JP2016007198A - Paddy field work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To constitute a paddy field work machine which favorably receives a radio signal from a positioning satellite and highly accurately detects a travel vehicle body direction from earth magnetism by a direction sensor.SOLUTION: The paddy field work machine includes a positioning system in which a radio signal from a positioning satellite is received by a receiving unit 45 and a position information of a travel vehicle body A is obtained. The receiving unit 45 includes an antenna receiving a radio wave from the positioning satellite and a direction sensor detecting a direction from earth magnetism. The receiving unit 45 is supported via a support member 44 formed of a non-magnetic material with respect to an upper end part of a receiving unit support part arranged on the travel vehicle body A.

Description

  The present invention relates to a paddy field machine configured to acquire position information of a traveling vehicle body by receiving a radio signal from a positioning satellite.

  As a paddy field work machine configured as described above, Patent Literature 1 discloses a technique for autonomously traveling based on position information measured by a GPS device.

  In Patent Document 1, a reference line is set by teaching in a state where a radio wave signal from a GPS satellite (positioning satellite) is received by a GPS antenna provided on a traveling vehicle body, and a target route parallel to the reference line is set. To do. After this setting, the rice transplanting operation can be performed in such a manner that the vehicle autonomously travels on the target route while receiving radio signals from GPS satellites (positioning satellites).

JP 2008-92818 A

  As described in Patent Document 1, it is effective to arrange the antenna at a high position of the traveling vehicle body in order to receive a radio signal from the positioning satellite satisfactorily. Further, when traveling on an agricultural field, it is necessary to detect not only the position information but also the posture of the traveling vehicle body with an orientation sensor.

  Some steel materials used in paddy field machines may be magnetized during manufacturing or processing. Therefore, in the configuration in which the azimuth sensor detects geomagnetism, for example, it is desired to dispose at a high position from the viewpoint of eliminating the influence of magnetism from magnetized steel or the like. In addition, it is effective to arrange the azimuth sensor in the vicinity of the antenna in terms of configuration such as wiring.

  However, for example, when an antenna that receives radio waves from a positioning satellite and an azimuth sensor are provided at the upper end of a columnar frame made of steel, the geomagnetism acting on the azimuth sensor is distorted by the magnetism acting on the columnar frame. It is also possible to dampen the earth's magnetic field and to eliminate this effect.

  An object of the present invention is to constitute a paddy field machine that receives radio signals from positioning satellites well and detects the direction of a traveling vehicle body with high accuracy by a direction sensor based on geomagnetism.

  A feature of the present invention is that the receiving unit includes a positioning system that receives a radio signal from a positioning satellite and acquires position information of a traveling vehicle body, and the receiving unit includes an antenna that receives a radio wave from the positioning satellite, and a geomagnetism. The receiving unit is supported via a support member formed of a non-magnetic material on the upper end of the receiving unit support provided in the traveling vehicle body. In the point.

According to this configuration, it is possible to receive the radio signal from the positioning satellite by the antenna of the receiving unit without being obstructed by the components of the vehicle body by providing the receiving unit at the upper end of the receiving unit support. In addition, since the receiving unit is supported on the upper end portion of the receiving unit support part via a support member made of a non-magnetic material, for example, when the vehicle body component is a magnetic body or the vehicle body component Even when the magnetic field is magnetized, the distance between the vehicle body structure and the direction sensor is increased to suppress the influence on the geomagnetism detected by the direction sensor in the receiving unit.
Therefore, a paddy field work machine has been constructed that receives radio signals from positioning satellites well and detects the direction of the traveling vehicle body with high accuracy by the direction sensor based on geomagnetism.

The present invention is provided with a seedling planting device that cuts out seedlings from a mat-like seedling placed on a seedling stand at the rear end of the traveling vehicle body and plantes the seedlings on a farm scene, and is used to replenish the seedling stand. A preliminary seedling stage for supporting seedlings is provided at the front of the traveling vehicle body,
The preliminary seedling stage is supported by a vertical frame provided in a vertical orientation at the left and right positions of the front portion of the traveling vehicle body, and as the receiving unit support portion, a horizontal connecting the upper end portions of the left and right vertical frames. An articulated frame may be used.

  According to this, the vertical frame for supporting the spare seedling stage is used, the connection frame that connects the upper ends of the left and right vertical frames is used as the upper end of the reception unit support portion, and the reception unit is supported via the support member. It becomes possible. As described above, since the receiving unit is supported by using the structure for supporting the spare seedling stage, it is not necessary to provide a dedicated frame for supporting the receiving unit. In particular, since the spare seedling platform is arranged at the front position of the traveling vehicle body, when the traveling direction of the traveling vehicle body is changed, the displacement amount in the lateral direction is larger than the rear end side of the traveling vehicle body. Changes in information can be detected with high sensitivity.

  The present invention may include a canopy having a roof member that covers an upper part of a driver seat of the traveling vehicle body, and the roof member of the canopy may be used as the receiving unit support portion.

  According to this, since the receiving unit can be supported by the roof member of the canopy, it is not necessary to provide a dedicated frame for supporting the receiving unit. In particular, since the upper end of the canopy is relatively flat, radio waves from positioning satellites can be received without being blocked.

  In the present invention, a paddy field working device is provided at the rear end of the traveling vehicle body, and a work step for performing work on the paddy field working device from the traveling vehicle body is formed at a rear end position of the traveling vehicle body. A handrail-shaped auxiliary frame that supports an operator who has boarded the vehicle may be formed at a rear portion of the traveling vehicle body, and the auxiliary frame may be used as the receiving unit support portion.

  According to this, since the receiving unit can be supported on the auxiliary frame that supports the worker who has boarded the work step, it is not necessary to provide a dedicated frame for supporting the receiving unit.

  In the present invention, a dedicated pole-like frame extending upward from the traveling vehicle body may be provided as the receiving unit support portion.

  According to this, by using a pole-shaped frame, it becomes possible to place the receiving unit at the required height compared to the frame that is also used in the traveling aircraft, and the radio signal from the positioning satellite Can be received well and the influence of magnetism can be eliminated well.

It is the whole rice transplanter side view. It is a whole top view of a rice transplanter. It is a front view of the traveling vehicle body of a rice transplanter. It is a perspective view of the traveling vehicle body front part of a rice transplanter. It is the schematic of a steering operation system. It is a block circuit diagram of a positioning / automatic steering traveling system. It is a figure which shows the monitor part and operation panel part of a console. It is a whole side view of the rice transplanter of another embodiment (a). It is a whole side view of the rice transplanter of the modification of another embodiment (a). It is a whole side view of the rice transplanter of another embodiment (b). It is a whole side view of the rice transplanter of another embodiment (c).

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[Overall structure of rice transplanter]
As shown in FIGS. 1 to 3, a driving seat 3 is provided at the center of a traveling vehicle body A having a pair of left and right front wheels 1 and a pair of left and right rear wheels 2, and a hydraulic cylinder 4 is disposed at the rear end of the traveling vehicle body A. A riding-type rice transplanter as a paddy field work machine is configured by including a seedling planting device B (an example of a paddy field work device) that can be moved up and down through a link mechanism L that is lifted and lowered by an extension operation.

  In this rice transplanter, an engine 6 is housed in a bonnet 5 at the front position of the traveling vehicle body A, and the driving force from the engine 6 is shifted by a transmission case 7 at the center position of the traveling vehicle body A to the left and right front wheels 1. A traveling transmission system is provided for transmission to the left and right rear wheels 2. Further, the traveling vehicle body A is provided with a work transmission system that transmits the driving force from the transmission case 7 to the seedling planting device B through the transmission shaft 8. The transmission case 7 is internally provided with a planting clutch C for intermittently driving the driving force transmitted to the transmission shaft 8.

  An elevating lever 10 for elevating the seedling planting device B and intermittently engaging the planting clutch C is arranged on the right side of the driver seat 3, and the front wheel 1 is steered in front of the driver seat 3 at the rear of the hood 5. A steering wheel 11 to be operated is arranged. The left side of the steering wheel 11 is provided with a main speed change lever 12 for setting the traveling speed. The right side of the steering wheel 11 is forcibly raised and lowered the seedling planting device B and planted in conjunction with the raising and lowering. A forcible elevating lever 13 for performing intermittent operation of the attached clutch C is provided.

  The seedling planting device B is an example of a paddy field working device, and is connected to the rear end of the link mechanism L and is transmitted with a transmission case 21, a plurality of leveling floats 22, and a mat-like seedling. The seedling mounting table 23 to be placed and a rotary type planting arm 24 that is operated by a driving force from the transmission case 21 are configured for eight lines.

  A center mascot 14 having a pillar shape is provided at the tip of the bonnet 5. Moreover, the marker apparatus is provided in the right-and-left both sides of the seedling planting apparatus B so that switching to an action attitude | position and a storage attitude | position is possible. The marker device is supported by a marker arm 26 that is swingable about a swing shaft in a front-rear posture with respect to the seedling planting device B, and is rotatably supported by a swing end of the marker arm 26. And a marker ring 27 having a plurality of protrusions formed thereon.

  When the marker arm 26 is set to the action posture shown in FIG. 1, the outer periphery of the marker ring 27 comes into contact with the farm scene, and rotates along with the travel of the traveling vehicle body A. A concave mark is continuously formed. Accordingly, by forming a concave mark on the farm scene by the marker ring 27, when the seedling planting operation is continued by turning the traveling vehicle body A, the center mascot 14 is moved with respect to the farm scene mark. By performing the steering operation in such a manner that it is visually aimed, seedlings can be planted at an optimum position with reference to the row of existing seedlings.

  The marker arm 26 in the working posture is switched to the retracted posture in conjunction with the raising of the seedling planting device B, and is locked in this retracted posture. Then, by operating the lift lever 10 in the left-right direction with the lift lever 10 in the lowered position, the corresponding marker arm 26 is unlocked and switched to the operating posture.

  In this rice transplanter, when seedling planting work is performed, the seedling planting device B is lowered to a level where the leveling float 22 contacts the ground by operating the elevating lever 10, and the planting clutch C is engaged to operate the traveling vehicle body A. It will run. As a result, in the state in which the leveling float 22 levels the muddy surface of the seedling planting site, the seedling mounting table 23 is reciprocated in the left-right direction with the driving force transmitted from the traveling vehicle body A, and the seedling mounting table 23 is loaded on this reciprocating operation. The planting claws of the plurality of planting arms 24 cut out the seedlings by a predetermined amount from the lower ends of the mat-like seedlings placed and plant them in the field. If necessary, a concave mark is formed on the farm scene by the marker device.

  In particular, in the rice transplanter of the present invention, a travel route at the time of seedling planting work is acquired by a positioning system configured as GNSS (Global Navigation Satellite Systems), stored, and set as a target travel route parallel to the stored route. Is possible. After the target travel route is set in this way, the traveling vehicle body A can be automatically steered along the target travel route.

  Note that this rice transplanter is also configured so that seedling planting work can be performed by artificial steering traveling in which an operator operates the steering wheel 11 without performing automatic steering traveling even in a situation where a target traveling route is set. For this reason, a marker device is provided.

[Body configuration]
In this rice transplanter, a driving unit having a driving seat 3 is formed in the center of the traveling vehicle body A, a driving unit step 15 is formed at a foot portion of the driving unit, and auxiliary steps 15A are formed at the left and right outer positions. Yes. On both the left and right sides of the bonnet 5 at the front of the traveling vehicle body A, a boarding / alighting step 16 is formed as a boarding / alighting passage that continues to the driving unit step 15 without a step. In addition, the getting-on / off step 16 makes the front end of the traveling vehicle body A approach the heel so that the operator can easily move between the heel and the traveling vehicle body A.

  A work step 17 is formed at a position covering the upper part of the left and right rear wheels 2. This work step 17 also functions as a rear fender, and the driver's seat 3 is arranged at the front part in the center of this worker step 17 and extends in the left-right direction of the worker step 17 that is the rear position of this driver's seat 3. In the area, work is possible with the worker on board.

  The work step 17 facilitates the replenishment of the mat-like seedlings to the seedling mount 23 of the seedling planting device B, and the rear of the left and right support frame bodies 18A so as to support the workers who are boarding the work step 17. An auxiliary frame 18 is formed along the work step 17 by connecting a horizontal frame body 18B having a handrail shape at the end position. The auxiliary frame 18 is configured not only to be gripped by the worker but also to stabilize the posture of the worker by contacting a part of the worker's body.

  At the front position of the traveling vehicle body A, a vertical frame 31 that is in a vertical orientation outside the left and right getting-on / off steps 16, a connecting frame 32 that is connected to the upper end of the vertical frame 31, and an upper end that is the middle of the vertical frame 31. A supporting frame portion having a gate shape is provided by an auxiliary vertical frame 33 that is connected to the vertical portion 31 and is parallel to the left and right vertical frames 31.

  A pipe material is used for the vertical frame 31, and the connecting frame 32 is integrally formed so as to extend from the upper end of the vertical frame 31 toward the inside of the vehicle body by bending the vertical frame 31. And the extension ends of each connection frame 32 are connected by the bracket 42, and the left and right connection frames 32 are integrated. In addition, you may comprise the left-right vertical frame 31 and the connection frame 32 which connects these by a single member by bending a long pipe material.

  The support frame portion is formed in a portal shape in a front view, and includes a front support frame 31A that supports the lower ends of the left and right vertical frames 31, and a rear frame 33A that supports the lower ends of the auxiliary vertical frames 33. Supported by the body frame.

  In this rice transplanter, a plurality of preliminary seedling platforms 34 are supported by a vertical frame 31 and an auxiliary vertical frame 33 connected thereto.

  With this configuration, the plurality of preliminary seedling platforms 34 arranged on the left and right, the left and right vertical frames 31 and the auxiliary vertical frame 33 are arranged outside the boarding / unloading step 16. There is no hindrance to the movement of workers.

[Meter panels]
As shown in FIG. 4, a meter panel 36 is disposed in front of the steering wheel 11 at the rear end position of the bonnet 5. The meter panel 36 includes a liquid crystal display unit having a backlight and a plurality of display lamps so that work information can be displayed. The liquid crystal display unit displays the hour meter, the state of the automatic planting clutch, the remaining fuel amount, the coolant temperature, and the like. Further, as a plurality of display lamps, an oil-out lamp, a charge lamp, a seedling-out lamp, a planting display lamp, an azure clutch lamp, a marker lamp, and the like are provided.

  As the meter panel 36, only a liquid crystal display device may be provided, and all the work information may be displayed on the liquid crystal display device. In addition to the lamp, an indicator for operating the pointer may be provided.

  An inverted U-shaped console support frame 37 that is connected to the traveling vehicle body A with the lower end penetrating the left and right sides of the rear part of the bonnet 5 is provided. The console support frame 37 is composed of left and right side frame bodies 37A and an upper frame body 37B formed in a state of being connected to the upper ends thereof, and is provided in an inclined posture that is displaced forward toward the upper end side.

A connecting plate 40 connected to the left and right side frame bodies 37A of the console support frame 37 is provided, and the upper end portion of the connecting plate 40 is bent so as to protrude in the direction of the driver's seat 3, and the flange portion 41 is integrally formed. Has been. The console D is formed in a box shape and is supported by the connection plate 40. From such a support form, the collar part 41 protrudes from the upper side of the console D toward the driver's seat 3. Incidentally, the left and right side portions of the console D are not provided with a functioning as a sunshade, but the left and right side portions of the console D may be provided with the flange portions 41. As a result, it is possible to block sunlight entering the monitor unit 38 from the side.

  The console D is disposed within the width of the hood 5 and within the width of the steering wheel 11 when viewed in the front-rear direction, and the lower end of the monitor unit 38 is disposed above the upper end of the steering wheel 11. In addition, since the console support frame 37 is formed in the above-described tilted posture, the visual line is slightly lowered from the front during work, so that the monitor unit 38 of the console D can be easily seen and the information can be grasped reliably. The visual recognition of the center mascot 14 is not hindered.

  As shown in FIG. 7, a monitor unit 38 having a liquid crystal type and a touch panel 38 </ b> A formed on a display surface and an operation panel unit 39 are formed on a surface of the console D facing the driver seat 3. The operation panel 39 is provided with a plurality of operation switches 39A for enabling ON / OFF of the power button and various operations. In addition to the operation switch 39A, the operation panel unit 39 may include a notification lamp or a speaker that outputs information by voice.

  As shown in the figure, the monitor unit 38 of the console D receives a radio wave from a positioning satellite and indicates a mode display unit 102 indicating that it is an automatic steering travel, a target travel route line 103 corresponding to the target travel route, a steering An icon 104 reflecting the operation of the wheel 11 and a speed display unit 108 are formed. The plurality of operation switches 39A of the operation panel unit 39 are configured to be able to input information necessary for automatic steering traveling. The display form of the monitor unit 38 will be described later.

[Modification of console layout]
In this embodiment, the console D is fixed to the console support frame 37. However, instead of this, the console D is supported so as to be swingable about a laterally oriented axis, and the swinging posture is maintained. The console D may be supported so as to be adjustable in angle by providing a holding clamp mechanism or the like. By supporting the angle adjustable in this manner, the angle of the console D is set in accordance with the physique of the worker sitting on the driver's seat 3 and the display visibility of the monitor unit 38 formed on the console D is improved. It becomes possible to improve.

  Further, as a modification, the upper end position of the console D is arranged at a position lower than the upper end of the seedling mounting base 23 of the seedling planting apparatus B. By arranging in this way, when the mat-like seedlings placed on the preliminary seedling placing stand 34 are replenished to the seedling placing stand 23, the inconvenience of the mat-like seedlings touching the console D is reduced, so Make it smooth.

[Positioning / Automatic Steering System]
As shown in FIGS. 3 and 4, the connection frame 32 (an example of the reception unit support portion) of the support frame portion is not centered in the left-right direction with respect to the upper surface of the bracket 42 described above. A support plate 43 made of a magnetic material is connected and fixed. A support member 44 made of synthetic rubber having flexibility as a nonmagnetic material is provided on the upper surface of the support plate 43, and the receiving unit 45 is supported in a state of being placed on the support member 44.

  As shown in FIG. 6, the receiving unit 45 includes an antenna 45A that receives radio signals from a plurality of positioning satellites, a magnetic compass 45B (an example of an orientation sensor) that detects a direction from the geomagnetism, and a posture change of the traveling vehicle body A. And a gyro sensor 45C that captures the inertia due to inertia. In this configuration, since the receiving unit 45 is disposed at the front position of the traveling vehicle body A, when the traveling vehicle body A changes the traveling direction, the lateral displacement compared to the rear end side of the traveling vehicle body A is achieved. The amount is large and changes in position information can be detected with high sensitivity.

  The steel material constituting the rice transplanter may be partially magnetized at the time of manufacture or processing. For example, when the connecting frame 32 is magnetized, magnetism acts on the magnetic compass 45B from the connecting frame 32 to detect geomagnetism. In some cases, the accuracy was lowered. For this reason, the use of a nonmagnetic material having a predetermined thickness as the support member 44 increases the distance between the connection frame 32 and the like and the magnetic compass 45B, thereby suppressing the influence of magnetism. Moreover, as this support member, in addition to synthetic rubber, a material having anti-vibration properties such as urethane foam can be used.

  The console D includes a receiving circuit 46 that acquires position information by receiving a radio wave signal from a positioning satellite, and a control unit 47. The receiving circuit acquires the latitude, longitude, and altitude on the earth based on radio signals from three or more positioning satellites by GNSS (Global Navigation Satellite Systems). A positioning system is configured with the receiving unit 45 and the console D.

  The control unit 47 includes a teaching processing unit 47A configured by software, a travel route determination unit 47B, and a travel control unit 47C. The control unit 47 outputs information to the monitor unit 38 and acquires information from the touch panel 38A. Further, the control unit 47 outputs control information to the steering control unit 48.

  In this embodiment, the reception circuit 46 is provided inside the console D. However, the reception circuit 46 may be provided inside the reception unit 45. In addition, at least one of the teaching processing unit 47A, the travel route determination unit 47B, and the travel control unit 47C is configured by logic IC hardware, or by a combination of hardware and software. Also good.

  As shown in FIG. 5, a power steering unit 52 that transmits an operating force from a steering shaft 51 connected to the steering wheel 11 to the left and right front wheels is supported on the upper surface of the mission case 7. A pitman arm 53 that is actuated by the driving force of the power steering unit 52 is formed on the lower surface of the mission case 7.

  In the vicinity of the lower end portion of the steering shaft 51, an operation gear 54 is fixed, and a steering control motor 56 that drives a pinion gear 55 that meshes with the operation gear 54 is provided. Furthermore, a rotary encoder 57 that measures the amount of rotation is provided at the lower end of the steering shaft 51.

  In this steering operation system, by providing the steering control motor 56 at the front part and the side part of the steering shaft 51, the inside of the bonnet 5 can be used effectively, and a space protruding below the driver seat 3 does not have to be formed. It is configured as follows.

  In this rice transplanter, the rice transplanter is caused to travel by an operator's manual steering between one side of the field and the other side, and the traveling route during this travel is acquired by the teaching processing unit 47A of the control unit 47. A target travel route can be generated from the travel route and stored.

  The travel route is recognized as a straight line in the control unit 47, and a plurality of target travel routes are set at intervals corresponding to the eight seedling planting widths so as to be parallel to the travel route. After a plurality of target travel routes are set in this way, by selecting automatic steering travel, the travel route determination unit 47B determines an error from the target travel route based on information from the positioning system, and travel control is performed. In the form in which the portion 47C controls the steering control motor 56, control for automatically steering the traveling vehicle body A along the target traveling route is realized.

  When the traveling vehicle body A is automatically steered along the target travel route, the travel route can be corrected by the operator operating the steering wheel 11. The travel route determination unit 47B first travels the traveling vehicle body A along the target travel route adjacent to the travel route (the route traveled first by the artificial steering travel), and then the target travel adjacent thereto. The control mode is set so that the traveling vehicle body A travels along the route.

[Positioning / Automatic Steering Travel System: Console Display]
At the time of automatic steering traveling, as shown in FIG. 7, an automatic steering traveling screen is displayed on the monitor unit 38 of the console D, and a plurality of setting buttons 101 and a mode display unit 102 are displayed on this screen. . The setting button 101 detects an operation via a touch panel by bringing a finger or the like into contact with the screen, and realizes various settings. The mode display unit 102 displays character information indicating that the vehicle is in the automatic steering state.

  In this automatic steering traveling screen, the target traveling route line 103 is displayed at the center position in the left-right direction of the screen, and the icon 104 indicating the traveling vehicle body A is displayed at the center position of the screen. A declination line 105 indicating a deviation angle (declination) in the traveling direction of the traveling vehicle body, and an indicator unit 106 indicating the deviation amount in angle are displayed.

  In the upper part of the monitor unit 38, a deviation display unit 107 for displaying a deviation amount (deviation) of the traveling vehicle body A with respect to the target travel route and a speed display unit 108 are formed. The deviation display unit 107 is formed with a numerical value indicating the amount of deviation and a bar graph part visually representing the amount of deviation. The speed display unit 108 displays the traveling speed of the traveling vehicle body A as a numerical value. Further, the display mode is set so that the relative angle between the target travel route line 103 and the icon 104 changes when the steering operation is performed.

  As a result, when performing automatic steering traveling, the system is started by operating the operation switch 39A of the console D, and the state is shifted to a state where teaching can be performed by operating the operation switch 39A or the setting button 101, thereby performing artificial steering traveling. Thus, the travel route is acquired by the teaching processing unit 47A, and the target travel route is set. Thereafter, by shifting to the automatic steering travel mode, the above-described screen of FIG. 7 is displayed on the monitor unit 38, and automatic steering travel that travels along the target travel route becomes possible.

  It is also possible to shift to the maintenance mode by operating the setting button 101 displayed on the monitor unit 38 of the console D or operating the operation switch 39A of the operation panel unit 39. In this maintenance mode, the magnetic compass 45B, the gyro sensor 45C, etc. can be checked and calibrated.

[Operation / Effect of Embodiment]
In this way, in the rice transplanter, by selecting the automatic steering travel with the target travel route set, the radio signal from the positioning satellite is received, and the target travel route and the current position of the traveling vehicle body A are As a result of the automatic steering traveling in which the error is determined and the control is performed in a direction to reduce the error, the operator does not need to operate the steering wheel 11. As a result, the driver can replenish seedlings without stopping the traveling vehicle body A, and the work efficiency is improved as compared with a work mode in which the traveling vehicle body A is stopped and the seedlings are replenished.

  In particular, when seedling planting work, the operator operates the steering wheel 11 to travel the traveling vehicle body A, and replenishes the matted seedling of the preliminary seedling mounting table 34 to the seedling mounting table 23 of the seedling planting device B. Only automatic steering can be selected. Even in such a case, it is not necessary to stop the traveling vehicle body A, and the work efficiency is improved.

  Further, since the receiving unit 45 is supported via the support member 44 with the connecting frame 32 that connects the upper ends of the vertical frames 31 that support the preliminary seedling mount 34 as the receiving unit support portion, the dedicated frame is used as the traveling vehicle body A. Even if it does not prepare for, it can arrange | position the receiving unit 45 in a high position and can receive the radio wave signal from a positioning satellite satisfactorily. Further, by using the support member 44, the distance between the magnetic compass 45B and the connecting frame 32 is increased, the influence of the magnetism acting from the connecting frame 32 and the like is suppressed, and the direction of the traveling vehicle body is determined based on the geomagnetism. The direction can be detected with high accuracy by the magnetic compass 45B.

  Since the console D is within the width of the bonnet 5 and within the width of the steering wheel 11 when viewed in the front-rear direction, even when the worker moves through the getting-on / off step 16, the clothes of the worker are It is possible to easily get on and off without touching the steering wheel 11.

  Further, since the console D is arranged in the direction in which the line of sight of the operator seated on the driver's seat 3 is directed, it is not necessary to move the line of sight largely when viewing the display content of the monitor unit 38 of the console D. In particular, even when the work is performed in an environment where sunlight directly shines, the collar 41 blocks the sunlight, so that the information displayed on the monitor unit 38 of the console D can be accurately grasped.

[Another embodiment]
The present invention may be configured as follows in addition to the embodiment described above.

(A) As shown in FIG. 8, the canopy 60 which has the roof member 61 which covers the upper part of the driver's seat 3 of the traveling vehicle body A, the windshield 62, and the transparent wall body 63 made from resin is provided. An openable / closable door is formed on at least one of the left and right wall bodies 63. The roof member 61 is used as a reception unit support member, and the reception unit 45 is supported by the roof member 61 via the support member 44. The support member 44 is made of a material such as a synthetic rubber having flexibility as a nonmagnetic material.

  As the canopy 60, it is not necessary to form a closed space by the wall body 63 or the like, and for example, a configuration without a part of the wall body 63 may be used. Moreover, the object provided with the canopy 60 is not limited to the rice transplanter, and may be a seeder having a seeding device connected to the rear end of the traveling vehicle body A.

  By supporting the receiving unit 45 on the roof member 61 via the support member 44 in this way, the receiving unit 45 can be placed at a high position, and as a result, the radio waves from the positioning satellite can be received without being blocked. can do. Further, since the receiving unit 45 is supported via the support member 44, even if a part of the roof member 61 is magnetized, the influence of magnetism from the magnetized part is suppressed.

  As a modified example of another embodiment (a), as shown in FIG. 9, a pair of pillars 64 erected at the side position of the bonnet 5, and a driver seat 3 extending rearward from the upper end of the pillars 64. It is also possible to configure a simple canopy 60 by arranging a roof member 61 that covers the roof. Even in such a configuration, the receiving unit 45 can be arranged at a high position by supporting the receiving unit 45 via the support member 44 with respect to the roof member 61. In this configuration, the receiving unit 45 may be supported on the upper end of the pillar 64 via the support member 44.

  In this way, by supporting the receiving unit 45 via the support member 44 with respect to the simple canopy 60, even if a part of the roof member 61 or the pillar 64 is magnetized, the magnetic force from the magnetized part can be reduced. Suppress the impact.

(B) As shown in FIG. 10, in the same configuration as the rice transplanter (an example of a paddy field machine) configured similarly to the embodiment, the auxiliary frame 18 is a receiving unit support member, and is erected on the auxiliary frame 18. The receiving unit 45 is supported via the support member 44 with respect to the upper end of the post-shaped intermediate frame 65. The support member 44 is made of a material such as a synthetic rubber having flexibility as a nonmagnetic material.

  In this other embodiment (b), a seeding device may be provided at the rear end of the traveling vehicle body A as a paddy field working device, so as to constitute a seeding machine. Further, when the paddy field work device such as the seedling planting device B or the seeding machine is raised to the upper limit, if the height is such that the radio waves from the positioning satellite are not blocked, the support member 44 directly against the auxiliary frame 18. A configuration in which the receiving unit 45 is supported via a cable may be employed.

  Thus, by supporting the receiving unit 45 with respect to the auxiliary frame 18, the receiving unit 45 can be disposed at a relatively high position. In particular, by arranging the receiving unit 45 at one of the left and right ends of the auxiliary frame 18, the operation in the state where the receiving unit 45 is mounted is not hindered, and the receiving unit 45 is placed at a higher position by using the intermediate frame 65. 45 can be arranged.

(C) As shown in FIG. 11, at the front end of the traveling vehicle body A, a pole-shaped frame in the form of a column that is vertically positioned as a receiving unit support member at the center position in the left-right direction or at either left or right end. 67, and the receiving unit 45 is supported by the support member 44 via this. The support member 44 is made of a material such as a synthetic rubber having flexibility as a nonmagnetic material.

  In this other embodiment (c), the pole-shaped frame 67 extending upward is disposed at the front end of the traveling vehicle body A. For example, it is disposed at the side position of the driver seat 3 or at the rear position of the driver seat 3. Also good.

  By using the dedicated pole-shaped frame 67 in this way, the receiving unit 45 can be arranged at a required height, the radio signal from the positioning satellite can be received well, and the influence of magnetism can be eliminated well. Can be done.

(D) In the embodiment, the engine 6 is built in the bonnet 5. However, instead, the engine 6 may be applied to a paddy field machine configured to be disposed below the driver seat 3.

(E) In the above-described embodiment, the target travel route is generated based on teaching. However, instead of teaching, for example, an overhead view image of a farm scene is displayed on the monitor unit 38 or the like and displayed in this way. In the field scene, the control mode may be set so that the operator sets the target travel route by an artificial operation.
Further, instead of teaching, for example, by receiving a radio wave from a positioning satellite when performing a field scraping operation with a tractor, route data traveled by the vehicle body is stored in a semiconductor storage medium or the like. The control mode may be set so that the target traveling route is generated in the automatic steering traveling system by loading the route data stored in the medium or the like into the automatic steering traveling system of the rice transplanter.

  INDUSTRIAL APPLICABILITY The present invention can be used in a paddy field machine having a traveling vehicle body that includes a receiving unit that receives a radio signal from a positioning satellite.

3 Driver's Seat 17 Working Step 18 Auxiliary Frame / Receiving Unit Support 23 Seedling Stand 31 Vertical Frame 32 Connecting Frame / Receiving Unit Support 34 Preliminary Seedling Stand 44 Support Member 45 Receiving Unit 45A Antenna 45B Direction Sensor (Magnetic Compass)
60 canopy 61 roof member / receiving unit support part 67 pole-shaped frame / receiving unit support part A traveling vehicle body B seedling planting device / paddy field work device

Claims (5)

  The receiving unit receives a radio signal from a positioning satellite and obtains position information of the traveling vehicle body. The receiving unit also receives an antenna for receiving a radio wave from the positioning satellite, and an azimuth for detecting the direction from the geomagnetism. A paddy field machine configured to include a sensor, and the receiving unit is supported by a support member formed of a nonmagnetic material with respect to an upper end portion of a receiving unit supporting portion provided in the traveling vehicle body. A seedling planting device is provided at the rear end of the traveling vehicle body for cutting seedlings from a mat-like seedling placed on a seedling stand and planting the seedlings on a farm scene, in order to support a mat shape for replenishing the seedling placement stand A preliminary seedling stage is provided at the front of the traveling vehicle body,
The preliminary seedling stage is supported by a vertical frame provided in a vertical orientation at the left and right positions of the front portion of the traveling vehicle body,
The paddy field work machine according to claim 1, wherein a connecting frame in a horizontal posture that connects upper ends of the left and right vertical frames is used as the receiving unit support.   2. The paddy field work machine according to claim 1, further comprising a canopy having a roof member that covers an upper portion of a driving seat of the traveling vehicle body, wherein the roof member of the canopy is used as the receiving unit support portion. A paddy field working device is provided at the rear end of the traveling vehicle body,
A work step for performing work on the paddy field work device from the traveling vehicle body is formed at a rear end position of the traveling vehicle body, and a handrail-like auxiliary frame for supporting an operator who has boarded the work step is formed at the rear part of the traveling vehicle body. And
The paddy field work machine according to claim 1, wherein the auxiliary frame is used as the receiving unit support.   The paddy field work machine according to claim 1, wherein a dedicated pole-like frame extending upward from the traveling vehicle body is provided as the receiving unit support portion.

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