JP2007228889A - Working machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a working machine that easily can do the work running, while checking the running base line regardless of the conditions of the farm surface. <P>SOLUTION: A liquid crystal display 69 is provided for showing the desired running base line X and the machine body mark 73 for showing its current position along the running base line X, and the liquid crystal display 69 is set up to the driving and operating part. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a work machine that performs work travel along a travel reference line indicating a desired travel direction.

  For example, in a riding type rice transplanter that is an example of a work machine, a planting marker that marks a traveling reference line on the planting field of the next stroke is provided on the left and right sides of the traveling machine body, and the traveling reference line should be marked. It was configured to be switchable between a downward action posture and a retracted posture pulled up to the top of the aircraft. Then, a center mascot is set up as a driving reference rod at the left and right center position of the front part of the hood of the traveling machine body, and the operator visually confirms that the tip of the center mascot matches the driving reference line. It travels (see Patent Document 1).

JP 2004187763 A (paragraph number [0024], lines 1 to 3 and FIGS. 1 to 3)

The above configuration has a configuration in which a driving reference line is marked on the field surface of the next stroke, and depending on the state of the field surface, there are cases where there is a lot of moisture or it is difficult to attach a line. In some cases, the driving reference line could not be confirmed.
An object of the present invention is to provide a work machine that can easily perform work travel while confirming a travel reference line regardless of the situation of the work site.

〔Constitution〕
The characteristic configuration of the invention according to claim 1 is provided with a display device for displaying a traveling reference line indicating a desired traveling direction, and an airframe indicator indicating a current position of the traveling aircraft to travel along the traveling reference line, The display device is provided in the driving control unit, and the operation and effects thereof are as follows.

[Action]
By providing a display device that can display the driving reference line and the airframe indication in the driving control unit, the operator can visually check the display device and make the vehicle display displayed on the display device coincide with the driving reference line. By performing the operation, it is possible to move in a desired working direction.

〔effect〕
Therefore, it is not necessary to mark the travel reference line on the work site, and the visual check of the travel reference line is facilitated without being affected by the situation of the work site, and the work travel is ensured.

  The characteristic configuration of the invention according to claim 2 is that, in the invention according to claim 1, it is configured to grasp the current position of the traveling aircraft body by a position sensor provided in the traveling aircraft body, and its operational effect is It is as follows.

[Function and effect]
In other words, since the aircraft display can be displayed on the display device by the position sensor provided on the traveling aircraft, it is easy to confirm the deviation between the traveling reference line and the aircraft display on the display device, and the desired traveling direction can be easily and quickly confirmed. became.

  According to a third aspect of the present invention, in the invention according to the first or second aspect of the present invention, the display device includes a camera that displays the traveling reference line and the airframe marking and displays a rear view of the work implement. In the reverse traveling state of the traveling vehicle body, the camera is configured to display the reverse traveling reference line indicating the imaging of the camera and the backward traveling direction of the traveling vehicle body, and the operation and effect thereof are as follows.

[Function and effect]
Since the image of the camera that projects the rear of the machine body can be displayed on the display device, the rear can be easily confirmed.

  A characteristic configuration of the invention according to claim 4 is provided with a traveling reference rod for visually checking a positional deviation between a traveling reference line indicating a desired traveling direction and the traveling vehicle body, and a display device on the traveling reference rod. , And a working state indicator for displaying the traveling reference line on the display device and indicating the working state is provided, and the operation and effect thereof are as follows.

[Function and effect]
In this case, a traveling reference rod is provided on the traveling machine body as in the conventional configuration. Next, instead of marking the running reference line on the field, the running reference line is marked on a display device provided on the running reference pole.
In this way, by attaching the display device to the traveling reference rod, the positional relationship between the traveling reference rod and the traveling reference line becomes clear, and it is easy to visually compare the two.

[First embodiment]
As shown in FIG. 1, a link mechanism 3 and a hydraulic cylinder 4 that drives the link mechanism 3 to move up and down are provided at the rear part of the airframe having right and left front wheels 1 and right and left rear wheels 2. A seedling planting apparatus 5 is supported at the rear part of the mechanism 3 to constitute a riding type rice transplanter as an example of a working machine.

  As shown in FIG. 1, the seedling planting device 5 includes a transmission case 6, a planting case 7 that is rotatably supported at the rear part of the transmission case 6, and a pair of plantings provided at both ends of the planting case 7. The arm 8, the grounding float 9, and the seedling platform 10 are provided. As a result, the planting case 7 is rotationally driven as the seedling platform 10 is driven to reciprocate laterally to the left and right, and the planting arm 8 alternately takes out the seedlings from the lower part of the seedling platform 10 and puts them on the rice field. Plant.

As shown in FIG. 1, a hopper 12 for storing fertilizer and a feeding portion 13 are fixed to the rear side of the driver seat 11, and a blower 14 is provided below the driver seat 11. A groover 15 is provided on the ground float 9, and a hose 16 is connected across the feeding portion 13 and the groover 15. As a result, the fertilizer is fed from the hopper 12 by a predetermined amount by the feeding section 13 along with the seedling planting as described above, and the fertilizer is supplied to the groove producing device 15 through the hose 16 by the blower 14 blowing. Yes, fertilizer is supplied to the rice field through the groove producing device 15.
By storing the seed pods in the hopper 12 instead of the fertilizer, a direct sowing operation for supplying the seed potatoes from the hopper 12 to the rice field via the groove producing device 15 can also be performed (in this case, the seedling planting device 5 is stopped). .

Next, support structures for the right and left front wheels 1 and the right and left rear wheels 2 will be described.
As shown in FIGS. 1 and 3, the transmission case 17 is fixed to the front part of the airframe, and the engine 19 is supported on a support frame 18 connected to the front part of the transmission case 17. Square pipe-shaped right and left fuselage frames 21 are connected to the upper part of the rear part of the mission case 17 and extend rearward, and extend across the rear part of the mission case 17 and the right and left fuselage frames 21. A reinforcing member 20 having a triangular shape in side view is connected.

  As shown in FIGS. 1 and 4, right and left front axle cases 23 are extended from the right and left lateral sides of the mission case 17, and cylindrical ends are formed at the ends of the right and left front axle cases 23. A support portion 23a is provided obliquely forward and downward (see the vertical axis P1). A front wheel support portion 24 that supports the right and left front wheels 1 is supported by the support portion 23a of the right and left front axle cases 23 so as to be rotatable around the vertical axis P1 and slidable in the direction of the vertical axis P1. Yes. As shown in FIGS. 2 and 3, a pitman arm 25 is swingably supported around the longitudinal axis P <b> 8 at the lower portion of the mission case 17 and extends rearward, and extends between the front wheel support portion 24 and the pitman arm 25. A tie rod 26 is connected. As shown in FIG. 1, a steering handle 27 for swinging the pitman arm 25 is provided, and the right and left front wheels 1 are steered by swinging the pitman arm 25 with the steering handle 27. .

  As shown in FIGS. 3, 4, and 5, a rear axle case 28 is integrally formed, and the right and left rear wheels 2 are supported by the rear axle case 28. Vertical right and left brackets 22 having a U-shaped cross section are fixed to the front portion of the rear axle case 28, and right and left upper links 29 are vertically moved around the horizontal axis P2 at the top of the right and left brackets 22. A right and left upper link 29 swings up and down around a horizontal axis P3 of a bracket 21a that is supported in a swingable manner and extends forward and is fixed to an intermediate portion of the right and left airframe frames 21. It is supported freely.

  As shown in FIGS. 3, 4, and 5, the support pins 31 are fixed laterally outwardly to the lower portions of the right and left brackets 22, and the right and left lower links 30 are formed around the horizontal axis P <b> 4 of the support pins 31. It is supported so that it can swing up and down and extends forward, and the right and left lower links 30 are supported so as to swing up and down around the horizontal axis P5 at the lower part of the rear part of the transmission case 17. . The receiving part 21b is fixed to the right and left body frames 21, the receiving part 31a is fixed to the support pin 31, and the receiving part 21b of the right and left body frame 21 and the receiving part 31a of the support pin 31 are connected to each other. The right and left suspension springs 32 are attached. As shown in FIGS. 5 and 6, a lateral rod 34 is supported so as to be swingable up and down around the front and rear axis P6 at the rear end of the left fuselage frame 21, and the right and left front and rear shafts of the rear axle case 28 are supported. A lateral rod 34 is supported around the core P7 so as to be swingable up and down.

  As a result, as shown in FIGS. 4 and 5, the rear axle case 28 is supported by the right and left suspension springs 32 so as to move up and down and roll freely, and the right and left upper links 29 and the right and left lower links are supported. The link 30 determines the position of the rear axle case 28 in the front-rear direction, and the lateral rod 34 determines the position of the rear axle case 28 in the left-right direction.

Next, the transmission structure to the right and left front wheels 1 will be described.
As shown in FIG. 4, a hydrostatic continuously variable transmission 33 is connected to the left lateral portion of the transmission case 17, and the power of the engine 19 is transmitted to the hydrostatic continuously variable transmission 33 via a transmission belt 35. The power transmitted to the hydrostatic continuously variable transmission 33 is transmitted to the hydraulic pump 37 via the transmission shaft 36 as it is.

  As shown in FIG. 6, the power of the output shaft 33a of the hydrostatic continuously variable transmission 33 is transmitted to the transmission shaft 56 via the transmission gear 55, and the transmission shaft 56 has a low-speed gear 57, a high-speed gear 58, and a transmission. A gear 59 is fixed. A shift gear 61 is externally fitted to the transmission shaft 60 arranged in parallel with the transmission shaft 56 so as to be integrally rotatable and slidable with the transmission shaft 60 in a spline structure, and the transmission gear 62 is fixed to the transmission shaft 60. As a result, the shift gear 61 is slid and meshed with the low speed gear 57 and the high speed gear 58, whereby the power of the transmission shaft 56 is shifted in two steps to be transmitted to the transmission shaft 60.

  As shown in FIG. 6, a pair of transmission shafts 63 are arranged to face each other across the transmission case 17, the right and left front axle cases 23, and a differential mechanism 64 is provided between the pair of transmission shafts 63. A transmission gear 65 fixed to the case 64 a of the differential mechanism 64 meshes with the transmission gear 62, and a bevel gear 66 is fixed to the ends of the pair of transmission shafts 63. A cylindrical member 81 is externally fitted to one transmission shaft 63 by a key structure so as to be integrally rotatable and slidable. By engaging the cylindrical member 81 with an end portion of the case 64a of the differential mechanism 64, the differential mechanism 64 is locked. It can be.

Next, the transmission structure of the rear axle case 28 to the right and left rear wheels 2 will be described.
As shown in FIGS. 2, 4, and 6, a traveling output shaft 78 is provided at a lower portion of the rear portion of the transmission case 17 (a little to the right of the left and right center CL of the airframe in plan view) and protrudes rearward. Is engaged with a bevel gear 80 fixed to the traveling output shaft 78. A universal joint 82 is attached to the end of the travel output shaft 78, and the transmission shaft 84 is connected to the universal joint 82 via a cylindrical joint 83 (allowing the transmission shaft 84 to slide relative to the universal joint 82 while transmitting power). ing. An input shaft 38 protrudes forward from the front portion of the rear axle case 28 (slightly to the right of the center CL on the left and right sides), and the transmission shaft 84 and the input shaft 38 are connected via a universal joint 82.

  As shown in FIG. 2, a transmission shaft 39 is provided in the rear axle case 28, and a bevel gear 38 a fixed to the input shaft 38 is engaged with a bevel gear 39 a fixed to the transmission shaft 39. Friction multi-plate type right and left side clutches 41 are provided at the right and left ends of the transmission shaft 39, and an axle 43 that supports the right and left side clutches 41 and the right and left rear wheels 2. Between them, a transmission shaft 42 is provided. 2, 4 and 6, the power of the output shaft 33a of the hydrostatic continuously variable transmission 33 is transmitted to the transmission shafts 56 and 60, the case 64a of the differential mechanism 64, the travel output shaft 78, and the transmission shaft 84. These are transmitted to the right and left rear wheels 2 through the input shaft 38, the transmission shaft 39, the right and left side clutch 41, and the transmission shaft 42.

  As shown in FIG. 6, a plurality of friction plates 44 are provided between a wall portion inside the mission case 17 and the travel output shaft 78, and the disk-shaped operation member 45 is attached to the travel output shaft 78 so as to be relatively rotatable. It is fitted. The operating shaft 46 is rotatably supported so as to cross the lower side of the travel output shaft 78, the intermediate portion 46a of the operating shaft 46 is formed in a semi-moon shape, and the intermediate portion 46a of the operating shaft 46 is operated. It is in contact with the rear end of the member 45. As described above, the friction plate 44, the operation member 45, the operation shaft 46, and the like constitute the brake 47, and the brake pedal (not shown), the operation shaft 46, and the hydrostatic continuously variable transmission 33 are mechanically connected. Are linked together.

  Thus, when the brake pedal is depressed, the hydrostatic continuously variable transmission 33 is operated to the neutral stop position, and the operation shaft 46 is rotated by a predetermined angle in the clockwise direction in FIG. The operating member 45 is pushed upward in the drawing of FIG. 7 by the intermediate portion 46a of 46, the operating member 45 presses the friction plate 44, and the brake 47 is operated to the braking side. As shown in FIGS. 2, 3 and 6, when the brake 47 is operated to the braking side, the right and left front wheels 1 are braked via the differential mechanism 64 and the transmission shaft 63, and the traveling output shaft 78, The right and left rear wheels 2 are braked via the transmission shaft 84, the input shaft 38, the transmission shaft 39, the right and left side clutch 41, and the transmission shaft 42.

  As shown in FIG. 2, the right and left side clutches 41 are urged to a transmission state by springs (not shown), and the right and left operation arms for operating the right and left side clutches 41 in the disengaged state. 51 and a linkage rod 53 is connected across the pitman arm 25 and the right and left operation arms 51. The state shown in FIG. 2 is a state in which the right and left front wheels 1 are steered to the rectilinear position A0, and the right and left side clutch 41 are operated to the transmission state, and the right and left front wheels 1 Power is transmitted to the right and left rear wheels 2. Even if the right and left front wheels 1 are steered between the rectilinear position A0 and the right and left set angles A1, the above-described state occurs, and the aircraft moves straight or gently to the right or left. Change.

  As shown in FIG. 2, when the right and left front wheels 1 are steered between the right set angle A1 and the right steer limit A2, the right linkage rod 53 is pulled by the pitman arm 25. Thus, the right side arm 41 is operated to the disengaged state by the right operating arm 51, and the right rear wheel 2 is in a freely rotating state. In this case, the left side clutch 41 is left in a transmission state, and power is transmitted to the left rear wheel 2. When the right and left front wheels 1 are steered between the left set angle A1 and the left steering limit A2, the left linkage rod 53 is pulled by the pitman arm 25, and the left operation arm 53 is operated. As a result, the left side clutch 41 is operated in the disconnected state, and the left rear wheel 2 is in a free rotating state. In this case, the right side clutch 41 is left in a transmission state, and power is transmitted to the right rear wheel 2.

  As described above, when the right and left front wheels 1 are steered between the right set angle A1 and the right steer limit A2, or between the left set angle A1 and the left steer limit A2. In the state where the power is transmitted to the right and left front wheels 1 and the rear wheel 2 outside the turning, the power to the rear wheel 2 on the turning center side is cut off, and the rear wheel 2 on the turning center side is in a freely rotating state. , Turn right or left. As a result, the rear wheel 2 on the turn center side moves forward while appropriately rotating along with the turn, and the state in which the surface is roughened by the rear wheel 2 on the turn center side during turning is reduced.

Next, what will become a driving | running | working guideline at the time of planting is demonstrated. As shown in FIGS. 1 and 7, a handle post 67 is erected in front of the driver's seat 11, and a control panel 68 is provided on the upper surface of the handle post 67. A traveling reference line X is displayed on the control panel 68.
The travel reference line X indicates the direction in which the rice transplanter should proceed during work travel. In order to display the traveling reference line X on the liquid crystal display unit 69 as a display device of the control panel 68, an azimuth sensor for detecting a direction to travel is necessary. Here, the gyro sensor 70 is used.

  A method of displaying the traveling reference line X on the liquid crystal display unit 69 using the gyro sensor 70 will be described. As shown in FIGS. 7 and 8, the gyro sensor 70 is attached to the body frame 21. A setting switch 71 is provided on the lateral side of the liquid crystal display unit 69. Then, for example, the setting switch 71 is operated in a state where the traveling machine body is positioned at the work traveling start position and the traveling machine body is directed in the direction to be advanced. Then, the direction indicated by the gyro sensor 70 becomes the direction in which the traveling machine body should proceed, information from the gyro sensor 70 is input to the control device S, and a line indicating the direction is displayed on the liquid crystal display unit 69 by the control device S. This indicated line is the travel reference line X.

  Next, the GPS system as the position sensor 72 grasps the current position of the traveling aircraft that should proceed along the traveling reference line X. The position information detected by this GPS system is displayed as a triangle mark on the liquid crystal display unit 69. This triangle mark is referred to as an airframe sign 73.

  With the above-described configuration, the driver performs the steering operation while visually observing the triangular mark 73 on the traveling reference line X. When displaying the current position of the traveling machine body, if the position information of the triangle mark 73 is displayed by combining the angle information of the gyro sensor 70 mounted on the traveling machine body, a more accurate position can be displayed.

[Second Embodiment]
The structure of the traveling reference rod 74 provided at the tip of the traveling machine body will be described. As shown in FIG. 9, the traveling reference rod 74 is located at the tip of the traveling machine body, and the traveling reference line X previously marked on the farm surface in the previous planting operation process and the leading end of the traveling reference rod 74 are included. This is a reference when steering operation is performed in a state where the parts are aligned with each other in the visual judgment of the operator.
In this embodiment, instead of adopting a method of marking a running reference line on a field surface, a configuration in which the liquid crystal display unit 69 described in the first embodiment is added to the running reference rod 74 is adopted. .

  As shown in FIG. 9, the traveling reference rod 74 includes a column part 74A erected from the tip of the traveling machine body, a wide surface part 74B formed on the upper part of the column part 74A, and a liquid crystal display unit 69 provided on the wide surface part 74B. , And a tip indicator portion 74C erected from the wide surface portion 74B. The liquid crystal display unit 69 displays a traveling reference line X that indicates a direction to be traveled when the traveling machine body performs work. The travel reference line X is obtained as a result of calculation based on the detection value of the gyro sensor 70 installed on the traveling machine body, and is calculated by the control device S as follows.

For example, the angle change of the traveling machine body from the reference direction when the work is started by the gyro sensor 70 is calculated based on the angular acceleration detected by the gyro sensor 70 or the angular velocity, and the traveling machine body is actually directed. Is displayed on the liquid crystal display unit 69 as the traveling reference line X.
On the other hand, the tip index portion 74C of the traveling reference rod 74 is positioned at the center position in the left-right width direction of the traveling machine body.

The driver observes the traveling reference line X and the tip indicator portion 74C, and performs a steering operation so that the two X and 74C coincide with each other so as to perform an appropriate planting operation.
In the liquid crystal display unit 69, a plurality of work state indicator portions 75 indicating other work states are arranged in parallel. The work state indicator 75 is provided with a seedling cutting indicator 75A for prompting seedling replenishment based on a signal from a seedling remaining amount sensor 87 provided on the seedling platform 10, and a hopper for storing fertilizer for fertilization 12 is a fertilizer shortage indicator 75B or the like for prompting fertilizer replenishment based on a signal from the sensor 88 indicating the fertilizer storage state at No. 12.

[Third Embodiment]
In the third embodiment, the liquid crystal display unit 69 of the control panel 68 provided on the handle post 67 used in the first embodiment is used. As shown in FIGS. 10 and 11, the front camera 85 is attached to the front surface of the hood of the traveling machine body, and the rear camera 86 is attached to the upper end of the seedling platform 10.

  The adjacent seedling row planted in the previous planting process is photographed by the front camera 85 and displayed on the liquid crystal display unit 69. As a display method, an adjacent seedling position is displayed as a mark. In other words, by adopting such a method, it is not necessary to use the adjacent marker rod provided in the front part of the traveling machine body for confirming the adjacent seedling position by visual observation, and such a method. By adopting, the maneuverability can be improved compared to the case where the adjacent seedling is directly visually observed through the adjacent marker rod.

  In the rear camera 86, the rear field of view can be easily confirmed, and the rear field of view can be displayed and used on the liquid crystal display unit 69 when moving backward, and the headland position can be easily confirmed. Is displayed on the liquid crystal display unit 69 as a mark, so that positioning at the start of planting can be easily performed. The liquid crystal display unit 69 is configured to switch between the state of displaying the front view and the state of displaying the rear view at the timing when the hydrostatic continuously variable transmission 33 is switched to the reverse position.

[Fourth Embodiment]
(1) A mode in which the rear wheel speed increasing device 48 is provided in the rear wheel transmission system will be described. As shown in FIG. 13, the rear axle case 28 is provided with a transmission shaft 39, and a bevel gear 38 a fixed to the input shaft 38 is engaged with a bevel gear 39 a fixed to the transmission shaft 39. Friction multi-plate type right and left side clutches 41 are provided at the right and left ends of the transmission shaft 39, and an axle 43 that supports the right and left side clutches 41 and the right and left rear wheels 2. Between them, a transmission shaft 42 is provided.

A slide shift gear 49 constituting the rear wheel speed increasing device 48 is attached to the transmission shaft 42, and meshes with an output gear 39 b attached to the transmission shaft 39 and a two-stage gear 43 a attached to the axle 43. Thus, it is possible to switch between a normal running state and a speed increasing state.
The rear wheel speed increasing device 48 includes a slide shift gear 49 attached to the transmission shaft 42, an output gear 39 b of the transmission shaft 39, and a two-stage gear 43 a attached to the axle 43.

  In the above-described case, the slide gear structure is adopted, but instead of the slide shift gear 49, a plurality of normal bite type gears that are always engaged with the output gear 39b of the transmission shaft 39 and the two-stage gear 43a attached to the axle 43 are used. A configuration in which a gear is attached to the transmission shaft 42 and a friction clutch is provided between the plurality of gears meshed with the two-stage gear 43 a and the transmission shaft 42 may be adopted.

With such a configuration, it is no longer necessary to provide a differential mechanism in the front wheel transmission mechanism. As a result, the front wheel transmission structure is simplified, and it is not necessary to perform the diff lock operation during the small turn, and the operation is also simplified.
That is, the operation of the rear wheel speed increasing device 48 is performed in conjunction with the steering operation. Accordingly, when the steering operation is performed, the side clutch 41 on the inside of the turn is turned off, and at the same time the rear wheel 2 on the outside of the turn is driven to increase in speed.

In this way, when the differential mechanism is omitted from the front wheel transmission structure, force is applied to the front wheel 1 when turning on the road, but the rice transplanter itself is originally balanced later, and the front wheel 1 itself is the rear wheel 2. Compared to, the ground contact width is narrow and the traction force is small, so deformation and uneven wear are considered to be small.
The fact that the steering handle 27 is heavy and makes the operation burden heavy when turning can be reduced by providing the power steering 76.

[Fifth Embodiment]
As shown in FIG. 14, a mirror 50 is attached to the upper end of the seedling base 10 so that the mat-like seedlings and the like of the seedling base 10 can be visually confirmed while sitting on the driver's seat 11, so To be able to.

[Sixth Embodiment]
As shown in FIG.11 and FIG.12, the stand 52 is attached to the body frame 21 of a traveling body. The stand 52 is swingably attached to the body frame 21 and is configured to be switchable between an action posture in which the lower end portion is grounded in an upright posture and a retracted posture stored in a posture parallel to the body frame 21. The body frame 21 is provided with a fixture 54 for mounting and fixing a stand 52.

  Thus, by installing the stand 52 on the traveling machine body, the traveling machine body can be lifted when the stand 54 is switched to the action posture. As a result, a garage jack or the like is not required when the front wheel 1 or the rear wheel 2 is replaced, and maintenance is improved.

[Another Embodiment of the Invention]
(1) Work machines include rice transplanters and direct seeders.
(2) The display device 69 includes a cathode ray tube other than the liquid crystal type, a plasma type, and the like.
(3) Next, a control mode different from the above-described control mode using the gyro sensor 70 will be described.
With the traveling machine body positioned at the work travel start position, the setting switch 71 is operated and the triangle mark is displayed on the liquid crystal display unit 69 in the state where the traveling machine body is directed in the direction to travel. Here, the triangle mark indicates the direction in which the traveling aircraft should proceed. The current traveling direction of the traveling machine body is displayed on the liquid crystal display unit 69 as the traveling reference line X by the gyro sensor 70 mounted on the traveling machine body.
With such a configuration, the current position of the traveling machine body is indicated on the liquid crystal display unit 69 by the traveling reference line X, and the direction to be advanced is indicated by a triangle mark. It is possible to confirm the positional deviation from the vehicle and perform the operation so that the traveling reference line X matches the triangle mark.
(4) In the control mode described above, the setting switch 71 is operated to set the direction in which the traveling body is to travel as a triangle mark. However, the triangle mark is displayed at a fixed position such as the horizontal center position of the liquid crystal display unit 69. May be. Then, the traveling direction of the traveling machine body may be displayed as the traveling reference line X by the gyro sensor 70, and the steering operation may be performed so that the traveling reference line X matches the triangle mark.
(5) In the first embodiment, the traveling reference line X is set by the gyro sensor 70 mounted on the traveling machine body. However, the reflectors are installed at the four corners of the field, and the laser transmitter and The receiver is installed, and while emitting this laser, the angle and distance between the reflecting mirror and the traveling machine body are calculated, and the direction in which the traveling machine body should travel is displayed on the liquid crystal display unit 69 as the traveling reference line X. May be.
As described above, the current position of the traveling machine body is grasped by the GPS system 72 and displayed with a triangle mark.
(6) As a third method, the current position of the traveling machine body is measured by a laser system including a laser transmitter and receiver mounted on the traveling machine body and a reflecting mirror, and displayed as a triangle mark. The traveling direction of the traveling machine body is displayed as the traveling reference line X based on the detection result of the gyro sensor 70 mounted on the traveling machine body as described above.

Overall left side view of riding rice transplanter Plan view showing the transmission system to the rear axle case, right and left rear wheels Rear side view showing rear axle case support structure, transmission system from transmission case to rear axle case, and transmission system from transmission case to feeding section Plan view showing support structure of rear axle case, transmission system from transmission case to rear axle case, and transmission system from transmission case to feeding part Front view of rear axle case support structure, transmission system from the transmission case to the rear axle case, transmission system from the transmission case to the feeding section, transmission system from the transmission case to the seedling planting device Cross-sectional plan view of the mission case Plan view showing the liquid crystal display provided on the handle post Control configuration diagram Front view showing a travel reference kit according to the second embodiment Control configuration diagram Side view showing a state in which front and rear cameras are mounted on a riding rice transplanter and a state in which a stand is attached Side view showing a state where the stand is grounded and the seedling planting device is lifted Configuration diagram showing a state in which a rear wheel speed increasing device is provided in the rear wheel drive system Side view of a riding rice transplanter showing a state where a mirror is mounted on a seedling table

Explanation of symbols

69 Display Device 72 Position Sensor 73 Aircraft Marking 74 Traveling Reference Trap 75 Work Status Indicator 86 Camera X Traveling Reference Line

Claims (4)

  Provided is a display device that displays a travel reference line indicating a desired travel direction and an airframe indicator that indicates a current position of the travel aircraft that should proceed along the travel reference line, and the display device is provided in the operation control unit. Machine.   2. The working machine according to claim 1, wherein the working machine is configured to grasp a current position of the traveling machine body by a position sensor provided in the traveling machine body.   The display device includes a camera that displays the traveling reference line and the airframe marking, and displays a backward view of the work implement. In the backward traveling state of the traveling aircraft, the imaging of the camera and the backward traveling direction of the traveling aircraft are displayed. 3. The work machine according to claim 1, wherein the work machine is configured to display a reverse travel reference line to be displayed.   A travel reference line for visually observing a positional deviation between a travel reference line indicating a desired travel direction and the travel machine body is provided in the travel machine body, a display device is attached to the travel reference line, and the travel reference line is attached to the display device. A work machine provided with a work state indication unit for displaying the work state and displaying the work state.

Images