JP7293187B2 - Agricultural machines - Google Patents

Description

The present invention relates, for example, to an agricultural machine that spreads spread material.

2. Description of the Related Art Conventionally, a spraying device disclosed in Patent Document 1 is known as an agricultural machine for spraying a sprayed material such as a chemical agent in a field. The spreading device described in Patent Document 1 includes a hopper that stores the spread material, and the spread material that is dropped from the bottom opening of the hopper is scattered and spread by a spreading section that is positioned below the hopper. The drop opening of the hopper bottom plate is opened or closed by a shutter plate, and the shutter plate can be operated by an operation panel provided on a remote controller.

JP 2016-086683 A

However, in the spraying device described in Patent Literature 1, the control panel provided on the remote control device does not have an arrangement corresponding to the shape of the spraying device. Therefore, it is difficult for the operator to intuitively grasp the content of the work performed by operating the operation panel.
SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide an agricultural machine having an operating section that allows the user to intuitively grasp the content of work to be performed by operating the machine.

The technical means of the present invention for solving this technical problem are characterized by the following points.
The agricultural machine includes a machine body, a traveling device that supports the machine body so that it can travel, a first spraying section provided on a first boom that extends leftward from the machine body, and a second boom that extends rightward from the machine body. and an operation switch for operating the spraying of the material to be spread from the first and second spraying parts, wherein the operation switch controls the spraying of the material to be sprayed from the first spraying part. a first operating unit for performing a spraying operation; a second operating unit for performing an operation for spraying the spread material from the second spraying unit; and an operation for spraying the spread material from the first spraying unit and the second spraying unit. and a fourth operation part for performing an operation to stop the spraying of the material to be spread from the first spraying part and the second spraying part. The second operation section is arranged on the left side of the operation switch, which is the side corresponding to the boom, and the second operation section is arranged on the right side of the operation switch, which is the side corresponding to the second boom, and the third operation section and the One of the fourth operation sections is arranged between the first operation section and the second operation section, and the other operation section of the third operation section and the fourth operation section is arranged. is arranged below the one operation portion.

Preferably, the fourth operation section is arranged between the first operation section and the second operation section, and the third operation section is arranged below the fourth operation section.
The third operating section may be arranged between the first operating section and the second operating section, and the fourth operating section may be arranged below the third operating section.
Preferably, the first operating portion, the second operating portion, the third operating portion, and the fourth operating portion are arranged in a T shape as a whole.

Preferably, the first operating section, the second operating section, the third operating section, and the fourth operating section are operated by pressing or touching.
Preferably, a touch panel on which the operation switches are displayed is provided, and the first operation section, the second operation section, the third operation section, and the fourth operation section are displayed on the touch panel.
Preferably, the first boom and the second boom are configured to be extendable, and the operation switch includes a fifth operating section for extending and retracting the first boom and a sixth operating section for extending and retracting the second boom. wherein the fifth operating section is arranged on the left side of the first operating section, and the sixth operating section is arranged on the right side of the second operating section.

According to the present invention, since the first operating section is arranged on the side corresponding to the first boom and the second operating section is arranged on the side corresponding to the second boom, the operation is performed by operating the first operating section. The work and the work performed by operating the second operation unit can be grasped in association with the placement of the boom. Therefore, the operator can intuitively grasp the content of the work performed by the operation based on the layout of the operation unit.

1 is a front view of an agricultural machine; FIG. It is the side view which looked at the agricultural machine from the right side. 1 is a plan view of an agricultural machine; FIG. FIG. 4 shows a first tube of the conveying tube; FIG. 4 shows a second tube of the carrier tube; It is a figure which shows the system|strain from an air blower to a dispersion|spreading part. It is a figure which shows the state in which a covering board exists in a 2nd position. It is a figure which shows the state in which a covering board exists in a 1st position. 1 shows a control block diagram of an agricultural machine. It is a figure which shows an example of the plan screen M1. It is a figure which shows an example of the dispersal plan memorize|stored in the plan memory|storage part. FIG. 5 is a diagram showing the relationship between a first application amount Fn and a second application amount Rn when the agricultural machine is positioned within an area Qn; FIG. 9 is a diagram showing the relationship between the first application amount Fn and the second application amount Rn when the agricultural machine is positioned on the boundary of the area Qn, the first pipe is positioned on the left side, and the second pipe is positioned on the right side. . FIG. 11B is a diagram showing a relationship between a first application amount Fn and a second application amount Rn, which is different from that in FIG. 11B. FIG. 5 is a diagram showing an example of a plurality of regulation lines that define the relationship between the number of revolutions of a motor that drives an air blower and the amount of air blown by the air blower per unit time. It is an example of a display screen displayed on the display unit, and is a screen displaying a selection menu for selecting one prescribed line from a plurality of prescribed lines. This is an example of a display screen displayed on the display section, and is a screen on which an operation switch for performing an operation of spraying material from the spraying section, a figure representing the spraying state from the spraying section, and a margin gauge are displayed. . It is the figure which extracted and showed only the operation switch from a display screen. It is a figure which shows the modification of an operation switch. FIG. 10 is a diagram showing another modification of the operation switch; FIG. 10 is a diagram showing margin gauges indicating different margins; It is a figure which shows an example of the system configuration|structure of the agricultural machine which calculates margin, and the flow of a processing operation. It is a front view which shows the upper part of a cabin. It is a side view which shows the front upper part of a cabin. FIG. 3 is a perspective view of a support bracket; FIG. 4 is a front view of the support bracket; FIG. 4 is a plan view of the support bracket; Fig. 10 is a side view of the support bracket; It is a perspective view of a support bracket, a support plate, and a positioning device. It is a top view of a support bracket, a support plate, and a positioning device.

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings.
1 to 3 are external views of an agricultural machine 1 according to the present invention. The agricultural machine 1 is a machine that travels in a field or the like to perform agricultural work. The agricultural machine 1 of this embodiment is capable of spreading the material to be spread. The applied materials are, for example, granular fertilizers, seedlings, herbicides, etc., and are solid materials.
In the case of this embodiment, the agricultural machine 1 is a riding agricultural machine (for example, a riding maintenance machine) capable of spraying scattered material. However, the agricultural machine 1 is not limited to a riding agricultural machine, and may be, for example, a tractor equipped with a working device (implement) such as a spraying device.

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

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

The agricultural machine 1 is provided with a plurality of containers 10 for containing the spread material. A plurality of containers 10 are arranged in the width direction of the body 2 and supported by the body 2 . The multiple containers 10 include a left container 10L provided on one side (left side) of the fuselage 2 and a right container 10R provided on the other side (right side) of the fuselage 2 . The plurality of containers 10, ie, the left container 10L and the right container 10R, are provided with spray amount adjusting devices 11L and 11R for adjusting the amount of sprayed materials to be discharged. Hereinafter, for convenience of explanation, the application amount adjustment device 11L may be referred to as the "first application amount adjustment device 11L", and the application amount adjustment device 11R may be referred to as the "second application amount adjustment device 11R".

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

The upper end of the case 12L is formed with an introduction port (inlet) through which the spread material is introduced, and the lower end of the case 12L is formed with an outlet (discharge port) through which the spread material is discharged. The spread material contained in the left container 10L is discharged by the rotation of the delivery roller 13L. The peripheral wall of the delivery roller 13L is formed with a recess into which the spread material enters. As shown in FIG. 8, the first electric motor 14L is driven by a control signal from the control device 60. As shown in FIG. The first electric motor 14L controls the number of rotations (rotational speed) and the like of the delivery roller 13L according to a control signal output from the control device 60, and discharges from the first application amount adjustment device 11L according to the number of rotations of the delivery roller 13L. It is possible to adjust the application rate of the applied material (discharge application rate). When the spray discharge mechanism 13 is a shutter type mechanism, the first electric motor 14L controls the opening of the shutter according to the control signal output from the control device 60, and the first spraying is performed according to the opening of the shutter. It is possible to adjust the spread amount (discharge spread amount) of the spread material discharged from the amount adjusting device 11L.

The second spray amount adjusting device 11R has a case 12R into which the spread material of the right container 10R is introduced, a spread discharge mechanism 13 that discharges the spread material, and a first electric motor 14R that drives the spread discharge mechanism 13. ing. In this embodiment, the spray discharge mechanism 13 includes a delivery roller 13R rotatably supported by the case 12R, like the first spray amount adjusting device 11L.
An inlet is formed at the upper end of the case 12R, similarly to the case 12L, and an outlet is formed at the lower end of the case 12R. The spread material contained in the left container 10L is discharged by the rotation of the delivery roller 13R. Similar to the delivery roller 13L, the peripheral wall of the delivery roller 13R is formed with a recess into which the spread material enters. The first electric motor 14R is driven by a control signal from the control device 60. FIG. In the first electric motor 14R, the number of rotations (rotational speed) of the delivery roller 13R is controlled by a control signal output from the control device 60, and the number of rotations of the delivery roller 13R controls the discharge from the second application amount adjusting device 11R. It is possible to adjust the application rate of the applied material (discharge application rate). When the spray discharge mechanism 13 is a shutter type mechanism, the first electric motor 14R controls the opening of the shutter according to the control signal output from the control device 60, and the second spraying is performed according to the opening of the shutter. It is possible to adjust the spread amount (discharge spread amount) of the spread material discharged from the amount adjusting device 11R.

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

The first pipe 15L is supported by the first boom 18L extending leftward from the body 2, and extends from the base end to the tip of the first boom 18L. The second pipe 15R is supported by a second boom 18R extending rightward from the body 2, and extends from the base end of the second boom 18R toward the tip.
As shown in FIG. 3, the first boom 18L and the second boom 18R can be bent between a retracted state in which the tips are positioned behind the machine body 2 and a spraying state in which the tips are positioned in the width direction of the machine body 2 ( undulating). The first boom 18L extends to the left of the body 2 in the spraying state. When the first boom 18L and the second boom 18R are in the spraying state, the first pipe 15L extends to the left of the fuselage 2 and the second pipe 15R extends to the right of the fuselage 2 .

Note that the first boom 18L and the second boom 18R may be configured to be telescopic. The expandable structure is realized, for example, by jointing two cylinders 25 and 26 (see FIGS. 4A and 4B), which will be described later, in an expandable manner. In this case, the first boom 18L can be changed between a shortened state in which the leftward extension is short and an extended state in which the leftward extension is longer than in the shortened state. The second boom 18R can be changed between a shortened state in which the rightward extension is short and an extended state in which the rightward extension is longer than in the shortened state. That is, the first boom 18L can extend leftward, and the second boom 18R can extend rightward.

The first boom 18L and the second boom 18R can be hoisted and retracted by actuators such as motors and cylinders. The operation of the actuator can be controlled by a control device 60, which will be described later.
As shown in FIG. 1, a connection portion 19L is formed on the base end portion side of the first pipe 15L, and the connection portion 19L is connected to the discharge port of the case 12L of the first application rate adjusting device 11L. . A connecting portion 19R is formed on the base end portion side of the second pipe 15R, and the connecting portion 19R is connected to the discharge port of the case 12R of the second application rate adjusting device 11R.

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

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

As shown in FIG. 4B, the peripheral wall of the second pipe 15R is also formed with a plurality of sprinkling ports 21R in the same manner as the first pipe 15L. 22 is attached. Thus, the second boom 18R is also provided with a plurality of spraying units 22. As shown in FIG. A plurality of spraying sections 22 are provided along the second boom 18R. Hereinafter, the plurality of spraying units 22 provided on the second boom 18R may be collectively referred to as a "second spraying unit 222". An opening 23 is also formed at the tip of the second pipe 15R, and the opening 23 also functions as a sprinkling port 21R. An opening plate 24 is also provided at the opening 23 of the second pipe 15R.

In the second pipe 15R, the inner diameter Ra on the side of the second application amount adjusting device 11R (base end portion side) is larger than the inner diameter Rb on the tip end portion. Specifically, like the first tube 15L, the second tube 15R is also constructed by joining two cylinders 25 and 26 so that they can expand and contract, and the inner diameter Ra of the proximal cylinder 25 is It is larger than the inner diameter Rb of the cylinder 26 on the tip side.
As shown in FIGS. 1, 2, 4A, 4B, 5, 6, and 7, the carrier pipe 15 is a supply pipe through which a carrier medium such as liquid or gas flows. 29. A base end portion of the supply pipe 29 is arranged at the rear portion of the airframe 2, and is connected to a delivery port 201b of the blower 201, which will be described later. The supply pipe 29 may be composed of two independent pipes (the third pipe 29L and the fourth pipe 29R), or may be composed of one pipe at the proximal end and two pipes (the third pipe 29L and the fourth pipe 29R). The third pipe 29L and the fourth pipe 29R are supported laterally of the body 2 and extend forward. The tip side of the third tube 29L is connected to the first tube 15L, and the tip side of the fourth tube 29R is connected to the second tube 15R.

The agricultural machine 1 is equipped with a transport adjusting device that adjusts the amount of medium that transports the spread material. In this embodiment, as shown in FIG. 2 and FIG. 3, the conveying adjustment device adjusts the amount of gas as a medium, i.e., the blower 201 that generates the conveying air for conveying the spread material, and the air blowing amount of the blower 201. An adjustable adjusting device 202 . The blower 201 is attached to the rear portion of the airframe 2 .
In the case of this embodiment, the number of blowers 201 attached to the body 2 is one, but two or more blowers 201 may be attached to the body 2 . For example, when one blower 201 is attached to the fuselage 2, the supply pipe 29 has one pipe at the base end and is branched into two pipes (the third pipe 29L and the fourth pipe 29R) in the middle. can be used. When two blowers 201 are attached to the fuselage 2, the supply pipe 29 is composed of two independent pipes (the third pipe 29L and the fourth pipe 29R), and one blower is used as one supply pipe (the third pipe 29L). , and the other blower can be connected to the other supply pipe (fourth pipe 29R). When two or more blowers 201 are attached to the airframe 2 , an adjustment device 202 is provided that can adjust the amount of blowing air for each blower 201 . In this case, two or more blowers 201 and two or more adjustment devices 202 can be arranged side by side in the front-rear direction.

As shown in FIGS. 6 and 7, the blower 201 has a suction port 201a for sucking outside air (air) and a delivery port 201b for delivering the outside air sucked from the suction port 201a to the carrier pipe 15. As shown in FIGS. In the case of this embodiment, the blower 201 is a blower fan (sirocco fan), but may be another type of fan (for example, a centrifugal fan, an axial fan, etc.). The suction port 201a and the delivery port 201b are formed in a cylindrical shape, and the opening shapes of the suction port 201a and the delivery port 201b are circular. However, the opening shapes of the suction port 201a and the delivery port 201b are not limited to circular shapes, and may be other shapes (such as squares).

The adjustment device 202 has a second electric motor 35, a cover plate 203 capable of covering the suction port 201a of the blower 201, and a linking mechanism 204 linking the output shaft of the second electric motor 35 and the cover plate 203. ing. The linking mechanism 204 is a mechanism that transmits the power of the second electric motor 35 to the cover plate 203 , and converts the rotation of the output shaft of the second electric motor 35 into movement (swing) of the cover plate 203 .

The second electric motor 35 has its output shaft controlled by the control device 60 in rotation (direction of rotation, number of rotations). The output shaft of the second electric motor 35 is connected to the covering plate 203 via the linkage mechanism 204 . Between the output shaft of the second electric motor 35 and the linkage mechanism 204, a reduction gear or the like is interposed as required. The cover plate 203 moves as the output shaft of the second electric motor 35 rotates. The covering plate 203 changes its position between a first position P1 (see FIG. 7) and a second position P2 (see FIG. 6) by swinging in an arc with the pivot 207 as a fulcrum.

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

FIG. 8 shows a control block diagram of the agricultural machine. The agricultural machine 1 includes a control device 60 , a display device 61 , a communication device 62 and a positioning device 63 . The control device 60 is a device that performs various controls of the agricultural machine 1, and includes a spraying amount adjusting device (first spraying amount adjusting device 11L, second spraying amount adjusting device 11R), a conveying adjusting device (blower 201, adjusting device 202) and the like. The control device 60 can control the amount of material to be sprayed from the spraying section 22 and the blowing amount of the carrier air.

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

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

The communication device 62 is a device that transmits various data to the outside of the agricultural machine 1 and takes in external data into the agricultural machine 1 . The communication device 62 performs, for example, wireless communication using Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE802.11 series, which is a communication standard, or wireless communication using a mobile phone communication network, a data communication network, a mobile phone communication network, or the like. It is a device that performs
The positioning device 63 can detect its own position (positioning information including latitude and longitude) by satellite positioning systems (positioning satellites) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. The positioning device 63 receives satellite signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and based on the satellite signal, determines the position (for example, latitude and longitude) of the agricultural machine 1, i.e. , to detect the vehicle body position. That is, the positioning device 63 detects the position of the traveling vehicle body 8 based on the signals from the positioning satellites. The positioning device 63 has a receiving device 63a and an inertial measurement unit (IMU: Inertial Measurement Unit) 63b. The receiving device 63a is a device that has an antenna or the like and receives a satellite signal transmitted from a positioning satellite. In this embodiment, the receiving device 63a is attached to the airframe 2. As shown in FIG. In addition, the attachment location of the receiving device 63a is not limited to the embodiment. The inertial measurement device 63b has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. An inertial measurement device 63b is also attached to the airframe 2, and the roll angle, pitch angle, yaw angle, etc. of the airframe 2 can be detected by the inertial measurement device 63b.

The control device 60 performs automatic steering control for automatically controlling the steering of the traveling vehicle body 8 based on the detection information detected by the positioning device 63 .
When performing automatic steering control, first, a driving reference line is set, and after setting the driving reference line, a scheduled driving line parallel to the driving reference line is set, whereby automatic steering control can be performed.

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

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

In addition, the control device 60 controls the application amount adjusting devices (the first application amount adjusting device 11L and the second application amount adjusting device 11R) based on the set application amount set at the predetermined position. In this embodiment, the set application rate is set by an external device. The external device is a fixed computer such as a personal computer (PC) or a server, or a portable computer (portable terminal) such as a smart phone or tablet.

Using FIG. 8, a case will be described where the set application amount is set by a PC (fixed terminal) 75 and server 70, which are external devices. Note that the set application amount may be set by an internal device provided in the agricultural machine 1, such as the display device 61, and is not limited.
The server 70 has a field storage unit 71 that stores a field map, a plan creation unit 72 that sets (creates) a spraying plan including a set spread amount, and a plan storage unit 73 that stores the spraying plan. The farm field storage unit 71 and the plan storage unit 73 are composed of non-volatile memory or the like. The farm field storage unit 71 stores a plurality of farm field maps created in advance. The plan creating unit 72 is composed of electrical and electronic components provided in the server 70, computer programs, and the like. When the set application amount is set by the display device 61 , the display device 61 has a field storage section 71 , a plan creation section 72 and a plan storage section 73 .

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

The plan creation unit 72 displays the contour (outline LK) of the selected field selected by the field selection acquisition unit 100 on the field display unit 101 . In the farm field display section 101, the fields representing the farm fields are assigned positions (latitude and longitude). The field in the field display unit 101 is divided into a plurality of areas Qn (n=1, 2, 3, . It is possible.

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

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

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

As shown in FIG. 8, the control device 60 has a spraying amount acquiring section 81 that acquires the spraying plan acquired by the agricultural machine 1 side when spraying the sprayed material. The application amount acquisition unit 81 is composed of electrical and electronic components provided in the control device 60, computer programs, and the like. When a predetermined operation is performed in the agricultural machine 1, the spraying amount acquisition unit 81 displays a list of spraying plans stored in the plan storage unit 78 on the display device 61, and the operator or the like operates to display the list. When a predetermined spraying plan is selected from the list of spraying plans provided, the selected spraying plan is obtained. Alternatively, when the agricultural machine 1 is instructed to start the spraying operation of spraying the material to be sprayed, the spraying amount acquisition unit 81 stores the spraying plan for the field corresponding to the vehicle body position detected by the positioning device 63 in the plan storage unit 78. to obtain the determined dissemination plan. In other words, the spraying amount acquisition unit 81 can acquire the set spraying amount Wn for each predetermined position created by at least the external device before performing the spraying operation.

The control device 60 has a dispersion calculation section 82 and a dispersion control section 83 . The dispersion calculation unit 82 and the dispersion control unit 83 are composed of electric/electronic components provided in the control device 60, computer programs, and the like.
Based on the set application amount Wn acquired by the application amount acquisition unit 81, the application calculation unit 82 calculates a first application amount Fn of the material to be spread discharged from the first application amount adjustment device 11L to the first pipe 15L, A second application amount Rn of the material discharged from the application amount adjusting device 11R to the second pipe 15R is calculated.

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

As shown in FIG. 11B, the first pipe 15L and the second pipe 15R of the agricultural machine 1 are positioned on the boundary of the area Qn in a plan view, and the tip portions of the first pipe 15L and the second pipe 15R are substantially within the area Qn. If they straddle, the spray calculation unit 82 sets the set spray amount Wn for the area Qn where the first pipe 15L is located to the first spray amount Fn, and sets the set spray amount Wn for the area Qn where the second pipe 15R is located. It is set to the second application amount Rn.

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

In addition, as shown in FIG. 11A, the position of the tip of the first pipe 15L and the position of the tip of the second pipe 15R are set to the current vehicle body position of the agricultural machine 1 from the positioning device 63. It can be grasped by adding the respective position information ΔL (ΔX, ΔY) up to the tip of the two tubes 15R. Pipe material information and position information ΔL regarding the lengths, positions, etc. of the first pipe 15L and the second pipe 15R are stored in the control device 60 .

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

As shown in FIG. 11A, when the set application amount W1 for the area Q1 is 2.0 kg/10a, the first application amount F1 for the area Q1 is 1.0 kg/10a, and the second application amount R1 for the area Q1 is It is 1.0 kg/10a. While passing through the area Q1, the spray control unit 83 adjusts the rotation speed of the delivery roller 13L (the first electric motor 14L ), and the number of rotations of the feeding roller 13R (the number of rotations of the first electric motor 14R) is set so that the second application amount R1 of the second application amount adjusting device 11R is 1.0 kg/10a. set.

As shown in FIG. 11B, when the set application amount W2 of area Q2 is 3.0 kg/10a and the set application amount W9 of area Q9 is 5.0 kg/10a, the first application amount F5 in area Q2 is 3.0 kg/10a. 0 kg/10a, and the second application rate R9 in area Q9 is 5.0 kg/10a. While passing through the areas Q2 and Q9, the spray control unit 83 controls the number of rotations of the delivery roller 13L (first electric The number of revolutions of the motor 14L) is set, and the number of revolutions of the feeding roller 13R (the first electric motor 14R rotation speed).

As shown in FIG. 11C, when the set application amount W9 of area Q9 is 5.0 kg/10a and the set application amount W12 of area Q12 is 4.0 kg/10a, the first application amount F9 in area Q9 is 2. 5 kg/10a, and the second application rate R12 in the area Q12 is 2.0 kg/10a. While passing through areas Q9 and Q12, the spray control unit 83 adjusts the number of rotations of the delivery roller 13L (first motorized The number of rotations of the motor 14L) is set, and the number of rotations of the delivery roller 13R (the number of rotations of the first electric motor 14R) is set so that the second application amount R12 of the second application amount adjusting device 11R is 2.0 kg/10a. number).

Further, as described above, the control device 60 performs not only the dispersion adjustment control but also the conveyance adjustment control for adjusting the conveyance force of the conveyance adjustment device (the blower 201 and the adjustment device 202). In other words, the control device 60 has not only the dispersion control section 83 but also a conveyance control section 84 that performs conveyance adjustment control. The transport control unit 84 is composed of electrical and electronic components provided in the control device 60, computer programs, and the like.

The control device 60 (conveyance control unit 84) adjusts the application amount (first application amount Fn, second application amount Rn) of the application amount adjustment devices (first application amount adjustment device 11L, second application amount adjustment device 11R). Then, as the control of the transport adjustment control, the airflow rate of the transport air is adjusted.
According to the above, it is possible to substantially equalize the amount of sprayed material discharged from each of the plurality of spraying portions 22 of the first pipe 15L from the base end portion to the tip end portion of the first pipe 15L. In addition, the amount of sprayed matter discharged from each of the plurality of spraying portions 22 of the second pipe 15R can be substantially the same from the base end portion to the tip end portion of the second pipe 15R.

Further, when the application amount (first application amount Fn) of the applied material discharged from the first pipe 15L and the application amount (second application amount Rn) of the applied material discharged from the second pipe 15R are the same. , the amount discharged from the plurality of spraying portions 22 provided on the first pipe 15L can be substantially the same as the amount discharged from the plurality of spraying portions 22 provided on the second pipe 15R.
<Control of spray amount>
As described above, the control device 60 can control the application amount from the application unit 22 by controlling the application amount adjustment devices (the first application amount adjustment device 11L and the second application amount adjustment device 11R). . In addition, the control device 60 can control the blowing volume of the carrier air by controlling the carrier adjustment device (the blower 201 and the adjustment device 202).

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

In the embodiment shown in FIG. 8, the control device 60 provided separately from the display device 61 includes the storage unit 85, the selection acquisition unit 86, and the setting unit 87. A selection acquisition unit 86 and a setting unit 87 may be provided. In this case, the display device 61 functions as a control device having a storage section 85 , a selection acquisition section 86 and a setting section 87 . Moreover, the display device 61 may be configured by a mobile terminal such as a smart phone or a tablet.

The storage unit 85 stores the number of revolutions of the delivery roller 13R (first electric motor 14R) that adjusts the amount of spraying of the first spraying amount adjusting device 11L (second spraying amount adjusting device 11R), and the number of rotations of the blower 201 per unit time. A plurality of defined lines are stored that define the relationship with the air flow rate. FIG. 12 shows a plurality of prescribed lines L1 to L9 stored in the storage section 85. As shown in FIG. The number of prescribed lines may be two or more, preferably three or more, and more preferably five or more. In this embodiment, the number of prescribed lines is nine. The amount of air blown by the blower 201 per unit time can be adjusted by changing the area of the area where the air amount adjusting shutter (covering plate 203) provided at the suction port 201a of the blower 201 covers the suction port 201a.

The stipulated lines L1 to L9 correspond to the number of rotations (hereinafter referred to as , "dispersion motor rotation speed") and the airflow per unit time of the blower 201 (hereinafter referred to as "volumetric airflow"). This is a graph of airflow (volumetric airflow) (m ³ /sec), showing the relationship between the amount of sprayed matter and the volumetric airflow.

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

A plurality of defined lines L1 to L9 are respectively defined based on a plurality of openings of the air volume adjustment shutter described above. One prescribed line corresponds to one degree of opening of the air volume adjustment shutter. Therefore, the plurality of defined lines L1 to L9 respectively correspond to a plurality of (nine) different opening degrees of the air volume adjustment shutter.
For example, the prescribed line L1 is a graph of a function showing the relationship between the air volume and the rotation speed of the spraying motor when the cover plate 203 provided at the suction port 201a of the blower 201 has an opening degree of "A %". be. A specified line L2 is a graph of a function showing the relationship between the air volume and the rotation speed of the spraying motor when the opening of the covering plate 203 provided at the suction port 201a of the blower 201 is "B% (B>A)". It is what I did. Similarly, when the specified line L3 has an opening of "C% (C>B)", the specified line L4 has an opening of "D% (D>C)", and the specified line L5 has an opening of "D% (D>C)". If "E% (E>D)", the specified line L6 has an opening of "F% (F>E)", and if the specified line L7 has an opening of "G% (G>F)", In some cases, the prescribed line L8 is the volumetric air volume and the rotation speed of the spraying motor when the opening is "H% (H>G)", and the prescribed line L9 is the opening when the opening is "I% (I>H)". It is a graph of the function showing the relationship between

For the plurality of regulation lines L1 to L9, the opening degree of the air volume adjustment shutter (covering plate 203) is set in multiple stages, the change in volume air volume is measured at each opening setting, and the volume air volume and spray are based on the measurement results. It can be obtained by calculating a function showing the relationship between the number of revolutions of the motor (the amount of spray discharged from the first application amount adjusting device 11L (second application amount adjusting device 11R)) and graphing it. That is, the plurality of defined lines L1 to L9 can be derived by actual measurement. However, the plurality of prescribed lines L1 to L9 may not all be derived by actual measurement, some of the plurality of prescribed lines are derived by actual measurement as reference prescribed lines, and the remaining prescribed lines are derived reference prescribed lines. may be derived by multiplying the function representing by a correction factor. Also, the plurality of defined lines L1 to L9 may be derived by a method other than actual measurement, such as simulation.

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

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

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

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

An example of a method for adjusting the spraying amount from the spraying section 22 based on the control of the control device 60 will be described below.
First, the selection acquisition section 86 of the control device 60 displays on the display section 61c of the display device 61 a selection menu that enables an operation to select one prescribed line from the plurality of prescribed lines L1 to L9. FIG. 13 shows an example of the display screen M2 displayed on the display section 61c. A selection menu is displayed on the display screen M2. In FIG. 13, selection buttons E1 to E9 numbered 1 to 9 are displayed as the selection menu. Selection buttons E1 to E9. They correspond to the prescribed lines L1 to L9, respectively. For example, when the selection button E1 is pressed, the prescribed line L1 is selected.

Based on the selection menu displayed by the selection acquisition unit 86, the operator performs an operation to provisionally select one prescribed line from the plurality of prescribed lines L1 to L9 (first step). This provisional selection operation can be performed by pressing any one of the selection buttons E1 to E9. It is preferable that the provisional selection is made according to the type of material to be sprayed by the operator.
For example, if the material to be sprayed by the operator is difficult to be blown away by the wind (for example, an item with a large weight or specific gravity, or an item with a large particle size, etc.), the stipulation is that the volumetric air volume is large relative to the number of revolutions of the spraying motor. Select a line (eg, any of L7-L9). If the material to be sprayed by the operator is likely to be blown away by the wind (for example, an item with a small weight or specific gravity, or an item with a small particle diameter), a specified line ( For example, one of L1 to L3) is selected. When the material to be sprayed by the operator is standard, the prescribed line (for example, any one of L4 to L6) having a standard volumetric air volume with respect to the number of rotations of the spraying motor is selected.

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

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

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

The amount of spraying is measured by a method such as attaching collection bags for the sprayed material to all or part of the spray ports 21L and 21R of the plurality of spraying units 22, collecting the sprayed material, and measuring the weight of the collected sprayed material. conduct. The weight of the collected spread material may be measured by a weighing device provided in the agricultural machine 1 when the operator presses the "weighing" button displayed on the display screen of the display unit 61c. Alternatively, an operator may measure using a weighing device.

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

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

If the difference between the amount of temporary spraying and the planned amount of spraying is within the predetermined amount, it means that the spraying desired by the operator is being carried out, so the temporary setting is maintained. In other words, the setting is finished with the provisional setting as the final setting. For example, the control device 60 displays "end setting" and "change setting" buttons on the display screen of the display unit 61c, and the operator presses the "end setting" button. can.

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

Through the above operations, the optimum regulation line can be selected from a plurality of preset regulation lines according to the type of material to be sprayed by the operator. can be achieved.
Next, the amount of spraying from the spraying section 22 on the base end side of the booms (first boom 18L, second boom 18R) among the plurality of spraying sections 22, and the spraying amount from the spraying section 22 on the tip side A method for equalizing the application amount will be described.

In this method, after the first step and the second step, as the third step, after performing the temporary spraying described above, the base of the booms (first boom 18L, second boom 18R) of the plurality of spraying units 22 The amount of sprayed from the spraying section 22 on the end side and the spraying amount of the spraying section 22 on the tip side are measured. The amount of sprayed material is measured by attaching collection bags for the sprayed material to the spraying openings 21L and 21R on the tip side of the boom and the spraying opening on the base end side of the boom, and collecting the sprayed materials. by measuring the weight of the sprayed material. The weight of the collected spread material may be measured by a weighing device provided in the agricultural machine 1 when the operator presses the "weighing" button displayed on the display screen of the display unit 61c. Alternatively, an operator may measure using a weighing device.

When the measurement of the weight of the material to be spread from the spreading parts 22 on the base end side and the tip end side is completed, as a fourth step, the difference between the spread amount on the base end side and the spread amount on the tip side is calculated. It is determined whether the difference is within a predetermined value. The control device 60 displays on the display section 61c a screen that enables an operation to input the amount of spray on the base end side and the amount of spray on the tip side. The operator can input the amount of spray on the proximal side and the amount of spray on the tip side from the screen displayed on the display section 61c. When the amount of spraying on the base end side and the amount of spraying on the tip side are measured by a weighing device provided in the agricultural machine 1, the control device 60 is configured to read the measured values by the weighing device, so that the operator can Input may not be required. The control device 60 calculates the difference between the amount of spray on the base end side and the amount of spray on the tip side, and determines whether the calculated difference is within a predetermined value stored in the storage unit 85 . This comparison and determination are preferably performed by the control device 60, but may be performed by an operator.

If the difference between the amount of application on the proximal side and the amount of application on the distal side is within a predetermined value, the provisional setting is maintained. In other words, the setting is finished with the provisional setting as the final setting. For example, the control device 60 displays "end setting" and "change setting" buttons on the display screen of the display unit 61c, and the operator presses the "end setting" button. can.
When the difference between the amount of spray on the base end side and the amount of spray on the tip side exceeds a predetermined value, the operator presses the "change setting" button. Then, the selection acquisition unit 86 again displays a selection menu on the display unit 61c that enables an operation to select one of the plurality of specified lines L1 to L9. The operator selects a prescribed line different from the provisionally selected prescribed line (for example, prescribed line L5) from the selection menu displayed on the display unit 61c. If the spray amount on the base end side is smaller than the spray amount on the tip side, one of the specified lines (specified lines L1 to L4) below the specified line L5 is selected. If the spray amount on the base end side is larger than the spray amount on the tip side, one of the specified lines (specified lines L5 to L9) above the specified line L5 is selected. Steps 1 to 4 are repeated until the difference between the amount of spraying on the base end side and the amount of spraying on the tip side is within a predetermined value, and the setting is made when the difference is within the predetermined amount. Exit configuration as final configuration.

As a result, it is possible to select the optimum prescribed line for realizing uniform spraying according to the type of material to be sprayed selected by the operator from among a plurality of prescribed lines set in advance. It is possible to realize the spreading that equalizes the amount of spraying from the plurality of spraying units based on the specified line.
<Shape of operation switch>
A plurality of screens are displayed on the display unit 61c of the display device 61 in accordance with the operation. FIG. 14 shows an example of the display screen M3 displayed on the display section 61c. The display screen M3 is an example of a screen that can be displayed after the agricultural work support application software (hereinafter also referred to as “application”) stored in the storage unit 85 is activated. The agricultural work support application is an application that supports farm work by the agricultural machine 1 by displaying the traveling and work (spraying) status of the agricultural machine 1 . That is, the display device 61 operates as a support device that supports farm work after the application is started.

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

The first operation part 111 is an operation part for performing an operation to spread the material to be spread from the first spreading part 221 . The second operation part 112 is an operation part for performing an operation to spread the material to be spread from the second spreading part 222 . The third operation part 113 is an operation part for performing an operation to spread the material to be spread from the first spreading part 221 and the second spreading part 222 . The fourth operation portion 114 is an operation portion for performing an operation to stop the spreading of the material to be spread from the first spreading portion 221 and the second spreading portion 222 .

As shown in FIG. 15, the first operation unit 111 has a display indicating "left". The second operation unit 112 has a display that means "right". The third operation unit 113 has a display indicating "both". The fourth operation unit 114 has a display that means "stop". The color of part or all of the fourth operating portion 114 can be made different from the colors of the other operating portions so as to stand out and respond to emergencies.

The operation switch 110 changes the color of the operation part in a state in which an operation (spraying or stopping) based on the operation is being performed to a color different from the color of the operation part in a state in which the operation is not performed. For example, when the first operation part 111 is operated to scatter material from the first dispersion part 221, the color of the first operation part 111 changes to a color different from the colors of the other operation parts. When the spraying of the material to be spread is stopped by operating the fourth operating portion 114, the color of the fourth operating portion 114 changes to a color different from the colors of the other operating portions.

When the first operation unit 111 is operated, the control device 60 transmits a control signal to the first electric motor 14L. The first electric motor 14</b>L rotates the delivery roller 13</b>L of the spray discharge mechanism 13 in response to a control signal output from the control device 60 , thereby spreading the material to be spread from the first spreading section 221 . When the spray discharge mechanism 13 is a shutter-type mechanism, the first electric motor 14L opens the shutter in response to a control signal output from the control device 60, thereby spraying the spray material from the first spray section 221. FIG.

When the second operation unit 112 is operated, the control device 60 transmits a control signal to the first electric motor 14R. The first electric motor 14</b>R rotates the delivery roller 13</b>R of the spray discharge mechanism 13 in response to a control signal output from the control device 60 to spread the material to be spread from the second spreading section 222 . When the spray discharge mechanism 13 is a shutter-type mechanism, the first electric motor 14R opens the shutter in response to a control signal output from the control device 60, thereby spraying the spray from the second spray section 222.

When the third operation unit 113 is operated, the control device 60 transmits control signals to the first electric motors 14L and 14R. The first electric motors 14L, 14R rotate the feeding rollers 13L, 13R of the spray discharge mechanism 13 in accordance with the control signal output from the control device 60, thereby causing the first spraying section 221 and the second spraying section 222 to disperse the materials to be sprayed. to scatter. When the spray discharge mechanism 13 is a shutter-type mechanism, the first electric motors 14L and 14R open the shutters in response to a control signal output from the control device 60, thereby causing the first spray section 221 and the second spray section. 222 to scatter the scatter material.

When the fourth operation unit 114 is operated, the control device 60 transmits control signals to the first electric motors 14L, 14R. The first electric motors 14L, 14R stop the rotation of the delivery rollers 13L, 13R of the spray discharge mechanism 13 in response to a control signal output from the control device 60, thereby causing the first spray section 221 and the second spray section 222 to to stop spraying the spreader. When the spray discharge mechanism 13 is a shutter-type mechanism, the first electric motors 14L and 14R close the shutters in response to a control signal output from the control device 60, thereby closing the first spray section 221 and the second spray section. Stop spraying the spray from 222 .

When the operation of the fourth operating unit 114 is performed, the control device 60 controls the first spraying unit 221 and the second spraying unit 222 if the materials are sprayed from the first spraying unit 221 and the second spraying unit 222 . If the material is being dispersed only from the first scattering section 221, the scattering of the material to be dispersed from the first scattering section 221 is stopped, and the material to be dispersed is stopped from the second scattering section 222 only. is being sprayed, the spraying of the sprayed material from the second spraying section 222 is stopped.

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

As shown in FIG. 1 , in the agricultural machine 1 , the first boom 18L extends leftward from the machine body 2 and the second boom 18R extends rightward from the machine body 2 . In other words, the agricultural machine 1 has a T-shape when viewed from the front when the boom is extended to the left and right (that is, when spraying). Therefore, the overall T-shaped operation switch 110 evokes the shape of the agricultural machine 1 when viewed from the front. The first spraying section 221 is provided on the first boom 18L, and the second spraying section 222 is provided on the second boom 18R. Therefore, the first operating section 111 arranged on the left side of the operating switch 110 reminds of the first spraying section 221, and the second operating section 112 arranged on the right side of the operating switch 110 reminds of the second spraying section 222. Let

In addition, in the agricultural machine 1, the direction of spraying of the sprayed material from the first spraying section 221 and the second spraying section 222 is downward. The third operation part 113 arranged below the operation switch 110 is arranged in a direction (downward) corresponding to the direction of scattering of the material to be spread, so that it reminds one of a state in which the material to be spread is being spread. On the other hand, the fourth operation part 114 arranged above the third operation part 113 is arranged in the opposite direction (upward) to the spraying direction, so that it reminds us of a state in which the spraying of the material to be sprayed is stopped.

As described above, since the arrangement of each operation unit reminds the user of the position and direction of the spraying unit, the operator can operate the first operation unit 111, the second operation unit 112, the third operation unit 113, and the fourth operation unit 114. You can intuitively understand the function of each operation unit from the layout of the Therefore, it is possible to quickly operate each operation part without mistakenly pushing it, and to carry out the spraying work accurately.
FIG. 16 is a diagram showing a modification of the operation switch 110. As shown in FIG.

As with the operation switch 110 of the embodiment shown in FIG. 15, the operation switch 110 of this modification also has a first operation section 111, a second operation section 112, a third operation section 113, and a fourth operation section 114 as a whole. They are arranged in a T shape. The operation switch 110 of this modification differs from the operation switch 110 of the embodiment shown in FIG. 15 in that the arrangement of the third operation section 113 and the fourth operation section 114 is reversed. That is, the modified operation switch 110 has the third operation portion 113 arranged between the first operation portion 111 and the second operation portion 112, and the fourth operation portion 114 arranged below the third operation portion 113. ing.

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

The operation switch 110 of this modification differs from the operation switch 110 of the embodiment shown in FIG. In addition, it has a fifth operation section 115 and a sixth operation section 116 . This other modification of the operation switch 110 is used when the first boom 18L and the second boom 18R are configured to be telescopic.

The fifth operation portion 115 is an operation portion for performing an operation to extend and retract the first boom 18L. The sixth operation portion 116 is an operation portion for performing an operation to extend and retract the second boom 18R.
When the fifth operation unit 115 is operated, the control device 60 transmits a control signal to the actuator that operates the first boom 18L. The actuator extends and retracts the first boom 18L according to a control signal output from the control device 60. As shown in FIG. Specifically, when the first boom 18L is shortened, it is extended, and when the first boom 18L is extended, it is shortened.

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

As described above, in the agricultural machine 1 , the first boom 18L extends leftward from the machine body 2 and the second boom 18R extends rightward from the machine body 2 . Therefore, the overall T-shaped operation switch 110 evokes the shape of the agricultural machine 1 when viewed from the front. The extending direction of the first boom 18L is leftward, and the extending direction of the second boom 18R is rightward. Therefore, the fifth operation portion 115 arranged on the leftmost side of the operation switch 110 causes extension of the first boom 18L, and the sixth operation portion 116 arranged on the rightmost side of the operation switch 110 causes extension of the second boom 18R. reminds me of

In this manner, the arrangement of the fifth operating portion 115 and the sixth operating portion 116 reminds the operator of the extension of the first boom 18L and the second boom 18R. You can intuitively understand the function of each operation unit from the layout. Therefore, it is possible to quickly operate each operation part without pushing the wrong operation part and to extend and retract the boom accurately.
17 may be used when the first boom 18L and the second boom 18R are configured to be able to bend (raise and fall). In this case, the fifth operation portion 115 is an operation portion for performing an operation for raising and lowering the first boom 18L. The sixth operation portion 116 is an operation portion for performing an operation to raise and lower the second boom 18R.

<Display of work status (dispersion status) of agricultural machinery>
As shown in FIG. 14, the display screen M3 of the display section 61c of the display device 61 displays a graphic representing the state of spraying from the spraying section 22. As shown in FIG. The display portion 61 c includes a field display portion 190 , a vehicle body display portion 191 and a spray portion display portion 192 . A control section 61a of the display device 61 can acquire the position of the traveling vehicle body 8 from the positioning device 63, and controls the display section 61c (the field display section 190, the vehicle body display section 191, and the scattering section display section 192).

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

A vehicle body display portion 191 is shown in the field display portion 190 . The vehicle body display section 191 virtually shows the running vehicle body 8 with a figure Z2 representing the position of the running vehicle body 8 . A graphic Z2 representing the position of the traveling vehicle body 8 is displayed as a triangular graphic pointed in the traveling direction of the traveling vehicle body 8, and is superimposed on the graphic Z2 representing the position of the traveling vehicle body 8 to represent the traveling direction. An arrow Y1 is displayed. The display position of the vehicle body display section 191 with respect to the field display section 190 is fixed. The center position of the vehicle body display section 191 is the current position of the running vehicle body 8 on the field display section 190 .

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

A graphic Z3 representing the spraying section 22 is displayed on the side corresponding to the direction of the spraying section 22 with respect to the traveling vehicle body 8 . Specifically, since the first spraying section 221 is provided on the first boom 18L extending leftward with respect to the traveling vehicle body 8, the figure Z31 representing the first spraying section 221 is displayed on the left side of the vehicle body display section 191. displayed to extend. Since the second spraying portion 222 is provided on the second boom 18R extending rightward with respect to the traveling vehicle body 8, the figure Z32 representing the second spraying portion 222 is displayed so as to extend rightward on the vehicle body display portion 191. ing. Accordingly, the operator can intuitively grasp the meaning of the graphics Z31 and Z32 representing the first spraying section 221 and the second spraying section 222. FIG.

The figure Z31 representing the first scattering portion 221 includes a plurality of small figures Z31a arranged leftward from the widthwise center of the figure Z2 representing the position of the traveling vehicle body 8 at intervals. The figure Z32 representing the second scattering portion 222 includes a plurality of small figures Z32a arranged at intervals to the right from the widthwise center of the figure Z2 representing the position of the traveling vehicle body 8 . These small figures Z31a and Z32a are figures reminiscent of the plurality of spraying sections 22 provided on the first boom 18L and the plurality of spraying sections 22 provided on the second boom 18R. In the case of this embodiment, the small figures Z31a and Z32a are circular, but they may be of other shapes (rectangular, etc.). A figure Z31 representing the first scattering portion 221 is a rod-shaped figure extending leftward from the widthwise center of the figure Z2 representing the position of the traveling vehicle body 8, and a figure Z32 representing the second scattering portion 222 is the position of the traveling vehicle body 8. A bar-shaped figure extending rightward from the center in the width direction of the figure Z2 representing . Further, the figure Z31 representing the first scattering portion 221 and the figure Z32 representing the second scattering portion 222 may be figures in which small figures such as circles are arranged along the lower part of the rod-like figure. Also, the graphic Z3 representing the spraying portion 22 may be part of the graphic Z2 representing the position of the traveling vehicle body 8. FIG. Further, the figure Z2 representing the position of the traveling vehicle body 8 may also serve as the figure Z3 representing the spraying section 22. FIG.

The spraying section display section 192 is a section that displays a spraying state in which the spraying section 22 is spraying the sprayed material and a stop state in which the spraying section 22 stops spraying the sprayed material. The control unit 61a displays, on the spraying unit display unit 192, a spraying state in which the spraying unit 22 is spraying the sprayed material and a stop state in which spraying of the sprayed material from the spraying unit 22 is stopped, in different display forms. Let
The first spraying section display section 192A displays that the first spraying section 221 is in a spraying state when the first operating section 111 is operated. The second spraying section display section 192B displays that the second spraying section 222 is in a spraying state when the second operating section 112 is operated. Further, when the third operating portion 113 is operated, the first spraying portion display portion 192A displays the spraying state in which the first spraying portion 221 is spraying material, and the second spraying portion display portion 192B indicates that the second spraying unit 222 is spraying the material to be sprayed. When the fourth operation unit 114 is operated, the spraying state display changes to the stop state display. Thus, the operation of the operation switch 110 and the display of the spraying section display section 192 are interlocked.

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

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

For example, the display color of the spraying section display section 192 is yellow when in the spraying state, and black when in the stopped state. Thus, it is preferable to make the brightness or saturation of the display color in the scattering state higher than the brightness or saturation of the display color in the stop state. Accordingly, the operator can intuitively grasp whether the spraying section 22 is in the spraying state or in the stopped state from the display color of the spraying section display section 192 .

As shown in FIG. 14, the display section 61c includes a trajectory display section 193. As shown in FIG. The trajectory display portion 193 is a portion that displays a figure Z4 representing the trajectory of the material scattered by the scattering portion 22 so as to be superimposed on the field display portion 190 . The control unit 61a causes the trajectory display unit 193 to display a figure Z4 representing the trajectory of scattering along the trajectory of movement of the scattering unit 22 in the spraying state so as to be superimposed on the field display unit 190. FIG. The movement trajectory of the spraying unit 22 can be calculated based on the position of the traveling vehicle body 8 acquired from the positioning device 63 and the prestored positional relationship between the traveling vehicle body 8 and the spraying unit 22 .

The trajectory display section 193 has a first trajectory display section 193A and a second trajectory display section 193B. The first locus display portion 193A displays a figure Z41 representing the locus of spraying by the first spraying portion 221 on the left side corresponding to the first boom 18L. The second locus display portion 193B displays a figure Z42 representing the locus of spraying by the second spraying portion 222 on the right side corresponding to the second boom 18R.

The control unit 61a causes the first trajectory display unit 193A to display a figure Z41 representing the trajectory of scattering along the trajectory of the first scatterer 221 in the scatter state, superimposed on the field display unit 190. FIG. The control unit 61a causes the second trajectory display unit 193B to display a graphic Z42 representing the trajectory of scattering along the movement trajectory of the second scattering unit 222 in the spraying state so as to be superimposed on the field display unit 190. FIG.
A graphic Z4 representing the trajectory of the scattered material by the spraying unit 22 is a strip-shaped graphic extending on the opposite side of the traveling vehicle body 8 (lower side of the display screen M3) with respect to the graphic Z3 representing the spraying unit 22. Is displayed. A figure Z41 representing the trajectory of the first scattering unit 221 is arranged to extend on the opposite side of the figure Z31 representing the first scattering unit 221 from the figure Z2 representing the position of the vehicle body 8 (under the display screen M3). Is displayed. A figure Z41 representing the trajectory of scattering by the first scattering unit 221 is displayed with the same width as the display width of the figure Z31 representing the first scattering unit 221. FIG. A figure Z42 representing the trajectory of the second scattering unit 222 is arranged to extend on the opposite side of the figure Z32 representing the second scattering unit 222 from the figure Z2 representing the position of the vehicle body 8 (under the display screen M3). Is displayed. A figure Z42 representing the trajectory of the second scattering section 222 is displayed with the same width as the display width of the figure Z32 representing the second scattering section 222. FIG.

In this way, the trajectory display section 193 displays the figure Z4 representing the trajectory of the scattered material by the scattering section 22 so as to be superimposed on the field display section 190, thereby indicating which part of the field the scattered material was spread. It is possible to comprehend on the display screen M3. A figure Z31 representing the first scattering unit 221 and a figure Z32 representing the trajectory of scattering by the second scattering unit 222 are displayed on the field display unit 190, so that the first scattering unit 221 can spread the material to be scattered. The display screen M3 shows the area where the material was spread, the area where the material was scattered by the second scattering unit 222, and the area where the material was scattered by the first scattering unit 221 and the second scattering unit 222. can do.

In the display screen M3 shown in FIG. 14, a first area RG1 in which only a figure Z41 representing the trajectory of scattering by the first scattering section 221 is displayed, and a second area RG1 in which only a figure Z42 representing the trajectory of scattering by the second scattering section 222 is displayed. There are two regions RG2 and a third region RG3 in which graphics Z41 and Z42 representing the trajectories of the first scattering section 221 and the second scattering section 222 are displayed. By looking at the display screen M3, the operator sees that the first region RG1 is sprayed only by the first spraying unit 221, the second region RG2 is sprayed only by the second spraying unit 222, and the third region is sprayed. In RG3, it can be grasped that the first spraying section 221 and the second spraying section 222 have sprayed.

In FIG. 14, figures (Z1 to Z4) representing the state of spraying from the spraying unit 22 and the operation switch 110 for operating the spraying unit to spray the material are displayed on the same display screen M3. They may be configured to be displayed on different display screens.
Further, in the present invention, the spraying section display section 192 may be configured to have the function of the operation switch 110 . For example, by pressing the graphic Z31 displayed in the first spraying section display section 192A, the spraying from the first spraying section 221 is started or stopped, and the graphic Z32 displayed in the second spraying section display section 192B is displayed. can be configured to start or stop the spraying from the second spraying unit 222 by pressing the . In this case, the first spraying section display section 192A has the functions of the first operating section 111 and the fourth operating section 114, and the second spraying section display section 192B has the functions of the second operating section 112 and the fourth operating section 114. have.

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

The configuration of the display device 61 described above can be applied not only to the agricultural machine 1 having the spraying section 22 for spraying the sprayed material, but also to the agricultural machine 1 that performs farm work other than spraying. In other words, the configuration of the display device 61 described above can be applied to the agricultural machine 1 having an agricultural working part that performs agricultural work other than spraying work.
Therefore, "spraying" in the above explanation (explanation in the section <Display of work status of agricultural machine>) can be read as "work" or "farm work". Therefore, the "spraying section", "first spraying section" and "second spraying section" can be read as "farming section", "first farming section" and "second farming section", respectively. The first farm work section works on the left or left side of the traveling vehicle body 8, and the second farm work section works on the right or right side of the traveling vehicle body. In addition, the "spraying section display section", "first spraying section display section", and "second spraying section display section" are replaced with "farming section display section", "first farming section display section", and "second farming section display section", respectively. can be read as "display section". In addition, "spraying situation", "spraying state", "spreading of sprayed material", and "spreading trajectory of sprayed material" shall be read as "work situation", "working state", "work", and "work trajectory", respectively. can be done.

Examples of agricultural machines 1 to which the above-described display device 61 can be applied include agricultural machines (for example, mowers, offset mowers, boom mowers, etc.) that perform grass cutting work as agricultural work. In this case, the farming department is the mowing department.
When the agricultural machine 1 is a normal mower (a mower whose mowing part does not swing left and right), the agricultural work part includes a first mowing part located on the left side of the traveling vehicle body and a second mowing part located on the right side of the traveling vehicle body. and a mower. In this case, the first agricultural work display section indicates a working state in which the first mowing section is working on the left side of the traveling vehicle body, and the second agricultural work display section indicates a working state in which the second mowing section is working on the right side of the traveling vehicle body. Indicates working status.

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

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

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

The control device 60 calculates the currently required spraying amount per unit time (spraying capacity) from the current speed value detected by the speed sensor 63c, the spraying plan value, and the spraying width. capacity), the first electric motors 14L and 14R are driven. However, since the first electric motors 14L and 14R are set to the maximum number of revolutions in specification, there is a threshold (upper limit) that cannot be handled depending on the combination of the current speed value and the spraying plan value.

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

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

The control device 60 calculates and calculates the maximum speed value based on the input elements input to the input section 61d. Input elements to be input to the input unit 61d include the above-described spray width and spray plan value. Further, the input elements are a metering value indicating the spray amount sprayed from the spraying unit 22 for a certain period of time, a motor specification value including the maximum number of rotations of the motors (first electric motors 14L, 14R) that are driving devices, A calculation function (rotational speed calculation curve) for calculating the rotational speed (rpm) of the motors (first electric motors 14L, 14R) based on the metering value and the spraying capacity (spraying amount per unit time required at present) and the distribution plan value.

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

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

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

Further, the control device 60 may calculate the maximum velocity value using a current spraying value indicating the current spraying amount instead of the spraying plan value as an input element. The current spraying value can be calculated, for example, based on the current setting of the spraying amount adjusting device (first spraying amount adjusting device 11L, second spraying amount adjusting device 11R) by the control device 60 .
Control device 60 calculates, as margin, the ratio of the difference between the maximum speed value and the current speed value with respect to the maximum speed value calculated based on the input factor. That is, margin=(maximum speed value−current speed value)/maximum speed value. For example, when the maximum speed value is 5 (m/sec) and the current speed value is 4 (m/sec). The margin is calculated as (5-4)/5=0.2, ie 20%. This margin means that the current speed value has a margin of 20% with respect to the maximum speed value. In other words, it means that even if the traveling speed is increased by 20% from the current speed value, the required spray amount per unit time can be achieved. In this case, the worker can increase the running speed of the agricultural machine 1 to perform the spraying work, thereby improving work efficiency and completing the work in a short time. Also, for example, when the maximum velocity value is 5 (m/sec) and the current velocity value is 5 (m/sec). The margin is calculated as (5-5)/5=0, that is, 0%. This margin means that the current speed value does not have a margin with respect to the maximum speed value. This means that if the running speed is increased above the current speed value, the required application rate per unit time will not be achievable. In this case, if the traveling speed of the agricultural machine 1 is increased, the required spraying amount cannot be obtained, so the worker performs the spraying operation while maintaining the traveling speed.

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

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

FIG. 14 shows the margin gauge YG when the margin is 80%. FIG. 18 shows (a) the margin gauge YG when margin=60%, (b) the margin gauge YG when margin=20%, and (c) margin=5. %, the margin gauge YG is shown. In this manner, the margin gauge YG increases the area or length of the graphic Z20 indicating the current speed value with respect to the area or length of the graphic Z10 indicating the maximum speed value as the margin decreases. By displaying the margin on the margin gauge YG in this way, the margin is displayed in a visually easy-to-understand manner, so that the operator can easily and accurately grasp the margin.

As shown in FIG. 14, the margin gauge YG is preferably displayed on the same display screen M3 as the graphics (Z1 to Z4) representing the state of spraying from the spraying section 22. FIG. In FIG. 14, the operation switch 110 for performing the operation of spraying the material to be sprayed from the spraying section, the graphics (Z1 to Z4) representing the spraying situation from the spraying section 22, and the margin gauge YG are displayed on the same display screen M3. is displayed.
As shown in FIG. 8, the agricultural machine 1 includes a notification unit 61e that notifies the operator that the margin has become equal to or less than a predetermined value when the margin has become equal to or less than a predetermined value. The predetermined value is, for example, margin=5%. In this case, the notification unit 61e notifies the worker that the margin is 5% or less when the margin is 5% or less. In the example shown in FIG. 8, the notification unit 61e is provided in the display device 61, but the notification unit 61e may be provided in a device different from the display device 61. FIG.

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

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

In calculating the maximum velocity value, the control device 60 may calculate the maximum velocity value for each of the plurality of areas using the spraying planning value set individually for each of the plurality of areas Qn as the spraying planning value. However, the maximum velocity value may be calculated using the maximum spray plan value among the spray plan values individually set for each of the plurality of areas Qn. Also, the control device 60 may calculate the maximum velocity value using a current spraying value indicating the current spraying amount instead of the spraying plan value.

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

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

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

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

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

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

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

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

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

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

The front leg portion 166 (left front leg portion 166L, right front leg portion 166R) has a contact portion 167, a left connecting portion 168, and a right connecting portion 169. As shown in FIG. The contact portion 167 is provided below the base plate 161 and contacts the upper surface of the flange portion 152 . The left connecting portion 168 extends obliquely upward to the left from the contact portion 167 and is connected to the base plate 161 . The right connecting portion 169 extends obliquely upward to the right from the contact portion 167 and is connected to the base plate 161 . As shown in FIG. 23, the left connecting portion 168 and the right connecting portion 169 are V-shaped when viewed from the front.

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

The support bracket 160 is attached to the traveling vehicle body 8 while being placed on the roof 150 . As shown in FIGS. 20 and 21 , the front legs 166 are placed on the upper surface of the flange 152 of the upper surface of the roof 150 .
As shown in FIGS. 24 and 27, the contact portion 167 is provided with a through hole 167a. The contact portion 167 contacts the upper surface of the collar portion 152 while the front leg portion 166 is placed on the collar portion 152 . In this state, the bolt BL3 is inserted through the through-hole 167a and screwed into the threaded hole formed in the collar portion 152 . Thereby, the contact portion 167 is fixed to the upper surface of the collar portion 152 , and the front leg portion 166 is fixed to the collar portion 152 . As shown in FIG. 24, the contact portion 167 is positioned so as to overlap the notch 161f formed in the base plate 161 when viewed from above.

As indicated by phantom lines in FIG. 20 , contact portions 177 that contact the upper surface of the roof 150 may be provided on the left leg portion 162 and the right leg portion 163 . The contact portion 177 contacts the upper surface of the collar portion 152 of the upper surface of the roof 150 . The abutment portion 177 and the flange portion 152 can be fixed by a fastener (not shown) such as a bolt. In this case, the front leg portion 166, the left leg portion 162, and the right leg portion 163 are fixed to the upper surface of the roof 150 (the upper surface of the collar portion 152). In this case, the left leg 162 may not be attached to the front pillar 153L or the left side upper frame 156, but may be attached. Also, the right leg 163 may not be attached to the front pillar 153R or the right side upper frame 156, but may be attached.

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

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

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

<Summary>
As described above, the agricultural machine 1 includes the machine body 2, the container 10 provided in the machine body 2 and containing the spread material, and the spreader that adjusts the amount of the spread material contained in the container 10 and discharges it. An amount adjusting device 11, a conveying pipe 15 through which the material discharged from the spraying amount adjusting device 11 flows together with the carrier air, a plurality of spraying units 22 provided in the conveying pipe 15 for dispersing the scattered matter, and the conveying pipe. 15, and a control device 60 for controlling the spraying amount from the spraying unit 22. The control device 60 controls the spraying amount of the sprayed material discharged from the spraying amount adjusting device 11. and a storage unit 61b storing a plurality of specified lines L1 to L9 that define the relationship between the air blow amount per unit time of the fan 201 and one specified line selected from the plurality of specified lines L1 to L9. and a setting unit 60c for setting the relationship between the amount of spraying and the amount of blown air based on the prescribed line acquired by the selection acquiring unit 60b.

According to this configuration, it is possible to select, from among a plurality of prescribed lines set in advance, the optimum prescribed line for achieving uniform spraying from the plurality of spraying sections according to the type of material to be sprayed. It is possible to realize the distribution that equalizes the amount of spraying from the plurality of spraying sections based on the selected prescribed line. In particular, when a plurality of spraying sections are provided along the boom, uniform spraying can be achieved from the base end to the tip end of the boom.

In addition, the agricultural machine 1 includes an air volume adjustment shutter (covering plate 203) for adjusting the air volume of the air blower 201. The air volume adjustment shutter can adjust the air volume by changing the degree of opening. L1 to L9 are defined based on a plurality of degrees of opening of the air volume adjustment shutter.
According to this configuration, by setting one specified line from a plurality of specified lines L1 to L9, the relationship between the spray amount and the air blow amount per unit time of the blower 201 is set, so that the desired spray amount can be set. It is possible to more reliably set the air flow rate required to achieve this.

The air volume adjustment shutter (coating plate 203) adjusts the air volume by changing the opening area of the outside air (air) suction port 201a of the blower 201. FIG.
According to this configuration, it is possible to easily adjust the amount of air blown by the air amount adjustment shutter.
In addition, the agricultural machine 1 is provided with delivery rollers 13L and 13R that rotate to discharge the spread material contained in the container 10, and the application amount adjustment device 11 controls the number of rotations of the delivery rollers 13L and 13R. The spraying amount of the sprayed material discharged from the spraying amount adjusting device 11 is adjusted, and the prescribed lines L1 to L9 are prescribed based on the relationship between the rotation speed of the delivery rollers 13L and 13R and the air blowing volume per unit time of the blower 201. be done.

According to this configuration, the specified lines L1 to L9 are specified based on the relationship between the number of revolutions of the delivery rollers 13L and 13R and the amount of air blown by the blower 201 per unit time. It is possible to reliably select the optimum prescribed line for realizing uniform spraying from a plurality of spraying sections.
The agricultural machine 1 also includes a machine body 2, a traveling device 3 that supports the machine body 2 so as to be able to travel, a first spraying section 221 provided on a first boom 18L extending leftward from the machine body 2, and a A second spraying section 222 provided on the second boom 18R extending in the direction of , a first operation unit 111 for performing an operation to scatter the material to be spread from the first scatter unit 221, a second operation unit 112 to perform an operation to scatter the material to be spread from the second scatter unit 222, the first scatter unit 221 and the second a third operation unit 113 for performing an operation to scatter the material to be spread from the second scattering unit 222; The first operation part 111 is arranged on the left side of the operation switch 110 corresponding to the first boom 18L, and the second operation part 112 is the operation switch corresponding to the second boom 18R. 110, and one of the third operation unit 113 and the fourth operation unit 114 is arranged between the first operation unit 111 and the second operation unit 112, and the third operation unit The other one of the operation parts 113 and the fourth operation part 114 is arranged below the one operation part.

According to this configuration, the first operating portion 111 is arranged on the side corresponding to the first boom 18L, and the second operating portion 112 is arranged on the side corresponding to the second boom 18R. and the work performed by operating the second operation unit 112 can be grasped in association with the arrangement of the boom. Therefore, the operator can intuitively grasp the content of the work performed by the operation based on the layout of the operation unit.

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

Also, the third operating section 113 may be arranged between the first operating section 111 and the second operating section 112 , and the fourth operating section 114 may be arranged below the third operating section 113 .
According to this configuration, when operating the first operation unit 111 or the second operation unit 112, it is possible to reduce the risk of operating the fourth operation unit 114 by mistake. can be prevented.

Further, the first operating section 111, the second operating section 112, the third operating section 113, and the fourth operating section 114 are arranged in a T shape as a whole.
This configuration reminds us of the shape of the agricultural machine 1 when viewed from the front, with the operation switch 110 extending the booms 18L and 18R to the left and right (that is, the state of spraying). Therefore, the operator can intuitively grasp the content of the work performed by the operation based on the layout of the operation unit.

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

According to this configuration, it is possible to operate the first operation unit 111, the second operation unit 112, the third operation unit 113, and the fourth operation unit 114 by pressing or touching the touch panel, so that operability is excellent. , there is no need to install a device that constitutes an operation switch.
In addition, the first boom 18L and the second boom 18R are configured to be telescopic, and the operation switch 110 includes a fifth operation section 115 for extending and retracting the first boom 18L and a sixth operation section 116 for extending and retracting the second boom 18R. The fifth operating section 115 is arranged on the left side of the first operating section 111 , and the sixth operating section 116 is arranged on the right side of the second operating section 112 .

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

According to this configuration, it is possible to ascertain from the display of the display device 61 how much margin the current traveling speed has with respect to the maximum traveling speed that can achieve the required spraying amount. It is possible to run at a speed close to the maximum running speed that can be realized, and it is possible to prevent insufficient spraying and a decrease in work efficiency.
Further, the control device 60 calculates the ratio of the difference between the maximum speed value and the current speed value to the maximum speed value as the margin and displays it on the display device 61 .

According to this configuration, it is possible to easily grasp how much margin the current speed value has with respect to the maximum speed value from the degree of margin displayed on the display device 61 .
In addition, the display device 61 can display a margin gauge YG that graphically represents the margin. It is represented by the area or length of the illustrated figure Z20.

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

According to this configuration, the amount of spraying by the spraying section can be changed by the driving device so as to satisfy the currently required spraying capacity per unit time, so that insufficient spraying can be prevented.
The input elements input to the input unit 61d are the adjustment value indicating the amount of spraying from the spraying unit 22 in a given period of time, and the maximum rotation speed of the motors (first electric motors 14L, 14R) that are driving devices. , a calculation function for calculating the number of rotations of the motor based on the metering value and the spraying capacity, and a spraying plan value, and the control device 60 calculates the maximum speed value based on the input element Calculate

According to this configuration, it is possible to accurately calculate the maximum velocity value based on the spray planning value based on the input factor.
Further, the control device 60 may calculate the maximum velocity value using a current spraying value indicating the current spraying amount instead of the spraying plan value as an input element.
According to this configuration, it is possible to accurately calculate the maximum velocity value based on the current application amount based on the input factor.

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

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

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

According to this configuration, the work status of the farm work unit 22 can be clearly grasped by the display of the farm work unit display unit 192 of the display device 61, so that the farm work state of the farm work unit 22 can be clearly grasped while traveling in the field. can be grasped.
In addition, the control unit 61a causes the farm work unit display unit 192 to display the display color in the working state and the display color in the stop state so as to be different.

According to this configuration, it is possible to easily and reliably grasp whether the farming unit 22 is in the working state or in the stopped state from the display of the farming unit display unit 192 .
In addition, the agricultural work part display part 22 includes a first agricultural work part display part 192A that displays the working state of the first farm work part 221 that works on the left side of the traveling vehicle body 8, and a first agricultural work part display part 192A that displays the working state of the first agricultural work part 221 that works on the right side of the traveling vehicle body 8. It has a second farming section display section 192B that displays the working state of the second farming section 222 .

According to this configuration, the layout of the first agricultural work unit 221 and the first agricultural work display unit 192A are associated, and the layout of the second agricultural work unit 222 and the second agricultural work display unit 192B are associated. Therefore, it is possible to intuitively grasp the work status of the first farm work unit 221 and the second farm work unit 222 from the displays of the first farm work unit display unit 192A and the second farm work unit display unit 192B.

In addition, the control unit 61a causes the first agricultural work unit display unit 192A to display the working state and the stopped state of the first agricultural work unit 221 in different display forms, and the second agricultural work unit display unit 192B to display the work state of the second agricultural work unit 222. The state and the stopped state are displayed in different display forms.
According to this configuration, it is possible to easily and reliably grasp whether the first agricultural work section 221 and the second agricultural work section 222 are in the working state or in the stopped state.

The display unit 61c also includes a locus display unit 193 that displays a figure Z4 representing the work locus of the work by the farm work unit 22 on the field display unit 190. A figure Z4 representing the work trajectory is superimposed on the field display section 190 and displayed along the work trajectory of the section 22 .
According to this configuration, the figure Z4 representing the work trajectory by the farm work section 22 is displayed on the field display section 190, so that the display section 61c can be used to grasp which part of the field has been worked. can.

In addition, the trajectory display section 193 includes a first trajectory display section 193A that displays a diagram Z41 representing the work trajectory of the first agricultural work section 221 that performs work on the left side of the traveling vehicle body 8, and a first trajectory display section 193A that displays the work trajectory on the right side of the traveling vehicle body 8. The control unit 61a has a second trajectory display unit 193B that displays a diagram Z42 representing the work trajectory of the second agricultural work unit 222, and the control unit 61a displays the movement trajectory of the first agricultural work unit 221 in the working state on the first trajectory display unit 193A. A diagram Z41 representing the work trajectory of the first agricultural work unit 221 is superimposed on the field display unit 190 and displayed in the second trajectory display unit 193B along the movement trajectory of the second agricultural work unit 222 in the working state. A figure Z42 representing the work trajectory by the farm work section 222 is displayed so as to be superimposed on the field display section 190. FIG.

According to this configuration, an area where the sprayed material is applied by the first agricultural work unit 221, an area where the work is performed by the second agricultural work unit 222, and an area where the work is performed by the first agricultural work unit 221 and the second agricultural work unit 222 It is possible to grasp the region where the processing is performed by looking at the display section 61c.
The agricultural machine 1 also includes a storage unit 61b that stores the work locus, and the control unit 61a stores the work locus in the storage unit 61b.

According to this configuration, even if the first agricultural working unit 221 or the second agricultural working unit 222 stops for some reason, such as avoiding falling objects in the field, the actual working situation is stored in the storage unit 61b. It can be confirmed by the work trajectory.
Agricultural work is a spraying work for spraying sprayed materials, and the agricultural work section 22 includes a first spraying section 221 provided on a first boom 18L extending leftward from the traveling vehicle body 8 and a and a second spreading section 222 provided on the extending second boom 18R.

In addition, the agricultural machine 1 includes a traveling vehicle body 8 having an agricultural work section 22 that performs agricultural work, and a display device 61 having a display section 61c that displays a graphic representing the work status from the agricultural work section 22. The display device 61 is It is a display device for displaying the work state described above.
According to this configuration, it is possible to obtain the agricultural machine 1 capable of clearly grasping the work situation from the farm work unit 22 while traveling in the field.

The agricultural machine 1 also includes a traveling vehicle body 8, a cabin 9 mounted on the traveling vehicle body 8 and having a roof 150 on the top, a positioning device 63 for detecting the position of the traveling vehicle body 8 based on a signal from a positioning satellite, A support bracket 90 for supporting the positioning device 63 on the roof 150. The support bracket 90 includes a mounting portion 161a on which the positioning device 63 is mounted and a left extension portion extending leftward from the mounting portion 161a. 161b and a right extending portion 161c extending rightward from the mounting portion 161a; and a front leg portion 166 extending downward from the front portion of the base plate 161. , the front legs 166 are provided with contact portions 167 that contact the upper surface of the roof 150 , and are attached to the vehicle body 8 while being placed on the roof 150 .
According to this configuration, the support bracket 160 that can secure the base plate 161 with a large area can be stably mounted on the roof 150 , thereby stably supporting the positioning device 63 .

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

A left leg portion 162 extending downward from the left portion of the base plate 161 and attached to the left portion of the cabin 9 or the traveling vehicle body 8 and a right portion of the base plate 161 extending downward from the cabin 9 or the traveling vehicle body 8 and a right leg 163 attached to the right side of the .
According to this configuration, the left extension portion 161b and the right extension portion 161c are attached to the cabin 9 or the traveling vehicle body 8, so that the support bracket 160 can be stably attached to the roof 150, and the positioning device 63 can be stably attached. It is possible to support

In addition, the roof 150 has a top plate 151 positioned above the roof 150, and a flange portion 152 below the top plate 151 and protruding forward from the front edge of the top plate 151. The top surface of the roof 150 is Including the upper surface of the upper plate 151 and the upper surface of the collar portion 152 , the contact portion 167 contacts the upper surface of the collar portion 152 .
With this configuration, the support bracket 160 can be stably supported on the roof 150 by the contact portion 167 of the front leg portion 166 of the support bracket 160 coming into contact with the upper surface of the flange portion 152 of the roof 150 .

Also, the base plate 161 may be placed on the upper plate 151 .
According to this configuration, the front leg portion 166 of the support bracket 160 is placed on the brim portion 152 of the roof 150 and the base plate 161 is placed on the top plate 151 , thereby stabilizing the support bracket 160 on the roof 150 . can be fully supported.
Also, the base plate 161 extends over the entire length of the roof 150 in the width direction.

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

The front leg portion 166 also has a left front leg portion 166L extending downward from the left front portion of the base plate 161 and a right front leg portion 166R extending downward from the right front portion of the base plate 161 .
According to this configuration, the front portion of the base plate 161 can be reliably supported by the left front leg portion 166L and the right front leg portion 166R, and the base plate 161 can be prevented from being tilted or deformed.

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

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

1 agricultural machine 2 machine body 3 travel device 18L first boom 18R second boom 61c touch panel (display unit)
110 Operation switch 111 First operation part 112 Second operation part 113 Third operation part 114 Fourth operation part 115 Fifth operation part 116 Sixth operation part 221 First spraying part 222 Second spraying part

Claims (7)

Airframe and
a running device that supports the body so that it can run;
a first spraying section provided on a first boom extending leftward from the airframe;
a second spraying section provided on a second boom extending rightward from the airframe;
an operation switch for operating the spraying of the sprayed material from the first spraying section and the second spraying section;
with
The operation switch is
a first operation unit for performing an operation to scatter the material to be spread from the first scatter unit;
a second operation unit for performing an operation to scatter the material to be spread from the second scatter unit;
a third operation unit for performing an operation to scatter the material to be spread from the first scatter unit and the second scatter unit;
a fourth operating unit for performing an operation to stop the spraying of the sprayed material from the first spraying unit and the second spraying unit;
has
The first operation unit is arranged on the left side of the operation switch, which is the side corresponding to the first boom,
The second operation section is arranged on the right side of the operation switch, which is the side corresponding to the second boom,
either one of the third operating section and the fourth operating section is arranged between the first operating section and the second operating section;
The agricultural machine, wherein the other one of the third operating section and the fourth operating section is arranged below the one operating section. The fourth operation section is arranged between the first operation section and the second operation section,
The agricultural machine according to claim 1, wherein the third operating section is arranged below the fourth operating section. The third operating section is arranged between the first operating section and the second operating section,
The agricultural machine according to claim 1, wherein the fourth operating section is arranged below the third operating section. The agricultural machine according to any one of claims 1 to 3, wherein the first operating section, the second operating section, the third operating section, and the fourth operating section are arranged in a T shape as a whole. The agricultural machine according to any one of claims 1 to 4, wherein the first operating section, the second operating section, the third operating section, and the fourth operating section are operated by pressing or touching. A touch panel on which the operation switches are displayed,
The agricultural machine according to any one of claims 1 to 5, wherein the first operating section, the second operating section, the third operating section, and the fourth operating section are displayed on the touch panel. The first boom and the second boom are configured to be telescopic,
The operation switch has a fifth operation section for extending and retracting the first boom and a sixth operation section for extending and retracting the second boom,
The fifth operation section is arranged on the left side of the first operation section,
The agricultural machine according to any one of claims 1 to 6, wherein the sixth operating section is arranged on the right side of the second operating section.

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