JP7182408B2 - rice transplanter - Google Patents

Description

TECHNICAL FIELD The present invention relates to a rice transplanter configured to acquire position information of a traveling vehicle body by receiving radio signals from positioning satellites.

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

In Patent Document 1, a reference line is set by performing teaching while a GPS antenna provided on a running vehicle receives radio signals from GPS satellites (positioning satellites), and a target route parallel to this reference line is set. do. After this setting, the rice planting work can be carried out in such a manner that the rice planter autonomously travels along the target route while receiving radio signals from GPS satellites (positioning satellites).

JP-A-2008-92818

SUMMARY OF THE INVENTION An object of the present invention is to configure a rice transplanter that satisfactorily receives radio signals from a positioning satellite in the paddy field work machine as described above.

The features of the present invention include a positioning system that receives radio signals from a positioning satellite with an antenna of a receiving unit and obtains position information of a traveling vehicle body, and a preliminary seedling mounting frame that supports the auxiliary seedling mounting base. A support frame separate from the preliminary seedling loading frame is provided, and the support frame is provided with a vertical frame portion extending in the vertical direction and a rear extension portion extending rearward from the vertical frame portion in a side view. In a side view, the lower end of the vertical frame is positioned forward of the front end of the steering wheel, the upper end of the vertical frame is positioned rearward of the lower end of the vertical frame, and the vertical frame is positioned forward of the front end of the steering wheel. extends rearward from the upper end of the vertical frame, and the antenna is provided on the traveling vehicle body at a position forward of the axle of the rear wheel of the traveling vehicle body in a side view. It is supported by the rear extension part so as to be arranged at a position higher than the upper end of the driver's seat and higher than the upper end of the spare seedling loading frame .

In the present invention, the rearward extension may be arranged at a position higher than the driver's seat.

In the present invention, a pair of left and right vertical frame portions may be provided.

In the present invention, the vertical frame portion may be erected at a side portion position of a bonnet provided on the traveling vehicle body.

In the present invention, the receiving unit may have a gyro sensor, and the gyro sensor may be integrated with the antenna.

1 is an overall side view of a rice transplanter of a first reference form; FIG. 1 is an overall plan view of a rice transplanter of a first reference form; FIG. It is a front view of the traveling vehicle body of the rice transplanter of a 1st reference form. It is a perspective view of the front part of the traveling vehicle body of the rice transplanter of the 1st reference form. 1 is a schematic diagram of a steering operation system of a first reference embodiment; FIG. 1 is a block circuit diagram of a positioning/automatic steering travel system according to a first embodiment; FIG. FIG. 4 is a diagram showing a monitor section and an operation panel section of the console of the first reference embodiment; 1 is an overall side view of a rice transplanter of the present invention; FIG . 1 is an overall side view of a rice transplanter according to an embodiment of the present invention; FIG. It is the whole rice transplanter side view of the 2nd reference form. It is an overall side view of the rice transplanter of the third reference embodiment.

Hereinafter, first to third reference embodiments for clarifying the present invention will be described based on FIGS. 1 to 7 and FIGS. Explaining.
(First reference form) [Overall configuration of rice transplanter]
As shown in FIGS. 1 to 3, a driving vehicle body A having a pair of left and right front wheels 1 and a pair of left and right rear wheels 2 is provided with a driver's seat 3 at the center thereof, and a hydraulic cylinder 4 is provided at the rear end of the vehicle body A. A riding-type rice transplanter as a paddy field working machine is configured by including a seedling planting device B (an example of a paddy field working device) that can be moved up and down via a link mechanism L that moves up and down by expansion and contraction.

In this rice transplanter, an engine 6 is housed in a bonnet 5 at a front portion of a traveling vehicle body A, and a transmission case 7 shifts the driving force from the engine 6 at a central position of the traveling vehicle body A to drive left and right front wheels 1. A travel transmission system is provided to transmit the power to the left and right rear wheels 2. - 特許庁Further, the traveling vehicle body A is provided with a work transmission system for transmitting the driving force from the transmission case 7 to the seedling planting device B through the transmission shaft 8 . The mission case 7 incorporates a planted clutch C for intermittent driving force transmitted to the transmission shaft 8 .

On the right side of the driver's seat 3, a lifting lever 10 for lifting and lowering the seedling planting device B and connecting and disconnecting the planting clutch C is arranged, and the front wheel 1 is steered in front of the driver's seat 3 behind the bonnet 5. A steering wheel 11 to be operated is arranged. On the left side of the steering wheel 11, a main gear shift lever 12 for setting the running speed is provided. A forced lifting lever 13 is provided for connecting and disconnecting the attached clutch C.

The seedling planting device B is an example of a paddy field working device, and includes a transmission case 21 connected to the rear end of a link mechanism L to transmit the driving force of a transmission shaft 8, a plurality of leveling floats 22, and mat-like seedlings. A seedling mounting base 23 to be placed and a rotary type planting arm 24 operated by a driving force from a transmission case 21 are provided, and are configured for 8 rows.

A support-like center mascot 14 is provided at the tip of the bonnet 5. - 特許庁Moreover, the left and right sides of the seedling planting apparatus B are provided with marker devices that can be switched between an operating posture and a retracted posture. The marker device comprises a marker arm 26 which is rotatably supported by the seedling planting device B about a swing shaft facing forward and backward, and a rotatable end of the marker arm 26. and a marker ring 27 in which a plurality of protrusions are formed.

When the marker arm 26 is set to the working posture shown in FIG. 1, the outer periphery of the marker ring 27 contacts the field, and rotates as the traveling vehicle body A travels, so that the center of the next travel to the field. concave marks are continuously formed. As a result, by forming a concave mark in the field with the marker ring 27, when the traveling vehicle body A is turned to continue the seedling planting work, the center mascot 14 can be positioned with respect to the mark in the field. Seedlings can be planted at the optimal position based on the row of already planted seedlings by performing the steering operation in the form of visual aiming with the operator.

The marker arm 26 in the working posture is switched to the storage posture in conjunction with the rise of the seedling planting device B, and is locked in this storage posture. When the lift lever 10 is moved to the lowered position and then moved leftward and rightward, the corresponding marker arm 26 is unlocked and switched to the working posture.

In this rice transplanter, when the seedling planting work is performed, the raising/lowering lever 10 is operated to lower the seedling planting device B to a level where the leveling float 22 touches the ground, and the planting clutch C is engaged to operate the traveling vehicle body A. will make it run. As a result, in a state where the leveling float 22 levels the mud surface of the seedling planting site, the driving force transmitted from the traveling vehicle body A reciprocates the seedling mounting base 23 in the left and right direction, and the seedling mounting base 23 is mounted on the seedling mounting base 23 during this reciprocating operation. The planting claws of a plurality of planting arms 24 cut out a predetermined amount of seedlings from the lower end of the placed mat-like seedlings and plant them in the field. Then, if necessary, a marker device is used to form a recessed mark on the field.

In particular, in the rice transplanter of the present invention, the travel route during seedling planting work is acquired by a positioning system configured as GNSS (Global Navigation Satellite Systems), stored, and set as a target travel route parallel to the stored route. It is possible to After the target travel route is set in this manner, the vehicle body A can be automatically steered and traveled along the target travel route.

This rice transplanter is also configured so that the operator can carry out the seedling planting work by operating the steering wheel 11 by manipulating the steering wheel 11 instead of the automatic steering even when the target travel route is set. For this reason, a marker device is provided.

[Body structure]
In this rice transplanter, an operating section having a driver's seat 3 is formed in the center of a traveling vehicle body A, an operating section step 15 is formed at the foot portion of the operating section, and auxiliary steps 15A are formed at the left and right outer positions of the operating section. there is On both left and right sides of the bonnet 5 at the front of the traveling vehicle body A, boarding steps 16 are formed as boarding and alighting passages that are connected to the driving section steps 15 without steps. The step 16 for getting on and off makes the front end of the traveling vehicle body A close to the ridge, thereby facilitating the movement of the operator between the ridge and the traveling vehicle body A.

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

The work step 17 facilitates the replenishment of the mat-like seedlings to the seedling platform 23 of the seedling planting apparatus B, and the left and right support frame bodies 18A are placed behind the left and right support frame bodies 18A so as to support the operator who gets on the work step 17. Auxiliary frames 18 are formed along the work steps 17 at the end positions thereof to which a handrail- like horizontal frame body 18B is connected. The auxiliary frame 18 is configured not only to be gripped by the operator, but also to be able to stabilize the posture of the operator by contacting a part of the operator's body.

At the front position of the traveling vehicle body A, there are a vertical frame 31 that is in a vertical posture outside the left and right steps 16, a connecting frame 32 connected to the upper end of the vertical frame 31, and the upper end of the vertical frame 31 in the middle of the vertical frame 31. A supporting frame portion is provided which is formed into a gate shape by an auxiliary vertical frame 33 which is connected to the vertical frame 31 and takes 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, a connection frame 32 is integrally formed in a form extending from the upper end of the vertical frame 31 toward the inside of the vehicle body. By connecting the extension ends of the respective connecting frames 32 with brackets 42, the left and right connecting frames 32 are integrated. 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 when viewed from the front, and is composed of 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. supported by the body frame.

In this rice transplanter, a plurality of preliminary seedling mounts 34 are supported by a vertical frame 31 and an auxiliary vertical frame 33 connected thereto.

With this configuration, the plurality of left and right spare seedling loading tables 34, the left and right vertical frames 31, and the auxiliary vertical frames 33 are arranged outside the step 16. There is no hindrance to the movement of workers.

[Meter panels]
As shown in FIG. 4 , a 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 has a liquid crystal display section having a backlight and a plurality of display lamps so as to display work information. The liquid crystal display displays the hour meter, the state of the automatic planting clutch, the remaining amount of fuel, the temperature of the cooling water, and the like. In addition, as a plurality of indicator lamps, an oil shortage lamp, a charge lamp, a seedling shortage lamp, a planting indication lamp, a forehead clutch lamp, a marker lamp, and the like are provided.

As the meter panel 36, only a liquid crystal display device may be provided, and all work information may be displayed on this liquid crystal display device. Also, it is possible to provide an indicator in which not only the lamp but also the hands operate.

Inverted U-shaped console support frames 37 connected to the traveling vehicle body A are provided at the left and right sides of the rear portion of the bonnet 5 at their lower ends, and the console D is supported by these. 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 connection plate 40 is provided to connect the left and right side frame bodies 37A of the console support frame 37, and the upper end of the connection plate 40 is bent so as to protrude toward the driver's seat 3 to integrally form a canopy 41. It is The console D is box-shaped and supported by a connecting plate 40 . From such a support form, the canopy part 41 projects from above the console D toward the driver's seat 3 . Incidentally, the left and right sides of the console D are not provided with anything that functions as a sunshade, but the console D may be provided with eaves 41 on both the left and right sides. As a result, it is also possible to block the sunlight that enters the monitor section 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 when viewed in the front-rear direction, and the lower end of the monitor section 38 is arranged above the upper end of the steering wheel 11 . In addition, since the console support frame 37 is formed in the above-described inclined posture, the monitor section 38 of the console D can be easily viewed by slightly lowering the line of sight from the front during work, and the information can be grasped reliably. Visual recognition of the center mascot 14 is also not obstructed.

As shown in FIG. 7, the surface of the console D facing the driver's seat 3 is provided with a monitor section 38 having a liquid crystal type touch panel 38A formed on the display surface, and an operation panel section 39 . The operation panel section 39 is provided with a plurality of operation switches 39A for turning on/off the power button and enabling various operations. The operation panel section 39 may be provided with a notification lamp in addition to the operation switch 39A, and may be provided with a speaker for outputting information by voice.

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

[Modified example of console arrangement]
In the first embodiment, the console D is fixed to the console support frame 37, but instead of this, the console D is supported so as to be swingable around the axis of the sideways posture, and swingable. The console D may be supported so as to be angle-adjustable by providing a clamp mechanism or the like for holding the posture. By supporting the console D so that the angle can be adjusted in this way, the angle of the console D can be set according to the physique of the operator seated on the driver's seat 3, and the visibility of the display of the monitor section 38 formed on the console D can be improved. can be improved.

Moreover, as a modification, the upper end position of the console D is arranged at a position lower than the upper end of the seedling mounting base 23 of the seedling planting device B. By arranging in this way, when the mat-like seedlings placed on the spare seedling mounting table 34 are replenished to the seedling mounting table 23, the inconvenience that the mat-like seedlings come into contact with the console D is reduced, and the seedlings can be replenished. make it run smoothly.

[Positioning/automatic steering driving system]
As shown in FIGS. 3 and 4, at the center position in the horizontal direction of the connecting frame 32 (an example of the receiving unit supporting portion) of the supporting frame portion, a non-metallic material such as resin or aluminum is provided for the upper surface of the bracket 42 described above. A support plate 43 made of a magnetic material is connected and fixed. A support member 44 made of flexible synthetic rubber as a non-magnetic material is provided on the upper surface of the support plate 43, and a receiving unit 45 is supported while being placed on the support member 44. As shown in FIG.

As shown in FIG. 6, the receiving unit 45 includes an antenna 45A for receiving radio signals from a plurality of positioning satellites, a magnetic compass 45B (an example of a direction sensor) for detecting direction from geomagnetism, and a gyro sensor 45C that captures by inertia.
In this configuration, since the receiving unit 45 is arranged at the front position of the traveling vehicle body A, when the traveling vehicle body A changes its traveling direction, the displacement in the lateral direction is greater than the rear end side of the traveling vehicle body A. The amount is large, and changes in location information can be detected with high sensitivity.

A portion of the steel material that constitutes the rice transplanter may become magnetized during manufacturing or processing. It may also reduce accuracy. For this reason, a non-magnetic material having a predetermined thickness is used as the support member 44 to increase the distance between the connecting frame 32 and the like and the magnetic compass 45B, thereby suppressing the influence of magnetism. As the support member, it is possible to use a vibration-proof material such as urethane foam in addition to the synthetic rubber.

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

The control unit 47 includes a teaching processing section 47A, a travel route determination section 47B, and a travel control section 47C, which are configured by software. The control unit 47 outputs information to the monitor section 38 and acquires information from the touch panel 38A. The control unit 47 also outputs control information to the steering control unit 48 .

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

As shown in FIG. 5 , a power steering unit 52 is supported on the upper surface of the transmission case 7 for transmitting an operating force from a steering shaft 51 connected to the steering wheel 11 to the left and right front wheels 1 . A pitman arm 53 that is operated by the driving force of the power steering unit 52 is formed on the lower surface of the transmission case 7 .

An operation gear 54 is fixed near the lower end of the steering shaft 51, and a steering control motor 56 for driving a pinion gear 55 meshing with the operation gear 54 is provided. Furthermore, a rotary encoder 57 for measuring the amount of rotation is provided at the lower end of the steering shaft 51 .

In addition, in this steering operation system, by providing the steering control motor 56 in the front part and the side part of the steering shaft 51, the inside of the bonnet 5 can be effectively used, and the space projecting below the driver's seat 3 can be eliminated. It is configured as follows.

In this rice transplanter, the operator manually steers the rice transplanter between one ridge and the other ridge in the field. It is configured to generate and store a target travel route from the travel route.

The travel route is recognized as a straight line by the control unit 47, and a plurality of target travel routes are set at intervals corresponding to eight seedling planting widths so as to be parallel to the travel route. After a plurality of target travel routes are set in this way, by selecting automatic steering travel, the travel route determination unit 47B determines the error from the target travel route based on information from the positioning system, and travel control is performed. The steering control motor 56 is controlled by the unit 47C, thereby realizing control for automatically steering the traveling vehicle body A along the target traveling route.

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

[Positioning/automatic steering driving system: display form of console]
During automatic steering driving, as shown in FIG. 7, an automatic steering driving screen is displayed on the monitor section 38 of the console D, and a plurality of setting buttons 101 and a mode display section 102 are displayed on this screen. . The setting button 101 is operated by touching the screen with a finger or the like and the operation is detected via the touch panel 38A, and various settings are realized. The mode display unit 102 displays character information indicating that the vehicle is in the automatic steering state.

In this automatic steering travel screen, a target travel route line 103 is displayed at the center of the screen in the horizontal direction, and an icon 104 indicating the vehicle body A is displayed at the center of the screen. A deviation angle line 105 indicating the deviation angle (deviation angle) of the traveling vehicle body in the running direction and an indicator portion 106 indicating the deviation amount in terms of angle are displayed.

Above the monitor section 38, a deviation display section 107 for displaying the amount of deviation (deviation) of the traveling vehicle body A from the target travel route, and a speed display section 108 are formed. In the deviation display portion 107, a numerical value indicating the amount of deviation and a bar graph portion for visualizing the amount of deviation are formed. The speed display unit 108 displays the traveling speed of the traveling vehicle body A numerically. Further, the display form is set so that the relative angle between the target travel route line 103 and the icon 104 changes when the steering operation is performed.

As a result, when performing automatic steering travel, the system is activated by operating the operation switch 39A of the console D, and the operation switch 39A or the setting button 101 is operated to shift to a state in which teaching is possible, and manual steering travel is performed. , the travel route is acquired by the teaching processing unit 47A, and the target travel route is set. After that, by shifting to the automatic steering traveling mode, the above-described screen of FIG. 7 is displayed on the monitor unit 38, and automatic steering traveling along the target traveling route becomes possible.

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

[Actions and effects of the first embodiment]
In this way, in the rice transplanter, by selecting automatic steering travel in a state in which the target travel route is set, the radio signal from the positioning satellite is received, and the target travel route and the current position of the traveling vehicle body A are detected. As a result of automatic steering traveling in which the error is determined and control is performed in a direction to reduce the error, the operator does not need to operate the steering wheel 11 . As a result, the driver can replenish the seedlings without stopping the traveling vehicle body A, and the working efficiency is improved as compared with the work form in which the traveling vehicle body A is stopped and the seedlings are supplied.

In particular, during the seedling planting work, the operator operates the steering wheel 11 to run the traveling vehicle body A, and when the mat-like seedlings on the preliminary seedling mounting table 34 are supplied to the seedling mounting table 23 of the seedling planting device B. It is also possible to select automatic steering driving only. Even in such a case, there is no need to stop the traveling vehicle body A, and work efficiency is improved.

In addition, since the receiving unit 45 is supported through the support member 44, the connecting frame 32 connecting the upper ends of the vertical frame 31 supporting the spare seedling loading table 34 is used as a receiving unit supporting portion, so that the traveling vehicle body A can use the dedicated frame. Radio signals from positioning satellites can be favorably received by arranging the receiving unit 45 at a high position without preparing for the positioning satellite. Furthermore, by using the support member 44, the distance between the magnetic compass 45B and the connecting frame 32 is increased, the influence of the magnetism acting from the connecting frame 32 and the like is suppressed, and the direction of the traveling vehicle body is detected based on geomagnetism. The direction can be detected with high accuracy by the magnetic compass 45B as the .

Since the console D fits within the width of the bonnet 5 and the width of the steering wheel 11 when viewed in the front-rear direction, even when the operator moves on the step 16 for getting on and off, the worker's clothes and the like do not interfere with the console D or the console D. Getting on and off can be easily performed without touching the steering wheel 11. - 特許庁

In addition, since the console D is arranged in the direction of the line of sight of the operator seated on the driver's seat 3, the line of sight does not have to be moved greatly when viewing the display contents of the monitor section 38 of the console D. In particular, even when working in an environment where the sunlight is directly shining, the information displayed on the monitor section 38 of the console D can be accurately grasped because the eaves section 41 blocks the sunlight.

[ Embodiment of the present invention ]
The present invention may be configured as follows in addition to the first embodiment described above.

As shown in FIG. 8, a canopy 60 having a roof member 61 covering the driver's seat 3 of the traveling vehicle body A, a windshield 62, and a transparent resin wall 63 is provided. At least one of the left and right wall bodies 63 is formed with a door that can be opened and closed. The roof member 61 is used as a receiving unit supporting member, and the receiving unit 45 is supported by the roof member 61 via the supporting member 44 . The supporting member 44 is made of flexible synthetic rubber or the like as a non-magnetic material.

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

By supporting the receiving unit 45 on the roof member 61 via the supporting member 44 in this way, the receiving unit 45 can be arranged at a high position, and as a result, the radio waves from the positioning satellite can be received without interruption. can do. Further, since the receiving unit 45 is supported via the support member 44, even if a portion of the roof member 61 is magnetized, the magnetic influence from this magnetized portion is suppressed.

Embodiments of the present invention will be described below. In this case, in the embodiment of the present invention, only portions different from the first to third reference embodiments are described, and other portions are the same as those of the first to third reference embodiments.
(Embodiment of the present invention)
As shown in FIG. 9, a pair of pillars 64 erected on the sides of the bonnet 5 and a roof member 61 extending rearward from the upper ends of the pillars 64 and covering the driver's seat 3 are arranged to form a simple canopy. 60 can also be configured. Even in this configuration, the receiving unit 45 can be arranged at a high position by supporting the receiving unit 45 via the support member 44 with respect to the roof member 61 . In this configuration, the receiving unit 45 may be supported on the upper end of the pillar 64 via the support member 44 .

By supporting the reception unit 45 with respect to the simple canopy 60 via the support members 44 in this way, even if the roof member 61 and the pillars 64 are partially magnetized, the magnetization from the magnetized portions can be prevented. Limit impact.

( Second reference form)
As shown in FIG. 10, in the same configuration as the rice transplanter (an example of the paddy field work machine) configured in the same manner as in the first embodiment, an auxiliary frame 18 is used as a receiving unit support member, and the auxiliary frame 18 is erected. The receiving unit 45 is supported via the support member 44 with respect to the upper end of the post-shaped intermediate frame 65 . The supporting member 44 is made of flexible synthetic rubber or the like as a non-magnetic material.

In this second reference embodiment, a sowing device may be provided at the rear end of the traveling vehicle body A as a paddy field working device, so as to constitute a sowing machine. In addition, when the seedling planting device B or the sowing machine is raised to the upper limit, the supporting member 44 is directly attached to the auxiliary frame 18 if it is at a height that does not block the radio waves from the positioning satellite. You may adopt the structure which supports the receiving unit 45 via.

By supporting the receiving unit 45 with respect to the auxiliary frame 18 in this way, the receiving unit 45 can be arranged at a relatively high position. In particular, by arranging the receiving unit 45 at one of the left and right ends of the auxiliary frame 18, it is possible to carry out the work while riding on the working step 17, and by using the intermediate frame 65, the receiving unit can be placed at a higher position. 45 can be placed.

( Third reference form)
As shown in FIG. 11, at the front end of the traveling vehicle body A, a pole-shaped frame 67 is provided in the center position in the left-right direction or at either one of the left and right ends as a support member for the receiving unit. , which supports the receiving unit 45 via the support member 44 . The supporting member 44 is made of flexible synthetic rubber or the like as a non-magnetic material.

In the third embodiment, the pole-shaped frame 67 extending upward is arranged at the front end of the traveling vehicle body A, but it may be arranged at the side of the driver's seat 3 or at the rear of the driver's seat 3, for example. .

By using the dedicated pole-shaped frame 67 in this way, the receiving unit 45 can be arranged at the required height, the radio signal from the positioning satellite can be well received, and the influence of magnetism can be eliminated well. can be done

In the first embodiment, the engine 6 is built in the bonnet 5 , but instead of this, the engine 6 may be applied to a paddy field work machine constructed so as to be arranged under the driver's seat 3 .

In the first embodiment described above, the target travel route is generated based on teaching. In terms of aspects, the control mode may be set so that the operator manually sets the target travel route.
In place of teaching, for example, by receiving radio waves from a positioning satellite when plowing a field with a tractor, route data traveled by the vehicle is stored in a semiconductor storage medium or the like. By loading the route data stored in a medium or the like into the automatic steering travel system of the rice transplanter, the control mode may be set so that the target travel route is generated in the automatic steering travel system.

INDUSTRIAL APPLICABILITY The present invention can be used in a paddy field work machine having a receiving unit for receiving radio signals from a positioning satellite on a traveling vehicle body.

2 Rear wheel 3 Driver's seat 5 Bonnet 11 Steering wheel 34 Spare seedling stand 45 Receiving unit 45A Antenna A Traveling vehicle body

Claims (5)

Equipped with a positioning system that receives radio signals from positioning satellites with an antenna of a receiving unit and acquires position information of the running vehicle,
Equipped with a spare seedling loading table frame that supports the spare seedling loading table,
A support frame separate from the preliminary seedling platform frame is provided,
The support frame is provided with a vertical frame portion extending in the vertical direction and a rear extension portion extending rearward from the vertical frame portion in a side view,
When viewed from the side, the lower end of the vertical frame is positioned forward of the front end of the steering wheel, the upper end of the vertical frame is positioned rearward of the lower end of the vertical frame, and the rear of the vertical frame is positioned. an extending portion extending rearward from the upper end portion of the vertical frame;
The antenna is located in front of the axle of the rear wheel of the traveling vehicle body in a side view, at a position higher than the upper end of the driver's seat provided on the traveling vehicle body, and at the preliminary seedling loading frame. The rice transplanter supported by the rear extension part so as to be arranged at a position higher than the upper end of the rice transplanter. 2. The rice transplanter according to claim 1, wherein said rear extension is arranged at a position higher than said driver's seat. 3. The rice transplanter according to claim 1 or 2 , wherein a pair of left and right vertical frame portions are provided. 4. The rice transplanter according to claim 3 , wherein the vertical frame portion is erected at a side portion position of a bonnet provided on the traveling vehicle body. The rice transplanter according to any one of claims 1 to 4 , wherein the receiving unit has a gyro sensor, and the gyro sensor is provided integrally with the antenna.

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