Tree planting system, tree planting method, cultivating machine, tree planting machine, and management device

Patent metadata

Field	Value
Publication number	US-2018343784-A1
Application number	US-201715778718-A
Country	US
Kind code	A1
Filing date	Jan 25, 2017
Priority date	Jan 29, 2016
Publication date	Dec 6, 2018
Grant date	—

Abstract

A first machine of a tree planting system includes: a cultivator cultivating soil where a plant for tree planting is to be planted; a first traveling device traveling with the cultivator; and a cultivated position detector obtaining and outputting actual cultivated positions corresponding to positions of the cultivator while the cultivator travels with the first traveling device and cultivates the soil. A management device of the tree planting system stores actual cultivated positions. A second machine of the tree planting system includes: a planting device planting a plant in the soil; a second traveling device traveling with the planting device; a planting device position detector obtaining a position of the planting device; and a controller controlling a position of the planting device based on: actual cultivated positions acquired from the management device; and the position of the planting device at the timing when a plant is planted.

First claim

1 . A tree planting system comprising a first machine, a management device, and a second machine,
the first machine including: a cultivating device configured to cultivate soil where a plant for tree planting is to be planted; a first traveling device configured to travel together with the cultivating device; and a cultivated position detecting device configured to obtain and output a plurality of actual cultivated positions which are positions corresponding to positions of the cultivating device while the cultivating device travels together with the first traveling device and cultivates the soil, the management device storing the plurality of actual cultivated positions, the second machine including: a planting device configured to plant the plant in the soil cultivated by the cultivating device; a second traveling device configured to travel together with the planting device; a planting device position detecting device configured to obtain a position of the planting device; and a control device configured to control a position of the planting device on the basis of the plurality of actual cultivated positions acquired from the management device and a position of the planting device obtained by the planting device position detecting device at a timing when the plant is planted.

2 . The tree planting system according to claim 1 , wherein
the control device controls a position of the planting device on the basis of: an actual cultivated line that is a trajectory of the plurality of actual cultivated positions acquired from the management device; and the position of the planting device obtained by the planting device position detecting device at the timing when the plant is planted.

3 . The tree planting system according to claim 1 , wherein a detector used for the cultivated position detecting device to obtain the actual cultivated position is attached to the cultivating device.

4 . The tree planting system according to claim 1 , wherein
the planting device position detecting device obtains and outputs an actual planted position that is a position where the plant is planted, and the management device stores the actual planted position obtained by the planting device position detecting device.

5 . The tree planting system according to claim 1 , wherein a detector used for the planting device position detecting device to detect a position is attached to the planting device.

6 . A tree planting method comprising:
obtaining and outputting a plurality of actual cultivated positions which are positions corresponding to positions of a machine that cultivates soil while cultivating the soil in which a plant for tree planting is to be planted; storing the plurality of actual cultivated positions; and acquiring the stored plurality of actual cultivated positions, and controlling a position of a device that plants the plant on the basis of: a cultivated line that is a trajectory of the plurality of actual cultivated positions; and a position of a planting device that plants the plant at a timing when the plant is planted.

7 . The planting method according to claim 6 , comprising obtaining an actual planted position that is a position where the plant is planted.

8 . A cultivating machine comprising:
a cultivating device configured to cultivate soil where a plant for tree planting is to be planted; a traveling device configured to travel together with the cultivating device; and a cultivated position detecting device configured to obtain and output a plurality of actual cultivated positions which are positions corresponding to positions of the cultivating device while the cultivating device travels together with the traveling device and cultivates the soil.

9 . The cultivating machine according to claim 8 , comprising a display device configured to display a deviation between an advancing direction of the traveling device and a target line provided as a target at a time of planting the plant.

10 . A tree planting machine comprising:
a planting device configured to plant a plant for tree planting; a traveling device configured to travel together with the planting device; a planting device position detecting device configured to obtain a position of the planting device; and a control device configured to control a position of the planting device on the basis of: a cultivated line that is a trajectory of a plurality of positions to be reference of planting plants; and a position of the planting device obtained by the planting device position detecting device at a timing when the plant is planted.

11 . The tree planting machine according to claim 10 , wherein a detector used for the planting device position detecting device to obtain a position is attached to the planting device.

12 . The tree planting machine according to claim 10 , comprising a display device configured to display a deviation between an advancing direction of the traveling device and the cultivated line.

13 . A management device comprising a storage unit configured to: acquire a plurality of actual cultivated positions which are positions of soil cultivated in order to plant a plant for tree planting; and store an actual cultivated line which is a trajectory of the acquired plurality of actual cultivated positions.

14 . The management device according to claim 13 , wherein
the storage unit acquires and stores an actual planted position that is a position of the plant planted in the cultivated soil.

Assignees

• Komatsu Mfg Co Ltd

Inventors

• Miyake Toshio
• Asaka Hirokazu

Classifications

• A01B69/008 Primary

  automatic · CPC title

• A01G23/02

  Transplanting, uprooting, felling or delimbing trees (delimbing standing trees A01G3/00) · CPC title

• A01C11/006

  Other parts or details or planting machines · CPC title

• A01B79/02

  combined with other agricultural processing, e.g. fertilising, planting · CPC title

• A01B69/02

  Ridge-marking or like devices; Checkrow wires; Accessories therefor · CPC title