JP7315642B2 - agricultural machine - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an agricultural work machine having a traveling machine body capable of switching between manual traveling by manual steering and automatic traveling by automatic steering.

Conventionally, this type of agricultural work machine has a changeover switch that can switch between manual travel and automatic travel (see, for example, Patent Document 1).

Japanese Patent Application Laid-Open No. 2004-201530 (Fig. 1)

It is necessary to appropriately perform automatic operation in the agricultural work machine described above.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an agricultural work machine capable of appropriately performing automatic operation.

本発明の特徴は、測位衛星からの電波信号を受信する受信ユニットを備え、手動操舵によるマニュアル走行と前記受信ユニットの受信結果に基づく自動操舵による自動走行とを切替自在な走行機体と、前記走行機体の操舵用のハンドルと、前記マニュアル走行と前記自動走行とを切替自在な切替スイッチと、を備え、表示装置を、前記走行機体に当該表示装置の上端側ほど前方に位置する傾斜姿勢で備え、且つ、前記表示装置が、前記走行機体の左右方向での中央部に設けられたメータパネルとは別途に設けられ、前記自動走行のモードである際に、前記表示装置に、前記自動走行のモードであることが表示され、且つ、前記走行機体の走行方向のずれを示す表示が表示される。
A feature of the present invention is that it includes a traveling machine body capable of switching between manual traveling by manual steering and automatic traveling by automatic steering, a meter panel, and a display device for displaying that the automatic traveling mode is in the automatic traveling mode.
In the above configuration, it is preferable that the meter panel and the display device are provided at a central portion in the width direction of the traveling body.
In the above configuration, it is preferable that the front end of the display device is located forward of the front end of the meter panel.
In the above configuration, it is preferable that the upper end of the display device is positioned above the upper end of the meter panel.
In the above configuration, it is preferable that a steering wheel for steering the traveling body is provided, the meter panel is located at a position overlapping the steering wheel in plan view, and the rear end of the display device is located forward of the front end of the steering wheel.
In the above configuration, it is preferable that a handle for steering the traveling machine body and a switching lever for switching the traveling machine body to the automatic traveling mode are provided, and the switching lever extends from the handle post side of the handle toward the grip portion side of the handle.
Another feature of the present invention is that it comprises a traveling machine body capable of switching between manual traveling by manual steering and automatic traveling by automatic steering, a steering wheel for steering the traveling machine body, and a changeover switch capable of switching between the manual traveling and the automatic traveling, and the changeover switch is provided at a position that can be operated by the operator of the machine while gripping the steering wheel.

According to the present invention, the selector switch is provided at a position where the operator can operate the vehicle while gripping the steering wheel, so that the operator can operate the selector switch while gripping the steering wheel when switching between manual traveling and automatic traveling. That is, since the changeover switch is provided at a very close position where it can be operated while gripping the handle, it is not necessary to check the position of the changeover switch by directing one's line of sight to the place of the changeover switch as in the conventional art.

As a result, the operator of the aircraft can switch between manual running and automatic running by means of a changeover switch while looking straight ahead in the running direction and without releasing the steering wheel, and can continue stable steering operation even during the switching operation.

In the present invention, it is preferable that the changeover switch is an operation lever provided near the handle.

According to this configuration, since the changeover switch is composed of the operation lever near the handle, the changeover operation can be performed efficiently. That is, in the case of the operating lever, switching can be performed by operating the tip of the lever extending from the base end of the lever, so that the length of the lever can be effectively used to apply a large moment to the base end of the lever even with a small force.
As a result, even with the fingertips of the hand gripping the handle, the switching operation of the operating lever can be easily performed with a small force, and further stable handle operation can be continued.

In the present invention, it is preferable that the changeover switch is incorporated in the handle.

According to this configuration, since the changeover switch is incorporated in the handle, it is possible to more easily operate the changeover switch with a fingertip or the like while gripping the handle.
Therefore, stable steering operation can be continued.

It is the whole rice transplanter side view. It is the whole rice transplanter top view. It is a front view of the running body of a rice transplanter. It is a perspective view of the traveling body front part of a rice transplanter. 1 is a schematic diagram of a steering operation system; FIG. 1 is a block circuit diagram of a positioning/automatic steering travel system; FIG. FIG. 3 is a diagram showing a monitor section and an operation panel section of the console; It is a side view of the traveling body of another embodiment. It is a front view of the traveling body of another embodiment. It is a front view of the traveling body of another embodiment. It is a perspective view of the traveling body front part of another embodiment. It is a principal part top view which shows the installation condition of the changeover switch of another embodiment. It is a principal part side view which shows the installation condition of the changeover switch of another embodiment. It is the whole rice transplanter side view of another embodiment. It is the whole rice transplanter side view of another embodiment.

An embodiment of the present invention will be described below with reference to the drawings. Here, a rice transplanter will be described as an example of the agricultural working machine of the present invention.

[Overall configuration of rice transplanter]
As shown in FIGS. 1 to 3, a traveling machine body A having a pair of left and right front wheels 1 and a pair of left and right rear wheels 2 is provided with a driver's seat 3 at the center thereof, and a seedling planting device B is provided at the rear end of the traveling machine body A so as to be vertically movable via a link mechanism L that is vertically operated by the expansion and contraction of a hydraulic cylinder 4, thereby constituting a ride-on rice transplanter as an agricultural work machine.

This rice transplanter has an engine 6 housed in a bonnet 5 at the front part of the traveling machine body A, and a traveling transmission system at the center position of the traveling machine body A for transmitting the driving force from the engine 6 to the left and right front wheels 1 and the left and right rear wheels 2 by shifting the driving force from the engine 6 with a mission case 7. - 特許庁Further, the traveling machine body A is provided with a work transmission system for transmitting the driving force from the transmission case 7 to the seedling planting device B through the transmission shaft 8 . The transmission case 7 incorporates a planted clutch C for intermittent driving force transmitted to the transmission shaft 8 (see FIG. 1).

On the right side of the driver's seat 3, a lifting lever 10 for raising and lowering the seedling planting device B and connecting and disconnecting the planting clutch C is arranged, and behind the bonnet 5 and in front of the driver's seat 3, a steering wheel (corresponding to a steering wheel) 11 for steering the front wheels 1 is arranged. On the left side of the steering wheel 11, a main transmission lever 12 for setting the traveling speed is provided, and on the right side of the steering wheel 11, a forced lifting lever 13 for forcibly lifting the seedling planting device B and intermittently operating the planting clutch C in conjunction with the lifting is provided.

In this embodiment, the forced lifting lever 13 is configured so as to be able to swing in the vertical direction and the front-rear direction. An upward operation raises the seedling planting device B, and a downward operation lowers the seedling planting device B. Furthermore, when the downward operation is performed, the planting clutch C is engaged. Forward operation brings the left marker arm 26, which will be described later, into the active posture, and rearward operation brings the right marker arm 26 into the active posture.

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

A support-like center mascot 14 is provided at the tip of the bonnet 5. - 特許庁Moreover, the left and right sides of the seedling planting apparatus B are provided with marker devices that can be switched between an operating posture and a retracted posture. The marker device is composed of a marker arm 26 which is rotatably supported on a swinging shaft facing forward and backward with respect to the seedling planting device B, and a marker ring 27 which is rotatably supported by the swinging end of the marker arm 26 and has a plurality of projections formed on the outer circumference.

When the marker arm 26 is set to the operating posture shown in FIG. 1, the outer periphery of the marker ring 27 contacts the field, and the traveling machine body A rotates as it travels, thereby continuously forming a concave mark on the field that will serve as the center of the next travel. Thus, by forming a recessed mark in the field by the marker ring 27, when the traveling machine body A is turned to continue the seedling planting work, the center mascot 14 is visually aimed at the mark in the field, and the steering operation is performed, so that the seedling can be planted in the optimal position based on the rows of the already planted seedlings.

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

In this rice transplanter, when the seedling planting work is performed, the seedling planting device B is lowered to a level where the ground leveling float 22 is grounded by operating the lifting lever 10, and the planting clutch C is engaged to operate the traveling body A to travel. Thus, in a state where the ground leveling float 22 levels the mud surface of the seedling planting place, the driving force transmitted from the traveling body A reciprocates the seedling mounting base 23 in the left and right direction, and during this reciprocating operation, the planting claws of the plurality of planting arms 24 cut out the seedlings by a predetermined amount from the lower end of the mat-like seedling mounted on the seedling mounting base 23 and plant them in the field. Then, if necessary, a marker device is used to form a recessed mark on the field.

In particular, in the rice transplanter of the present invention, it is possible to acquire and store the travel route during the seedling planting operation by a positioning system configured as a GNSS (Global Navigation Satellite System), and set it as a target travel route parallel to the stored route. After the target travel route is set in this way, the traveling machine body A can be automatically steered and traveled along the target travel route (corresponding to automatic travel by automatic steering).

In addition, this rice transplanter is also configured so that the seedling planting work can be carried out by artificial steering travel (equivalent to manual travel by manual steering) in which a worker (equivalent to the operator of the machine) operates the steering wheel 11 without automatic steering travel even in a situation where the target travel route is set. For this reason, a marker device is provided.

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

A working step 17 is formed at a position covering the left and right rear wheels 2 from above. The work step 17 also functions as a rear fender, and the driver's seat 3 is arranged in the front part of the center of the work step 17. In the region extending in the left-right direction of the work step 17, which is the rear position of the driver's seat 3, the work can be performed while a worker is on the work step.

The work step 17 facilitates replenishment of mat-like seedlings to the seedling mounting table 23 of the seedling planting device B, and an auxiliary frame 18 is formed along the work step 17 by connecting a handrail-like horizontal frame body 18B to the rear end position of the left and right support frame bodies 18A so as to support the worker who gets on the work step 17. The auxiliary frame 18 is configured not only to be gripped by the operator, but also to be able to stabilize the posture of the operator by contacting a part of the operator's body. The auxiliary frame 18 also functions as a guard for the operator.

At the front position of the traveling machine body A, there are provided a vertical frame 31 that takes a vertical posture outside the left and right getting on and off steps 16, a connecting frame 32 connected to the upper end of the vertical frame 31, and an auxiliary vertical frame 33 whose upper end is connected to the middle part of the vertical frame 31 and becomes a gate-shaped support frame part that takes a posture parallel to the left and right vertical frames 31.

A pipe material is used for the vertical frame 31, and by bending the vertical frame 31, a connection frame 32 is integrally formed in a form extending from the upper end of the vertical frame 31 toward the inside of the vehicle body. By connecting the extension ends of the respective connecting frames 32 with brackets 42, the left and right connecting frames 32 are integrated. The left and right vertical frames 31 and the connecting frame 32 connecting them may be formed of a single member by bending a long pipe material.

The support frame portion has a gate shape when viewed from the front, and is supported by the vehicle body frame by a front support frame 31A that supports the lower ends of the left and right vertical frames 31 and a rear frame 33A that supports the lower ends of the auxiliary vertical frames 33.

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

With this configuration, a plurality of spare seedling mounting tables 34 arranged on the left and right, the vertical frames 31 on the left and right, and the auxiliary vertical frames 33 are arranged outside the step 16, so that the movement of the worker on the step 16 is not hindered.

[Meter panels]
As shown in FIG. 4 , a meter panel 36 is arranged in front of the steering wheel 11 at the rear end position of the bonnet 5 . The meter panel 36 has a liquid crystal display section having a backlight and a plurality of display lamps so as to display work information. The liquid crystal display displays the hour meter, the state of the automatic planting clutch, the remaining amount of fuel, the temperature of the cooling water, and the like. In addition, as a plurality of indicator lamps, an oil shortage lamp, a charge lamp, a seedling shortage lamp, a planting indication lamp, a footpath clutch lamp, a marker lamp, and the like are provided.

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

Inverted U-shaped console support frames 37 connected to the traveling body A are provided at the left and right sides of the rear portion of the bonnet 5 at the lower ends thereof, and the console D is supported by these. The console support frame 37 is composed of left and right side frame bodies 37A and an upper frame body 37B connected to the upper ends of the left and right side frame bodies 37A.

A connection plate 40 is provided to connect the left and right side frame bodies 37A of the console support frame 37, and an upper end portion of the connection plate 40 is bent so as to protrude toward the driver's seat 3 to integrally form a canopy portion 41. The console D is box-shaped and supported by a connecting plate 40 . From such a support form, the canopy part 41 projects from above the console D toward the driver's seat 3 . Incidentally, the left and right sides of the console D are not provided with anything that functions as a sunshade, but the console D may be provided with eaves 41 on both the left and right sides. As a result, it is also possible to block the sunlight that enters the monitor section 38 from the side.

The console D is arranged within the width of the bonnet 5 and within the width of the steering wheel 11 when viewed in the front-rear direction, and the lower end of the monitor section 38 is arranged above the upper end of the steering wheel 11 . In addition, since the console support frame 37 is formed in the above-described inclined posture, the monitor part 38 of the console D can be easily recognized by slightly lowering the line of sight from the front during work, and the information can be grasped reliably, and the console D does not hinder the visual recognition of the center mascot 14. - 特許庁

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

As shown in the figure, the monitor unit 38 of the console D is formed with a mode display unit 102 that receives radio waves from positioning satellites and indicates that the vehicle is automatically steering, a target travel route line 103 that corresponds to the target travel route, an icon 104 that reflects the operation of the steering wheel 11, and a speed display unit 108. A plurality of operation switches 39A of the operation panel section 39 are configured to enable input of information necessary for automatic steering travel. The display mode of the monitor section 38 will be described later.

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

As shown in FIG. 6, the receiving unit 45 incorporates an antenna 45A that receives radio signals from a plurality of positioning satellites, a magnetic compass 45B that detects the direction from geomagnetism, and a gyro sensor 45C that captures changes in the attitude of the running body A by inertia. In this configuration, the receiving unit 45 is arranged at the front position of the traveling machine body A (in particular, on the front side of the front wheels 1), so when the traveling machine body A changes the traveling direction, the amount of displacement in the lateral direction is large compared to the rear end side of the traveling machine body A, and changes in position information can be detected with high sensitivity (see FIGS. 1 and 2).

The steel material that constitutes the rice transplanter may be partially magnetized during manufacturing or processing. For example, when the connecting frame 32 is magnetized, magnetism acts on the magnetic compass 45B from the connecting frame 32, and the detection accuracy of geomagnetism may be lowered. For this reason, a non-magnetic material having a predetermined thickness is used as the support member 44 to increase the distance between the connecting frame 32 and the like and the magnetic compass 45B, thereby suppressing the influence of magnetism. As the support member, it is possible to use a vibration-proof material such as urethane foam in addition to the synthetic rubber.

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

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

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

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

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

In this steering operation system, the steering control motor 56 is provided on the front and side portions of the steering shaft 51, so that the inside of the bonnet 5 is effectively used and a space protruding below the driver's seat 3 is not formed.

This rice transplanter is configured to travel between one ridge and the other ridge of a field by manual steering by an operator, and the teaching processing section 47A of the control unit 47 acquires the travel route during travel, generates and stores a target travel route from the travel route.

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

By the way, the switching between the manual steering driving and the automatic steering driving can be performed by a push-type changeover switch 49 provided on the steering wheel 11 as shown in FIGS. Each time the changeover switch 49 is pressed, the driving mode is alternately switched between the artificial steering mode and the automatic steering mode.
As shown in FIG. 4, the steering wheel 11 includes an annular grip portion 11A located on the outer periphery and a hub portion 11B that integrally connects the grip portion 11A and the central steering shaft 51. The change-over switch 49 is provided on the hub portion 11B, and is arranged at a position where it can be pressed with, for example, a thumb while the grip portion 11A is gripped by hand.

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

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

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

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

As a result, when performing automatic steering travel, the system is activated by operating the operation switch 39A of the console D, the operation switch 39A or the setting button 101 is operated to shift to a state in which teaching is possible, and by performing manual steering travel, the travel route is acquired by the teaching processing unit 47A and the target travel route is set. Thereafter, by operating the selector switch 49 to shift to the automatic steering driving mode, the screen shown in FIG.

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

In this way, in the rice transplanter, by selecting automatic steering travel with the target travel route set, radio signals from the positioning satellite are received, the error between the target travel route and the current position of the traveling machine A is determined, and automatic steering travel is performed in which control is performed in a direction to reduce this error. As a result, the operator does not need to operate the steering wheel 11. As a result, the worker can replenish the seedlings without stopping the traveling machine body A, and the work efficiency is improved compared to the work form in which the traveling machine body A is stopped and the seedlings are replenished.

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

[Actions and effects of the embodiment]
According to the rice transplanter of the present embodiment, the operator can operate the changeover switch 49 while gripping the grip portion 11A of the steering wheel 11 at the time of switching operation between the manual steering traveling and the automatic steering traveling.
Therefore, the operator can switch between manual running and automatic running by means of the changeover switch 49 without looking away from the front in the running direction and without releasing the hand from the steering wheel 11, and can continue stable steering operation even during the switching operation.

In addition, since the changeover switch 49 is incorporated in the steering wheel 11, the changeover operation by the changeover switch can be performed more easily with a fingertip or the like even while the grip part 11A is being gripped, and moreover, the stable steering operation can be continued.

[Another embodiment]
Other embodiments will be described below.

<1> In the above embodiment, the agricultural work machine is configured to guard the machine operator by providing the auxiliary frame 18. However, for example, a signal line may be provided between the machine operator and the traveling machine A, and when a phenomenon such as disconnection or disconnection of the signal line or a large tension acts, the traveling machine A may be stopped.

Regarding the stopping of the traveling body A, for example, it can be configured to be executed by a fuel cut solenoid.
Further, the stopping of the traveling machine body A may be configured to be executed in addition to the above-described movements related to the machine body operator, for example, when the traveling machine body A rides on a ridge, approaches a ridge within a short distance, or when the traveling machine body A meanders during automatic traveling. This is effective when the operator of the traveling machine body A leaves the driver's seat and is replenishing seedlings to the seedling loading table on the rear side of the traveling machine body A during automatic travel.

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

<2> Since there is a concern that the battery voltage of the agricultural implement will temporarily drop when the engine 6 is started, the start of power supply to the meter panel, the console D, the positioning/automatic steering travel system, etc. may be delayed for a predetermined time (for example, several seconds) after the engine is started so that the battery voltage is expected to stabilize. With this configuration, it is possible to avoid the problem that the supply voltage to the meter panels, the console D, the positioning/automatic steering driving system, etc. falls below the minimum drive voltage and the system goes down. However, this is not the case when batteries for meter panels, console D, positioning/automatic steering driving system, etc. are provided separately from the battery for the drive system.

<3> The support frame portion that supports the receiving unit 45 is not limited to the one described in the previous embodiment. For example, as shown in FIGS. 8 and 9, when a canopy 60 that covers the upper side of the driver's seat 3 is provided, a gate-shaped support frame portion 61 that supports the canopy 60 may also be used. In this embodiment, the canopy 60 and the receiving unit 45 are supported on the top 61a of the support frame 61. As shown in FIG.
In this support frame part 61, the left and right strut parts 61b standing up from the traveling body A are erected at positions close to the bonnet 5 and have high rigidity, so that the receiving unit 45 can be stably supported.

Further, as shown in FIG. 10, the lower end portion of the vertical frame 31 that supports the preliminary seedling mounting base 34 may be configured to have a double cylinder structure that overlaps inward and outward in the radial direction with the lower end portion fixed to the traveling body A. In this case, the outer cylinder 31B can be configured to support the preliminary seedling loading table 34, and the inner cylinder 31C can be configured as a gate-shaped support frame portion that is extended upward and connected by the connecting frame 32. As shown in FIG. With this configuration, it is possible to prevent the vibration from being transmitted to the receiving unit 45 via the support frame portion when the seedlings are lifted onto and down from the preliminary seedling loading table 34, and positioning can be performed with higher accuracy.

In addition, the outer cylinder 31B can incorporate a mechanism for sliding the auxiliary seedling mounting table 34 or rotating it around the axis of the cylinder, thereby making it easier to use the auxiliary seedling mounting table.

<4> The change-over switch 49 is not limited to a common change-over switch 49 that can perform both switching from manual driving to automatic driving and vice versa switching from automatic driving to manual driving. For example, the change-over switch 49 may be configured to act only for switching from manual driving to automatic driving. In this case, the positioning/automatic steering travel system may be configured such that switching from automatic travel to manual travel is linked to the manual operation of the steering wheel 11 .

Further, the switch 49 for switching from manual driving to automatic driving and the switching switch 49 for switching from automatic driving to manual driving may be provided separately.
In any case, it is particularly preferable that the changeover switch 49 for switching from manual driving to automatic driving be provided at a position where the operator can operate the steering wheel 11 while gripping it.

Further, the changeover switch 49 itself is not limited to the push type switch provided on the handle 11 described in the previous embodiment. For example, as shown in FIG. 11, an operation lever may be provided to project from the steering shaft 51 side near the bottom of the handle 11 to the position near the bottom of the grip portion 11A.
When configured with an operating lever, switching can be performed by operating the tip of the lever extending from the proximal end of the lever, so that the length of the lever can be effectively used to apply a large moment to the proximal end of the lever even with a small force, enabling switching operation. As a result, even with the fingertips of the hand gripping the handle 11, the switching operation of the operating lever can be easily performed with a small force, and further stable handle operation can be continued.

As shown in FIGS. 12 and 13 , an operation lever serving as a changeover switch 49 may be provided in a state protruding leftward from the steering shaft 51 side near the bottom of the steering wheel 11, and the forced lifting lever 13 may be provided in a state protruding rightward from the steering shaft 51 side. In this case, any lever can be easily operated with a small force by the fingertips of each hand holding the handle 11 .

Further, the operation lever may be configured as a dual-purpose operation lever in which a function of the changeover switch 49 is incorporated into one function of an operation lever provided for another changeover operation, for example, in addition to being configured exclusively for the changeover switch 49. In this case, for example, it is possible to configure the function so that it can be used properly according to a plurality of operating directions (for example, up, down, left, and right) of the operating lever.

<5> In the above embodiment, the auxiliary frame 18 is provided to the side of the backrest of the driver's seat 3 and to the rear of the driver's seat 3, but it is not limited to this configuration.
For example, as shown in FIG. 14, two side frame bodies 18C detachably formed over the support frame body 18A and the rear frame 33A may be separately provided on both sides of the driver's seat 3. The auxiliary frame 18 guards the surroundings of the driver's seat 3 over a wide range.

Further, as shown in FIG. 15, a side frame body 18C may project forward from the support frame body 18A so as to guard the side portion of the seating portion of the driver's seat 3. As shown in FIG. In the case of this embodiment, it is not necessary to take the trouble to remove the side frame body 18C when going up and down to the operation portion step 15 or the auxiliary step 15A. In addition, since the number of mounting portions at the ends of the side frame body 18C is smaller than that in FIG. 14, attachment and detachment can be easily performed.

As described above, reference numerals are used for convenience of comparison with the drawings, but such entries do not limit the present invention to the configurations shown in the accompanying drawings. Moreover, it is a matter of course that the present invention can be embodied in various modes without departing from the gist of the present invention.

The agricultural work machine is not limited to one that automatically steers using the positioning system described in the previous embodiment, but can also be used for one that uses a different type of positioning system. In the case of a rice transplanter, the object may be a seeding machine having a seeding device at the rear end of the traveling body instead of the seedling planting device, and may also be used in other agricultural machinery.

11 steering wheel (equivalent to steering wheel)
49 changeover switch A running body D console (equivalent to display device)

Claims (2)

Equipped with a receiving unit that receives radio signals from positioning satellites,
a traveling machine capable of switching between manual traveling by manual steering and automatic traveling by automatic steering based on the reception result of the receiving unit ;
a handle for steering the traveling machine body;
a changeover switch capable of switching between the manual running and the automatic running,
A display device is provided on the running body in an inclined posture positioned forward toward the upper end side of the display device, and the display device is provided separately from a meter panel provided in the center in the left-right direction of the running body,
The agricultural work machine, in which, when in the automatic traveling mode, the display device displays that the automatic traveling mode is in effect, and displays an indication indicating deviation of the traveling direction of the traveling machine body. 2. The agricultural working machine according to claim 1, wherein said changeover switch is provided at a position that can be operated by a machine operator holding said steering wheel.

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