PROBLEM TO BE SOLVED: To provide a rice planting machine, which allows real-time acquisition of a soil condition or planting depth.SOLUTION: The rice planting machine includes a planting unit, a soil reaction detection device, and a control unit. The planting unit performs planting of seedlings by driving a planting claw. The soil reaction detection device includes a soil reaction detection unit which detects a soil reaction received from the soil for every planting of seedlings by the planting claw, and a rotary phase detection unit which detects a rotary phase of the planting claw. The control unit calculates a planting depth value based on the soil reaction and rotary phase (S102). The control unit performs raising/lowering control of the planting unit based on the detected planting depth value (S109).COPYRIGHT: (C)2013,JPO&INPIT【課題】土壌条件や植深をリアルタイムで取得できる田植機を提供する。【解決手段】田植機は、植付部と、土壌反力検出装置と、制御部と、を備える。植付部は、植付爪を駆動することにより苗の植付けを行う。土壌反力検出装置は、植付爪が苗の植え付けを行うごとに土壌から受ける土壌反力を検出する土壌反力検出部と、植付爪の回転位相を検出する回転位相検出部を備えている。前記制御部は、前記土壌反力及び回転位相に基づいて植深値を算出する(S102)。そして制御部は、検出された植深値に基づいて、植付部を昇降制御する(S109)。【選択図】図6
