CN114786463A - Working machine - Google Patents

Abstract

The work machine is provided with: a driver seat (18) supported by the body (11); the supporting frames (22, 24, 26, 27) extend from the upper side of the machine body (11); and a ceiling (36) supported by the support frames (22, 24, 26, 27) so as to cover the upper side of the machine body (11) including the driver seat (18). The ceiling (36) is provided with an opening (49) facing in the direction along the upper surface of the ceiling (36), and a communication path (50) that communicates the opening (49) with a region located below the ceiling (36).

Description

work machine

technical field

The present invention relates to working machines such as a riding type rice transplanter and a riding type direct seeding machine.

Background technique

Among the riding type rice transplanters as an example of the working machine, there is a riding type rice transplanter, as disclosed in Patent Document 1, in which a ceiling made of synthetic resin is supported on a support frame extending upward from the machine body, and is The ceiling covers the upper part of the body including the driver's seat.

In addition, as disclosed in Patent Document 2, there is a work machine (farming machine) that travels for work on farmland as a work site, and there is a work machine that performs work while automatically traveling on a preset travel path. Such a work machine travels on a predetermined travel path of the work site while specifying the position of the vehicle while traveling based on satellite signals.

Furthermore, as shown in Patent Document 3, there is another work machine that creates a fertilization plan map and determines the amount of fertilizer to be fertilized for each area in a work field based on the fertilization plan map.

prior art literature

Patent Literature

Patent Document 1: Japanese Patent Laid-Open No. 2014-150749

Patent Document 2: Japanese Patent Laid-Open No. 2017-184640

Patent Document 3: Japanese Patent Laid-Open No. 2019-176801

SUMMARY OF THE INVENTION

The problem to be solved by the invention

When the upper part of the body including the driver's seat is covered with a ceiling as in Patent Document 1, the ceiling becomes large. Thereby, for example, when a strong wind blows into the lower side of a ceiling, since the ceiling will be in a lifted state, there is room for improvement in preventing damage to the ceiling.

A first object of the present invention is to prevent the ceiling from being damaged when strong wind blows into the lower side of the ceiling in a work machine including a ceiling covering the upper part of the body including the driver's seat.

In some cases, when the work machine is detached from the target work place, the work machine bumps into a field or the like or performs unnecessary work in an adjacent work place. Therefore, it is required to sense whether or not a work machine exists in a work site with higher accuracy.

A second object of the present invention is to sense with high accuracy whether or not a work machine is present in a work site.

solution to the problem

In order to achieve the above-mentioned first object, a work machine according to an embodiment of the present invention includes: a driver's seat supported by a body; a support frame extending upward from the body; and a ceiling covering all parts including the driver's seat. The body is supported on the support frame so as to be above the body, and the ceiling is provided with: an opening facing a direction along the upper surface of the ceiling; The openings communicate with each other.

With such a configuration, for example, when strong wind blows into the lower side of the ceiling, a part of the strong wind escapes from the opening to the upper side of the ceiling through the communication passage of the ceiling. Thereby, the state in which the ceiling is lifted is weakened, which is advantageous in preventing damage to the ceiling.

According to such a structure, the opening part of a ceiling faces the direction along the upper surface of a ceiling, and does not face upward. As a result, on rainy days, the possibility of rainwater entering the opening of the ceiling is low, and the rainwater seldom falls on the machine body from the opening of the ceiling through the communication path.

In the present invention, it is preferable that the ceiling is supported by the support frame, and the opening portion is in a forward-inclined posture in which a front portion of the ceiling is lower than a rear portion of the ceiling in a side view. facing forward.

According to such a configuration, it is advantageous in preventing damage to the ceiling due to the following two points. For example, when a strong wind blows toward the machine body from the front side, the ceiling can be pressed downward by tilting the ceiling forward. One point is that a state in which a part of the strong wind escapes from the opening of the ceiling to the lower side of the ceiling through the communication passage can be obtained.

For example, when a strong wind blows toward the machine body from the rear side, since the ceiling is in a forwardly inclined posture, the strong wind blows into the lower side of the ceiling. However, a state in which a part of strong wind escapes from the opening to the upper side of the ceiling through the communication passage of the ceiling can be obtained, so that the state in which the ceiling is lifted is weakened, which is advantageous in preventing damage to the ceiling.

In this case, since the opening of the ceiling faces forward in the direction along the upper surface of the ceiling, when a strong wind blows toward the machine body from the rear side as described above, a part of the strong wind smoothly escapes forward from the opening of the ceiling Therefore, it is advantageous in preventing breakage of the ceiling.

In the present invention, it is preferable that the plurality of divided ceiling parts are arranged on the ceiling so as to be aligned in the front-rear direction, and the ceiling parts adjacent to the front-rear direction are preferably the front ceiling parts. In such a manner that the rear part of the front part of the ceiling part is located on the lower side with respect to the front part of the rear part of the ceiling part, the rear part of the front part of the ceiling part and the front part of the rear part of the ceiling part are arranged to overlap, and the front part of the front part of the ceiling part is arranged to overlap. The part where the rear part overlaps with the front part of the rear ceiling part is provided with the part where the rear part of the front ceiling part and the front part of the rear ceiling part are separated in the vertical direction, and the opening is provided part and the communication path.

According to such a structure, since a plurality of divided ceiling parts are provided, and one ceiling part is small, the ceiling part can be easily handled and produced. Thereby, compared with the structure which handles a large ceiling which is not divided into several ceiling parts, it is advantageous in the improvement of productivity.

According to such a configuration, when a plurality of divided ceiling parts are provided as described above, the ceiling parts adjacent in the front-rear direction are provided with the rear part of the front ceiling part overlapped with the front part of the rear ceiling part. The part where the rear part of the front ceiling part and the front part of the rear ceiling part are separated in the up-down direction is provided with the opening part of the ceiling and the communication path.

In this case, since the rear part of the front ceiling part is located on the lower side of the front part of the rear ceiling part, it is easy to provide the opening part which faces the front ceiling part.

As described above, when the rear part of the front ceiling part is placed on the lower side of the front part of the rear ceiling part, the ceiling is supported in a forward tilted state, so even if rainwater enters the front part of the ceiling part Between the rear portion and the front portion of the rear ceiling portion, it is rare that rainwater reaches the rear end portion of the front ceiling portion and falls on the body.

In this invention, it is preferable that a buffer material is provided between the rear part of the said ceiling part at the front, and the front part of the said ceiling part at the back.

According to such a configuration, even if the front ceiling portion and the rear ceiling portion vibrate due to vibration of the body during running, the collision between the rear portion of the front ceiling portion and the front portion of the rear ceiling portion is suppressed by the shock absorbing material. , the impact sound of the rear of the front ceiling part and the front part of the rear ceiling part is suppressed.

In the present invention, it is preferable that the first support frame and the second support frame are provided, the first support frame supports one of a front part and a rear part of the ceiling, and the second support frame supports The frame supports the other of the front part and the rear part of the ceiling, and a positioning unit for outputting positioning data indicating the position of the body based on a positioning signal of a navigation satellite so as to be positioned on the front part and the rear part of the ceiling in a side view One of the rear parts is supported by the first support frame so that the height is the same.

A work machine may be equipped with a positioning unit that outputs positioning data indicating the position of the aircraft based on positioning signals from navigation satellites, and displays the position of the aircraft on a display or performs automatic driving of the aircraft based on the positioning data.

According to such a configuration, in the first support frame and the second support frame that support one and the other of the front part and the rear part of the ceiling, since the positioning unit is supported by the first support frame, the first support frame is also used as the ceiling The support and the support of the positioning unit are advantageous in the simplification of the structure.

According to such a structure, the positioning unit is supported so as to be positioned at the same height as one of the front and the rear of the ceiling in side view, and therefore, the positioning unit and the ceiling and the positioning unit are not separated from the front and rear of the ceiling. It is compactly supported in such a way that one of them protrudes to the upper side and the lower side to a large extent.

In this invention, it is preferable that the recessed part into which the said positioning unit can enter in a plan view is provided in one of the front part and the rear part of the said ceiling.

According to such a configuration, the positioning unit does not protrude greatly to the front side from the front of the ceiling (the positioning unit does not protrude greatly to the rear side from the rear of the ceiling), so the positioning unit and the ceiling are compactly supported .

In this invention, it is preferable that the left-right width of the said recessed part is set larger than the left-right width of the said positioning unit.

In addition to the positioning unit, other equipment for communication and the like may be installed in the work machine.

With such a configuration, the lateral width of the recessed portion of the ceiling is set to be larger than the lateral width of the positioning unit, so that other equipment other than the positioning unit can be easily supported by the support frame so as to enter the recessed portion of the ceiling.

In the present invention, it is preferable to include a connecting mechanism capable of connecting and releasing the first support frame and the ceiling, and a support mechanism capable of connecting the ceiling to the ceiling between an operating position and a non-operating position. The ceiling is supported by the second support frame in a position change manner, the working position is a position where the first support frame and the ceiling can be connected by the connection mechanism, and the non-working position is at A position where the ceiling is far away from the positioning unit in the front-rear direction in the disengaged state of the coupling mechanism; the first height changing mechanism is capable of adjusting the first support frame between the first working height and the first non-working height. The height is changed, the first working height is a height at which the first support frame and the ceiling can be connected by the connecting mechanism when the ceiling is in the working position, and the first non-working height is a height lower than the first working height; and a second height changing mechanism capable of changing the height of the second support frame between a second working height and a second non-working height, the second working height being The height at which the first support frame and the ceiling can be connected by the connection mechanism when the ceiling is in the working position, and the second non-working height is a height lower than the second working height .

According to such a configuration, for example, when the work machine is loaded on a bed of a truck for transportation, when the work machine is stored in a warehouse, etc., the first support frame and the second support frame can be lowered by performing operations as described below. Height of supporting frame, positioning unit, ceiling.

When normal work is performed by a work machine, the first support frame and the second support frame are set at the first work height and the second work height, the ceiling is set at the work position, and the ceiling is connected to the first support by the connecting mechanism Frame link.

In the above-mentioned state, the connection mechanism is operated to the release state, and the ceiling is removed from the first support frame. That is, when the height of the first support frame is changed from the first working height to the first non-working height lower than the first working height by the first height changing mechanism, the positioning unit supported by the first support frame is also connected to the first support frame. The frames are set together in a low position.

In addition, the height of the second support frame is changed from the second working height to the second non-working height lower than the second working height by the second height changing mechanism, and the ceiling supported by the second support frame is also together with the second support frame. is set to a low position.

At this time, since the ceiling is previously set to the non-working position by the support mechanism, the ceiling is away from the first support frame.

As described above, the heights of the first and second support frames, the positioning unit, and the ceiling can be reduced. For example, it is possible to carry the work machine without forcing it onto a truck bed, and to store the work machine in a warehouse.

In the present invention, it is preferable that a right front and rear drain channel with a concave cross-section is provided in the right part of the upper surface of the ceiling in the front-rear direction, and a left front and rear drain channel with a concave cross-section is provided in the front-rear direction. In the left part of the upper surface of the ceiling, a plurality of left and right drainage channels with a concave cross section are provided on the upper surface of the ceiling in the left-right direction and are connected to the front and rear drainage channels, and rainwater is drained from the front and rear channels on the right and left. road out.

According to such a configuration, the front and rear drainage channels and the left and right drainage channels are provided on the upper surface of the ceiling, and rainwater is mainly discharged from the front and rear drainage channels.

In this case, since the front and rear drainage channels with a concave cross-section and the left and right drainage channels with a concave cross-section are arranged on the upper surface of the ceiling so as to intersect with each other, the front and rear drainage channels and the left and right drainage channels function as reinforcements of the ceiling. Improve the rigidity of the ceiling.

In this invention, it is preferable that a work implement is supported by the rear part of the said body, and rainwater is drained from the front part of the said front-rear drainage passage on the right and left.

In working machines such as riding-type rice transplanters and riding-type direct seeding machines, working devices such as seedling planting devices, seeding devices, and fertilization devices are often supported at the rear of the machine body.

According to the above configuration, rainwater is drained from the front parts of the front and rear drainage passages on the right and left sides of the ceiling, and therefore, the rainwater from the front and rear drainage passages rarely spills onto the work equipment.

By draining rainwater from the front parts of the front and rear drainage passages on the right and left sides of the ceiling, the amount of rainwater falling from the center of the front part of the ceiling in the left-right direction is reduced, so that the front view of the operator of the driver's seat is ensured. favorable.

In order to achieve the above-mentioned second object, a work machine according to an embodiment of the present invention is a work machine that operates and travels at a work site according to a work instruction value, and includes: a satellite antenna for receiving satellite signals from satellites; and a satellite positioning module, Based on the satellite signal, positioning data corresponding to the position of the vehicle is output; the storage unit stores a work plan map that is input for each grid-like block corresponding to the work location. having the work instruction value; and a host vehicle position determination unit for determining whether or not the host vehicle position is within the work site based on the work instruction value input to the block corresponding to the host vehicle position.

A work machine that determines the position of the vehicle based on satellite signals from satellites performs work travel while correlating a work site map or the like with the vehicle position to confirm the position of the vehicle in the work area. Even in such a work machine, the work machine may travel away from the work site due to defects in the work site map, malfunction of positioning means such as satellite antennas, or errors in the detection of the vehicle position.

In the above configuration, it is confirmed to which block in the work plan map the own vehicle position corresponds, and whether or not the own vehicle position is in the work place is determined based on the work instruction value input to the block. Therefore, in addition to the confirmation of the own vehicle position corresponding to the work site map, etc., it is also determined whether or not the own vehicle position is within the work site based on the work instruction value of the block corresponding to the own vehicle position input in the work plan map. In this way, it is possible to double check whether or not the position of the own vehicle is within the work site. As a result, even when the work site map is defective or the position of the host vehicle is somewhat erroneous, it is possible to confirm with high accuracy whether or not the position of the host vehicle is within the work site.

Further, the work instruction value may include a non-work value for not performing work, and the host vehicle position determination unit may determine that the host vehicle is the host vehicle when the work instruction value is the non-work value. The location is outside the job site.

According to such a configuration, the work instruction value for determining that the vehicle position is outside the work site is clear, it is possible to easily determine whether the vehicle position is within the work site or not, and whether the vehicle position is within the work site can be confirmed with high accuracy.

Further, a map correction unit that corrects the work plan map may be provided, and the work instruction value for performing the work may be a work value in a predetermined range larger than the non-work value, and the map correction unit may refer to the A work site map having an outer peripheral position of a work site, wherein the map correction unit corrects the work value of the block corresponding to the outer peripheral position to a value between the non-work value and the work value.

According to such a configuration, it can be easily confirmed that the host vehicle is traveling in the vicinity of the outer peripheral area of the work site such as a field boundary based on the work instruction value input to the block corresponding to the host vehicle position. As a result, when traveling in the vicinity of the outer peripheral area of a work place such as a field boundary, it is possible to perform appropriate travel as a trigger, and it is possible to easily avoid leaving the work place.

Further, it is preferable to include a notification unit that notifies a warning when it is determined by the own vehicle position determination unit that the own vehicle position is outside the work site.

According to such a configuration, the driver and the operator can recognize that the position of the own vehicle is outside the work site, and can take this as an opportunity to take appropriate measures.

Further, a notification unit may be provided which notifies a warning when the vehicle position determination unit determines that the vehicle position is outside the work site and is in a work state.

During work travel, there may be cases in which the travel is performed away from the work site for replenishment of materials and fuel, and there is no problem with this travel. Driving outside the worksite becomes a problem when the work is continued even when the vehicle is traveling outside the worksite. When the work is performed outside the work site, the work equipment may hit the field boundary or the like and be damaged, or perform inappropriate work at the adjacent work site or the like.

According to the above-described configuration, since the warning is issued only when the vehicle travels for work and when the vehicle leaves the work site, unnecessary warnings can be suppressed and only more appropriate warnings can be issued. As a result, an appropriate response can be taken based on an appropriate warning, and the work travel can be efficiently performed.

In addition, a predetermined reference work value may be defined in the work instruction value, and when the work state continues after notification of the warning, the work may be performed according to the reference work value.

There are many situations in which it is necessary to continue the work traveling even if the work site is removed from the work site. According to the above configuration, the reference work value in such a specific work is determined in advance, and when the work travel is performed away from the work area, the work can be automatically performed according to the reference work value, so that the work travel can be efficiently performed.

Further, the work related to the work traveling may be a fertilization work, and the work instruction value may be an amount of fertilizer to be fertilized.

According to such a configuration, it is possible to accurately determine whether or not the position of the vehicle is within the work site even during work travel for fertilizing work.

Description of drawings

Fig. 1 is a left side view of the riding type rice transplanter.

Fig. 2 is a plan view of the riding type rice transplanter.

Fig. 3 is a front view of the riding type rice transplanter.

4 is an exploded perspective view of a preliminary seedling placing table frame, a support frame, a positioning unit, and the like in the front part of the machine body.

5 is an exploded perspective view of a support frame at the rear of the body, a frame-shaped portion of a ceiling, and the like.

6 is a cross-sectional plan view of the second height changing mechanism.

FIG. 7 is a cross-sectional plan view of the support mechanism.

8 is a perspective view of a ceiling.

Fig. 9 is a left side view of a vertical section of the ceiling.

Fig. 10 is an exploded perspective view of the ceiling.

Fig. 11 is a left side view in a state in which the preliminary seedling placing table frame and the support frame of the front part of the machine body are set at the first working height, the support frame of the rear part of the machine body is set at the second working height, and the ceiling is set at the working position view.

12 shows the left side of the machine body in a state where the preliminary seedling placement table frame and the support frame in the front part of the machine body are set at the first non-working height, the support frame at the rear part of the machine body is set at the second non-working height, and the ceiling is removed view.

13 is a state in which the preliminary seedling placing table frame and the support frame of the front part of the machine body are set at the first non-working height, the support frame of the rear part of the machine body is set at the second non-working height, and the ceiling is set at the non-working position bottom left view.

Fig. 14 is a side view of a rice transplanter as an example of a farming machine capable of traveling automatically.

FIG. 15 is an explanatory diagram showing the area division of the farmland on which the travel route is to be set.

16 : is explanatory drawing explaining the circle|running|running|working of the circle travel route set in the outer peripheral area, and a rice transplanter.

17 : is explanatory drawing explaining the reciprocating driving|running|working path set in the center area, and a rice transplanter.

It is a functional block diagram which shows the control system of a rice transplanter.

FIG. 19 is a diagram illustrating an example of a fertilization plan map.

Detailed ways

(Embodiment 1)

The riding type rice transplanter which is an example of a working machine is shown in FIGS. 1-13. In FIGS. 1 to 13 , F represents the front, B represents the rear, U represents the upper side, D represents the lower side, R represents the right side, and L represents the left side.

(The overall structure of the riding type rice transplanter)

As shown in FIGS. 1 and 2 , in the riding type rice transplanter, the rear part of the body 11 provided with the right and left front wheels 1 and the right and left rear wheels 2 is provided with a link mechanism 3 and a pair of The hydraulic cylinder 4 which the link mechanism 3 performs raising/lowering operation supports the seedling planting apparatus 5 (equivalent to a work apparatus) in the rear part of the link mechanism 3, and the seedling planting apparatus 5 is supported by the rear part of the body 11.

The seedling planting device 5 is provided with a planting transmission case 6 arranged at predetermined intervals in the left-right direction, a rotation case 7 rotatably supported on the right and left parts of the planting transmission case 6, The planting arm 8, the floating plate 9, the seedling loading platform 10, etc. are supported by the both ends of the rotating box 7.

A fertilization device 12 (equivalent to a working device) is supported so as to straddle the rear part of the body 11 and the seedling planting device 5, and the fertilization device 12 is provided with a hopper 13, a delivery part 14, a blower 15, a trench opener 16, and a soft Tube 17 et al.

The driver's seat 18 is supported at the rear of the body 11 . The fertilizer applicator 12 is provided with a hopper 13 for storing fertilizer and a delivery part 14 in the rear part of the driver's seat 18 in the body 11 , and a blower 15 is provided on the left lateral outer side of the delivery part 14 . The opener 16 is attached to the floating plate 9 , and the hose 17 is connected so as to straddle the delivery part 14 and the opener 16 .

In the seedling planting device 5 , the planting arm 8 (rotary box 7 ) is rotationally driven while the seedling loading table 10 is driven by reciprocating lateral feeding, and the planting arm 8 takes out the seedlings from the lower part of the seedling loading table 10 and plants the seedlings. Planted in the field.

In the fertilizer applicator 12, the fertilizer in the hopper 13 is sent out from the delivery part 14, and the conveying air by the blower 15 is supplied to the opener 16 through the hose 17, and the opener 16 forms a trench on the field surface while the opener 16 is formed. Fertilizer is supplied to the furrows on the field surface.

(structure of the front part of the body)

As shown in FIGS. 1 , 2 and 3 , an engine (not shown) is supported at the front of the body 11 , and a hood 19 covering the engine is provided. Steering-operated joystick 20 . Right and left pedals 21 for getting on and off are provided on the right and left sides of the hood 19 .

The right and left preparatory seedling mounting table frames 22 (corresponding to the first support frame) are connected to the lower part of the front part of the body 11 and extend laterally outward, and go up on the lateral outer sides of the right and left pedals 21 side extension. The preliminary seedling placing table frame 22 is provided in an arch shape (bifurcated shape) in side view, and the three preliminary seedling placing table frames 23 are supported by the preliminary seedling placing table frame 22 .

Among the three preliminary seedling placement platforms 23, the central preliminary seedling placement platform 23 is supported by the preliminary seedling placement platform frame 22, and the front preliminary seedling placement platform 23 is supported by the central preliminary seedling placement platform 23 so as to be swingable in the front-rear direction. The front part and the rear preliminary seedling placing stand 23 are supported by the rear part of the center preliminary seedling placing stand 23 so as to be swingable in the front-rear direction.

The state shown in FIGS. 1, 2, and 3 is a state in which the preliminary seedling mounting table 23 in the front is operated to the rear side, and the preliminary seedling mounting table 23 in the rear is operated to the front side. Front and rear preliminary seedling mounting stands 23 are stacked on the upper portion of the central preliminary seedling mounting stand 23 .

From the state shown in FIGS. 1 , 2 , and 3 , it is possible to install It is assumed that the three preliminary seedling placement platforms 23 are spread out in a row.

(The structure of the first support frame in the front part of the body)

As shown in FIGS. 1 to 4 , a support frame 24 (corresponding to a first support frame) having an arch shape when viewed from the front is provided. The support frame 24 is constituted by bending a round tube, and is provided with a lateral portion 24a along the left-right direction, right and left vertical portions 24b, and right and left front-rear facing portions 24c.

Recess-shaped brackets 22a are connected to the upper parts of the right and left preliminary seedling mounting table frames 22, and the ends of the front-rear facing portions 24c of the support frames 24 are supported so as to be swingable around the axis P1 in the left-right direction. On the bracket 22a of the preliminary seedling mounting table frame 22.

1, 2, 3, and 11 are states in which the support frame 24 (vertical portion 24b) faces upward with respect to the bracket 22a of the preliminary seedling placing table frame 22, and the preliminary seedling placing table frame 22 and The support frame 24 is set in the state of the 1st work height H11. The support frame 24 can be fixed to the 1st work height H11 by attaching a fixing member (not shown) so that it may straddle the bracket 22a of the preliminary seedling mounting base frame 22, and the front-back facing part 24c of the support frame 24.

By removing the fixing member and swinging the support frame 24 to the rear side around the axis P1, as shown in FIG. 12 and FIG. 13 , the preliminary seedling placement table frame 22 and the support frame 22 can be supported so that the longitudinal portion 24b of the support frame 24 faces the lower side. The frame 24 is set at the first non-working height H12 lower than the first working height H11.

At the first non-working height H12, the vertical portion 24b of the support frame 24 is in contact with the rear portion of the preliminary seedling placing table frame 22, so the support frame 24 cannot be swung to the front side from the state shown in FIGS. 12 and 13 . The support frame 24 can be fixed to the first non-working height H12 by attaching the detached fixing member so as to straddle the bracket 22a of the preliminary seedling placing table frame 22 and the front-rear facing portion 24c of the support frame 24.

As mentioned above, the 1st height change mechanism 31 which can change the height of the preliminary seedling mounting base frame 22 and the support frame 24 between the 1st work height H11 and the 1st non-work height H12 is provided. The 1st height changing mechanism 31 is provided with the bracket 22a of the preliminary seedling mounting base frame 22, the front-back facing part 24c of the support frame 24, a fixing member, etc.

(Structure of positioning unit)

As shown in FIGS. 1 to 4 , the positioning unit 25 is attached to the center portion of the lateral portion 24 a of the support frame 24 in the left-right direction. When the height of the preliminary seedling placing table frame 22 and the support frame 24 is changed between the first working height H11 and the first non-working height H12 as described in the above (structure of the first support frame in the front part of the machine body) , the positioning unit 25 moves integrally with the support frame 24 .

The positioning unit 25 is provided with a receiver (not shown) that acquires position information by a satellite positioning system, and an inertial measurement device (not shown) that detects the inclination (pitch angle, roll angle) of the airframe 11 , and the positioning unit 25 outputs an output indicating Positioning data of the position of the body 11 .

Among the above-mentioned satellite positioning systems (Global Navigation Satellite System: Global Navigation Satellite System), there is typically GPS (Global Positioning System: Global Positioning System). GPS is a system that measures the position of a receiving device using a plurality of GPS satellites orbiting the earth, a control station that tracks and controls GPS satellites, and a receiving device included in a target (body 11 ) to be positioned.

(The structure of the second support frame at the rear of the body)

As shown in FIGS. 1 , 3 , and 5 , the right and left support frames 26 (corresponding to the second support frame) are connected to the lower part of the rear part of the machine body 11 and extend laterally outward, in the lateral direction of the hopper 13 . The outer side extends upwards. The right and left connection parts 29 are connected to the upper part of the support frame 26 .

The right and left support frames 27 (corresponding to the second support frame) are connected to the connection portion 29 and extend upward. The reinforcement frame 28 is connected so as to straddle the lower part of the rear part of the body 11 and the support frame 26 .

As shown in FIGS. 5 and 6 , the connecting portion 29 is formed by bending a plate material, and is provided with a notch portion 29a and a connecting hole 29b, and an opening portion 29c having a larger diameter than the connecting hole 29b is provided. A bracket 30 is connected to a portion of the connection portion 29 facing the opening portion 29 c , and a circular tubular guide member 33 is connected to the bracket 30 .

A fixing member 34 formed by bending a round bar into a groove shape is provided, and the fixing member 34 is supported on the guide so as to be able to swing around the axis P2 of the guide member 33 in the front-rear direction and to be slidable along the axis P2. Member 33.

The spring 35 is fitted so as to pass through the opening portion 29c of the connecting portion 29 and straddle the spring receiving portion 34b fixed to the fixing member 34 and the bracket 30 . The fixing member 34 is urged by the spring 35 to the side where the end portion 34 a of the fixing member 34 enters the connecting hole 29 b of the connecting portion 29 .

As shown in FIG. 5, the lower part of the support frame 27 is provided with the connection pin 27a and the connection hole 27b, and the connection pin 27c and the connection hole 27d are provided in the middle part of the support frame 27 in the vertical direction.

The states shown in FIGS. 1 , 3 , 5 , 6 , and 11 are states in which the support frames 26 and 27 are set at the second working height H21 .

The connecting pin 27a of the support frame 27 is inserted into the notch portion 29a of the connecting portion 29 from the upper side, the support frame 27 enters the interior of the connecting portion 29, and the end portion 34a of the fixing member 34 passes through the connecting hole 27b of the support frame 27 and the connecting portion 29 29b, the support frame 27 is connected to the connection portion 29, and the support frames 26 and 27 are set at the second working height H21.

The state shown in FIGS. 12 and 13 is a state in which the support frames 26 and 27 are set at the second non-working height H22 which is lower than the second working height H21.

The connecting pin 27c of the support frame 27 is inserted into the notch portion 29a of the connecting portion 29 from the upper side, the support frame 27 enters the interior of the connecting portion 29, and the end portion 34a of the fixing member 34 passes through the connecting hole 27d of the support frame 27 and the connecting portion 29 29b, the support frame 27 is connected to the connection portion 29, and the support frames 26 and 27 are set at the second non-working height H22.

As described above, the second height changing mechanism 32 capable of changing the height of the support frames 26 and 27 between the second working height H21 and the second non-working height H22 is provided. The second height changing mechanism 32 is provided with the connecting pins 27a and 27c of the support frame 27, the connecting holes 27b and 27d, the connecting portion 29, the fixing member 34, the spring 35, and the like.

(The overall structure of the ceiling)

As shown in FIGS. 1 , 2 , and 3 , a ceiling 36 is provided, and the ceiling 36 is supported by the preliminary seedling placing table frame 22 , the support frame 24 , and the support frames 26 , 27.

As shown in FIGS. 8 , 9 and 10 , the ceiling 36 is provided with a frame-shaped portion 37 made of a metal circular tubular member and an elongated plate, and two ceiling portions 38 and 39 made of synthetic resin. The frame-shaped portion 37 and the ceiling portions 38 and 39 are connected by bolts.

(Structure of the frame-like portion in the ceiling)

As shown in FIGS. 9 and 10 , in the frame-shaped portion 37 , a tubular front portion 40 , tubular right and left lateral portions 41 , and tubular rear portions 42 are connected to form a frame-shaped member. . The circular tubular intermediate portion 43 is connected so as to straddle the front portion 40 and the rear portion 42 . The front and rear left and right portions 44 of the elongated plate shape are connected so as to straddle the front portion of the lateral side portion 41 and the front portion of the intermediate portion 43 , and are connected so as to span the rear portion of the lateral side portion 41 and the intermediate portion 43 . Rear way link.

In the frame-shaped portion 37 , a plurality of brackets 45 are attached to the front portion 40 , the lateral side portions 41 , the rear portion 42 , the middle portion 43 , and the left and right portions 44 in an upward manner. The connection brackets 47 and 48 are connected to the rear part and the front-back intermediate part of the right and left lateral side parts 41 so as to face downward.

The coupling brackets 46 are coupled to the right and left portions of the front portion 40 in a forward-facing manner. The part between the right and left connection brackets 46 in the front part 40 is bent to the rear side, and the recessed part 40a which opens to the front side is comprised.

(The structure of the ceiling part in the ceiling)

As shown in FIGS. 8 , 9 , and 10 , the two divided ceiling portions 38 and 39 are provided on the ceiling 36 so as to be aligned in the front-rear direction.

The front ceiling portion 38 is integrally formed of synthetic resin. The recessed part 38c opened to the front side is provided in the front part of the ceiling part 38 (the ceiling 36), and the rear part 38d of the front ceiling part 38 is provided in a plane shape.

In the front ceiling portion 38, a right front and rear drain passage 38a having a concave cross-section is provided in the front-rear direction on the right portion of the upper surface of the front ceiling portion 38 (the ceiling 36), and a left front and rear drain passage having a concave cross-section 38a is provided in the left part of the upper surface of the front ceiling part 38 (the ceiling 36) in the front-back direction. Two left and right drain passages 38b having a concave cross section are provided on the upper surface of the front ceiling portion 38 (the ceiling 36) in the left-right direction, and are connected to the right and left front and rear drain passages 38a.

The rear ceiling portion 39 is integrally formed of synthetic resin. The right front and rear drain passage 39a having a concave cross-section is provided in the front-rear direction on the right part of the upper surface of the rear ceiling portion 39 (the ceiling 36), and the left front-rear drain passage 39a having a concave cross-section is provided in the front-rear direction. The left part of the upper surface of the ceiling part 39 (the ceiling 36 ). Left and right drain passages 39b having a concave cross section are provided on the upper surface of the rear ceiling portion 39 (the ceiling 36) in the left-right direction, and are connected to the right and left front and rear drain passages 39a.

In the front and rear ceiling parts 38 and 39, the rear part 38d of the front ceiling part 38 is connected to the rear part 38d of the front ceiling part 38 in such a manner that the rear part 38d of the front ceiling part 38 is located on the lower side with respect to the front part 39c of the rear ceiling part 39. The front part 39c of the ceiling part 39 is arrange|positioned so that it may overlap. In this state, the right and left front and rear drain passages 38a of the front ceiling portion 38 are connected to the right and left front and rear drain passages 39a of the rear ceiling portion 39 .

At the portion where the rear portion 38d of the front ceiling portion 38 and the front portion 39c of the rear ceiling portion 39 overlap, and the portion between the right and left front and rear drain passages 39a in the front portion 39c of the rear ceiling portion 39 There is provided a part where the rear part 38d of the front ceiling part 38 and the front part 39c of the rear ceiling part 39 are separated in the up-down direction so as to bulge upward.

The front part 38d of the front ceiling part 38 and the front part 39c of the rear ceiling part 39 are located between the right and left front and rear drainage passages 39a, and the front part 38 (the ceiling 36) is oriented along the front. The front openings 49 in the direction of the upper surface of the s The communication paths 50 through which the parts 49 communicate are provided in the front and rear ceiling parts 38 and 39 (the ceiling 36 ).

In a state in which the front and rear ceiling parts 38 and 39 are arranged as described above, the front and rear ceiling parts 38 and 39 are connected to the brackets 45 of the frame-shaped part 37 by bolts.

Between the rear portion 38d of the front ceiling portion 38 and the front portion 39c of the rear ceiling portion 39, the right and left front and rear drain passages 39a are sandwiched and provided with buffers such as rubber or slightly hard sponge. Piece 51.

(Structure for supporting the ceiling on the first support frame)

As shown in FIGS. 1 , 3 , and 4 , connecting brackets 24 d are connected to the right and left parts of the lateral portion 24 a of the support frame 24 .

The fixing member (not shown) is assembled so as to straddle the connection bracket 46 of the ceiling 36 and the connection bracket 24d of the support frame 24 in a state where the connection bracket 46 of the ceiling 36 is inserted into the connection bracket 24d of the support frame 24 . ), the connection bracket 46 of the ceiling 36 is connected to the connection bracket 24d of the support frame 24 . By removing the fixing member, the connection bracket 46 of the ceiling 36 is removed from the connection bracket 24d of the support frame 24 .

As mentioned above, the connection mechanism 53 which can connect and unconnect the preliminary seedling mounting base frame 22 and the support frame 24 and the ceiling 36 is provided. The connection mechanism 53 is provided with the connection bracket 46 of the ceiling 36, the connection bracket 24d of the support frame 24, the fixing member, and the like.

(Structure for supporting the ceiling on the second support frame)

As shown in FIGS. 5 and 7 , the support portion 54 formed by bending a plate is connected to the upper portion of the support frame 27 , and the support portion 54 is provided with a connection hole 54 a. A fixing member 55 formed by bending a round bar into a groove shape is provided, and the fixing member 55 is supported on the support so as to be able to swing around the axis P3 along the left-right direction of the support portion 54 and slidable along the axis P3. Section 54.

The spring 56 is assembled so as to straddle the spring receiving portion 55b fixed to the fixing member 55 and the support portion 54, and the fixing member 55 is applied by the spring 56 to the side where the end portion 55a of the fixing member 55 enters the connecting hole 54a of the support portion 54. force. In the ceiling 36, connection holes 47a, 48a along the left-right direction are provided in the connection brackets 47, 48.

In a state where the connection brackets 47 and 48 of the ceiling 36 are inserted into the support portion 54 , the end portion 55 a of the fixing member 55 passes through the connection hole 54 a of the support portion 54 and the connection holes 47 a and 48 a of the connection brackets 47 and 48 . Thus, the ceiling 36 (connection brackets 47 and 48 ) is connected to the support frame 27 (support portion 54 ). The ceiling 36 (connection brackets 47 and 48 ) is removed from the support frame 27 (support portion 54 ) by removing the fixing member 55 .

As shown in FIG. 11 , in a state where the connection bracket 47 of the ceiling 36 is connected to the support portion 54, the ceiling 36 is in a state in which the working position A1 is located.

In the state where the ceiling 36 is located at the working position A1, the connection between the connection bracket 46 of the ceiling 36 and the support frame 24 can be connected by the connection mechanism 53 as described in the above (Structure for Supporting the Ceiling on the First Support Frame). The connection bracket 24d is connected.

As shown in FIG. 13 , in the state where the connection bracket 48 of the ceiling 36 is connected to the support portion 54 in the released state of the connection mechanism 53, the ceiling 36 is in the non-working position A2. When the ceiling 36 is located in the non-working position A2, the ceiling 36 is spaced away from the preliminary seedling placing table frame 22, the support frame 24, and the positioning unit 25 toward the rear side in the front-rear direction.

As described above, there is provided the support mechanism 57 capable of supporting the ceiling 36 on the support frames 26 and 27 so that the position of the ceiling 36 can be changed between the working position A1 and the non-working position A2, which are the preliminary seedlings The position where the mounting table frame 22, the support frame 24 and the ceiling 36 can be connected by the connection mechanism 53, and the non-working position A2 is the position where the ceiling 36 is separated from the preliminary seedling mounting table frame 22 and the support frame 24 in the front-rear direction in the released state of the connection mechanism 53. , the position of the positioning unit 25 . The support mechanism 57 is provided with the support portion 54 , the fixing member 55 , the spring 56 , the connection brackets 47 , 48 , and the like.

(The state where the ceiling is supported by the first support frame and the second support frame)

The state shown in FIGS. 1 , 2 , 3 , and 11 is the state in which the preliminary seedling placing table frame 22 and the support frame 24 are set at the first working height H11 , and the support frames 26 and 27 are set at the second working height Status of H21.

In the state shown in FIGS. 1 , 2 , 3 , and 11 , the connection bracket 46 of the ceiling 36 and the connection bracket 24d of the support frame 24 are connected by the connection mechanism 53 , and the connection bracket 47 of the ceiling 36 is connected to the support The part 54 and the ceiling 36 are set to the working position A1.

In the above state, the front part of the ceiling 36 is supported by the preliminary seedling placing table frame 22 and the support frame 24, and the ceiling The rear portion of 36 is supported by the support frames 26 and 27 .

The front part of the ceiling 36 is supported by the preliminary seedling placement table frame 22 and the support frame 24 so that the positioning unit 25 is positioned at the same height as the front part of the ceiling 36 in a side view.

In a state where the positioning unit 25 enters the recessed part 38c of the ceiling part 38 in front of the ceiling 36 and the recessed part 40a of the front part 40 in plan view, and the recessed parts 38c and 40a into which the positioning unit 25 can enter are provided in front of the ceiling 36 in plan view department. In this case, the left and right widths of the recessed portion 38 c of the ceiling portion 38 in the front of the ceiling 36 and the recessed portion 40 a of the front portion 40 are set to be larger than the left and right width of the positioning unit 25 .

The ceiling 36 overlaps the driver's seat 18 , the rear portion of the hood 19 , the joystick 20 , the hopper 13 of the fertilization device 12 , and the delivery portion 14 in plan view, and the ceiling 36 covers the rear including the driver's seat 18 and the hood 19 . The upper part of the area of the body 11 of the part and the joystick 20 , the hopper 13 of the fertilization device 12 , and the delivery part 14 .

As shown in FIGS. 8 , 9 and 10 , for example, when strong wind blows into the lower side of the ceiling 36 , a part of the strong wind escapes from the opening 49 to the upper side of the ceiling 36 through the communication passage 50 of the ceiling 36 .

In rainy weather, the rainwater falling on the upper surface of the ceiling 36 flows into the front and rear drainage passages 38a and 39a of the ceiling 36 or flows into the front and rear drainage passages 38a and 39a from the left and right drainage passages 38b and 39b of the ceiling 36 , and mainly collects in the front and rear drainage passages of the ceiling 36 . Roads 38a, 39a.

By making the ceiling 36 tilt forward, the rainwater collected in the front and rear drainage passages 38a, 39a of the ceiling 36 flows to the front side along the front and rear drainage passages 38a, 39a of the ceiling 36 and is discharged from the front of the front and rear drainage passages 38a of the ceiling 36, It falls to the preliminary seedling mounting base 23 .

(For example, when the riding-type rice transplanter is loaded on the cargo bed of a truck and transported, and the riding-type rice transplanter is stored in a warehouse, etc.)

The height of the ceiling 36 and the like can be lowered by performing the operations described below from the above-described (the state where the ceiling is supported by the first and second support frames) and the state shown in FIG. 11 .

In the state shown in FIG. 11 , the connection mechanism 53 is set to the released state, and the connection bracket 46 of the ceiling 36 is removed from the connection bracket 24d of the support frame 24 . The fixing member 55 of the support mechanism 57 is removed, and the connection bracket 47 of the ceiling 36 is removed from the support portion 54 . Thereby, the ceiling 36 is removed from the preliminary seedling mounting base frame 22, the support frame 24, and the support frames 26 and 27.

Next, as shown in the above-mentioned (the structure of the first support frame in the front part of the machine body) and FIG. The first non-working height H12.

The support frames 26 and 27 are set to the second non-working height H22 by the second height changing mechanism 32 as shown in the above-mentioned (structure of the second support frame in the rear part of the machine body) and FIG. 12 .

Next, as shown in FIG. 13, in the ceiling 36 which has been removed, the connection bracket 48 of the ceiling 36 is connected to the support part 54, and the ceiling 36 is located in the non-work position A2. In the state where the ceiling 36 is located at the non-working position A2, the ceiling 36 is separated from the preliminary seedling placing table frame 22, the support frame 24, and the positioning unit 25 toward the rear side in the front-rear direction, so that the front part of the ceiling 36 does not collide with the preliminary seedling placing table. The frame 22 interferes with the support frame 24 and the positioning unit 25 .

In this case, fixing members (not shown) such as belts and rods are preferably installed in advance so as to straddle the front part of the ceiling 36 and the joystick 20 so that the ceiling 36 does not sway back and forth.

(Other Embodiments of Embodiment 1)

(1) Of the front and rear ceiling portions 38 and 39 of the ceiling 36, the front ceiling portion 38 is positioned so that the rear portion 38d of the front ceiling portion 38 is positioned above the front portion 39c of the rear ceiling portion 39. The rear part 38d of the ceiling part 39 is overlapped with the front part 39c of the rear.

According to this configuration, the rear portion 38d of the front ceiling portion 38 is provided with a portion protruding upward at the portion where the rear portion 38d of the front ceiling portion 38 and the front portion 39c of the rear ceiling portion 39 overlap, and the rear portion 38d of the front ceiling portion 38 is oriented toward the rear. The rear openings 49 in the direction of the upper surface of the ceiling portion 39 (the ceiling 36 ) are provided in the front and rear ceiling portions 38 and 39 (the ceiling 36 ).

(2) Three or more ceiling parts 38, 39 may be provided in the ceiling 36, and the three or more ceiling parts 38, 39 may be provided as shown in FIGS. 8, 9, and 10 or as described above ( The other embodiment (1)) of the embodiment 1 is provided in the same manner.

According to this configuration, the plurality of openings 49 facing forward in the direction along the upper surface of the ceiling 36 or the plurality of openings 49 facing the rear in the direction along the upper surface of the ceiling 36 are provided in the ceiling 36 .

The ceiling 36 may be provided with the opening 49 facing the front and the opening 49 facing the rear at the same time.

(3) Instead of providing the divided ceiling parts 38 and 39 in the ceiling 36, one ceiling 36 may be integrally formed.

According to this structure, one or a plurality of openings 49 can be provided so as to face forward or rearward, rightward or leftward as a direction along the upper surface of the ceiling 36 .

(4) A sheet-like buffer 51 may be provided so as to be sandwiched at a portion where the rear portion 38d of the front ceiling portion 38 and the front portion 39c of the rear ceiling portion 39 are arranged to be in contact with each other.

(5) The structure of the preliminary seedling placing table frame 22, the support frame 24 (first support frame), the positioning unit 25, and the first height changing mechanism 31 may be provided at the rear of the body 11, and the support frames 26, 27 ( The structure of the 2nd support frame) and the 2nd height change mechanism 32 is provided in the front part of the body 11.

According to this structure, the rear part of the ceiling 36 is supported by the 1st support frame, and the front part of the ceiling 36 is supported by the 2nd support frame.

The positioning unit 25 is supported at the same height as the rear of the ceiling 36 in a side view, and a recess into which the positioning unit 25 can enter is provided in the rear of the ceiling 36 in a plan view.

In the support mechanism 57, the ceiling 36 is supported so that the position can be changed between the working position A1 and the non-working position A farther away from the preliminary seedling placing table frame 22, the support frame 24, and the positioning unit 25 toward the front side in the front-rear direction.

(6) In the support mechanism 57, the lateral side portion 41 of the ceiling 36 may be supported by the support portion 54 so as to be slidable in the front-rear direction, whereby the ceiling 36 may be supported so as to be able to be connected to the working position A1. The position changes between working positions A2.

(7) The ceiling 36 may be provided with three or more front and rear drain passages 38a, 39a, or four or more left and right drain passages 38b, 39b.

(Embodiment 2)

Hereinafter, as Embodiment 2 of the work machine of this invention, the rice transplanter which performs a work traveling in a farmland (corresponding to a "work place") is demonstrated as an example. Moreover, this rice transplanter fertilizes farmland based on a fertilization plan map (corresponds to a "work plan map").

(overall structure)

As shown in FIG. 14, a rice transplanter is equipped with the traveling body (henceforth, the body 101) of a riding type and a four-wheel drive type. The body 101 includes a parallel four-link link mechanism 111 connected to the rear of the body 101 so as to be able to move up and down, a hydraulic lift cylinder 111a that swings the link mechanism 111, and is connected to the The seedling planting apparatus 103 of the rear-end part area|region of the link mechanism 111, and the fertilization apparatus 104 etc. which were installed between the rear-end part area|region of the body 101 and the seedling planting apparatus 103, etc. The seedling planting apparatus 103 and the fertilization apparatus 104 are an example of a work apparatus.

The body 101 includes wheels 112 , an engine 113 , and a hydraulic continuously variable transmission 114 as mechanisms for running. The wheels 112 include steerable left and right front wheels 112A and left and right rear wheels 112B that cannot be steered. The engine 113 and the continuously variable transmission 114 are mounted on the front part of the body 101 . The power from the engine 113 is supplied to the front wheels 112A, the rear wheels 112B, the work equipment, and the like via the continuously variable transmission 114 and the like.

As an example, the seedling planting device 103 is arranged in an eight-row planting type. The seedling planting apparatus 103 is provided with the seedling loading table 131, the planting mechanism 132 for eight rows, and the like. In addition, this seedling planting apparatus 103 can be changed to the form of two-row planting, four-row planting, six-row planting, etc. by the control of each row|line clutch which is not shown in figure.

The seedling loading platform 131 is a pedestal on which eight rows of blanket-shaped seedlings are placed. The seedling loading table 131 reciprocates in the left-right direction with a fixed stroke corresponding to the left and right width of the blanket-shaped seedlings, and every time the seedling loading table 131 reaches the left and right stroke ends, the vertical feed mechanism 133 is directed toward the lower end of the seedling loading table 131 to define Each blanket-shaped seedling on the seedling-carrying platform 131 is longitudinally fed at a pitch. The eight planting mechanisms 132 are of a rotary type, and are arranged in the left-right direction at fixed intervals corresponding to the planting rows. And each planting mechanism 132 cuts out one seedling from the lower end of each blanket-shaped seedling mounted on the seedling loading platform 131 using the power from the machine body 101, and plants it in the soil part after leveling. Thereby, a seedling can be taken out from the blanket-shaped seedling mounted on the seedling loading platform 131 in the operating state of the seedling planting apparatus 103, and can be planted in the soil part of a paddy field.

As shown in FIG. 14 , the fertilization apparatus 104 includes a horizontally long hopper 141, a delivery mechanism 142, an electric blower 143, a plurality of fertilization hoses 144, and openers 145 arranged in rows. The hopper 141 stores granular or powdered fertilizer. The delivery mechanism 142 is operated by the power transmitted from the engine 113, and the fertilizer of the quantity of two rows is sequentially delivered from the hopper 141 by a predetermined quantity.

The blower 143 is operated by the electric power from the battery (not shown) mounted in the body 101, and the conveyance wind which conveys the fertilizer sent out by each sending mechanism 142 to the soil surface of a farmland is generated. By intermittent operation of the blower 143 and the like, the fertilization device 104 can be switched between an operating state in which the fertilizer stored in the hopper 141 is sequentially supplied to the farmland by a predetermined amount, and a non-operating state in which supply is stopped.

Each fertilization hose 144 guides the fertilizer conveyed by the conveyance wind to each opener 145 . Each opener 145 is equipped with each leveling floating plate 115 . Further, each opener 145 moves up and down together with each leveling floating plate 115, and when each leveling floating plate 115 is grounded, a fertilizer ditch is formed in the soil portion of the paddy field and the fertilizer is guided into the fertilization ditch.

As shown in FIG. 14 , the body 101 is provided with the driving part 120 in the rear side region. The driving unit 120 includes a steering wheel 121 for front wheel steering, a main gear lever 122 that adjusts the vehicle speed by performing a gear shifting operation of the continuously variable transmission 114, a sub gear lever 123 that can perform a gear shifting operation of the sub-transmission device, and can perform seedling planting. Operation lever 125 for raising and lowering operation of device 103 and switching of operating states, general terminal 109 having a touch panel for displaying (notifying) various information, notifying (outputting) to operator, and accepting input of various information, and operation A driver's seat 116 and the like for the driver (driver). Moreover, the preliminary seedling frame 117 which accommodates a preliminary seedling is provided in the front of the driving part 120.

The steering wheel 121 is connected to the front wheels 112A via a steering mechanism not shown, and the steering angle of the front wheels 112A is adjusted by the rotational operation of the steering wheel 121 .

(driving path)

Hereinafter, the traveling route used for the seedling planting work (an example of farm work) by this rice transplanter is demonstrated. As shown in FIG. 15 , the farmland is divided into an outer peripheral area where a revolving travel route is set and a central area where a reciprocating travel route is set. The rice transplanter initially planted seedlings in the central area along the reciprocating travel path, and then performed the seedling planting operation in the outer peripheral area along the surrounding travel path.

The encircling travel path is shown in FIG. 16 . The circling travel path includes a circling straight path extending parallel to a field boundary line (field boundary) and a direction changing path combining forward and backward so as to connect the circling straight paths to each other. In addition, in FIG. 16, the reference sign R1 is given to the surrounding straight path, and the reference sign R2 is given to the direction change path. The reciprocating travel path is shown in FIG. 17 . The reciprocating travel path includes many reciprocating paths substantially parallel to each other and turning paths (U-turn paths) connecting the reciprocating paths to each other. In addition, in FIG. 17, the reference numeral R3 is given to the reciprocating route, and the reference numeral R5 is given to the turning route. In FIGS. 16 and 17 , reference numeral R4 is assigned to a transition route for transitioning from the reciprocating route to the revolving route. In the example here, the transition path is similar to the turn path. Moreover, in FIG. 16 and FIG. 17, the working width of a rice transplanter is shown by the code|symbol W, and the entrance and exit GA of a rice transplanter entering and leaving a farmland is drawn by a diagonal line. FIG. 17 shows a start guide route (reference numeral R6 is assigned) from the gate GA to the travel start position S of the reciprocating travel route. In the turning route R5, the direction change route R2, the start guide route R6, and the transfer route R4, since the rice transplanter travels without working, these routes are shown by broken lines. Since the rice transplanter travels while performing the work in the circular straight route R1 and the reciprocating route R3, these routes are shown by solid lines.

(Control System)

Next, the control system of a rice transplanter is demonstrated using FIG. 18 with reference to FIG. 14. FIG.

Signals from the positioning unit 108 , the automatic changeover switch 127 , the traveling sensor group 128 , and the operation sensor group 129 are input to the control unit 106 forming the core of the control system of the rice transplanter. Control signals are output from the control unit 106 to the traveling equipment group 101A, the work equipment group 101B, the general terminal 109 , and the notification unit 110 .

The positioning unit 108 outputs positioning data for the position and orientation of the computer body 101 . The positioning unit 108 includes a satellite positioning module 108A that receives radio waves from global navigation satellite system (GNSS) satellites, and an inertial measurement module 108B that detects three-axis tilt and acceleration of the body 101 .

The automatic changeover switch 127 is provided in the driving part 120, and is a switch for selecting an automatic travel mode in which the body 101 is automatically traveled and a manual travel mode in which the body 101 is manually traveled. The travel sensor group 128 includes various sensors that detect the steering angle, the operating position of the main shift lever 122 or the sub-shift lever 123 , vehicle speed, engine speed, and other states, and set values for these states. The operation sensor group 129 includes various sensors that detect the state of the link mechanism 111 , the seedling planting device 103 , and the fertilization device 104 , and set values for these states.

The traveling equipment group 101A includes, for example, front wheels 112A and a continuously variable transmission 114 . The steering angle of the front wheels 112A is controlled based on a control signal from the control unit 106 , and the vehicle speed is controlled by operating the continuously variable transmission 114 .

The work equipment group 101B includes, for example, a lift cylinder 111a, a seedling planting device 103, and a fertilization device 104. Based on the control signal from the control unit 106, the amount of seedlings taken by the seedling planting device 103 is adjusted, and the amount of fertilizer to be fertilized by the fertilizer application device 104 is adjusted.

The control unit 106 includes a travel control unit 161 , an operation control unit 162 , a vehicle position calculation unit 163 , a travel path setting unit 164 , an operation parameter setting unit 165 , a storage unit 166 , and a vehicle position determination unit 167 . The control unit 106 is provided to include processors such as an ECU (Electronic Control Unit), a CPU (Central Processing Unit: Central Processing Unit).

The own vehicle position calculation unit 163 calculates the map coordinates (the own vehicle position) of the body 101 based on the satellite positioning data successively transmitted from the positioning unit 108 .

The rice transplanter can perform automatic driving and manual driving. Therefore, the travel control unit 161 performs control in the automatic travel mode, which is a mode for automatic travel, or the manual travel mode, which is a mode for manual travel, based on the command issued by the automatic changeover switch 127 . The travel control unit 161 includes an automatic travel control unit 611 and a manual travel control unit 612. The automatic travel control unit 611 operates in the automatic travel mode, and the manual travel control unit 612 operates in the manual travel mode. In the automatic travel mode, the automatic travel control unit 611 calculates the steering control amount so as to reduce the lateral deviation and the azimuth deviation based on the lateral deviation and the azimuth deviation calculated by comparing the position of the vehicle with the target travel route. The steering angle of the front wheels 112A is adjusted based on the steering control amount. In the manual travel mode, the manual travel control unit 612 adjusts the steering angle of the front wheels 112A based on the operation amount of the steering wheel 121 . The manual travel control unit 612 controls the continuously variable transmission 114 and the like to travel at a travel speed according to the operation positions of the main shift lever 122 and the auxiliary shift lever 123 .

The travel route setting unit 164 sets a travel route as a target travel route during automatic travel, and supplies the travel route to the automatic travel control unit 611 .

The work parameter setting part 165 sets the adjustment amount of the planting mechanism 132, and sends this to the work control part 162. In the automatic travel mode, the adjustment amount of the planting mechanism 132 is set according to the work to be performed by the work equipment group 101B, which is set according to the travel position of the target travel route, and in the manual travel mode Next, the adjustment amount of the planting mechanism 132 is set based on the setting value detected by the operation sensor group 129. The operation control part 162 controls the planting mechanism 132 of the seedling planting apparatus 103 based on the signal received from the operation parameter setting part 165.

Moreover, the operation parameter setting part 165 sets the fertilization amount to be fertilized by the fertilization device 104 based on the fertilization plan map 150 and the vehicle position described later, and transmits this to the operation control part 162 . The work parameter setting unit 165 confirms the block of the fertilization plan map 150 corresponding to the vehicle position, and specifies the setting value of the sending mechanism 142 according to the fertilization amount input to the block. The determined set value is sent to the job control unit 162 . The operation control part 162 controls the sending mechanism 142 of the fertilization apparatus 104 based on the signal received from the operation parameter setting part 165, and controls a fertilization amount.

The storage unit 166 stores the fertilization plan map 150 to be described later. As will be described later, the vehicle position determination unit 167 determines whether or not the vehicle position (the position of the body 101 ) is within the farmland based on the fertilization amount of the block of the fertilization plan map 150 to which the vehicle position belongs. When the position of the vehicle (the position of the body 101 ) is outside the farmland, the vehicle position determination unit 167 may issue a warning via the notification unit 110 .

(Fertilization plan map)

Next, the running control during automatic running will be described with reference to FIGS. 14 and 18 and using FIG. 19 .

In farmland, depending on sunshine, other meteorological conditions, soil state, etc., the developmental state of crops is not uniform in each area of the farmland. In order to promote the sufficient development of crops and to uniformize the development of crops in the field, the amount of fertilizer application is adjusted for each area of the field. Therefore, the fertilization plan map 150 is created for each farmland, and the fertilization work is performed based on the fertilization plan map 150 .

The fertilization plan map 150 is a structure in which rectangular blocks of any size are arranged in a matrix. The fertilization plan map 150 corresponds to the farmland to be worked, and each block corresponds to a specific area of the farmland. In other words, the farmland is divided into a matrix-like area, and each area of the farmland corresponds to the blocks of the fertilization plan map 150 one-to-one.

The fertilization amount of the fertilizer to be fertilized in the area of the corresponding farmland is input into the block of the fertilization plan map 150 . For example, the fertilization amount in the block to be fertilized is input as a work value of 40 kg/a or more and 100 kg/a or less. For areas with poor sunshine and poor soil conditions, input a fertilization rate of 100kg/a, and for areas with good sunshine and excellent soil conditions, input a fertilization rate of 50kg/a. Other areas also enter the appropriate value of fertilization according to the conditions.

In addition, the amount of fertilization may be determined by any method, and may be determined from the distribution of last year's grain harvest, or may be determined empirically by an operator. In addition, "0" corresponding to a non-work value is input to the block corresponding to the outside of the farmland as the fertilization amount. The operation parameter setting unit 165 reads the fertilization amount input to the block corresponding to the position of the vehicle when the machine body 101 operates on the farmland, and determines the set value based on the read fertilization amount, thereby controlling the fertilization device. The feeding mechanism 142 of 104 controls the amount of fertilization.

In addition, the fertilization plan map 150 is also used to determine whether or not the position of the vehicle (the position of the body 101 ) is in the farmland. In the fertilization plan map 150, the fertilization amount is input to the area inside the farmland, and the fertilization work is not performed for the area outside the farmland, so "0" corresponding to the non-work value is input as the fertilization amount. Therefore, the vehicle position determination unit 167 can determine whether the vehicle position (the position of the machine body 101 ) is inside the farmland or outside the farmland by checking the fertilization plan map 150 . Specifically, the vehicle position determination unit 167 acquires the vehicle position from the vehicle position calculation unit 163 , and reads the fertilization amount input to the block of the fertilization plan map 150 corresponding to the vehicle position. Then, the vehicle position determination unit 167 determines that the vehicle position (position of the machine body 101 ) is located outside the farmland when the read amount of fertilization is “0”. It should be noted that the non-work value is not limited to "0", and may be a numerical value in any range, an arbitrary character string, or a blank.

The vehicle position calculated by the vehicle position calculation unit 163 is compared with the farmland map, and/or the input to the area corresponding to the vehicle position calculated by the vehicle position calculation unit 163 is confirmed as described above. The amount of fertilizer applied to the block can determine whether the body 101 is outside the farmland or inside the farmland. Thereby, whether or not the position of the vehicle (the position of the body 101 ) is located outside the farmland can be easily and accurately sensed.

(Other Embodiments of Embodiment 2)

(1) The above-mentioned rice transplanter is not limited to automatic travel, but can also be realized in manual travel. During manual travel, a warning is given from the notification unit 110 based on a notification from the own vehicle position determination unit 167 , and the driver can stop the machine body 101 and perform an operation to return to the farmland in response to the warning. It should be noted that the notification unit 110 is not necessarily required during automatic traveling, and the automatic traveling control unit 611 may perform necessary control.

(2) In each of the above-described embodiments, the fertilization plan map 150 may input a value that can be recognized as an outer peripheral portion to a block corresponding to an area including an outer periphery L of a farmland such as a ridge. In this case, the control unit 106 further includes a map correction unit 168, and the map correction unit 168 may be configured to correct the value of the block corresponding to the outer peripheral portion of the farmland by comparing it with the farmland map. For example, the block is entered with a value between the non-operational value and the operational value, such as "20".

Sometimes there are obstacles such as water gates in the outer peripheral part of the farmland. By inputting such a value into the fertilization plan map 150, the host vehicle position determination unit 167 can easily determine that the vehicle is traveling on the outer periphery of the farmland, and can notify the automatic traveling control unit 611 or the notification unit 110 or the like of this fact. Accordingly, it is possible to perform measures such as reducing the travel speed by the operation of the automatic travel control unit 611 during automatic travel and by the operation of the driver during manual travel. As a result, the body 101 can easily avoid obstacles.

(3) In each of the above-described embodiments, in addition to the warning when the vehicle position determination unit 167 determines that the vehicle position (position of the machine body 101 ) is outside the farmland, a warning may be issued when the fertilization work is continued. In such a configuration, the operation control unit 162 acquires from the fertilization device 104 whether or not the fertilization operation is in progress, and when the fertilization operation is in progress, transmits the fact to the notification unit 110 . Then, in addition to receiving the notification from the vehicle position determination unit 167 indicating that the vehicle position (position of the machine body 101 ) is outside the farmland, the notification unit 110 performs the operation when the notification unit 162 has not received the notification indicating that the fertilization operation is in progress. warn.

The rice transplanter sometimes leaves the farmland when supplying seedlings, fuel, etc., and also transfers the farmland. Leaving the farmland is a problem when the fertilization work is carried out while leaving the farmland. Conversely, warnings when supplying seedlings, refueling, or transferring farmland can be cumbersome and lead to missing necessary warnings. Therefore, it is preferable that the warning is given only when the fertilization operation really requires the warning when it is separated from the farmland.

(4) In each of the above-described embodiments, it is not limited to the fertilization plan map 150, and any work plan map can be used. That is, it is not limited to a rice transplanter, and can be applied to various work machines which perform work other than fertilization work. The work plan map is assumed to be a grid-like block corresponding to the work site, and a work value for adjusting the work amount is input to each block in the work site.

(5) In each of the above-described embodiments, the notification unit 110 may not be provided, and a warning may be issued from the general-purpose terminal 109 . Thereby, the general-purpose terminal 109 can be misappropriated without providing the notification unit 110, and a warning can be given with a simple structure.

(6) As described above, the fertilization plan map 150 corresponds to the farmland to be worked. Therefore, the fertilization plan map 150 (work plan map) can be applied to any map as map information indicating the position and coordinates of the farmland (work place). Such a map may be an existing generic map. Thereby, even if the determined own vehicle position deviates from the actual position due to malfunction of the positioning unit 108 or the like, it is possible to determine whether the rice transplanter is located inside or outside the farmland based on the operation instruction value of the fertilization plan map 150 .

(7) Furthermore, the fertilization plan map 150 (work plan map) can share the taste and yield of food acquired by a combine harvester (harvester) that performs harvesting work on the same farmland with the associated yield map. Rice transplanters and combine harvesters work continuously on the same farmland. Therefore, it is preferable that the yield map generated by the combine is corresponding to the fertilization plan map 150 used by the rice transplanter. Thereby, a more planned and precise farming plan can be performed. It should be noted that the block of the yield map generated by the combine harvester may be equal to or smaller than the block of the fertilization plan map 150 used by the rice transplanter.

(8) The travel control unit 161 , the work control unit 162 , the own vehicle position calculation unit 163 , the travel route setting unit 164 , the work parameter setting unit 165 , the own vehicle position determination unit 167 , and the map correction unit included in the control unit 106 168 may be divided into such functional blocks, but may be integrated into a functional block having the functions of one or more of these components, or may be divided into a plurality of functional blocks. Furthermore, all or part of the functions of the control unit 106 may be implemented by software. The software (program) is stored in the storage unit 166 or an arbitrary storage unit not shown, and is executed by a processor included in the control unit 106 or another processor.

Industrial Availability

The working machine of the present invention is not limited to the rice transplanter, but may be a farming machine that works while traveling on a work site, such as a tractor, and can be applied to various work machines that work while traveling on a specific work site.

Description of reference numerals

5: Seedling planting device (operation device);

11: body;

12: Fertilizer device (working device);

18: driving seat;

22: Preparatory seedling mounting platform frame (support frame, first support frame);

24: supporting frame (first supporting frame);

26: supporting frame (second supporting frame);

25: positioning unit;

27: supporting frame (second supporting frame);

31: The first height change mechanism;

32: The second height changing mechanism;

36: ceiling;

38: ceiling part;

38a: front and rear drains;

38b: left and right drainage channels;

38c: recess;

38d: rear;

39: ceiling part;

39a: front and rear drains;

39b: left and right drainage channels;

39c: front;

40a: recess;

49: opening part;

50: connecting road;

51: buffer part;

53: link institutions;

57: supporting mechanism;

A1: Working position;

A2: Non-working position;

108A: Satellite positioning module;

110: Notification Department;

150: Fertilization plan map (operation plan map);

166: storage department;

167: own vehicle position determination unit;

168: Map Correction Department;

H11: The first working height;

H12: The first non-working height;

H21: The second working height;

H22: The second non-working height.

Claims (17)

1. A working machine, characterized in that it has: The driver's seat is supported on the body; a support frame extending upward from the body; and a ceiling supported by the support frame so as to cover the upper part of the body including the driver's seat, The ceiling is provided with: an opening facing a direction along the upper surface of the ceiling; and a communication path that communicates a region located on the lower side of the ceiling with the opening. 2. The work machine according to claim 1, wherein: The ceiling is supported by the support frame so as to assume a forward-leaning posture in which a front portion of the ceiling is lower than a rear portion of the ceiling in a side view, The opening portion faces forward. 3. The work machine according to claim 2, characterized in that: The plurality of divided ceiling parts are arranged on the ceiling so as to be aligned in the front-rear direction, In the ceiling parts adjacent in the front-rear direction, the rear part of the front ceiling part and the rear part are located so that the rear part of the front ceiling part is located on the lower side with respect to the front part of the rear ceiling part. The front part of the ceiling part is overlapped, In the part where the rear part of the front ceiling part overlaps with the front part of the rear ceiling part, there is provided that the rear part of the front ceiling part and the front part of the rear ceiling part are separated in the vertical direction. part, and the opening part and the communication path are provided. 4. The work machine of claim 3, wherein A buffer is provided between the rear part of the ceiling part in the front and the front part of the ceiling part in the rear. 5. The working machine according to any one of claims 1 to 4, wherein: The first support frame and the second support frame are provided, the first support frame supports one of the front part and the rear part of the ceiling, and the second support frame supports the front part and the rear part of the ceiling. the other in the rear, A positioning unit that outputs positioning data indicating the position of the body based on a positioning signal of a navigation satellite is supported on the first said ceiling so as to be located at the same height as one of the front part and the rear part of the ceiling in side view. support frame. 6. The work machine according to claim 5, wherein: A recessed portion into which the positioning unit can enter in a plan view is provided in one of the front portion and the rear portion of the ceiling. 7. The work machine according to claim 6, wherein: The left-right width of the recessed portion is set to be larger than the left-right width of the positioning unit. 8. The working machine according to any one of claims 5 to 7, characterized in that it has: a connecting mechanism capable of connecting and disengaging the first support frame and the ceiling; A support mechanism capable of supporting the ceiling on the second said support frame so that the position of the ceiling can be changed between a working position and a non-working position, the working position being the first said support frame and the second said support frame. a position where the ceiling can be connected by the connecting mechanism, and the non-working position is a position where the ceiling is away from the positioning unit in the front-rear direction in the released state of the connecting mechanism; A first height changing mechanism capable of changing the height of the first support frame between a first working height and a first non-working height in a state where the ceiling is located at the working position the first height at which the support frame and the ceiling can be connected by the connecting mechanism, and the first non-working height is a height lower than the first working height; and A second height changing mechanism capable of changing the height of the second support frame between a second working height and a second non-working height when the ceiling is located at the working position The first height at which the support frame and the ceiling can be connected by the connecting mechanism, and the second non-working height is a height lower than the second working height. 9. The work machine according to any one of claims 1 to 8, characterized in that: A right front and rear drain channel with a concave cross section is provided on the right part of the upper surface of the ceiling in the front-rear direction, A left front and rear drainage channel with a concave cross section is provided on the left part of the upper surface of the ceiling in the front and rear direction, A plurality of left and right drainage channels with a concave cross section are provided on the upper surface of the ceiling along the left-right direction and are connected to the front and rear drainage channels, Rainwater is drained from the front and rear drains on the right and left. 10. The work machine of claim 9, wherein The working device is supported on the rear of the body, Rainwater is drained from the fronts of the front and rear drains on the right and left. 11. A work machine that performs work travel in a work place according to a work instruction value, characterized in that it comprises: A satellite dish to receive satellite signals from satellites; a satellite positioning module for outputting positioning data corresponding to the position of the vehicle based on the satellite signal; a storage unit storing a work plan map in which the work instruction value is input for each grid-like block corresponding to the work location; and The host vehicle position determination unit determines whether or not the host vehicle position is within the work site based on the work instruction value input to the block corresponding to the host vehicle position. 12. The work machine of claim 11, wherein The work instruction value includes a non-work value for not performing work, The host vehicle position determination unit determines that the host vehicle position is outside the work site when the work instruction value is the non-work value. 13. The work machine of claim 12, wherein having a map correction unit for correcting the work plan map, The work instruction value for performing work is a work value within a predetermined range larger than the non-work value, The map correction unit can refer to a work site map showing the outer peripheral position of the work site, The map correction unit corrects the work value of the block corresponding to the outer peripheral position to a value between the non-work value and the work value. 14. The work machine according to any one of claims 11 to 13, wherein: A notification unit is provided which notifies a warning when the vehicle position determination unit determines that the vehicle position is outside the work site. 15. The work machine according to any one of claims 11 to 13, wherein: A notification unit is provided which notifies a warning when the vehicle position determination unit determines that the vehicle position is outside the work site and is in a work state. 16. The working machine according to claim 14 or 15, characterized in that: A predetermined reference work value is defined in the work instruction value, When the work status continues after the notification of the warning, the work is performed according to the reference work value. 17. The work machine according to any one of claims 11 to 16, wherein: The work related to the work travel is a fertilization work, and the work instruction value is the amount of fertilizer to be fertilized.

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