JP2020130130A - Parallel traveling work system for transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To freely change the allocation of a main engine manually operated by an operator and a slave unit autonomously traveling along with the main engine for a plurality of aircraft, and an abnormality detected on the slave unit side. We will provide a parallel work system for transplanters that can be grasped even on the main engine side. SOLUTION: A plurality of transplant machines provided with an abnormality detection sensor, a communication device 833, and a control unit 800 have one of the plurality of transplant machines participating in the network NW constructed by the communication device 833 as the main machine 1a. Others can be set to the slave unit 1b that accompanies the main engine 1a, and when the work setting of the main engine 1a is changed, the slave unit 1b is also configured to change to the same work setting as the main engine 1a via the network NW. Therefore, the work settings of a plurality of transplant machines can be easily arranged, and the information detected by the abnormality detection sensor of the slave machine 1b is transmitted from the network NW to the main machine 1a. The problem can be grasped on the main engine 1a side as well. [Selection diagram] Fig. 5

Description

The present invention relates to a parallel running work system of a transplanting machine manually operated by an operator to plant seedlings in a field and a transplanting machine provided with an autonomously traveling transplanting machine.

As a transplanting machine capable of planting seedlings of transplanted vegetables and the like in a field at arbitrary intervals, for example, the one described in Patent Document 1 is known. Further, in Patent Document 2, a transplanting machine capable of autonomous traveling is a main body, and a transplanting machine capable of autonomous traveling manually operated by an operator is subordinate to a transplanting machine. A parallel running work system of a transplanting machine that can run a transplanting machine manually operated by and a transplanting machine that runs autonomously, grasp the state of each machine by mutual communication, and synchronize the control of running and work. Is described.

JP-A-2017-60516 JP-A-2016-13065

However, in the parallel running work system described in Patent Document 2, the roles of the transplanting machine capable of autonomous traveling and the transplanting machine manually operated by the operator and running in parallel with the transplanting machine capable of autonomous traveling are fixed. Therefore, one of the aircraft may be used intensively, and as a result, there is a risk that one of the components will be consumed earlier or more likely to break down. In particular, if there is a problem with a transplant machine manually operated by a worker, it cannot be replaced by a transplant machine capable of autonomous driving, so it is necessary to prepare a new transplant machine manually operated by a worker. This caused a sharp rise in costs.

In addition, even if a problem that interferes with the work occurs in the transplant machine that can run autonomously, the information may not be transmitted to the transplant machine that is manually operated by the worker, and the problem occurs. There was a risk that the work could not be done or wasted.

Therefore, according to the present invention, it is possible to freely change the assignment between the transplant machine manually operated by the operator and the transplant machine capable of autonomous traveling, and the abnormality detected on the transplant machine side capable of autonomous traveling can be detected. It is an object of the present invention to provide a parallel running work system of a transplant machine that can be grasped even by a transplant machine manually operated by an operator.

An object of the present invention is a plurality of transplanting machines for planting seedlings in a field, and the transplanting machines are a traveling vehicle body traveling in the field, a seedling supply device for transporting seedlings, and seedlings from the seedling supply device, respectively. A network of a seedling extraction device for taking out a seedling, a seedling planting hopper for receiving seedlings taken out from the seedling extraction device and planting them in a field, an abnormality detection sensor for detecting an abnormality in the transplanting machine, and the plurality of transplanting machines. A communication device that enables mutual communication via the communication device and a control unit that processes information received from the communication device and controls traveling and planting of the transplant machine are provided, and the plurality of transplant machines are connected to the network. At least one of the connected transplant machines is set as the main machine, and the other machine can be set as a slave machine that accompanies the main machine, and the transplant set as the slave machine by accepting the operation of the operator. When the work setting of the transplant machine set in the main machine is changed, it is provided with a master-slave switching means for resetting the machine to the main machine and resetting the transplant machine previously set in the main machine to the slave machine. , The transplant machine set in the main machine transmits the changed information of the work setting to the transplant machine set in the slave machine via the communication device, and the transplant machine set in the slave machine. Is configured to acquire the information of the work setting and change it to the same work setting as the main machine, and when the abnormality detection sensor detects an abnormality of the own machine, the transplant machine set as the slave machine is configured. The transplant machine configured to transmit the abnormality detection information to the transplant machine set in the main machine via the communication device, and the transplant machine set in the main machine has the abnormality detection information set in the slave machine. Obtained from the machine, it is achieved by a parallel running work system of the transplant machine, which is configured to notify the operator of anomalies.

According to the present invention, the transplanting machine set as the slave machine can communicate with the transplanting machine set as the main machine via the network and synchronize the work settings, so that the transplanting machine working at the same time can be used. The work settings can be easily arranged, the time and labor required to make the settings of multiple transplant machines the same can be reduced, the settings can be surely made the same, and the work can be mixed with machines with different settings. Can be prevented.

In addition, since the slave unit transmits the abnormality of its own unit detected by the abnormality detection sensor to the main unit via the network, even if a problem occurs in the slave unit that interferes with the work, the main unit can be operated. Since the information that a problem has occurred can be transmitted to the existing worker by a warning sound, it is possible to prevent the work of the slave machine from being performed or wasted.

Furthermore, since the setting as the main engine and the setting as the slave unit can be easily switched by the master-slave switching means, a specific aircraft is mainly used during work, which accelerates wear and is prone to failure. You can avoid the trouble. Further, even if a problem occurs in the main engine, if a spare secondary engine is set as the main engine, it is not necessary to prepare a new transplant machine and the cost can be suppressed.

In a preferred embodiment of the present invention, a display unit for displaying information about the transplantation machine is provided, and the information about the transplantation machine is at least a machine for uniquely identifying the transplantation machine connected to the network. Whether the identification information, the work setting information associated with the machine identification information, the abnormality detection information, and the transplant machine corresponding to the machine identification information are set as the main machine or the slave machine. The transplant machine set as the main machine, including the master-slave setting information that can be discriminated, acquires information about the transplant machine from the transplant machine set as the slave machine via the communication device, and sets it in the main machine. On the display unit of the transplant machine, the machine identification information of the transplant machine connected to the network and the transplant machine corresponding to the machine identification information are set as the main machine or the slave machine. It is configured to show if it is.

According to this preferred embodiment of the present invention, by visually observing the display unit, it is possible to determine whether the own machine is set to the main machine or the slave machine, so that the user can be connected to the network. It is possible to determine from the display unit which of the transplanting machines is the main machine and which is the slave machine, and it is possible to easily grasp which machine the operator should operate.

In addition, since the information on the main engine and the secondary unit is collectively displayed on the display unit, the operator can quickly grasp the status of the main engine and the secondary unit.

In a more preferred embodiment of the present invention, the transplanting machine is an operation unit having an on / off operation member capable of accepting an operation of an operator and switching on / off of a driving force in a traveling system and a planting system of the transplanting machine. When the transplanting machine set as the main machine acquires abnormality detection information from the transplanting machine set as the slave machine, the machine identification information of the transplanting machine that has transmitted the abnormality detection information is used as the main machine. It is configured so that the drive of the traveling system and the planting system of the slave machine, which is displayed on the display unit and transmitted the abnormality detection information, can be stopped by the operation of the operation unit of the main machine.

According to this more preferable embodiment of the present invention, the traveling or planting of the transplanting machine can be stopped by pressing the traveling stop button or the planting stop button in response to the warning by the abnormality detection. , It is possible to prevent the occurrence of poor seedling planting due to abnormalities in the aircraft.

In a more preferable embodiment of the present invention, the transplanting machine is provided with a notification device for notifying the surroundings of an abnormality by a warning sound, and the transplanting machines set as slaves are respectively set at predetermined time intervals. If communication is performed with the transplanting machine set in the main engine via the communication device and communication with the transplanting machine set in the main engine fails, the traveling system and the planting system of the own machine It is configured to stop driving and activate the notification device.

According to this more preferred embodiment of the present invention, since the slave unit communicates with the main engine at predetermined time intervals, it is possible to periodically check whether the communication with the main engine is normally performed, and the communication can be performed. When a defect occurs, the traveling and planting operations can be stopped, so that it is possible to prevent the slave unit from continuing to operate in a state where the abnormality cannot be transmitted to the main engine.

Further, when communication fails, a warning sound is sounded by the notification device, so that the operator can be notified that the slave unit has stopped due to poor communication, and the slave unit can be prevented from being left in the stopped state. ..

In a more preferred embodiment of the present invention, the transplanting machine adjusts the on / off timing of the planting clutch for turning on / off the drive of the seedling planting hopper and the on / off timing of the planting clutch according to the setting of the planting interval. The operation unit is provided with a planting interval setting means capable of changing the planting interval of seedlings and capable of setting the planting interval of seedlings. It is configured to include the setting of the planting interval set by the planting interval setting means.

According to this more preferred embodiment of the present invention, when the planting interval is set in the main engine, the setting of the planting interval of the slave unit connected to the network is synchronized with the setting of the main engine, so that they work at the same time. Since the work settings such as the setting values of the planting interval of the transplanting machine can be easily aligned, the time and labor required to make the settings of multiple transplanting machines the same can be reduced, and the settings are surely made the same. It is possible to prevent the work from being mixed with aircraft having different settings.

In a more preferred embodiment of the present invention, when the transplant machine acquires the machine control signal sent from the information terminal connected to the network via the communication device, the transplant machine receives the machine control signal and responds to the main machine. Alternatively, the information terminal is configured to change the setting of the slave machine, change the work setting, and switch the drive on / off in the traveling system and the planting system of the transplanting machine. It is configured to transmit the abnormality detection information and information on the traveling and planting of the transplanting machine.

According to this more preferable embodiment of the present invention, the working status of the main engine and the slave unit can be monitored from the information terminal, so that even if an abnormality occurs in either the main engine or the slave unit, a quick response is possible. Become.

Further, by possessing the information terminal, the work by the main engine and the slave unit can be performed remotely, so that the operator does not have to manually operate the main engine during the work, and the labor of the operator is reduced.

According to the present invention, it is possible to freely change the assignment between the main engine manually operated by the operator and the slave unit that autonomously travels along with the main engine, and the abnormality detected on the slave unit side can also be detected on the main engine side. It will be possible to provide a transplant machine that can be grasped.

FIG. 1 is a schematic side view of a transplant machine according to an embodiment of the present invention. FIG. 2 is a schematic plan view of the transplanting machine of FIG. FIG. 3 is a schematic plan view showing a control handle and an operation unit provided at the rear of the transplant machines of FIGS. 1 and 2. FIG. 4 is a block diagram showing an electrical system of the transplanting machine of FIG. FIG. 5 is an explanatory diagram showing a parallel running work system of a transplant machine configured by a network constructed by a transplant machine set as a main machine and a plurality of transplant machines set as a slave machine. FIG. 6 is a schematic view showing a display unit in the operation unit of the transplant machine set as the main machine or the slave machine. FIG. 7 is a flowchart showing the flow of communication confirmation processing of the slave unit. FIG. 8 is a schematic diagram showing the configuration of an information terminal that can be connected to the network of FIG. FIG. 9 is a schematic side view showing a transplanting machine according to another embodiment. FIG. 10 is a cross-sectional view of a main part showing an electric motor attached to each of the pair of left and right rear wheels of FIG.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, among the transplant machines capable of autonomous driving, the machine manually operated by the operator is referred to as a main machine, and the other machine accompanying the main machine is referred to as a slave machine.

FIG. 1 is a schematic side view of the transplanting machine 1 according to a preferred embodiment of the present invention, and FIG. 2 is a schematic plan view of the transplanting machine 1 of FIG. In the present specification, as shown in FIG. 2, the side of the work vehicle 1 in the traveling direction is referred to as the front (F), the opposite side is referred to as the rear (B), and the left-hand side in the traveling direction is referred to as the rear (B). It is called the left side (L), and the right hand side in the direction of travel is called the right side (R).

As shown in FIGS. 1 and 2, the transplanting machine 1 is a kind of work vehicle for transplanting seedlings such as vegetables, and is a traveling vehicle body to which a pair of left and right traveling wheels, front wheels 2 and rear wheels 3, are attached. It has 15. At the rear of the traveling vehicle body 15, a seedling tray supply device 100, which is a seedling supply device, a seedling extraction device 200 for extracting seedlings 22 from the supplied seedling tray 20 by an extraction member 260, and seedlings 22 taken out are planted. The seedling planting device 300 that receives the seedlings by the hopper 11 and inserts the seedling planting hopper 11 into the ridge U of the field to plant the seedlings 22 and the seedling planting device drive mechanism 400 that drives the seedling planting device 300. Have been placed.

Hereinafter, the operation of planting the seedlings 22 in the ridge U by driving the seedling tray supply device 100, the seedling extraction device 200, the seedling planting device 300, and the seedling planting device drive mechanism 400 in cooperation with each other in this way. This is called the planting operation.

Below the traveling vehicle body 15, the distance between the traveling vehicle body 15 and the upper surface of the ridge U is detected by the sensor plate 710, and when the detected distance reaches a preset planting depth, the planting operation is possible. A planting depth adjusting mechanism 700 and a suppression ring 13 for suppressing the soil surface of the ridge U on which the seedling 22 is planted are provided.

An engine 12 and a mission case 4 are arranged at the front portion of the traveling vehicle body 15, and the driving force output from the engine 12 is branched by the mission case 4, and a pair of left and right rear parts are passed through a pair of left and right traveling transmission cases 9. It is configured to be transmitted to the wheel 3 and also to the planting transmission device 18 provided on the rear side of the mission case 4.

The driving force transmitted from the mission case 4 to the planting transmission device 18 is transmitted to the seedling extraction device 200 via the chain belt 202, and the seedling planting device driving mechanism 400 and the seedling planting device driving mechanism 400 attached to the planting transmission device 18 It is transmitted to the seedling planting hopper 11 via the seedling planting device 300. Further, the seedling tray supply device 100 is configured to feed the seedling tray 20 downward in conjunction with the seedling removal device 200. Due to the transmitted driving force, the seedling planting hopper 11 moves up and down so as to draw an orbit T1 by the seedling planting device 300, and at the top dead center of the orbit T1, the seedling extraction device 200 raises the seedling pot of the seedling tray 20. The seedling 22 taken out from 21 is received, and the seedling 22 is planted in the ridge of the field at the bottom dead center of the orbit T1.

The seedling planting device drive mechanism 400 includes a planting clutch 420 for turning on / off the transmission of the driving force to the seedling planting device 300, and a solenoid 470 for adjusting the on / off timing of the planting clutch 420. The solenoid 470 is configured to intermittently perform the planting operation by turning on / off the planting clutch 420 according to the set planting interval.

Therefore, the transplanting machine 1 makes a seedling tray 20 by performing a planting operation while moving the traveling vehicle body 15 at a constant speed while straddling the ridges U of the field with a pair of left and right front wheels 2 and rear wheels 3. The housed seedlings 22 can be planted on the upper surface of the ridge U at predetermined intervals.

Further, a left and right frame 16 arranged in the left-right direction is provided at the rear end of the mission case 4, and a main frame 17 is provided at the rear portion of the left and right frame 16. At the rear end of the main frame 17, a steering handle 8 extending rearward from the left and right end sides is provided so as to be located behind the seedling tray supply device 100, and an operator can move the rear end of the traveling vehicle body 15. It is configured so that the steering wheel 8 can be used to steer the traveling vehicle body 15 while walking. Further, an operation unit 600 is provided at the center of the control handle 8, and a control unit 800, which is an electronic computing device for controlling the traveling and planting operations of the transplanting machine 1, is provided below the operation unit 600. ing.
As described above, since the transplant machine 1 is provided with the control handle 8 and the operation unit 600, the transplant machine 1 can be operated by an operator.

Further, in the middle of the traveling vehicle body 15, the airframe control mechanism 500 controls the posture and the vehicle height of the traveling vehicle body 15 by moving the left and right rear wheels 3 vertically or individually with respect to the traveling vehicle body 15. Is provided. The airframe control mechanism 500 includes a hydraulic elevating cylinder 10 attached between the traveling transmission case 9 of the rear wheels 3 and the traveling vehicle body 15 for raising and lowering the traveling vehicle body 15 by raising and lowering the rear wheels 3, and left and right the traveling vehicle body 15. A horizontal hydraulic cylinder 14 for tilting is provided.

The hydraulic elevating cylinder 10 is provided so as to be fixed to the hydraulic pressure switching valve portion 40 for switching the hydraulic pressure from the hydraulic pump, which is attached to the upper part of the transmission case 4, and is provided for the hydraulic pressure switching valve portion 40. It is configured to operate by operating (not shown). That is, the airframe control mechanism 500 raises and lowers the traveling vehicle body 15 relatively to the field by expanding and contracting the cylinder portion of the hydraulic elevating cylinder 10 and moving the left and right rear wheels 3 up and down via the traveling transmission case 9. It is configured as follows.

Further, the horizontal hydraulic cylinder 14 moves only the left rear wheel 3 up and down according to the left-right inclination of the traveling vehicle body 15 detected by the pendulum type left-right inclination sensor 41 provided on the right side of the mission case 4. The posture of the traveling vehicle body 15 is kept horizontal with respect to the left-right direction even if the valley portion between the ridges U is uneven.

The seedling tray 20 is formed by arranging the seedling raising pots 21 for accommodating the seedlings 22 vertically and horizontally, and is formed of plastic and is configured to have flexibility. The seedling raising pots 21 are connected to each other on the opening side of the pot, and the bottom surface side of the pot is formed to be independent.

The seedling tray supply device 100 includes a seedling stand 110 having a tray transport path 111 that is inclined forward and that supports the seedling tray 20, and a tray vertical that intermittently feeds the seedling tray 20 in the vertical direction along the tray transport path 111. It includes a feeding device 120 and a tray transport path moving device 170 that moves a seedling stand 110 having a tray transport path 111 in the left-right direction.

The seedling tray supply device 100 is configured to alternately perform a predetermined number of horizontal feed operations and one vertical feed operation when supplying the seedling tray 20 to the seedling extraction device 200. In the lateral feeding operation, the seedling stand 110 is intermittently fed in either the left or right direction, so that a row of seedling raising pots 21 arranged in the left and right directions of the seedling tray 20 is sequentially placed in front of the taking out member 260 of the seedling taking out device 200. In the vertical feeding operation, after the horizontal feeding operation is completed for the seedling raising pots 21 for one row in the left-right direction, the seedling tray 20 on the seedling stand 110 is moved to the seedling raising pot 21 by the tray feeding rod 121. This is the operation of sending downward.

Further, the lateral feed operation is configured to stop while the taking-out member 260 takes out the seedlings 22 from the seedling raising pot 21 and while the operation of the seedling planting hopper 11 is stopped.

The transplanting machine 1 is equipped with a plurality of sensors for detecting abnormalities in the machine body. As shown in FIG. 1, the front end portion of the traveling vehicle body 15 is provided with a ridge end detection sensor 863 that monitors the state of the ridge U in front of the traveling vehicle body 15 and detects the end portion of the ridge U. A planting defect detection sensor 865 is provided at the rear end of the traveling vehicle body 15 to monitor the ridges U behind the traveling vehicle body 15 and detect the planting defect of the seedling 22. The engine 12 is provided with an abnormal stop detection sensor 864 that detects an abnormal stop of the traveling of the transplant machine 1.

In addition, the seedling removal device 200 monitors the seedling tray 20 supplied by the seedling tray supply device 100, and defective seedlings or missing stocks in the seedling raising pot 21 immediately before planting (there is no seedling 22 in the seedling raising pot 21). An abnormal seedling detection sensor 862 for detecting seedling shortage (no supply of seedling tray 20) is provided. The control unit 800 is provided with a communication abnormality detection sensor 861 that detects a communication failure in the communication device 833 and the GNSS antenna 834.

FIG. 3 is a schematic plan view showing a control handle 8 and an operation unit 600 provided at the rear of the transplanting machine 1 of FIGS. 1 and 2.
As shown in FIG. 3, the main clutch lever 80 is provided in the vicinity of the handle grip 8L on the left side of the steering handle 8, and the hydraulic elevating cylinder 10 is operated in the vicinity of the handle grip 8R on the right side. An operation lever 81 is provided.

The elevating operation lever 81 is configured so that the vehicle height of the traveling vehicle body 15 can be manually switched to three stages of "lowering", "neutral", and "raising". When the elevating operation lever 81 is switched to the "lowering" position, the hydraulic elevating cylinder 10 in FIG. 1 lowers the traveling vehicle body 15 until the sensor plate 710 in FIG. 1 contacts the ridge surface, and the elevating operation lever 81 is "neutral". When the position is switched, the planting work is stopped, and when the elevating operation lever 81 is switched to the "raising" position, the traveling vehicle body 15 is raised by the hydraulic elevating cylinder 10.

The operation unit 600 at the center of the control handle 8 is configured to receive the operation of the operator, and is provided with an operation panel 601 capable of changing the work setting of the transplant machine 1 of FIG. Here, the work setting is a setting related to the planting work of the transplanting machine 1, and includes a setting of a planting interval.

The operation panel 601 includes an empty planting operation button 610, an engine operation lever 602, and a planting on / off button 620 as on / off operation members capable of turning on / off the driving force of the traveling system and the planting system of the transplanting machine 1. Is provided.
When the empty planting operation button 610 is set to "ON", the empty planting operation without seedling supply is performed during the planting operation.

The engine operating lever 602 is a lever for starting or stopping the engine 12 of the transplanting machine 1, and is configured to start the engine 12 when the lever is turned to the right and to stop the engine 12 when the lever is turned to the left. ..

When the planting on / off button 620 is set to "on", when the elevating operation lever 81 is switched to "lower", the seedling planting hopper 11 is operated in conjunction with the lowering of the traveling vehicle body 15 to "off". Then, the seedling planting hopper 11 is configured not to be interlocked.

Therefore, when the planting on / off button 620 is in the “on” state, the planting clutch 420 of the seedling planting device drive mechanism 400 in FIG. 1 is “on” when the elevating operation lever 81 is switched to the “lower” position. The state is reached and the planting work is started.

Further, the operation panel 601 is provided with a display unit 630 which is a touch-operable liquid crystal panel and a planting interval adjusting button 640 which is a planting interval setting means. On the display unit 630, a plurality of transplant machines 1 connected to the communication network NW are displayed by symbols, and for each transplant machine 1, work setting information indicating work settings and whether it is set as the main machine or a slave machine are displayed. The master-slave setting information indicating whether the settings are made and the abnormality detection information indicating the abnormality detected by the abnormality detection sensor are configured to be displayed respectively.

The planting interval adjustment button 640 is configured so that the on / off timing of the planting clutch 420 of FIG. 1 can be changed by the solenoid 470 of FIG. 1 according to the operation of the operator, and the “up” push Pressing the switch 640a lengthens the on / off timing of the planting clutch 420 and widens the planting interval, and pressing the "lower" push switch 640b shortens the on / off timing of the planting clutch 420. It is configured so that the planting interval is narrowed. Therefore, the operator can set the planting interval of the transplanting machine 1 to a desired value by operating the planting interval adjusting button 640.

Further, the operation unit 600 is provided with a notification device 660 that sounds a buzzer to notify a warning.

FIG. 4 is a block diagram showing an electric system of the transplanting machine 1 of FIG.
As shown in FIG. 4, the control unit 800 includes a recording unit 800 m for recording information. A program, data, or the like that can control the operation of the transplanting machine 1 is recorded in the recording unit 800m.

Further, the attitude / azimuth calculation unit 810 is provided in the control unit 800, and the attitude / azimuth calculation unit 810 includes a gyro sensor 831 for detecting the attitude change of the aircraft and an azimuth sensor 832 for detecting the traveling direction. Are electrically connected. Based on the signals acquired from the gyro sensor 831 and the azimuth sensor 832, the control unit 800 uses the attitude / azimuth calculation unit to determine the posture of the transplanter 1, that is, the orientation of the transplanter 1, the front-back direction and the left / right of the transplanter 1. It is configured to calculate the azimuth tilt and the turning direction of the aircraft.

Further, the control unit 800 is equipped with a communication device 833 capable of wireless communication with an external device and a GNSS antenna 834 for receiving radio waves of a satellite positioning system (GNSS), from the communication device 833 and the GNSS antenna 834. It is configured to process the received information. Therefore, the transplanting machine 1 can communicate with other transplanting machines 1 by the communication device 833, and can acquire the position information by the GNSS antenna 834 to grasp the current position. Further, the control unit 800 is configured to continuously record the acquired position information in the recording unit 800m so that the route traveled by the own machine can be recorded in the recording unit 800m as traveling route information.

By controlling the solenoid 470, the control unit 800 puts the planting clutch 420 into the "on" state, and then puts it in the "off" state when the seedling planting mechanism 300 has completed one good seedling planting operation. It is configured to repeat a series of operations of returning at a predetermined cycle. That is, the transplanting machine 1 is controlled so that the planting operation is repeated at a predetermined cycle.
Therefore, a desired planting interval is realized by adjusting the cycle of the on / off operation of the planting clutch 420 with respect to a predetermined traveling speed.

The control unit 800 includes an autonomous travel control unit 850 that autonomously travels the transplanting machine 1, and a planting control unit 851 that plants seedlings in accordance with the autonomous travel. The control unit 800 receives information from the operation panel 601, the gyro sensor 831, the orientation sensor 832, the communication device 833, the GNSS antenna 834, and the abnormality detection sensor 860, and the engine 12 via the autonomous travel control unit 850. A command can be sent to the seedling tray supply device 100, the take-out device 200, the seedling planting device 300, and the seedling planting device drive mechanism 400 via the planting control unit 851. , The machine body control mechanism 500, the planting depth adjusting mechanism 700, the display unit 630, and the notification device 660 are also configured to be able to send commands.

The autonomous driving control unit 850 receives radio waves transmitted from the artificial satellite via the GNSS antenna 834 at predetermined time intervals to acquire the position information of the own aircraft, and also displaces the aircraft from the gyro sensor 831 and the azimuth sensor 832. Information and azimuth information are acquired, and the transplanter 1 is configured to travel along a preset route based on the position information, displacement information, and azimuth information.

The planting control unit 851 is configured to perform a planting operation by interlocking the seedling tray supply device 100, the extraction device 200, the seedling planting device 300, and the seedling planting device drive mechanism 400.
It is configured to control the planting operation of the machine body control mechanism 500, the planting depth adjusting mechanism 700, and the transplanting machine 1.

Further, the control unit 800 is provided with a communication abnormality detection sensor 861, an abnormality seedling detection sensor 862, a ridge detection sensor 863, an abnormality stop detection sensor 864, and an abnormality detection sensor 860 for detecting an abnormality of the aircraft. The defect detection sensor 865 is electrically connected and is configured to receive information from each sensor. The detection information of the communication abnormality detection sensor 861, the abnormality seedling detection sensor 862, the ridge detection sensor 863, the abnormality stop detection sensor 864, and the planting defect detection sensor 865 is recorded in the recording unit 800m of the control unit 800. It is configured in.

When the abnormal seedling detection sensor 862 detects that there are defective seedlings or missing stocks in the seedling raising pot 21 of FIG. 1 immediately before planting, the control unit 800 sends a command to the planting control unit 851 to send a command to the next seedling pod 21. It is configured to skip planting. Therefore, the transplanting machine 1 can prevent the planting of defective seedlings and unintended empty planting, and can reduce the supplementary planting work of replanting the seedlings. Further, since the detection information of defective seedlings and missing stocks is recorded in the recording unit 800 m, it is possible to grasp the information regarding the quality of the seedling tray 20 of FIG.

Further, when the planting defect detection sensor 865 detects the planting defect, the control unit 800 records the position information acquired from the GNSS antenna 834 and the planting defect information in the recording unit 800 m. It is configured in. Therefore, in the field where the transplanting machine 1 has planted, it is possible to accurately grasp the location where the planting failure has occurred, so that the supplementary planting work can be efficiently performed.

Further, the transplant machine 1 can be set as a main machine or a slave machine by an operator from the operation panel 601, and the master-slave relationship set in this way is recorded in the recording unit 800 m of each transplant machine 1. Has been done. When the control unit 800 of the transplanting machine 1 is set to the main engine, the traveling control of the autonomous driving control unit 850 is stopped to accept the operation of the operator, and when it is set to the slave machine, it is set to the main engine. It is configured to issue a command to the autonomous traveling control unit 850 so as to accompany the transplanting machine 1.

Here, in the accompanying traveling of the transplanting machine 1 set as the slave machine, the control unit 800 acquires the traveling route information from the recording unit 800m of the transplanting machine 1 set in the main machine via the communication device 833, and also owns itself. The relative position with the transplanting machine 1 set in the main machine is calculated from the position information of the machine, and the autonomous travel control unit 850 is instructed to keep the relative position with the transplanting machine 1 set in the main machine constant. It will be realized by issuing it.

Therefore, the worker prepares a plurality of transplant machines 1, sets an arbitrary machine as one main machine, and sets the remaining machines as slave machines, so that the transplant machine 1 set as the main machine can be used. Since the transplanting machine 1 set as the slave machine will accompany the traveling machine 1, a plurality of transplanting machines 1 can be run at the same time by operating the transplanting machine 1 set as the main machine.

FIG. 5 is an explanatory diagram showing a parallel running work system S of a transplanting machine composed of a network NW constructed by a transplanting machine 1 set in the main machine 1a and a plurality of transplanting machines 1 set in the slave machine 1b. is there.

As shown in FIG. 5, in the parallel running work system S of the transplanting machines, one of the plurality of transplanting machines 1 working in the ridge U of the field is set as the main machine 1a, and the other machines are set. It is set to the slave unit 1b, and each is connected to the network NW via the communication device 833.

Further, in the parallel running work system S of the transplanting machines, the control unit 800 receives information on the running state and the planting operation state of each transplanting machine 1, the planting setting, and the abnormality information detected by the abnormality detection sensor 860 in FIG. , Is configured to be transmitted to another transplant machine 1 via the network NW.

For example, when the planting interval adjustment button 640 in FIG. 3 changes the planting interval setting value of the main engine 1a, the planting interval setting value is the main engine for all the slave units 1b connected to the network NW. It is changed so that it has the same value as 1a.

In this way, in the parallel running work system S of the transplanting machines, the work settings such as the setting values of the planting intervals of the transplanting machines 1 working at the same time can be easily arranged, so that the settings of the plurality of transplanting machines 1 are the same. It is possible to reduce the time and labor required for the work, ensure that the settings are the same, and prevent aircraft with different settings from being mixed in the work.

Further, the slave unit 1b is configured to synchronize the traveling state of the main engine 1a with the planting operation state from the network NW.

Therefore, in the parallel running work system S of the transplanting machine, the operator is planting the main machine 1a along the ridges in a state where the main machine 1a and the plurality of slave machines 1b are lined up in the ridges U of a plurality of rows in the field. By running, the slave unit 1b also travels while planting in the adjacent ridge U, so it is possible to plant multiple ridges U at once just by operating the main engine 1a, which is necessary for planting work. It can save a lot of labor and time.

Further, when the abnormality detection sensor 860 of the slave unit 1b detects an abnormality, for example, when the abnormality seedling detection sensor 862 of FIG. 1 detects the seedling shortage, the slave unit 1b emits a warning sound by its own notification device 660. It is configured to ring.

Therefore, in the parallel running work system S of the transplanting machine, even if a problem that hinders the work occurs in the slave machine 1b, a warning sound is given to the operator operating the main machine 1a that the problem has occurred. Therefore, it is possible to prevent the work of the slave machine 1b from being performed or wasted.

FIG. 6 is a schematic view showing a display unit 630 of the operation unit 600 of the transplanting machine 1 set in the main machine 1a or the slave machine 1b.
As shown in FIG. 6, the display unit 630 of the operation unit 600 has the symbols “N1, N2” as the machine identification information for uniquely identifying the transplant machine 1 connected to the network NW of FIG. , N3, N4 ... "is displayed, and the one corresponding to the own machine is displayed so that the symbol is surrounded by" [] ". The main engine 1a is assigned the symbol "M", and the secondary engine 1b is assigned the symbols "S-01, S-02, S-03, ...".

Therefore, among the transplant machines 1 connected to the network NW, which machine is set to the main machine 1a and which is set to the slave machine 1b can be determined from the display unit 630, and the operator operates which machine. You can easily figure out what to do.

Below each of the symbols "M" of the main engine 1a displayed on the display unit 630 and the symbols "S-01", "S-02", "S-03", ... , The planting interval set for each machine and the abnormality information detected by the abnormality detection sensor 860 of each machine are displayed together with the warning mark 633. The displayed information includes the occurrence of communication failure detected by the communication abnormality detection sensor 861 of FIG. 1 and the existence of defective seedlings or missing seedlings or the occurrence of seedling shortage detected by the abnormal seedling detection sensor 862 of FIG. , Reaching the end of the ridge U detected by the ridge detection sensor 863 in FIG. 1, abnormal stop of the transplanting machine 1 detected by the abnormal stop detection sensor 864 in FIG. 1, and detection of planting defect in FIG. Defective planting of seedlings 22 detected by the sensor 865 is included.

In this way, since the information about the main engine 1a and the slave unit 1b is collectively displayed on one screen of the display unit 630 by symbols, the states of the main engine 1a and the slave unit 1b can be quickly grasped.

Further, on the display unit 630, the transplant machine 1 set in the slave machine 1b is reset to the main machine 1a, and the transplant machine 1 previously set in the main machine 1a is reset to the slave machine 1b. A master-slave switching button 631 is provided as a means, and by pressing the master-slave switching button 631, the transplanting machine set in the slave machine 1b in the order of connection to the network NW (N2, N3, N4 ...) 1 is reset to the main machine 1a, and the transplant machine 1 previously set to the main machine 1a can be reset to the slave machine 1b.

In this way, by easily switching between the setting as the main machine 1a and the setting as the secondary machine 1b, a specific machine is mainly used during work, which accelerates wear and is prone to failure. You can avoid doing it. Further, even if a problem occurs in the main engine 1a, if the spare secondary unit 1b is reset to the main engine 1a, it is not necessary to newly prepare the transplantation machine 1, and the cost can be suppressed.

Further, in the transplanting machine 1 set in the main machine 1a, the display unit 630 is provided with a slave machine control menu 632 provided with start / stop buttons for running, planting and empty planting as a slave machine control means. It is configured so that each slave machine 1b "S-01", "S-02", "S-03", ... Can be started or stopped at once for running, planting and empty planting. ing. The setting of the slave unit 1b made by the main engine 1a is transmitted to the slave unit 1b as the slave unit setting information via the network NW, and the slave unit 1b that receives the slave unit setting information autonomously follows the received slave unit setting information. It is configured to perform running and planting operations.

Further, in a state where an abnormality is detected by the abnormality detection sensor 860 for one or more slave units 1b and a warning is displayed on the display unit 630, pressing the running stop button of the slave unit control menu 632 causes the seedlings to run out. Only the detected slave unit 1b stops running, and when the planting stop button is pressed, only the slave unit 1b in which an abnormality is detected stops planting.

Therefore, the transplanting machine 1 can stop the running and planting of the transplanting machine 1 by pressing the running stop button or the empty planting start button in response to the warning from the abnormality detection, and the transplanting machine 1 can stop the running and planting of the machine. It is possible to prevent the occurrence of poor planting of seedlings due to the above.

In addition, when the abnormal seedling detection sensor 862 detects the seedling shortage and the warning about the seedling shortage is displayed on the display unit 630, when the empty planting start button is pressed, only the slave machine 1b in which the seedling shortage is detected is empty. It is configured to start planting, and by pressing the empty planting start button in response to the warning of running out of seedlings, the planting operation can be switched to the empty planting operation, and the seedlings can be planted without permission when replenishing the seedlings. Can be prevented.

FIG. 7 is a flowchart showing the flow of the communication confirmation process of the slave unit 1b.
As shown in FIG. 7, the control unit 800 of the slave unit 1b sends a communication confirmation signal to the main unit 1a at predetermined time intervals via the communication device 833 (step S1), and the control unit 800 of the main unit 1a When the communication confirmation signal is received from the slave unit 1b via the communication device 833, the response signal is sent back to the slave unit 1b that sent the signal via the communication device 833 (step S2).

After sending the communication confirmation signal to the main engine 1a, the control unit 800 of the slave unit 1b determines that an abnormality has occurred in communication with the main engine 1a if there is no response signal from the main engine 1a within a predetermined time. Then, a command is sent to the autonomous travel control unit 850 of the own machine to stop the running, and a command is sent to the planting control unit 851 of the own machine to stop the planting operation (step S3). In order to notify the abnormality, a command is sent to the notification device 660 of the own machine to sound a warning sound (step S4).

In this way, by confirming the communication with the main engine 1a by the control unit 800 of the slave unit 1b, it is possible to periodically confirm whether the communication with the main engine 1a is normally performed, and a communication failure may occur. If a communication failure occurs, such as when the communication with the main engine 1a is out of range, the traveling and planting operations can be stopped. Therefore, the slave unit 1b continues to operate in a state where the abnormality cannot be transmitted to the main engine 1a side. Can be prevented.

Further, if there is no response signal from the main engine 1a, the notification device 660 can sound a warning sound (buzzer) to notify the operator that the slave unit 1b has stopped due to poor communication. It is possible to prevent the device from being left in a stopped state.

FIG. 8 is a schematic diagram showing the configuration of the information terminal 880 that can be connected to the network NW of FIG.
As shown in FIG. 8, the information terminal 880 is a portable tablet-type computer, and includes a touch panel display 882, a communication device 881 that can be connected to a network NW, and a speaker 883 that can emit voice. It has. The communication device 881 is connected to the network NW by, for example, a wireless LAN such as WiFi, and is configured to be able to communicate with the transplant machine 1 set in the main machine 1a or the slave machine 1b.

Further, the information terminal 880 is installed with a control application 884 which is a control means capable of changing the work setting of the transplanting machine 1 and turning on / off the traveling driving force and the planting driving force. The control application 884 accesses the control unit 800 of all the transplanting machines 1 set in the main machine 1a or the secondary machine 1b via the network NW, and the information regarding the running state and the planting work from the accessed transplanting machine 1 And the abnormality detection information detected by the abnormality detection sensor of FIG. 4 can be acquired, and the acquired information can be displayed on the display 882.

In this way, since the work status of the main engine 1a and the slave unit 1b can be monitored from the information terminal 880, it is possible to quickly respond to any abnormality in the main engine 1a or the slave unit 1b.

Further, the control application 884 transfers the machine control signal, that is, the port to the control unit 800 of all the transplant machines 1 connected to the network NW and set in the main machine 1a or the slave machine 1b via the communication device 881. Control of the transplanting machine 1 such as changing the setting of the main machine 1a or the secondary machine 1b of the machine 1, starting / stopping the transplanting machine 1, starting / stopping the planting operation, changing the setting of the planting operation, and adjusting the planting interval. It is configured to be able to send a signal to do so.

Further, the control application 884 displays an item corresponding to each machine control signal on the display 882 of the information terminal 880, and when the operator selects the item by touch operation, the machine control signal corresponding to the selected item is displayed. It is configured to transmit to each transplant machine 1.

Then, when the control unit 800 of the transplanting machine 1 receives the machine control signal transmitted from the information terminal 880, the control unit 800 changes the setting of the main machine 1a or the slave machine 1b of the transplanting machine 1 and transplants the machine based on the received machine control signal. It is configured to start / stop the machine 1, start / stop the planting operation, change the setting of the planting operation, or adjust the planting interval.

In this way, by accepting the operation from the information terminal 880, the transplant machine 1 can remotely perform the work by the main machine 1a and the slave machine 1b, so that it is necessary to manually operate the main machine 1a for the work. There is no such thing, and the labor of the worker is reduced.

FIG. 9 is a schematic side view showing the transplanting machine 901 according to another embodiment, and FIG. 10 is a cross-sectional view of a main part showing an electric motor 912 attached to each of the pair of left and right rear wheels 903 of FIG. is there.
The transplant machine 1 of FIG. 1 is configured to drive a pair of left and right rear wheels 3 by an engine 12, but as shown in FIGS. 9 and 10, the transplant machine 901 has a pair of left and right rear wheels 903. Each of the above is configured to be independently driven by an in-wheel electric motor 912.

By driving the rear wheels 903 of the transplanter 901 by an in-wheel electric motor 912, parts for transmitting the traveling power of the transplanter 901 can be omitted. Further, since the left and right electric motors 912 are driven independently, turning is possible by changing the rotation speed of the rear wheel 903 to the left and right, and the side clutch required for turning is unnecessary in the engine type drive mechanism. Therefore, the number of parts can be reduced. Further, since the driving force of the left and right rear wheels 903 can be adjusted to be equal, the straight running of the transplanting machine 903 can be stabilized.

Further, as shown in FIG. 10, motor covers 915 are detachably attached to the left and right electric motors 912, respectively. The presence of the motor cover 915 prevents the electric motor 912 from coming into contact with soil or sand and causing a failure, and the removal of the motor cover 915 facilitates maintenance of the electric motor 912.

As shown in FIG. 9, the seedling feeding transmission motor 913 of the transplanting machine 901 drives the seedling tray supply device 100, and the planting transmission motor 914 includes the seedling extraction device 200, the seedling planting device 300, and the seedling planting. It is configured so that the seedling planting operation can be performed by driving the attachment device drive mechanism 400 and adjusting the drive timing of the seedling feed transmission motor 913 and the planting transmission motor 914.

In this way, by dividing the driving force of the planting operation into the seedling feed transmission motor 913 and the planting transmission motor 914, the transmission load generated in the planting operation can be dispersed, and the seedlings can be planted in the planting operation. Since the supply timing can be shifted independently, even if there is a seedling raising pot 21 in which the seedling 22 is missing or defective seedlings are present in the seedling tray 20, avoiding the seedling raising pot 21 prevents poor planting from occurring. Can be done.

Although the preferred embodiments of the present invention have been described above, the present invention is not limited to such embodiments, and various modifications can be made within the scope of the invention described in the claims. Needless to say, they are also included in the scope of the present invention.

For example, the transplanting machine 901 shown in FIG. 9 is configured to divide the supply source of the driving force required for the planting operation into the seedling feeding transmission motor 913 and the planting transmission motor 914. As a supply source of the required driving force, it is not always necessary to prepare a plurality of motors, and the driving force for the planting operation may be supplied by a single transmission motor.

1 Transplant machine 1a Main engine 1b Subordinate machine 2 Front wheel 3 Rear wheel 4 Mission case 8 Maneuvering handle 8L Handle grip 8R Handle grip 9 Travel transmission case 10 Hydraulic lift cylinder 11 Seedling planting hopper 12 Engine 13 Suppression wheel 14 Horizontal hydraulic cylinder 15 Travel Body 16 Left and right frame 17 Main frame 18 Planting transmission device 20 Seedling tray 21 Seedling pot 22 Seedling 40 Hydraulic switching valve part 80 Main clutch lever 81 Lifting operation lever 100 Seedling tray supply device 110 Seedling stand 111 Tray transport path 120 Tray vertical feed device 121 Tray feed rod 170 Tray transport path moving device 200 Seedling extraction device 202 Chain belt 260 Extraction member 300 Seedling planting device 400 Seedling planting device Drive mechanism 420 Planting clutch 470 Hydraulic solenoid 500 Aircraft control mechanism 600 Operation unit 601 Operation panel 602 Engine Operation lever 610 Air planting operation button 620 Planting on / off button 630 Display unit 631 Master-slave switching button 632 Master-slave control menu 633 Warning mark 640 Planting interval adjustment button 640a "Up" push switch 640b "Down" push switch 660 Notification device 700 Planting depth adjustment mechanism 800 Control unit 800m Recording unit 810 Attitude / orientation calculation unit 831 Gyro sensor 832 Orientation sensor 833 Communication device 834 GNSS antenna 850 Autonomous driving control unit 851 Planting control unit 860 Abnormality detection sensor 861 Communication abnormality detection sensor 862 Abnormal seedling detection sensor 863 Ridge detection sensor 864 Abnormal stop detection sensor 865 Planting defect detection sensor 880 Information terminal 881 Transmitter / receiver 882 Display 883 Speaker 884 Control application 901 Transplanter 903 Rear wheel 912 Electric motor 913 Seedling feed transmission motor 914 Planting Transmission motor 915 Motor cover NW network S Transplant machine parallel work system U ridge

Claims (6)

It is a multiple transplanter that plants seedlings in the field.
The transplanting machine receives a traveling vehicle body traveling in a field, a seedling supply device for transporting seedlings, a seedling extraction device for extracting seedlings from the seedling supply device, and a seedling extracted from the seedling extraction device in the field. The seedling planting hopper to be planted in the plant, the abnormality detection sensor that detects the abnormality of the transplanting machine, the communication device that enables the plurality of transplanting machines to communicate with each other via the network, and the information received from the communication device. It is provided with a control unit that processes and controls the traveling and planting of the transplanting machine.
The plurality of transplant machines are configured so that at least one of the transplant machines connected to the network is the main machine and the other machine is set as a slave machine that accompanies the main machine, and the operation of the operator is performed. The transplant machine set as the main machine is provided with a master-slave switching means for resetting the transplant machine that has been received and set as the slave machine to the main machine and resetting the transplant machine that was previously set as the main machine to the main machine. When the work setting of the transplant machine is changed, the transplant machine set as the main machine transmits the changed information of the work setting to the transplant machine set as the slave machine via the communication device. , The transplant machine set as the slave machine is configured to acquire the information of the work setting and change it to the same work setting as the main machine.
When the abnormality detection sensor detects an abnormality of its own machine, the transplant machine set as a slave machine is configured to transmit the abnormality detection information to the transplant machine set as the main machine via the communication device. The transplanting machine set as the main machine is configured to notify the operator of the abnormality when the abnormality detection information is acquired from the transplanting machine set as the slave machine. Working system. The transplant machine includes a display unit that displays information about the transplant machine.
The information about the transplant machine includes at least the machine identification information for uniquely identifying the transplant machine connected to the network, the work setting information associated with the machine identification information, and the abnormality detection. Includes information and master-slave setting information that makes it possible to determine whether the transplant machine corresponding to the machine identification information is set as the main machine or the slave machine.
The transplant machine set as the main machine acquires information about the transplant machine from the transplant machine set as the slave machine via the communication device, and obtains information about the transplant machine.
Whether the display unit of the transplanter set as the main engine has the machine identification information of the transplanter connected to the network and the transplanter corresponding to the machine identification information set as the main machine or the slave machine. The parallel running work system of the transplanting machine according to claim 1, wherein it is displayed whether or not it is set to. The transplanting machine includes an operation unit having an on / off operation member capable of switching on / off of a driving force in a traveling system and a planting system of the transplanting machine by receiving an operation of an operator.
When the transplant machine set as the main machine acquires the abnormality detection information from the transplant machine set as the slave machine, the machine identification information of the transplant machine that has transmitted the abnormality detection information is displayed on the display unit of the main machine. 2. The second aspect of the present invention is characterized in that the driving of the traveling system and the planting system of the slave machine to which the abnormality detection information is transmitted can be stopped by the operation of the operation unit of the main machine. The parallel running work system of the transplant machine described in. The transplanting machine is equipped with a notification device that notifies the surroundings of an abnormality with a warning sound.
Each of the transplant machines set as the slave machine is configured to communicate with the transplant machine set in the main machine via the communication device at predetermined time intervals, and the transplant machine set in the main machine. Any one of claims 1 to 3, characterized in that when communication with the transplanting machine fails, the driving of the traveling system and the planting system of the own machine is stopped and the notification device is operated. The parallel work system of the transplanting machine described in. The transplanting machine is provided with a planting clutch for turning on / off the drive of the seedling planting hopper and a solenoid for adjusting the on / off timing of the planting clutch according to the setting of the planting interval for planting seedlings. The operation unit is provided with a planting interval setting means which is configured so that the interval can be changed and the planting interval of the seedling can be set.
The parallel operation work system for a transplanting machine according to claim 2 or 3, wherein the work setting includes setting of a planting interval set by the planting interval setting means. When the transplant machine acquires the machine control signal sent from the information terminal connected to the network via the communication device, the transplant machine changes the settings of the main machine or the slave machine according to the machine control signal, and the above-mentioned It is configured to change the work setting and switch the drive on / off in the traveling system and the planting system of the transplanting machine, and further, the information terminal is provided with the abnormality detection information and the transplanting machine. The parallel running work system for a transplant machine according to any one of claims 1 to 5, wherein the information on running and planting is transmitted.