JP2022075997A - Rice-planting machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a paddy work machine that properly receives a radio signal from a positioning satellite.

SOLUTION: A rice-planting machine includes a positioning system that receives a radio signal from a positioning satellite with an antenna of a receiving unit 45 and acquires position information of a traveling vehicle A. The antenna is supported by a support frame 32 different from the frame for supporting a spare seedling platform.

SELECTED DRAWING: Figure 4

COPYRIGHT: (C)2022,JPO&INPIT

Description

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

As a paddy field working machine configured as described above, Patent Document 1 discloses a technique of autonomous traveling based on position information measured by a GPS device.

In Patent Document 1, a reference line is set by teaching while receiving a radio signal from a GPS satellite (positioning satellite) with a GPS antenna provided on a traveling vehicle body, and a target route parallel to this reference line is set. do. After this setting, it is configured to be able to perform rice planting work in a form of autonomously traveling on a target route while receiving a radio signal from a GPS satellite (positioning satellite).

Japanese Unexamined Patent Publication No. 2008-92818

An object of the present invention is to constitute a paddy field working machine as described above, which can satisfactorily receive a radio wave signal from a positioning satellite.

A feature of the present invention is a positioning system that receives radio signals from a positioning satellite with an antenna of a receiving unit to acquire position information of a traveling vehicle body, and a spare seedling stand frame that supports a spare seedling stand. , A support frame different from the spare seedling stand frame is provided,
The support frame is provided with a vertical frame portion extending in the vertical direction and a rear extending portion extending rearward from the vertical frame portion in a side view, and a lower end portion of the vertical frame is a front end of a steering wheel in a side view. The upper end portion of the vertical frame is located in front of the portion, the upper end portion of the vertical frame is located behind the lower end portion of the vertical frame, and the rear extension portion of the vertical frame extends rearward from the upper end portion of the vertical frame. The point is that the antenna is supported by the rear extension portion so as to be arranged at a position higher than the upper end of the spare seedling mounting frame.
Further, the feature of the present invention is to include a positioning system in which a radio wave signal from a positioning satellite is received by a receiving unit to acquire position information of a traveling vehicle body, and the receiving unit is an antenna for receiving radio waves from the positioning satellite. The receiving unit is supported by a support member formed of a non-magnetic material with respect to the upper end portion of the receiving unit support portion provided on the traveling vehicle body. There is a point.

According to this configuration, by providing the receiving unit at the upper end of the receiving unit support portion, it is possible to receive the radio signal from the positioning satellite by the antenna of the receiving unit without being disturbed by the structure of the vehicle body. Further, since the receiving unit is supported by a support member made of a non-magnetic material with respect to the upper end portion of the receiving unit support portion, for example, when the structure of the vehicle body is a magnetic material or the component of the vehicle body. Even when the magnetism is applied, the distance between the structure of the vehicle body and the directional sensor is increased to suppress the influence on the geomagnetism detected by the directional sensor in the receiving unit.
Therefore, a paddy field working machine that satisfactorily receives radio signals from positioning satellites and detects the direction of the traveling vehicle body with high accuracy by an azimuth sensor based on the geomagnetism is configured.

INDUSTRIAL APPLICABILITY The present invention is provided with a seedling planting device for cutting out seedlings from a mat-shaped seedling placed on a seedling stand and planting them in a field scene at the rear end of the traveling vehicle body, and a mat-shaped seedling for supplying to the seedling stand. A spare seedling stand for supporting the seedlings is provided at the front of the traveling vehicle body, and at the same time,
The spare seedling stand is supported by a vertical frame provided in a vertical position at the left and right positions of the front portion of the traveling vehicle body, and as the receiving unit support portion, the upper ends of the left and right vertical frames are connected horizontally. A posture connecting frame may be used.

According to this, a vertical frame for supporting the spare seedling stand is used, a connecting frame connecting the upper ends of the left and right vertical frames is used as the upper end of the receiving unit support portion, and the receiving unit is supported via the support member. It becomes possible. Since the receiving unit is supported by using the structure for supporting the spare seedling stand in this way, it is not necessary to provide a dedicated frame for supporting the receiving unit. In particular, since the spare seedling stand is placed 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 that on the rear end side of the traveling vehicle body. Changes in information can be detected with high sensitivity.

The present invention includes a canopy having a roof member that covers the upper part of the driver's 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, it is possible to receive radio waves from the positioning satellite 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 the rear end position of the traveling vehicle body. A handrail-shaped auxiliary frame that supports the worker who has boarded the vehicle may be formed at the 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 by the auxiliary frame that supports the worker boarding the work step, it is not necessary to provide a dedicated frame for supporting the receiving unit.

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

According to this, by using the pole-shaped frame, it is possible to arrange the receiving unit at the required height as compared with the one that also serves as the frames provided 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 an overall side view of a rice transplanter. It is an overall plan view of a rice transplanter. It is a front view of the running body of a rice transplanter. It is a perspective view of the front part of the traveling body of a rice transplanter. It is a schematic diagram of a steering operation system. It is a block circuit diagram of a positioning / automatic steering running system. It is a figure which shows the monitor part and the operation panel part of a console. It is an overall side view of the rice transplanter of another embodiment (a). It is an overall side view of the rice transplanter of the modification of another embodiment (a). It is an overall side view of the rice transplanter of another embodiment (b). It is an overall 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 composition of rice transplanter]
As shown in FIGS. 1 to 3, a driver's 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 provided at the rear end of the traveling vehicle body A. A passenger-type rice transplanter as a paddy field working machine is configured by providing a seedling planting device B (an example of a paddy field working device) that can be raised and lowered freely via a link mechanism L that moves up and down by expansion and contraction.

In this rice transplanter, the engine 6 is housed in the bonnet 5 at the front position of the traveling vehicle body A, and the driving force from the engine 6 is changed to the left and right front wheels 1 at the center position of the traveling vehicle body A by the transmission case 7. It is equipped with a traveling transmission system that transmits 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 mission case 7 to the seedling planting device B by the transmission shaft 8. The transmission case 7 is equipped with a planting clutch C that interrupts the driving force transmitted to the transmission shaft 8.

An elevating lever 10 for raising and lowering the seedling planting device B and connecting and disconnecting the planting clutch C is arranged on the right side of the driver's seat 3, and the front wheel 1 is steered in front of the driver's seat 3 at the rear of the bonnet 5. The steering wheel 11 to be operated is arranged. The left side portion of the steering wheel 11 is provided with a main speed change lever 12 for setting the traveling speed, and the right portion of the steering wheel 11 is forcibly raised and lowered by the seedling planting device B and is planted in conjunction with the raising and lowering. A forced elevating lever 13 for performing an 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 a transmission case and 21 connected to the rear end of the link mechanism L to transmit the driving force of the transmission shaft 8, a plurality of ground leveling floats 22, and a mat-shaped seedling. It is configured for 8 rows with a seedling mounting table 23 for mounting and a rotary type planting arm 24 operated by a driving force from a transmission case 21.

A pillar-shaped center mascot 14 is provided at the tip of the bonnet 5. Further, on the left and right sides of the seedling planting device B, a marker device is provided so as to be able to switch between a working posture and a retracting posture. The marker device is a marker arm 26 that is swingably supported around a swing axis in a front-back posture with respect to the seedling planting device B, and is rotatably supported by the swing end of the marker arm 26 and has an outer circumference. It is composed of a marker ring 27 on which a plurality of protrusions are formed.

When the marker arm 26 is set to the acting posture shown in FIG. 1, the outer periphery of the marker ring 27 comes into contact with the field scene, and rotates with the running of the traveling vehicle body A so as to be the center of the next running with respect to the field scene. Concave marks are continuously formed. As a result, when the traveling vehicle body A is turned to continue the seedling planting work by forming a concave mark in the field scene by the marker ring 27, the center mascot 14 is used with respect to the mark in the field scene. By performing the steering operation in a visually aiming manner, it is possible to plant seedlings at the optimum position based on the row of already planted seedlings.

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

In this rice transplanter, when performing seedling planting work, the seedling planting device B is lowered to a level where the leveling float 22 touches the ground by operating the elevating lever 10, and the planting clutch C is engaged to operate the traveling vehicle body A. It will be run. As a result, with the ground leveling float 22 leveling the mud surface at the seedling planting site, the seedling mounting table 23 is reciprocated in the left-right direction by the driving force transmitted from the traveling vehicle body A, and is placed on the seedling mounting table 23 during this reciprocating operation. From the lower end of the placed mat-shaped seedlings, the planting claws of the plurality of planting arms 24 cut out the seedlings in predetermined amounts and plant them in the field. Then, if necessary, a concave mark is formed in the field scene by the marker device.

In particular, in the rice transplanter of the present invention, the traveling 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 traveling route parallel to the stored route. It is possible to do. After setting the target traveling route in this way, it is also possible to automatically steer the traveling vehicle body A along the target traveling route.

It should be noted that this rice transplanter is also configured so that the worker can perform the seedling planting work by the artificial steering running in which the operator operates the steering wheel 11 without the automatic steering running even in the situation where the target running path is set. For this reason, a marker device is provided.

[Body composition]
In this rice transplanter, a driving unit having a driver's seat 3 is formed in the center of the traveling vehicle body A, a driving unit step 15 is formed at the foot portion of the driving unit, and auxiliary steps 15A are formed at the left and right outer positions. There is. On the left and right sides of the bonnet 5 at the front of the traveling vehicle body A, boarding / alighting steps 16 are formed as boarding / alighting passages that are continuously connected to the driving section step 15 without steps. In the boarding / alighting step 16, the front end of the traveling vehicle body A is brought close to the ridge, and the worker can easily move between the ridge and the traveling vehicle body A.

The 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 in the front part in the center of the work step 17, and extends in the left-right direction of the work step 17 which is a rear position of the driver's seat 3. In the area, it is possible to work with the worker on board.

The work step 17 facilitates the supply of mat-shaped seedlings to the seedling mounting table 23 of the seedling planting device B, and is behind the left and right support frame bodies 18A so as to support the workers boarding the work step 17. An auxiliary frame 18 having a handrail-shaped horizontal frame body 18B connected to the end position is formed along the work step 17. The auxiliary frame 18 is configured so that the posture of the worker can be stabilized not only by the worker but also by contacting a part of the worker's body.

At the front position of the traveling vehicle body A, a vertical frame 31 in a vertical posture outside the left and right boarding / alighting steps 16, a connecting frame 32 connected to the upper end of the vertical frame 31, and the upper end thereof being intermediate between the vertical frames 31. A support frame portion having a gate shape is provided by an auxiliary vertical frame 33 which is connected to the portion and has a posture parallel to the left and right vertical frames 31.

A pipe material is used for the vertical frame 31, and by bending the vertical frame 31, 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. Then, the left and right connecting frames 32 are integrated by connecting the extending ends of the respective connecting frames 32 with the bracket 42. The left and right vertical frames 31 and the connecting frame 32 connecting them may be formed of a single member by bending a long pipe material.

This support frame portion is formed in a gate shape in a front view, and is formed by 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 frame 33. It is supported by the body frame.

In this rice transplanter, a plurality of spare seedling stands 34 are supported for the vertical frame 31 and the auxiliary vertical frame 33 connected to the vertical frame 31.

With this configuration, the plurality of spare seedling stands 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 / alighting step 16, and in the boarding / alighting step 16. There is no hindrance to the movement of workers.

[Meter panels]
As shown in FIG. 4, the meter panel 36 is arranged in front of the steering wheel 11 at the rear end position of the bonnet 5. The meter panel 36 is configured to be provided with 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 displays the hour meter, the status of the automatic planting clutch, the remaining amount of fuel, the temperature of the cooling water, and the like. Further, as a plurality of indicator lamps, an oil-out lamp, a charge lamp, a seedling out-of-seeding lamp, a planting indicator lamp, an Azegiwa clutch lamp, a marker lamp and the like are provided.

The meter panel 36 may be provided with only a liquid crystal display device, and may be configured to display all the work information on the liquid crystal display device. Further, not only the lamp but also an indicator for operating the pointer may be provided.

An inverted U-shaped console support frame 37 having a lower end penetrating through the left and right sides of the rear portion of the bonnet 5 and connecting to the traveling vehicle body A is provided, and the console D is supported by the inverted U-shaped console support frame 37. 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 in which the upper end side is displaced forward.

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 to integrally form the eaves portion 41. Has been done. The console D is formed in a box shape and is supported by the connecting plate 40. From such a support form, the eaves 41 protrudes from above the console D toward the driver's seat 3. Incidentally, although the left and right sides of the console D are not provided with a function as a shade, eaves 41 may be provided on the left and right sides of the console D. This makes it possible to block the sunlight shining on the monitor unit 38 from the side.

The console D is arranged within the width of the bonnet 5 and within the width of the steering wheel 11 in the front-rear direction view, and the lower end of the monitor unit 38 is arranged so as to be above the upper end of the steering wheel 11. Further, since the console support frame 37 is formed in the above-mentioned tilted posture, the monitor unit 38 of the console D can be easily visually recognized and the information can be surely grasped by lowering the line of sight slightly from the front during work, and the console D can be assured. It does not interfere with the visibility of the center mascot 14.

As shown in FIG. 7, on the surface of the console D facing the driver's seat 3, a monitor unit 38 having a liquid crystal display and a touch panel 38A formed on the display surface and an operation panel unit 39 are formed. The operation panel unit 39 is provided with a plurality of operation switches 39A in order to enable ON / OFF of the power button and various operations. In addition to the operation switch 39A, the operation panel unit 39 may be provided with a notification lamp, or may be provided with 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, indicates a mode display unit 102 indicating that the vehicle is in automatic steering, a target travel route line 103 corresponding to the target travel route, and steering. An icon 104 that reflects 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 capable of inputting information and the like necessary for automatic steering running. The display form of the monitor unit 38 will be described later.

[Transformation example of console layout]
In this embodiment, the console D is fixed to the console support frame 37, but instead of this, the console D is swingably supported around the axis of the lateral posture, and the swing posture is changed. By providing a clamp mechanism or the like for holding the console D, the console D may be supported so that the angle can be adjusted. By supporting the angle adjustable in this way, the angle of the console D is set according to the physique of the operator seated in the driver's seat 3, and the visibility of the display of the monitor unit 38 formed on the console D is improved. It will be 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 table 23 of the seedling planting device B. By arranging in this way, when the mat-shaped seedlings placed on the spare seedling stand 34 are replenished to the seedling stand 23, the inconvenience of the mat-shaped seedlings touching the console D is reduced, and the seedlings are replenished. Let it go smoothly.

[Positioning / Automatic Steering Driving System]
As shown in FIGS. 3 and 4, at the center position of the connecting frame 32 (an example of the receiving unit support portion) of the support frame portion in the left-right direction, resin, aluminum, or the like is not applied 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 non-magnetic material is provided on the upper surface of the support plate 43, and the receiving unit 45 is supported while being mounted 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 a directional sensor) that detects the direction from the geomagnetism, and a posture change of the traveling vehicle body A. It has a built-in gyro sensor 45C that captures the antenna by inertia.
In this configuration, since the receiving unit 45 is arranged at the front position of the traveling vehicle body A, when the traveling vehicle body A changes the traveling direction, it is displaced laterally as compared with the rear end side of the traveling vehicle body A. The amount is large, and changes in position information can be detected with high sensitivity.

A part of the steel material constituting the rice transplanter may be magnetized during manufacturing 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. Sometimes the accuracy was reduced. For this reason, by using a non-magnetic material having a predetermined thickness as the support member 44, the distance between the connecting frame 32 and the like and the magnetic compass 45B is increased to suppress the influence of magnetism. Further, as the support member, in addition to synthetic rubber, a member having anti-vibration property such as urethane foam can be used.

The console D includes a receiving circuit 46 for acquiring position information by receiving a radio 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 by including the receiving unit 45 and the console D.

The control unit 47 includes a teaching processing unit 47A composed of 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 receiving circuit 46 is provided inside the console D, but the receiving circuit 46 may be provided inside the receiving unit 45. Further, at least one of the teaching processing unit 47A, the travel route determination unit 47B, and the travel control unit 47C is configured by the hardware of the logic IC, or is configured by the combination of the hardware and the software. Is 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 operated by the driving force of the power steering unit 52 is formed on the lower surface of the mission case 7.

An operating gear 54 is fixedly provided in the vicinity of the lower end portion of the steering shaft 51, and a steering control motor 56 for driving a pinion gear 55 that meshes with the operating gear 54 is provided. Further, a rotary encoder 57 for measuring 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 on the front portion and the side portion of the steering shaft 51, the inside of the bonnet 5 can be effectively used, and it is not necessary to form a space overhanging below the driver's seat 3. It is configured as follows.

In this rice transplanter, the rice transplanter is run between one ridge and the other ridge of the field by an artificial steering of an operator, and the teaching processing unit 47A of the control unit 47 acquires the running route during this running, and this It is configured so that a target travel route can be generated and stored from the travel route.

The traveling route is recognized as a straight line by the control unit 47, and a plurality of target traveling routes are set at intervals corresponding to the seedling planting width of 8 rows so as to be in a posture parallel to the traveling 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 the information from the positioning system, and travel control is performed. The unit 47C controls the steering control motor 56 to automatically steer the traveling vehicle body A along the target traveling path.

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

[Positioning / Automatic Steering Driving System: Console Display Form]
At the time of automatic steering running, as shown in FIG. 7, an automatic steering running 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 operation of the setting button 101 is detected via the touch panel by touching the screen with a finger or the like, and various settings are realized. Character information indicating that the vehicle is in the automatic steering state is displayed on the mode display unit 102.

In this automatic steering running screen, the target traveling path 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, and the icon 104 is used as a reference. The declination line 105 indicating the declination angle (declination) in the traveling direction of the traveling vehicle body and the indicator unit 106 indicating the amount of declination are displayed.

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

As a result, when performing automatic steering running, the system is started by operating the operation switch 39A of the console D, and the teaching is possible by operating the operation switch 39A or the setting button 101, and artificial steering running is performed. The teaching processing unit 47A acquires a travel route and sets a target travel route. After that, by shifting to the mode of automatic steering running, the screen of FIG. 7 described above is displayed on the monitor unit 38, and automatic steering running along the target traveling 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, gyro sensor 45C, etc. can be checked and calibrated.

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

In particular, when the operator operates the steering wheel 11 to drive the traveling vehicle body A during the seedling planting work and supplies the mat-shaped seedlings of the spare seedling mounting table 34 to the seedling mounting table 23 of the seedling planting device B. Only, it is also possible to select automatic steering driving. 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 by using the connecting frame 32 connecting the upper ends of the vertical frames 31 supporting the spare seedling mounting table 34 as the receiving unit support portion, the vehicle body A travels on a dedicated frame. Even if the reception unit 45 is arranged at a high position, the radio signal from the positioning satellite can be received satisfactorily. Further, by using the support member 44, the distance between the magnetic compass 45B and the connecting frame 32 is expanded, 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 oriented based on the geomagnetism. The magnetic compass 45B can detect the direction with high accuracy.

Since the console D fits within the width of the bonnet 5 and also fits within the width of the steering wheel 11 in the front-rear direction view, even when the worker moves on the boarding / alighting step 16, the worker's clothes and the like can be seen on the console D and the like. You can 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 in the driver's seat 3 is directed, it is not necessary to move the line of sight significantly when visually recognizing the display contents of the monitor unit 38 of the console D. In particular, even when the work is performed in an environment where the sunlight directly shines, the eaves 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 above-described embodiment.

(A) As shown in FIG. 8, a canopy 60 having a roof member 61 that covers the upper part of the driver's seat 3 of the traveling vehicle body A, a windshield 62, and a transparent wall body 63 made of resin is provided. A door that can be opened and closed is formed on at least one of the left and right wall bodies 63. Then, the roof member 61 is used as a receiving unit support member, and the receiving unit 45 is supported with respect to the roof member 61 via the support member 44. As the support member 44, a material such as synthetic rubber having flexibility is used as a non-magnetic material.

The canopy 60 does not need to form a closed space by the wall body 63 or the like, and may be configured not to include a part of the wall body 63, for example. Further, the target provided with the canopy 60 is not limited to the rice transplanter, and may be a seeding machine in which a seeding device is connected to the rear end of the traveling vehicle body A.

By supporting the receiving unit 45 on the roof member 61 via the supporting member 44 in this way, the receiving unit 45 can be arranged at a high position, and as a result, the radio waves from the positioning satellite are 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 portion is suppressed.

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

By supporting the receiving unit 45 with respect to the simplified canopy 60 via the support member 44 in this way, even if a part of the roof member 61 or the pillar 64 is magnetized, the magnetism from the magnetized portion can be obtained. Suppress the impact.

(B) As shown in FIG. 10, in the same configuration as the rice transplanter (an example of a paddy field work machine) configured in the same manner as in the embodiment, the auxiliary frame 18 is used as 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 column-shaped intermediate frame 65. As the support member 44, a material such as synthetic rubber having flexibility is used as a non-magnetic material.

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

By supporting the receiving unit 45 with respect to the auxiliary frame 18 in this way, the receiving unit 45 can be arranged 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 work while boarding the work step 17 is not hindered, and by using the intermediate frame 65, the receiving unit is placed at a higher position. 45 can be placed.

(C) As shown in FIG. 11, at the front end of the traveling vehicle body A, a pole-shaped frame having a vertical posture as a receiving unit support member at the center position in the left-right direction or at one of the left and right ends. 67 is provided, and the receiving unit 45 is supported by the support member 44. As the support member 44, a material such as synthetic rubber having flexibility is used as a non-magnetic material.

In this other embodiment (c), the pole-shaped frame 67 extending upward at the front end of the traveling vehicle body A is arranged, but for example, it is arranged at a side position of the driver's seat 3 or a rear position of the driver's seat 3. Is also good.

By using the dedicated pole-shaped frame 67 in this way, the receiving unit 45 can be arranged at the 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, but instead of this, the engine 6 may be applied to a paddy field working machine configured to be arranged under the driver's seat 3.

(E) In the above-described embodiment, the target traveling route is generated based on the teaching, but instead of the teaching, for example, a bird's-eye view image of the field scene is displayed on the monitor unit 38 or the like, and is displayed in this way. In the field scene, the control mode may be set so that the operator sets the target traveling 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 work with a tractor, the route data traveled by the vehicle body is stored in a semiconductor storage medium or the like, and this semiconductor storage is performed. By loading the route data stored in the medium or the like into the automatic steering traveling system of the rice transplanter, the control mode may be set so as to generate the target traveling route in this automatic steering traveling system.

INDUSTRIAL APPLICABILITY The present invention can be used for a paddy field working machine equipped with a receiving unit for receiving a radio signal from a positioning satellite in a traveling vehicle body.

3 Driver's seat 17 Work step 18 Auxiliary frame / receiver unit support 23 Seedling stand 31 Vertical frame 32 Connecting frame / receiving unit support 34 Spare seedling mount 44 Support member 45 Receiver unit 45A Antenna 45B Orientation sensor (magnetic compass)
60 Canopy 61 Roof member / Receiving unit support 67 Pole-shaped frame / Receiving unit support A Traveling vehicle body B Seedling planting device / Paddy field work device

Claims (1)

Equipped with a positioning system that receives radio signals from positioning satellites with the antenna of the receiving unit and acquires the position information of the traveling vehicle body.
Equipped with a spare seedling stand frame to support the spare seedling stand,
A support frame different from the spare seedling stand frame is provided, and the support frame is provided.
The support frame is provided with a vertical frame portion extending in the vertical direction and a rear extending portion extending rearward from the vertical frame portion in a side view.
In side view, the lower end of the vertical frame is located in front of the front end of the steering wheel, the upper end of the vertical frame is located behind the lower end of the vertical frame, and the rear of the vertical frame. The extending portion extends rearward from the upper end portion of the vertical frame,
A rice transplanter supported by the rear extension portion so that the antenna is arranged at a position higher than the upper end of the spare seedling mounting frame.

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