Rice paddy work machine

Abstract

It has a configuration that appropriately displays information related to the vehicle's movement. [Solution] The system includes a positioning system 45 that receives radio signals from positioning satellites and acquires position information, a vehicle A capable of automatic driving by automatic steering based on the position information, a steering wheel 11 provided on the vehicle A, a display device D that displays information related to automatic driving, and an inverted U-shaped support frame 37 that supports the display device D, the upper end of the support frame 37 being positioned in front of the steering wheel 11, and the display device D displays information related to automatic driving, including an indication that it is in an automatic steering state and an indication that there is a deviation in the direction of travel of the vehicle D.

Description

Technical Field

[0001] The present invention relates to a paddy field working machine configured to acquire position information of a traveling vehicle body by receiving radio wave signals from positioning satellites.

Background Art

[0002] As a paddy field working machine configured as described above, Patent Document 1 discloses a technique of autonomous traveling based on position information measured by a GPS device.

[0003] In Patent Document 1, teaching is performed in a state where a radio wave signal from a GPS satellite (positioning satellite) is received by a GPS antenna provided on a traveling vehicle body, thereby setting a reference line, and a target path parallel to this reference line is set. After this setting, the rice transplanting operation can be performed in a form of autonomous traveling on the target path in a state where a radio wave signal from a GPS satellite (positioning satellite) is received.

[0004] Patent Document 2 discloses a technique that includes a GPS receiver for recognizing the position of a traveling vehicle body and includes a monitor composed of a touch panel type liquid crystal display on the right side of the front of the driver's cab of the traveling vehicle body.

[0005] In this Patent Document 2, the position of the traveling vehicle body is recognized by receiving radio waves from a GPS satellite with a GPS receiver, and navigation information and buttons are displayed on the monitor.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0007] In rice paddy work machines that acquire positional information by receiving radio waves from positioning satellites, it is necessary to check the position of the machine on a monitor during operation and to check information necessary for the operation on the monitor.

[0008] In a vehicle configuration where a bonnet is positioned in front of the driver's compartment and boarding / alighting steps are formed on both sides of the bonnet, if the monitor is positioned off-center from the vehicle body as shown in Patent Document 2, there is room for improvement as the monitor may obstruct the movement of workers when they move on the boarding / alighting steps.

[0009] The object of the present invention is to provide a rice paddy work machine having a configuration that appropriately displays information related to automatic driving. [Means for solving the problem]

[0010] The work vehicle of the present invention comprises a positioning system that receives radio signals from positioning satellites and acquires position information, a vehicle capable of automatic driving by automatic steering based on the position information, a steering wheel provided on the vehicle, a meter panel, a display device that displays information related to the automatic driving, and an inverted U-shaped support frame that supports the display device. The system comprises left and right vertical frames, and the receiving unit of the positioning system is supported between the left and right vertical frames, above the display device and with a vertical gap between it and the display device when viewed from the front, the upper end of the support frame is located in front of the steering wheel, the display device shows, as information relating to the automatic driving, an indication that the vehicle is in an automatic steering state and an indication that there is a deviation in the direction of travel of the vehicle, and the lower end of the support frame is located between the left and right vertical frames in the width direction of the vehicle. Furthermore, the work vehicle of the present invention includes a positioning system that receives radio signals from positioning satellites and acquires position information, a vehicle capable of automatic driving by automatic steering based on the position information, a steering wheel provided on the vehicle, a meter panel, a display device that displays information related to the automatic driving, and an inverted U-shaped support frame that supports the display device. The system comprises left and right vertical frames, the display device is located between the left and right vertical frames in the width direction of the vehicle, the upper end of the display device is located above the upper end of the meter panel, the receiving unit of the positioning system is supported between the left and right vertical frames, above the display device in a front view, and with a vertical gap between it and the display device, the upper end of the support frame is located in front of the steering wheel, and the display device displays information related to the automatic driving, including an indication that the vehicle is in an automatic steering state and an indication of a deviation in the direction of travel of the vehicle. Furthermore, the rice paddy work machine of the present invention comprises a positioning system that receives radio signals from positioning satellites and acquires position information, a traveling machine capable of automatic driving by automatic steering based on the position information, a steering wheel provided on the traveling machine, a display device that displays information related to the automatic driving, and an inverted U-shaped support frame that supports the display device, wherein the upper end of the support frame is located in front of the steering wheel, and the display device displays, as information related to the automatic driving, an indication that the machine is in an automatic steering state and an indication that there is a deviation in the direction of travel of the traveling machine. The rice paddy work machine of the present invention comprises a positioning system that receives radio signals from positioning satellites and acquires position information, a mobile body capable of automatic driving by automatic steering based on the position information, a driver's seat provided on the mobile body, and a display device provided in front of the driver's seat that displays information related to the automatic driving, the display device displaying an indication that the automatic steering state is in place and an indication that there is a deviation in the direction of travel of the mobile body. In the above configuration, it is preferable that a meter panel is provided below the steering post located in front of the driver's seat, and that the display device is provided separately from the meter panel. Furthermore, in the above configuration, it is preferable that the information relating to the automatic driving is displayed only on the display device among the display device and the meter panel. Furthermore, the system includes a positioning system support frame that supports the positioning system, wherein the positioning system support frame has left and right vertical frame portions and a connecting frame portion that connects the upper ends of the left and right vertical frame portions, and it is preferable that, when viewed from the front and rear of the mobile body, the support frame that supports the display device and the display device are located inside the space enclosed by the left and right vertical frame portions and the connecting frame portion. Furthermore, the rice paddy work machine of the present invention has a vehicle body in which a bonnet is positioned in front of the driver's seat, and boarding and alighting steps are formed on both sides of the bonnet to serve as boarding and alighting passages, and a steering wheel is positioned in front of the driver's seat at the rear of the bonnet, and a positioning system is provided which receives radio signals from positioning satellites and acquires the position information of the vehicle body and displays it on the monitor of the console, and the console is provided such that the monitor is positioned higher than the steering wheel within the width of the bonnet when viewed in the front and rear directions.

[0011] With this configuration, the console is positioned in the direction the operator's gaze is directed when seated in the driver's seat, eliminating the need to shift the operator's eyes significantly to view the display on the console's monitor. Furthermore, even when the operator moves along the boarding / alighting steps, such as when getting on or off between the moving vehicle and the field, their clothing will not come into contact with the console, making boarding and alighting easier. Therefore, a paddy field implement was obtained that has a configuration in which the position information of the moving vehicle is displayed by receiving signals from positioning satellites, and this configuration does not hinder movement on the boarding / alighting steps.

[0012] In the present invention, a monitor unit may be formed on a surface of the console facing the driver's seat, and a visor portion extending in the direction of the driver's seat may be provided above the upper end of the monitor unit.

[0013] According to this, since the visor portion can block sunlight, it is possible to accurately grasp the information displayed on the monitor unit of the console even when working in an environment where sunlight shines directly.

[0014] In the present invention, an operation panel portion may be formed on the surface of the console where the monitor unit is formed, and an operation switch or an indicator lamp may be formed on the operation panel portion.

[0015] According to this, by operating the operation switch of the operation panel portion of the console, it is possible to input reliable information as compared with a touch panel, and it is also possible to obtain the information necessary for work by lighting the indicator lamp.

Brief Description of the Drawings

[0016] [Figure 1] It is an overall side view of a rice transplanter. [Figure 2] It is an overall plan view of a rice transplanter. [Figure 3] It is a front view of a traveling vehicle body of a rice transplanter. [Figure 4] It is a perspective view of the front part of a traveling vehicle body of a rice transplanter. [Figure 5] It is a schematic diagram of a steering operation system. [Figure 6] It is a block circuit diagram of a positioning / automatic steering traveling system. [Figure 7] It is a view showing a monitor unit and an operation panel portion of a console. [Figure 8] It is a perspective view showing a console of another embodiment (a).

Modes for Carrying Out the Invention

[0017] Hereinafter, embodiments of the present invention will be described based on the drawings. [Overall configuration of the rice transplanter] As shown in Figures 1 to 3, a riding-type rice transplanter is configured as a paddy field work machine, with a driving body A having a pair of left and right front wheels 1 and a pair of left and right rear wheels 2, a driver's seat 3 in the center of the driving body A, and a seedling planting device B (an example of a paddy field work device) that can be raised and lowered via a link mechanism L that moves up and down by the extension and retraction of a hydraulic cylinder 4 at the rear end of the driving body A.

[0018] This rice transplanter has an engine 6 housed in a bonnet 5 at the front of the vehicle body A. The vehicle body A has a drive transmission system in the center where the driving force from the engine 6 is shifted by a transmission case 7 and transmitted to the left and right front wheels 1 and left and right rear wheels 2. The vehicle body A also has a work 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 has an internal planting clutch C that intermittently transmits the driving force to the transmission shaft 8.

[0019] A lifting lever 10 for raising and lowering the seedling planting device B and engaging and disengaging the planting clutch C is located on the right side of the driver's seat 3, and a steering wheel 11 for steering the front wheels 1 is located in front of the driver's seat 3 at the rear of the bonnet 5. A main gear lever 12 for setting the driving speed is located on the left side of the steering wheel 11, and a forced lifting lever 13 for forcibly raising and lowering the seedling planting device B and engaging and disengaging the planting clutch C in conjunction with the raising and lowering.

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

[0021] A columnar center mascot 14 is provided at the front of the bonnet 5. In addition, marker devices are provided on both the left and right sides of the seedling planting device B, which can be switched between an operating position and a retracted position. The marker device consists of a marker arm 26 that is supported so as to be able to swing around a pivot axis in a front-to-back orientation relative to the seedling planting device B, and a marker ring 27 that is rotatably supported at the pivot end of the marker arm 26 and has multiple protrusions formed on its outer circumference.

[0022] When the marker arm 26 is set to the operating position shown in Figure 1, the outer circumference of the marker ring 27 comes into contact with the field surface, and as the vehicle A moves, it rotates, continuously forming a concave mark on the field surface that will be the center of the next run. As a result, by forming a concave mark on the field surface with the marker ring 27, when continuing seedling planting work by turning the vehicle A, the center mascot 14 can be visually aimed at the mark on the field surface by steering the vehicle, making it possible to plant seedlings at the optimal position based on the rows of already planted seedlings.

[0023] The marker arm 26, which is in the working position, switches to the retracted position in conjunction with the rise of the seedling planting device B, and locks in this retracted position. Then, by operating the lifting lever 10 in the lowered position and moving it left or right, the lock on the corresponding marker arm 26 is released and it switches to the working position.

[0024] In this rice transplanter, when planting seedlings, the seedling planting device B is lowered to the level where the leveling float 22 touches the ground by operating the lifting lever 10, and the planting clutch C is engaged to move the vehicle body A. As a result, with the leveling float 22 leveling the mud surface of the seedling planting area, the driving force transmitted from the vehicle body A causes the seedling platform 23 to reciprocate from side to side. During this reciprocating motion, the planting claws of multiple planting arms 24 cut out a predetermined amount of seedlings from the lower end of the mat-shaped seedlings placed on the seedling platform 23 and plant them in the field. If necessary, a marker device will form a concave mark on the field surface.

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

[0026] Furthermore, this rice transplanter is configured to allow seedling planting to be performed by manual steering using the steering wheel 11, even when a target travel path has been set, without relying on automatic steering. For this reason, it is equipped with a marker device.

[0027] [Vehicle configuration] In this rice transplanter, a driver's compartment with a driver's seat 3 is formed in the center of the vehicle body A, and a driver's step 15 is formed at the foot of the driver's compartment, with auxiliary steps 15A formed on the left and right outer positions of the driver's step 15. On both the left and right sides of the bonnet 5 at the front of the vehicle body A, there are boarding and alighting steps 16 that connect seamlessly to the driver's step 15. The boarding and alighting steps 16 bring the front end of the vehicle body A closer to the ridge, facilitating the movement of the operator between the ridge and the vehicle body A.

[0028] A work step 17 is formed in a position that covers the upper part of the left and right rear wheels 2. This work step 17 also functions as a rear fender, and a driver's seat 3 is positioned in the front center of this work step 17, allowing an operator to work while seated in the area extending laterally from the work step 17 behind the driver's seat 3.

[0029] The work step 17 facilitates the supply of mat-shaped seedlings to the seedling tray 23 of the seedling planting device B. An auxiliary frame 18 is formed along the work step 17, with handrail-like horizontal frame bodies 18B connected to the rear ends of the left and right support frame bodies 18A to support the worker on the work step 17. This auxiliary frame 18 is configured so that the worker can not only grip it but also stabilize their posture by making contact with a part of their body.

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

[0031] The vertical frame 31 is made of pipe material, and by bending this vertical frame 31, a connecting frame 32 is integrally formed in a form that extends inward from the upper end of the vertical frame 31 towards the inside of the vehicle body. The left and right connecting frames 32 are then integrated by connecting the extended ends of each connecting frame 32 with brackets 42. Alternatively, the left and right vertical frames 31 and the connecting frame 32 that connects them may be constructed from a single component by bending a long pipe material.

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

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

[0034] With this configuration, the multiple spare seedling trays 34 positioned on the left and right, the left and right vertical frames 31, and the auxiliary vertical frame 33 are positioned outside the boarding / alighting step 16, so as not to hinder the movement of workers on the boarding / alighting step 16.

[0035] [Instrument panels] As shown in Figure 4, an instrument panel 36 is located at the rear end of the bonnet 5, in front of the steering wheel 11. This instrument panel 36 is equipped with a liquid crystal display with a backlight and multiple indicator lamps to display work information. The liquid crystal display shows the hour meter, the status of the automatic planting clutch, the fuel level, the coolant temperature, etc. In addition, multiple indicator lamps are provided, including an oil low lamp, a charge lamp, a seedling low lamp, a planting indicator lamp, a ridge clutch lamp, and a marker lamp.

[0036] The meter panel 36 may consist only of a liquid crystal display and be configured to display all work information on this liquid crystal display. Alternatively, it may be equipped with indicators that operate not only as lamps but also as needles.

[0037] Inverted U-shaped console support frames 37 are provided on both the left and right sides of the rear of the bonnet 5, with their lower ends penetrating and connecting to the vehicle body A, and the console D is supported by these frames. The console support frame 37 consists of left and right side frame bodies 37A and an upper frame body 37B that is formed in a state where it is connected to the upper ends of these, and is provided in an inclined position where the upper end is displaced further forward.

[0038] The console support frame 37 is provided with connecting plates 40 that connect to the left and right side frame bodies 37A, and the upper end of these connecting plates 40 is bent to protrude toward the driver's seat 3, thereby integrally forming a canopy portion 41. The console D is formed in a box shape and is supported by the connecting plates 40. From this support configuration, the canopy portion 41 protrudes from above the console D toward the driver's seat 3. Incidentally, there is nothing provided on both the left and right sides of the console D to function as a sunshade, but canopy portions 41 may be provided on both the left and right sides of the console D. This would make it possible to block sunlight from shining into the monitor portion 38 from the side.

[0039] Console D is positioned within the width of the bonnet 5 and within the width of the steering wheel 11 when viewed from the front and rear, with the lower end of the monitor section 38 positioned above the upper end of the steering wheel 11. Furthermore, because the console support frame 37 is formed in the aforementioned inclined position, when working, the monitor section 38 of console D can be easily viewed by slightly lowering one's gaze from the front, ensuring that information is accurately grasped, and console D does not obstruct the view of the center mascot 14.

[0040] As shown in Figure 7, the console D has a monitor unit 38 with a liquid crystal display and a touch panel 38A on its display surface, and an operation panel unit 39 on the surface facing the driver's seat 3. The operation panel unit 39 is equipped with multiple operation switches 39A to enable ON / OFF of the power button and various other operations. In addition to the operation switches 39A, the operation panel unit 39 may also be equipped with an indicator lamp and a speaker to output information by voice.

[0041] As shown in the figure, the monitor unit 38 of console D includes a mode display unit 102 that receives radio waves from positioning satellites and indicates that the vehicle is in automatic steering mode, a target driving path line 103 corresponding to the target driving path, an icon 104 that reflects the operation of the steering wheel 11, and a speed display unit 108. The multiple operation switches 39A of the operation panel unit 39 are configured to allow input of information necessary for automatic steering mode. The display format of the monitor unit 38 will be described later.

[0042] [Variations in console placement] In this embodiment, the console D was fixed to the console support frame 37. However, instead, the console D may be supported so that it can swing freely around its axis in a lateral position, and a clamp mechanism or the like may be provided to maintain the swinging position, thereby allowing the console D to be supported in an adjustable angle. By supporting it in an adjustable angle in this way, it becomes possible to set the angle of the console D to correspond to the physique of the worker seated in the driver's seat 3, thereby improving the visibility of the display on the monitor section 38 formed on the console D.

[0043] As another modification, the upper end of console D is positioned lower than the upper end of the seedling tray 23 of the seedling planting device B. By positioning it in this way, when replenishing the seedling tray 23 with mat-shaped seedlings placed on the spare seedling tray 34, the inconvenience of the mat-shaped seedlings touching console D is reduced, thereby facilitating smooth seedling replenishment.

[0044] [Positioning and automatic steering driving system] As shown in Figures 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 aforementioned bracket 42 at the center position in the left-right direction of the connecting frame 32 (an example of a receiving unit support part) of the support frame. A support member 44 made of flexible synthetic rubber, which is a non-magnetic material, is provided on the upper surface of this support plate 43, and the receiving unit 45 is supported in a state where it rests on this member.

[0045] As shown in Figure 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 the Earth's magnetic field, and a gyro sensor 45C that captures changes in the attitude of the moving vehicle A by inertia. In this configuration, since the receiving unit 45 is positioned at the front of the vehicle body A, when the vehicle body A changes direction, the amount of lateral displacement is greater compared to the rear end of the vehicle body A, allowing for highly sensitive detection of changes in position information.

[0046] The steel components of the rice transplanter can become partially magnetized during manufacturing or processing. For example, if the connecting frame 32 becomes magnetized, the magnetism from the connecting frame 32 can affect the magnetic compass 45B, reducing the accuracy of Earth's magnetic field detection. For this reason, a non-magnetic material with a predetermined thickness is used as the support member 44 to increase the distance between the connecting frame 32 and the magnetic compass 45B, thereby suppressing the influence of magnetism. In addition to synthetic rubber, materials with vibration-damping properties, such as foamed urethane, can also be used as this support member.

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

[0048] The control unit 47 comprises a software-based teaching processing unit 47A, a driving path determination unit 47B, and a driving control unit 47C. This control unit 47 outputs information to the monitor unit 38 and acquires information from the touch panel 38A. In addition, this control unit 47 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. Furthermore, at least one of the teaching processing unit 47A, the driving path determination unit 47B, and the driving control unit 47C may be configured as logic IC hardware, or as a combination of hardware and software.

[0050] As shown in Figure 5, a power steering unit 52, which transmits the operating force from the 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 operated 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 it. Furthermore, a rotary encoder 57 for measuring the amount of rotation is provided at the lower end of the steering shaft 51.

[0052] Furthermore, in this steering control system, steering control motors 56 are provided at the front and sides of the steering shaft 51, thereby making effective use of the space inside the hood 5 and avoiding the formation of a protruding space below the driver's seat 3.

[0053] In this rice transplanter, the operator manually steers the transplanter between one ridge of the field and the other ridge. The teaching processing unit 47A of the control unit 47 acquires the travel path during this travel, and is configured to generate and store a target travel path from this travel path.

[0054] The driving path is recognized as a straight line by the control unit 47, and multiple target driving paths are set at intervals corresponding to the planting width of eight rows so that the vehicle maintains a posture parallel to the driving path. After multiple target driving paths have been set in this manner, by selecting automatic steering driving, the driving path determination unit 47B determines the error with the target driving path based on information from the positioning system, and the driving control unit 47C controls the steering control motor 56 to realize control that automatically steers the vehicle A along the target driving path.

[0055] Furthermore, when the vehicle A is automatically steered along a target route, the system is configured to allow the operator to correct the route by operating the steering wheel 11. Furthermore, the driving path determination unit 47B is set to first drive the vehicle A along a target driving path adjacent to the driving path (the path initially driven by human steering), and then drive the vehicle A along a target driving path adjacent to this.

[0056] [Positioning and Auto Steering Driving System: Console Display Format] During automatic steering operation, as shown in Figure 7, the automatic steering operation screen is displayed on the monitor unit 38 of the console D, and multiple setting buttons 101 and a mode display unit 102 are displayed on this screen. The setting buttons 101 are operated via a touch panel by touching the screen with a finger or the like, and various settings are made possible. The mode display unit 102 displays text information indicating that the vehicle is in automatic steering mode.

[0057] In this automatic steering driving screen, a target driving path line 103 is displayed in the center of the screen horizontally, and an icon 104 representing the vehicle A is displayed in the center of the screen. Based on this icon 104, a declination line 105 showing the deviation angle (declination angle) of the vehicle's direction of travel and an indicator section 106 showing the amount of deviation in degrees are displayed.

[0058] The upper part of the monitor unit 38 has a deviation display unit 107 that displays the amount of deviation of the vehicle A relative to the target driving path, and a speed display unit 108. The deviation display unit 107 has a numerical value indicating the amount of deviation and a bar graph that visually represents the amount of deviation. The speed display unit 108 displays the driving speed of the vehicle A numerically. In addition, the display is set so that the relative angle between the target driving path line 103 and the icon 104 changes when steering is performed.

[0059] As a result, when performing automatic steering driving, the system is activated by operating the operation switch 39A on console D, the system is switched to a teaching-enabled state by operating the operation switch 39A or the setting button 101, and the driving path is acquired by the teaching processing unit 47A by performing manual steering driving, and the target driving path is set. After this, by switching to the automatic steering driving mode, the screen shown in Figure 7 above is displayed on the monitor unit 38, and automatic steering driving along the target driving path becomes possible.

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

[0061] [Effects and Effects of the Embodiment] Thus, in the rice transplanter, by selecting automatic steering after a target travel path has been set, radio signals from positioning satellites are received, the error between the target travel path and the current position of the vehicle A is determined, and automatic steering is performed to reduce this error. As a result, the operator does not need to operate the steering wheel 11. This allows the operator to replenish seedlings without stopping the vehicle A, improving work efficiency compared to the operation method in which the vehicle A is stopped to replenish seedlings.

[0062] In particular, during seedling planting, the operator operates the steering wheel 11 to move the vehicle A, and automatic steering can be selected only when replenishing the mat-shaped seedlings on the spare seedling tray 34 to the seedling tray 23 of the seedling planting device B. In such cases, there is no need to stop the vehicle A, improving work efficiency.

[0063] In a view from the front and rear, the console D fits within the width of the bonnet 5 and also within the width of the steering wheel 11. Therefore, when an operator moves on the entry / exit step 16, their clothing or other body parts do not come into contact with the console D or the steering wheel 11, making it easy to get on and off the vehicle.

[0064] Furthermore, since the console D is positioned in the direction of the operator's gaze when seated in the driver's seat 3, the operator does not need to move their eyes significantly when viewing the display on the monitor section 38 of the console D. In particular, even when working in an environment where sunlight shines directly in, the awning section 41 blocks the sunlight, allowing the operator to accurately grasp the information displayed on the monitor section 38 of the console D.

[0065] In this console D, since the operation panel section 39 has operation switches 39A, it is possible to input information more reliably compared to a touch panel. Furthermore, the operation panel section 39 can also be equipped with an alarm lamp. For example, if a high-brightness LED is used as the alarm lamp, it can be illuminated at a higher brightness than the monitor section 38, ensuring that information requiring attention, such as an alarm, is reliably obtained.

[0066] Furthermore, since the receiving unit 45 is supported via a support member 44 using a connecting frame 32 that connects the upper ends of the vertical frames 31 that support the spare seedling tray 34 as a receiving unit support, the receiving unit 45 can be positioned at a high location and radio signals from positioning satellites can be received well without having to provide a dedicated frame on the vehicle body A. Moreover, 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 acting from the connecting frame 32, etc., and enabling the magnetic compass 45B, acting as a direction sensor, to detect the direction of the vehicle body with high precision based on the Earth's magnetic field.

[0067] [Another embodiment] In addition to the embodiments described above, the present invention may also be configured as follows.

[0068] (a) As shown in Figure 8, the console D is equipped with a monitor unit 38, an operation panel unit 39, and a meter panel 36. The monitor unit 38 is a liquid crystal type with a touch panel 38A formed on its display surface, and the operation panel unit 39 is equipped with a plurality of operation switches 39A. The meter panel 36 is similar to the one formed at the rear end of the bonnet 5 in the embodiment, and, as described in the embodiment, has a liquid crystal display and indicator lamps. The liquid crystal display shows the hour meter, the status of the automatic planting clutch, the fuel level, the coolant temperature, etc. In addition, there are multiple indicator lamps, such as an oil low lamp, a charge lamp, a seedling low lamp, a planting indicator lamp, a few-row clutch lamp, and a marker lamp.

[0069] By configuring the vehicle as in this alternative embodiment (a), all driving information during automatic steering and all necessary work information can be consolidated and displayed on console D, making it possible to obtain the necessary information simply by shifting one's gaze significantly. Furthermore, it eliminates the need to provide an instrument panel at the rear end of the bonnet 5.

[0070] Furthermore, as a modification of this alternative embodiment (a), the functions of the meter panel 36 are distributed and arranged by providing a liquid crystal display and lamps on the rear end of the bonnet 5 and the console D. In this modification, by configuring the system to output relatively important information from the work information to the console D, it becomes possible to reliably convey information to the worker.

[0071] (b) The console D is supported on the lower end of the frame that extends downward from the connecting frame 32 of the support frame. By supporting it in this way, it is possible to position the console D within the width of the bonnet 5 and to position the console D higher than the bonnet 5. It is also possible to secure space between the console D and the spare seedling stand 34 for an operator to pass through.

[0072] (c) As a paddy field work machine, the configuration of the present invention may be applied to a seeder equipped with a seeding device at the rear end of the traveling vehicle A, instead of the seedling planting device B of the embodiment. Furthermore, a fertilizer application device may be provided regardless of whether a rice transplanter or a seeder is configured as the paddy field work machine.

[0073] (d) In the embodiment, the engine 6 was built into the bonnet 5, but this may be applied to a rice paddy work machine configured such that the engine 6 is located under the driver's seat 3.

[0074] (e) In the embodiments described above, the target travel path was generated based on teaching. However, instead of teaching, for example, an overhead image of the field scene may be displayed on the monitor unit 38, and the control mode may be set so that the operator sets the target travel path by manual operation in the field scene displayed in this manner. Alternatively, instead of teaching, for example, when a tractor is performing puddling work in a field, the system may receive radio waves from positioning satellites to store the route data of the vehicle's movement in a semiconductor storage medium, and then load this route data stored in the semiconductor storage medium into the automatic steering system of the rice transplanter, thereby setting the control mode to generate a target travel route in the automatic steering system. [Industrial applicability]

[0075] The present invention can be used in a rice paddy work machine that has passenger access passages on both sides of the front hood of the vehicle body, a steering wheel at the rear of the hood, a driver's seat positioned behind the steering wheel, and is configured to receive radio signals from positioning satellites and output position information. [Explanation of Symbols]

[0076] 5. Hood 11 Steering Wheel 16 boarding / alighting steps 38 Monitor section 39 Control Panel 39A Operating switch 41 Eaves A. Running vehicle body D Console

Claims

1. A positioning system that receives radio signals from positioning satellites and acquires location information, A mobile vehicle capable of automatic driving by automatic steering based on the aforementioned position information, A steering wheel provided on the aforementioned vehicle body, The meter panel and A display device that displays information related to the aforementioned automated driving, An inverted U-shaped support frame that supports the display device, It has vertical frames on the left and right, The receiving unit of the positioning system is supported between the left and right vertical frames, in a front view, above the display device and with a vertical gap between it and the display device. The upper end of the support frame is located in front of the steering wheel. The display device shows, as information related to the automatic driving, an indication that the vehicle is in an automatic steering state and an indication that there is a deviation in the direction of travel of the vehicle. A paddy field implement in which the lower end of the support frame is located between the left and right vertical frames in the width direction of the traveling machine body.

2. The paddy field work machine according to claim 1, wherein the display device is located between the left and right vertical frames in the width direction of the traveling machine body.

3. The paddy field work machine according to claim 1, wherein the upper end of the display device is located above the upper end of the meter panel, and the lower end of the meter panel is located below the lower end of the display device.

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