JP6076236B2 - Agricultural machine - Google Patents

Description

  The present invention relates to an agricultural machine.

  As described in Patent Document 1, an agricultural machine that sprays a medicine on a farm field is known. The farm machine includes a plurality of nozzles for spraying a medicine and a plurality of booms that support the plurality of nozzles. Specifically, one boom is disposed on the left side in the traveling direction of the farm work machine, and one boom is disposed on the right side in the traveling direction. The medicine is sprayed from the nozzle supported by the boom.

  The left and right booms have the same length. Therefore, the distance from the center in the width direction of the agricultural machine to the nozzles located at the left and right ends is equal. A value obtained by doubling this distance is the spreading width. The set value of the spreading width is set according to the shape and area of the field, and is input to the control device. On the other hand, the agricultural machine is provided with a GPS receiver, and the GPS receiver can obtain position information of the agricultural machine. A control apparatus calculates | requires the approach position of the farming machine after a farming machine turns based on a positional information and spreading width, and displays it on a display part.

JP 2010-120482 A

  In the above-described agricultural machine, it is assumed that booms are arranged on both the left and right sides. Accordingly, the spreading width is set evenly in the left-right direction with the vehicle main body of the farm work machine as the center. And based on the position information and spread width of the agricultural machine obtained by the GPS receiver, the already spread range can be obtained.

  However, in the case of a boom that is asymmetric with respect to the center line extending in the front-rear direction of the vehicle body, even if position information is obtained, the spread range cannot be obtained accurately. That is, even if the vehicle body moves at the same movement speed and movement path, the sprayed range varies depending on whether the vehicle body is moving forward or backward due to the asymmetry of the spraying area. Therefore, when the work area of the work part that performs work such as spraying is asymmetric with respect to the center line extending in the front-rear direction of the vehicle body, it is difficult to accurately obtain the work history.

  An object of the present invention is to provide an agricultural machine capable of accurately obtaining a work history even when the work area of the work unit is asymmetric with respect to a center line extending in the front-rear direction of the vehicle body.

The agricultural machine (1) according to the present invention includes a vehicle body (2), a GPS antenna (20) attached to the vehicle body (2), and a vehicle body (2) attached to the front and rear of the vehicle body (2). The working direction (10) having a work area (A) that is asymmetric with respect to the center line (L) extending in the direction, and the traveling direction of the vehicle body (2) indicating whether the vehicle body (2) is moving forward or backward. The vehicle body (2) obtained by the traveling direction detection unit (23) to be detected, the position of the vehicle body (2) obtained by the GPS antenna (20), the work area (A), and the traveling direction detection unit (23). And a calculation unit (32) for calculating a work history (H) indicating a range in which the work is performed by the work unit (10) based on the traveling direction of.

  In this agricultural work machine (1), the working part (10) attached to the vehicle main body (2) has an asymmetric work area (A) with respect to a center line (L) extending in the front-rear direction of the vehicle main body (2). Examples of the farm work performed by the working unit (10) include various works such as farming of farmland, spraying or spraying of medicines, sowing or transplanting. Since the working unit (10) has an asymmetric work area (A), the work area (A) is different on one side and the other side of the center line (L). Therefore, even when the position of the vehicle main body (2) changes, the sprayed range changes depending on whether the vehicle main body (2) is moving forward or backward. Said agricultural machine is provided with the advancing direction detection part (23) which detects the advancing direction of a vehicle main body (2). In addition to the position of the vehicle main body (2) and the work area (A) of the work unit (10), the calculation unit (32) takes into account the direction of travel of the vehicle main body (2). It is accurately calculated whether the work has been performed within the range. Therefore, according to this agricultural machine (1), even if the work area (A) of the work part (10) is asymmetric with respect to the center line (L) extending in the front-rear direction of the vehicle body (2), The history (H) can be accurately obtained.

Working portion (10) is configured to change the working region (A), may further include a work area detector for detecting a working area (A) (26).

  In this agricultural work machine (1), the working part (10) attached to the vehicle main body (2) has an asymmetric work area (A) with respect to a center line (L) extending in the front-rear direction of the vehicle main body (2). Since the working unit (10) has an asymmetric work area (A), the work area (A) is different on one side and the other side of the center line (L). Based on the position of the vehicle body (2) and the work area (A) of the work unit (10), the calculation unit (32) accurately calculates in which range the work has been performed in accordance with the change in position. The work unit (10) is configured to be able to change the work area (A). However, the work area detection unit (26) detects the work area (A) by the work unit (10). As a result, it is detected in which position and direction the work area (A) is formed with respect to the vehicle body (2) and to what range. Therefore, according to this agricultural work machine (1), the work area (A) of the work part (10) is asymmetric with respect to the center line (L) extending in the front-rear direction of the vehicle body (2), and the work part (10). Even if the work area (A) is changeable, the work history (H) can be obtained accurately.

The working unit (10) is a boom nozzle device (10) that extends in either the left-right direction with respect to the vehicle body (2) and can be reversed in the left-right direction, and the work area detection unit (26) You may have the position detection part (21) which detects the position of either the right or left of the boom nozzle apparatus (10) with respect to a vehicle main body (2). In this case, also in the agricultural machine (1) provided with the boom nozzle device (10) that can be reversed in the left-right direction, the boom nozzle device is located on either the left side or the right side of the vehicle body (2) by the position detection unit (21). It is detected whether (10) is located. Therefore, the work history (H) by the boom nozzle device (10) can be obtained accurately.
The traveling direction detector (23) detects the rotational direction of the wheel (2a) in the vehicle body (2).
Thus, the traveling direction of the vehicle main body (2) may be detected.

  According to the present invention, even when the work area of the work unit is asymmetric with respect to the center line extending in the front-rear direction of the vehicle body, the work history can be accurately obtained.

It is a perspective view which shows the agricultural working machine which concerns on one Embodiment of this invention. It is a top view which shows the inversion mechanism of a boom sprayer apparatus. It is a top view which shows typically the work area | region with respect to a vehicle main body. It is a block diagram which shows the structure of the work history calculation apparatus mounted in a vehicle main body. It is a top view which shows schematic structure of the boom position detection part of FIG. (A) is a side view which shows schematic structure of the advancing direction detection part of FIG. 4, (b) and (c) is a figure which shows the example of a detection of the advancing direction in a advancing direction detection part. It is a flowchart which shows the process sequence performed by the control apparatus in FIG. (A)-(d) is a top view which shows the range of the work according to the position of a boom sprayer apparatus, and the advancing direction of a vehicle main body. It is a figure which shows an example of the work history displayed in the work history calculation apparatus of FIG. It is a figure which shows an example of the work history displayed in the conventional apparatus.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Unless otherwise specified, the word “direction” such as “up”, “down”, “left”, “right”, “front”, “rear”, etc. indicates that the boom sprayer is installed on the vehicle body on the horizontal plane. The state is based on the state where the normal forward direction of the vehicle body is defined as the front.

  FIG.1 and FIG.2 shows the agricultural machine 1 which sprays a chemical | medical agent etc. on the spraying surface in a paddy field or a field. The agricultural machine 1 includes a vehicle main body 2 such as a tractor and a mount-type boom sprayer BS attached to a rear portion of the vehicle main body 2. The boom sprayer BS is fixed to the vehicle main body 2 via the device frame 3. The basic configuration of the boom sprayer BS is the same as the conventional one. The drug tank 4, the pump device 6 that sucks and pumps the liquid drug in the drug tank 4, and the drug sent from the pump device 6. And a boom nozzle device (working unit) 10 for spraying.

  The boom nozzle device 10 includes a turn boom 11 attached to a lower portion of the device frame 3 so as to be swingable in a horizontal direction, and a side boom 12 attached to a tip end portion of the turn boom 11 so as to be swingable in a vertical direction and a horizontal direction. And have. The side boom 12 is composed of, for example, three sub booms and is extendable and retractable in a three-stage manner. A nozzle pipe 13 is attached to each sub boom of the side boom 12. Two retractable coil hoses 16 are attached to the base end side of the side boom 12. The medicine pumped from the pump device 6 is jetted from the nozzle 14 via the coil hose 16 and the nozzle pipe 13. A plurality of nozzles are provided at the lower part of the apparatus frame 3 so that the medicine can be sprayed also to the lower part of the vehicle body 2.

  As described above, the boom nozzle device 10 is a type of spraying device having the side boom 12 only in one of the left and right directions. When working with the agricultural machine 1, the turn boom 11 and the side boom 12 are arranged substantially in a straight line, and the side boom 12 is extended in the right direction or the left direction. For example, when extending in the right direction, the side boom 12 forms a direction of about 90 degrees with respect to a center line L (see FIG. 3) extending in the front-rear direction D of the vehicle main body 2 and to the right of the vehicle main body 2. Extend.

  As shown in FIG. 2, the boom nozzle device 10 includes a reversing mechanism 17 that reverses the side boom 12 in the left-right direction by swinging the turn boom 11 by 180 degrees. At the center of the base member 3a constituting a part of the device frame 3, a turning support portion 3b protruding backward is provided. The reversing mechanism 17 turns the turn boom 11 around the fulcrum 17g arranged on the center line L in the turning support portion 3b. The structure of the reversing mechanism 17 will be described in more detail. An arm 17c is coupled to the turning support portion 3b via a support shaft 17d and extends rearward, and a link 17b is connected to the tip of the rotation support portion 3b via a support shaft 17e. Are combined. One end of the link 17b is rotatably coupled to the tip of the cylinder 17a attached to the end of the base member 3a. The other end of the link 17b is coupled to the turn boom 11 via a support shaft 17f.

  In the reversing mechanism 17 having the above-described configuration, the turn boom 11 moves to the left with the fulcrum 17g as the center by moving the support shaft 17e and the support shaft 17f along different trajectories as the cylinder 17a extends. To persevere. Along with the contraction of the cylinder 17a, the reverse operation is performed, and the turn boom 11 swings to the right with the fulcrum 17g as the center. The side boom 12 can turn 90 degrees with respect to the turn boom 11. With the above configuration, in the boom nozzle device 10, the side boom 12 can be extended rightward or leftward by the reversing mechanism 17. The side boom 12 forms a direction of about 90 degrees with respect to the center line L (see FIG. 3) and extends to the right or left of the vehicle body 2. The side boom 12 can be swung in the vertical direction according to the form of the spraying surface.

  Here, the center line L of the vehicle body 2 can be, for example, a vertical bisector that connects the intersections of the pair of wheels 2a, 2a and the axle. The center line L may be a straight line that passes through the center of gravity of the vehicle body 2 and is parallel to the front-rear direction D. Further, the center line L may be determined by the outer shape of the vehicle main body 2.

  The boom nozzle device 10 having the above configuration forms an asymmetrical spraying area (working area) A on the right side or on the left side with respect to the center line L by being reversible by the reversing mechanism 17 (see FIG. 3). In other words, the boom nozzle device 10 has the spray area A only on the right side or the left side of the vehicle body 2 with the center line L as a reference. The spray area A is determined by the arrangement of the nozzles 14 attached to the apparatus frame 3 and the side boom 12 and the expansion / contraction state (that is, the length) of the side boom 12.

  The vehicle body 2 of the farm work machine 1 is equipped with a spraying history calculating device M that calculates a spraying history on the spraying surface by the boom nozzle device 10. As shown in FIG. 4, the scattering history calculation device M includes a GPS (Global Positioning System) antenna 20 (see also FIGS. 1 and 3) installed on the roof surface of the vehicle body 2, and a boom position detection unit (position Detection section) 21, boom length detection section 22, and traveling direction detection section 23. These constitute sensors in the distribution history calculation apparatus M, and are electrically connected to the information terminal Ma. The information terminal Ma includes a control device 30 and a display unit 40. The information terminal Ma inputs the information output from the sensors and displays a spray history on the display unit 40 by executing a predetermined process. Hereinafter, the distribution history calculation apparatus M will be described in detail.

  The GPS antenna 20 is a receiver that receives radio waves from GPS satellites, and has a function of detecting the position of the vehicle body 2. The position detection by the GPS antenna 20 is performed every predetermined time. The GPS antenna 20 outputs information including the detected position of the vehicle body 2 to the control device 30 of the information terminal Ma.

  The boom position detection unit 21 detects whether the side boom 12 is located on the right side or the left side of the vehicle body 2 with the center line L as a reference. More specifically, as shown in FIGS. 3 and 5, the boom position detection unit 21 includes a right boom detection sensor 21A and a left boom detection sensor 21B each formed of a proximity sensor. The boom detection sensor 21 </ b> A and the boom detection sensor 21 </ b> B are respectively fixed to the left and right sides of the base member 3 a constituting a part of the apparatus frame 3 with the turning center of the turn boom 11 interposed therebetween. The boom detection sensors 21A and 21B detect the side boom 12 that arrives at a position facing the base member 3a. The boom position detection unit 21 detects the position of the side boom 12 with respect to the vehicle body 2 based on a detection signal from one of the boom detection sensors 21A and 21B. The boom position detection unit 21 may detect the position of the side boom 12 using the swing angle of the reversing mechanism 17. Stoppers 51 for restraining the side boom 12 are provided at both left and right ends of the base member 3a.

  The boom length detection unit 22 detects the expansion / contraction state, that is, the length of the side boom 12. The boom length detection unit 22 can detect the length of the side boom 12 by detecting, for example, the rotation of an electric motor for expanding and contracting the plurality of sub booms. As the boom length detection unit 22, for example, a position sensor using a photo interrupter may be applied. The boom length detection unit 22 may be anything that can detect the length of the side boom 12.

  The boom position detection unit 21 and the boom length detection unit 22 constitute a spray region detection unit 26 that detects a spray region by the boom nozzle device 10. The spray region detection unit 26 is based on the position of the side boom 12 detected by the boom position detection unit 21 and the length of the side boom 12 detected by the boom length detection unit 22, and is a spray region by the boom nozzle device 10. Is detected. The spray area detection unit 26 outputs information including the detected spray area of the boom nozzle device 10 to the control device 30 of the information terminal Ma.

The traveling direction detection unit 23 detects the traveling direction of the vehicle body 2. That is, the traveling direction detection unit 23 detects whether the vehicle body 2 is moving forward or backward. More specifically, FIG.
As shown in a), the traveling direction detection unit 23 includes a toothed plate 53 fixed to the wheel 2a, and two types of first proximity sensor 56 and second proximity sensor 57 facing the toothed plate 53. Have. The toothed plate 53 is formed with crests 53a and troughs 53b at a predetermined pitch. The 1st proximity sensor 56 and the 2nd proximity sensor 57 detect that the peak part 53a of the toothed plate 53 approached. The distance between the first proximity sensor 56 and the second proximity sensor 57 is shifted by a quarter pitch with respect to an integral multiple of the pitch of the toothed plates 53, 53.

  As shown in FIG. 6B, when the vehicle main body 2 is moving forward, the output of the second proximity sensor 57 is 1 when the output of the first proximity sensor 56 changes from 1 to zero. is there. As shown in FIG. 6C, when the vehicle main body 2 is moving backward, when the output of the first proximity sensor 56 changes from 1 to zero, the output of the second proximity sensor 57 is zero. In this way, the traveling direction detection unit 23 detects whether the vehicle body 2 is moving forward or backward. The traveling direction detection unit 23 outputs information including the detection result to the control device 30 of the information terminal Ma.

  The control device 30 of the information terminal Ma includes an information acquisition unit 31, a distribution history calculation unit 32, and a distribution history storage unit 33. The information acquisition unit 31 acquires signals output from the GPS antenna 20, the scattering region detection unit 26, and the traveling direction detection unit 23. The spray history calculation unit 32 calculates a spray history (work history) by the boom nozzle device 10 based on the signal acquired by the information acquisition unit 31. The calculation of the distribution history by the distribution history calculation unit 32 will be described later. The distribution history storage unit 33 stores the distribution history calculated by the distribution history calculation unit 32. The spraying history storage unit 33 accumulates the spraying history stored from the past to the present for a predetermined time and displays it on the display unit 40.

  The control device 30 is mainly configured by a computer including a CPU (Central Processing Unit), a main storage device such as a RAM (Random Access Memory), a ROM (Read Only Memory), and the like, and these components operate. Thus, each function of the information terminal Ma described above is exhibited.

  Next, processing performed by the control device 30 will be described with reference to FIG.

  First, the information acquisition part 31 acquires the positional information on the agricultural machine 1 (namely, vehicle main body 2) output from the GPS antenna 20 (step S1). Next, the spray region detection unit 26 is configured to use the boom nozzle device 10 based on the position of the side boom 12 detected by the boom position detection unit 21 and the length of the side boom 12 detected by the boom length detection unit 22. Detects the spray area. The spray area detection unit 26 outputs information including the detected spray area of the boom nozzle device 10 to the control device 30 of the information terminal Ma.

  The information acquisition unit 31 acquires the scatter area information output from the scatter area detection unit 26 (step S2). Next, the information acquisition part 31 acquires the advancing direction information of the agricultural machine 1 (namely, vehicle main body 2) output from the advancing direction detection part 23 (step S3).

  Next, the distribution history calculation unit 32 determines whether the traveling direction of the agricultural machine 1 is forward or backward (step S4). If it is determined in step S4 that the traveling direction of the agricultural machine 1 is forward, the spraying history calculation unit 32 determines whether the position of the side boom 12 is rightward or leftward (step S5). If it is determined in step S5 that the position of the side boom 12 is on the right side, the spraying history calculation unit 32 detects that the spraying range is on the right side in the movement direction (step S7). On the other hand, when it is determined in step S5 that the position of the side boom 12 is on the left side, the spray history calculation unit 32 detects that the spray range is on the left side in the movement direction (step S8).

  As shown in FIG. 8A, when the position of the side boom 12 is on the right side and the agricultural machine 1 is moving forward, the spraying range Aa is on the right side in the moving direction. Moreover, as shown in FIG. 8B, when the position of the side boom 12 is on the left side and the agricultural machine 1 is moving forward, the spraying range Ab is on the left side in the movement direction.

  When it is determined in step S4 that the traveling direction of the agricultural machine 1 is backward, the spraying history calculation unit 32 determines whether the position of the side boom 12 is rightward or leftward (step S6). If it is determined in step S6 that the position of the side boom 12 is on the right side, the spraying history calculation unit 32 detects that the spraying range is on the left side in the movement direction (step S9). On the other hand, if it is determined in step S6 that the position of the side boom 12 is on the left side, the spray history calculation unit 32 detects that the spray range is on the right side in the movement direction (step S10).

  As shown in FIG. 8C, when the position of the side boom 12 is on the right side and the farm work machine 1 is moving backward, the spraying range Ac is on the left side in the movement direction. Moreover, as shown in FIG. 8D, when the position of the side boom 12 is on the left side and the agricultural work machine 1 is moving backward, the spraying range Ad is on the right side in the movement direction.

  “Moving direction right side” and “moving direction left side” in steps S7, S8, S9, and S10 are based on a state in which the actual traveling direction of the vehicle body 2 is determined to be the front. That is, when the actual traveling direction is backward (reverse), the “movement direction” is the direction from the front wheel toward the rear wheel. In other words, the “movement direction” is a direction from the position information acquired by the previous one by the GPS antenna 20 to the position information acquired next (see FIG. 9).

  When the relationship between the moving direction and the scatter area is detected, as shown in FIG. 9, the scatter history calculation unit 32 acquires old position information acquired from the GPS antenna 20 (that is, position information one before the current data). Based on 100, position information 101 corresponding to the current data, and information on the “right side in the moving direction” or “left side in the moving direction” detected therebetween, a quadrangular distribution history H is calculated (step S11). The distribution history calculation unit 32 stores the calculated distribution history H in the distribution history storage unit 33. The spraying history storage unit 33 accumulates the spraying history H stored from the past to the present for a predetermined time (for example, the spraying history H from the start of the day's spraying work to the present), and drops the accumulated data on the spraying surface, It is displayed on the display unit 40 (step S12).

  Through the series of processes described above, the distribution history calculation device M calculates and displays the distribution history.

  In the farm work machine 1 described above, the boom nozzle device 10 attached to the vehicle main body 2 has an asymmetric work area A with respect to the center line L extending in the front-rear direction of the vehicle main body 2. Since the boom nozzle device 10 has an asymmetric work area A, the work area A differs on one side and the other side of the center line L. Therefore, even when the position of the vehicle main body 2 changes (that is, when the agricultural machine 1 moves), the sprayed range changes depending on whether the vehicle main body 2 is moving forward or backward. The agricultural machine 1 includes a traveling direction detection unit 23 that detects the traveling direction of the vehicle body 2. In addition to the position of the vehicle main body 2 and the work area A of the boom nozzle device 10, the spray history calculation unit 32 takes into account the traveling direction of the vehicle main body 2, and in which range the work has been performed with the change in position. Calculated accurately. Therefore, according to the agricultural working machine 1, even when the work area A of the boom nozzle device 10 is asymmetric with respect to the center line L of the vehicle body 2, the spraying history H can be accurately obtained.

  As shown in FIG. 10, in the conventional scatter history calculation apparatus 200, a traveling locus 203 and an already-dispersed surface 204 having a width equal to the right and left around the traveling locus 203 are displayed on the display unit 202 of the operation / display unit 201. Was only displayed. In this case, the traveling guide line 206 for guiding the own aircraft 205 displays the trajectory where there is no gap or overlap as the traveling guide line 206 on the assumption that the medicine is evenly distributed on the left and right of the own aircraft 205. It was. Therefore, when the boom nozzle apparatus 10 extended only to either one of the left-right direction is provided like the agricultural machine 1 of this embodiment, it was difficult to draw an accurate already sprayed surface only from a GPS function.

  According to the farm work machine 1 and the distribution history calculation device M of the present embodiment, even when the farm work machine 1 performs forward / reverse movement at random, the GPS function and the traveling direction of the farm work machine 1 are detected and taken into account. Since the spraying history H is calculated based on the spraying area A by the boom nozzle device 10, the display accuracy of the already sprayed surface on the display unit 40 is improved. As a result, a GPS guide that eliminates a gap or overlap between the already sprayed part and the part to be sprayed from now on is realized, and efficient medicine spraying can be performed.

  In addition, since the work area A by the boom nozzle device 10 is detected by the spray area detection unit 26, which position and direction the work area A is formed on the basis of the vehicle body 2 and which range extends to it. Detected. Therefore, even if it is the structure which can change the work area A by the boom nozzle apparatus 10, the dispersion | distribution log | history H can be calculated | required correctly.

  In the agricultural machine 1 including the boom nozzle device 10 that can be reversed in the left-right direction, the boom position detection unit 21 detects whether the boom nozzle device 10 is located on the left side or the right side of the vehicle body 2. Is done. Therefore, the spraying history H by the boom nozzle device 10 can be accurately obtained.

  Further, according to the spraying history storage unit 33 that stores and accumulates the spraying history H, for example, when working for a long time or when working over a plurality of days, the work is performed on a wide range of spraying surfaces. Even if it is, the spray history is displayed without any trouble.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment. For example, in the above-described embodiment, the case where the side boom 12 can be expanded and contracted has been described. However, when spraying is performed with a constant length of the side boom 12, the boom length detection unit 22 is omitted and the boom position detection is performed. The unit 21 may output only the position of the side boom 12 to the control device 30.

  Further, when the agricultural machine 1 travels in a certain direction, the traveling direction detection unit 23 can be omitted. Even when the work area A of the work unit 10 is configured to be changeable, the work area detection unit 26 detects the work area A by the work unit 10 and determines which work area A is based on the vehicle body 1. It is formed in the position and direction, and it is detected to which range it extends. Therefore, even with the agricultural machine 1 in which the traveling direction detection unit 23 is omitted, the work area A of the work unit 10 is asymmetric with respect to the center line L extending in the front-rear direction of the vehicle body 2, and the work area A by the work unit 10 is Even if it can be changed, the work history H can be obtained accurately.

  Moreover, although the said embodiment demonstrated the case where the boom nozzle apparatus 10 can be reversed in the left-right direction, you may employ | adopt boom sprayer BS with which the boom nozzle apparatus 10 was fixed to either one of the left-right direction. In this case, the spraying history H can be accurately calculated by storing the spraying area (working area) A in the control device 30 in advance. In that case, the boom position detector 21, the boom length detector 22, and the like can be omitted.

  The working unit of the agricultural machine is not limited to the case of extending from the vehicle body. A mode in which the liquid or powder is ejected from an ejection port provided in a side portion of the vehicle main body 2 may be employed.

  The farm work performed by the working unit is not limited to the spraying of the medicine, and examples thereof include various works such as watering, farming, sowing, transplanting, and the like. The present invention is applicable to any agricultural machine having a working unit. The present invention is particularly suitable for a type of farm work where it is difficult to visually recognize the work history.

  DESCRIPTION OF SYMBOLS 1 ... Agricultural work machine, 2 ... Vehicle main body, 10 ... Boom nozzle apparatus (working part), 20 ... GPS antenna, 21 ... Boom position detection part (position detection part), 23 ... Travel direction detection part, 26 ... Scattering area detection part (Work area detector), 32... Scatter history calculator (calculator), A... Scatter area (work area), H .. scatter history (work history), L.

Claims (4)

The vehicle body (2),
A GPS antenna (20) attached to the vehicle body (2);
A working unit (10) attached to the vehicle body (2) and having a work area (A) asymmetric with respect to a center line (L) extending in the front-rear direction of the vehicle body (2);
A traveling direction detector (23) for detecting a traveling direction of the vehicle body (2) indicating whether the vehicle body (2) is moving forward or backward ;
Based on the position of the vehicle body (2) obtained by the GPS antenna (20), the work area (A), and the traveling direction of the vehicle body (2) obtained by the traveling direction detector (23). And a calculation unit (32) for calculating a work history (H) indicating a range in which the work is performed by the work unit (10). Before SL working unit (10) is capable of changing the working area (A),
The agricultural machine according to claim 1, further comprising a work area detection unit (26) for detecting the work area (A). The working section (10) is a boom nozzle device (10) that extends in either the left-right direction with respect to the vehicle body (2) and is reversible in the left-right direction.
The agricultural work machine according to claim 2, wherein the work area detection unit (26) includes a position detection unit (21) for detecting a left or right position of the boom nozzle device (10) with respect to the vehicle main body (2). The said advancing direction detection part (23) detects the advancing direction of the said vehicle main body (2) by detecting the rotation direction of the wheel (2a) in the said vehicle main body (2). The agricultural machine according to one item.

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