JP6109561B2 - Working machine and holder of working machine controller - Google Patents

Description

  The present invention relates to a work machine having a work machine body that can be mounted on a traveling machine body, and a holder for a controller of the work machine.

Examples of work machines that can be mounted on the traveling machine body include a hull coater, a groove forming machine, and a mowing machine.
For example, a wrinkle coater is used with a mounting portion mounted on the rear portion of a tractor.
The traveling machine body travels by an operator's operation and is, for example, a tractor.
The aircraft can be used on farms, civil engineering sites, and construction sites.

For example, as a work machine main body, a hull coater has, in addition to the mounting portion, a working portion that performs a hulling operation, and a connecting portion that extends from the mounting portion and holds the working portion.
The working unit includes, for example, a pre-processing unit that cuts a part of an old basket already formed in the field and deposits the soil, and a trimming unit that applies the soil cut by the pre-processing to the basket.
The worker attaches the hull coater to the traveling machine body, sets the working part at a position offset laterally with respect to the traveling direction of the traveling machine body by the connecting part, and causes the traveling machine body to travel.
Thereby, the wrinkle coater can shape | mold the new shaped wrinkle. For example, when the traveling machine body goes straight along one side of a rectangular shaped old kite, it is possible to carry out the plastering operation on a linear kite.
The glazing machine is an epoch-making machine that can mechanize the glazing work that requires a lot of time and labor.

Japanese Patent No. 4866471

By the way, such a hull coater performs a straight-ahead operation at an offset position along the travel of the traveling machine body, but when performing a straight-ahead operation along, for example, the side of a rectangular hull formed on a farm field. There is a problem that when the leading end of the traveling machine body reaches the end of the rectangular bag, it is impossible to perform the subsequent straight-ahead operation.
In order to solve this problem, when the traveling machine body reaches the end of the rectangular ridge, the working unit of the glazing machine automatically moves along the unworked part while turning the traveling machine body. A coating machine has been developed (see Patent Document 1).

When the traveling machine body reaches the corner of the rectangular basket, the worker inputs an operation to the basket coater. The haze coater automatically operates based on this operation input.
In the automatic operation, the working part of the hull coater moves linearly toward the hull corner.
As a result, it is possible to carry out the glazing operation up to the corner of the rectangular ridge.
Each side of the rectangular basket can be formed by a single run along each side.

However, even if the work machine automatically operates as described above, in order to obtain a preferable work result, the worker needs to operate the traveling machine body in accordance with the automatic operation of the work machine.
For example, when the hull coater automatically operates, the operator needs to turn the traveling machine body in accordance with the progress of the automatic operation of the hull coater. While the working unit moves toward the rectangular corner along the ridge by automatic operation, it is necessary to turn the traveling machine body in accordance with the automatic operation.
The operator needs to perform a special operation on the traveling machine body, which is different from the case where the traveling body body is simply run along the rod.

It is necessary for the operator to become accustomed to operating the traveling machine in accordance with the automatic cornering work of the glazing machine. An unfamiliar worker or a worker who does not fully understand the work procedure is frustrated at the work site.
Moreover, the glazing operation is usually performed only a few times a year. Don't use a drape coater frequently. The operator is not accustomed to the operation of the traveling machine in accordance with the automatic corner coating of the paddle coater.

  In addition, when the period during which the work is not performed becomes relatively long, such as a haze painting work, the operator may forget the operation procedure and the operation content once understood.

In addition, when selling a hull coater, the seller needs to explain in detail to the prospective purchaser a series of operation details of the traveling machine body in accordance with the automatic cornering of the hull coater.
In some cases, the merchant will need to explain each year.

  Thus, it is desired that an operator or the like can appropriately perform the operation of the traveling machine body in accordance with the automatic operation of the hulling machine in the coater used by being mounted on the traveling machine body.

  A work machine according to the present invention is a work machine that can be mounted on a traveling machine body and has a work machine body that operates automatically, and outputs an operation guide for the traveling machine body during automatic operation of the work machine body; And a control unit connected to the output unit and the input unit, and the control unit is a traveling machine body in automatic operation based on the operation of the input unit. Is output from the output unit.

  Preferably, the work machine main body executes a plurality of processes during the automatic operation, and the output unit provides operation guidance for the traveling machine body having contents corresponding to the progress of the process during the automatic operation of the work machine main body. It is good to output sequentially according to a progress, and to output a series of operation guidance of the traveling body in automatic operation based on operation of an input part.

  Preferably, it communicates with the work implement main body, and during the automatic operation of the work implement main body, is sequentially transmitted from the work implement main body according to the progress of the process, and the operation guidance of the traveling machine main body having the contents according to the progress of the process. A communication unit that sequentially receives guide data and a storage unit that stores guide data of a series of operation contents of the traveling machine during automatic operation, and an output unit that communicates during automatic operation of the work machine body Guide data stored in the storage unit based on the operation of the input unit, based on the guide data sequentially received by the unit, sequentially output the operation guidance of the traveling machine body according to the progress of the process in the work machine body Based on the above, it is preferable to output a series of operating procedures of the traveling aircraft during automatic operation.

  Preferably, the input unit includes a plurality of buttons including a power button for starting the work machine body, and the control unit starts in a guide mode when another button is operated together with the power button for the input unit. When the operation is started in the guide mode, or when the button of the input unit is operated during the start-up in the guide mode, a series of operations of the traveling aircraft during the automatic operation is performed based on the guide data stored in the storage unit. The content is preferably output from the output unit.

  Preferably, the controller and a holder that holds the controller and can be attached to the riding part of the traveling machine body, and the output unit, the input unit, and the control unit are provided in at least one of the controller and the holder, or the controller It is preferable that the operation guidance of the traveling machine body that is provided separately for the holder and is output based on the operation of the input unit is output when at least one of the controller and the holder operates.

  The holder of the controller of the work machine according to the present invention is a holder of the controller of the work machine that has a work machine body that can be mounted on the traveling machine body and automatically operates, and is an input unit for inputting an operation to the work machine body A holder body that can be attached to the traveling machine body, an output unit that outputs operation guidance for the traveling machine body during automatic operation of the work machine body, and an automatic operation based on the operation of the input unit. A control unit that outputs the operation guidance of the traveling machine body from the output unit.

In the work machine of the present invention, the output unit outputs an operation guide for the traveling machine body during the automatic operation of the work machine body. The output unit outputs an operation guide for the traveling machine during automatic operation based on an operation input to the input unit.
For example, the worker can appropriately operate the traveling machine body in accordance with the operation of the working machine during the automatic operation based on the operation guidance output during the automatic operation of the work machine main body.
In addition, the operator can operate the input unit to output operation guidance for the traveling machine during automatic operation from the output unit. Before starting the work, the worker can output the operation guidance of the traveling machine during the automatic operation to recall the forgotten work procedure, and can appropriately operate without hesitation during the actual work.
An operator or the like can appropriately perform the operation of the traveling machine body in accordance with the automatic operation of the hull coater.

FIG. 1 is an explanatory diagram of a wrinkle coater according to an embodiment of the present invention. FIG. 2 is an explanatory diagram of a positioning state of the trimming unit with respect to the old saddle. FIG. 3 is an explanatory diagram showing a control system on the work machine main body side, a control system of the controller, and a control system of the holder. FIG. 4 is a front view of the controller and the holder. FIG. 5 is a cross-sectional view of the holder. FIG. 6 is a flowchart showing a flow of processing executed in the normal operation mode by the work implement body of the glazing coater for the automatic corner painting work. FIG. 7 is an explanatory diagram of the state of the working machine body and the traveling state of the traveling machine body in each step of the automatic cornering operation (first half). FIG. 8 is an explanatory diagram of the state of the work implement main body and the running state of the traveling machine body in each step of the automatic squaring operation (second half). FIG. 9 is a flowchart showing a flow of processing executed by the work implement main body of the wrinkle coater in the automatic square fill mode. FIG. 10 is a flowchart showing a flow of control by the posture determination unit during the automatic cornering operation. FIG. 11 is a flowchart showing a flow of processing in the guide mode by the controller and the holder.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is an explanatory diagram of a coater 1 according to an embodiment of the present invention. FIG. 1 is a view of the glazing machine 1 as viewed from above.
The wrinkle coater 1 is used by being mounted on a traveling machine body 100 such as a tractor. For example, when the traveling machine body 100 on which the carburizing machine 1 is mounted moves along the old carp formed along the outer periphery of the field, the carpenter 1 performs the carving work on the old carp. , Forming a new molded ridge. The hull coater 1 is an example of a farm work machine.

1 is a work machine main body 2 that can be mounted on the rear part of the traveling machine body 100, a controller 3 that outputs an operation instruction to the work machine main body 2, and a controller 3 that is attached to a riding part of the traveling machine body 100. And a holder 4 for holding.
The work machine body 2 includes a mounting unit 10, a connecting unit 20, a working unit 30, a power transmission mechanism 40, a positioning mechanism 50, and a main body control unit 60.
An operator gets on the traveling machine body 100 and operates the controller 3. The controller 3 outputs an instruction signal corresponding to the operation to the main body control unit 60. The main body control unit 60 operates the work machine main body 2 based on the instruction signal.

The working unit 30 is positioned with respect to the old bag and performs work on the old bag.
The working unit 30 includes, for example, a pre-processing unit 31 that cuts a part of an old paddle and performs a pile work, and a trimming unit 32 that applies the piled soil onto the paddle.
The pretreatment unit 31 is a rotary tillage type pretreatment unit 31 in which, for example, a rotary claw is mounted on a drive shaft. The pre-processing unit 31 may include a celestial processing mechanism that scrapes off the celestial heaven (upper surface).
The trimming portion 32 is, for example, a work frame 33, a conical umbrella-shaped drum 34 that is connected to the work frame 33 so as to be rotatable and fixed, and that forms the side surface of the collar, and projects from the center of the conical umbrella-shaped drum 34 And a cylindrical drum 35 for forming the upper surface of the bag.
The working unit 30 is positioned in a state in which the preprocessing unit 31 and the trimming unit 32 are in contact with the outer surface of the old trap having a substantially trapezoidal cross section. When the pre-processing unit 31 and the trimming unit 32 operate in this state, the working unit 30 performs a smearing operation on the old kite. A new trap is formed.

FIG. 2 is an explanatory diagram of a positioning state of the trimming unit 32 with respect to the old scissors.
The cylindrical drum 35 of the trimming unit 32 is positioned in contact with the upper surface of the old rod Sn having a substantially trapezoidal cross section. The conical umbrella-shaped drum 34 is positioned in contact with the side surface of the old trap Sn having a substantially trapezoidal cross section.
In this positioning state, the cylindrical drum 35 and the conical umbrella drum 34 rotate. The soil scraped off by the pretreatment unit 31 is applied to the side surface and the upper surface of the old iron Sn.
As the traveling machine body 100 moves along the kite, the upper surface and side surfaces of the kite Sn are molded.

The mounting unit 10 mounts the work machine body 2 on the rear part of the traveling machine body 100.
The mounting unit 10 includes, for example, a mounting frame 11, and a lower coupling unit 12 and an upper coupling unit 13 that detachably mount the mounting frame 11 on the three-point link mechanism at the rear of the traveling machine body 100.
The mounting frame 11 is connected to the rear portion of the traveling machine body 100 at the upper and lower connecting portions. The mounting frame 11 is firmly fixed so as not to fall off during the work.

The connecting unit 20 connects the working unit 30 and the mounting unit 10 so that the working unit 30 can rotate within the horizontal plane (within the paper surface of FIG. 1) around the mounting unit 10.
The connection part 20 has the link member 21 and the offset frame 22, for example.
One end of the link member 21 and one end of the offset frame 22 are attached to the mounting frame 11 so as to be rotatable in a horizontal direction. The other end of the link member 21 and the other end of the offset frame 22 are arranged in a horizontal direction with respect to the work frame 33 and are rotatably attached. The link member 21 and the offset frame 22 constitute a parallel link that rotates in a horizontal plane.
The work frame 33 of the work unit 30 can rotate (translate) in a horizontal plane around the mounting frame 11 of the mounting unit 10. The working unit 30 can be positioned at a position offset to the left and right sides of the traveling machine body 100 (vertical direction on the plane of FIG. 1, XX direction) with reference to the traveling direction of the traveling machine body 100.
Further, since the parallel link is formed, the work frame 33 maintains a fixed posture with respect to the mounting frame 11 (the traveling machine body 100) at the offset position. Even if the mounting unit 10 rotates about the mounting frame 11, the direction of the rotation axis of the cylindrical drum 35 connected to the work frame 33 and the direction of the rotation axis of the conical umbrella-shaped drum 34 do not change. The directions of the rotation axis of the cylindrical drum 35 and the rotation axis of the conical umbrella-shaped drum 34 are maintained in the left-right direction of the traveling machine body 100.

The power transmission mechanism 40 transmits the driving force generated by the traveling machine body 100 to the working unit 30.
The power transmission mechanism 40 transmits, for example, an input shaft (not shown) connected to the PTO shaft of the traveling machine body 100 via a transmission joint member such as a universal joint, and the power transmitted to the input shaft to the connecting portion 20. The relay shaft 41, an output shaft 42 that transmits the transmitted power to the trimming unit 32 and the preprocessing unit 31, and a chain that spans the relay shaft 41 and the output shaft 42.
In addition, power is transmitted to the trimming unit 32 and the preprocessing unit 31 by a driven shaft or a driven chain that rotates according to the rotation of the output shaft 42.
Thereby, the rotary claw of the pre-processing unit 31 of the working unit 30 and the conical umbrella-shaped drum 34 and the cylindrical drum 35 of the trimming unit 32 are rotationally driven by the driving force generated in the traveling machine body 100.
The relay shaft 41 is rotatably supported by the mounting frame 11 in the vertical direction (direction perpendicular to the paper surface of FIG. 1). The output shaft 42 is rotatably supported by the work frame 33 in the vertical direction. The chain is bridged between the relay shaft 41 and the output shaft 42 at a position overlapping the offset frame 22. With such a structure of the power transmission mechanism 40, power can be transmitted to the working unit 30 even if the working unit 30 rotates to any offset position around the mounting unit 10.

The positioning mechanism 50 adjusts the offset position and the working direction of the working unit 30.
The positioning mechanism 50 includes, for example, an offset cylinder 51 and a direction cylinder 52. The offset cylinder 51 and the direction cylinder 52 may be hydraulic cylinders, for example.
The offset cylinder 51 has one end attached to the mounting frame 11 and the other end attached to the offset frame 22. By adjusting the length of the offset cylinder 51, the offset position of the trimming portion 32 with respect to the center in the front-rear direction of the traveling machine body 100 can be adjusted.
One end of the directional cylinder 52 is attached to the work frame 33, and the other end is attached to the pretreatment unit 31 that is a part of the work unit 30. By adjusting the length of the direction cylinder 52, the direction of the working unit 30 relative to the work frame 33 can be adjusted. When the direction cylinder 52 is set to a predetermined expansion / contraction amount, the work frame 33 and the work unit 30 are integrated, and the work direction of the work unit 30 is maintained.

The main body control unit 60 may be provided on the mounting frame 11, for example.
The main body control unit 60 starts the work implement main body 2 to an operable state based on the start instruction input from the controller 3. Further, based on the operation instruction input from the controller 3, the operation of the work machine main body 2 of the coater 1 is controlled.
For example, the main body control unit 60 is activated based on an activation instruction from the controller 3. Further, the main body control unit 60 controls the offset cylinder 51 and the direction cylinder 52 based on the adjustment instruction from the controller 3. The offset cylinder 51 and the direction cylinder 52 operate, and the offset amount of the working unit 30 is adjusted. The main body control unit 60 operates the working unit 30 based on a work start instruction from the controller 3. The pre-processing unit 31 and the trimming unit 32 are rotated to perform a smearing operation.

By the way, in order to finely adjust the moving direction of the working unit 30 with respect to the extending direction of the old tack, the tack coater 1 may include an angle sensor 68A and a position sensor 68B as shown in FIG.
The angle sensor 68A may be a gyro sensor, for example. The gyro sensor detects a change in the working direction of the working unit 30. The angle sensor 68 </ b> A may be provided around the output shaft 42 of the offset frame 22. The angle sensor 68 </ b> A may detect a change in a relative angle (direction) of the working unit 30 with respect to the connecting unit 20.
The position sensor 68B detects a change in the position of the working unit 30 with respect to the bag that is the work target. The position sensor 68B is provided, for example, at the tip of the arm 36 that protrudes from the support frame of the working unit 30 (not shown). The position sensor 68 </ b> B is disposed behind the conical umbrella-shaped drum 34 in the traveling direction of the traveling machine body 100. The position sensor 68B includes, for example, a sensor rod 681 and a potentiometer 682. The sensor rod 681 extends obliquely downward from the potentiometer 682 as shown in FIG. The tip of the sensor rod 681 comes into contact with the side surface of the ridge after being formed. The potentiometer 682 detects the fluctuation of the sensor rod 681.
The angle sensor 68A and the position sensor 68B are connected to the main body control unit 60 and output detection signals.
The main body control unit 60 performs feedback control for finely adjusting the position and direction of the working unit 30 based on the detection signal of the sensor. The offset cylinder 51 and the direction cylinder 52 are operated.
The main body control unit 60 finely adjusts the position of the working unit 30 with respect to the heel so that the working unit 30 moves along the extending direction of the heel.
Further, the main body control unit 60 determines the direction of the working unit 30 with respect to the heel so that, for example, the direction of the axis of the conical umbrella drum 34 is maintained at a constant angle (for example, 90 degrees) with respect to the extending direction of the heel. Tweak the.
Regardless of the unevenness of the surface of the heel or the shift of the traveling direction of the traveling machine body 100 with respect to the extending direction of the heel, the position and posture of the working unit 30 with respect to the heel can be maintained constant.

When carrying out the hulling work, the worker wears the hull coater 1 on the traveling machine body 100.
An operator drives the traveling machine body 100 and stops the traveling machine body 100 beside the old car.
The operator operates the controller 3, swings the connecting portion 20, moves the working portion 30 in the offset direction, and positions the working portion 30 in the state shown in FIG.
The operator operates the traveling machine body 100 to transmit the power of the traveling machine body 100 to the coater 1, and rotates the preprocessing unit 31 and the trimming unit 32.
The operator drives the traveling machine body 100 and runs the traveling machine body 100 along the old fence.
Thereby, the wrinkle coater 1 can form the formed wrinkle. For example, when the traveling machine body 100 is linearly moved along a side of a heel in a rectangular ridge, a ridge shaped so as to extend linearly can be formed.

By the way, for example, when the traveling machine body 100 is moved straight along the side of the rectangular bag, the traveling machine body 100 reaches the corner of the rectangle.
At the rectangular corner, the operator needs to change the traveling direction of the traveling machine body 100.
However, when the traveling direction of the traveling machine body 100 is changed, the working unit 30 is detached from the heel, and the glazing operation cannot be completed by a single run along one side of the heel to the corner of the rectangular heel.

For this reason, the hull coater 1 has an automatic chamfering mode (automatic operation mode) for carrying out the work up to the corner of the rectangular hull by one continuous run.
In the automatic corner coating mode, the working unit 30 of the basket coater 1 moves toward the corner of the rectangular basket while the traveling machine body 100 is turning. Thereby, it can shape | mold to the corner | angular corner. The entire sides of the rectangular basket can be formed by a single run.

However, in order to obtain a preferable work result even if the coater 1 automatically operates as described above, the worker appropriately turns the traveling machine body 100 in accordance with the automatic corner coating operation of the coater 1. It is necessary to let When the working unit 30 of the hull coater 1 moves to the hull corner along the hull by automatic operation, it is necessary to turn the traveling machine body 100 accordingly.
The operator needs to perform a special operation on the traveling machine body 100 that is different from the case of running the traveling machine body 100 along the saddle.

Further, to operate the traveling machine body 100 in accordance with the automatic corner coating operation of the candy coating machine 1, it is necessary for the operator to become accustomed. An unfamiliar worker or a worker who does not fully understand the work procedure is frustrated at the work site.
Moreover, the glazing operation is usually performed only a few times a year. The wrinkle coater 1 is not used frequently. The operator is difficult to get used to the operation of the traveling machine body 100 in accordance with the automatic corner coating of the candy coating machine 1.

  In addition, when the period during which the work is not performed becomes relatively long, such as a haze painting work, the operator may forget the operation procedure and the operation content once understood.

Further, when selling the hull coater 1, the seller needs to explain in detail to the prospective purchaser a series of operation contents of the traveling machine body 100 in accordance with the automatic square hulling of the hull coater 1.
In some cases, the merchant needs to explain to the buyer every year.

As described above, in the coater 1 that is used by being mounted on the traveling machine body 100, it is desired that an operator or the like can appropriately perform the operation of the traveling machine body 100 in accordance with the automatic operation of the coater 1. .
For this purpose, the plastering machine 1 according to the present embodiment outputs a guidance for operating the traveling machine body 100 during automatic operation by voice during automatic operation and at a necessary timing.

FIG. 3 is an explanatory diagram showing a control system of the work machine body 2, a control system of the controller 3, and a control system of the holder 4.
In FIG. 3, the control system of the work implement body 2 includes an attitude sensor 68, a body communication unit 66, a body speaker 67, an offset cylinder 51, a direction cylinder 52, and a body control unit 60 to which these are connected.

The posture sensor 68 detects the posture of the work implement body 2, particularly the posture of the working unit 30.
The posture sensor 68 includes, for example, a swing angle sensor 68C and a rotation angle sensor 68D in addition to the position sensor 68B and the angle sensor 68A described above.
The swing angle sensor 68C is, for example, a potentiometer, and detects the angle of the offset frame 22 (the offset angle α formed by the straight lines X and Y in FIG. 1) with respect to the mounting portion 10 (the traveling machine body 100).
The rotation angle sensor 68D is, for example, a potentiometer, and detects an angle of the working unit 30 with respect to the offset frame 22 (an angle β formed by the straight lines Y and Zs in FIG. 1).
The main body control unit 60 controls the offset cylinder 51 and the direction cylinder 52 based on the detection signals of these sensors. The offset cylinder 51 and the directional cylinder 52 are controlled during the normal glazing operation and the automatic squaring operation.

The main body control unit 60 is, for example, an integrated circuit.
A CPU (Central Processing Unit) of the integrated circuit executes a program stored in a built-in memory.
As a result, the main body control unit 60 implements the posture determination unit 61, the main body storage unit 63 that stores the individual guide data 62, the main body selection unit 64, and the main body decoder 65.

A detection signal from the posture sensor 68 is input to the posture determination unit 61.
The posture determination unit 61 determines the relative position and posture of the working unit 30 with respect to the traveling machine body 100 (the mounting unit 10).
Specifically, the posture determination unit 61 has in advance a plurality of detection values of the posture sensor 68 during the automatic cornering operation as reference values. For example, the detection value D1 of the posture sensor 68 in the step of FIG. 7A described later, the detection value D2 of the posture sensor 68 in the step of FIG. 8A, and the detection value D3 of the posture sensor 68 in the step of FIG. The detection value D4 of the posture sensor 68 in the step of FIG. 8C and the detection value D5 of the posture sensor 68 in the step of FIG.
The posture determination unit 61 compares the detected values during the automatic corner painting operation with the stored reference values, and determines the degree of progress of a plurality of processes during the automatic corner painting operation. It is determined which process state during the automatic squaring operation has reached the position and orientation of the working unit 30.
When the detected value matches the reference value, the posture determination unit 61 outputs a separation signal for a plurality of steps of the automatic cornering operation.

The main body storage unit 63 stores individual guide data 62.
The individual guide data 62 is a plurality of sequential audio data that is individually notified according to the progress of the process in the automatic cornering operation. The main body storage unit 63 stores a plurality of sequential audio data as the individual guide data 62.
Sequential audio data is output at each process break during the automatic squaring operation. Each sequential audio data is audio data explaining the operation content of the traveling machine body 100 at each output timing.

When the posture determination unit 61 determines a process break and inputs a break signal, the main body selection unit 64 selects sequential audio data corresponding to the break from the individual guide data 62.
The main body selection unit 64 outputs the selected sequential audio data to the main body communication unit 66 and the main body decoder 65.

The main body communication unit 66 transmits and receives data by wireless communication with the remote communication unit 82 of the controller 3 and the holder communication unit 72 of the holder 4.
The main body communication unit 66 wirelessly transmits the sequential audio data input from the main body selection unit 64 to the holder communication unit 72 of the holder 4.

The main body decoder 65 decodes the sequential audio data input from the main body selection unit 64.
The main body decoder 65 outputs the audio signal obtained by the decoding to the main body speaker 67.
Thereby, voice guidance about the operation of the traveling machine body 100 is output from the main body speaker 67 in accordance with the progress of the automatic corner coating.
Note that the audio data transmitted by the main body communication unit 66 and the audio data decoded by the main body decoder 65 may be different. The main body decoder 65 may generate a buzzer sound signal.

3, the control system of the holder 4 has a holder input unit 71, a holder communication unit 72, a holder storage unit 74 that stores a series of guide data 73, a holder speaker 75, and a holder control unit 76 to which these are connected.
The control system of the controller 3 includes a remote input unit 81, a remote communication unit 82, a remote speaker 85, and a remote control unit 86 to which these are connected.

The holder input unit 71 has a volume adjustment volume 71a.
The remote input unit 81 includes a power button 81a, an automatic square button 81b, and a plurality of other buttons.
Further, the controller 3 is held by the holder 4, whereby the charging terminal of the holder 4 is connected to the controller 3. The controller 3 can be charged by the power of the traveling machine body 100.
The controller 3 transmits an instruction signal to the work machine body 2 and the holder 4.

FIG. 4 is a front view of the controller 3 and the holder 4.
FIG. 5 is a cross-sectional view of the holder 4.
As shown in FIGS. 4 and 5, the holder 4 has a holder body 90 and a recess 91.
The controller 3 is accommodated in the recess 91 and held by the holder 4.
In the holder main body 90, a holder main substrate 92 for the holder storage unit 74 and the holder control unit 76, a communication substrate 93 for the holder communication unit 72, and a holder speaker 75 are arranged.
On the front surface of the holder main body 90, a volume adjustment volume 71a is provided below the recess 91.
As shown in FIG. 4, the controller 3 includes a controller body 96 having a substantially rectangular plate shape and a plurality of buttons arranged on the front surface of the controller body 96.
The buttons provided on the controller main body 96 include, for example, a power button 81a, an automatic square button 81b, a direction button for adjusting the position and posture of the working unit 30, and the like.
The remote communication unit 82, the remote speaker 85, and the remote control unit 86 of the controller 3 are disposed in the controller main body 96.

The holder storage unit 74 stores a series of guide data 73.
The series of guide data 73 is audio data that describes a series of operations of the traveling machine body 100 that are performed in accordance with the progress of the process in the automatic dynamic corner coating operation.

The holder communication unit 72 transmits and receives data to and from the main body communication unit 66 and the remote communication unit 82 by wireless communication.
The holder communication unit 72 sequentially receives audio data from the main body selection unit 64, for example.
Holder communication unit 72 receives an instruction to output a series of guidance voices from remote communication unit 82, for example.

The remote control unit 86 is, for example, an integrated circuit.
The holder control unit 76 is, for example, an integrated circuit.
For example, the remote control unit 86 outputs an instruction signal corresponding to the operated button to the remote communication unit 82 based on the operation of the remote input unit 81. The instruction signal is transmitted from the remote communication unit 82 to the main body communication unit 66 and used for controlling the work machine main body 2 by the main body control unit 60. Further, the instruction signal is transmitted from the remote communication unit 82 to the holder communication unit 72 and used for controlling the holder 4 by the holder control unit 76.
In addition, the holder communication unit 72 sequentially receives audio data from the main body communication unit 66. The holder control unit 76 decodes the received sequential audio data and outputs an audio signal obtained by the decoding to the holder speaker 75. Thereby, the voice guidance about the operation of the traveling machine body 100 is sequentially output from the holder speaker 75 in accordance with the progress of the process in the automatic squaring operation.
Further, the remote control unit 86 is activated in the guide mode based on a specific first operation of the remote input unit 81. When starting in the guide mode, the remote control unit 86 starts the controller 3 and the holder 4 but does not transmit a start signal to the work implement body 2. When a specific second operation is performed on the remote input unit 81 in the state where it is activated in the guide mode, the remote control unit 86 sends a guide voice output instruction signal from the remote communication unit 82 to the holder communication unit 72. To send to. The holder control unit 76 reads the series of guide data 73 from the holder storage unit 74 and decodes it. The holder control unit 76 outputs an audio signal obtained by decoding to the holder speaker 75. As a result, voice guidance based on the series of guide data 73 is output from the holder speaker 75. A voice guidance for a series of operations of the traveling machine body 100 to be performed in accordance with the progress of the process of the automatic cornering operation is output.

  Next, the operation | movement for the automatic corner painting operation | work by the glazing machine 1 which has the above structure is demonstrated in detail.

FIG. 6 is a flowchart showing a flow of processing executed in the normal operation mode by the work machine main body 2 of the wrinkle coater 1 for the automatic cornering work.
As shown in FIG. 6, when only the power button 81 a of the controller 3 is operated (step ST <b> 1), the control system of the controller 3 transmits an activation signal to the work machine body 2 and the holder 4. The work machine body 2 and the holder 4 are activated (step ST2).
The operator operates the controller 3 to position the working unit 30 at the offset position so as to come into contact with the heel (step ST3).
Thereafter, in the normal operation mode, the traveling machine body 100 travels straight along the heel. Thereby, for example, it is possible to carry out the haze coating operation on a straight old hail (step ST4).
In the normal operation mode, the posture sensors 68 such as the position sensor 68B and the angle sensor 68A output detection signals that change according to the traveling state of the traveling body 100 and the state of the saddle (step ST5). A detection signal of the attitude sensor 68 is input to the main body control unit 60.
The main body control unit 60 updates the reference value in the automatic cornering operation with the new detection value (step ST6). The reference value may be, for example, a detection value at the start of work or an average value for a predetermined period during linear movement.
During work in the normal operation mode, the main body control unit 60 repeats the processing from steps ST5 to ST8.
Then, for example, when traveling body 100 moves linearly along one side of the rectangular bag and reaches the corner of the rectangular bag, automatic cornering button 81b of controller 3 is operated (step ST8). An instruction signal for starting the automatic cornering work is transmitted from the controller 3 side to the work machine body 2. The main body control unit 60 ends the process during the normal operation in FIG. 6 and starts the process in the automatic cornering mode in FIG. 9 (step ST9).
Note that, for example, when the power button 81a of the controller 3 is operated during work in the normal operation mode (step ST7), the controller 3 transmits an instruction signal. The main body control unit 60 receives this instruction signal, stops the control of the work machine main body 2, and finishes the glazing operation (step ST10).

FIGS. 7 and 8 are explanatory diagrams of the state of the work machine body 2 and the traveling state of the traveling machine body 100 in each step of the automatic squaring operation.
FIG. 7A shows a state in which the tip of the traveling machine body 100 has reached the corner of the farm field by the straight-ahead painting operation. This is the state at the start of automatic cornering work.
FIG. 8C shows a state in which the turning of the traveling machine body 100 for the automatic cornering operation is stopped. FIG. 8D shows a state at the end of the automatic square filling operation.
FIGS. 7B, 7C, 8A, and 8B are diagrams sequentially showing the turning states from FIG. 7A to FIG. 8C.

As shown in a series of flows in FIG. 7 and FIG. 8, the operator turns the traveling machine body 100 during the automatic cornering operation.
The main body control unit 60 controls the offset cylinder 51 and the direction cylinder 52 so that the working unit 30 moves linearly along the extending direction of the linear rod with respect to the traveling machine body 100 that turns. The main body control unit 60 executes, for example, a plurality of steps of switching the offset amount of the working unit 30 in the left-right direction so as to move the working unit 30 linearly with respect to the turning traveling machine body 100.
Specifically, from FIG. 7A to FIG. 7B, the offset amount to the right side of the working unit 30 decreases from the offset amount to the right side in the straight traveling state of FIG. 7A. From FIG. 7B, the working unit 30 switches from the offset to the right side to the offset to the left side. In FIG. 8A, the offset amount on the left side of the working unit 30 is maximized. From FIG. 8B to FIG. 8D, the offset amount on the left side of the working unit 30 decreases.

FIG. 9 is a flowchart showing a flow of processing executed by the work machine main body 2 of the coater 1 in the automatic cornering mode.
As shown in FIG. 9, when the automatic square filling button 81b is turned on during the normal operation mode operation (step ST11), an activation instruction is transmitted from the remote control unit 86 to the main body control unit 60. The main body control unit 60 sets the reference value at that time as the reference value used for the current automatic cornering control (step ST12). This reference value is used to estimate the unprocessed part for the straight wrinkles. The main body control unit 60 obtains the extension direction (position) of the virtual heel corresponding to the unprocessed portion of the linear heel from the reference value.
For the automatic cornering operation, the operator turns the traveling machine body 100 (step ST13).
In the automatic cornering operation, when the turning operation of the traveling machine body 100 is started, it is necessary to change the position and moving direction of the working unit 30 with respect to the traveling machine body 100. The main body control unit 60 controls the position and direction of the working unit 30 so that the working unit 30 moves linearly along the extending direction of the virtual kite while the traveling machine body 100 is turning.
Specifically, the main body control unit 60 obtains the detected value of the attitude sensor 68 (step ST14), and the control deviation | At-Ao | of the moving direction of the working unit 30 and the control deviation of the position of the working unit 30 | Xt -Xo | is calculated (step ST15). Here, At and Xt are measured values of the moving direction and position of the working unit 30 based on the detection values of the sensors. Ao and Xo are control target values. The control target value is a target value for linearly moving the working unit 30 along the extending direction of the virtual kite, and changes every moment according to the turning amount of the traveling machine body 100.
After calculating the control deviation (residual), the main body control unit 60 controls the offset cylinder 51 and the direction cylinder 52. The direction and position of the working unit 30 are controlled so that the control deviation (residual) is eliminated (step ST16). Thereby, during the turning of the traveling machine body 100, the working unit 30 can move linearly along the extending direction of the virtual kite.
When the operator who operates the traveling machine body 100 determines that the working unit 30 has reached the corner of the bag, the operator operates the automatic cornering button 81b (step ST17). A stop instruction is transmitted from the remote control unit 86 to the main body control unit 60. The main body control unit 60 ends the automatic corner painting. The main body control unit 60 ends the automatic squaring operation and returns to the normal operation mode of FIG. 6, for example (step ST18).

Next, the voice guidance output during the automatic corner filling operation will be described.
7 and 8, the posture determination unit 61 determines the actual posture of the working unit 30 based on the detected value of the posture sensor 68 during the automatic corner painting operation. .

FIG. 10 is a flowchart showing a flow of control by the posture determination unit 61 during the automatic cornering operation.
When the automatic square filling button 81b is turned on during the normal operation mode, the posture determination unit 61 starts the process of FIG. 10 (step ST21).
Attitude determination section 61 first determines whether or not the detection value of attitude sensor 68 is first reference value D1 (step ST22). The first reference value D1 is, for example, a detection value of the posture sensor 68 in the step of FIG.
When the detected value matches the first reference value D1, the posture determination unit 61 reads the first sequential audio data from the main body storage unit 63 and transmits it from the main body communication unit 66. The holder communication unit 72 of the holder 4 receives the transmitted first sequential audio data. The holder control unit 76 outputs the sound of the received first sequential sound data from the holder speaker 75 (step ST23).
Thus, for example, from the main body speaker 67 and the holder speaker 75, “Automatic cornering mode has been entered. The handle is quickly left fully turned. If there is no autobrake, lightly depress one brake.” Voice guidance (1) flows. The main speaker 67 may output a first buzzer sound “Peep ...”.

Next, posture determination unit 61 determines whether or not the detection value of posture sensor 68 is second reference value D2 (step ST24). The second reference value D2 is, for example, the detection value D2 of the posture sensor 68 in the posture of the step of FIG.
When the detected value matches the second reference value D2, the posture determination unit 61 reads the second sequential audio data from the main body storage unit 63 and transmits it from the main body communication unit 66. The holder communication unit 72 of the holder 4 receives the transmitted second sequential audio data. The holder control unit 76 outputs the sound of the received second sequential sound data from the holder speaker 75 (step ST25).
As a result, the main body speaker 67 and the holder speaker 75, for example, play a voice guidance (2) "Prepare to step on the clutch and stop the traveling machine body." The main speaker 67 may output a first buzzer sound “Peep ...”.
In addition, when receiving the second sequential audio data while outputting the sound of the first sequential audio data, the holder control unit 76 interrupts the audio output of the first sequential audio data, and the second sequential audio data Starts output.

Next, posture determination unit 61 determines whether or not the detected value of posture sensor 68 is third reference value D3 (step ST26). The third reference value D3 is, for example, the detection value D3 of the posture sensor 68 in the step of FIG.
When the detected value matches the third reference value D3, the posture determination unit 61 reads the third sequential audio data from the main body storage unit 63 and transmits it from the main body communication unit 66. The holder communication unit 72 of the holder 4 receives the transmitted third sequential audio data. The holder control unit 76 outputs the sound of the received third sequential sound data from the holder speaker 75 (step ST37).
As a result, a voice guidance (3) of countdown until the stop of “3, 2, 1”, for example, flows from the main body speaker 67 and the holder speaker 75. The main speaker 67 may output a first buzzer sound “Peep ...”.
When receiving the third sequential audio data while outputting the sound of the second sequential audio data, the holder control unit 76 interrupts the output of the second sequential audio data, and outputs the third sequential audio data. Starts output.

Next, posture determination unit 61 determines whether or not the detection value of posture sensor 68 is fourth reference value D4 (step ST28). The fourth reference value D4 is, for example, the detection value D4 of the attitude sensor 68 in FIG.
When the detected value matches the fourth reference value D4, the posture determination unit 61 reads the fourth sequential audio data from the main body storage unit 63 and transmits it from the main body communication unit 66. The holder communication unit 72 of the holder 4 receives the transmitted fourth sequential audio data. The holder control unit 76 outputs the sound of the received fourth sequential sound data from the holder speaker 75 (step ST29).
As a result, the main speaker 67 and the holder speaker 75, for example, hears a voice guidance (4) “Stop. Neutralize handle and travel lever and release clutch.” The main body speaker 67 may output a second buzzer sound “buzzy ...”.
When receiving the fourth sequential sound data while outputting the sound of the third sequential sound data, the holder control unit 76 interrupts the sound output of the third sequential sound data, and the fourth sequential sound data. Starts output.

Next, posture determination unit 61 determines whether or not the detection value of posture sensor 68 is fifth reference value D5 (step ST30). The fifth reference value D5 is, for example, the detection value D5 of the attitude sensor 68 in FIG.
When the detected value matches the fifth reference value D5, the posture determination unit 61 reads the fifth sequential audio data from the main body storage unit 63 and transmits it from the main body communication unit 66. The holder communication unit 72 of the holder 4 receives the transmitted fifth sequential audio data. The holder controller 76 causes the holder speaker 75 to output the sound of the received fifth sequential sound data (step ST31).
As a result, the main speaker 67 and the holder speaker 75 play a voice guidance (5), for example, “Step on the clutch when it reaches the corner and press the automatic cornering button.” The main body speaker 67 may output a second buzzer sound “buzzy pi ...”.
Note that when the fifth sequential audio data is received while outputting the sound of the fourth sequential audio data, the holder control unit 76 interrupts the output of the fourth sequential audio data, and the fifth sequential audio data Starts output.

Next, when the automatic square filling button 81b is turned on during the automatic square filling mode operation (step ST32), the posture determination unit 61 reads the sixth sequential audio data from the main body storage unit 63 and transmits it from the main body communication unit 66. To do. The holder communication unit 72 of the holder 4 receives the transmitted sixth sequential audio data. The holder control unit 76 outputs the sound of the received sixth sequential sound data from the holder speaker 75 (step ST33).
Thereby, for example, a voice guidance (6) “Automatic corner painting finished. Thank you for your work.” Flows from the main body speaker 67 and the holder speaker 75.
Thereafter, the posture determination unit 61 ends the process of FIG.

Next, the audio output of the series guide data 73, which describes a series of operations of the traveling machine body 100 during the automatic cornering operation, will be described.
FIG. 11 is a flowchart showing a flow of processing in the guide mode by the controller 3 and the holder 4.
As shown in FIG. 11, when the wiping machine 1 is started in the guide mode, the operator simultaneously operates the automatic cornering button 81b together with the power button 81a of the remote input unit 81 of the controller 3, for example (step ST41).
Thereby, the remote control unit 86 is activated not in the normal operation mode in which the work machine body 2 is activated, but in the guide mode in which only the controller 3 and the holder 4 are activated (step ST42). The holder 4 is activated by an activation signal from the controller 3.
The remote control unit 86 activated in the guide mode causes the remote communication unit 82 to transmit a series of guidance voice output instruction signals when, for example, the automatic cornering button 81b of the remote input unit 81 is operated (step ST43). When the holder communication unit 72 receives the instruction signal, the holder control unit 76 reads the series of guide data 73 from the holder storage unit 74. The holder control unit 76 decodes the read series guide data 73 and generates an audio signal. Holder control unit 76 outputs the generated audio signal to holder speaker 75 (step ST44). Thereby, sound based on the series of guide data 73 is output. From the holder speaker 75, a voice guidance for explaining a series of operations of the traveling machine body 100 to be performed in accordance with the progress of the automatic cornering work is output.
Thus, from the holder speaker 75, for example, “automatic square paint button is pressed and the automatic square paint mode is entered. During the automatic square paint operation, the steering wheel is operated quickly and fully, and the traveling aircraft is kept in that state. If there is no autobrake, lightly depress one brake.After turning the vehicle body to the corner of the heel, step on the clutch to stop the vehicle body. Operate the steering wheel and lever of the lever to release the clutch. Press the auto square button again to return from the automatic square mode to the normal mode. "
Further, the remote control unit 86 activated in the guide mode stops the controller 3 when the power button 81a is operated (step ST45). In addition, the remote control unit 86 outputs a stop signal from the controller 3 to the holder 4. The holder 4 stops. The guide mode ends (step ST46).

As described above, the coater 1 according to the present embodiment sequentially guides operation guidance of the traveling machine body 100 from the holder speaker 75 of the holder 4 of the coater 1 in accordance with the progress of the process during the automatic cornering operation. Output.
The operator can appropriately operate the traveling machine body 100 in accordance with the operation of the hull coater 1 during automatic operation based on the operation guidance that is sequentially output. Even in a situation where the worker cannot remember in detail the work contents corresponding to each process during the work, the work machine main body 2 is based on the work contents sequentially output according to the progress of the automatic operation process. The traveling machine body 100 can be appropriately operated in accordance with the automatic operation.
Further, the controller 3 and the holder 4 provide voice guidance for explaining a series of operations of the traveling machine body 100 to be performed in accordance with the progress of the automatic cornering operation based on the operation of the automatic cornering button 81b of the controller 3. Output from the speaker 75.
Before starting the work, the worker outputs an operation guide for the traveling machine body 100 during the automatic operation, recalls the forgotten work procedure, and can appropriately operate without hesitation during the actual work.
Further, in an exhibition hall or the like, the prospective purchaser can explain and understand the operation of the traveling machine body 100 during the automatic cornering work without operating the work machine body 2.

In the present embodiment, the series guide data 73 is stored in the holder 4, and the series guide data 73 is output under the control of the controller 3 and the holder 4.
Even under a situation where the work machine main body 2 is not operated, a series of operation contents of the traveling machine body 100 during the automatic operation of the hull coater 1 can be output.
Further, the series guide data 73 for explaining the contents of the series of operating hands is different from the individual guide data 62 that is sequentially transmitted during the automatic operation of the work implement.
The contents of each data can be made appropriate contents according to each output scene.

Further, in the wrinkle coater 1 of the present embodiment, only the controller 3 and the holder 4 are activated in the guide mode by the simultaneous operation of the power button 81a and the automatic square fill button 81b of the controller 3.
Then, when the automatic cornering button 81b is operated during startup in this guide mode, a description of a series of operation contents of the traveling machine body 100 during the automatic operation of the hull coater 1 is output.
Buttons used in the normal operation mode can be used in the guide mode.
The button for exclusive use of the guide mode becomes unnecessary.
Increase in buttons can be suppressed.
In addition, it is possible to prevent the coater 1 from being activated in the guide mode during actual work.

Further, the plastering machine 1 of the present embodiment has a controller 3.
The operator can operate the work machine body 2 using the controller 3 without going to the work machine body 2 attached to the rear part of the traveling machine body 100.
The operator can operate the traveling machine body 100 with the controller 3 attached to the holder 4 or placed at hand while riding on the riding part of the traveling machine body 100.
Easy to paint with glazing.

  The above embodiment is an example of a preferred embodiment of the present invention, but the present invention is not limited to this, and various modifications or changes can be made without departing from the scope of the invention.

For example, in the above-described embodiment, the audio data output during the automatic operation is different from the audio data describing the flow of a series of operations during the automatic operation.
In addition to this, for example, data of the same sound may be output at these timings.
Further, the operation of the traveling machine during the automatic operation of the work machine may be guided not by voice but by video.

In the above-described embodiment, a sound for explaining a flow of a series of operations during automatic operation is output when the automatic cornering button 81b is operated in the guide mode.
In addition to this, for example, a sound explaining a flow of a series of operations during an automatic operation may be output when activated in the guide mode.
Moreover, you may output the audio | voice explaining the flow of a series of operation in automatic operation | movement by operation of the button of the holder input part 71 instead of the button of the remote input part 81. FIG.

In the said embodiment, the controller 3 and the holder 4 each have an input part, a communication part, a control part, and a speaker separately.
In addition to this, for example, when the controller 3 is held by the holder 4, the control system of the controller 3 and the control system of the holder 4 are connected by a connector or the like, whereby a storage unit for storing a series of guide data, an input One control system having a unit, a communication unit, a control unit, and a speaker may be realized in the controller 3 and the holder 4.
For example, the holder 4 includes a holder speaker 75 and a holder control unit 76 and a holder communication unit 72 that wirelessly communicates with the work machine body 2, the controller 3 includes a remote input unit 81, and the controller 3 holds the holder 4. Thus, the remote input unit 81 may be connected to the holder control unit 76.
Thereby, the controller 3 can be held in the holder 4 by utilizing the fact that the worker confirms the work content before starting the work. It is possible to prevent the worker from going to the field with the controller 3 left behind and starting the wrinkling operation.
In addition, when connecting to a connector, the communication part for sending and receiving a signal between the controller 3 and the holder 4 is unnecessary. The communication unit may be used only for communication with the work machine body 2.
Further, the input unit, the storage unit, the control unit, and the speaker may be provided together in one of the controller 3 and the holder 4.

For example, the above-described embodiment is an example in which the present invention is applied to the plaster coating machine 1.
In addition, for example, the present invention can be applied to other agricultural equipment such as a groove forming machine and a mowing machine, or equipment used on a civil engineering site or a construction site.
The present invention can also be applied to work machines other than offset work machines.

1 Spider coater (work machine)
2 Work implement body 3 Controller 4 Holder 62 Individual guide data (guide data of contents corresponding to process progress)
71 Holder input part (input part)
72 Holder communication unit (communication unit, wireless communication unit)
74 Holder storage unit (storage unit)
75 Holder speaker (output unit)
76 Holder control unit (control unit)
81 Remote input unit (input unit)
81a Power button 81b Automatic square button (other buttons)
83 Series of guide data (Guide data for guiding a series of operations during automatic operation)
90 Holder body 100 Traveling machine body Sn 畦

Claims (5)

A work machine that can be mounted on a traveling machine body and has a work machine body that operates automatically,
During automatic operation of the work machine body, an output unit that outputs operation guidance of the traveling machine body,
An input unit for inputting an operation on the work implement body;
A control unit connected to the output unit and the input unit;
Have
The controller is
Based on the operation of the input unit, the operation guidance of the traveling machine body during automatic operation is output from the output unit,
The work machine body performs a plurality of steps during the automatic operation,
The output unit is
During the automatic operation of the work machine body, the operation guidance of the traveling machine body of the content according to the progress of the process, sequentially output according to the progress of the process,
Based on the operation of the input unit, to output a series of operation guidance of the traveling machine body in the automatic operation ,
Work machine. Communicating with the work machine main body, and during the automatic operation of the work machine main body, the operation guide for the traveling machine body having the content according to the progress of the process, which is sequentially transmitted from the work machine main body according to the progress of the process. A communication unit that sequentially receives the guide data of
A storage unit for storing guide data of a series of operation contents of the traveling machine body during the automatic operation;
Have
The output unit is
During the automatic operation of the work machine main body, based on the guide data sequentially received by the communication unit, sequentially output operation guidance of the traveling machine body according to the progress of the process in the work machine main body,
Based on the operation of the input unit, based on the guide data stored in the storage unit, to output a series of operation procedures of the traveling machine body during automatic operation,
The work machine according to claim 1 . The input unit has a plurality of buttons including a power button for starting the work implement body,
The controller is
When other buttons are operated together with the power button for the input unit, it starts in the guide mode,
When the vehicle is activated in the guide mode, or when the button of the input unit is operated during the activation in the guide mode, the traveling machine body in the automatic operation based on the guide data stored in the storage unit To output from the output unit a series of operation contents of
The working machine according to claim 2 . A controller,
A holder that holds the controller and is attachable to a riding part of the traveling machine body;
Have
The output unit, the input unit, and the control unit are:
Provided in at least one of the controller and the holder, or provided separately in the controller and the holder,
The operation guidance of the traveling machine body that is output based on the operation of the input unit and is in automatic operation is
Output by operating at least one of the controller and the holder,
The work machine according to any one of claims 1 to 3 . A work machine controller holder that can be mounted on a traveling machine body and has a work machine body that operates automatically,
A holder body that holds a controller having an input unit for inputting operations on the work machine body, and can be attached to the traveling machine body;
During automatic operation of the work machine body, an output unit that outputs operation guidance of the traveling machine body,
Based on the operation of the input unit, a control unit for outputting the operation guidance of the traveling machine body during automatic operation from the output unit,
I have a,
The work machine body performs a plurality of steps during the automatic operation,
The output unit is
During the automatic operation of the work machine body, the operation guidance of the traveling machine body of the content according to the progress of the process, sequentially output according to the progress of the process,
The control unit causes the output unit to output a series of operation guides of the traveling machine body during the automatic operation based on the operation of the input unit.
Holder for controller of work equipment.

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