Transplanter

Abstract

To configure a transplanter that can favorably receive radio signals from positioning satellites.SOLUTION: A transplanter includes: a receiving unit 45 that has an antenna and a gyro sensor and receives radio signals from positioning satellites by the antenna; and spare seedling tray frames 31, 33 that support a spare seedling tray 34. The receiving unit 45 is supported by a support frame 32 positioned above the spare seedling tray frames 31, 33, an upper end of the spare seedling tray frames 31, 33 is positioned higher than an upper end of a steering wheel 11, and the receiving unit 45 is disposed at a position higher than the upper end of the spare seedling tray frames 31, 33.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a transplanter such as a paddy field working machine (rice transplanter) configured to acquire position information of a traveling vehicle body by receiving radio signals from positioning satellites. [Background technology]

[0002] Patent Document 1 discloses a technology for a paddy field working machine configured as described above that enables the machine to travel autonomously based on position information measured by a GPS device.

[0003] In Patent Document 1, a reference line is set by teaching while receiving radio signals from GPS satellites (positioning satellites) with a GPS antenna attached to the traveling vehicle body, and a target route parallel to this reference line is set. After this setting, the vehicle is configured to perform rice planting work in a form in which it travels autonomously on the target route while receiving radio signals from GPS satellites (positioning satellites). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-92818 Summary of the Invention [Problem to be solved by the invention]

[0005] An object of the present invention is to provide a paddy field transplanter as described above that can receive radio signals from a positioning satellite with good performance. [Means for solving the problem]

[0006] The features of the present invention include a receiving unit having an antenna and a gyro sensor that receives radio signals from a positioning satellite with the antenna, a spare seedling tray frame that supports a spare seedling tray, the receiving unit being supported by a support frame located at the top of the spare seedling tray frame, the upper end of the spare seedling tray frame being located at a higher position than the upper end of the steering wheel, and the receiving unit being positioned at a higher position than the upper end of the spare seedling tray frame. Another feature of the present invention is that it comprises a receiving unit having an antenna and a gyro sensor, which receives radio signals from a positioning satellite using the antenna, a spare seedling carrier frame that supports a spare seedling carrier, and a support frame separate from the spare seedling carrier frame, wherein the support frame has a vertical frame portion extending in the vertical direction and a rearward extension portion that extends rearward from the vertical frame portion in a side view, and wherein, in a side view, the lower end of the vertical frame portion is located forward of the front end of the steering wheel, the upper end of the vertical frame portion is located rearward of the lower end of the vertical frame portion, the rearward extension portion extends rearward from the upper end of the vertical frame portion, and the receiving unit is supported on the rearward extension portion so that it is positioned at a higher position than the upper end of the spare seedling carrier frame. The present invention is characterized by the following: a positioning system that receives radio signals from a positioning satellite with an antenna provided in a receiving unit and acquires the position information of the traveling vehicle body; a spare seedling carrier frame that supports the spare seedling carrier; and a support frame separate from the spare seedling carrier frame. The support frame has a vertical frame portion extending in the vertical direction and a rearward extension portion extending rearward from the vertical frame portion in a side view, and in a side view, the lower end of the vertical frame is located forward of the front end of the steering wheel, the upper end of the vertical frame is located rearward of the lower end of the vertical frame, the rearward extension portion of the vertical frame extends rearward from the upper end of the vertical frame, and the antenna is supported on the rearward extension portion so as to be positioned higher than the upper end of the spare seedling carrier frame. Another feature of the present invention is that it comprises a positioning system that receives radio signals from positioning satellites with a receiving unit and acquires position information of a moving vehicle body, and that the receiving unit is configured with an antenna that receives radio signals from the positioning satellites and a direction sensor that detects direction from geomagnetism, and that the receiving unit is supported on the upper end of a receiving unit support part provided on the moving vehicle body via a support member made of a non-magnetic material.

[0007] With this configuration, by providing the receiving unit at the upper end of the receiving unit support part, it becomes possible for the antenna of the receiving unit to receive radio signals from positioning satellites without being obstructed by components of the vehicle body. Also, because the receiving unit is supported on the upper end of the receiving unit support part via a support member made of a non-magnetic material, even if the components of the vehicle body are magnetic or magnetized, the distance between the vehicle body structure and the orientation sensor is increased, thereby suppressing the effect of geomagnetism detected by the orientation sensor in the receiving unit. Therefore, a paddy field working machine has been constructed that can receive radio signals from positioning satellites well and detects the direction of the traveling vehicle body with high accuracy using a direction sensor based on geomagnetism.

[0008] The present invention is provided with a seedling planting device at the rear end of the traveling vehicle body, which cuts out seedlings from a mat-shaped seedling placed on a seedling carrier and plants them in a field, and a spare seedling carrier for supporting a mat-shaped seedling to be added to the seedling carrier is provided at the front of the traveling vehicle body, and The spare seedling carrier may be supported by vertical frames arranged in a vertical position at the left and right positions of the front of the running body, and a horizontally oriented connecting frame that connects the upper ends of the left and right vertical frames may be used as the receiving unit support part.

[0009] This allows the receiver unit to be supported via a support member by using a vertical frame to support the spare seedling carrier, and a connecting frame connecting the upper ends of the left and right vertical frames as the upper end of the receiving unit support. Because the receiving unit is supported by a structure for supporting the spare seedling carrier in this way, there is no need for a dedicated frame for supporting the receiving unit. In particular, because the spare seedling carrier is positioned at the front of the traveling vehicle, when the traveling direction of the traveling vehicle is changed, the amount of lateral displacement is greater than that at the rear end of the traveling vehicle, allowing for highly sensitive detection of changes in position information.

[0010] The present invention may further comprise a canopy having a roof member that covers the upper part of a driver's seat of the traveling vehicle body, and the roof member of the canopy may be used as the receiving unit support portion.

[0011] This allows the receiving unit to be supported on the roof member of the canopy, eliminating the need for a dedicated frame to support the receiving unit. In particular, the top of the canopy is relatively flat, making it possible to receive radio waves from positioning satellites without obstruction.

[0012] In the present invention, a paddy field work device is provided at the rear end of the running body, a work step for performing work on the paddy field work device from the running body is formed at the rear end position of the running body, a handrail-like auxiliary frame for supporting a worker riding on the work step is formed at the rear of the running body, and the auxiliary frame may be used as the receiving unit support part.

[0013] With this, the receiving unit can be supported on the auxiliary frame that supports the worker standing on the work step, so there is no need to provide a dedicated frame for supporting the receiving unit.

[0014] In the present invention, the receiving unit support portion may be a dedicated pole-shaped frame extending upward from the traveling vehicle body.

[0015] By using a pole-shaped frame, it is possible to position the receiving unit at the required height, compared to using frames that are also provided on the running body, and it is possible to receive radio signals from positioning satellites well and to effectively eliminate magnetic influences. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 1 is an overall side view of a rice transplanter. [Figure 2] FIG. 1 is an overall plan view of the rice transplanter. [Figure 3] FIG. 2 is a front view of the traveling body of the rice transplanter. [Figure 4] FIG. 2 is a perspective view of the front part of the traveling body of the rice transplanter. [Figure 5] FIG. 2 is a schematic diagram of a steering operation system. [Figure 6] FIG. 1 is a block circuit diagram of a positioning and automatic steering driving system. [Figure 7] FIG. 2 is a diagram showing a monitor unit and an operation panel unit of the console. [Figure 8] FIG. 10 is an overall side view of a rice transplanter according to another embodiment (a). [Figure 9] FIG. 10 is an overall side view of a modified rice transplanter according to another embodiment (a). [Figure 10] FIG. 10 is an overall side view of a rice transplanter according to another embodiment (b). [Figure 11] FIG. 10 is an overall side view of a rice transplanter according to another embodiment (c). DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. [Overall configuration of the rice transplanter] As shown in Figures 1 to 3, a riding rice transplanter as a paddy field working machine is configured by having a driver's seat 3 in the center of a traveling body A having a pair of left and right front wheels 1 and a pair of left and right rear wheels 2, and a seedling planting device B (an example of a paddy field working device) that can be raised and lowered freely via a link mechanism L that operates to raise and lower by the expansion and contraction operation of a hydraulic cylinder 4 at the rear end of the traveling body A.

[0018] This rice transplanter has an engine 6 housed in a hood 5 at the front of the traveling body A, and a traveling transmission system located in the center of the traveling body A that changes the speed of the driving force from the engine 6 in a transmission case 7 and transmits it to the left and right front wheels 1 and the left and right rear wheels 2. The traveling body A also has a working transmission system that transmits the driving force from the transmission case 7 to the seedling planting device B via a transmission shaft 8. The transmission case 7 is equipped with a planting clutch C that interrupts the driving force transmitted to the transmission shaft 8.

[0019] A lifting lever 10 is located on the right side of the driver's seat 3, which raises and lowers the seedling planting device B and engages and disengages the planting clutch C, and a steering wheel 11 is located behind the hood 5 and in front of the driver's seat 3, which steers the front wheels 1. A main speed change lever 12, which sets the travel speed, is provided on the left side of the steering wheel 11, and a forced lifting lever 13 is provided on the right side of the steering wheel 11, which forcibly raises and lowers the seedling planting device B and engages and disengages the planting clutch C in conjunction with the lifting and lowering.

[0020] The seedling planting device B is an example of a paddy field work device, and is configured for eight rows, and is equipped with a transmission case 21 connected to the rear end of the link mechanism L to transmit the driving force of the transmission shaft 8, multiple leveling floats 22, a seedling carrier 23 on which mat-like seedlings are placed, and a rotary planting arm 24 that operates with the driving force from the transmission case 21.

[0021] A pillar-shaped center mascot 14 is provided at the tip of the bonnet 5. Marker devices that can be freely switched between an operating position and a storage position are provided on both the left and right sides of the seedling planting device B. The marker devices are composed of a marker arm 26 that is supported so as to be swingable around a swing axis that faces forward and backward relative to the seedling planting device B, and a marker ring 27 that is rotatably supported at the swing end of the marker arm 26 and has multiple protrusions formed on its outer periphery.

[0022] 1, the outer periphery of the marker arm 26 comes into contact with the field surface, and as the traveling vehicle A rotates, a continuous concave mark is formed on the field surface to serve as the center of the next travel. By forming a concave mark on the field surface with the marker ring 27, when the traveling vehicle A is turned to continue seedling planting work, the center mascot 14 can be steered to visually aim at the mark on the field surface, enabling seedlings to be planted in the optimal position based on the rows of seedlings already planted.

[0023] The marker arm 26 in the working position is switched to the storage position in conjunction with the rise of the seedling planting device B and is locked in this storage position. Then, by operating the lift lever 10 in the left or right direction while it is in the lowered position, the lock of the marker arm 26 on the corresponding side is released and it is switched to the working position.

[0024] When planting seedlings with this rice transplanter, the lifting lever 10 is operated to lower the seedling planting device B until the soil leveling float 22 touches the ground, and the planting clutch C is engaged to allow the traveling vehicle A to travel. As the soil leveling float 22 levels the muddy surface at the seedling planting location, the driving force transmitted from the traveling vehicle A causes the seedling carrier 23 to reciprocate left and right. During this reciprocating movement, the planting claws of the multiple planting arms 24 cut a predetermined amount of seedlings from the bottom of the mat-like seedlings placed on the seedling carrier 23 and plant them in the field. If necessary, a marker device forms a recessed mark on the field surface.

[0025] In particular, the rice transplanter of the present invention can acquire and store the travel route during seedling planting work using a positioning system configured as a GNSS (Global Navigation Satellite Systems), and set a target travel route parallel to the stored route. After setting the target travel route in this way, it is also possible to automatically steer the traveling vehicle body A along the target travel route.

[0026] Furthermore, this rice transplanter is also configured so that even when a target travel route has been set, the operator can perform seedling planting work by manually steering the steering wheel 11 rather than automatically steering the rice transplanter. For this reason, a marker device is provided.

[0027] [Body configuration] In this rice transplanter, a driver's section with a driver's seat 3 is formed in the center of the traveling body A, a driver's section step 15 is formed at the foot area of ​​this driver's section, and auxiliary steps 15A are formed on the left and right outside of this. On both the left and right sides of the hood 5 at the front of the traveling body A, boarding and alighting steps 16 are formed as boarding and alighting passages that are connected without steps to the driver's section step 15. The boarding and alighting steps 16 bring the front end of the traveling body A closer to the ridge, making it easier for workers to move between the ridge and the traveling body A.

[0028] A work step 17 is formed in a position that covers the top of the left and right rear wheels 2. This work step 17 also functions as a rear fender, and the driver's seat 3 is located in the front center of this work step 17, allowing an operator to work while standing on the step in the area extending in the left-right direction behind the driver's seat 3.

[0029] The work step 17 facilitates the supply of mat-shaped seedlings to the seedling carrier 23 of the seedling planting device B, and an auxiliary frame 18, which connects handrail-like horizontal frame bodies 18B to the rear ends of left and right support frame bodies 18A, is formed along the work step 17 to support the worker standing on this work step 17. This auxiliary frame 18 is configured so that the worker can not only hold it, but also have part of the worker's body come into contact with it to stabilize the worker's posture.

[0030] At the front position of the traveling vehicle body A, there is provided a gate-shaped support frame section consisting of a vertical frame 31 that is in a vertical position outside the left and right boarding and alighting steps 16, a connecting frame 32 that is connected to the upper end of this vertical frame 31, and an auxiliary vertical frame 33 whose upper end is connected to the middle part of the vertical frame 31 and is in a position parallel to the left and right vertical frames 31.

[0031] Pipe material is used for the vertical frames 31, and by bending these vertical frames 31, connecting frames 32 are integrally formed in a form that extends from the upper ends of the vertical frames 31 toward the inside of the vehicle body. The extending ends of each connecting frame 32 are connected to each other with brackets 42, thereby integrating the left and right connecting frames 32. Note that the left and right vertical frames 31 and the connecting frames 32 that connect them may be constructed from a single member by bending long pipe material.

[0032] This support frame portion is formed in a gate shape when viewed from the front, and is supported on the vehicle body frame by a front support frame 31A that supports the lower ends of the left and right vertical frames 31, and a rear frame 33A that supports the lower ends of the auxiliary vertical frames 33.

[0033] In this rice transplanter, a plurality of spare seedling carriers 34 are supported by a vertical frame 31 and an auxiliary vertical frame 33 connected thereto.

[0034] With this configuration, the multiple spare seedling carriers 34 arranged on the left and right, the left and right vertical frames 31, and the auxiliary vertical frame 33 are positioned outside the boarding and alighting step 16, so that there is no interference with the movement of workers on the boarding and alighting step 16.

[0035] [Meter panels] As shown in Figure 4, an instrument panel 36 is located at the rear end of the hood 5, in front of the steering wheel 11. This instrument panel 36 is equipped with a backlit LCD display and multiple indicator lamps to display work information. The LCD display displays the hour meter, the status of the automatic planting clutch, the remaining fuel, the temperature of the cooling water, etc. The instrument panel is also equipped with multiple indicator lamps, such as an oil shortage lamp, charge lamp, seedling shortage lamp, planting indicator lamp, fringe clutch lamp, and marker lamp.

[0036] The meter panel 36 may be configured to include only a liquid crystal display device, and all of the work information may be displayed on the liquid crystal display device. Also, an indicator with a moving needle may be provided in addition to a lamp.

[0037] An inverted U-shaped console support frame 37 is provided on both the left and right sides of the rear of the bonnet 5, with its lower end passing through and connecting to the vehicle body A, and supports the console D. The console support frame 37 is made up of left and right side frame bodies 37A and an upper frame body 37B formed to connect to the upper ends of these, and is provided in an inclined position that is displaced forward as it approaches the upper end.

[0038] Connecting plates 40 are provided to connect to the left and right side frame bodies 37A of this console support frame 37, and the upper end of this connecting plate 40 is bent so as to protrude in the direction of the driver's seat 3, forming an eave portion 41 integrally therewith. The console D is formed in a box shape and is supported by the connecting plates 40. From this support configuration, the eave portion 41 protrudes from above the console D in the direction of the driver's seat 3. Incidentally, no sunshade is provided on either the left or right side of the console D, but the eave portions 41 may be provided on either the left or right side of the console D. This makes it possible to block sunlight shining on the monitor unit 38 from the side.

[0039] The console D is disposed within the width of the hood 5 and the width of the steering wheel 11 when viewed from the front to rear, and is disposed so that the bottom end of the monitor unit 38 is higher than the top end of the steering wheel 11. In addition, because the console support frame 37 is formed in the inclined position described above, the monitor unit 38 of the console D can be easily viewed and information can be reliably grasped by slightly lowering one's line of sight from the front during work, and the console D does not obstruct the view of the center mascot 14.

[0040] As shown in Fig. 7, the surface of the console D facing the driver's seat 3 is provided with a liquid crystal monitor unit 38 having a touch panel 38A formed on the display surface, and an operation panel unit 39. The operation panel unit 39 is provided with a plurality of operation switches 39A for turning the power button on and off and for performing various operations. In addition to the operation switches 39A, the operation panel unit 39 may also be provided with an alarm lamp and a speaker for outputting information by voice.

[0041] As shown in the figure, the monitor unit 38 of the console D is formed with a mode display unit 102 that receives radio waves from a positioning satellite and indicates that automatic steering driving is in progress, a target driving route line 103 that corresponds to the target driving route, icons 104 that reflect the operation of the steering wheel 11, and a speed display unit 108. A plurality of operation switches 39A of the operation panel unit 39 are configured to enable input of information necessary for automatic steering driving, etc. The display form of the monitor unit 38 will be described later.

[0042] [Modified examples of console layout] In this embodiment, the console D is fixed to the console support frame 37, but instead, the console D may be supported so that it can swing freely around an axis of a horizontal position, and a clamp mechanism or the like that maintains the swinging position may be provided, thereby supporting the console D so that the angle thereof can be adjusted. By supporting the console D so that the angle thereof can be adjusted in this manner, the angle of the console D can be set according to the physique of the operator seated in the driver's seat 3, and the visibility of the display on the monitor unit 38 formed on the console D can be improved.

[0043] As a modified example, the upper end of the console D is positioned lower than the upper end of the seedling carrier 23 of the seedling planting device B. By positioning it in this manner, when mat-shaped seedlings placed on the spare seedling carrier 34 are replenished onto the seedling carrier 23, the inconvenience of the mat-shaped seedlings touching the console D is reduced, and seedling replenishment can be carried out smoothly.

[0044] [Positioning and automatic steering driving system] 3 and 4, a support plate 43 made of a non-magnetic material such as resin or aluminum is connected and fixed to the upper surface of the bracket 42 at the center in the left-right direction of the connecting frame 32 (an example of a receiving unit support part) of the support frame part. A support member 44 made of flexible synthetic rubber as a non-magnetic material is provided on the upper surface of this support plate 43, and a receiving unit 45 is supported by being placed on this.

[0045] 6, the receiving unit 45 incorporates an antenna 45A that receives radio signals from multiple positioning satellites, a magnetic compass 45B (an example of a direction sensor) that detects direction from geomagnetism, and a gyro sensor 45C that uses inertia to detect changes in the posture of the traveling vehicle body A. In this configuration, since the receiving unit 45 is disposed at the front position of the traveling vehicle body A, when the traveling vehicle body A changes its traveling direction, the amount of lateral displacement is larger than at the rear end side of the traveling vehicle body A, and changes in position information can be detected with high sensitivity.

[0046] The steel materials that make up the rice transplanter can become partially magnetized during manufacturing or processing. For example, if the connecting frame 32 becomes magnetized, the magnetic field from the connecting frame 32 can act on the magnetic compass 45B, reducing the accuracy of detecting the earth's magnetic field. For this reason, a non-magnetic material with a predetermined thickness is used for the support member 44, increasing the distance between the connecting frame 32 and the magnetic compass 45B and suppressing the influence of magnetism. Furthermore, in addition to synthetic rubber, vibration-damping materials such as urethane foam can also be used for this support member.

[0047] The console D is equipped with a receiving circuit 46 that acquires position information by receiving radio signals from positioning satellites, and a control unit 47. The receiving circuit acquires latitude, longitude, and altitude on Earth based on radio signals from three or more positioning satellites using GNSS (Global Navigation Satellite Systems). The receiving unit 45 and the console D constitute a positioning system.

[0048] The control unit 47 includes a teaching processing unit 47A configured by software, a travel path determination unit 47B, and a travel control unit 47C. The control unit 47 outputs information to the monitor unit 38 and acquires information from the touch panel 38A. The control unit 47 also outputs control information to the steering control unit 48.

[0049] In this embodiment, the receiving circuit 46 is provided inside the console D, but this receiving circuit 46 may also be provided inside the receiving unit 45. Also, at least one of the teaching processing unit 47A, the driving route determination unit 47B, and the driving control unit 47C may be configured by logic IC hardware or by a combination of hardware and software.

[0050] As shown in Figure 5, a power steering unit 52, which transmits the operating force from a steering shaft 51 connected to the steering wheel 11 to the left and right front wheels, is supported on the upper surface of the transmission case 7. A pitman arm 53, which is actuated by the driving force of the power steering unit 52, is formed on the lower surface of the transmission case 7.

[0051] An operating gear 54 is fixed near the lower end of the steering shaft 51, and a steering control motor 56 is provided to drive a pinion gear 55 that meshes with the operating gear 54. Furthermore, a rotary encoder 57 that measures the amount of rotation is provided at the lower end of the steering shaft 51.

[0052] Furthermore, in this steering operation system, by providing a steering control motor 56 in front of or on the side of the steering shaft 51, the inside of the hood 5 is effectively utilized and it is configured so that there is no need to create a space that protrudes below the driver's seat 3.

[0053] This rice transplanter is configured so that the operator manually steers the rice transplanter between one ridge of the field and the other, and the teaching processing unit 47A of the control unit 47 acquires the travel path during this travel, and generates and stores a target travel path from this travel path.

[0054] The travel route is recognized as a straight line by the control unit 47, and multiple target travel routes are set at intervals corresponding to the seedling planting width of eight rows so that the target travel routes are parallel to the travel route. After multiple target travel routes have been set in this way, automatic steering travel is selected, and the travel route determination unit 47B determines the error from the target travel route based on information from the positioning system, and the travel control unit 47C controls the steering control motor 56 to realize control of automatic steering travel of the travel vehicle body A along the target travel route.

[0055] When the traveling vehicle body A is automatically steered to travel along the target traveling route, the operator can also correct the traveling route by operating the steering wheel 11. The traveling route determination unit 47B is set to a control mode such that it first makes the traveling vehicle body A travel along a target traveling route adjacent to the traveling route (the route first traveled by manual steering traveling), and then makes the traveling vehicle body A travel along a target traveling route adjacent to this.

[0056] [Positioning and automatic steering driving system: Console display format] During automatic steering driving, as shown in Fig. 7, an automatic steering driving screen is displayed on the monitor unit 38 of the console D, and a plurality of setting buttons 101 and a mode display unit 102 are displayed on this screen. The setting buttons 101 are operated by touching the screen with a finger or the like via a touch panel, and various settings are realized. The mode display unit 102 displays text information indicating that the vehicle is in automatic steering mode.

[0057] On this automatic steering driving screen, a target driving path line 103 is displayed in the center position of the screen in the left-right direction, and an icon 104 representing the driving vehicle body A is displayed in the center position of the screen. A deviation angle line 105 indicating the deviation angle (deviation angle) of the driving direction of the driving vehicle body based on this icon 104, and an indicator section 106 indicating the deviation amount in degrees are displayed.

[0058] An upper portion of the monitor unit 38 is provided with a deviation display unit 107 that displays the amount of deviation (deviation) of the traveling vehicle body A from the target traveling route, and a speed display unit 108. The deviation display unit 107 displays a numerical value indicating the amount of deviation and a bar graph that visually displays the amount of deviation. The speed display unit 108 displays the traveling speed of the traveling vehicle body A numerically. In addition, the display format is set so that the relative angle between the target traveling route line 103 and the icon 104 changes when a steering operation is performed.

[0059] As a result, when automatic steering travel is performed, the system is started by operating the operation switch 39A on the console D, and the system is shifted to a state where teaching is possible by operating the operation switch 39A or the setting button 101. By performing manual steering travel, the travel route is acquired by the teaching processing unit 47A and the target travel route is set. After this, by shifting to automatic steering travel mode, the screen shown in Fig. 7 described above is displayed on the monitor unit 38, and automatic steering travel along the target travel route becomes possible.

[0060] It is also possible to switch to maintenance mode by operating the setting button 101 displayed on the monitor unit 38 of the console D or by operating the operation switch 39A on the operation panel unit 39. In this maintenance mode, it is possible to check and calibrate the magnetic compass 45B, gyro sensor 45C, etc.

[0061] [Actions and Effects of the Embodiments] In this way, by selecting automatic steering when the target driving route is set, the rice transplanter receives radio signals from positioning satellites, determines the error between the target driving route and the current position of the traveling body A, and performs automatic steering to reduce this error, eliminating the need for the operator to operate the steering wheel 11. This allows the driver to replenish seedlings without stopping the traveling body A, improving work efficiency compared to a work style in which the traveling body A is stopped to replenish seedlings.

[0062] In particular, during seedling planting work, the operator can operate the steering wheel 11 to drive the traveling vehicle A, and it is possible to select automatic steering travel only when supplying mat-shaped seedlings from the spare seedling carrier 34 to the seedling carrier 23 of the seedling planting device B. Even in such a case, there is no need to stop the traveling vehicle A, improving work efficiency.

[0063] Furthermore, the connecting frame 32, which connects the upper ends of the vertical frames 31 that support the spare seedling tray 34, serves as a receiving unit support section and supports the receiving unit 45 via the support member 44, so that the receiving unit 45 can be placed in a high position and radio signals from positioning satellites can be received well without providing a dedicated frame on the traveling vehicle A. Furthermore, by using the support member 44, the distance between the magnetic compass 45B and the connecting frame 32 is increased, suppressing the influence of magnetism from the connecting frame 32, etc., and the direction of the traveling vehicle can be detected with high accuracy based on the earth's magnetism using the magnetic compass 45B as a direction sensor.

[0064] When viewed from the front to rear, the console D is contained within the width of the bonnet 5 and also within the width of the steering wheel 11, so that even when an operator moves over the boarding / alighting step 16, the operator's clothes etc. do not come into contact with the console D or the steering wheel 11, making it easy for the operator to board and alight.

[0065] Furthermore, because the console D is positioned in the line of sight of the operator seated in the driver's seat 3, there is no need to move the operator's line of sight significantly when viewing the contents displayed on the monitor unit 38 of the console D. In particular, even when working in an environment where sunlight shines directly in, the eaves 41 blocks the sunlight, allowing the operator to accurately grasp the information displayed on the monitor unit 38 of the console D.

[0066] [Another embodiment] The present invention may be configured as follows in addition to the above-described embodiment.

[0067] (a) As shown in Fig. 8, the vehicle is equipped with a canopy 60 having a roof member 61 that covers the area above the driver's seat 3 of the traveling vehicle body A, a windshield 62, and a transparent wall body 63 made of resin. At least one of the left and right walls 63 is formed with a door that can be opened and closed freely. The roof member 61 serves as a receiving unit support member, and the receiving unit 45 is supported on the roof member 61 via a support member 44. The support member 44 is made of a non-magnetic material such as flexible synthetic rubber.

[0068] The canopy 60 does not need to form a closed space using the wall body 63 or the like, and may, for example, be configured without a portion of the wall body 63. Furthermore, the object to be equipped with the canopy 60 is not limited to a rice transplanter, but may also be a seeding machine in which a seeding device is connected to the rear end of the traveling body A.

[0069] By supporting the receiving unit 45 on the roof member 61 via the support member 44 in this way, it is possible to place the receiving unit 45 in a high position, and as a result, radio waves from positioning satellites can be received without being blocked. Furthermore, because the receiving unit 45 is supported via the support member 44, even if part of the roof member 61 is magnetized, the magnetic influence from this magnetized part is suppressed.

[0070] 9, a simple canopy 60 can be configured by arranging a pair of pillars 64 erected at the sides of the hood 5 and a roof member 61 extending rearward from the upper ends of the pillars 64 to cover the driver's seat 3. Even in this configuration, the receiving unit 45 can be positioned at a high position by supporting it on the roof member 61 via the support member 44. In this configuration, the receiving unit 45 may be supported on the upper ends of the pillars 64 via the support member 44.

[0071] By supporting the receiving unit 45 on the simple canopy 60 via the support member 44 in this way, even if a portion of the roof member 61 or pillar 64 is magnetized, the influence of magnetism from this magnetized portion is suppressed.

[0072] (b) As shown in Figure 10, in a configuration similar to that of a rice transplanter (an example of a paddy field working machine) configured in the same manner as the embodiment, an auxiliary frame 18 serves as a receiving unit support member, and a receiving unit 45 is supported via a support member 44 on the upper end of a pillar-like intermediate frame 65 erected on this auxiliary frame 18. The support member 44 is made of a non-magnetic material such as flexible synthetic rubber.

[0073] In this alternative embodiment (b), the paddy field work equipment may be configured as a seed sower by providing a seed sowing device at the rear end of the traveling body A. Also, when the paddy field work equipment such as the seedling planting device B or the seed sowing device is raised to its upper limit, a configuration may be adopted in which the receiving unit 45 is supported directly on the auxiliary frame 18 via the support member 44, provided that it is at a height where radio waves from the positioning satellite are not blocked.

[0074] In this way, by supporting the receiving unit 45 on the auxiliary frame 18, it is possible to arrange the receiving unit 45 at a relatively high position. In particular, by arranging the receiving unit 45 at one of the left and right ends of the auxiliary frame 18, the receiving unit 45 does not interfere with work performed while standing on the work step 17, and by using the intermediate frame 65, the receiving unit 45 can be arranged at a high position.

[0075] (c) As shown in Figure 11, at the front end of the traveling body A, at the center position in the left-right direction or at either the left or right end, there is provided a pole-like frame 67 that acts as a support member for the receiving unit and is in a vertical position, and this supports the receiving unit 45 via a support member 44. The support member 44 is made of a non-magnetic material such as flexible synthetic rubber.

[0076] In this alternative embodiment (c), a pole-shaped frame 67 extending upward is disposed at the front end of the traveling vehicle body A, but it may also be disposed, for example, at a position to the side of the driver's seat 3 or at a position behind the driver's seat 3.

[0077] By using a dedicated pole-shaped frame 67 in this way, it is possible to position the receiving unit 45 at the required height, allowing for good reception of radio signals from positioning satellites and effective elimination of magnetic influences.

[0078] (d) In the embodiment, the engine 6 is built into the bonnet 5, but instead, the present invention may be applied to a paddy field working machine configured so that the engine 6 is located below the driver's seat 3.

[0079] (e) In the above-described embodiment, the target driving path was generated based on teaching. However, instead of teaching, for example, a control form may be set in which an overhead image of the field scene is displayed on the monitor unit 38 or the like, and the operator manually sets the target driving path in the field scene thus displayed. In addition, instead of teaching, for example, when a tractor is plowing a field, radio waves can be received from a positioning satellite, and data on the route traveled by the vehicle can be stored in a semiconductor storage medium or the like.The route data stored in this semiconductor storage medium or the like can then be loaded into the automatic steering and traveling system of the rice transplanter, and the control form can be set to generate a target traveling route in this automatic steering and traveling system. [Industrial Applicability]

[0080] The present invention can be used in a paddy field working machine that is provided with a receiving unit on the traveling body that receives radio signals from positioning satellites. [Explanation of symbols]

[0081] 3 Driver's seat 17 Work Steps 18 Auxiliary frame / receiving unit support 23 Seedling stand 31 Vertical Frame 32 Connecting frame / receiving unit support part 34 Spare seedling tray 44 Support member 45 receiving unit 45A Antenna 45B Orientation sensor (magnetic compass) 60 Canopy 61 Roof member / receiving unit support part 67 Pole-shaped frame / receiving unit support part A Running vehicle B Seedling planting equipment / paddy field working equipment

Claims

[Claim 1] a receiving unit having an antenna and a gyro sensor, and configured to receive radio signals from positioning satellites with the antenna; A spare seedling carrier frame for supporting the spare seedling carrier; The receiving unit is supported by a support frame located on the upper part of the auxiliary seedling carrier frame, The upper end of the spare seedling carrier frame is located at a position higher than the upper end of the steering wheel, A transplanter in which the receiving unit is positioned higher than the upper end of the spare seedling carrier frame.

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