth, which is the depth from the field surface to the plowing board.
The soil depth calculation unit is a planting work machine that calculates the soil depth based on the detection result of the link sensor and the detection result of the float sensor. A planting section height calculation section that calculates the height from the reference height position of the lower part of the planting section to the plowing board based on the detection result of the link sensor, and a planting section height calculation section.
A float height calculation unit that calculates the height from the reference height position to the lower end of the float based on the detection result of the float sensor is provided.
The planting system work according to claim 1, wherein the soil depth calculation unit calculates the soil depth based on the calculation result of the planting depth calculation unit and the calculation result of the float height calculation unit. Machine. The planting system according to claim 2, wherein the soil depth calculation unit calculates the soil depth by subtracting the calculation result of the float height calculation unit from the calculation result of the planting depth calculation unit. Working machine. The planting part is a planting part for planting seedlings.
It is equipped with a planting depth sensor that detects the planting depth of seedlings by the planting part.
The soil depth calculation unit is any one of claims 1 to 3 that calculates the soil depth based on the detection result of the link sensor, the detection result of the float sensor, and the detection result of the planting depth sensor. The planting system working machine described in item 1. The planting system according to any one of claims 1 to 4, further comprising a first correction unit for correcting the soil depth calculated by the soil depth calculation unit according to the traveling speed of the traveling machine. Working machine. The plant according to any one of claims 1 to 5, further comprising a second correction unit that corrects the soil depth calculated by the soil depth calculation unit according to the inclination of the traveling machine in the front-rear direction. Seeding work machine.

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