JP6891136B2 - Agricultural work machine - Google Patents

Description

The present invention relates to an agricultural work machine provided with a traveling machine capable of switching between manual running by manual steering and automatic running by automatic steering.

Conventionally, as this type of agricultural work machine, there has been a type of agricultural work machine in which a changeover switch capable of switching between manual running and automatic running is arranged at a position further downward from various levers arranged on the lower side of the steering wheel. (See, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2004-201530 (Fig. 1)

In manual driving, many aircraft drivers steer while holding the steering wheel in their hands and looking directly ahead in the traveling direction in order to travel on the planned travel route. Therefore, during manual driving, if the line of sight is deviated from the front in the traveling direction, the situation in front cannot be recognized during that time, and unstable steering may occur, which is not preferable.
According to the conventional agricultural work machine described above, since the changeover switch is arranged at a lower position separated from the steering wheel, for example, in order for the machine operator to switch to automatic driving during manual driving, a switching operation is performed. It is necessary for the hand to operate by releasing the handle and moving it to the changeover switch. In order to smoothly perform the changeover operation, the line of sight should be shifted to the position of the changeover switch and the changeover switch should be viewed.
As a result, the line of sight may deviate from the front in the traveling direction, and the steering wheel operation may be disturbed.

Therefore, an object of the present invention is to provide an agricultural work machine capable of solving the above-mentioned problems and switching between manual driving and automatic driving in a state where the steering wheel operation is unlikely to be disturbed.

The features of the present invention are a traveling machine capable of switching between manual traveling by manual steering and automatic traveling by automatic steering, a meter panel on which an hour meter is displayed, and the automatic traveling in the automatic traveling mode. The meter panel and the display device are provided with a display device for displaying that the mode is set and a display indicating a deviation in the traveling direction of the traveling machine is displayed, and the meter panel and the display device are connected to each other. Provided as another device, the steering wheel for steering the traveling aircraft is provided, the meter panel is located at a position overlapping the handle in a plan view, and the rear end of the display device is the front end of the handle. It is located in front of.

In the present invention, it is preferable that the display device is provided in an inclined posture which is located forward toward the upper end side.

In the present invention, it is preferable that the meter panel and the display device are provided at the central portion in the width direction of the traveling machine body.

In the present invention, it is preferable that the front end of the display device is located in front of the front end of the meter panel.

In the present invention, it is preferable that the upper end of the display device is located above the upper end of the meter panel .
In the present invention, a handle for steering the traveling machine body and a switching lever for switching the traveling machine body to the automatic running mode are provided, and the switching lever is a grip portion of the handle from the handle post side of the handle. It is preferable that it extends toward the side of.

It is an overall side view of a rice transplanter. It is an overall plan view of a rice transplanter. It is a front view of the traveling machine of a rice transplanter. It is a perspective view of the front part of the traveling machine of a rice transplanter. It is the schematic of the steering operation system. It is a block circuit diagram of a positioning / automatic steering running system. It is a figure which shows the monitor part and the operation panel part of a console. It is a side view of the traveling machine body of another embodiment. It is a front view of the traveling machine body of another embodiment. It is a front view of the traveling machine body of another embodiment. It is a perspective view of the front part of the traveling machine body of another embodiment. It is a main part plan view which shows the installation state of the changeover switch of another embodiment. It is a side view of the main part which shows the installation state of the changeover switch of another embodiment. It is an overall side view of the rice transplanter of another embodiment. It is an overall side view of the rice transplanter of another embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. Here, a rice transplanter will be described as an example of the agricultural work machine of the present invention.

[Overall composition of rice transplanter]
As shown in FIGS. 1 to 3, a driver's seat 3 is provided at the center of a traveling machine A having a pair of left and right front wheels 1 and a pair of left and right rear wheels 2, and a hydraulic cylinder 4 is provided at the rear end of the traveling machine A. A riding-type rice transplanter as an agricultural work machine is configured by providing a seedling planting device B that can be raised and lowered via a link mechanism L that moves up and down by expansion and contraction.

In this rice transplanter, the engine 6 is housed in the bonnet 5 at the front position of the traveling body A, and the driving force from the engine 6 is changed by the transmission case 7 at the center position of the traveling body A to be the left and right front wheels 1. It is equipped with a traveling transmission system that transmits to the left and right rear wheels 2. Further, the traveling machine A is provided with a work transmission system that transmits the driving force from the mission case 7 to the seedling planting device B by the transmission shaft 8. The transmission case 7 is equipped with a planting clutch C that interrupts the driving force transmitted to the transmission shaft 8 (see FIG. 1).

An elevating lever 10 for raising and lowering the seedling planting device B and connecting and disconnecting the planting clutch C is arranged on the right side of the driver's seat 3, and the front wheel 1 is steered in front of the driver's seat 3 at the rear of the bonnet 5. A steering wheel (corresponding to a steering wheel) 11 to be operated is arranged. A main speed change lever 12 for setting a traveling speed is provided on the left side portion of the steering wheel 11, and a seedling planting device B is forcibly raised and lowered on the right side portion of the steering wheel 11 and is planted in conjunction with raising and lowering. A forced elevating lever 13 for performing an intermittent operation of the attached clutch C is provided.

In the embodiment, the forced lifting lever 13 is configured so that it can be swung in the vertical direction and the front-back direction. The upward operation raises the seedling planting device B, and the downward operation lowers the seedling planting device B. Further, when the operation is performed downward, the planting clutch C is engaged. By operating forward, the left side of the marker arm 26, which will be described later, becomes the acting posture, and by operating backward, the right marker arm 26 becomes the acting posture.

The seedling planting device B is an example of a paddy field working device, and mounts a transmission case 21 connected to the rear end of the link mechanism L and transmitting the driving force of the transmission shaft 8, a plurality of ground leveling floats 22, and mat-shaped seedlings. It is configured for 8 rows with a seedling stand 23 to be placed and a rotary type planting arm 24 operated by a driving force from a transmission case 21.

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

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

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

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

In particular, in the rice transplanter of the present invention, the traveling route at the time of seedling planting work is acquired by a positioning system configured as GNSS (Global Navigation Satellite Systems), stored, and set as a target traveling route parallel to the stored route. It is possible to do. After setting the target traveling route in this way, it is also possible to cause the traveling aircraft A to automatically steer (correspond to automatic traveling by automatic steering) along the target traveling route.

In this rice transplanter, even in a situation where a target travel route is set, an artificial steering operation (corresponding to manual operation by manual steering) in which a worker (corresponding to an aircraft driver) operates the steering wheel 11 without automatic steering operation ) Is also configured to allow seedling planting work. For this reason, a marker device is provided.

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

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

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

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

A pipe material is used for the vertical frame 31, and by bending the vertical frame 31, the connecting frame 32 is integrally formed so as to extend from the upper end of the vertical frame 31 toward the inside of the vehicle body. Then, the left and right connecting frames 32 are integrated by connecting the extending ends of the respective connecting frames 32 with the bracket 42. The left and right vertical frames 31 and the connecting frame 32 connecting them may be formed of a single member by bending a long pipe material.

This support frame portion is formed in a gate shape in a front view, and is formed by a front support frame 31A that supports the lower ends of the left and right vertical frames 31 and a rear frame 33A that supports the lower ends of the auxiliary vertical frames 33. It is supported by the body frame.

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

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

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

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

An inverted U-shaped console support frame 37 having a lower end penetrating through the left and right sides of the rear portion of the bonnet 5 and connecting to the traveling machine A is provided, and the console D is supported by the inverted U-shaped console support frame 37. The console support frame 37 is composed of left and right side frame bodies 37A and an upper frame body 37B formed in a state of being connected to the upper ends thereof, and is provided in an inclined posture in which the upper end side is displaced forward.

A connecting plate 40 that connects to the left and right side frame bodies 37A of the console support frame 37 is provided, and the upper end portion of the connecting plate 40 is bent so as to project in the direction of the driver's seat 3 to integrally form the eaves portion 41. Has been done. The console D is formed in a box shape and is supported by the connecting plate 40. From such a support form, the eaves portion 41 projects from above the console D toward the driver's seat 3. Incidentally, although the left and right side portions of the console D are not provided with a function as a shade, eaves 41 may be provided on the left and right side portions of the console D. This makes it possible to block the sunlight shining on the monitor unit 38 from the side.

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

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

As shown in the figure, the monitor unit 38 of the console D has a mode display unit 102 that receives radio waves from the positioning satellite and indicates that the vehicle is in automatic steering, a target travel route line 103 corresponding to the target travel route, and steering. An icon 104 on which the operation of the wheel 11 is reflected and a speed display unit 108 are formed. The plurality of operation switches 39A of the operation panel unit 39 are configured to enable input of information and the like necessary for automatic steering running. The display form of the monitor unit 38 will be described later.

[Positioning / automatic steering driving system]
As shown in FIGS. 3 and 4, at the center position of the connecting frame 32 in the left-right direction of the support frame portion, a support plate made of a non-magnetic material such as resin or aluminum with respect to the upper surface of the bracket 42 described above. 43 is connected and fixed. A support member 44 made of synthetic rubber having flexibility as a non-magnetic material is provided on the upper surface of the support plate 43, and the receiving unit 45 is supported in a state of being mounted on the support member 44.

As shown in FIG. 6, the receiving unit 45 includes an antenna 45A that receives radio signals from a plurality of positioning satellites, a magnetic compass 45B that detects the direction from the geomagnetism, and a gyro sensor that captures a change in attitude of the traveling body A by inertia. It has a built-in 45C. In this configuration, since the receiving unit 45 is arranged at the front position of the traveling machine A (particularly, the front side of the front wheel 1), when the traveling body A changes the traveling direction, the rear end of the traveling body A The amount of displacement in the lateral direction is larger than that on the side, and changes in position information can be detected with high sensitivity (see FIGS. 1 and 2).

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

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

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

In this embodiment, the receiving circuit 46 is provided inside the console D, but the receiving circuit 46 may be provided inside the receiving unit 45. Further, at least one of the teaching processing unit 47A, the traveling route determination unit 47B, and the traveling control unit 47C is configured by the hardware of the logic IC, or is configured by the combination of the hardware and the software. Is also good.

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

An operating gear 54 is fixedly provided near the lower end of the steering shaft 51, and a steering control motor 56 for driving a pinion gear 55 that meshes with the operating gear 54 is provided. Further, a rotary encoder 57 for measuring the amount of rotation is provided at the lower end of the steering shaft 51.

In this steering operation system, by providing the steering control motor 56 on the front portion and the side portion of the steering shaft 51, the inside of the bonnet 5 can be effectively used, and it is not necessary to form a space overhanging below the driver's seat 3. It is configured as follows.

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

The traveling route is recognized as a straight line by the control unit 47, and a plurality of target traveling routes are set at intervals corresponding to the seedling planting width of 8 rows so as to be in a posture parallel to the traveling route. After the plurality of target travel routes are set in this way, by selecting automatic steering travel, the travel route determination unit 47B determines an error from the target travel route based on the information from the positioning system, and travel control is performed. The unit 47C controls the steering control motor 56 to automatically steer the traveling machine A along the target traveling path.

Incidentally, switching between artificial steering running and automatic steering running can be performed by a push-type changeover switch 49 provided on the steering wheel 11, as shown in FIGS. 1, 2, and 4. Each time the changeover switch 49 is pressed, the artificial steering run and the automatic steering run are switched alternately.
As shown in FIG. 4, the steering wheel 11 is provided with an annular grip portion 11A located on the outer circumference and a hub portion 11B for integrally connecting the grip portion 11A and the steering shaft 51 in the central portion. It is configured. The changeover switch 49 is provided on the hub portion 11B, and is arranged at a position where the grip portion 11A can be pushed by, for example, the thumb while being held by the hand.

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

[Positioning / automatic steering driving system: console display form]
At the time of automatic steering running, as shown in FIG. 7, the automatic steering running screen is displayed on the monitor unit 38 of the console D, and a plurality of setting buttons 101 and the mode display unit 102 are displayed on this screen. .. The operation of the setting button 101 is detected via the touch panel by bringing a finger or the like into contact with the screen, and various settings are realized. Character information indicating that the vehicle is in the automatic steering state is displayed on the mode display unit 102.

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

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

As a result, when performing automatic steering running, the system is started by operating the operation switch 39A of the console D, and the system shifts to a state where teaching is possible by operating the operation switch 39A or the setting button 101, and artificial steering running is performed. The teaching processing unit 47A acquires the traveling route and sets the target traveling route. After that, by shifting to the mode of automatic steering running by operating the changeover switch 49, the screen of FIG. 7 described above is displayed on the monitor unit 38, and automatic steering running along the target traveling route is possible. Become.

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

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

In particular, when the worker operates the steering wheel 11 to drive the traveling machine A during the seedling planting work and replenishes the mat-shaped seedlings of the spare seedling mounting table 34 to the seedling mounting table 23 of the seedling planting device B. Only, it is possible to select automatic steering running. Even in such a case, it is not necessary to stop the traveling machine A, and the work efficiency is improved.

[Action / effect of the embodiment]
According to the rice transplanter of the present embodiment, during the switching operation between the artificial steering running and the automatic steering running, the operator can perform the switching operation by the changeover switch 49 while holding the grip portion 11A of the steering wheel 11.
Therefore, the operator can switch between manual driving and automatic driving by the changeover switch 49 without turning his / her line of sight from the front in the traveling direction and without taking his / her hand off the steering wheel 11. Even in that case, stable steering operation can be continued.

Further, since the changeover switch 49 is incorporated in the steering wheel 11, it is possible to more easily perform the changeover operation with the changeover switch with a fingertip or the like even while holding the grip portion 11A, and the steering wheel operation is more stable. You can continue.

[Another Embodiment]
Other embodiments will be described below.

<1> In the previous embodiment, the agricultural work machine is configured so as to be able to act as a guard for the machine driver by providing the auxiliary frame 18, but for example, a signal line spans the machine driver and the traveling machine A. May be provided so that the traveling machine A is stopped when a phenomenon such as disconnection or disconnection of the signal line or the action of a large tension occurs.

The stop of the traveling machine A can be configured to be executed by, for example, a fuel cut solenoid.
In addition to the above-mentioned movements related to the aircraft driver, the traveling aircraft A may be stopped when, for example, the traveling aircraft A rides on a ridge or approaches a shore at a short distance during automatic driving. Alternatively, it may be configured so that it can be executed when the traveling machine A travels in a meandering manner. This is effective when the aircraft driver is replenishing seedlings on the traveling aircraft A on the traveling aircraft A away from the driver's seat and to the seedling loading platform behind the vehicle during automatic driving.

In particular, a situation in which the driver of the aircraft is not sitting in the driver's seat can be detected more accurately by providing, for example, a seating sensor, and the result can be reflected in each control.
Further, instead of stopping the traveling machine A, it may be configured to notify by an alarm or the like, or may be configured to notify in addition to stopping the traveling machine A.

<2> Since there is a concern that the battery voltage of the agricultural work machine may temporarily decrease as the engine 6 is started, the electric power for the meter panel, the console D, the positioning / automatic steering running system, etc. The supply start may be delayed for a predetermined time (for example, several seconds) in which the battery voltage is expected to stabilize after the engine is started. With this configuration, it is possible to avoid the problem that the supply voltage to the meter panels, the console D, the positioning / automatic steering running system, and the like falls below the minimum drive voltage and the system goes down. However, this does not apply when a battery such as a meter panel, a console D, a positioning / automatic steering running system, etc. is provided in addition to the drive system battery.

<3> The support frame portion that supports the receiving unit 45 is not limited to that described in the previous embodiment. For example, as shown in FIGS. 8 and 9, a canopy 60 that covers the upper part of the driver's seat 3 is provided. If provided, the portal-shaped support frame portion 61 that supports the canopy 60 may also be used. In this embodiment, the canopy 60 and the receiving unit 45 are supported by the top 61a of the support frame portion 61.
In the support frame portion 61, the left and right strut portions 61b rising from the traveling machine body A are erected at a position close to the bonnet 5 and are provided with high rigidity to stably support the receiving unit 45. be able to.

Further, as shown in FIG. 10, the lower end portion of the vertical frame 31 supporting the spare seedling stand 34 is configured to have a double-cylinder structure in which the lower end portion is fixed to the traveling machine A together and overlaps inside and outside in the radial direction. You may. In this case, the outer cylinder 31B can be configured to support the spare seedling stand 34, and the inner cylinder 31C can be configured as a gate-shaped support frame portion that is extended upward and connected by the connecting frame 32. With this configuration, it is possible to prevent the vibration when raising and lowering the seedlings on the preliminary seedling mounting table 34 from being transmitted to the receiving unit 45 via the support frame portion, and it is possible to perform positioning measurement with higher accuracy.

Further, the outer cylinder 31B can also incorporate a mechanism capable of sliding the spare seedling mounting table 34 or rotating it around the center of the cylinder axis, which makes it possible to make the spare seedling mounting table easier to use.

<4> The changeover switch 49 is not limited to the one that can perform both switching from manual driving to automatic driving and vice versa, switching from automatic driving to manual driving, with the common changeover switch 49, for example. The changeover switch 49 may be configured to operate only when switching from manual driving to automatic driving. In this case, the positioning / automatic steering running system may be configured so that the switching from the automatic running to the manual running is linked to the artificial operation of the steering wheel 11.

Further, a changeover switch 49 for switching from manual running to automatic running and a changeover switch 49 for switching from automatic running to manual running may be provided separately.
In any case, in particular, it is preferable to provide the changeover switch 49 for switching from manual running to automatic running at a place where the operator can operate the steering wheel 11 while holding the handle 11.

Further, the changeover switch 49 itself is not limited to the push type provided on the handle 11 described in the above embodiment. For example, as shown in FIG. 11, the operating lever may be provided so as to project from the steering shaft 51 side at a position near the lower side of the steering wheel 11 to a position near the lower side of the grip portion 11A.
When configured with an operating lever, switching can be performed by operating the lever tip extending from the lever base end, so the lever base end can effectively utilize the length of the lever to generate a large moment even with a small force. It can be switched by acting on the part side. As a result, even with the fingertips of the hand holding the handle 11, the operation lever can be easily switched with a small force, and more stable handle operation can be continued.

Further, as shown in FIGS. 12 and 13, an operation lever serving as a changeover switch 49 is provided so as to project to the left from the steering shaft 51 side at a position near the lower side of the steering wheel 11, and to the right from the steering shaft 51 side. The forced elevating lever 13 may be provided in a state of projecting to. In this case, any lever can be easily operated with a small force by the fingertips of each hand holding the handle 11.

Further, as the operation lever, in addition to the one configured exclusively for the changeover switch 49, for example, a combined operation in which the function as the changeover switch 49 is incorporated into one function of the operation lever provided for another changeover operation. It may be configured as a lever. In this case, for example, the functions can be properly used depending on a plurality of operation directions (for example, up / down / left / right) of the operation lever.

<5> In the previous embodiment, the auxiliary frame 18 is provided over the side of the backrest portion of the driver's seat 3 and the rear of the driver's seat 3, but the auxiliary frame 18 is not limited to this configuration. Absent.
For example, as shown in FIG. 14, two side frame bodies 18C detachably formed over the support frame body 18A and the rear frame 33A are separately provided on both sides of the driver's seat 3 and configured. There may be. According to the auxiliary frame 18, the periphery of the driver's seat 3 is guarded over a wide range.

Further, as shown in FIG. 15, the side frame body 18C may be configured so as to project forward from the support frame body 18A so as to guard the side portion of the seating portion of the driver's seat 3. In the case of this embodiment, it is not necessary to bother to remove the side frame body 18C when ascending or descending to the driving unit step 15 or the auxiliary step 15A. Further, since the number of attachment portions at the ends of the side frame body 18C is smaller than that of FIG. 14, the attachment / detachment operation can be easily performed.

As described above, the reference numerals are given for convenience of comparison with the drawings, but the description does not limit the present invention to the configuration of the accompanying drawings. In addition, it goes without saying that it can be carried out in various modes without departing from the gist of the present invention.

The agricultural work machine is not limited to the one that automatically steers using the positioning system described in the previous embodiment, but can also be used for the one that uses a different type of positioning system. Further, in the case of a rice transplanter, the target may be a sowing machine equipped with a sowing device at the rear end of the traveling machine instead of the seedling planting device, and further, it can be used in other agricultural work machines. ..

11 Steering wheel (equivalent to steering wheel)
49 Changeover switch A Traveling aircraft

Claims (6)

A traveling aircraft that can switch between manual driving by manual steering and automatic driving by automatic steering,
The meter panel that displays the hour meter and
It is provided with a display device that displays the mode of the automatic driving and displays the display indicating the deviation of the traveling direction of the traveling aircraft when the mode of the automatic driving is used.
Said meter panel and said display device is provided, et al is as a separate unit together,
Equipped with a steering wheel for steering the traveling aircraft
A farming machine in which the meter panel is located at a position overlapping the handle and the rear end of the display device is located in front of the front end of the handle in a plan view. The agricultural work machine according to claim 1, wherein the display device is provided in an inclined posture which is located forward toward the upper end side. The agricultural work machine according to claim 1 or 2, wherein the meter panel and the display device are provided at a central portion in the width direction of the traveling machine body. The agricultural work machine according to any one of claims 1 to 3, wherein the front end of the display device is located in front of the front end of the meter panel. The agricultural work machine according to any one of claims 1 to 4, wherein the upper end of the display device is located above the upper end of the meter panel. The steering wheel for steering the traveling aircraft and
It is equipped with a switching lever that switches the traveling machine to the automatic driving mode.
The agricultural work machine according to any one of claims 1 to 5 , wherein the switching lever extends from the handle post side of the handle toward the grip portion side of the handle.

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