JP2022104721A - Display and agricultural machine having the display - Google Patents

Abstract

To provide a display which can clearly grasp an agricultural work situation while traveling on a farm field, and an agricultural machine having the display.SOLUTION: A display includes a display part 61c for displaying a figure indicating a work situation from an agricultural work part of a traveling vehicle body having the agricultural work part for performing agriculture work, and a control part for controlling the display part 61c. The display part 61c includes a field display part 190 for displaying a figure indicating a field on which the traveling vehicle body travels, a vehicle body display part 191 for displaying a figure indicating a position of the traveling vehicle body on the field display part 190, and an agricultural work part display part 192 for displaying a figure displaying the agricultural work part at a side corresponding to a direction of the agricultural work part with respect to the traveling vehicle body of the vehicle body display part 191. The control part makes the agricultural work part display part 192 display a work state that the agricultural work part performs work, and a stop state that the agricultural work part stops the work in different display forms.SELECTED DRAWING: Figure 14

Description

The present invention relates to a display device of an agricultural machine for spraying a sprayed material and an agricultural machine provided with the display device.

Conventionally, Patent Document 1 discloses a display device that displays a position of a tractor when traveling in a field. In the technique disclosed in Patent Document 1, in a field, a guidance line including a work line of a tractor performing work in the field can be displayed on a display device, and the tractor can be navigated.

Japanese Patent No. 5667731

However, since the display device described in Patent Document 1 cannot display the work status of the farm work in the field, the worker cannot clearly grasp the work status of the farm work while traveling in the field.
Therefore, in view of the above problems, it is an object of the present invention to provide a display device capable of clearly grasping the work status of agricultural work while traveling in a field.

The technical means of the present invention for solving this technical problem is characterized by the following points.
The display device is a display device including a display unit that displays a figure showing a work status from the farm work unit of a traveling vehicle body having a farm work unit that performs farm work, and a control unit that controls the display unit. The display unit represents a field display unit that displays a figure representing a field on which the traveling vehicle body travels, a vehicle body display unit that displays a figure representing the position of the traveling vehicle body on the field display unit, and the agricultural work unit. The control unit includes a farm work unit display unit that displays a figure on the side of the vehicle body display unit corresponding to the direction of the farm work unit with respect to the traveling vehicle body. The work state in which the work is being performed and the stopped state in which the agricultural work unit has stopped the work are displayed in different display forms.

Preferably, the control unit causes the agricultural work unit display unit to display the display color in the working state and the display color in the stopped state so as to be different from each other.
Preferably, the agricultural work unit display unit includes a first agricultural work unit display unit that displays the work state of the first agricultural work unit that performs work on the left or left side of the traveling vehicle body, and a right portion or right side of the traveling vehicle body. It has a second agricultural work unit display unit that displays the work status of the second agricultural work unit that performs work in.

Preferably, the control unit causes the first agricultural work unit display unit to display the work state and the stopped state of the first agricultural work unit in different display forms, and the second agricultural work unit display unit displays the second agricultural work unit. The display device according to claim 3, wherein the working state and the stopped state are displayed in different display forms.
Preferably, the display unit includes a locus display unit that displays a figure representing a work locus of work by the agricultural work unit on the field display unit.
Preferably, the control unit causes the locus display unit to display a figure representing the work locus along the movement locus of the farm work unit in the working state so as to overlap with the field display unit.

Preferably, the locus display unit displays a figure representing a work locus by the first agricultural work unit display unit that displays the work state of the first agricultural work unit that performs work on the left side or the left side of the traveling vehicle body. It has a display unit and a second locus display unit that displays a figure showing a work locus by the second agricultural work unit display unit that displays the work state of the second agricultural work unit that performs work on the right side or the right side of the traveling vehicle body. The control unit causes the first locus display unit to display a figure representing the work locus by the first agricultural work unit along the movement locus of the first agricultural work unit in the working state on the field display unit. A figure representing a work locus by the second agricultural work unit is displayed on the second locus display unit so as to be superimposed on the field display unit along the movement locus of the second agricultural work unit in the working state.

Preferably, the storage unit is provided to store the work locus, and the control unit stores the work locus in the storage unit.
Preferably, the farming work is a spraying work for spraying the sprayed material, and the farming work unit includes a first spraying unit provided on a first boom extending to the left from the traveling vehicle body and a right side from the traveling vehicle body. Includes a second spraying portion provided on the second boom extending to.

The agricultural machine includes a traveling vehicle body having an agricultural work unit for performing agricultural work and a display device having a display unit for displaying a figure showing a work status of the agricultural work unit, and the display device is the above-mentioned display device.

According to the present invention, since the work status of the farm work can be clearly grasped by the display of the farm work unit display unit of the display device, the work status of the farm work can be clearly grasped while traveling in the field.

It is a front view of an agricultural machine. It is a side view of an agricultural machine seen from the right. It is a plan view of an agricultural machine. It is a figure which shows the 1st pipe of a transport pipe. It is a figure which shows the 2nd pipe of a transport pipe. It is a figure which shows the system from a blower to a spraying part. It is a figure which shows the state which the covering plate is in a 2nd position. It is a figure which shows the state which the covering plate is in a 1st position. The control block diagram of the agricultural machine is shown. It is a figure which shows an example of a plan screen M1. It is a figure which shows an example of the spraying plan stored in the plan storage part. It is a figure which shows the relationship between the 1st spraying amount Fn and the 2nd spraying amount Rn when the agricultural machine is located in the area Qn. It is a figure which shows the relationship between the 1st spraying amount Fn and the 2nd spraying amount Rn when the agricultural machine is located at the boundary of the area Qn, the 1st pipe is located in the left area, and the 2nd pipe is located in the right area. .. It is a figure which shows the relationship between the 1st spraying amount Fn and the 2nd spraying amount Rn which are different from FIG. 11B. It is a figure which shows an example of a plurality of regulation lines which regulate the relationship between the rotation speed of the motor which drives a blower, and the blower amount per unit time of a blower. It is an example of a display screen displayed on the display unit, and is a screen on which a selection menu for selecting one specified line from a plurality of specified lines is displayed. It is an example of the display screen displayed on the display unit, and is a screen displaying an operation switch for performing an operation of spraying the sprayed material from the spraying unit, a figure showing the spraying status from the spraying unit, and a margin gauge. .. It is the figure which extracted only the operation switch from the display screen and showed. It is a figure which shows the change form of the operation switch. It is a figure which shows another modification form of an operation switch. It is a figure which shows the margin gauge which shows a different margin. It is a figure which shows an example of the system configuration of the agricultural machine which calculates the margin degree, and the flow of a processing operation. It is a front view which shows the upper part of a cabin. It is a side view which shows the front upper part of a cabin. It is a perspective view of a support bracket. It is a front view of a support bracket. It is a top view of the support bracket. It is a side view of a support bracket. It is a perspective view of a support bracket, a support plate, and a positioning device. It is a top view of the support bracket, the support plate, and the positioning device.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 to 3 are external views of the agricultural machine 1 according to the present invention. The agricultural machine 1 is a machine that travels in a field or the like to perform agricultural work. The agricultural machine 1 of this embodiment can spray the sprayed material. The sprayed product is, for example, a granular fertilizer, a seedling, a herbicide, or the like, and is a solid product.
In the case of the present embodiment, the agricultural machine 1 is a passenger agricultural machine (for example, a passenger management machine) capable of spraying the sprayed material. However, the agricultural machine 1 is not limited to the passenger agricultural machine, and may be, for example, a tractor equipped with a working device (implement) such as a spraying device.

As shown in FIGS. 1 to 3, the agricultural machine 1 includes an airframe (body) 2, a traveling device 3, and a motor 4. The traveling device 3 supports the machine body 2 so as to be able to travel. Hereinafter, the machine body 2 and the traveling device 3 may be collectively referred to as a traveling vehicle body 8. The traveling device 3 is a wheel-type device having a front wheel 3F rotatably supported by an axle at the front of the airframe 2 and a rear wheel 3R rotatably supported by an axle at the rear of the airframe 2. The traveling device 3 may be a crawler type traveling device.

The prime mover 4 is provided in the body 2 and is an internal combustion engine such as a diesel engine or a gasoline engine, or a rotary electric machine such as a motor or a motor generator. The prime mover 4 may be both an internal combustion engine and a rotary electric machine. In this embodiment, the prime mover 4 is an internal combustion engine.
The machine body 2 is provided with a driver's seat 5, a steering device 6 such as a steering handle that steers the traveling device 3, and a transmission 7 such as a transmission to which the power of the prime mover 4 is transmitted. In the transmission 7, the shift stage is changed by operating the operation member arranged around the driver's seat 5, and the speed (vehicle speed) of the machine body 2 is changed according to the shift stage. The transmission 7 may be a continuously variable transmission. Further, the transmission 7 is provided with a PTO shaft that is rotated by the power of the prime mover 4.

The agricultural machine 1 is provided with a plurality of container 10s for accommodating the sprayed material. The plurality of reservoirs 10 are arranged in the width direction of the machine body 2 and are supported by the machine body 2. The plurality of container 10s include a left container 10L provided on one side (left side) of the machine body 2 and a right container 10R provided on the other side (right side) of the machine body 2. Each of the plurality of containers 10, that is, the left container 10L and the right container 10R, is provided with spray amount adjusting devices 11L and 11R for adjusting and discharging the spray amount of the sprayed material. Hereinafter, for convenience of explanation, the spraying amount adjusting device 11L may be referred to as a “first spraying amount adjusting device 11L”, and the spraying amount adjusting device 11R may be referred to as a “second spraying amount adjusting device 11R”.

The first spray amount adjusting device 11L has a case 12L into which the spray material of the left container 10L is introduced, a spray discharge mechanism 13 for discharging the spray material, and a first electric motor 14L for driving the spray discharge mechanism 13. ing. The spray discharge mechanism 13 is a roll-type mechanism that discharges the spray material of the case 12L by rotating the roll, or opens and closes the shutter to change the opening area of the discharge port at the lower part of the case 12L to discharge the spray material. It is a shutter-type mechanism that discharges. In this embodiment, the spray discharge mechanism 13 includes a feeding roller 13L rotatably supported by the case 12L.

An introduction port (inlet) into which the sprayed material is introduced is formed at the upper end of the case 12L, and an outlet (discharge port) for discharging the sprayed material is formed at the lower end of the case 12L. The sprinkled material contained in the left container 10L is discharged by the rotation of the feeding roller 13L. A recess for the sprayed material is formed on the peripheral wall of the feeding roller 13L, and the sprayed amount is measured by the sprayed material entering the recess. As shown in FIG. 8, the first electric motor 14L is driven by the control signal of the control device 60. The first electric motor 14L controls the rotation speed (rotation speed) of the feeding roller 13L by the control signal output from the control device 60, and discharges from the first spray amount adjusting device 11L by the rotation speed of the feeding roller 13L. It is possible to adjust the spraying amount (discharge spraying amount) of the sprayed material to be sprayed. When the spray discharge mechanism 13 is a shutter type mechanism, the first electric motor 14L controls the opening degree of the shutter by the control signal output from the control device 60, and the first spraying is performed by the opening degree of the shutter. The amount of sprayed material discharged from the amount adjusting device 11L (discharged spraying amount) can be adjusted.

The second spray amount adjusting device 11R has a case 12R into which the spray material of the right container 10R is introduced, a spray discharge mechanism 13 for discharging the spray material, and a first electric motor 14R for driving the spray discharge mechanism 13. ing. In this embodiment, the spray discharge mechanism 13 includes a feeding roller 13R rotatably supported by the case 12R, similarly to the first spray amount adjusting device 11L.
Similar to the case 12L, an introduction port is formed at the upper end of the case 12R, and a discharge port is formed at the lower end of the case 12R. The sprinkled material contained in the left container 10L is discharged by the rotation of the feeding roller 13R. Similar to the feeding roller 13L, the peripheral wall of the feeding roller 13R is formed with a recess for the sprayed material to enter, and the sprayed amount is measured by the sprayed material entering the recess. The first electric motor 14R is driven by a control signal of the control device 60. The first electric motor 14R is controlled by the control signal output from the control device 60 to control the rotation speed (rotation speed) of the feeding roller 13R, and is discharged from the second spray amount adjusting device 11R by the rotation speed of the feeding roller 13R. It is possible to adjust the spraying amount (discharge spraying amount) of the sprayed material to be sprayed. When the spray discharge mechanism 13 is a shutter type mechanism, the first electric motor 14R controls the opening degree of the shutter by the control signal output from the control device 60, and the second spraying is performed by the opening degree of the shutter. The amount of sprayed material discharged from the amount adjusting device 11R (discharged spraying amount) can be adjusted.

The agricultural machine 1 includes a transport pipe 15 through which the sprayed material is distributed. The transport pipe 15 is a pipe that circulates the sprayed material discharged from each of the first spraying amount adjusting device 11L and the second spraying amount adjusting device 11R. The transport pipe 15 is a pipe that can be extended in the width direction of the machine body 2, and is a first pipe 15L extending to one side (left side) of the machine body 2 in the extended state and the other side (the other side of the machine body 2) in the extended state. It includes a second pipe 15R extending to the right side).

The first pipe 15L is supported by the first boom 18L extending to the left from the machine body 2, and extends from the base end portion of the first boom 18L toward the tip end portion. The second pipe 15R is supported by the second boom 18R extending to the right from the machine body 2, and extends from the base end portion to the tip end portion of the second boom 18R.
As shown in FIG. 3, the first boom 18L and the second boom 18R can be bent into a retracted state in which the tip portion is located behind the machine body 2 and a spraying state in which the tip portion is located in the width direction of the machine body 2. Ups and downs are possible). The first boom 18L extends to the left of the machine body 2 when it is in a spraying state. When the first boom 18L and the second boom 18R are in the spraying state, the first pipe 15L extends to the left of the machine body 2, and the second tube 15R extends to the right of the machine body 2.

The first boom 18L and the second boom 18R may be configured to be expandable and contractible. The expandable configuration is realized, for example, by elastically joining two cylinders 25 and 26 (see FIGS. 4A and 4B) described later. In this case, the first boom 18L can be changed into a shortened state in which the length extending to the left is short and an extended state in which the length extending to the left is longer than the shortened state. The second boom 18R can be changed into a shortened state in which the length extending to the right is short and an extended state in which the length extending to the right is longer than the shortened state. That is, the first boom 18L can be extended to the left, and the second boom 18R can be extended to the right.

The undulating operation and the expansion / contraction operation of the first boom 18L and the second boom 18R can be performed by an actuator such as a motor or a cylinder. The operation of the actuator can be controlled by the control device 60 described later.
As shown in FIG. 1, a connecting portion 19L is formed on the base end side of the first pipe 15L, and the connecting portion 19L is connected to the discharge port of the case 12L of the first spray amount adjusting device 11L. .. A connecting portion 19R is formed on the base end side of the second pipe 15R, and the connecting portion 19R is connected to the discharge port of the case 12R of the second spray amount adjusting device 11R.

As shown in FIG. 4A, a plurality of spray openings 21L are formed at predetermined intervals on the peripheral wall of the first pipe 15L from the base end side to the tip end side. The plurality of spray ports 21L are holes for spraying the sprayed material to the outside. A plurality of spraying portions 22 are attached to positions corresponding to each of the plurality of spray ports 21L. As a result, the first boom 18L is provided with a plurality of spraying portions 22. The plurality of spraying portions 22 are provided along the first boom 18L. Hereinafter, the plurality of spraying portions 22 provided on the first boom 18L may be collectively referred to as “first spraying portion 221”. Each of the plurality of spraying portions 22 includes a tubular body 22A having substantially the same outer diameter as the opening of the spray port 21L, and a deflector 22B provided on the tubular body 22A. The inner diameters of the plurality of cylinders 22A are the same.

Further, an opening 23 that opens in the axial direction is formed at the tip of the first pipe 15L, and the opening 23 also functions as a spray port 21L. The opening 23 is provided with an opening plate 24 for adjusting the opening of the opening 23.
In the first pipe 15L, the inner diameter Ra on the first spray amount adjusting device 11L side (base end side) is larger than the inner diameter Rb of the tip portion on the opposite side to the base end portion. Specifically, the first pipe 15L is configured by elastically joining at least two cylinders 25 and 26, and the inner diameter Ra of the cylinder 25 on the proximal end side is the inner diameter Ra of the cylinder 26 on the distal end side. Greater than Rb.

As shown in FIG. 4B, a plurality of spraying ports 21R are formed on the peripheral wall of the second pipe 15R as in the case of the first pipe 15L, and a plurality of spraying portions are located at positions corresponding to each of the plurality of spraying ports 21R. 22 is attached. As a result, the second boom 18R is also provided with a plurality of spraying portions 22. The plurality of spraying portions 22 are provided along the second boom 18R. Hereinafter, a plurality of spraying portions 22 provided on the second boom 18R may be collectively referred to as a “second spraying portion 222”. Further, an opening 23 is also formed at the tip of the second pipe 15R, and the opening 23 also functions as a spray port 21R. An opening plate 24 is also provided in the opening 23 of the second pipe 15R.

In the second pipe 15R, the inner diameter Ra on the second spray amount adjusting device 11R side (base end side) is larger than the inner diameter Rb at the tip end. Specifically, the second pipe 15R is also configured by elastically joining two cylinders 25 and 26 like the first pipe 15L, and the inner diameter Ra of the cylinder 25 on the base end side is set. It is larger than the inner diameter Rb of the cylinder 26 on the tip side.
As shown in FIGS. 1, 4, 4A, 4B, 5, 6, and 7, the transport pipe 15 is a supply pipe through which a medium for transporting a spray, a medium for transporting a liquid, a gas, or the like flows. Has 29. The base end portion of the supply pipe 29 is arranged at the rear portion of the machine body 2 and is connected to the delivery port 201b of the blower 201 described later. The supply pipe 29 may be composed of two independent pipes (third pipe 29L and fourth pipe 29R), or one pipe at the base end and two pipes (third pipe) in the middle part. It may be branched into 29L and the fourth pipe 29R). The third pipe 29L and the fourth pipe 29R are supported by the side of the machine body 2 and extend forward. The tip end side of the third pipe 29L is connected to the first pipe 15L, and the tip end side of the fourth pipe 29R is connected to the second pipe 15R.

The agricultural machine 1 includes a transport adjusting device that adjusts the amount of the medium for transporting the sprayed material. In this embodiment, as shown in FIGS. 2 and 3, the transport adjusting device determines the amount of gas as a medium, that is, the blower 201 that generates the transport air for transporting the sprayed material, and the blower amount of the blower 201. The adjustable adjusting device 202. The blower 201 is attached to the rear part of the machine body 2.
In the case of the present embodiment, the number of blowers 201 attached to the machine 2 is one, but two or more blowers 201 may be attached to the machine 2. For example, when one blower 201 is attached to the machine body 2, the supply pipe 29 having a base end portion of one pipe and branched into two pipes (third pipe 29L and fourth pipe 29R) in the middle portion is used. Can be used. When two blowers 201 are attached to the machine body 2, the supply pipe 29 is composed of two independent pipes (third pipe 29L and fourth pipe 29R), and one blower is combined with one supply pipe (third pipe 29L). It can be connected and the other blower can be connected to the other supply pipe (fourth pipe 29R). When two or more blowers 201 are attached to the machine body 2, an adjusting device 202 capable of adjusting the amount of blown air is provided for each blower 201. In this case, the two or more blowers 201 and the two or more adjusting devices 202 can be arranged side by side in the front-rear direction.

As shown in FIGS. 6 and 7, the blower 201 has a suction port 201a for sucking in outside air (air) and a delivery port 201b for sending out the outside air sucked from the suction port 201a to the transport pipe 15. In the case of the present embodiment, the blower 201 is a blower fan (sirocco fan), but may be another type of fan (for example, a centrifugal fan, an axial flow fan, etc.). The suction port 201a and the delivery port 201b are formed in a cylindrical shape, and the opening shapes of the suction port 201a and the delivery port 201b are circular. However, the opening shape of the suction port 201a and the delivery port 201b is not limited to a circular shape, and may be another shape (square shape or the like).

The adjusting device 202 has a second electric motor 35, a covering plate 203 capable of covering the suction port 201a of the blower 201, and a cooperation mechanism 204 for coordinating the output shaft of the second electric motor 35 and the covering plate 203. ing. The cooperation mechanism 204 is a mechanism for transmitting the power of the second electric motor 35 to the covering plate 203, and converts the rotation of the output shaft of the second electric motor 35 into the movement (swing) of the covering plate 203.

In the second electric motor 35, the rotation (rotational direction, rotation speed) of the output shaft is controlled by the control device 60. The output shaft of the second electric motor 35 is connected to the covering plate 203 via the cooperation mechanism 204. A speed reducing device or the like is interposed between the output shaft of the second electric motor 35 and the cooperation mechanism 204, if necessary. The covering plate 203 moves with the rotation of the output shaft of the second electric motor 35. The covering plate 203 changes its position between the first position P1 (see FIG. 7) and the second position P2 (see FIG. 6) by swinging in an arc shape with the pivot portion 207 as a fulcrum.

In this way, by changing the position of the covering plate 203 between the first position P1 and the second position P2, the area of the region where the covering plate 203 covers the suction port 201a changes from 0% to 100%. Therefore, the air volume (transport air volume) of the blower 201 can be controlled. Further, the air volume (conveyed air volume) of the blower 201 can be controlled by changing the area of the region where the covering plate 203 covers the suction port 201a while the rotation speed of the blower 201 is constant. Therefore, it is possible to control the air volume of the blower 201 without performing control for changing the rotation speed of the blower 201.

FIG. 8 shows a control block diagram of an agricultural machine. The agricultural machine 1 includes a control device 60, a display device 61, a communication device 62, and a positioning device 63. The control device 60 is a device that performs various controls of the agricultural machine 1, and is a spray amount adjusting device (first spray amount adjusting device 11L, second spraying amount adjusting device 11R), a transport adjusting device (blower 201, adjusting device). 202) etc. are controlled. The control device 60 can control the amount of the sprayed material sprayed from the spraying unit 22 and the amount of air blown by the transport air.

The control device 60 includes a rotation sensor 91 that detects the rotation speed of the feeding roller 13L, a rotation sensor 92 that detects the rotation speed of the feeding roller 13R, and an operation sensor 93 that detects the operating amount (rotation amount) of the covering plate 203. Is connected. When the control device 60 controls the rotation speeds of the feeding roller 13L and the feeding roller 13R, the first electric motor is used so that the actual rotation speeds detected by the rotation sensors 91 and 92 match the target rotation speeds. The rotation speeds of the motors 14L and 14R are set.

The control device 60 is a second electric motor so that the operating amount (rotation amount) detected by the operating sensor 93 matches the target operating amount when the covering plate 203 changes the area of the area covering the suction port 201a. The rotation (rotation angle) of the output shaft of 35 is set.
The display device 61 is a device that displays various information about the agricultural machine 1, and is a device including a liquid crystal panel, an organic EL panel, and the like. As shown in FIG. 8, the display device 61 includes a control unit 61a, a storage unit 61b, and a display unit 61c. The control unit 61a is composed of a CPU and the like, and performs various controls (display control and the like) related to the display device 61. The storage unit 61b is a non-volatile memory or the like, and stores various information, programs (application software), and the like related to the agricultural machine 1. The control unit 61a can perform control based on the information, the program, or the like stored in the storage unit 61b. The display unit 61c is a touch panel capable of displaying and inputting.

The communication device 62 is a device that transmits various data to the outside of the agricultural machine 1 and takes in external data to the agricultural machine 1. The communication device 62 may perform wireless communication by, for example, Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE802.11 series, which is a communication standard, or wireless communication by a mobile phone communication network, a data communication network, a mobile phone communication network, or the like. It is a device to perform.
The positioning device 63 can detect its own position (positioning information including latitude and longitude) by a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. The positioning device 63 receives a satellite signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and based on the satellite signal, the position of the agricultural machine 1 (for example, latitude, longitude), that is, , Detects the vehicle body position. That is, the positioning device 63 detects the position of the traveling vehicle body 8 based on the signal from the positioning satellite. The positioning device 63 includes a receiving device 63a and an inertial measurement unit (IMU) 63b. The receiving device 63a is a device having an antenna or the like and receiving a satellite signal transmitted from a positioning satellite. In this embodiment, the receiving device 63a is attached to the machine body 2. The mounting location of the receiving device 63a is not limited to the embodiment. The inertial measurement unit 63b has an acceleration sensor for detecting acceleration, a gyro sensor for detecting an angular velocity, and the like. The inertial measurement unit 63b is also attached to the airframe 2, and the inertial measurement unit 63b can detect the roll angle, pitch angle, yaw angle, etc. of the airframe 2.

The control device 60 performs automatic steering control that automatically controls the steering of the traveling vehicle body 8 based on the detection information detected by the positioning device 63.
When performing automatic steering control, automatic steering control can be performed by first setting a travel reference line, setting a travel reference line, and then setting a travel schedule line parallel to the travel reference line.

In the automatic steering control, the agricultural machine 1 (traveling vehicle body 8) is automatically steered in the traveling direction so that the vehicle body position measured by the positioning device 63 and the planned traveling line match. Specifically, the agricultural machine 1 (traveling vehicle body 8) is moved to a predetermined position in the field before the automatic steering control is performed, and the operator is provided with the steering changeover switch (registration switch) in the agricultural machine 1 at the predetermined position. When the operation of is performed, the vehicle body position measured by the positioning device 63 is set as the start point of the travel reference line. Further, when the agricultural machine 1 (running vehicle body 8) is moved from the start point of the travel reference line and the operator operates the steering changeover switch at a predetermined position, the vehicle body position measured by the positioning device 63 is the end point of the travel reference line. Is set to. A straight line connecting the start point and the end point is set as a travel reference line.

After setting the driving reference line, for example, when the agricultural machine 1 (driving vehicle body 8) is moved to a place different from the place where the driving reference line is set and the operator operates the steering changeover switch, it is parallel to the driving reference line. A planned travel line that is a straight line is set. After setting the planned travel line, automatic steering control is started, and the traveling direction of the agricultural machine 1 (traveling vehicle body 8) is changed to follow the scheduled travel line.

Further, the control device 60 controls the spray amount adjusting device (first spray amount adjusting device 11L, second spraying amount adjusting device 11R) based on the set spraying amount set at a predetermined position. In this embodiment, the set spray amount is set by an external device. The external device is a personal computer (PC), a fixed computer such as a server, or a portable computer (mobile terminal) such as a smartphone or tablet.

A case where the set spray amount is set by the PC (referred to as a fixed terminal) 75 and the server 70, which are external devices, will be described with reference to FIG. The set spraying amount may be set by an internal device provided in the agricultural machine 1, for example, the display device 61, and is not limited.
The server 70 has a field storage unit 71 that stores a field map, a plan creation unit 72 that sets (creates) a spray plan including a set spray amount, and a plan storage unit 73 that stores a spray plan. The field storage unit 71 and the planned storage unit 73 are composed of a non-volatile memory or the like. The field storage unit 71 stores a plurality of field maps created in advance. The planning unit 72 is composed of electrical and electronic components, computer programs, and the like provided in the server 70. When the set spray amount is set by the display device 61, the display device 61 has a field storage unit 71, a plan creation unit 72, and a plan storage unit 73.

When the fixed terminal 75 is connected to the server 70 and performs a predetermined operation, as shown in FIG. 9, the planning unit 72 of the server 70 displays the planning screen M1 on the display unit of the fixed terminal 75. The planning screen M1 includes a field selection acquisition unit 100 for selecting a field, a field display unit 101 for displaying a field map, and a time input unit 102 for inputting a time. The field selection acquisition unit 100 displays a list of field maps stored in the field storage unit 71 as described above, and when one field map is selected from the list, the field display unit 101 displays the field. The field (selected field) selected by the selection acquisition unit 100 is displayed. When the time (month, day, time) is input in the time input unit 102, the time for spraying the sprayed material in the selected field is set.

The plan creation unit 72 displays the outer shape (contour LK) of the selected field selected by the field selection acquisition unit 100 on the field display unit 101. In the field display unit 101, the fields depicting the fields are assigned positions (latitude, longitude). Further, the field in the field display unit 101 is divided into a plurality of areas Qn (n = 1, 2, 3 ... n), and a set spray amount Wn of the sprayed material is set for each of the divided areas Qn. It is possible.

For example, the planning unit 72 displays the pointer 106 to be selected on the field display unit 101 when a predetermined operation is performed. Further, when the plan creation unit 72 selects an arbitrary area Qn with the pointer 106, the plan creation unit 72 displays the spray input unit 107 for inputting the set spray amount Wn corresponding to the selected area Qn on the plan screen M1. When the set spray amount is input to the spray input unit 107, the plan creation unit 72 sets the input set spray amount (input spray amount) to the set spray amount Wn of the selected area Qn. Even when a plurality of areas Qn are selected on the pointer 106, the plan creation unit 72 sets the set spray amount input to the spray input unit 107 to the set spray amount Wn in the plurality of areas Qn.

As described above, the plan creation unit 72 can set the set spray amount Wn for each area Qn, that is, set the set spray amount Wn for each predetermined position (area Qn). As shown in FIG. 10, the set spray amount Wn set for each area Qn, the field identification information of the selected field selected by the field selection acquisition unit 100, and the time (time information) input to the time input unit 102 are used. The including spraying plan is stored in the plan storage unit 73.

The spraying plan stored in the plan storage unit 73 can be acquired by the agricultural machine 1. For example, when the communication device 62 of the agricultural machine 1 connects to the server 70 and requests the server 70 to transmit the spraying plan, the requested spraying plan is transmitted to the communication device 62. Alternatively, the server 70 transfers the spraying plan to the mobile terminal, and the mobile terminal transmits the transferred spraying plan to the communication device 62. The spraying plan may be acquired by the agricultural machine 1 side by storing the spraying plan in an electronic storage medium such as a USB memory or an SD card and connecting the electronic storage medium to the input interface of the agricultural machine 1. When the agricultural machine 1 side acquires the spraying plan, the spraying plan is stored in the plan storage unit 78 provided in the agricultural machine 1.

As shown in FIG. 8, the control device 60 has a spraying amount acquisition unit 81 that acquires a spraying plan acquired by the agricultural machine 1 side when spraying the sprayed material. The spray amount acquisition unit 81 is composed of electrical and electronic parts, a computer program, and the like provided in the control device 60. When a predetermined operation is performed in the agricultural machine 1, the spraying amount acquisition unit 81 displays a list of spraying plans stored in the plan storage unit 78 on the display device 61, and displays it by an operation of an operator or the like. When a predetermined spraying plan is selected from the list of spraying plans that have been made, the selected spraying plan is acquired. Alternatively, when the agricultural machine 1 is instructed to start the spraying work for spraying the sprayed material, the spraying amount acquisition unit 81 plans and stores the spraying plan of the field corresponding to the vehicle body position detected by the positioning device 63. Obtain the calculated spraying plan by indexing from. That is, the spraying amount acquisition unit 81 can acquire at least the set spraying amount Wn for each predetermined position created by the external device before performing the spraying work.

The control device 60 has a spraying calculation unit 82 and a spraying control unit 83. The spraying calculation unit 82 and the spraying control unit 83 are composed of electrical and electronic components, a computer program, and the like provided in the control device 60.
The spraying calculation unit 82 has a first spraying amount Fn and a second spraying amount Fn of the sprayed material discharged from the first spraying amount adjusting device 11L to the first pipe 15L based on the set spraying amount Wn acquired by the spraying amount acquisition unit 81. The calculation is performed with the second spraying amount Rn of the sprayed material discharged from the spraying amount adjusting device 11R to the second pipe 15R.

As shown in FIG. 11A, when the first pipe 15L and the second pipe 15R of the agricultural machine 1 are located in the area Qn in a plan view, the spray calculation unit 82 has a first spray amount Fn and a second spray amount. The first spraying amount Fn and the second spraying amount Rn are set so that the total Zn (Zn = Fn + Rn, n = 1, 2, 3 ...) With Rn matches the set spraying amount Wn. For example, when the agricultural machine 1 is substantially in the center of the area Qn, the left half of the area Qn is sprayed on the first pipe 15L side with respect to the traveling direction of the agricultural machine 1, and the right half in the area Qn. Is sprayed on the second pipe 15R side. The spraying calculation unit 82 sets half of the set spraying amount Wn to the first spraying amount Fn and the second spraying amount Rn (Fn = Wn / 2, Rn = Wn / 2).

As shown in FIG. 11B, the first pipe 15L and the second pipe 15R of the agricultural machine 1 are located at the boundary of the area Qn in a plan view, and the tips of the first pipe 15L and the second pipe 15R are substantially in the area Qn. When straddling, the spray calculation unit 82 sets the set spray amount Wn of the area Qn where the first pipe 15L is located to the first spray amount Fn, and sets the set spray amount Wn of the area Qn where the second pipe 15R is located. The second spray amount Rn is set.

As shown in FIG. 11C, the first pipe 15L and the second pipe 15R of the agricultural machine 1 are located at the boundary of the area Qn in a plan view, and the tips of the first pipe 15L and the second pipe 15R are substantially the area Qn. In the case of a half position (center position), the spray calculation unit 82 sets half (1/2) of the set spray amount Wn of the area Qn where the first pipe 15L is located to the first spray amount Fn. Half (1/2) of the set spray amount Wn of the area Qn where the second pipe 15R is located is set to the second spray amount Rn.

As shown in FIG. 11A, the position of the tip of the first pipe 15L and the position of the tip of the second pipe 15R are at the current vehicle body position of the agricultural machine 1, from the positioning device 63 to the first pipe 15L and the first. It can be grasped by adding the respective position information ΔL (ΔX, ΔY) up to the tip of the 2 pipes 15R. The pipe material information and the position information ΔL regarding the length, position, etc. of the first pipe 15L and the second pipe 15R are stored in the control device 60.

The spray control unit 83 discharges the discharge amount discharged from the spray amount adjusting device (first spray amount adjusting device 11L, second spraying amount adjusting device 11R) when the vehicle body position detected by the positioning device 63 is a predetermined position. (Spray adjustment control is performed to adjust (first spray amount Fn, second spray amount Rn) to the set spray amount Wn. Specifically, in the spray adjustment control, the spray control unit 83 controls the first spray amount adjusting device 11L based on the first spray amount Fn calculated (set) by the spray calculation unit 82, and also controls the second spray. The second spray amount adjusting device 11R is controlled based on the amount Rn.

As shown in FIG. 11A, when the set spray amount W1 in the area Q1 is 2.0 kg / 10a, the first spray amount F1 in the area Q1 is 1.0 kg / 10a, and the second spray amount R1 in the area Q1 is. It is 1.0 kg / 10a. The spray control unit 83 has a rotation speed of the feeding roller 13L (first electric motor 14L) so that the first spraying amount F1 of the first spraying amount adjusting device 11L becomes 1.0 kg / 10a while passing through the area Q1. Rotation speed of the feeding roller 13R (rotational speed of the first electric motor 14R) so that the second spraying amount R1 of the second spraying amount adjusting device 11R is 1.0 kg / 10a. To set.

As shown in FIG. 11B, when the set spray amount W2 in the area Q2 is 3.0 kg / 10a and the set spray amount W9 in the area Q9 is 5.0 kg / 10a, the first spray amount F5 in the area Q2 is 3. It is 0.0 kg / 10a, and the second spray amount R9 in the area Q9 is 5.0 kg / 10a. The spray control unit 83 rotates the feeding roller 13L (first electric motor) so that the first spray amount F5 of the first spray amount adjusting device 11L becomes 3.0 kg / 10a while passing through the areas Q2 and Q9. The rotation speed of the feeding roller 13R (first electric motor) is set so that the rotation speed of the motor 14L) is set and the second spraying amount R9 of the second spraying amount adjusting device 11R is 5.0 kg / 10a. The rotation speed of 14R) is set.

As shown in FIG. 11C, when the set spray amount W9 in the area Q9 is 5.0 kg / 10a and the set spray amount W12 in the area Q12 is 4.0 kg / 10a, the first spray amount F9 in the area Q9 is 2. It is .5 kg / 10a, and the second spray amount R12 in the area Q12 is 2.0 kg / 10a. The spray control unit 83 rotates the feeding roller 13L (first electric motor) so that the first spray amount F1 of the first spray amount adjusting device 11L becomes 2.5 kg / 10a while passing through the areas Q9 and Q12. The rotation speed of the feeding roller 13R (rotational speed of the first electric motor 14R) is set so that the rotation speed of the motor 14L) is set and the second spraying amount R12 of the second spraying amount adjusting device 11R is 2.0 kg / 10a. Number) Set the rotation speed.

Further, as described above, the control device 60 performs not only the spray adjustment control but also the transfer adjustment control for adjusting the transfer force in the transfer adjustment device (blower 201, adjustment device 202). That is, the control device 60 has not only the spray control unit 83 but also the transfer control unit 84 that performs the transfer adjustment control. The transport control unit 84 is composed of electrical and electronic components, a computer program, and the like provided in the control device 60.

The control device 60 (transport control unit 84) is based on the spraying amount (first spraying amount Fn, second spraying amount Rn) of the spraying amount adjusting device (first spraying amount adjusting device 11L, second spraying amount adjusting device 11R). Then, as the control of the transport adjustment control, the air flow amount of the transport air is adjusted.
According to the above, the amount of the sprayed material discharged from each of the plurality of spraying portions 22 of the first pipe 15L can be made substantially the same from the base end portion to the tip end portion of the first pipe 15L. Further, the amount of the sprayed material discharged from each of the plurality of spraying portions 22 of the second pipe 15R can be made substantially the same from the base end portion to the tip end portion of the second pipe 15R.

Further, when the spraying amount of the sprayed material discharged from the first pipe 15L (first spraying amount Fn) and the spraying amount of the sprayed material discharged from the second pipe 15R (second spraying amount Rn) are the same. In, the amount discharged from the plurality of spraying portions 22 provided in the first pipe 15L and the amount discharged from the plurality of spraying portions 22 provided in the second pipe 15R can be substantially the same.
<Control of spray amount>
As described above, the control device 60 can control the amount of spraying from the spraying unit 22 by controlling the spraying amount adjusting device (first spraying amount adjusting device 11L, second spraying amount adjusting device 11R). .. Further, the control device 60 can control the amount of air to be conveyed by controlling the transfer adjusting device (blower 201, adjusting device 202).

The control device 60 is a computer equipped with a CPU, a memory, and the like, and has a storage unit 85, a selection acquisition unit 86, and a setting unit 87, as shown in FIG. The storage unit 85 is a non-volatile memory or the like, and stores various information, programs, and the like used for controlling the amount of spraying. The selection acquisition unit 86 and the setting unit 87 are composed of electrical and electronic parts, programs, and the like provided in the control device 60. The selection acquisition unit 86 and the setting unit 87 execute operations related to control of the amount of spraying (operations for acquiring selections and operations for setting) based on information, programs, and the like stored in the storage unit 85.

In the embodiment shown in FIG. 8, the control device 60 provided separately from the display device 61 includes a storage unit 85, a selection acquisition unit 86, and a setting unit 87, but the display device 61 is a storage unit 85. It may be configured to include a selection acquisition unit 86 and a setting unit 87. In this case, the display device 61 functions as a control device having a storage unit 85, a selection acquisition unit 86, and a setting unit 87. Further, the display device 61 may be composed of a mobile terminal such as a smartphone or a tablet.

The storage unit 85 contains the rotation speed of the feeding roller 13R (first electric motor 14R) for adjusting the spraying amount of the first spraying amount adjusting device 11L (second spraying amount adjusting device 11R) and the rotation speed of the blower 201 per unit time. A plurality of specified lines that specify the relationship with the air volume are stored. FIG. 12 shows a plurality of specified lines L1 to L9 stored in the storage unit 85. The number of the plurality of specified lines may be two or more, but is preferably three or more, and more preferably five or more. In the case of this embodiment, the number of the plurality of specified lines is nine. The amount of air blown per unit time of the blower 201 can be adjusted by changing the area of the area where the air volume adjusting shutter (cover plate 203) provided in the suction port 201a of the blower 201a covers the suction port 201a.

The specified lines L1 to L9 are the rotation speeds (hereinafter referred to as the first electric motor 14R) of the feeding roller 13R (first electric motor 14R) for adjusting the spraying amount of the sprayed material discharged from the first spraying amount adjusting device 11L (second spraying amount adjusting device 11R). , "Spraying motor rotation speed") and the amount of air blown per unit time of the blower 201 (hereinafter referred to as "volume air volume"), the horizontal axis is the spraying motor rotation speed (rpm), and the vertical axis is the vertical axis. It is graphed as the amount of air blown (volume air volume) (m ³ / sec), and shows the relationship between the amount of sprayed material and the volume air volume.

That is, since the spraying amount of the sprayed material is determined by the spraying motor rotation speed, the graph showing the relationship between the spraying motor rotation speed and the volume air volume is also a graph showing the relationship between the spraying amount and the volume air volume of the sprayed material. Therefore, the specified lines L1 to L9 defined based on the relationship between the spraying motor rotation speed and the volumetric air volume define the relationship between the spraying amount and the volumetric air volume of the sprayed material discharged from the spraying amount adjusting devices 11L and 11R. It can be called a specified line.

The plurality of defined lines L1 to L9 are each defined based on the plurality of openings of the air volume adjusting shutter described above. One defined line corresponds to one opening degree of the air volume adjusting shutter. Therefore, the plurality of specified lines L1 to L9 correspond to a plurality (nine) openings of different air volume adjusting shutters, respectively.
For example, the specified line L1 is a graph of a function showing the relationship between the volumetric air volume and the spraying motor rotation speed when the opening degree of the covering plate 203 provided at the suction port 201a of the blower 201 is “A%”. be. The specified line L2 is a graph showing a function showing the relationship between the volume air volume and the spraying motor rotation speed when the opening degree of the covering plate 203 provided at the suction port 201a of the blower 201 is “B% (B> A)”. It was done. Similarly, when the opening degree of the specified line L3 is "C% (C>B)", the opening degree of the specified line L4 is "D% (D>C)", the opening degree of the specified line L5 is "D% (D>C)". When "E% (E>D)", the opening degree of the specified line L6 is "F% (F>E)", and the opening degree of the specified line L7 is "G% (G>F)". If there is, the specified line L8 has a volume air volume and a spraying motor rotation speed when the opening degree is "H% (H>G)" and the opening degree of the specified line L9 is "I% (I>H)". It is a graph of the function showing the relationship with.

For the plurality of specified lines L1 to L9, the opening degree of the air volume adjusting shutter (cover plate 203) is set in a plurality of stages, the change in the volume air volume is measured at each opening setting, and the volume air volume and the spraying are performed based on the measurement result. It can be obtained by calculating and graphing a function showing the relationship with the motor rotation speed (spraying amount of the sprayed material discharged from the first spraying amount adjusting device 11L (second spraying amount adjusting device 11R)). That is, the plurality of specified lines L1 to L9 can be derived by actual measurement. However, it is not necessary to derive all of the plurality of specified lines L1 to L9 by actual measurement, and some of the plurality of specified lines are derived by actual measurement as reference specified lines, and the remaining specified lines are derived by actual measurement. It may be derived by multiplying the function representing the above by the correction coefficient. Further, the plurality of specified lines L1 to L9 may be derived by a method other than actual measurement, for example, simulation.

When the air volume adjusting shutter is the covering plate 203, the air volume adjusting shutter (covering plate 203) adjusts the air volume (volume air volume) by changing the opening area of the suction port 201a of the blower 201. That is, the air volume adjusting shutter (covering plate 203) changes the opening area of the suction port 201a of the blower 201 by changing the opening degree, and changes the area of the region where the covering plate 203 covers the suction port 201a of the blower 201. By doing so, it is possible to control the air volume (the amount of the conveyed air) of the blower 201. Further, the air volume (conveyed air volume) of the blower 201 can be controlled by changing the area of the region where the covering plate 203 covers the suction port 201a while the rotation speed of the blower 201 is constant. Therefore, it is possible to control the air volume of the blower 201 without performing control for changing the rotation speed of the blower 201. This adjusts the air volume (volume air volume). In this case, the plurality of defined lines L1 to L9 are defined based on the plurality of openings of the air volume adjusting shutter. In this case, the "volume air volume" is the total amount of air transported through both the third pipe (first transport pipe) 29L and the fourth pipe (second transport pipe) 29R.

The selection acquisition unit 86 acquires one specified line selected from the plurality of specified lines L1 to L9 stored in the storage unit 85. The selection acquisition unit 86 displays on the display unit 61c a selection menu that enables an operation of selecting one specified line from the plurality of specified lines L1 to L9. The selection menu is displayed on the screen as a plurality of selection buttons when the display unit 61c is a touch panel. The operator can select one specified line by a method such as pressing a selection button from the selection menu displayed on the display unit 61c. The selection acquisition unit 86 acquires one selected specified line (information of a function representing the specified line).

The setting unit 87 sets the relationship between the spraying motor rotation speed and the volume air volume based on the specified line acquired by the selection acquisition unit 86. For example, when the specified line L1 is selected and acquired, the relationship between the spraying motor rotation speed and the volume air volume is set based on the specified line L1. Specifically, the opening degree of the air volume adjusting shutter (covering plate 203) is set to the opening degree when the specified line L1 is specified.

In the above-described embodiment, the amount of air to be conveyed is changed by adjusting the position of the covering plate 203 that covers the suction port 201a of the blower 201, but the output of the blower 201 (rotational speed of the blower fan) is adjusted. By doing so, the amount of air blown by the conveyed air may be adjusted.
In the above-described embodiment, the suction port 201a of the blower 201 is provided with an air volume adjusting shutter (cover plate 203), but the supply pipe 29 may be provided with an air volume adjusting shutter to adjust the air volume.

Hereinafter, an example of a method of adjusting the amount of spraying from the spraying unit 22 based on the control of the control device 60 will be described.
First, the selection acquisition unit 86 of the control device 60 displays a selection menu that enables an operation of selecting one specified line from the plurality of specified lines L1 to L9 on the display unit 61c of the display device 61. FIG. 13 shows an example of the display screen M2 displayed on the display unit 61c. A selection menu is displayed on the display screen M2. In FIG. 13, selection buttons E1 to E9 with numbers 1 to 9 are displayed as selection menus. Select buttons E1 to E9. Each corresponds to the specified lines L1 to L9. For example, when the selection button E1 is pressed, the specified line L1 is selected.

The operator performs an operation of temporarily selecting one specified line from a plurality of specified lines L1 to L9 based on the selection menu displayed by the selection acquisition unit 86 (first step). This temporary selection operation can be performed by pressing any of the selection buttons E1 to E9. The tentative selection is preferably made according to the type of sprayed material to be sprayed by the operator.
For example, if the sprayed object to be sprayed by the operator is one that is difficult to fly by the wind (for example, one with a large weight or specific gravity, one with a large particle size, etc.), the provision that the volume air volume is large with respect to the rotation speed of the spraying motor. Select a line (eg, any of L7 to L9). If the sprayed object to be sprayed by the operator is one that is easily blown by the wind (for example, one with a small weight or specific gravity, one with a small particle size, etc.), the specified line with a small volume air volume with respect to the rotation speed of the spraying motor (for example, one with a small particle size, etc.) For example, any one of L1 to L3) is selected. When the sprayed material to be sprayed by the operator is a standard one, a specified line (for example, one of L4 to L6) having a standard volume air volume with respect to the spraying motor rotation speed is selected.

When the worker tentatively selects one specified line, the selection acquisition unit 86 acquires one selected specified line. The setting unit 87 temporarily sets the relationship between the spraying motor rotation speed and the volume air volume based on the specified line temporarily selected and acquired by the selection acquisition unit 86 (second step). For example, when the specified line L5 is provisionally selected and acquired, the relationship between the spraying motor rotation speed and the volume air volume is temporarily set based on the specified line L5. Specifically, the opening degree of the air volume adjusting shutter (covering plate 203) is temporarily set to the opening degree when the specified line L5 is specified.

Next, the worker temporarily sprays the sprayed material by the spraying unit 22 based on the temporary setting, and measures the spraying amount (third step). This temporary spraying can be performed by the operator pressing the "spraying start" button E10 (see FIG. 13) displayed on the display unit 61c. The temporary setting can be canceled by pressing the "Cancel" button E11 (see FIG. 13) displayed on the display unit 61c.

Temporary spraying is performed for a certain period of time (for example, 30 seconds) by setting the spraying motor rotation speed to one specific rotation speed (for example, a standard rotation speed). The spraying motor rotation speed may be automatically set to a predetermined rotation speed, or may be selected by the operator from the display screen of the display unit 61c. When the "Start spraying" button is pressed, temporary spraying starts, and temporary spraying ends automatically after a certain period of time has elapsed.

The amount of spray is measured by attaching a collection bag for the spray to all or part of the spray ports 21L and 21R of the plurality of spray portions 22, collecting the spray, and measuring the weight of the collected spray. conduct. Even if the weight of the collected spray is measured by the weighing device provided in the agricultural machine 1 by the operator pressing the "weighing" button displayed on the display screen of the display unit 61c. Alternatively, the operator may measure using a weighing device.

When the weight measurement of the sprayed material sprayed by the temporary spraying is completed, the measured spraying amount by the temporary spraying is compared with the planned spraying amount (fourth step). The planned spray amount is the spray amount planned (planned) by the worker (for example, the standard fertilizer spray amount for crops). The planned spraying amount is input in advance by the operator and stored in the storage unit 85. The planned spraying amount is, for example, the set spraying amount Wn described above, but is not limited thereto. The control device 60 displays a screen on the display unit 61c that enables an operation of inputting the amount of spraying by temporary spraying. The operator can input the amount of temporary spraying from the screen displayed on the display unit 61c. When the measuring device provided in the agricultural machine 1 measures the amount of spraying by the temporary spraying, the control device 60 may be configured to read the measured value by the measuring device so that the input of the operator is unnecessary.

The control device 60 compares the amount of temporary spraying with the planned amount of spraying, and determines whether or not the difference between the two is within a predetermined amount stored in the storage unit 85 in advance. When the difference between the two exceeds a predetermined amount, the control device 60 determines whether the amount of temporary spraying is larger or smaller than the planned amount of spraying. This comparison and determination is preferably performed by the control device 60, but may be performed by an operator.

If the difference between the spraying amount by the temporary spraying and the planned spraying amount is within the predetermined amount, it means that the spraying desired by the operator is being performed, and the temporary setting is maintained. That is, the temporary setting is set as the final setting and the setting is completed. The setting end operation can be performed, for example, by the control device 60 displaying the "setting end" and "setting change" buttons on the display screen of the display unit 61c, and the operator pressing the "setting end" button. can.

When the difference between the amount of temporary spraying and the planned amount of spraying exceeds a predetermined amount, the operator presses the "change setting" button. Then, the selection acquisition unit 86 displays the selection menu on the display unit 61c, which enables the operation of selecting one specified line from the plurality of specified lines L1 to L9 again. The operator selects a specified line different from the tentatively selected specified line (for example, the specified line L5) from the selection menu displayed on the display unit 61c. For example, when the amount of temporary spraying is larger than the planned amount of spraying, one of the specified lines (specified lines L1 to L4) below the specified line L5 is selected. When the amount of temporary spraying is less than the planned amount of spraying, one of the specified lines (specified lines L5 to L9) above the specified line L5 is selected. Then, the first step to the fourth step are repeated until the difference between the amount of temporary spraying and the planned amount of spraying is within the predetermined amount, and the setting when the difference is within the predetermined amount is set as the final setting and the setting is completed. ..

By the above operation, the optimum specified line can be selected from a plurality of preset specified lines according to the type of the sprayed object to be sprayed by the operator, and the optimum specified line can be selected based on the selected specified line. A large amount of spray can be realized.
Next, among the plurality of spraying portions 22, the amount of spraying is sprayed from the spraying portion 22 on the base end side of the boom (first boom 18L, second boom 18R) and the spraying portion 22 on the tip end side. A method for making the amount of spraying uniform will be described.

In this method, after the above-mentioned first step and the second step, as the third step, after the above-mentioned temporary spraying is performed, the base of the boom (first boom 18L, second boom 18R) among the plurality of spraying portions 22 The amount of spraying from the spraying portion 22 on the end side and the amount of spraying sprayed from the spraying portion 22 on the tip side are measured. For the measurement of the amount of spraying, among the spraying ports 21L and 21R of the plurality of spraying portions 22, the spraying material collection bags are attached to the spraying port on the tip side and the spraying port on the base end side of the boom to collect and collect the sprayed material. This is done by measuring the weight of the sprayed material. Even if the weight of the collected spray is measured by the weighing device provided in the agricultural machine 1 by the operator pressing the "weighing" button displayed on the display screen of the display unit 61c. Alternatively, the operator may measure using a weighing device.

When the weight measurement of the sprayed material sprayed from the spraying portions 22 on the proximal end side and the distal end side is completed, as the fourth step, the difference between the spraying amount on the proximal end side and the spraying amount on the distal end side is calculated and calculated. It is determined whether the difference is within a predetermined value. The control device 60 displays a screen on the display unit 61c that enables an operation of inputting the amount of spraying on the proximal end side and the amount of spraying on the distal end side. The operator can input the amount of spraying on the base end side and the amount of spraying on the tip end side from the screen displayed on the display unit 61c. When the measuring device provided in the agricultural machine 1 measures the amount of spraying on the base end side and the amount of spraying on the tip end side, the control device 60 is configured to read the measured value by the measuring device, and the operator No input may be required. The control device 60 calculates the difference between the spraying amount on the proximal end side and the spraying amount on the distal end side, and determines whether the calculated difference is within a predetermined value stored in the storage unit 85 in advance. This comparison and determination is preferably performed by the control device 60, but may be performed by an operator.

If the difference between the spraying amount on the proximal end side and the spraying amount on the distal end side is within a predetermined value, the provisional setting is maintained. That is, the temporary setting is set as the final setting and the setting is completed. The setting end operation can be performed, for example, by the control device 60 displaying the "setting end" and "setting change" buttons on the display screen of the display unit 61c, and the operator pressing the "setting end" button. can.
When the difference between the spraying amount on the base end side and the spraying amount on the tip end side exceeds a predetermined value, the operator presses the "change setting" button. Then, the selection acquisition unit 86 displays the selection menu on the display unit 61c, which enables the operation of selecting one specified line from the plurality of specified lines L1 to L9 again. The operator selects a specified line different from the tentatively selected specified line (for example, the specified line L5) from the selection menu displayed on the display unit 61c. When the amount of spraying on the base end side is smaller than the amount of spraying on the tip end side, one of the specified lines (specified lines L1 to L4) below the specified line L5 is selected. When the amount of spraying on the base end side is larger than the amount of spraying on the tip end side, one of the specified lines (specified lines L5 to L9) above the specified line L5 is selected. Then, the first step to the fourth step are repeated until the difference between the spraying amount on the proximal end side and the spraying amount on the distal end side is within a predetermined predetermined value, and the setting when the difference is within the predetermined amount is set. Finish the setting as the final setting.

As a result, the optimum specified line can be selected from a plurality of preset specified lines in order to realize uniform spraying according to the type of sprayed material selected by the operator, and the selected line is selected. It is possible to realize spraying that equalizes the spraying amount to be sprayed from a plurality of spraying portions based on a specified line.
<Shape of operation switch>
A plurality of screens are displayed on the display unit 61c of the display device 61 in response to the operation. FIG. 14 shows an example of the display screen M3 displayed on the display unit 61c. The display screen M3 is an example of a screen that can be displayed after the farm work support application software (hereinafter, also referred to as “application”) stored in the storage unit 85 is started. The agricultural work support application is an application that supports agricultural work by the agricultural machine 1 by displaying the running and work (spraying) states of the agricultural machine 1. That is, the display device 61 operates as a support device for supporting farm work after the application is started.

As shown in FIG. 14, an operation switch 110 for performing an operation of spraying the sprayed material from the spraying unit 22 is displayed on the upper right of the display screen M3. FIG. 15 shows only the operation switch 110 extracted from the display screen M3.
The operation switch 110 has a first operation unit 111, a second operation unit 112, a third operation unit 113, and a fourth operation unit 114. The first operation unit 111, the second operation unit 112, the third operation unit 113, and the fourth operation unit 114 are operated by pressing or contact (hereinafter, referred to as "pressing or the like"). Specifically, the first operation unit 111, the second operation unit 112, the third operation unit 113, and the fourth operation unit 114 are displayed on the touch panel constituting the display unit 61c. The operator can operate each operation unit by pressing the first operation unit 111, the second operation unit 112, the third operation unit 113, the fourth operation unit 114, etc. displayed on the touch panel.

The first operation unit 111 is an operation unit for performing an operation of spraying the sprayed material from the first spraying unit 221. The second operation unit 112 is an operation unit for performing an operation of spraying the sprayed material from the second spraying unit 222. The third operation unit 113 is an operation unit for performing an operation of spraying the sprayed material from the first spraying unit 221 and the second spraying unit 222. The fourth operation unit 114 is an operation unit for performing an operation for stopping the spraying of the sprayed material from the first spraying unit 221 and the second spraying unit 222.

As shown in FIG. 15, the first operation unit 111 has a display meaning “left”. The second operation unit 112 has a display meaning "right". The third operation unit 113 has a display indicating "both". The fourth operation unit 114 has a display meaning "stop". The color of a part or the whole of the fourth operation unit 114 can be made different from the color of other operation units so as to be conspicuous and to respond to an emergency.

The operation switch 110 changes the color of the operation unit in the state where the operation based on the operation (spraying or stopping) is executed to a color different from the color of the operation unit in the state where the operation is not performed. For example, in a state where the sprayed material is sprayed from the first spraying unit 221 by the operation of the first operating unit 111, the color of the first operating unit 111 changes to a color different from the color of the other operating units. When the spraying of the sprayed material is stopped by the operation of the fourth operation unit 114, the color of the fourth operation unit 114 changes to a color different from the color of the other operation units.

When the operation of the first operation unit 111 is performed, the control device 60 transmits a control signal to the first electric motor 14L. The first electric motor 14L sprinkles the sprayed material from the first spraying unit 221 by rotating the feeding roller 13L of the spraying discharge mechanism 13 by the control signal output from the control device 60. When the spray discharge mechanism 13 is a shutter type mechanism, the first electric motor 14L sprays the sprayed material from the first spraying unit 221 by opening the shutter according to the control signal output from the control device 60.

When the operation of the second operation unit 112 is performed, the control device 60 transmits a control signal to the first electric motor 14R. The first electric motor 14R sprinkles the sprayed material from the second spraying portion 222 by rotating the feeding roller 13R of the spraying discharge mechanism 13 by the control signal output from the control device 60. When the spray discharge mechanism 13 is a shutter type mechanism, the first electric motor 14R sprays the sprayed material from the second spraying unit 222 by opening the shutter according to the control signal output from the control device 60.

When the operation of the third operation unit 113 is performed, the control device 60 transmits a control signal to the first electric motors 14L and 14R. The first electric motors 14L and 14R rotate the feeding rollers 13L and 13R of the spraying discharge mechanism 13 by the control signal output from the control device 60, so that the sprayed material is sprayed from the first spraying portion 221 and the second spraying portion 222. Is sprayed. When the spray discharge mechanism 13 is a shutter type mechanism, the first electric motors 14L and 14R open the shutter according to the control signal output from the control device 60, whereby the first spray unit 221 and the second spray unit 221 and the second spray unit Spray the spray from 222.

When the operation of the fourth operation unit 114 is performed, the control device 60 transmits a control signal to the first electric motors 14L and 14R. The first electric motors 14L and 14R stop the rotation of the feeding rollers 13L and 13R of the spraying discharge mechanism 13 by the control signal output from the control device 60, thereby causing the first spraying unit 221 and the second spraying unit 222 to stop rotating. Stop spraying the spray. When the spray discharge mechanism 13 is a shutter type mechanism, the first electric motors 14L and 14R close the shutter by the control signal output from the control device 60, whereby the first spray unit 221 and the second spray unit 221 and the second spray unit Stop spraying the spray from 222.

When the operation of the fourth operation unit 114 is performed, the control device 60 has the first spraying unit 221 and the second spraying unit 222 when the sprayed material is sprayed from the first spraying unit 221 and the second spraying unit 222. When the spraying material is stopped from the first spraying unit 221 only, the spraying material is stopped from the first spraying unit 221 and the sprayed material is sprayed only from the second spraying unit 222. Is sprayed, the spraying of the sprayed material from the second spraying unit 222 is stopped.

Next, the arrangement of the first operation unit 111, the second operation unit 112, the third operation unit 113, and the fourth operation unit 114 will be described. In the following description of the display unit 61c, the upper, lower, left, and right directions are the directions when viewed from the direction perpendicular to the screen of the display unit 61c.
As shown in FIG. 15, the first operation unit 111 is arranged on the left portion of the operation switch 110 on the side (left side) corresponding to the first boom 18L. The second operation unit 112 is arranged on the right side of the operation switch 110 on the side (right side) corresponding to the second boom 18R. The fourth operation unit 114 is arranged between the first operation unit 111 and the second operation unit 112. The third operation unit 113 is arranged below the fourth operation unit 114. That is, the first operation unit 111, the second operation unit 112, the third operation unit 113, and the fourth operation unit 114 are arranged in a T shape as a whole.

As shown in FIG. 1, in the agricultural machine 1, the first boom 18L extends to the left from the machine body 2, and the second boom 18R extends to the right from the machine body 2. That is, the agricultural machine 1 has a T-shape when viewed from the front in a state where the boom is extended to the left and right (that is, in a state of being sprayed). Therefore, the operation switch 110, which is T-shaped as a whole, is reminiscent of the front view shape of the agricultural machine 1. The first spraying portion 221 is provided on the first boom 18L, and the second spraying portion 222 is provided on the second boom 18R. Therefore, the first operation unit 111 arranged on the left side of the operation switch 110 is reminiscent of the first spraying unit 221 and the second operation unit 112 arranged on the right side of the operation switch 110 is reminiscent of the second spraying unit 222. Let me.

Further, in the agricultural machine 1, the spraying direction of the sprayed material from the first spraying portion 221 and the second spraying portion 222 is downward. Since the third operation unit 113 arranged at the lower part of the operation switch 110 is arranged in the direction (downward) corresponding to the spraying direction of the sprayed object, it reminds us of a state in which the sprayed object is sprayed. On the other hand, since the fourth operation unit 114 arranged above the third operation unit 113 is arranged in the direction opposite to the spraying direction (upward), it reminds us of a state in which the spraying of the sprayed material is stopped.

As described above, since the arrangement of each operation unit reminds us of the position and spraying direction of the spraying unit, the operator can use the first operation unit 111, the second operation unit 112, the third operation unit 113, and the fourth operation unit 114. It is possible to intuitively grasp the function of each operation unit from the arrangement of. Therefore, it is possible to quickly operate each operation unit without making a mistake and to perform the spraying work accurately.
FIG. 16 is a diagram showing a modified form of the operation switch 110.

As for the operation switch 110 of this modified form, the first operation unit 111, the second operation unit 112, the third operation unit 113, and the fourth operation unit 114 as a whole are the same as the operation switch 110 of the embodiment shown in FIG. It is arranged in a T shape. The operation switch 110 of this modified form is different from the operation switch 110 of the embodiment shown in FIG. 15 in that the arrangement of the third operation unit 113 and the fourth operation unit 114 is reversed. That is, in the operation switch 110 of the modified form, the third operation unit 113 is arranged between the first operation unit 111 and the second operation unit 112, and the fourth operation unit 114 is arranged below the third operation unit 113. ing.

As shown in FIGS. 15 and 16, in the operation switch 110 according to the present invention, the operation unit of either the third operation unit 113 or the fourth operation unit 114 is the first operation unit 111 and the second operation unit 112. The operation unit of either the third operation unit 113 or the fourth operation unit 114 is arranged below the one operation unit.
FIG. 17 is a diagram showing another modification of the operation switch 110.

The operation switch 110 of this other modification is different from the operation switch 110 of the embodiment shown in FIG. 15 in the first operation unit 111, the second operation unit 112, the third operation unit 113, and the fourth operation unit 114. In addition, it has a fifth operation unit 115 and a sixth operation unit 116. The operation switch 110 of this other modification is used when the first boom 18L and the second boom 18R are configured to be expandable and contractible.

The fifth operation unit 115 is an operation unit for performing an operation of expanding and contracting the first boom 18L. The sixth operation unit 116 is an operation unit for performing an operation of expanding and contracting the second boom 18R.
When the operation of the fifth operation unit 115 is performed, the control device 60 transmits a control signal to the actuator that operates the first boom 18L. The actuator expands and contracts the first boom 18L by the control signal output from the control device 60. Specifically, when the first boom 18L is shortened, it is extended, and when the first boom 18L is extended, it is shortened.

When the operation of the sixth operation unit 116 is performed, the control device 60 transmits a control signal to the actuator that operates the second boom 18R. The actuator expands and contracts the second boom 18R by the control signal output from the control device 60. Specifically, when the second boom 18R is shortened, it is extended, and when the second boom 18R is extended, it is shortened.
As shown in FIG. 17, the fifth operation unit 115 is arranged on the left side of the first operation unit 111. The sixth operation unit 116 is arranged on the right side of the second operation unit 112. That is, the fifth operation unit 115 is arranged on the leftmost side of the operation switch 110, and the sixth operation unit 116 is arranged on the rightmost side of the operation switch 110. The first operation unit 111, the second operation unit 112, the third operation unit 113, the fourth operation unit 114, the fifth operation unit 115, and the sixth operation unit 116 are arranged in a T shape as a whole.

As described above, in the agricultural machine 1, the first boom 18L extends to the left from the machine body 2, and the second boom 18R extends to the right from the machine body 2. Therefore, the operation switch 110, which is T-shaped as a whole, is reminiscent of the front view shape of the agricultural machine 1. The extension direction of the first boom 18L is to the left, and the extension direction of the second boom 18R is to the right. Therefore, the fifth operation unit 115 arranged on the leftmost side of the operation switch 110 is reminiscent of the extension of the first boom 18L, and the sixth operation unit 116 arranged on the rightmost side of the operation switch 110 is the extension of the second boom 18R. Reminds me of.

In this way, the arrangement of the fifth operation unit 115 and the sixth operation unit 116 reminds us of the extension of the first boom 18L and the second boom 18R, so that the operator can use the fifth operation unit 115 and the sixth operation unit 116. The function of each operation unit can be grasped intuitively from the arrangement. Therefore, it is possible to operate each operation unit quickly without making a mistake and to expand and contract the boom accurately.
The operation switch 110 of another modified form shown in FIG. 17 may be used when the first boom 18L and the second boom 18R are configured to be bendable (undulating). In this case, the fifth operation unit 115 is an operation unit for performing an operation for raising and lowering the first boom 18L. The sixth operation unit 116 is an operation unit for performing an operation for raising and lowering the second boom 18R.

<Display of work status (spraying status) of agricultural machinery>
As shown in FIG. 14, on the display screen M3 of the display unit 61c of the display device 61, a figure showing the spraying status from the spraying unit 22 is displayed. The display unit 61c includes a field display unit 190, a vehicle body display unit 191 and a spray unit display unit 192. The control unit 61a of the display device 61 can acquire the position of the traveling vehicle body 8 from the positioning device 63 and controls the display unit 61c (field display unit 190, vehicle body display unit 191 and spray unit display unit 192).

The field display unit 190 is a portion that displays a graphic Z1 that virtually represents a field (field or the like) on which the traveling vehicle body 8 travels. The figure Z1 representing the field on which the traveling vehicle body 8 travels includes a horizontal line Z11 and a grid (mesh) composed of horizontal lines Z12 and vertical lines Z13. In order to express the depth (three-dimensional effect) of the field, the distance between adjacent vertical lines Z13 becomes narrower as it approaches the horizontal line Z11.

The field display unit 190 shows a vehicle body display unit 191. The vehicle body display unit 191 virtually shows the traveling vehicle body 8 by the figure Z2 representing the position of the traveling vehicle body 8. The figure Z2 representing the position of the traveling vehicle body 8 is displayed as a triangular figure sharpened toward the traveling direction of the traveling vehicle body 8, and is superimposed on the figure Z2 representing the position of the traveling vehicle body 8 to represent the traveling direction. The arrow Y1 is displayed. The display position of the vehicle body display unit 191 with respect to the field display unit 190 is fixed. Further, the center position of the vehicle body display unit 191 is the current position of the traveling vehicle body 8 on the field display unit 190.

Therefore, when the traveling vehicle body 8 is actually traveled, the display position of the traveling vehicle body 8 of the field display unit 190 remains fixed, and the field display is accompanied by the change in the position of the traveling vehicle body 8 detected by the positioning device 63. The virtual field (field image) shown in part 190 scrolls and rotates.
The spraying unit display unit 192 is a portion that displays the figure Z3 representing the spraying unit 22. The spraying unit display unit 192 has a first spraying unit display unit 192A and a second spraying unit display unit 192B. The first spraying unit display unit 192A displays the figure Z31 representing the first spraying unit 221 on the left portion on the side corresponding to the first boom 18L. The second spraying unit display unit 192B displays the figure Z32 representing the second spraying unit 222 on the right portion on the side corresponding to the second boom 18R.

The figure Z3 representing the spraying portion 22 is displayed on the side corresponding to the direction of the spraying portion 22 with respect to the traveling vehicle body 8. Specifically, since the first spraying portion 221 is provided on the first boom 18L extending to the left with respect to the traveling vehicle body 8, the figure Z31 representing the first spraying portion 221 is on the left side of the vehicle body display unit 191. It is displayed to extend. Since the second spraying portion 222 is provided on the second boom 18R extending to the right with respect to the traveling vehicle body 8, the figure Z32 representing the second spraying portion 222 is displayed so as to extend to the right of the vehicle body display unit 191. ing. Thereby, the operator can intuitively grasp the meaning of the figures Z31 and Z32 representing the first spraying portion 221 and the second spraying portion 222.

The figure Z31 representing the first spraying portion 221 includes a plurality of small figures Z31a arranged at intervals from the center in the width direction of the figure Z2 representing the position of the traveling vehicle body 8. The figure Z32 representing the second spraying portion 222 includes a plurality of small figures Z32a arranged at intervals from the center in the width direction of the figure Z2 representing the position of the traveling vehicle body 8. These small figures Z31a and Z32a are figures reminiscent of a plurality of spraying portions 22 provided on the first boom 18L and a plurality of spraying portions 22 provided on the second boom 18R. In the case of this embodiment, the small figures Z31a and Z32a are circular, but may have other shapes (squares or the like). Further, the figure Z31 representing the first spraying portion 221 is a rod-shaped figure extending to the left from the center in the width direction of the figure Z2 representing the position of the traveling vehicle body 8, and the figure Z32 representing the second spraying portion 222 is the position of the traveling vehicle body 8. It may be a bar-shaped figure extending to the right from the center of the figure Z2 in the width direction. Further, the figure Z31 representing the first spraying portion 221 and the figure Z32 representing the second spraying portion 222 may be formed by arranging small figures such as circles along the lower part of the rod-shaped figure. Further, the figure Z3 representing the spraying portion 22 may be a part of the figure Z2 representing the position of the traveling vehicle body 8. Further, the figure Z2 representing the position of the traveling vehicle body 8 may also serve as the figure Z3 representing the spraying portion 22.

The spraying unit display unit 192 is a portion that displays a spraying state in which the sprayed material is sprayed from the spraying unit 22 and a stopped state in which the spraying material is stopped from the spraying unit 22. The control unit 61a displays on the spraying unit display unit 192 a spraying state in which the sprayed material is sprayed from the spraying unit 22 and a stopped state in which the spraying material is stopped from the spraying unit 22. Let me.
The first spraying unit display unit 192A displays that when the first operating unit 111 is operated, it is in a spraying state in which the sprayed material is sprayed from the first spraying unit 221. The second spraying unit display unit 192B displays that when the second operating unit 112 is operated, it is in a spraying state in which the sprayed material is sprayed from the second spraying unit 222. Further, when the third operation unit 113 is operated, it is displayed that the first spraying unit display unit 192A is in the spraying state in which the sprayed material is sprayed from the first spraying unit 221, and the second spraying unit display unit 192B is displayed. Indicates that is in a spraying state in which the sprayed material is sprayed from the second spraying unit 222. When the fourth operation unit 114 is operated, the display of the spraying state changes to the display of the stopped state. In this way, the operation of the operation switch 110 and the display of the spraying unit display unit 192 are linked.

The control unit 61a causes the first spraying unit display unit 192A to display the spraying state and the stopped state of the first spraying unit 221 in different display modes. Therefore, the first spraying unit display unit 192A displays the spraying state and the stopped state of the first spraying unit 221 in different display forms. The control unit 61a causes the second spraying unit display unit 192B to display the spraying state and the stopped state of the second spraying unit 222 in different display modes. Therefore, the second spraying unit display unit 192B displays the spraying state and the stopped state of the second spraying unit 222 in different display forms.

The control unit 61a causes the spraying unit display unit 192 to display the display color in the spraying state and the display color in the stopped state so as to be different. Therefore, in the spraying unit display unit 192, the display color in the spraying state and the display color in the stopped state are different. FIG. 14 shows the display of the spraying unit display unit 192 when the first spraying unit 221 is in the spraying state and the second spraying unit 222 is in the stopped state. In this case, the display color of the first spraying unit display unit 192A and the display color of the second spraying unit display unit 192B are different.

For example, the spraying unit display unit 192 has a yellow display color when it is in the spraying state and a black display color when it is in the stopped state. As described above, it is preferable that the brightness or saturation of the display color in the sprayed state is higher than the brightness or saturation of the display color in the stopped state. As a result, the operator can intuitively grasp whether the spraying unit 22 is in the spraying state or the stopped state from the display color of the spraying unit display unit 192.

As shown in FIG. 14, the display unit 61c includes a locus display unit 193. The locus display unit 193 is a portion that superimposes and displays the figure Z4 representing the spraying locus of the sprayed object by the spraying unit 22 on the field display unit 190. The control unit 61a causes the locus display unit 193 to display the figure Z4 representing the spray locus along the movement locus of the spray unit 22 in the spray state so as to overlap with the field display unit 190. The movement locus of the spraying unit 22 can be calculated based on the position of the traveling vehicle body 8 acquired from the positioning device 63 and the positional relationship between the traveling vehicle body 8 and the spraying unit 22 stored in advance.

The locus display unit 193 has a first locus display unit 193A and a second locus display unit 193B. The first locus display unit 193A displays a graphic Z41 representing a spray locus by the first spray unit 221 on the left portion on the side corresponding to the first boom 18L. The second locus display unit 193B displays a graphic Z42 showing a spray locus by the second spray unit 222 on the right portion on the side corresponding to the second boom 18R.

The control unit 61a causes the first locus display unit 193A to display the graphic Z41 representing the spray locus along the movement locus of the first spray unit 221 in the spray state so as to overlap with the field display unit 190. The control unit 61a causes the second locus display unit 193B to display the graphic Z42 representing the spray locus along the movement locus of the second spray unit 222 in the spray state so as to overlap with the field display unit 190.
The figure Z4 representing the spraying locus of the sprayed object by the spraying portion 22 is a band-shaped figure so as to extend to the side opposite to the traveling vehicle body 8 (lower side of the display screen M3) with respect to the figure Z3 representing the spraying portion 22. Is displayed. The figure Z41 representing the spraying locus by the first spraying unit 221 extends to the opposite side (lower side of the display screen M3) from the figure Z2 representing the position of the traveling vehicle body 8 with respect to the figure Z31 representing the first spraying unit 221. Is displayed. The figure Z41 showing the spraying locus by the first spraying unit 221 is displayed with the same width as the display width of the figure Z31 representing the first spraying unit 221. The figure Z42 showing the spraying locus by the second spraying portion 222 extends to the opposite side (lower side of the display screen M3) from the figure Z2 representing the position of the traveling vehicle body 8 with respect to the figure Z32 representing the second spraying portion 222. Is displayed. The figure Z42 showing the spraying locus by the second spraying unit 222 is displayed with the same width as the display width of the figure Z32 representing the second spraying unit 222.

In this way, the locus display unit 193 displays the figure Z4 representing the spraying locus by the spraying unit 22 on top of the field display unit 190, so that the sprayed material is sprayed on any part of the field. Can be grasped on the display screen M3. Further, the graphic Z31 representing the first spraying unit 221 and the graphic Z32 representing the spraying locus by the second spraying unit 222 are displayed on the field display unit 190, so that the sprayed material is sprayed by the first spraying unit 221. The area where the sprayed material was sprayed, the area where the sprayed material was sprayed by the second spraying unit 222, and the area where the sprayed material was sprayed by the first spraying unit 221 and the second spraying unit 222 are grasped on the display screen M3. can do.

On the display screen M3 shown in FIG. 14, only the first region RG1 in which only the figure Z41 showing the spraying locus by the first spraying unit 221 is displayed and the figure Z42 showing the spraying locus by the second spraying unit 222 are displayed. There are two regions RG2 and a third region RG3 in which the figures Z41 and Z42 showing the spraying locus by the first spraying unit 221 and the second spraying unit 222 are displayed. By looking at this display screen M3, the operator sprays only the first spraying portion 221 in the first region RG1, and sprays only by the second spraying portion 222 in the second region RG2, and the third region RG2. In RG3, it can be grasped that the spraying was performed by the first spraying section 221 and the second spraying section 222.

In FIG. 14, the figures (Z1 to Z4) showing the spraying status from the spraying unit 22 and the operation switch 110 for performing the operation of spraying the sprayed material from the spraying unit are displayed on the same display screen M3. It may be configured to be displayed on different display screens.
Further, in the present invention, the spraying unit display unit 192 may be configured to have the function of the operation switch 110. For example, the figure Z31 displayed on the first spraying unit display unit 192A is pressed to start or stop the spraying from the first spraying unit 221, and the figure Z32 displayed on the second spraying unit display unit 192B is executed. Can be configured to start or stop spraying from the second spraying unit 222 by pressing or the like. In this case, the first spraying unit display unit 192A has the functions of the first operation unit 111 and the fourth operation unit 114, and the second spraying unit display unit 192B has the functions of the second operation unit 112 and the fourth operation unit 114. Have.

The control unit 61a can store the spray locus in the storage unit 61b. Specifically, when the start or stop of spraying from the first spraying section 221 is executed, when the start or stop of spraying from the second spraying section 222 is executed, the first spraying section 221 and the second spraying section 221 are executed. The spraying information of the start and stop of spraying of the unit 222 and the position information of the spraying based on the signal from the positioning satellite are stored in the storage unit 61b as the history information of the spraying trajectory. The stored history information of the spray locus can be displayed on the display device 61 or an external device (fixed terminal 75 or the like). As a result, even when the first spraying section 221 or the second spraying section 222 is stopped for some reason, such as avoiding falling objects in the field, the actual spraying status can be confirmed.

The configuration of the display device 61 described above can be applied not only to the agricultural machine 1 provided with the spraying unit 22 for spraying the sprayed material, but also to the agricultural machine 1 performing agricultural work other than spraying. That is, the configuration of the display device 61 described above can be applied to the agricultural machine 1 provided with the agricultural work unit that performs agricultural work not limited to the spraying work.
Therefore, "spraying" in the above explanation (explanation of "display of work status of agricultural machinery") can be read as "work" or "agricultural work". Therefore, the "spraying section", "first spraying section", and "second spraying section" can be read as "agricultural work section", "first agricultural work section", and "second agricultural work section", respectively. The first agricultural work unit works on the left side or the left side of the traveling vehicle body 8, and the second agricultural work unit works on the right part or the right side of the traveling vehicle body. In addition, the "spraying unit display unit", "first spraying unit display unit", and "second spraying unit display unit" are "agricultural work unit display unit", "first agricultural work unit display unit", and "second agricultural work unit", respectively. It can be read as "display unit". In addition, "spraying status", "spraying state", "spraying material spraying", and "spraying material spraying locus" should be read as "working status", "working state", "work", and "working locus", respectively. Can be done.

As the agricultural machine 1 to which the above-mentioned display device 61 can be applied, for example, an agricultural machine (for example, a mower, an offset mower, a boom mower, etc.) that performs a mowing work as an agricultural work can be exemplified. In this case, the agricultural work department is the mowing department.
When the agricultural machine 1 is a normal mower (a mower whose mowing portion does not swing to the left or right), the agricultural work unit has a first mowing portion located to the left of the traveling vehicle body and a second mower located to the right of the traveling vehicle body. Including the mowing part. In this case, the first agricultural work display unit indicates the work state in which the first mowing unit works on the left side of the traveling vehicle body, and the second agricultural work display unit indicates the work state in which the second mowing unit works on the right side of the traveling vehicle body. Indicates the working status.

When the agricultural machine 1 is an offset mower or a boom mower, the mowing portion swings left and right with respect to the traveling vehicle body. In this case, the first agricultural work display unit shows the work state in which the mowing unit works on the left side of the traveling vehicle body, and the second agricultural work display unit indicates the work state in which the mowing unit works on the right side of the traveling vehicle body. ..
<Display of margin of running speed for spraying ability>
As shown in FIG. 8, the agricultural machine 1 includes a speed sensor 63c that detects the traveling speed of the machine body 2 (traveling vehicle body 8). The speed sensor 63c can transmit the detected information (speed value) regarding the traveling speed of the aircraft 2 to the control device 60. In the example shown in FIG. 8, the speed sensor 63c is provided in the positioning device 63, but the speed sensor 63c may be provided separately from the positioning device 63. For example, the speed sensor 63c may calculate the traveling speed of the machine body 2 (traveling vehicle body 8) from the rotation speed (rotational speed) of the front wheels 3F or the rear wheels 3R.

The amount of spraying (spraying capacity) per unit time in the agricultural machine 1 is uniquely determined by the planned spraying value (amount to be sprayed), the traveling speed of the machine 2 (current speed value), and the spraying width. For example, the unit of spraying amount per unit time is "kg / sec", the unit of spraying plan value is "kg / a", the unit of traveling speed of the aircraft 2 is "m / sec", and the unit of spraying width is "m". ". The spraying planned value is a planned value of the spraying amount required per unit time, and is, for example, the set spraying amount Wn input to the spraying input unit 107 described above. The spraying width can be calculated from the length of the first pipe 15L and the length of the second pipe 15R. As described above, the length of the first tube 15L and the second tube 15R are stored in the control device 60. Therefore, the control device 60 can calculate the spray width based on the stored length of the first pipe 15L and the second pipe 15R.

The control device 60 calculates the spraying amount (spraying capacity) per unit time required at the present time from the current speed value detected by the speed sensor 63c, the spraying plan value, and the spraying width, and the spraying amount (spraying capacity) is calculated. The driving device that operates to change the amount of spraying by the spraying unit 22 is driven so as to realize the ability). In the case of the present embodiment, the driving devices that operate to change the amount of spraying by the spraying unit 22 are the first electric motors 14L and 14R. However, the drive device that operates to change the spray amount by the spray unit 22 is not limited to the first electric motors 14L and 14R, and may be other drive devices (for example, the second electric motor 35 or the like) described above. You may. In the following description, it is assumed that the drive device is the first electric motors 14L and 14R.

The control device 60 calculates the spraying amount (spraying capacity) per unit time required at the present time from the current speed value detected by the speed sensor 63c, the spraying plan value, and the spraying width, and the spraying amount (spraying capacity) is calculated. The first electric motors 14L and 14R are driven so as to realize the capacity). However, since the first electric motors 14L and 14R are set to the maximum rotation speed in the specifications, there is a threshold value (upper limit) that cannot be dealt with depending on the combination of the current speed value and the spraying plan value.

More specifically, when the current speed value increases, it is necessary to increase the rotation speeds of the first electric motors 14L and 14R in order to realize the current required spraying amount (spraying capacity) per unit time. .. However, if the current speed value becomes too large, it becomes impossible to increase the rotation speed due to the specifications of the motor. Therefore, there is a threshold value (upper limit) for the traveling speed at which the required spraying amount per unit time can be realized. Hereinafter, this threshold value is referred to as a "maximum speed value".

The control device 60 sets the current speed value, which is the current running speed of the aircraft 2 detected by the speed sensor 63c, and the maximum speed value, which is the maximum value of the running speed that can realize the required spraying amount per unit time. Based on this, the margin of the current speed value with respect to the maximum speed value (a numerical value indicating how much the current speed value has a margin with respect to the maximum speed value) is calculated and displayed on the display device 61.
As shown in FIG. 8, the agricultural machine 1 includes an input unit 61d for inputting an element used for calculating the margin (hereinafter, referred to as an “input element”). Although FIG. 8 shows an example in which the input unit is provided in the display device 61, the input unit 61d may be provided in an external device (fixed terminal 75 or server 70). The input unit 61d may be displayed as a portion (input field) in which an input element can be input on the display screen of the display unit 61c (which may be the display unit of the fixed terminal 75 or the server 70) of the display device 61. However, it may be a reading device that reads an input element stored in a storage medium such as a USB memory or an SD card, or both may be used in combination according to the type of the input element.

The control device 60 calculates and calculates the maximum speed value based on the input element input to the input unit 61d. The input element input to the input unit 61d includes the above-mentioned spray width and spray planned value. Further, the input elements include a metering value indicating the amount of spraying sprayed from the spraying unit 22 in a fixed time, a motor specification value including the maximum rotation speed of the motor (first electric motor 14L, 14R) which is a driving device, and a motor specification value. Calculation function (rotation speed calculation curve) for calculating the rotation speed (rpm) of the motors (first electric motors 14L, 14R) based on the metering value and the spraying capacity (spraying amount per unit time required at present). And the planned spraying value.

The metering value is used to calculate the rotation speed of the motor from the spraying capacity using a calculation function. The metering value can be calculated by actual measurement. For example, the sprayed material can be sprayed from the spraying unit 22 for a certain period of time (for example, 60 seconds), and the sprayed amount at this time can be measured and used as a metering value.
The calculation function (rotational speed calculation curve) is a function (relational expression) for calculating the rotational speed of the motor with the metered value and the current required amount of spraying per unit time (spraying capacity) as variables. ..

The spraying plan value is set individually for each of a plurality of areas formed by partitioning the field. This area corresponds to the plurality of areas Qn (n = 1, 2, 3 ... N) described above. In this case, the control device 60 uses the spraying plan values individually set for each of the plurality of areas Qn as input elements, and calculates the maximum speed value for each of the plurality of areas. When different spraying plan values are set for each of the plurality of areas Qn, different maximum velocity values are calculated for each area. When the same spraying plan value is set for all area Qn, the same maximum velocity value is calculated for all area Qn.

Further, the control device 60 may calculate the maximum speed value by using the maximum spraying plan value among the spraying plan values individually set for each of the plurality of areas Qn as an input element. For example, the planned spraying value (set spraying amount) of the area Q1 is 2.0 kg / 10a, the planned spraying value (set spraying amount) of the area Q2 is 3.0 kg / 10a, and the other area Qn (n ≧ 3). When the spraying plan value (set spraying amount) of is 1.0 kg / 10a, the control device 60 calculates the maximum speed value using the spraying plan value set in the area Q2 as an input element.

Further, the control device 60 may calculate the maximum speed value by using the current spraying value indicating the current spraying amount instead of the spraying planned value as an input element. The current spraying value can be calculated, for example, based on the current settings of the spraying amount adjusting device (first spraying amount adjusting device 11L, second spraying amount adjusting device 11R) by the control device 60.
The control device 60 calculates the ratio of the difference between the maximum speed value and the current speed value to the maximum speed value calculated based on the input element as the margin. That is, the margin = (maximum speed value-current speed value) / maximum speed value. For example, when the maximum speed value is 5 (m / sec) and the current speed value is 4 (m / sec). The margin is calculated as (5-4) / 5 = 0.2, that is, 20%. This margin means that the current speed value has a margin of 20% with respect to the maximum speed value. That is, it means that the required spraying amount per unit time can be realized even if the traveling speed is increased by 20% from the current speed value. In this case, the worker can increase the traveling speed of the agricultural machine 1 to perform the spraying work, thereby improving the work efficiency and completing the work in a short time. Further, for example, when the maximum speed value is 5 (m / sec) and the current speed value is 5 (m / sec). The margin is calculated as (5-5) / 5 = 0, that is, 0%. This margin means that the current speed value has no margin for the maximum speed value. In other words, if the traveling speed is increased above the current speed value, the required amount of spraying per unit time becomes unrealizable. In this case, if the traveling speed of the agricultural machine 1 is increased, the required spraying amount cannot be obtained, so that the worker performs the spraying work while maintaining the traveling speed as it is.

The control device 60 displays the calculated margin on the display device 61. The margin displayed on the display device 61 may be displayed as a numerical value (for example, "20%" or the like), but it is preferable to display the margin as a margin gauge that represents the margin graphically.
FIG. 14 shows a display screen M3 of the display device 61 on which the margin gauge YG is displayed. The margin gauge YG can express the margin by the area or length of the figure Z20 showing the current speed value with respect to the area or length of the figure Z10 showing the maximum speed value. The margin gauge YG is displayed as a bar graph. The color of the figure Z10 showing the maximum speed value is different from the color of the figure Z20 showing the current speed value. In FIG. 14, the figure Z10 showing the maximum speed value is displayed as a vertically long rectangle, and the figure Z20 showing the current speed value is displayed by filling a part of the inside of the figure Z10 showing the maximum speed value. In the case of the margin gauge YG shown in FIG. 14, the whole is the figure Z10 showing the maximum speed value, and the filled part (the part of different colors) in the figure Z10 is the figure Z20 showing the current speed value. The unfilled portion Z30 in the figure Z10 represents the "margin".

The ratio of the area (or length) of the figure Z20 showing the current speed value to the area (or length) of the figure Z10 showing the maximum speed value is set to the ratio of the current speed value to the maximum speed value. For example, when the maximum speed value is 5 (m / sec) and the current speed value is 4 (m / sec) (when the margin is 20%), the area (or the area) of the figure Z10 showing the maximum speed value is shown. Assuming that the length) is 100, the area (or length) of the figure Z20 showing the current velocity value is 80.

FIG. 14 shows a margin gauge YG when the margin is 80%. FIG. 18 shows the margin gauge YG when (a) has a margin = 60%, (b) shows the margin gauge YG when the margin = 20%, and (c) shows the margin gauge YG. The margin gauge YG in the case of% is shown. As described above, in the margin gauge YG, as the margin becomes smaller, the area or length of the figure Z20 showing the current speed value becomes larger with respect to the area or length of the figure Z10 showing the maximum speed value. By displaying the margin on the margin gauge YG in this way, the margin is displayed in a visually easy-to-understand manner, so that the operator can easily and accurately grasp the margin.

As shown in FIG. 14, it is preferable that the margin gauge YG is displayed on the same display screen M3 as the figures (Z1 to Z4) showing the spraying status from the spraying unit 22. In FIG. 14, the operation switch 110 for performing the operation of spraying the sprayed material from the spraying portion, the figures (Z1 to Z4) showing the spraying status from the spraying portion 22, and the margin gauge YG are on the same display screen M3. It is displayed.
As shown in FIG. 8, the agricultural machine 1 is provided with a notification unit 61e for notifying the operator that the margin is equal to or less than the predetermined value when the margin is equal to or less than the predetermined value. The predetermined value is, for example, a margin = 5%. In this case, the notification unit 61e notifies the operator that the margin is 5% or less when the margin is 5% or less. In the example shown in FIG. 8, the notification unit 61e is provided in the display device 61, but the notification unit 61e may be provided in a device different from the display device 61.

The notification unit 61e is, for example, a sound generator (buzzer, speaker, etc.) that notifies by sound or voice, and a light generator (LED, etc.) that notifies by lighting or blinking light. Further, the notification unit 61e may perform notification by displaying (characters, figures, etc.) on the display screen of the display unit 61c of the display device 61. The control device 60 transmits a control signal to the notification unit 61e when the margin exceeds a predetermined value. Upon receiving the control signal, the notification unit 61e notifies the operator that the margin exceeds a predetermined value by a method such as sound, light, or display. As a result, the worker can know that the margin has become equal to or less than the predetermined value, and can take measures such as reducing (or not increasing) the traveling speed. As a result, it is possible to prevent the operator from traveling at a speed exceeding the maximum speed value, and it is possible to prevent a shortage of spraying amount due to excessive speed.

FIG. 19 shows an example of the system configuration and the flow of the processing operation of the agricultural machine 1 for calculating the above-mentioned margin.
In the case of the system shown in FIG. 19, the positioning device 63 includes a speed sensor 63c. The control device 60 is composed of, for example, an ECU (Electric Control Unit) of a motor controller that controls a motor (first electric motors 14L, 14R). The current speed value detected by the speed sensor 63c of the positioning device 63 is transmitted to the control device 60. Further, the positioning device 63 transmits the position (latitude, longitude) of the agricultural machine 1, that is, the position of the traveling vehicle body 8 to the display device 61. The display device 61 transmits the spraying plan value and the metering value to the control device 60. The spraying plan value and the metering value are input from the input unit 61d. The control device 60 calculates the maximum speed value based on the spraying plan value, the metering value, the motor specification value, the calculation function, and the spraying width transmitted from the display device 61.

In calculating the maximum speed value, the control device 60 may calculate the maximum speed value for each of a plurality of areas by using the spraying plan value individually set for each of the plurality of areas Qn as the spraying plan value. Then, the maximum speed value may be calculated by using the maximum spraying plan value among the spraying plan values individually set for each of the plurality of areas Qn. Further, the control device 60 may calculate the maximum speed value by using the current spraying value indicating the current spraying amount instead of the spraying planned value.

The control device 60 calculates the margin based on the current speed value transmitted from the positioning device 63 and the calculated maximum speed value, and transmits the calculated margin to the display device 61. The display device 61 displays the received margin on the display unit 61c in the form of a margin gauge YG or the like (see FIG. 14). Further, when the margin is equal to or less than the predetermined value, the control unit 61a of the display device 61 operates the notification unit 61e to notify the operator that the margin is equal to or less than the predetermined value. Instead of the configuration in which the display device 61 operates the notification unit 61e, the control device 60 may be configured to operate the notification unit 61e.

The control device 60 transmits a control signal to the motor drivers of the first electric motors 14L and 14R. The first electric motors 14L and 14R drive the spraying / discharging mechanism 13 based on the received control signal, and the sprayed material is sprayed from the spraying unit 22.
In the system shown in FIG. 19, the control device 60 may be composed of the control unit 61a of the display device 61, or may be composed of both the ECU of the motor controller and the control unit 61a of the display device 61. When the control device 60 is composed of the control unit 61a of the display device 61, the maximum speed value can be calculated and displayed on the display device 61, so that the system configuration can be simplified. When all or part of the control device 60 is composed of the control unit 61a of the display device 61, the current speed value detected by the speed sensor 63c can be transmitted to the display device 61. Further, the current speed value and the maximum speed value can be transmitted from the control device 60 to the display device 61, and the margin can be calculated by the control unit 61a of the display device 61.

<Mounting structure of positioning device>
As shown in FIGS. 1 and 2, the agricultural machine 1 includes a cabin 9 mounted on a traveling vehicle body 8. The cabin 9 has a roof 150 at the top.
FIG. 20 is a front view showing the upper part of the cabin 9, and FIG. 21 is a side view showing the front upper part of the cabin. The roof 150 has an upper plate 151 and a flange portion 152. The upper plate 151 is located above the roof 150. As shown in FIG. 21, the collar portion 152 projects below the upper plate 151 in front of the leading edge of the upper plate 151. The upper surface of the roof 150 includes the upper surface of the upper plate 151 and the upper surface of the flange portion 152.

As shown in FIG. 20, the cabin 9 has front pillars 153L and 153R. The front pillar 153L is provided on the left front portion of the cabin 9. The front pillar 153L is provided on the right front portion of the cabin 9. A windshield 154 is provided between the front pillar 153L and the front pillar 153R. The upper part of the front pillar 153L and the upper part of the front pillar 153R are connected by a front upper frame 155.

Rear pillars (not shown) are provided behind the front pillars 153L and the front pillars 153R, respectively. The front pillars 153L and 153R and the rear pillars are connected by a side upper frame 156 (see FIG. 21). A side glass 157 is provided between the front pillars 153L and 153R and the rear pillars.
As shown in FIGS. 20 and 21, the positioning device 63 is supported on the roof 150 by the support bracket 160. As shown in FIGS. 22 to 25, the support bracket 160 has a base plate 161, a left leg portion 162, a right leg portion 163, and a front leg portion 166.

The base plate 161 includes a mounting portion 161a on which the positioning device 63 is mounted, a left extending portion 161b extending to the left from the mounting portion 161a, and a right extending portion 161c extending to the right from the mounting portion 161a. ,have. The mounting portion 161a, the left extension portion 161b, and the right extension portion 161c are formed in a continuous planar shape.
The left leg portion 162 includes a left inclined portion 161d. The left inclined portion 161d extends from the left end of the base plate 161 toward the lower left. The right leg portion 163 includes a right inclined portion 161e. The right inclined portion 161e extends from the right end of the base plate 161 toward the lower right.

The base plate 161 is arranged so that the longitudinal direction faces the width direction of the roof 150 (the width direction of the machine body 2). The mounting portion 161a is located at the center of the base plate 161 in the longitudinal direction. As shown in FIG. 20, the base plate 161 extends over the entire length of the roof 150 in the width direction (width direction of the machine body 2). As shown in FIG. 27, the length of the base plate 161 in the front-rear direction is the length of the positioning device 63 in the front-rear direction over half or more of the length of the base plate 161 in the longitudinal direction (width direction of the roof 150). It is set to more than half the length.

The lower portion of the left leg portion 162 extends further downward from the lower end of the left inclined portion 161d. The left leg portion 162 is attached to the left portion of the cabin 9 or the left portion of the traveling vehicle body 8. In the case of the present embodiment, the left leg portion 162 is attached to the front pillar 153L of the cabin 9 or the left side upper frame 156. The left leg portion 162 is provided with a through hole 164L. A mounting piece 165L is attached to the front pillar 153L or the left side upper frame 156L. The left leg portion 162 is attached to the front pillar 153L or the left side upper frame 156L by inserting the bolt BL1 into the through hole 164L and screwing the bolt BL1 into the screw hole formed in the mounting piece 165L. The left leg portion 162 may be attached to a bracket 159L for attaching the left side mirror 158L.

The lower portion of the right leg portion 163 extends further downward from the lower end of the right inclined portion 161e. The right leg portion 163 is attached to the left portion of the cabin 9 or the left portion of the traveling vehicle body 8. In the case of the present embodiment, the right leg portion 163 is attached to the front pillar 153R of the cabin 9 or the right side upper frame 156R. The right leg portion 163 is provided with a through hole 164R. A mounting piece 165R is mounted on the front pillar 153R or the left side upper frame 156. The right leg portion 163 is attached to the front pillar 153R or the right side upper frame 156R by inserting the bolt BL2 into the through hole 164R and screwing the bolt BL2 into the screw hole formed in the mounting piece 165R. The right leg portion 163 may be attached to a bracket 159R for attaching the right side mirror 158R.

As shown in FIGS. 22, 23, 25, etc., the front leg portion 166 extends downward from the front portion (leading edge portion) of the base plate 161. The front leg portion 166 includes a left front leg portion 166L and a right front leg portion 166R. The left front leg portion 166L extends downward from the left front portion (left front edge portion) of the base plate 161. The right front leg portion 166R extends downward from the right front portion (right front edge portion) of the base plate 161.

The front leg portion 166 (left front leg portion 166L, right front leg portion 166R) has a contact portion 167, a left connecting portion 168, and a right connecting portion 169. The contact portion 167 is provided below the base plate 161 and abuts on the upper surface of the flange portion 152. The left connecting portion 168 extends diagonally upward to the left from the contact portion 167 and is connected to the base plate 161. The right connecting portion 169 extends diagonally upward to the right from the contact portion 167 and is connected to the base plate 161. As shown in FIG. 23, the left connecting portion 168 and the right connecting portion 169 are formed in a V shape in front view.

The front leg portion 166 (left front leg portion 166L, right front leg portion 166R) is provided with a shaft support portion 171 that supports a support shaft 170 described later. The shaft support portion 171 has a pair of shaft support pieces 172L provided on the left front leg portion 166L and a pair of shaft support pieces 172R provided on the right front leg portion 166R. The pair of shaft support pieces 172L are arranged to face each other at intervals in the width direction of the roof 150, and extend forward from the upper part of the right connecting portion 169 of the left front leg portion 166L. The pair of shaft support pieces 172R are arranged to face each other at intervals in the width direction of the roof 150, and extend forward from the upper part of the left connecting portion 168 of the right front leg portion 166R. A through hole 171a is formed in the shaft support portion 171 (shaft support piece 172L, shaft support piece 172R). As shown in FIG. 23, the nut NT1 is fixed to one of the pair of shaft support pieces 172L and one of the pair of shaft support pieces 172R.

The support bracket 160 is attached to the traveling vehicle body 8 in a state of being mounted on the roof 150. As shown in FIGS. 20 and 21, the front leg portion 166 is placed on the upper surface of the crossguard portion 152 of the upper surface of the roof 150.
As shown in FIGS. 24 and 27, the contact portion 167 is provided with a through hole 167a. With the front leg portion 166 mounted on the collar portion 152, the contact portion 167 abuts on the upper surface of the collar portion 152. In this state, the bolt BL3 is inserted into the through hole 167a, and the bolt BL3 is screwed into the screw hole formed in the flange portion 152. As a result, the contact portion 167 is fixed to the upper surface of the collar portion 152, and the front leg portion 166 is fixed to the collar portion 152. As shown in FIG. 24, the contact portion 167 is located at a position overlapping the notch 161f formed in the base plate 161 in the top view.

As shown by a virtual line in FIG. 20, the left leg portion 162 and the right leg portion 163 may be provided with a contact portion 177 that abuts on the upper surface of the roof 150. The contact portion 177 abuts on the upper surface of the flange portion 152 of the upper surface of the roof 150. The contact portion 177 and the flange portion 152 can be fixed by a fixing tool (not shown) such as a bolt. In this case, the front leg portion 166, the left leg portion 162, and the right leg portion 163 are fixed to the upper surface of the roof 150 (the upper surface of the collar portion 152). In this case, the left leg portion 162 may not be attached to the front pillar 153L or the left side upper frame 156, but may be attached. Further, the right leg portion 163 may not be attached to the front pillar 153R or the right side upper frame 156, but may be attached.

As shown in FIG. 26, a support plate 179 is interposed between the positioning device 63 and the base plate 161. The positioning device 63 is fixed to the upper surface of the support plate 179 with bolts or the like. The support plate 179 is arranged on the mounting portion 161a of the base plate 161. The support plate 179 has a pivot piece 180 pivotally supported by the shaft support portion 171. The pivot piece 180 includes a first piece 181 and a second piece 182, a third piece 183, and a fourth piece 184. The first piece 181 extends forward from the left portion of the leading edge of the support plate 179. The second piece 182 extends forward from the right portion of the leading edge of the support plate 179. The third piece 183 and the fourth piece 184 are provided on the front lower piece 185 extending from the center of the leading edge of the support plate 179 to the front lower side. The third piece 183 extends rearward from the lower left of the front lower piece 185. The fourth piece 184 extends rearward from the lower right of the front lower piece 185. A through hole 180a is formed in the pivot piece 180 (first piece 181, second piece 182, third piece 183, fourth piece 184).

The first piece 181 is arranged so as to overlap one of the pair of shaft support pieces 172L. The second piece 182 is arranged so as to overlap the other of the pair of shaft support pieces 172L. The third piece 183 is arranged so as to overlap one of the pair of shaft support pieces 172R. The fourth piece 184 is arranged so as to overlap the other of the pair of shaft support pieces 172R.
The support shaft 170 is inserted through the through hole 171a formed in the shaft support portion 171 and the through hole 180a formed in the pivot piece 180. The support shaft 170 is composed of, for example, a bolt, and the bolt is screwed into the nut NT1. The support shaft 170 rotatably supports the positioning device 63 toward the front. The support plate 179 can rotate forward around the support shaft 170. Therefore, the positioning device 63 can also rotate forward around the support shaft 170.

FIG. 21 shows the position of the positioning device 63 when the positioning device 63 is rotated forward around the support shaft 170 together with the support plate 179. As shown in FIG. 21, a part of the positioning device 63 is located higher than the upper surface of the roof 150 when rotated forward.
As shown in FIGS. 26 and 27, the base plate 161 and the support plate 179 can be fixed by bolts BL4. When the base plate 161 and the support plate 179 are fixed by the bolt BL4, the positioning device 63 cannot rotate forward. When the bolt BL4 is removed, the positioning device 63 can rotate forward.

<Summary>
As described above, the agricultural machine 1 adjusts and discharges the machine 2, the container 10 provided in the machine 2 and accommodating the spray, and the spray amount contained in the container 10. The amount adjusting device 11, the transport pipe 15 that distributes the sprayed material discharged from the spraying amount adjusting device 11 together with the transport air, a plurality of spraying portions 22 provided on the transport pipe 15 and spraying the sprayed material, and the transport pipe. The blower 201 that generates the conveyed air flowing through the 15 and the control device 60 that controls the amount of spraying from the spraying unit 22 are provided, and the control device 60 is the spraying amount of the sprayed material discharged from the spraying amount adjusting device 11. And the storage unit 61b in which a plurality of specified lines L1 to L9 that specify the relationship with the amount of air blown per unit time of the blower 201 are stored, and one specified line selected from the plurality of specified lines L1 to L9 are acquired. It has a selection acquisition unit 60b and a setting unit 60c that sets the relationship between the spray amount and the air flow amount based on the specified line acquired by the selection acquisition unit 60b.

According to this configuration, it is possible to select the optimum specified line from a plurality of preset specified lines in order to realize uniform spraying from a plurality of spraying portions according to the type of sprayed material to be sprayed. It is possible to realize spraying that equalizes the spraying amount to be sprayed from a plurality of spraying portions based on the selected specified line. In particular, when a plurality of spraying portions are provided along the boom, even spraying can be realized from the base end to the tip of the boom.

Further, the agricultural machine 1 includes an air volume adjusting shutter (cover plate 203) for adjusting the air volume of the blower 201, and the air volume adjusting shutter can adjust the air volume by changing the opening degree, and a plurality of specified lines can be adjusted. L1 to L9 are defined based on a plurality of openings of the air volume adjusting shutter.
According to this configuration, by setting one specified line from a plurality of specified lines L1 to L9, the relationship between the spraying amount and the blowing amount per unit time of the blower 201 is set, so that the desired spraying amount can be obtained. It is possible to more reliably set the amount of air blown required to achieve this.

Further, the air volume adjusting shutter (cover plate 203) adjusts the air volume by changing the opening area of the suction port 201a for the outside air (air) of the blower 201.
According to this configuration, the air volume can be easily adjusted by the air volume adjusting shutter.
Further, the agricultural machine 1 includes feeding rollers 13L and 13R for discharging the sprayed material contained in the container 10 by rotation, and the spraying amount adjusting device 11 controls the rotation speed of the feeding rollers 13L and 13R. The amount of sprayed material discharged from the spraying amount adjusting device 11 is adjusted, and the specified lines L1 to L9 are specified based on the relationship between the rotation speed of the feeding rollers 13L and 13R and the amount of air blown per unit time of the blower 201. Will be done.

According to this configuration, the specified lines L1 to L9 are specified based on the relationship between the rotation speed of the feeding rollers 13L and 13R and the amount of air blown per unit time of the blower 201. Therefore, it is possible to reliably select the optimum specified line for achieving uniform spraying from a plurality of spraying portions.
Further, the agricultural machine 1 includes an airframe 2, a traveling device 3 that supports the airframe 2 so that it can travel, a first spraying portion 221 provided on a first boom 18L extending to the left from the airframe 2, and a right side from the airframe 2. The operation switch 110 includes a second spraying portion 222 provided on the second boom 18R extending in the direction, and an operation switch 110 for operating the spraying of the sprayed material from the first spraying portion 221 and the second spraying portion 222. , The first operation unit 111 that performs an operation of spraying the sprayed material from the first spraying unit 221 and the second operating unit 112 that performs an operation of spraying the sprayed material from the second spraying unit 222, and the first spraying unit 221 and the first. 2 A third operation unit 113 that performs an operation of spraying the sprayed material from the spraying unit 222, and a fourth operating unit 114 that performs an operation of stopping the spraying of the sprayed material from the first spraying unit 221 and the second spraying unit 222. The first operation unit 111 is arranged on the left side of the operation switch 110 on the side corresponding to the first boom 18L, and the second operation unit 112 is the operation switch on the side corresponding to the second boom 18R. The operation unit of either the third operation unit 113 or the fourth operation unit 114 is arranged on the right side of the 110, and is arranged between the first operation unit 111 and the second operation unit 112, and the third operation unit is arranged. The operation unit of either 113 or the fourth operation unit 114 is arranged below the one operation unit.

According to this configuration, since the first operation unit 111 is arranged on the side corresponding to the first boom 18L and the second operation unit 112 is arranged on the side corresponding to the second boom 18R, the first operation unit 111 It is possible to grasp the work performed by the operation of the second operation unit 112 and the work performed by the operation of the second operation unit 112 in relation to the arrangement of the boom. Therefore, the worker can intuitively grasp the contents of the work performed by the operation based on the arrangement of the operation unit.

Further, the fourth operation unit 114 is arranged between the first operation unit 111 and the second operation unit 112, and the third operation unit 113 is arranged below the fourth operation unit 114.
According to this configuration, the third operation unit 113 arranged in the direction (downward) corresponding to the spraying direction of the sprayed material reminds us of a state in which the sprayed material is sprayed. The fourth operation unit 114 arranged in the direction opposite to the spraying direction (upper) reminds us of a state in which spraying of the sprayed material is stopped. Therefore, it is possible to intuitively grasp the functions of the third operation unit 113 and the fourth operation unit 114.

Further, the third operation unit 113 may be arranged between the first operation unit 111 and the second operation unit 112, and the fourth operation unit 114 may be arranged below the third operation unit 113.
According to this configuration, when operating the first operation unit 111 or the second operation unit 112, the risk of accidentally operating the fourth operation unit 114 can be reduced, so that an area that is not sprayed is generated. Can be prevented.

Further, the first operation unit 111, the second operation unit 112, the third operation unit 113, and the fourth operation unit 114 are arranged in a T shape as a whole.
According to this configuration, the operation switch 110 reminds us of the front view shape of the agricultural machine 1 in a state where the booms 18L and 18R are extended to the left and right (that is, in a state of being sprayed). Therefore, the worker can intuitively grasp the contents of the work performed by the operation based on the arrangement of the operation unit.

Further, the first operation unit 111, the second operation unit 112, the third operation unit 113, and the fourth operation unit 114 are operated by pressing or contacting.
According to this configuration, the first operation unit 111, the second operation unit 112, the third operation unit 113, and the fourth operation unit 114 can be easily operated.
Further, the agricultural machine 1 includes a touch panel (display unit 61c) on which the operation switch 110 is displayed, and the first operation unit 111, the second operation unit 112, the third operation unit 113, and the fourth operation unit 114 are on the touch panel. Is displayed.

According to this configuration, the first operation unit 111, the second operation unit 112, the third operation unit 113, and the fourth operation unit 114 can be operated by pressing or touching the touch panel, so that the operability is excellent. , There is no need to install a device that constitutes an operation switch.
Further, the first boom 18L and the second boom 18R are configured to be expandable and contractible, and the operation switch 110 is a fifth operation unit 115 for expanding and contracting the first boom 18L and a sixth operation unit 116 for expanding and contracting the second boom 18R. The fifth operation unit 115 is arranged on the left side of the first operation unit 111, and the sixth operation unit 116 is arranged on the right side of the second operation unit 112.

According to this configuration, since the arrangement of the fifth operation unit 115 and the sixth operation unit 116 is reminiscent of the extension of the first boom 18L and the second boom 18R, the arrangement of the fifth operation unit 115 and the sixth operation unit 116 You can intuitively grasp the function (expansion and contraction) of each operation unit.
Further, the agricultural machine 1 includes a machine body 2, a traveling device 3 that supports the machine body 2 so as to be able to travel, a spraying unit 22 that moves together with the machine body 2 to spray the sprayed material, and a speed sensor that detects the traveling speed of the machine body 2. A control device 60 for controlling the amount of sprayed material to be sprayed by the spraying unit 22 and a display device 61 are provided, and the control device 60 is a current speed which is a current traveling speed detected by the speed sensor 63c. Based on the value and the maximum speed value which is the maximum value of the travel speed that can realize the required spraying amount per unit time, the margin of the current speed value with respect to the maximum speed value is calculated and displayed on the display device 61. ..

According to this configuration, it is possible to grasp how much the current traveling speed has a margin with respect to the maximum traveling speed that can realize the required spraying amount by the display of the display device 61, so that the required spraying amount can be grasped. It is possible to travel at a speed close to the maximum travel speed that can be realized, and it is possible to prevent insufficient spraying and deterioration of work efficiency.
Further, the control device 60 calculates the ratio of the difference between the maximum speed value and the current speed value with respect to the maximum speed value as a margin and displays it on the display device 61.

According to this configuration, it is possible to easily grasp how much the current speed value has a margin with respect to the maximum speed value from the margin displayed on the display device 61.
Further, the display device 61 can display a margin gauge YG that represents the margin in a figure, and the margin gauge YG displays the margin and the current speed value with respect to the area or length of the figure Z10 showing the maximum speed value. It is represented by the area or length of the figure Z20 shown.

According to this configuration, the margin can be grasped as a figure by looking at the margin gauge YG. Therefore, the margin can be intuitively and easily grasped.
Further, the agricultural machine 1 has an input unit 61d for inputting an input element including a spray width by the spray unit 22 and a spray plan value which is a planned value of the spray amount required per unit area, and a spray amount by the spray unit. The control device 60 includes a drive device (first electric motors 14L, 14R) that operates to change the current speed value detected by the speed sensor 63c, a spray width input from the input unit 61d, and a spray width. Based on the spraying plan value, the spraying capacity per unit time required at present is calculated, and the drive device is driven so as to satisfy the spraying capacity.

According to this configuration, since the amount of spraying by the spraying portion can be changed by the drive device so as to satisfy the spraying capacity per unit time required at present, it is possible to prevent insufficient spraying.
Further, the input elements input to the input unit 61d are a metering value indicating the amount of spraying sprayed from the spraying unit 22 in a fixed time, and the maximum rotation speed of the motor (first electric motor 14L, 14R) which is a driving device. The control device 60 includes a motor specification value including, a calculation function for calculating the rotation speed of the motor based on a metering value and a spraying capacity, and a spraying plan value, and the control device 60 is a maximum speed value based on an input element. Is calculated.

According to this configuration, the maximum velocity value based on the spraying plan value can be accurately calculated based on the input element.
Further, the control device 60 may calculate the maximum speed value by using the current spraying value indicating the current spraying amount instead of the spraying planned value as an input element.
According to this configuration, the maximum velocity value based on the current spray amount can be accurately calculated based on the input element.

Further, the spraying plan value is individually set for each of a plurality of areas Qn formed by partitioning the field.
According to this configuration, the maximum velocity value can be calculated based on the spraying plan values individually set for each of the plurality of areas Qn.
Further, the control device 60 may use a spraying plan value individually set for each of the plurality of areas Qn as an input element, and calculate the maximum speed value for each of the plurality of areas Qn.

According to this configuration, when the spraying plan value is set individually for each of the plurality of areas, the maximum speed value can be calculated for each of the plurality of areas Qn. Therefore, by setting the current speed value for each area based on the calculated maximum speed value, it is possible to realize the optimum spraying amount for each area.
Further, the control device 60 may calculate the maximum speed value by using the maximum spraying plan value among the spraying plan values individually set for each of the plurality of areas Qn as an input element.

According to this configuration, when the spraying plan value is set individually for each of a plurality of areas, the maximum speed value can be calculated based on the maximum spraying plan value among the set spraying plan values. As a result, the risk that the amount of spraying is too small can be reliably avoided.
Further, the display device 61 includes a display unit 61c that displays a figure showing a work status from the agricultural work unit 22 of the traveling vehicle body 8 having the agricultural work unit 22 that performs agricultural work, and a control unit 61a that controls the display unit 61c. The display device 61c is a display device provided, and the display unit 61c displays a field display unit 190 that displays a figure Z1 that represents a field on which the traveling vehicle body 8 travels, and a vehicle body that displays a figure that represents the position of the traveling vehicle body 8 on the field display unit 190. The control unit 61a includes a display unit 191 and a farm work unit display unit 192 that displays the figure Z3 representing the farm work unit 22 on the side corresponding to the direction of the farm work unit 22 with respect to the traveling vehicle body 8 of the vehicle body display unit 191. The agricultural work unit display unit 192 displays the work state in which the agricultural work unit 22 is working and the stopped state in which the agricultural work unit 22 is stopped in different display forms.

According to this configuration, since the work status from the farm work unit 22 can be clearly grasped by the display of the farm work unit display unit 192 of the display device 61, the status of the farm work from the farm work unit 22 is clarified while traveling in the field. Can be grasped.
Further, the control unit 61a causes the agricultural work unit display unit 192 to display the display color in the working state and the display color in the stopped state so as to be different from each other.

According to this configuration, it is possible to easily and surely grasp whether the agricultural work unit 22 is in the working state or the stopped state by the display of the agricultural work unit display unit 192.
Further, the agricultural work unit display unit 22 has a first agricultural work unit display unit 192A that displays the work state of the first agricultural work unit 221 that performs work on the left portion of the traveling vehicle body 8, and a second that performs work on the right portion of the traveling vehicle body 8. 2 It has a second agricultural work unit display unit 192B that displays the work state of the agricultural work unit 222.

According to this configuration, the arrangement of the first agricultural work unit 221 and the first agricultural work unit display unit 192A is associated with each other, and the arrangement of the second agricultural work unit 222 and the second agricultural work unit display unit 192B is associated with each other. Therefore, the work status of the first agricultural work unit 221 and the second agricultural work unit 222 can be intuitively grasped by the display of the first agricultural work unit display unit 192A and the second agricultural work unit display unit 192B.

Further, the control unit 61a causes the first agricultural work unit display unit 192A to display the work state and the stopped state of the first agricultural work unit 221 in different display forms, and the second agricultural work unit display unit 192B displays the work of the second agricultural work unit 222. Display the status and the stopped status in different display formats.
According to this configuration, it is possible to easily and surely grasp whether the first agricultural work unit 221 and the second agricultural work unit 222 are in the working state or the stopped state.

Further, the display unit 61c includes a locus display unit 193 that displays the graphic Z4 representing the work locus of the work by the farm work unit 22 on the field display unit 190, and the control unit 61a displays the locus display unit 193 on the farm work in the working state. The figure Z4 representing the work locus along the work locus of the unit 22 is displayed so as to overlap with the field display unit 190.
According to this configuration, the graphic Z4 representing the work locus by the agricultural work unit 22 is displayed on the field display unit 190, so that it is possible to grasp which part of the field the work was performed by looking at the display unit 61c. can.

Further, the locus display unit 193 performs work on the first locus display unit 193A that displays the graphic Z41 representing the work locus by the first agricultural work unit 221 that performs the work on the left portion of the traveling vehicle body 8, and the right portion of the traveling vehicle body 8. It has a second locus display unit 193B that displays a graphic Z42 representing a work locus by the second farm work unit 222, and the control unit 61a has a movement locus of the first farm work unit 221 in a working state on the first locus display unit 193A. The figure Z41 showing the work locus by the first agricultural work unit 221 is displayed so as to overlap with the field display unit 190, and the second locus display unit 193B is displayed along the movement locus of the second agricultural work unit 222 in the working state. The figure Z42 showing the work locus by the agricultural work unit 222 is displayed so as to overlap with the field display unit 190.

According to this configuration, the area where the sprayed material was sprayed by the first agricultural work unit 221, the area where the work was performed by the second agricultural work unit 222, and the work by the first agricultural work unit 221 and the second agricultural work unit 222. The area where the above is performed can be grasped by looking at the display unit 61c.
Further, the agricultural machine 1 includes a storage unit 61b for storing the work locus, and the control unit 61a stores the work locus in the storage unit 61b.

According to this configuration, even if the first farm work unit 221 or the second farm work unit 222 is stopped for some reason such as avoiding falling objects in the field, the actual work status is stored in the storage unit 61b. It can be confirmed by the work locus.
Further, the agricultural work is a spraying work for spraying the sprayed material, and the agricultural work unit 22 has the first spraying unit 221 provided on the first boom 18L extending to the left from the traveling vehicle body 8 and the traveling vehicle body 8 to the right. Includes a second spraying portion 222 provided on the extending second boom 18R.

Further, the agricultural machine 1 includes a traveling vehicle body 8 having an agricultural work unit 22 for performing agricultural work, and a display device 61 having a display unit 61c for displaying a figure showing a work status from the agricultural work unit 22, and the display device 61 is provided. It is a display device that displays the above-mentioned work status.
According to this configuration, it is possible to obtain an agricultural machine 1 capable of clearly grasping the working condition from the agricultural working unit 22 while traveling in the field.

Further, the agricultural machine 1 includes a traveling vehicle body 8, a cabin 9 mounted on the traveling vehicle body 8 and having a roof 150 at the upper portion, a positioning device 63 for detecting the position of the traveling vehicle body 8 based on a signal from a positioning satellite, and a positioning device 63. A support bracket 90 for supporting the positioning device 63 on the roof 150 is provided, and the support bracket 90 includes a mounting portion 161a on which the positioning device 63 is mounted and a left extension portion extending to the left from the mounting portion 161a. The support bracket 90 has a base plate 161 having a 161b, a right extension portion 161c extending to the right from the mounting portion 161a, and a front leg portion 166 extending downward from the front portion of the base plate 161. The front leg portion 166 is provided with a contact portion 167 that abuts on the upper surface of the roof 150, and is attached to the traveling vehicle body 8 in a state of being mounted on the roof 150.
According to this configuration, the support bracket 160 capable of securing the base plate 161 having a wide area can be stably mounted on the roof 150, whereby the positioning device 63 can be stably supported.

Further, the support bracket 90 has a left leg portion 162 extending downward from the left portion of the base plate 161 and a right leg portion 163 extending downward from the right portion of the base plate 161. The 162 and the right leg portion 163 have an abutting portion 177 that abuts on the upper surface of the roof 150, and are attached to the traveling vehicle body 8 in a state of being mounted on the roof 150.
According to this configuration, the support bracket 160 can be stably mounted on the roof 150 by bringing the left leg portion 162 and the right leg portion 163 into contact with the upper surface of the roof 150.

Further, the left leg portion 162 extending downward from the left portion of the base plate 161 and attached to the left portion of the cabin 9 or the traveling vehicle body 8, and the cabin 9 or the traveling vehicle body 8 extending downward from the right portion of the base plate 161. It has a right leg portion 163 attached to the right portion of the.
According to this configuration, by attaching the left extension portion 161b and the right extension portion 161c to the cabin 9 or the traveling vehicle body 8, the support bracket 160 can be stably mounted on the roof 150, and the positioning device 63 can be stably mounted. It becomes possible to support.

Further, the roof 150 has an upper plate 151 located at the upper part of the roof 150, and a collar portion 152 below the upper plate 151 and protruding forward from the front edge of the upper plate 151, and the upper surface of the roof 150 has an upper surface thereof. The contact portion 167 includes the upper surface of the upper plate 151 and the upper surface of the flange portion 152, and the contact portion 167 abuts on the upper surface of the collar portion 152.
According to this configuration, the support bracket 160 can be stably supported on the roof 150 by the contact portion 167 of the front leg portion 166 of the support bracket 160 abutting on the upper surface of the crossguard portion 152 of the roof 150.

Further, the base plate 161 may be placed on the upper plate 151.
According to this configuration, the front leg portion 166 of the support bracket 160 is mounted on the crossguard portion 152 of the roof 150, and the base plate 161 is mounted on the upper plate 151, whereby the support bracket 160 is stabilized on the roof 150. Can be supported.
Further, the base plate 161 extends over the entire length in the width direction of the roof 150.

According to this configuration, the positioning device 63 can be stably supported on the base plate 161.
Further, the length of the base plate 161 in the front-rear direction is set to be more than half the length in the width direction of the roof 150 and more than half the length in the front-rear direction of the positioning device 63.
According to this configuration, since the base plate 161 is formed to be wide, the strength of the base plate 161 is improved, and the positioning device 63 can be stably supported on the base plate 161.

Further, the front leg portion 166 has a left front leg portion 166L extending downward from the left front portion of the base plate 161 and a right front leg portion 166R extending downward from the right front portion of the base plate 161.
According to this configuration, the left front leg portion 166L and the right front leg portion 166R can surely support the front portion of the base plate 161 and prevent the base plate 161 from being tilted or deformed.

Further, the front leg portion 166 includes a left connecting portion 168 extending diagonally upward to the left from the contact portion 167 and connecting to the base plate 161 and a right connecting portion 169 extending diagonally upward to the right from the contact portion 167 and connecting to the base plate 161. ,have.
According to this configuration, since the front leg portion 166 is formed in an inverted triangular shape, the rigidity of the front leg portion 166 is improved.

Further, the agricultural machine 1 has a support shaft 170 that rotatably supports the positioning device 63 toward the front, and the front leg portion 166 is provided with a shaft support portion 171 that supports the support shaft 170.
According to this configuration, the height of the agricultural machine 1 can be lowered by rotating the positioning device 63 toward the front.
Although the embodiments of the present invention have been described above, it should be considered that the embodiments disclosed this time are exemplary in all respects and are not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1 Agricultural machinery 2 Airframe 8 Traveling vehicle body 18L 1st boom 18R 2nd boom 22 Spraying part (agricultural work part)
61 Display device 61c Display unit 61a Control unit 190 Field display unit 191 Body display unit 192 Spraying unit display unit (agricultural work unit display unit)
192A 1st spraying section display section (1st agricultural work section display section)
192B 2nd spraying section display section (2nd agricultural work section display section)
193 Trajectory display unit 193A 1st locus display unit 193B 2nd locus display unit 221 1st spraying unit (1st agricultural work unit)
222 2nd spraying department (2nd agricultural work department)
Z1 Figure Z2 Figure representing the position of the traveling vehicle body Z3 Figure representing the spraying part (figure representing the agricultural work part)
Z31 Figure representing the first spraying section (figure representing the first agricultural work section)
Z32 Figure representing the second spraying section (figure representing the second agricultural work section)
Z4 Figure representing the spray locus (figure representing the work locus)
Z41 Figure showing the spraying locus by the 1st spraying part (figure showing the work locus by the 1st agricultural work department)
Z42 Figure showing the spraying locus by the 2nd spraying part (figure showing the work locus by the 2nd agricultural work department)

Claims (9)

A display device including a display unit that displays a figure showing a work status from the farm work unit of a traveling vehicle body having a farm work unit that performs farm work, and a control unit that controls the display unit.
The display unit is
A field display unit that displays a figure representing a field on which the traveling vehicle body travels, and a field display unit.
A vehicle body display unit that displays a figure representing the position of the traveling vehicle body on the field display unit, and
A farm work unit display unit that displays a figure representing the farm work unit on the side of the vehicle body display unit corresponding to the direction of the farm work unit with respect to the traveling vehicle body.
Including
The control unit is a display device that causes the agricultural work unit display unit to display a work state in which the agricultural work unit is working and a stopped state in which the agricultural work unit is stopped in different display forms. The display device according to claim 1, wherein the control unit causes the agricultural work unit display unit to display a display color in the working state and a display color in the stopped state so as to be different from each other. The agricultural work unit display unit performs work on the first agricultural work unit display unit that displays the work state of the first agricultural work unit that performs work on the left or left side of the traveling vehicle body, and on the right portion or right side of the traveling vehicle body. The display device according to claim 1 or 2, which has a second agricultural work unit display unit for displaying the work status of the second agricultural work unit. The control unit causes the first agricultural work unit display unit to display the work state and the stopped state of the first agricultural work unit in different display forms, and causes the second agricultural work unit display unit to display the work state of the second agricultural work unit. The display device according to claim 3, wherein the stopped state is displayed in a different display form. The display unit includes a locus display unit that displays a figure representing a work locus of work by the agricultural work unit on the field display unit.
The control unit is any one of claims 1 to 4, wherein the locus display unit displays a figure representing the work locus along the movement locus of the farm work unit in a working state so as to be superimposed on the field display unit. The display device described in. The locus display unit is a first locus display unit that displays a figure representing a work locus by a first agricultural work unit that performs work on the left side or the left side of the traveling vehicle body, and works on the right portion or the right side of the traveling vehicle body. It has a second locus display unit that displays a figure representing a work locus by the second agricultural work unit.
The control unit causes the first locus display unit to display a figure representing a work locus by the first agricultural work unit along the movement locus of the first agricultural work unit in a working state on the field display unit. The display device according to claim 5, wherein a figure representing a work locus by the second agricultural work unit is displayed on the second locus display unit along the movement locus of the second agricultural work unit in a working state so as to be superimposed on the field display unit. .. A storage unit for storing the work locus is provided.
The display device according to claim 5 or 6, wherein the control unit stores the work locus in the storage unit. The agricultural work is a spraying work for spraying a sprayed material.
The agricultural work unit includes a first spraying unit provided on a first boom extending to the left from the traveling vehicle body and a second spraying unit provided on a second boom extending to the right from the traveling vehicle body. Item 6. The display device according to any one of Items 1 to 8. A traveling vehicle body with an agricultural work department that performs agricultural work,
A display device having a display unit that displays a figure showing the work status of the agricultural work unit, and
Equipped with
Agricultural machinery in which the display device is the display device according to any one of claims 1 to 8.

Images