CN114786463A - Working machine - Google Patents

Abstract

The work machine is provided with: a driver seat (18) supported by the body (11); the supporting frames (22, 24, 26, 27) extend from the upper side of the machine body (11); and a ceiling (36) supported by the support frames (22, 24, 26, 27) so as to cover the upper side of the machine body (11) including the driver seat (18). The ceiling (36) is provided with an opening (49) facing in the direction along the upper surface of the ceiling (36), and a communication path (50) that communicates the opening (49) with a region located below the ceiling (36).

Description

Working machine

Technical Field

The present invention relates to a riding type rice transplanter, a riding type direct seeder and other working machines.

Background

As an example of the working machine, there is a riding type rice transplanter which is provided as follows as disclosed in patent document 1: a synthetic resin ceiling is supported by a support frame extending upward from the body, and the upper side of the body including the driver seat is covered by the ceiling.

As disclosed in patent document 2, there is a working machine (agricultural implement) that travels in a field as a working place while performing work while automatically traveling on a preset travel path. Such a working machine travels on a travel route of a preset working place while specifying the position of the vehicle during travel based on the satellite signal.

As shown in patent document 3, some work machines create a fertilization plan map and specify the amount of fertilizer to be applied to each area in the work area based on the fertilization plan map.

Documents of the prior art

Patent document

Patent document 1: japanese laid-open patent publication No. 2014-150749

Patent document 2: japanese patent laid-open publication No. 2017-184640

Patent document 3: japanese patent laid-open publication No. 2019-176801

Disclosure of Invention

Problems to be solved by the invention

When it is provided to cover the upper side of the body including the driver seat with a ceiling as in patent document 1, the ceiling becomes large. Accordingly, for example, when strong wind blows to the lower side of the ceiling, the ceiling is lifted, and therefore there is room for improvement in preventing the ceiling from being damaged.

A first object of the present invention is to prevent a ceiling from being damaged when strong wind blows into a lower side of the ceiling in a working machine including the ceiling covering an upper portion of a machine body including a driver seat.

When the work machine is separated from the target work place, the work machine may collide with a ridge or the like or perform an unnecessary work on an adjacent work place. Therefore, it is required to sense whether or not the working machine is present in the working place with higher accuracy.

A second object of the present invention is to sense with high accuracy whether or not a working machine is present in a working place.

Means for solving the problems

In order to achieve the first object, a work machine according to one embodiment of the present invention includes: a driver seat supported by the body; a support frame extending upward from the body; a ceiling supported by the support frame so as to cover an upper portion of the machine body including the driver seat, the ceiling being provided with: an opening facing in a direction along an upper surface of the ceiling; and a communication path that communicates an area located below the ceiling with the opening.

According to such a structure, the following state can be obtained: for example, when strong wind blows into the lower side of the ceiling, a part of the strong wind escapes from the opening to the upper side of the ceiling through the communication passage of the ceiling. This reduces the state in which the ceiling is lifted, and is advantageous in preventing the ceiling from being damaged.

According to such a configuration, the opening of the ceiling faces in a direction along the upper surface of the ceiling, but does not face upward. Therefore, in rainy weather, the possibility of rainwater entering the opening of the ceiling is low, and rainwater rarely falls from the opening of the ceiling to the living body through the communication path.

In the present invention, it is preferable that the ceiling is supported by the support frame so that a front portion of the ceiling is lower than a rear portion of the ceiling in a front tilting posture in a side view, and the opening portion faces forward.

According to such a configuration, the ceiling is advantageously prevented from being damaged by the following two points: one is that, for example, when strong wind blows from the front side to the machine body, the ceiling is pushed downward by tilting the ceiling forward, and one is that a state is obtained in which a part of the strong wind escapes from the opening of the ceiling to the lower side of the ceiling through the communication passage.

For example, when strong wind blows from the rear side to the body, the ceiling is tilted forward, and thus strong wind blows toward the lower side of the ceiling. However, since a state in which a part of strong wind escapes from the opening portion to the upper side of the ceiling through the communication passage of the ceiling can be obtained, the state in which the ceiling is lifted up is weakened, which is advantageous in preventing the ceiling from being damaged.

In this case, the opening of the ceiling faces forward in the direction along the upper surface of the ceiling, and when strong wind blows from the rear side toward the machine body as described above, a part of the strong wind smoothly escapes forward from the opening of the ceiling, which is advantageous in preventing the ceiling from being damaged.

In the present invention, it is preferable that the divided ceiling portions are provided in the ceiling so as to be arranged in a front-rear direction, the ceiling portions adjacent in the front-rear direction are arranged so that a rear portion of the front ceiling portion is positioned lower than a front portion of the rear ceiling portion, a rear portion of the front ceiling portion overlaps a front portion of the rear ceiling portion, a portion where a rear portion of the front ceiling portion overlaps a front portion of the rear ceiling portion is provided, a portion where the rear portion of the front ceiling portion and the front portion of the rear ceiling portion are separated in the vertical direction, and the opening and the communication passage are provided.

According to this configuration, since a plurality of divided ceiling portions are provided and one ceiling portion is small, the ceiling portion is easy to handle and easy to produce. This is advantageous in terms of improvement in productivity as compared with a structure that handles a large ceiling that is not divided into a plurality of ceiling portions.

According to this configuration, when the plurality of divided ceiling portions are provided as described above, the ceiling portions adjacent in the front-rear direction are provided with the opening of the ceiling and the communication passage, and the rear portion of the front ceiling portion overlaps the front portion of the rear ceiling portion, and the rear portion of the front ceiling portion is vertically separated from the front portion of the rear ceiling portion.

In this case, since the rear portion of the front ceiling portion is overlapped so as to be positioned below the front portion of the rear ceiling portion, the opening portion of the front ceiling portion is easily provided.

As described above, when the rear portion of the front ceiling portion is positioned below the front portion of the rear ceiling portion, the ceiling is supported in the forward tilted state, and therefore, even if rainwater enters between the rear portion of the front ceiling portion and the front portion of the rear ceiling portion, the rainwater rarely reaches the rear end portion of the front ceiling portion and falls onto the machine body.

In the present invention, it is preferable that a cushion member is provided between a rear portion of the front ceiling portion and a front portion of the rear ceiling portion.

According to this configuration, even if the front ceiling portion and the rear ceiling portion vibrate due to vibration of the vehicle body during traveling or the like, collision between the rear portion of the front ceiling portion and the front portion of the rear ceiling portion is suppressed by the buffer member, and therefore, collision noise between the rear portion of the front ceiling portion and the front portion of the rear ceiling portion is suppressed.

In the present invention, it is preferable that the positioning device includes a first support frame and a second support frame, the first support frame supporting one of a front portion and a rear portion of the roof, the second support frame supporting the other of the front portion and the rear portion of the roof, and the positioning device outputting positioning data indicating a position of the body based on a positioning signal of a navigation satellite is supported by the first support frame so as to be positioned at the same height as one of the front portion and the rear portion of the roof in a side view.

The work machine is sometimes set to: a positioning unit is provided that outputs positioning data indicating the position of the body based on a positioning signal of the navigation satellite, and displays the position of the body on a display or performs automatic driving of the body based on the positioning data.

According to such a configuration, since the positioning means is supported by the first support frame in the first support frame and the second support frame that support one and the other of the front portion and the rear portion of the ceiling, the first support frame is used for both the support of the ceiling and the support of the positioning means, which is advantageous in terms of simplification of the structure.

According to this configuration, the positioning means is supported so as to be located at the same height as one of the front and rear portions of the ceiling in a side view, and therefore, the positioning means and the ceiling are compactly supported so that the positioning means does not protrude from one of the front and rear portions of the ceiling to a large extent to the upper and lower sides.

In the present invention, it is preferable that a recessed portion into which the positioning means can enter in a plan view is provided in one of a front portion and a rear portion of the ceiling.

With this configuration, the positioning means does not protrude from the front of the ceiling to the front (the positioning means does not protrude from the rear of the ceiling to the rear), and therefore the positioning means and the ceiling are supported compactly.

In the present invention, it is preferable that the left-right width of the recess is set to be larger than the left-right width of the positioning means.

The work machine may be equipped with other devices for communication and the like in addition to the positioning means.

According to this configuration, since the left-right width of the recessed portion of the ceiling is set to be larger than the left-right width of the positioning means, it is possible to easily perform an operation of supporting the device other than the positioning means on the support frame so as to enter the recessed portion of the ceiling.

In the present invention, it is preferable to provide: a connecting mechanism capable of connecting and disconnecting the first support frame to and from the ceiling; a support mechanism capable of supporting the ceiling on a second support frame so that the position of the ceiling can be changed between an operating position where the first support frame and the ceiling can be coupled by the coupling mechanism and a non-operating position where the ceiling is spaced apart from the positioning unit in the front-rear direction in a state where the coupling mechanism is released; a first height changing mechanism capable of changing a height of the first support frame between a first working height at which the first support frame and the ceiling can be coupled by the coupling mechanism with the ceiling located at the working position and a first non-working height lower than the first working height; and a second height changing mechanism capable of changing a height of the second support frame between a second working height at which the first support frame and the ceiling can be coupled by the coupling mechanism in a state where the ceiling is located at the working position and a second non-working height lower than the second working height.

According to such a configuration, for example, when the working machine is carried on a cargo bed of a truck or stored in a warehouse, the heights of the first and second support frames, the positioning unit, and the ceiling can be reduced by performing the operations described below.

When a normal operation is performed by the working machine, the first support frame and the second support frame are set at a first operation height and a second operation height, the ceiling is set at an operation position, and the ceiling is connected to the first support frame by the connection mechanism.

In the above state, the coupling mechanism is operated to the released state, and the ceiling is detached from the first support frame. That is, the height of the first support frame is changed from the first working height to the first non-working height lower than the first working height by the first height changing mechanism, and the positioning means supported by the first support frame is also set at a low position together with the first support frame.

Further, the height of the second support frame is changed from the second working height to the second non-working height lower than the second working height by the second height changing mechanism, and the ceiling supported by the second support frame is also set at a low position together with the second support frame.

At this time, since the ceiling is set to the non-operation position by the support mechanism in advance, the ceiling is separated from the first support frame.

As described above, the heights of the first and second support frames, the positioning unit, and the ceiling can be reduced, and the work machine can be transported on a load bed of a truck, stored in a warehouse, and the like, for example, without any difficulty.

In the present invention, it is preferable that a right front-rear drainage channel having a concave cross section is provided in the front-rear direction on the right portion of the upper surface of the ceiling, a left front-rear drainage channel having a concave cross section is provided in the front-rear direction on the left portion of the upper surface of the ceiling, a plurality of left and right drainage channels having a concave cross section are provided in the left-right direction on the upper surface of the ceiling and connected to the front-rear drainage channel, and rainwater is discharged from the right and left front-rear drainage channels.

According to such a configuration, the front and rear drainage channels and the left and right drainage channels are provided on the upper surface of the ceiling, and rainwater is mainly drained from the front and rear drainage channels.

In this case, the front-rear water drainage channel having a concave cross section and the left-right water drainage channel having a concave cross section are disposed on the upper surface of the ceiling so as to intersect with each other, and therefore, the front-rear water drainage channel and the left-right water drainage channel function as reinforcing portions of the ceiling, and the rigidity of the ceiling can be improved.

In the present invention, it is preferable that the working device is supported by a rear portion of the machine body, and rainwater is discharged from front portions of the front and rear drainage channels on right and left sides.

In many cases, working machines such as a riding rice transplanter and a riding direct seeder have working devices such as a seedling planting device, a seeding device, and a fertilizer applicator supported on the rear portion of the machine body.

According to the above configuration, rainwater is discharged from the front portions of the front and rear drainage channels on the right and left sides of the ceiling, and therefore, rainwater from the front and rear drainage channels rarely falls on the working device.

By discharging rainwater from the front portions of the front and rear water discharge channels on the right and left sides of the ceiling, rainwater falling from the central portion in the left-right direction of the front portion of the ceiling is reduced, and therefore, it is advantageous in securing the forward view of the operator who drives the seat.

In order to achieve the second object, a work machine according to an embodiment of the present invention is a work machine that performs work travel in a work place in accordance with a work instruction value, the work machine including: a satellite antenna for receiving a satellite signal from a satellite; a satellite positioning module that outputs positioning data corresponding to a position of a vehicle based on the satellite signal; a storage unit that stores a work plan map into which the work instruction values are input for each of blocks divided into a mesh shape corresponding to the work area; and a vehicle position determination unit configured to determine whether or not the vehicle position is within the work area based on the work instruction value input to the block corresponding to the vehicle position.

A working machine that specifies the position of a vehicle based on satellite signals from satellites travels while confirming the position of the vehicle in a working area by associating a working area map or the like with the position of the vehicle. Even in such a working machine, the working machine may travel out of the way of the work due to a defect in the work map, an erroneous operation of a positioning means such as a satellite antenna, a detection error of the position of the vehicle, or the like.

In the above configuration, it is determined which block in the work plan map the vehicle position corresponds to, and whether or not the vehicle position is within the work area is determined based on the work instruction value input to the block. Therefore, it is possible to double-check whether or not the vehicle position is within the work area by determining whether or not the vehicle position is within the work area based on the work instruction value input to the block corresponding to the vehicle position in the work plan map, in addition to the confirmation of the vehicle position corresponding to the work area map or the like. As a result, even when the work area map has a defect or the vehicle position has a slight error, it is possible to confirm with high accuracy whether or not the vehicle position is within the work area.

In addition, the work instruction value may include a non-work value for not performing a work, and the vehicle position determination unit may determine that the vehicle position is outside the work area when the work instruction value is the non-work value.

With this configuration, the work instruction value for determining that the vehicle position is outside the work place is clear, and it is possible to easily determine whether the vehicle position is inside the work place, and it is possible to confirm with high accuracy whether the vehicle position is inside the work place.

In addition, the work plan map may include a map correction unit that corrects the work plan map, the work instruction value for performing the work may be a work value in a predetermined range larger than the non-work value, the map correction unit may refer to a work area map showing a peripheral position of a work area, and the map correction unit may correct the work value of the block corresponding to the peripheral position to a value between the non-work value and the work value.

With this configuration, it is possible to easily confirm that the vehicle is traveling near the outer periphery area of the work area such as the field area based on the work instruction value input to the block corresponding to the vehicle position. As a result, when traveling near the outer peripheral area of a work place such as a field, appropriate traveling can be started, and deviation from the work place can be easily avoided.

Further, it is preferable that a notification unit be provided that notifies a warning when the vehicle position determination unit determines that the vehicle position is outside the working area.

With this configuration, the driver or operator can recognize that the vehicle position is outside the work place and can appropriately respond to the situation.

Further, the vehicle position determination unit may be configured to determine whether the vehicle position is outside the working area and in a working state, and the vehicle position determination unit may be configured to determine whether the vehicle position is outside the working area and in a working state.

During the work traveling, the vehicle may travel without work for supplying materials and fuel, and the like, and this traveling is not problematic. Traveling outside the work area presents a problem in that work is continued even when traveling outside the work area. When work is performed outside a work place, the work implement may hit a field or the like to be damaged or inappropriate work may be performed in an adjacent work place or the like.

According to the above configuration, since the warning is given when the vehicle is out of operation while the vehicle is traveling, unnecessary warning can be suppressed and only a more appropriate warning can be given. As a result, appropriate handling can be performed in response to appropriate warning, and work traveling can be performed efficiently.

In addition, a predetermined reference work value may be defined in the work instruction value, and when the work state continues after the warning is notified, the work may be performed at the reference work value.

In many cases, it is necessary to continue the work travel even when the work is not performed, and a predetermined specific work is performed. According to the above configuration, the reference work value in the specific work is determined in advance, and when the work traveling is performed without performing the work, the work traveling can be performed automatically at the reference work value.

The operation related to the operation travel may be a fertilizing operation, and the operation instruction value may be an amount of fertilizer to be applied.

With this configuration, it is possible to accurately determine whether or not the vehicle position is located within the working area even during the working travel for performing the fertilizing operation.

Drawings

Fig. 1 is a left side view of a riding type rice transplanter.

Fig. 2 is a plan view of the riding type rice transplanter.

Fig. 3 is a front view of the riding type rice transplanter.

Fig. 4 is an exploded perspective view of the preliminary seedling stage frame, the support frame, the positioning unit, and the like in the front portion of the machine body.

Fig. 5 is an exploded perspective view of a support frame at the rear of the machine body, a frame-shaped portion of the ceiling, and the like.

Fig. 6 is a cross-sectional top view of the second height changing mechanism.

Fig. 7 is a cross-sectional top view of the support mechanism.

Fig. 8 is a perspective view of the ceiling.

Fig. 9 is a vertical left side view of the ceiling.

Fig. 10 is an exploded perspective view of the ceiling.

Fig. 11 is a left side view of the preliminary canopy frame and the support frame in the front portion of the machine body set at the first working height, the support frame in the rear portion of the machine body set at the second working height, and the canopy set at the working position.

Fig. 12 is a left side view of the preliminary seedling table frame and the support frame in the front portion of the machine body set at the first non-working height, and the support frame in the rear portion of the machine body set at the second non-working height with the ceiling removed.

Fig. 13 is a left side view of the preliminary seedling table frame and the support frame in the front portion of the machine body set at the first non-working height, the support frame in the rear portion of the machine body set at the second non-working height, and the ceiling set at the non-working position.

Fig. 14 is a side view of a rice transplanter as an example of an automatic traveling agricultural machine.

Fig. 15 is an explanatory diagram showing region division of a farm field to which a travel route is to be set.

Fig. 16 is an explanatory view for explaining a circulating travel path set in an outer peripheral area and travel of the rice planting machine.

Fig. 17 is an explanatory view for explaining the reciprocating travel path set in the central area and the travel of the rice planting machine.

FIG. 18 is a functional block diagram showing a control system of the rice transplanter.

Fig. 19 is a diagram illustrating a fertilization plan map by way of example.

Detailed Description

(embodiment mode 1)

Fig. 1 to 13 show a riding type rice transplanter as an example of a working machine. In fig. 1 to 13, F denotes the front, B the rear, U the upper, D the lower, R the right, and L the left.

(riding type transplanter Integrated Structure)

As shown in fig. 1 and 2, the riding type rice transplanter includes a link mechanism 3 and a hydraulic cylinder 4 for lifting the link mechanism 3 at the rear part of a machine body 11 having a front wheel 1 on the right and left sides and a rear wheel 2 on the right and left sides, a rice seedling planting device 5 (corresponding to a working device) is supported at the rear part of the link mechanism 3, and the rice seedling planting device 5 is supported at the rear part of the machine body 11.

The seedling planting device 5 is provided with a planting transmission case 6 disposed at a predetermined interval in the left-right direction, a rotating case 7 rotatably supported on the right and left portions of the planting transmission case 6, planting arms 8 supported on both ends of the rotating case 7, a floating plate 9, a seedling table 10, and the like.

A fertilizer application device 12 (corresponding to a working device) is supported so as to straddle the rear portion of the machine body 11 and the seedling planting device 5, and the fertilizer application device 12 is provided with a hopper 13, a delivery portion 14, a blower 15, a furrow opener 16, a hose 17, and the like.

The driver seat 18 is supported at the rear of the machine body 11. The fertilizer applicator 12 is provided with a hopper 13 for storing fertilizer and a feeder 14 at a portion of the body 11 on the rear side of a driver seat 18, and a blower 15 is provided on the left lateral outer side of the feeder 14. A furrow opener 16 is attached to the floating plate 9, and a hose 17 is connected so as to straddle the feeding portion 14 and the furrow opener 16.

In the seedling planting device 5, the planting arm 8 (rotary box 7) is rotationally driven while driving the seedling carrying table 10 in a reciprocating and transverse feeding manner, and the planting arm 8 takes out the seedlings from the lower part of the seedling carrying table 10 and plants the seedlings on the field surface.

In the fertilizer application device 12, fertilizer in the hopper 13 is fed out by the feeding portion 14, and is supplied to the furrow opener 16 through the hose 17 by the air blown by the blower 15, and while forming a furrow in the field by the furrow opener 16, the fertilizer is supplied from the furrow opener 16 to the furrow in the field.

(Structure of front part of body)

As shown in fig. 1, 2, and 3, a hood 19 covering an engine (not shown) is provided at the front of the machine body 11 to support the engine, and a steering handle 20 for steering the front wheels 1 is provided at the rear of the hood 19. Right and left pedals 21 for riding and descending are provided on the right and left sides of the hood 19.

Right and left preliminary seedling stage frames 22 (corresponding to first support frames) are connected to a lower portion of the front portion of the machine body 11 and extend laterally outward, and extend laterally outward and upward of the right and left pedals 21. The preliminary seedling table frame 22 is provided in an arch shape (double-forked shape) in a side view, and three preliminary seedling tables 23 are supported by the preliminary seedling table frame 22.

Of the three preliminary seedling platforms 23, the central preliminary seedling platform 23 is supported by the preliminary seedling platform frame 22, the front preliminary seedling platform 23 is supported by the front portion of the central preliminary seedling platform 23 so as to be swingable in the front-rear direction, and the rear preliminary seedling platform 23 is supported by the rear portion of the central preliminary seedling platform 23 so as to be swingable in the front-rear direction.

The states shown in fig. 1, 2, and 3 are as follows: the front preliminary seedling stage 23 is operated rearward and the rear preliminary seedling stage 23 is operated forward with respect to the central preliminary seedling stage 23, and the front and rear preliminary seedling stages 23 are stacked on the upper portion of the central preliminary seedling stage 23.

By operating the front preliminary seedling stage 23 toward the front side and the rear preliminary seedling stage 23 toward the rear side with respect to the central preliminary seedling stage 23 from the state shown in fig. 1, 2, and 3, a state in which three preliminary seedling stages 23 are spread in a line can be set.

(Structure of first supporting frame of front part of body)

As shown in fig. 1 to 4, a support frame 24 (corresponding to a first support frame) having an arch shape in a front view is provided. The support frame 24 is formed by bending a circular tube, and includes a lateral portion 24a extending in the left-right direction, right and left longitudinal portions 24b, and right and left front-rear direction portions 24 c.

Recessed brackets 22a are connected to upper portions of the right and left preliminary seedling table frames 22, and an end portion of the forward and rearward portion 24c of the support frame 24 is supported by the bracket 22a of the preliminary seedling table frame 22 so as to be swingable about a shaft center P1 extending in the left-right direction.

The state shown in fig. 1, 2, 3, and 11 is a state in which the support frame 24 (the vertical portion 24b) is directed upward with respect to the bracket 22a of the preliminary seedling table frame 22, and is a state in which the preliminary seedling table frame 22 and the support frame 24 are set at the first working height H11. The support frame 24 can be fixed at the first working height H11 by attaching a fixing member (not shown) so as to straddle the bracket 22a of the preliminary seedling table frame 22 and the front-rear facing portion 24c of the support frame 24.

By detaching the fixing members and swinging the support frame 24 rearward about the axis P1, the preliminary seedling table frame 22 and the support frame 24 can be set at the first non-working height H12 lower than the first working height H11 so that the vertical portion 24b of the support frame 24 faces downward as shown in fig. 12 and 13.

At the first non-working height H12, the vertical portion 24b of the support frame 24 abuts against the rear portion of the preliminary seedling table frame 22, and therefore the support frame 24 cannot swing to the front side from the state shown in fig. 12 and 13. The support frame 24 can be fixed at the first non-working height H12 by attaching the detached fixing member so as to straddle the bracket 22a of the preliminary seedling table frame 22 and the front-rear facing portion 24c of the support frame 24.

As described above, the first height changing mechanism 31 is provided to change the heights of the preliminary stage frame 22 and the support frame 24 between the first working height H11 and the first non-working height H12. The first height changing mechanism 31 is provided with a bracket 22a of the preliminary seedling table frame 22, a front-rear facing portion 24c of the support frame 24, a fixing member, and the like.

(Structure of positioning Unit)

As shown in fig. 1 to 4, a positioning unit 25 is attached to a central portion in the left-right direction of the lateral portion 24a of the support frame 24. When the heights of the preliminary seedling table frame 22 and the support frame 24 are changed between the first working height H11 and the first non-working height H12 as described above (the configuration of the first support frame in the front portion of the machine body), the positioning unit 25 moves integrally with the support frame 24.

The positioning unit 25 is provided with a receiving device (not shown) for acquiring position information by a satellite positioning system and an inertial measurement unit (not shown) for detecting the tilt (pitch angle, roll angle) of the body 11, and the positioning unit 25 outputs positioning data indicating the position of the body 11.

The above-mentioned Satellite Positioning System (Global Navigation Satellite System GNSS) typically includes a GPS (Global Positioning System). The GPS is a system for measuring the position of a receiver device provided in an object to be positioned (body 11) using a plurality of GPS satellites orbiting the earth and above the earth, a regulatory agency for tracking and regulating the GPS satellites, and the receiver device.

(Structure of the second supporting frame of the rear part of the body)

As shown in fig. 1, 3, and 5, right and left support frames 26 (corresponding to second support frames) are coupled to a lower portion of the rear portion of the machine body 11, extend laterally outward, and extend laterally outward and upward of the hopper 13. The right and left connecting portions 29 are coupled to the upper portion of the support frame 26.

The right and left support frames 27 (corresponding to second support frames) are connected to the connecting portion 29 and extend upward. The reinforcing frame 28 is connected to the support frame 26 so as to straddle the lower portion of the rear part of the machine body 11.

As shown in fig. 5 and 6, the connection portion 29 is formed by bending a plate material, and is provided with a notch portion 29a and a connection hole 29b, and an opening portion 29c having a larger diameter than the connection hole 29 b. A bracket 30 is connected to a portion of the connecting portion 29 facing the opening portion 29c, and a circular tubular guide member 33 is connected to the bracket 30.

A fixing member 34 formed by bending a round bar into a groove shape is provided, and the fixing member 34 is supported by the guide member 33 so as to be swingable around an axial core P2 of the guide member 33 in the front-rear direction and slidable along an axial core P2.

The spring 35 is fitted through the opening portion 29c of the connecting portion 29 and straddles the spring receiving portion 34b fixed to the fixing member 34 and the bracket 30. The fixing member 34 is urged by the spring 35 toward the side where the end portion 34a of the fixing member 34 enters the connecting hole 29b of the connecting portion 29.

As shown in fig. 5, the support frame 27 is provided at a lower portion thereof with a connection pin 27a and a connection hole 27b, and at an intermediate portion in the vertical direction of the support frame 27 with a connection pin 27c and a connection hole 27 d.

The state shown in fig. 1, 3, 5, 6, and 11 is a state in which the support frames 26 and 27 are set at the second working height H21.

The connecting pin 27a of the support frame 27 is inserted into the cutout 29a of the connecting portion 29 from above, the support frame 27 enters the inside of the connecting portion 29, the end portion 34a of the fixing member 34 is inserted through the connecting holes 27b, 29b of the support frame 27 and the connecting portion 29, the support frame 27 is thereby connected to the connecting portion 29, and the support frames 26, 27 are set at the second working height H21.

The state shown in fig. 12 and 13 is a state in which the support frames 26, 27 are set at the second non-working height H22 lower than the second working height H21.

The connecting pin 27c of the support frame 27 is inserted into the notch portion 29a of the connecting portion 29 from above, the support frame 27 enters the connecting portion 29, the end portion 34a of the fixing member 34 is inserted through the connecting holes 27d, 29b of the support frame 27 and the connecting portion 29, the support frame 27 is thereby connected to the connecting portion 29, and the support frames 26, 27 are set at the second non-working height H22.

As described above, the second height changing mechanism 32 capable of changing the height of the support frames 26 and 27 between the second working height H21 and the second non-working height H22 is provided. The second height changing mechanism 32 is provided with the connecting pins 27a and 27c and the connecting holes 27b and 27d of the support frame 27, the connecting portion 29, the fixing member 34, the spring 35, and the like.

(integral construction of ceiling)

As shown in fig. 1, 2, and 3, a ceiling 36 is provided, and the ceiling 36 is supported by the preliminary seedling table frame 22, the support frame 24, and the support frames 26 and 27 so as to cover the upper side of the machine body 11 including the driver seat 18.

As shown in fig. 8, 9, and 10, a frame portion 37 made of a metal circular tube-shaped member and an elongated plate material and two ceiling portions 38 and 39 made of synthetic resin are provided on the ceiling 36, and the frame portion 37 and the ceiling portions 38 and 39 are coupled by bolts.

(Structure of frame-shaped portion in ceiling)

As shown in fig. 9 and 10, the frame-shaped portion 37 is a frame-shaped member formed by coupling a circular tube-shaped front portion 40, circular tube-shaped right and left lateral side portions 41, and a circular tube-shaped rear portion 42. The circular tube-shaped intermediate portion 43 is joined so as to straddle the front portion 40 and the rear portion 42. The elongated plate-like front and rear left and right portions 44 are coupled so as to straddle the front portions of the lateral side portions 41 and the front portions of the intermediate portions 43, and are coupled so as to straddle the rear portions of the lateral side portions 41 and the rear portions of the intermediate portions 43.

In the frame-like portion 37, a plurality of brackets 45 are coupled to the front portion 40, the lateral side portions 41, the rear portion 42, the middle portion 43, and the left and right portions 44 in an upward manner. The coupling brackets 47 and 48 are coupled to the rear portion and the front-rear intermediate portion of the right and left lateral side portions 41 in a downward manner.

Coupling brackets 46 are coupled to right and left portions of front portion 40 in a forward manner. The portion of the front portion 40 between the right and left connecting brackets 46 is bent rearward to form a recess 40a opened forward.

(Structure of ceiling portion in ceiling)

As shown in fig. 8, 9, and 10, the divided two ceiling portions 38 and 39 are provided on the ceiling 36 so as to be arranged in the front-rear direction.

The front ceiling portion 38 is integrally formed of synthetic resin. The recess 38c opened to the front side is provided in the front portion of the ceiling portion 38 (ceiling 36), and the rear portion 38d of the front ceiling portion 38 is provided in a flat shape.

In the front ceiling portion 38, a right front-rear water drainage channel 38a having a concave cross section is provided in the front-rear direction at the right portion of the upper surface of the front ceiling portion 38 (ceiling 36), and a left front-rear water drainage channel 38a having a concave cross section is provided in the front-rear direction at the left portion of the upper surface of the front ceiling portion 38 (ceiling 36). The two left and right water discharge passages 38b having a concave cross section are provided on the upper surface of the ceiling portion 38 (ceiling 36) in the front in the left-right direction, and are connected to the right and left front and rear water discharge passages 38 a.

The rear ceiling portion 39 is integrally formed of synthetic resin. The right front-rear water discharge channel 39a having a concave cross section is provided in the front-rear direction at the right portion of the upper surface of the rear ceiling portion 39 (ceiling 36), and the left front-rear water discharge channel 39a having a concave cross section is provided in the front-rear direction at the left portion of the upper surface of the rear ceiling portion 39 (ceiling 36). The left and right drainage channels 39b having a concave cross section are provided on the upper surface of the rear ceiling portion 39 (ceiling 36) in the left-right direction, and are connected to the right and left front and rear drainage channels 39 a.

The front and rear ceiling portions 38 and 39 are arranged such that the rear portion 38d of the front ceiling portion 38 is positioned below the front portion 39c of the rear ceiling portion 39, and the rear portion 38d of the front ceiling portion 38 is overlapped with the front portion 39c of the rear ceiling portion 39 in contact therewith. In this state, the front and rear water discharge passages 38a on the right and left of the front ceiling portion 38 are connected to the front and rear water discharge passages 39a on the right and left of the rear ceiling portion 39.

A portion where the rear portion 38d of the front ceiling portion 38 and the front portion 39c of the rear ceiling portion 39 overlap each other is provided with a portion where the rear portion 38d of the front ceiling portion 38 and the front portion 39c of the rear ceiling portion 39 are vertically separated from each other so that a portion between the right and left front-rear water discharge passages 39a in the front portion 39c of the rear ceiling portion 39 is raised upward.

In the rear portion 38d of the front ceiling portion 38 and the front portion 39c of the rear ceiling portion 39, a portion between the right and left front and rear water discharge passages 39a is provided in the front and rear ceiling portions 38 and 39 (ceiling 36) toward a front opening 49 which is a direction along the upper surface of the front ceiling portion 38 (ceiling 36), and communication passages 50 which communicate with the opening 49 in a region below the front and rear ceiling portions 38 and 39 (ceiling 36) are provided in the front and rear ceiling portions 38 and 39 (ceiling 36).

In the state where the front and rear ceiling portions 38 and 39 are arranged as described above, the front and rear ceiling portions 38 and 39 are coupled to the brackets 45 of the frame-like portion 37 by bolts.

A cushion member 51 such as rubber or a slightly hard sponge is interposed between the right and left front and rear water discharge passages 39a in the rear portion 38d of the front ceiling portion 38 and the front portion 39c of the rear ceiling portion 39.

(Structure for supporting ceiling on first supporting frame)

As shown in fig. 1, 3, and 4, a connecting bracket 24d is connected to the right and left portions of the lateral portion 24a of the support frame 24.

When a fixing member (not shown) is attached so as to straddle the connection bracket 46 of the ceiling 36 and the connection bracket 24d of the support frame 24 in a state where the connection bracket 46 of the ceiling 36 is inserted into the connection bracket 24d of the support frame 24, the connection bracket 46 of the ceiling 36 and the connection bracket 24d of the support frame 24 are connected. By removing the fixing member, the coupling bracket 46 of the ceiling 36 is removed from the coupling bracket 24d of the support frame 24.

As described above, the coupling mechanism 53 is provided to couple and decouple the preliminary seedling stage frame 22 and the support frame 24 to and from the ceiling 36. The connecting mechanism 53 is provided with the connecting bracket 46 of the ceiling 36, the connecting bracket 24d of the support frame 24, and fixing members.

(Structure for supporting ceiling on second supporting frame)

As shown in fig. 5 and 7, a support portion 54 formed by bending a plate material is coupled to an upper portion of the support frame 27, and a coupling hole 54a is provided in the support portion 54. A fixing member 55 formed by bending a round bar material into a groove shape is provided, and the fixing member 55 is supported by the support 54 so as to be swingable around an axial center P3 along the left-right direction of the support 54 and slidable along an axial center P3.

The spring 56 is fitted so as to straddle the spring receiving portion 55b fixed to the fixing member 55 and the support portion 54, and the fixing member 55 is biased by the spring 56 toward the side where the end portion 55a of the fixing member 55 enters the coupling hole 54a of the support portion 54. In the ceiling 36, coupling holes 47a, 48a extending in the left-right direction are provided in the coupling brackets 47, 48.

In a state where the connection brackets 47 and 48 of the ceiling 36 are inserted into the support portion 54, the end portion 55a of the fixing member 55 is inserted so as to pass through the connection hole 54a of the support portion 54 and the connection holes 47a and 48a of the connection brackets 47 and 48, whereby the ceiling 36 (the connection brackets 47 and 48) and the support frame 27 (the support portion 54) are connected. The ceiling 36 (the connection brackets 47, 48) is detached from the support frame 27 (the support portion 54) by detaching the fixing member 55.

As shown in fig. 11, when the connection bracket 47 of the ceiling 36 is connected to the support portion 54, the ceiling 36 is located at the working position a 1.

In the state where the ceiling 36 is located at the working position a1, the connecting bracket 46 of the ceiling 36 and the connecting bracket 24d of the support frame 24 can be connected by the connecting mechanism 53 as described above (the structure for supporting the ceiling on the first support frame).

As shown in fig. 13, in a state where the connection bracket 48 of the ceiling 36 is connected to the support portion 54 in the released state of the connection mechanism 53, the ceiling 36 is in the non-operation position a 2. When the canopy 36 is located at the non-working position a2, the canopy 36 is separated from the preliminary seedling placement table frame 22, the support frame 24, and the positioning means 25 toward the rear side in the front-rear direction.

As described above, the supporting mechanism 57 is provided which can support the ceiling 36 on the supporting frames 26 and 27 so that the position of the ceiling 36 can be changed between the working position a1 where the preliminary seedling placement table frame 22, the supporting frame 24, and the ceiling 36 can be connected by the connecting mechanism 53 and the non-working position a2 where the ceiling 36 is separated from the preliminary seedling placement table frame 22, the supporting frame 24, and the positioning means 25 in the front-rear direction in the released state of the connecting mechanism 53. The support mechanism 57 includes a support portion 54, a fixing member 55, a spring 56, connection brackets 47 and 48, and the like.

(ceiling supported by the first support frame and the second support frame)

The state shown in fig. 1, 2, 3, and 11 is a state in which the preliminary seedling table frame 22 and the support frame 24 are set at the first working height H11, and a state in which the support frames 26 and 27 are set at the second working height H21.

In the state shown in fig. 1, 2, 3, and 11, the connecting bracket 46 of the ceiling 36 and the connecting bracket 24d of the support frame 24 are connected by the connecting mechanism 53, the connecting bracket 47 of the ceiling 36 is connected to the support portion 54, and the ceiling 36 is set at the working position a 1.

In the above state, the front portion of the ceiling 36 is supported by the preliminary seedling table frame 22 and the support frame 24, and the rear portion of the ceiling 36 is supported by the support frames 26 and 27, so that the front portion of the ceiling 36 is in a forward tilt posture lower than the rear portion of the ceiling 36 in a side view.

The front portion of the ceiling 36 is supported by the preliminary seedling table frame 22 and the support frame 24 so that the positioning unit 25 is positioned at the same height as the front portion of the ceiling 36 in side view.

The following states were assumed: recesses 38c of ceiling portion 38 and recesses 40a of front portion 40 into which positioning means 25 enter in front of ceiling 36 in a plan view, and recesses 38c, 40a into which positioning means 25 can enter in a plan view are provided in the front portion of ceiling 36. In this case, the left-right width of the recess 38c of the ceiling portion 38 and the recess 40a of the front portion 40 in front of the ceiling 36 is set to be larger than the left-right width of the positioning means 25.

The ceiling 36 overlaps the driver seat 18, the rear portion of the hood 19, the operating handle 20, the hopper 13 of the fertilizer applicator 12, and the delivery unit 14 in a plan view, and the ceiling 36 covers an upper portion of the area of the machine body 11 including the driver seat 18, the rear portion of the hood 19, the operating handle 20, the hopper 13 of the fertilizer applicator 12, and the delivery unit 14.

As shown in fig. 8, 9, and 10, for example, when strong wind blows into the lower side of the ceiling 36, a part of the strong wind escapes from the opening 49 to the upper side of the ceiling 36 through the communication passage 50 of the ceiling 36.

In rainy weather, rainwater falling on the upper surface of the ceiling 36 flows into the front and rear water drainage channels 38a, 39a of the ceiling 36 or flows into the front and rear water drainage channels 38a, 39a from the left and right water drainage channels 38b, 39b of the ceiling 36, and is mainly collected in the front and rear water drainage channels 38a, 39a of the ceiling 36.

When the ceiling 36 is tilted forward, rainwater collected in the front and rear water discharge channels 38a and 39a of the ceiling 36 flows forward along the front and rear water discharge channels 38a and 39a of the ceiling 36, is discharged from the front of the front and rear water discharge channels 38a of the ceiling 36, and falls down onto the preliminary seedling stage 23.

(for example, in the case of carrying the riding type rice transplanter on the cargo bed of a truck, or in the case of storing the riding type rice transplanter in a warehouse, etc.)

By performing the following operation from the above-described state (the state in which the ceiling is supported by the first support frame and the second support frame) and the state shown in fig. 11, the height of the ceiling 36 and the like can be reduced.

In the state shown in fig. 11, the coupling mechanism 53 is set to the released state, and the coupling bracket 46 of the ceiling 36 is detached from the coupling bracket 24d of the support frame 24. The fixing member 55 of the support mechanism 57 is removed, and the connection bracket 47 of the ceiling 36 is removed from the support portion 54. Thereby, the ceiling 36 is detached from the preliminary seedling placement table frame 22, the support frame 24, and the support frames 26 and 27.

Next, as described above (the configuration of the first support frame in the front portion of the machine body) and shown in fig. 12, the preliminary seedling stage frame 22, the support frame 24, and the positioning means 25 are set at the first non-working height H12 by the first height changing mechanism 31.

As described above (the configuration of the second support frame at the rear of the machine body) and shown in fig. 12, the support frames 26 and 27 are set to the second non-working height H22 by the second height changing mechanism 32.

Next, as shown in fig. 13, in the detached ceiling 36, the connecting bracket 48 of the ceiling 36 is connected to the support portion 54, and the ceiling 36 is located at the non-operation position a 2. In the state where the ceiling 36 is located at the non-working position a2, the ceiling 36 is separated from the preliminary seedling table frame 22, the support frame 24, and the positioning means 25 toward the rear side in the front-rear direction, and therefore the front portion of the ceiling 36 does not interfere with the preliminary seedling table frame 22, the support frame 24, and the positioning means 25.

In this case, fixing members (not shown) such as a band and a rod are preferably attached in advance so as to straddle the front portion of the ceiling 36 and the handle 20, so as not to cause the ceiling 36 to shake forward and backward.

(other embodiment mode of embodiment mode 1)

(1) Of the front and rear ceiling portions 38 and 39 of the ceiling 36, the rear portion 38d of the front ceiling portion 38 and the front portion 39c of the rear ceiling portion 39 are arranged so as to overlap each other, so that the rear portion 38d of the front ceiling portion 38 is positioned above the front portion 39c of the rear ceiling portion 39.

According to this configuration, in a portion where the rear portion 38d of the front ceiling portion 38 overlaps with the front portion 39c of the rear ceiling portion 39, a portion bulging upward is provided in the rear portion 38d of the front ceiling portion 38, and the front and rear ceiling portions 38 and 39 (the ceiling 36) are provided with the opening 49 facing rearward in the direction along the upper surface of the rear ceiling portion 39 (the ceiling 36).

(2) Three or more ceiling portions 38, 39 may be provided in the ceiling 36, and the three or more ceiling portions 38, 39 may be provided as shown in fig. 8, 9, and 10 or as described above (other embodiment (1) of embodiment 1).

According to this configuration, the plurality of openings 49 facing forward in the direction along the upper surface of the ceiling 36 or the plurality of openings 49 facing rearward in the direction along the upper surface of the ceiling 36 are provided in the ceiling 36.

It can also be arranged that: the ceiling 36 is provided with both a forward opening 49 and a rearward opening 49.

(3) Instead of providing the divided ceiling portions 38, 39 in the ceiling 36, one ceiling 36 may be integrally formed.

According to this configuration, one or more openings 49 can be provided so as to face forward or rearward, or rightward or leftward, which is a direction along the upper surface of the ceiling 36.

(4) A sheet-like cushion member 51 may be interposed between the rear portion 38d of the front ceiling portion 38 and the front portion 39c of the rear ceiling portion 39, which are disposed so as to overlap each other in contact with each other.

(5) The preliminary stage frame 22, the support frame 24 (first support frame), the positioning means 25, and the first height changing mechanism 31 may be provided at the rear of the machine body 11, and the support frames 26 and 27 (second support frame) and the second height changing mechanism 32 may be provided at the front of the machine body 11.

According to this configuration, the rear portion of the ceiling 36 is supported by the first support frame, and the front portion of the ceiling 36 is supported by the second support frame.

The positioning unit 25 is supported at the same height as the rear portion of the ceiling 36 in a side view, and a recess into which the positioning unit 25 can enter in a plan view is provided in the rear portion of the ceiling 36.

In the support mechanism 57, the ceiling 36 is supported so as to be changeable in position between the working position a1 and the non-working position a where the ceiling is separated forward in the front-rear direction from the preliminary seedling table frame 22, the support frame 24, and the positioning means 25.

(6) It can also be arranged that: in the support mechanism 57, the lateral side portion 41 of the ceiling 36 is supported by the support portion 54 so as to be slidable in the front-rear direction, whereby the ceiling 36 is supported so as to be changeable between the working position a1 and the non-working position a 2.

(7) The ceiling 36 may be provided with three or more front and rear water discharge passages 38a, 39a, or four or more left and right water discharge passages 38b, 39 b.

(embodiment mode 2)

Hereinafter, as embodiment 2 of the working machine of the present invention, a rice transplanter that travels in a field (corresponding to a "working area") for working will be described as an example. Further, the rice transplanter plants a fertilizer on a field based on a fertilizer application plan map (corresponding to "work plan map").

(integral construction)

As shown in fig. 14, the rice transplanter includes a riding type four-wheel drive type travel machine body (hereinafter, referred to as a machine body 101). The machine body 101 includes a parallel four-link type link mechanism 111 connected to the rear portion of the machine body 101 in a vertically swingable manner, a hydraulic lift cylinder 111a for swing-driving the link mechanism 111, a seedling planting device 103 connected to the rear end region of the link mechanism 111 in a swingable manner, and a fertilizer application device 104 installed between the rear end region of the machine body 101 and the seedling planting device 103. The seedling planting device 103 and the fertilizing device 104 are one example of a working device.

The machine body 101 includes wheels 112, an engine 113, and a hydraulic continuously variable transmission 114 as a mechanism for traveling. The wheels 112 have steerable left and right front wheels 112A and non-steerable left and right rear wheels 112B. The engine 113 and the continuously variable transmission 114 are mounted on the front portion of the body 101. The power from the engine 113 is supplied to the front wheels 112A, the rear wheels 112B, the working devices, and the like via the continuously variable transmission 114 and the like.

As an example, the seedling planting device 103 is provided in an eight-row planting type. The seedling planting device 103 includes a seedling stage 131, a planting mechanism 132 for eight rows, and the like. The seedling planting device 103 can be changed to a two-row planting mode, a four-row planting mode, a six-row planting mode, and the like by controlling each row clutch, which is not shown.

The seedling stage 131 is a stage on which blanket seedlings of eight rows are placed. The seedling stage 131 reciprocates in the left-right direction at a fixed stroke corresponding to the left-right width of the blanket-shaped seedlings, and the longitudinal feeding mechanism 133 longitudinally feeds each blanket-shaped seedling on the seedling stage 131 toward the lower end of the seedling stage 131 at a predetermined pitch every time the seedling stage 131 reaches the left-right stroke end. The eight insertion mechanisms 132 are rotary and arranged in the left-right direction at fixed intervals corresponding to the insertion rows. Each transplanting mechanism 132 uses power from the body 101 to cut a seedling from the lower end of each blanket-shaped seedling placed on the seedling-placing table 131 and transplant the seedling to the leveled soil portion. Thus, the seedlings can be taken out from the blanket-shaped seedlings placed on the seedling-placing table 131 and placed in the soil part of the paddy field in the operating state of the seedling-placing device 103.

As shown in fig. 14, the fertilizer application device 104 includes a horizontally long hopper 141, a feeding mechanism 142, an electric blower 143, a plurality of fertilizer application hoses 144, and furrow openers 145 provided in rows. The hopper 141 stores granular or powdered fertilizer. The feeding mechanism 142 is operated by power transmitted from the engine 113, and feeds fertilizer by two lines by a predetermined amount from the hopper 141.

The blower 143 is operated by electric power from a battery (not shown) mounted on the machine body 101, and generates air to convey the fertilizer fed by each feeding mechanism 142 to the soil surface of the agricultural field. The fertilizer application device 104 can be switched between an operating state in which fertilizer stored in the hopper 141 is supplied to the farm land by a predetermined amount and a non-operating state in which the supply is stopped by intermittent operation of the blower 143 or the like.

Each fertilizing hose 144 guides the fertilizer conveyed by the conveying wind to each furrow opener 145. Each furrow opener 145 is provided to each land preparation float 115. Each furrow opener 145 is elevated together with each land preparation floating plate 115, and forms a fertilizer application furrow in the soil portion of the paddy field and guides fertilizer into the fertilizer application furrow when the land preparation floating plate 115 is driven to be grounded.

As shown in fig. 14, the body 101 includes a driver 120 in a rear area thereof. The driving unit 120 includes a steering wheel 121 for steering front wheels, a main shift lever 122 for adjusting a vehicle speed by performing a shift operation of the continuously variable transmission 114, a sub shift lever 123 capable of performing a shift operation of the sub transmission, a work operation lever 125 capable of performing an up-down operation of the seedling planting device 103, switching of an operation state, and the like, a general-purpose terminal 109 having a touch panel for displaying (notifying) various information to notify (outputting) an operator and receiving input of various information, a driver seat 116 for the operator (driver), and the like. A preliminary seedling frame 117 for accommodating a preliminary seedling is provided in front of the cab 120.

The steering wheel 121 is coupled to the front wheels 112A via a steering mechanism, not shown, and the steering angle of the front wheels 112A is adjusted by rotating the steering wheel 121.

(Driving route)

The following describes a travel route used in a seedling planting operation (an example of a farm work) by the rice transplanter. As shown in fig. 15, the farm field is divided into an outer peripheral area where a circumferential travel path is set and a central area where a reciprocating travel path is set. The rice transplanter initially performs rice seedling transplanting operation on the central area along the reciprocating traveling path, and then performs rice seedling transplanting operation on the peripheral area along the surrounding traveling path.

The round-going path is shown in fig. 16. The circular travel path includes a circular straight path extending in parallel with a field boundary line (field boundary) and a direction change path combining advancing and retreating so as to connect the circular straight paths to each other. In fig. 16, reference numeral R1 is given to the circular straight path, and reference numeral R2 is given to the direction change path. The reciprocating travel path is shown in fig. 17. The reciprocating traveling path includes a plurality of reciprocating paths substantially parallel to each other and a turning path (U-turn path) connecting the reciprocating paths to each other. In fig. 17, reference numeral R3 is assigned to the reciprocating path, and reference numeral R5 is assigned to the turning path. In fig. 16 and 17, a transfer route for transferring from the reciprocating travel route to the circling travel route is given reference symbol R4. In the example herein, the diversion path is similar to the turn path. In fig. 16 and 17, the working width of the rice transplanter is indicated by reference numeral W, and the entrance GA of the rice transplanter into and out of the field is indicated by oblique lines. Fig. 17 shows a start guide route (denoted by reference numeral R6) from the gate GA to the travel start position S of the reciprocating travel route. In the turning path R5, the direction change path R2, the start guide path R6, and the transfer path R4, the rice transplanter travels without performing work, and therefore these paths are shown by broken lines. In the circular linear path R1 and the reciprocating path R3, the rice transplanter travels while performing work, and therefore these paths are shown by solid lines.

(control System)

Next, a control system of the transplanter will be described with reference to fig. 14 and fig. 18.

Signals from the positioning unit 108, the automatic changeover switch 127, the travel sensor group 128, and the work sensor group 129 are inputted to the control unit 106 which forms the core of the control system of the rice transplanter. Control signals are output from the control unit 106 to the traveling apparatus group 101A, the work apparatus group 101B, the general-purpose terminal 109, and the notification unit 110.

The positioning unit 108 outputs positioning data for the position and orientation of the computer body 101. The positioning unit 108 includes a satellite positioning module 108A that receives radio waves from satellites of a Global Navigation Satellite System (GNSS) and an inertial measurement module 108B that detects the inclination and acceleration of the three axes of the body 101.

The automatic changeover switch 127 is provided in the driver unit 120, and is a switch for selecting an automatic travel mode for automatically traveling the machine body 101 and a manual travel mode for manually traveling the machine body 101. The travel sensor group 128 includes various sensors for detecting states such as a steering angle, an operation position of the main shift lever 122 or the sub shift lever 123, a vehicle speed, and an engine speed, and setting values for these states. The operation sensor group 129 includes various sensors for detecting the states of the link mechanism 111, the seedling planting device 103, and the fertilizer application device 104, and setting values for these states.

The traveling apparatus group 101A includes, for example, front wheels 112A and a continuously variable transmission 114. The steering angle of the front wheels 112A is controlled based on a control signal from the control unit 106, and the vehicle speed is controlled by operating the continuously variable transmission 114.

The work equipment group 101B includes, for example, a lifting cylinder 111a, a seedling transplanting device 103, and a fertilizing device 104. The amount of the seedling taken by the seedling transplanting device 103 and the amount of the fertilizer to be applied by the fertilizer applying device 104 are adjusted based on the control signal from the control unit 106.

The control unit 106 includes a travel control unit 161, a job control unit 162, a vehicle position calculation unit 163, a travel route setting unit 164, a job parameter setting unit 165, a storage unit 166, and a vehicle position determination unit 167. The Control Unit 106 is provided as a processor including an ECU (Electronic Control Unit), a CPU (Central Processing Unit), and the like.

The vehicle position calculating unit 163 calculates the map coordinates (vehicle position) of the body 101 based on the satellite positioning data sequentially transmitted from the positioning unit 108.

The rice transplanter can perform automatic driving and manual driving. Therefore, the travel control unit 161 performs control in an automatic travel mode in which automatic travel is performed or in a manual travel mode in which manual travel is performed, based on a command issued by the automatic changeover switch 127. The travel control unit 161 includes an automatic travel control unit 611 and a manual travel control unit 612, and the automatic travel control unit 611 operates in the automatic travel mode, and the manual travel control unit 612 operates in the manual travel mode. In the automatic travel mode, the automatic travel control unit 611 calculates a steering control amount so as to reduce the lateral deviation and the azimuth deviation, based on the lateral deviation and the azimuth deviation calculated by comparing the vehicle position and the target travel path. The steering angle of the front wheels 112A is adjusted based on the steering control amount. In the manual travel mode, manual travel control unit 612 adjusts the steering angle of front wheels 112A based on the operation amount of steering wheel 121. The manual travel control unit 612 controls the continuously variable transmission 114 and the like to travel at a travel speed corresponding to the operation positions of the main shift lever 122 and the sub shift lever 123.

The travel route setting unit 164 sets a travel route that is a target travel route during automatic travel and supplies the travel route to the automatic travel control unit 611.

The work parameter setting unit 165 sets the adjustment amount of the insertion mechanism 132 and transmits the adjustment amount to the work control unit 162. In the automatic travel mode, the adjustment amount of the insertion mechanism 132 is set in accordance with the work to be performed by the work equipment group 101B, which is set in accordance with the travel position of the target travel route, and in the manual travel mode, the adjustment amount of the insertion mechanism 132 is set in accordance with the setting value detected by the work sensor group 129. The operation control section 162 controls the transplanting mechanism 132 of the seedling transplanting device 103 based on the signal received from the operation parameter setting section 165.

The operation parameter setting unit 165 sets the fertilizing amount to be applied by the fertilizing apparatus 104 based on the later-described fertilizing plan map 150 and the vehicle position, and sends the fertilizing amount to the operation control unit 162. The operation parameter setting unit 165 checks a block of the fertilization plan map 150 corresponding to the vehicle position, and specifies the setting value of the delivery mechanism 142 according to the fertilization amount input to the block. The determined set value is sent to the job control section 162. The operation controller 162 controls the delivery mechanism 142 of the fertilizer applicator 104 based on the signal received from the operation parameter setting unit 165, thereby controlling the fertilizer application amount.

The storage unit 166 stores a fertilization plan map 150 described later. As will be described later, the vehicle position determination unit 167 determines whether the vehicle position (the position of the machine body 101) is located in the farm field based on the fertilizing amount of the block of the fertilizing plan map 150 to which the vehicle position belongs. The vehicle position determination unit 167 may also give a warning via the notification unit 110 when the vehicle position (the position of the machine body 101) is outside the farm field.

(fertilization plan map)

Next, travel control during automatic travel will be described with reference to fig. 14 and 18, and with reference to fig. 19.

In a farm field, the development state of crops is not uniform in each region of the farm field depending on sunlight, other meteorological conditions, the state of soil, and the like. In order to promote sufficient development of crops and to unify the development of crops in a field, the amount of fertilizer application is adjusted for each region of the field. Therefore, the fertilization plan map 150 is created for each farm field, and the fertilization work is performed based on the fertilization plan map 150.

The fertilization plan map 150 is a structure in which rectangular blocks of any size are arranged in a matrix. The fertilization plan map 150 corresponds to a farmland to be worked, and each block corresponds to a specific region of the farmland. In other words, the farm field is divided into matrix-shaped areas, and the areas of the respective farm fields correspond one-to-one to the blocks of the fertilization plan map 150.

The block of the fertilization plan map 150 is input with the fertilization amount of fertilizer to be applied to the corresponding region of the farmland. For example, the fertilizing amount in the block to be fertilized is input as the operation value by the fertilizing amount of 40kg/a to 100 kg/a. The amount of fertilizer applied was 100kg/a for the area with poor sunshine and poor soil conditions, and 50kg/a for the area with good sunshine and excellent soil conditions. Other areas also input appropriate fertilizing amount according to conditions.

The fertilizing amount may be determined by any method, and may be determined from the distribution of grain harvest amounts in the last year, or may be determined empirically by the operator. Note that "0" corresponding to the non-working value is input as the fertilizing amount to the block corresponding to the outside of the farm field. The operation parameter setting unit 165 reads the fertilizing amount input to the block corresponding to the vehicle position when the machine body 101 is operated to travel in the field, and determines a set value based on the read fertilizing amount, thereby controlling the feeding mechanism 142 of the fertilizing apparatus 104 to control the fertilizing amount.

The fertilization plan map 150 is also used for determining whether or not the vehicle position (the position of the machine body 101) is located in the farmland. In the fertilization plan map 150, the fertilization amount is input to the area inside the farm field, and for the area outside the farm field, "0" corresponding to the non-operation value is input as the fertilization amount because the fertilization operation is not performed. Therefore, the vehicle position determination unit 167 can determine whether the vehicle position (the position of the machine body 101) is inside or outside the farm field by checking the fertilization plan map 150. Specifically, the vehicle position determination unit 167 acquires the vehicle position from the vehicle position calculation unit 163, and reads the fertilizing amount input to the block of the fertilizing plan map 150 corresponding to the vehicle position. Then, the vehicle position determination unit 167 determines that the vehicle position (the position of the machine body 101) is outside the farm field when the read fertilizing amount is "0". The non-job value is not limited to "0", and may be a numerical value in an arbitrary range, an arbitrary character string, a space, or the like.

By comparing the vehicle position calculated by the vehicle position calculating unit 163 with the farmland map and/or by confirming the fertilizing amount inputted to the block corresponding to the vehicle position calculated by the vehicle position calculating unit 163 as described above differently from this, it is possible to determine whether the machine body 101 is present outside or inside the farmland. This makes it possible to easily and accurately sense whether or not the vehicle position (the position of the machine body 101) is outside the farm field.

(other embodiment mode of embodiment mode 2)

(1) The rice transplanter can be driven not only by an automatic operation but also by a manual operation. During manual travel, the notification unit 110 gives a warning in response to a notification from the vehicle position determination unit 167, and the driver can stop the vehicle body 101 and return to the field in response to the warning. Note that the notification unit 110 is not necessarily required during automatic traveling, and the automatic traveling control unit 611 may perform necessary control.

(2) In each of the above embodiments, the fertilization plan map 150 may input a value that can be recognized as the outer peripheral portion to a block corresponding to the region including the outer peripheral edge L of the agricultural field such as a ridge. In this case, the control unit 106 may further include a map correction unit 168, and the map correction unit 168 may be configured to correct the value of the block corresponding to the outer periphery of the field by comparing the map with the field map. For example, the block is inputted with a value between the non-operation value and the operation value, for example, "20".

Sometimes, obstacles such as gates are present in the outer periphery of the farmland. By inputting such a value to the fertilization plan map 150, the vehicle position determination section 167 can easily determine that the vehicle is traveling in the outer periphery of the farmland, and can notify the automatic travel control section 611 of this, or notify the notification section 110 or the like of this. This enables a measure such as reduction of the travel speed to be performed by the operation of the automatic travel control unit 611 during automatic travel and by the operation of the driver during manual travel. As a result, the body 101 can easily avoid the obstacle.

(3) In each of the above embodiments, the warning may be given when the vehicle position determination unit 167 determines that the vehicle position (the position of the machine body 101) is outside the farm field, or when the fertilizer application work is continued. In such a configuration, the operation control unit 162 acquires whether or not the fertilization device 104 is in the state of the fertilization work, and transmits the state to the notification unit 110 when the fertilization work is in progress. Then, the notification unit 110 receives a notification from the vehicle position determination unit 167 that the vehicle position (the position of the machine body 101) is outside the farm field, and also performs a warning when a notification indicating that the fertilizing operation is in progress is not received from the operation control unit 162.

The rice transplanter sometimes leaves the farm field when supplying rice seedlings, supplying fuel, etc., and also transfers the farm field. The detachment from the farmland becomes a problem in the case of detaching from the farmland while performing the fertilizing operation. On the other hand, warning when seedlings are replenished, fuel is replenished and farmland is transferred is troublesome, and the necessary warning is overlooked. Therefore, it is preferable to give a warning only when the fertilizer is separated from the field in the fertilizing operation that actually requires a warning.

(4) In the above embodiments, the operation plan map may be any operation plan map, not limited to the fertilization plan map 150. That is, the present invention is applicable to various working machines for performing operations other than fertilizing operations, not limited to rice planting machines. The work plan map is assumed to be a grid-shaped block corresponding to the work place, and a work value for adjusting the work amount is input to each block in the work place.

(5) In each of the above embodiments, the notification unit 110 may not be provided, and the warning may be given from the general-purpose terminal 109. This makes it possible to use the general-purpose terminal 109 without providing the notification unit 110, and to provide a warning with a simple configuration.

(6) As described above, the fertilization plan map 150 corresponds to the farmland to be worked. Therefore, the fertilization plan map 150 (work plan map) can be applied to any map as map information indicating the position and coordinates of a farmland (work place). Such a map may be an existing general map. Thus, even if the determined position of the vehicle deviates from the actual position due to erroneous operation of the positioning means 108, it is possible to determine whether the rice transplanter is located inside or outside the field based on the operation instruction value of the fertilization plan map 150.

(7) Further, the fertilization plan map 150 (work plan map) can share the taste and yield of food obtained by a combine harvester (harvester) that performs harvesting work on the same farmland with the associated yield map. The rice transplanter and the combine harvester continuously operate on the same farmland. Therefore, it is preferable that the yield map generated by the combine corresponds to the fertilization plan map 150 used by the rice transplanter. This enables a more planned and precise farming plan. The area of the yield map generated by the combine may be equal to or smaller than the area of the fertilization plan map 150 used by the rice transplanter or the area of the fertilization plan map 150.

(8) The travel control unit 161, the job control unit 162, the vehicle position calculating unit 163, the travel route setting unit 164, the job parameter setting unit 165, the vehicle position determining unit 167, and the map correcting unit 168 provided in the control unit 106 may be divided into such functional blocks, but may be integrated into a functional block having one or more functions of these components, or may be divided into a plurality of functional blocks. Further, all or part of the functions of the control unit 106 may be implemented by software. The software (program) is stored in the storage unit 166 or an arbitrary storage unit (not shown) and executed by a processor provided in the control unit 106 or another processor.

Industrial applicability

The working machine of the present invention is not limited to a rice transplanter, and may be a farming machine that performs work while traveling in a work place, such as a tractor, or may be applied to various working machines that perform work while traveling in a specific work place.

Description of the reference numerals

5: a seedling transplanting device (working device);

11: a body;

12: a fertilizer application device (working device);

18: a driving seat;

22: a preliminary seedling table frame (a support frame, a first support frame);

24: a support frame (first support frame);

26: a support frame (second support frame);

25: a positioning unit;

27: a support frame (second support frame);

31: a first height changing mechanism;

32: a second height changing mechanism;

36: a ceiling;

38: a ceiling portion;

38 a: front and rear water discharge paths;

38 b: a left and right water discharge path;

38 c: a recess;

38 d: a rear portion;

39: a ceiling portion;

39 a: front and rear water discharge paths;

39 b: a left and right water discharge path;

39 c: a front portion;

40 a: a recess;

49: an opening part;

50: a communication path;

51: a buffer member;

53: a connecting mechanism;

57: a support mechanism;

a1: a working position;

a2: a non-operating position;

108A: a satellite positioning module;

110: a notification unit;

150: a fertilization plan map (work plan map);

166: a storage unit;

167: a vehicle position determination unit;

168: a map correction unit;

h11: a first working height;

h12: a first non-operational height;

h21: a second working height;

h22: a second non-operational height.

Claims (17)

1. A work machine is characterized by comprising:

a driver seat supported by the body;

a support frame extending upward from the body; and

a ceiling supported by the support frame so as to cover an upper portion of the machine body including the driver seat,

the ceiling is provided with: an opening facing in a direction along an upper surface of the ceiling; and a communication path that communicates a region located below the ceiling with the opening.

2. The work machine of claim 1,

the ceiling is supported by the support frame so that a front portion of the ceiling is lower than a rear portion of the ceiling in a forward tilted posture in a side view,

the opening faces forward.

3. The work machine of claim 2,

the divided ceiling portions are provided on the ceiling so as to be arranged in the front-rear direction,

the ceiling portions adjacent in the front-rear direction are arranged such that a rear portion of the front ceiling portion is positioned lower than a front portion of the rear ceiling portion, and a rear portion of the front ceiling portion overlaps a front portion of the rear ceiling portion,

the ceiling portion may be provided with a portion where a rear portion of the front ceiling portion overlaps a front portion of the rear ceiling portion, the portion being provided with the opening and the communication passage, the portion being vertically separated from the rear portion of the front ceiling portion and the front portion of the rear ceiling portion.

4. The work machine of claim 3,

a cushion member is provided between the rear portion of the front ceiling portion and the front portion of the rear ceiling portion.

5. The work machine according to any one of claims 1 to 4,

a first support frame and a second support frame are provided, the first support frame supporting one of the front and rear portions of the canopy, the second support frame supporting the other of the front and rear portions of the canopy,

a positioning unit that outputs positioning data indicating a position of the body based on a positioning signal of a navigation satellite is supported by the first support frame so as to be positioned at the same height as one of the front and rear portions of the ceiling in a side view.

6. The work machine of claim 5,

the recessed portion into which the positioning means can enter in a plan view is provided in one of a front portion and a rear portion of the ceiling.

7. The work machine of claim 6,

the left-right width of the recess is set larger than the left-right width of the positioning unit.

8. The work machine according to any one of claims 5 to 7, comprising:

a connecting mechanism capable of connecting and disconnecting the first support frame to and from the ceiling;

a support mechanism capable of supporting the ceiling on a second support frame so that the position of the ceiling can be changed between an operating position where the first support frame and the ceiling can be coupled by the coupling mechanism and a non-operating position where the ceiling is spaced apart from the positioning unit in the front-rear direction in a state where the coupling mechanism is released;

a first height changing mechanism capable of changing a height of the first support frame between a first working height at which the first support frame and the ceiling can be coupled by the coupling mechanism with the ceiling located at the working position and a first non-working height lower than the first working height; and

and a second height changing mechanism capable of changing a height of the second support frame between a second working height at which the first support frame and the ceiling can be coupled by the coupling mechanism in a state where the ceiling is located at the working position and a second non-working height lower than the second working height.

9. The work machine according to any one of claims 1 to 8,

a right front and rear drainage channel having a concave cross section is provided in the right portion of the upper surface of the ceiling in the front-rear direction,

a left front and rear drainage channel having a concave cross section is provided in the front-rear direction on the left portion of the upper surface of the ceiling,

a plurality of left and right drainage paths having a concave cross section are provided on the upper surface of the ceiling in the left-right direction and connected to the front and rear drainage paths,

rainwater is discharged from the front and rear drainage paths on the right and left sides.

10. The work machine of claim 9,

the working device is supported at the rear part of the machine body,

rainwater is discharged from the front of the front and rear drainage channels to the right and left.

11. A working machine which performs work travel at a work place based on a work instruction value, comprising:

a satellite antenna for receiving a satellite signal from a satellite;

a satellite positioning module that outputs positioning data corresponding to a position of a vehicle based on the satellite signal;

a storage unit that stores a work plan map into which the work instruction value is input for each of blocks divided into a grid shape corresponding to the work area; and

and a vehicle position determination unit configured to determine whether or not the vehicle position is within the work area based on the work instruction value input to the block corresponding to the vehicle position.

12. The work machine of claim 11,

the job indication value includes a non-job value for not performing a job,

the vehicle position determination unit determines that the vehicle position is outside the working area when the working instruction value is the non-working value.

13. The work machine of claim 12,

a map correction unit for correcting the operation plan map,

the operation instruction value for performing the operation is an operation value in a predetermined range larger than the non-operation value,

the map correction unit can refer to a work area map showing the peripheral position of the work area,

the map correcting unit corrects the operation value of the block corresponding to the outer peripheral position to a value between the non-operation value and the operation value.

14. The work machine according to any one of claims 11 to 13,

the vehicle position determination unit determines that the vehicle position is outside the work area, and the vehicle position determination unit determines that the vehicle position is outside the work area.

15. The work machine according to any one of claims 11 to 13,

the vehicle position determination unit determines that the vehicle position is outside the working area and in a working state, and the vehicle position determination unit determines that the vehicle position is outside the working area and in the working state.

16. The work machine according to claim 14 or 15,

the operation instruction value defines a predetermined reference operation value,

and when the job status continues after the warning is notified, performing the job at the reference job value.

17. The work machine according to any one of claims 11 to 16,

the work related to the work travel is a fertilizing work, and the work instruction value is an amount of fertilizer to be fertilized.

Images