Work machinery

Abstract

To provide a work machine in which heat, vibration, electromagnetic noise, sound, etc. generated in a power source hardly constitute a problem.SOLUTION: A work machine (spreader 1) includes a machine body 10, a work part, a power source 63, and a user interface 61. The machine body 10 includes a first block 10L and a second block 10R arranged side by side in a right-left direction D2. The work part is supported by the machine body 10 and executes work. The power source 63 is arranged in the first block 10L, and drives the machine body 10. The user interface 61 is arranged in the second block 10R, and executes at least one of output of information to a user and reception of an operation.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a work machine equipped with a working unit that performs work. [Background technology]

[0002] As related art, a work machine (agricultural work vehicle) equipped with a crawler traveling unit, a left body, a right body, an engine, and a working unit (chemical spraying unit) is known (see, for example, Patent Document 1). In the work machine according to the related art, the crawler traveling units are arranged in a pair on the left and right, and travel so as to sandwich the plant, which is the spraying target, on both sides. The left body is mainly supported by the left crawler traveling unit. The right body is mainly supported by the right crawler traveling unit. The engine is located on the left body side.

[0003] In a work machine according to the related art, a working unit is provided on each of the left and right bodies. Each working unit sprays a fungicide on both the right and left sides. This allows the work machine according to the related art to simultaneously spray a fungicide on plants passing between the pair of left and right crawler travel units, plants located on the left side of the work machine, and plants located on the right side of the work machine. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2020-152285 Summary of the Invention [Problem to be solved by the invention]

[0005] In the configuration of the related art described above, the power source for driving the vehicle (crawler traveling body), such as an engine, is located on one of the vehicle bodies (the left vehicle body), which can cause problems with heat, vibration, electromagnetic noise, sound, and the like generated by the power source on that vehicle body side.

[0006] An object of the present invention is to provide a work machine in which heat, vibration, electromagnetic noise, sound, etc. generated by the power source are less likely to become a problem. [Means for solving the problem]

[0007] A work machine according to one aspect of the present invention comprises a machine body, a working unit, a power source, and a user interface. The machine body has a first block and a second block arranged side by side in the left-right direction. The working unit is supported on the machine body and performs work. The power source is arranged in the first block and drives the machine body. The user interface is arranged in the second block and performs at least one of outputting information to a user and accepting operations. [Effects of the Invention]

[0008] According to the present invention, it is possible to provide a work machine in which heat, vibration, electromagnetic noise, sound, etc. generated by the power source are less likely to become a problem. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is an external view of the sprayer according to the first embodiment, as viewed from the left front side. [Figure 2] FIG. 2 is a rear external view of the sprayer according to the first embodiment as viewed from the rear side. [Figure 3] FIG. 3 is a diagram showing an example of a crop row in which the sprayer according to the first embodiment is used. [Figure 4] FIG. 4 is a schematic diagram showing the overall configuration of an automatic driving system using the sprayer according to the first embodiment. [Figure 5] FIG. 5 is an external view of the left side of the sprayer according to the first embodiment as viewed from the left side. [Figure 6] FIG. 6 is an external view of the right side of the sprayer according to the first embodiment as viewed from the right side. [Figure 7] FIG. 7 is an external view of the top surface of the sprayer according to the first embodiment as viewed from above. [Figure 8]FIG. 8 is a rear external view of the sprayer according to the first embodiment as viewed from the rear side. [Figure 9] FIG. 9 is a schematic view showing the spreader according to the first embodiment as viewed obliquely from behind. [Figure 10] FIG. 10 is a cross-sectional view of a portion of the sprayer according to the first embodiment that is rearward from the vertical frame. [Figure 11] FIG. 11 is a rear external view of the sprayer according to the first embodiment, seen from the rear side while traveling on a horizontally inclined slope. [Figure 12] FIG. 12 is an external view of the right side of the sprayer according to the second embodiment as viewed from the right side. [Figure 13] FIG. 13 is a schematic view of the main parts of the sprayer according to the third embodiment, seen obliquely from behind. DETAILED DESCRIPTION OF THE INVENTION

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The following description will discuss preferred embodiments of the present invention with reference to the accompanying drawings. The preferred embodiments are merely examples of the present invention and are not intended to limit the technical scope of the present invention.

[0011] (Embodiment 1) [1] Overall structure First, the overall configuration of a sprayer 1 according to this embodiment will be described with reference to Figures 1 to 4. In this embodiment, the sprayer 1 performs spraying work to spray a spray material such as a chemical solution, water, or fertilizer on crops V1 (see Figure 2) grown in a field F1. This sprayer 1 is an example of a "work machine" that performs various types of work within a work area such as the field F1.

[0012] In other words, the sprayer 1 is a work machine capable of performing spraying work, such as spraying chemicals, water, or fertilizer. In this disclosure, the term "work machine" includes not only sprayers but also work vehicles such as tractors, rice transplanters, sprayers, sowing machines, transplanters, and combine harvesters. In other words, work machines include work vehicles. Work machines are not limited to "vehicles," and may be, for example, work aerial vehicles such as drones or multicopters used to spray chemicals, water, fertilizer, etc. Furthermore, in this disclosure, the term "work machine" is not limited to agricultural machines (farm machinery), and may be, for example, construction machines (construction machinery), etc.

[0013] Furthermore, the term "field" in this disclosure refers to an example of a work area in which the work machine, the sprayer 1, moves and performs various tasks, such as spraying, and includes orchards, pastures, rice paddies, and fields where agricultural products are grown. In this case, the crop V1 grown in the field F1 is the agricultural product. Furthermore, if plants are grown in a nursery, the nursery becomes the field F1, and if trees for lumber are grown in a forest, as in forestry, the forest becomes the field F1. In this case, the crop V1 grown in the field F1 is a nursery or tree. However, the work area in which the work machine performs work is not limited to the field F1 and may be a place other than the field F1. For example, if the work machine is a construction machine, the work site where the construction machine performs work is the work area.

[0014] In this embodiment, as an example, the sprayer 1 is a vehicle that moves through a field F1, which may be an orchard such as a vineyard or apple orchard, and sprays a chemical solution on a crop V1 growing in the field F1. In this case, the chemical solution is an example of a sprayed object. The crop V1 is also an example of a spray target onto which the sprayed object (chemical solution) is sprayed, such as a grape tree. The crop V1, which is the spray target, is also an example of a work target that is the target of work performed by the sprayer 1 as a work machine. The "chemical solution" used here as a sprayed object is a pesticide used to improve agricultural efficiency or preserve agricultural crops, and includes herbicides, fungicides, fungicides, insecticides, weed killers, rodenticides, growth promoters and germination inhibitors for the plant V1, etc.

[0015] Crop V1 is arranged in multiple rows at a predetermined interval in field F1. Specifically, as shown in FIG. 3, a plurality of crops V1 are planted in a straight line in the longitudinal direction A1 in plan view. The plurality of crops V1 arranged in a straight line in the longitudinal direction A1 constitute crop row Vr1. FIG. 3 illustrates three crop rows Vr1 each including six crops V1 arranged in the longitudinal direction A1. Each crop row Vr1 is arranged at a predetermined pitch W1 in the width direction A2. As a result, there is a width W2 (<W1) corresponding to the interval between adjacent crop rows Vr1, and a working passage extending along the longitudinal direction A1 is formed. The sprayer 1 sprays a spray (chemical solution) onto the crop V1 while moving (traveling) in the longitudinal direction A1 through this working passage.

[0016] As will be described in detail later, the sprayer 1 traveling in the field F1 includes a machine body 10 having a portal shape. That is, the machine body 10 has a first block 10L and a second block 10R arranged side by side in the left-right direction D2, and a connecting portion 10C connecting the upper end portions of the first block 10L and the second block 10R. Thereby, the machine body 10 constitutes a portal shape surrounding three sides, namely the left, right, and upper sides of the space Sp1, at the first block 10L, the second block 10R, and the connecting portion 10C. That is, a space Sp1 opened in the front-rear direction D3 is formed inside the machine body 10.

[0017] As shown in FIG. 2, the sprayer 1 can spray a spray (chemical solution) onto the crop V1 of this crop row Vr1 and the crop V1 of the crop row Vr1 adjacent to this crop row Vr1 while traveling in a posture straddling one crop row Vr1 with the machine body 10 formed in a portal shape. In other words, the sprayer 1 can travel by passing the crop V1, which is the object to be sprayed (the object to be worked), through the space Sp1 inside the machine body 10 formed in a portal shape. That is, as illustrated in FIG. 2, when there are three crop rows Vr11, Vr12, Vr13 arranged in the left-right direction D2, the sprayer 1 can travel straddling any working row Vr1 among these three crop rows Vr11, Vr12, Vr13 with the machine body

[0018] Here, if the machine body 10 straddles the central crop row Vr12, the first block 10L travels along the work path between the leftmost crop row Vr11 and the crop row Vr12, and the second block 10R travels along the work path between the rightmost crop row Vr13 and the crop row Vr12. The sprayer 1 can simultaneously spray the spray material (chemical solution) on the crop V11 in the crop row Vr11, the crop V12 in the crop row Vr12, and the crop V13 in the crop row Vr13. In this way, the sprayer 1 of this embodiment can simultaneously spray the spray material (chemical solution) on three rows of spray targets (crops V1) while traveling, which makes spraying more efficient than a configuration that sprays one row at a time.

[0019] Furthermore, in this embodiment, as an example, the sprayer 1 is an unmanned vehicle that operates by autonomous driving without being operated (including remotely) by a person (operator). Therefore, as shown in FIG. 4 , the sprayer 1, together with an operation terminal 201, a server 202, a base station 203, a satellite 204, and the like, constitutes an autonomous driving system 200. In other words, the autonomous driving system 200 includes the sprayer 1, the operation terminal 201, the server 202, the base station 203, and the satellite 204. However, at least one of the operation terminal 201, the server 202, the base station 203, and the satellite 204 may not be included as a component of the autonomous driving system 200; for example, the autonomous driving system 200 may not include the satellite 204.

[0020] The sprayer 1, the operation terminal 201, and the server 202 are capable of communicating with each other. In this disclosure, "capable of communication" means that information can be exchanged directly or indirectly via a communication network or a repeater, etc., using an appropriate communication method such as wired communication or wireless communication (communication using radio waves or light as a medium). For example, the sprayer 1 and the operation terminal 201 can communicate with each other via the Internet, a LAN (Local Area Network), a WAN (Wide Area Network), a public telephone line, a mobile phone network, a packet network, a wireless LAN, etc. Furthermore, each of the sprayer 1 and the operation terminal 201 can also communicate with the server 202 via the Internet, etc.

[0021] Satellite 204 is a positioning satellite that constitutes a satellite positioning system such as GNSS (Global Navigation Satellite System), and transmits GNSS signals (satellite signals). Base station 203 is a reference point (reference station) that constitutes the satellite positioning system. Base station 203 transmits correction information to sprayer 1 for calculating the current position of sprayer 1, etc.

[0022] The sprayer 1 according to this embodiment is equipped with a positioning device 2 that detects the current position (latitude, longitude, altitude, etc.) and current orientation of the vehicle 10. The positioning device 2 executes a positioning process that identifies (calculates) the current position and current orientation of the vehicle 10 using GNSS signals transmitted from satellites 204. The positioning device 2 employs a relatively high-precision positioning method such as RTK (Real Time Kinematic) positioning that performs positioning based on positioning information (GNSS signals, etc.) received by two receivers (base station 203 and antenna 21) and correction information generated by base station 203.

[0023] The operation terminal 201 is, for example, an information processing device such as a tablet terminal or a smartphone. The operation terminal 201 includes a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. The operator can operate the operation unit to register various information on the operation screen displayed on the display unit. The operator can also operate the operation unit to give instructions to the sprayer 1 to start work, stop traveling, etc.

[0024] The server 202 is an information processing device such as a server device, etc. The server 202 transmits to the sprayer 1 information such as a target route along which the sprayer 1 is to automatically travel.

[0025] The sprayer 1 is capable of automatic travel (autonomous travel) along a preset target route. For example, the sprayer 1 automatically travels from a work start position to a work end position along a target route that includes multiple work routes and movement routes. The multiple work routes are each linear routes along which the sprayer 1 performs work (spraying work) on the crop V1, which is the work object (object to be sprayed), and the movement route is a route along which the sprayer 1 moves between the crop rows Vr1 without performing spraying work, and may include a turning route and a straight route.

[0026] The sprayer 1 also travels automatically in a predetermined row order. In the example of FIG. 2, the sprayer 1 travels across the crop row Vr11, then across the crop row Vr12, and then across the crop row Vr13. In this way, the sprayer 1 travels automatically according to the predetermined order of the crop rows Vr1. The sprayer 1 may travel for each row in the order of the crop rows Vr1, or may travel every several rows.

[0027] Also, in this embodiment, for ease of explanation, the vertical direction when the sprayer 1 is in a usable state is defined as the up-down direction D1, as shown in Figure 1. Furthermore, the left-right direction D2 and the front-to-rear direction D3 are defined based on the direction seen from the center point of the sprayer 1 in a plan view. In other words, the direction of travel of the sprayer 1 when moving forward is forward in the front-to-rear direction D3, and the direction of travel of the sprayer 1 when moving backward is rearward in the front-to-rear direction D3. However, these directions are not intended to limit the direction of use of the sprayer 1 (the direction when in use).

[0028] Furthermore, in this disclosure, "parallel" refers to a case where two straight lines on a plane do not intersect no matter how far they are extended, that is, a case where the angle between the two is exactly 0 degrees (or 180 degrees), as well as a case where the angle between the two is within an error range of a few degrees (for example, less than 10 degrees) from 0 degrees. Similarly, in this disclosure, "orthogonal" refers to a case where the angle between the two is exactly 90 degrees, as well as a case where the angle between the two is within an error range of a few degrees (for example, less than 10 degrees) from 90 degrees.

[0029] [2] Details of the sprayer Next, the configuration of the sprayer 1 will be described in more detail with reference to Figures 1, 2, 5, 6 and 7. Figure 1 is an external view of the sprayer 1 as seen from the front left side, and Figure 2 is an external view of the rear of the sprayer 1 as seen from the rear side (rear). Figure 5 is an external view of the left side of the sprayer 1 as seen from the left side, Figure 6 is an external view of the right side of the sprayer 1 as seen from the right side, and Figure 7 is an external view of the top of the sprayer 1 as seen from above.

[0030] The sprayer 1 comprises a body 10, a positioning device 2, a support frame 3, and a spraying device 4. In this embodiment, the sprayer 1 further comprises an airflow generating unit 5, a user interface 61 (see FIG. 6), an obstacle detection device 62, a power source 63, a tank 64, a display 65, etc. The sprayer 1 also comprises a control device, a communication terminal, a fuel tank, a battery, etc. In this embodiment, the structures of the sprayer 1, such as the body 10 and support frame 3, are basically made of metal, with the material being selected depending on the required strength, weather resistance, etc. However, the structures of the sprayer 1 are not limited to being made of metal, and for example, resin, wood, etc. may be used as appropriate.

[0031] The vehicle body 10 is the main body of the sprayer 1 and supports most of the components of the sprayer 1, such as the positioning device 2 and support frame 3. The vehicle body 10 has a frame 101 (see FIG. 2 ) and a cover 102. The frame 101 is a member that forms the skeleton of the vehicle body 10 and supports heavy objects such as the power source 63 and tank 64. The cover 102 is a member that forms the outer shell of the vehicle body 10 and is attached to the frame 101 so as to cover at least a portion of the frame 101 and the components mounted on the frame 101. Parts of the rear (back) and right side of the vehicle body 10 are not covered by the cover 102, exposing the frame 101. The cover 102 is divided into multiple sections, and these multiple sections are configured to be individually removable from the frame 101. Therefore, it is possible to remove only the portions of the cover 102 that correspond to certain devices (components), such as the power source 63, thereby exposing certain devices (components), such as the power source 63.

[0032] As described above, the airframe 10 has a first block 10L and a second block 10R arranged side by side in the left-right direction D2. The first block 10L and the second block 10R face each other in the left-right direction D2 with a certain distance between them. In the present embodiment, as an example, the first block 10L is located on the left side, and the second block 10R is located on the right side. Therefore, the left side of the airframe 10 is formed by the first block 10L, and the right side of the airframe 10 is formed by the second block 10R. Furthermore, the airframe 10 has a connecting portion 10C connecting the first block 10L and the second block 10R. In a front view (viewed from the front), the connecting portion 10C has a length along the left-right direction D2, and the first block 10L and the second block 10R each have a length along the up-down direction D1.

[0033] Here, the connecting portion 10C connects the upper ends of the first block 10L and the second block 10R. In other words, the first block 10L and the second block 10R protrude downward from both ends (in the left-right direction D2) of the connecting portion 10C. As a result, the first block 10L, the second block 10R, and the connecting portion 10C form a gate-like shape in the airframe 10 that is open downward as well as on both sides in the front-to-rear direction D3. Inside the airframe 10, a space Sp1 is formed that is surrounded on three sides by the first block 10L, the second block 10R, and the connecting portion 10C and is open in the front-to-rear direction D3.

[0034] In other words, as shown in FIG. 2, the machine body 10 forms a space Sp1 between the first block 10L and the second block 10R, through which the crop V1 (work object) that is the target of work (spraying work) by the spraying device 4 (working unit) passes. Specifically, the dimensions of each part of the machine body 10 are set based on the standard size of the crop V1, which is the target of work (spraying work), to form a space Sp1 with a height and width greater than or equal to the standard size of the crop V1. Therefore, for a standard-sized crop V1, the machine body 10 can allow the crop V1 to pass through the space Sp1 while straddling the crop V1 and leaving a gap of at least a predetermined value so that the crop V1 does not come into contact with the machine body 10. When the crop V1 is passing through the space Sp1, the first block 10L is located to the left of the crop V1, the second block 10R is located to the right of the crop V1, and the connecting part 10C is located above the crop V1.

[0035] More specifically, in this embodiment, the aircraft 10 is configured to be approximately symmetrical in the left-right direction D2. The first block 10L and the second block 10R are formed in rectangular shapes of approximately the same size and shape in a side view. The first block 10L and the second block 10R each have a flat shape in the left-right direction D2, with the dimension in the left-right direction D2 being the smallest among the up-down direction D1, the left-right direction D2, and the front-back direction D3. Furthermore, the first block 10L and the second block 10R each have a tapered shape in the up-down direction D1, with the dimension in the left-right direction D2 decreasing toward the upper end from the center. The connecting portion 10C is formed in a rectangular shape in a plan view, with the dimension in the front-back direction D3 being larger than the dimension in the left-right direction D2. The connecting portion 10C has a flat shape in the up-down direction D1, with the dimension in the up-down direction D1 being the smallest among the up-down direction D1, the left-right direction D2, and the front-back direction D3.

[0036] As such, the machine body 10 can be roughly divided into three sections (blocks): the first block 10L, the second block 10R, and the connecting section 10C. The first block 10L, the second block 10R, and the connecting section 10C each have a frame 101 and a cover 102. In other words, the first block 10L and the second block 10R each have a frame 101 and a cover 102. Furthermore, most of the components of the sprayer 1, such as the positioning device 2 and the support frame 3, are distributed among the first block 10L, the second block 10R, and the connecting section 10C.

[0037] The machine body 10 also has a travel section 11. The travel section 11 is a traveling device (vehicle body) that causes the sprayer 1 to travel, and is provided on the bottom of the machine body 10. The travel section 11 allows the machine body 10 to travel (including turning) on ​​the ground, thereby enabling it to move within the field F1 in the left-right direction D2 and the front-back direction D3. By providing such a travel section 11 on the machine body 10, the sprayer 1 can perform work (spraying work) while moving within the field F1.

[0038] The traveling unit 11 is a crawler-type traveling device including crawlers 111. The traveling unit 11 also has a motor 112 that drives the crawlers 111. In other words, the traveling unit 11 can cause the sprayer 1 to travel by driving the crawlers 111 with the motor 112. In this embodiment, as an example, the motor 112 is a hydraulic motor (hydraulic actuator), and drives the crawlers 111 by being supplied with hydraulic oil from a hydraulic pump. With this configuration, the machine body 10 can travel relatively stably even when the road surface conditions of the field F1 are rough.

[0039] Here, the running units 11 are provided at the bottom of each of the first block 10L and the second block 10R. That is, the machine body 10 has a running unit 11 in each of the first block 10L and the second block 10R. In other words, the machine body 10 has a pair of running units 11 (crawlers 111) on the left and right. The running unit 11 on the first block 10L side and the running unit 11 on the second block 10R side face each other in the left-right direction D2, with a space Sp1 between them. In this way, by arranging the pair of running units 11 apart in the left-right direction D2 by the space Sp1, the sprayer 1 can travel in a relatively stable posture on various road surface conditions in the field F1, including horizontally inclined slopes where either the left or right direction D2 is lower.

[0040] The pair of travelling units 11 are driven by power from a power source 63 in a state where independent speed changes are possible using a hydrostatic continuously variable transmission. Therefore, the machine body 10 is in a forward state where the pair of travelling units 11 (crawlers 111) are driven at a constant speed in the forward direction, thereby moving straight forward, and in a reverse state where the pair of travelling units 11 are driven at a constant speed in the reverse direction, thereby moving straight backward. The machine body 10 is in a forward turning state where the pair of travelling units 11 are driven at unequal speeds in the forward direction, thereby turning while moving forward, and in a reverse turning state where the pair of travelling units 11 are driven at unequal speeds in the reverse direction, thereby turning while moving backward. The machine body 10 is in a pivot turning state where one of the pair of travelling units 11 is stopped while the other is driven, and in a spin turning state where the pair of travelling units 11 are driven at a constant speed in the forward and reverse directions, respectively. Furthermore, the machine body 10 is brought into a traveling stopped state when the pair of traveling units 11 are stopped from being driven.

[0041] Furthermore, the first block 10L is equipped with a power source 63 and the like, and the second block 10R is equipped with a tank 64 and the like. In this way, by distributing and arranging the components of the sprayer 1 between the first block 10L and the second block 10R of the machine body 10, the sprayer 1 is balanced in the left-right direction D2 and has a low center of gravity. As a result, the sprayer 1 can travel stably on slopes, etc. of the field F1. The allocation of each component will be explained in detail in the section "[4] Arrangement of power sources, etc."

[0042] As described above, the positioning device 2 is a device that detects the current position, current orientation, etc. of the aircraft 10. The positioning device 2 has at least an antenna 21. The antenna 21 receives GNSS signals, etc. transmitted from satellites 204. In other words, the antenna 21 includes a position identification antenna for identifying the position of the aircraft 10. Here, the antenna 21 is disposed on the top surface (top surface) of the aircraft 10 so as to facilitate reception of signals (GNSS signals) from satellites 204. In other words, the antenna 21 is disposed at a position even higher than the highest position of the aircraft 10. Furthermore, the positioning device 2 includes an attitude detection unit, etc. that detects the attitude of the aircraft 10.

[0043] In this embodiment, the positioning device 2 further includes an antenna 22 serving as a second antenna in addition to the antenna 21 serving as a first antenna. The positioning device 2 receives GNSS signals and the like using each of these two antennas 21 and 22. Here, the antenna 22 (second antenna) is arranged to be aligned with the antenna 21 (first antenna) in the front-to-back direction D3. Furthermore, the antenna 22 (second antenna) is located on an imaginary line L1 (see FIG. 7) extending from a rotation axis Ax1 (see FIG. 1) described below. In short, the two antennas 21 and 22 in the positioning device 2 are both arranged on the upper surface (top surface) of the airframe 10, and are arranged side by side to be located on the imaginary line L1 along the front-to-back direction D3. This allows the positioning device 2 to transmit and receive signals (GNSS signals and the like) using each of the antennas 21 and 22. In particular, when antennas 21 and 22 are position-identifying antennas, the current position can be identified at both the front and rear of aircraft 10, and therefore the direction (current heading) of aircraft 10 can also be identified.

[0044] The support frame 3 is attached to one end of the machine body 10 in the front-to-rear direction D3 and is a member that supports a spraying unit 41 of the spraying device 4, which will be described later. In this embodiment, the support frame 3 is attached to the rear end of the machine body 10. The support frame 3 has a gate-like shape, similar to the machine body 10, and is arranged in a position that overlaps with the machine body 10 in a rear view (viewed from behind). That is, the support frame 3 has vertical frames 3L (first vertical frames) and vertical frames 3R (second vertical frames) arranged side by side in the left-to-right direction D2, and a horizontal frame 3C that connects the upper ends of the vertical frames 3L and 3R. As a result, the support frame 3 forms a gate-like shape that surrounds the space Sp1 on three sides: the left, right, and upper sides, with the vertical frames 3L, 3R, and horizontal frames 3C.

[0045] Specifically, the support frame 3 has vertical frames 3L and 3R arranged side by side in the left-right direction D2. The vertical frames 3L and 3R face each other in the left-right direction D2 with a gap of at least a certain value between them. In this embodiment, as an example, the vertical frame 3L is located on the left side, and the vertical frame 3R is located on the right side. Therefore, the vertical frame 3L is located behind the first block 10L of the body 10, and the vertical frame 3R is located behind the second block 10R of the body 10. In a rear view (viewed from behind), the horizontal frame 3C has a length along the left-right direction D2, and the vertical frames 3L and 3R each have a length along the up-down direction D1.

[0046] Here, the horizontal frame 3C connects the upper ends of the vertical frame 3L and the vertical frame 3R. In other words, the vertical frame 3L and the vertical frame 3R each protrude downward from both ends (in the left-right direction D2) of the horizontal frame 3C. Thus, the support frame 3 includes the horizontal frame 3C, which has a length along the left-right direction D2, and a pair of vertical frames 3L, 3R, each having a length along the up-down direction D1 and protruding downward from both ends of the horizontal frame 3C. As a result, the support frame 3 is configured with the vertical frame 3L, the vertical frame 3R, and the horizontal frame 3C to form a gate-like shape that is open on both sides in the front-to-back direction D3 as well as downward. Inside the support frame 3, a space Sp1 is formed that is surrounded on three sides by the vertical frame 3L, the vertical frame 3R, and the horizontal frame 3C and is open in the front-to-back direction D3.

[0047] In other words, as shown in FIG. 2 , the support frame 3 forms a space Sp1 between a pair of vertical frames 3L, 3R through which the crop V1 (work object, spraying object) that is the target of work (spraying work) by the spraying device 4 (working unit) passes. Specifically, the dimensions of each part of the support frame 3 are set based on the standard size of the crop V1, which is the target of work (spraying work), to form a space Sp1 with a height and width equal to or greater than the standard size of the crop V1. Therefore, for a standard-sized crop V1, the support frame 3 can allow the crop V1 to pass through the space Sp1 while straddling the crop V1 and leaving a gap of at least a predetermined value so that the crop V1 does not come into contact with the support frame 3. When the crop V1 is passing through the space Sp1, the vertical frame 3L is located to the left of the crop V1, the vertical frame 3R is located to the right of the crop V1, and the horizontal frame 3C is located above the crop V1.

[0048] More specifically, in this embodiment, the support frame 3 is configured approximately symmetrically in the left-right direction D2. The vertical frames 3L and 3R have a cylindrical shape with a circular cross section. As an example, in this embodiment, the vertical frames 3L and 3R are each configured by two cylindrical members arranged side by side. The horizontal frame 3C has a square tubular shape with a rectangular cross section. Here, the vertical frames 3L and 3R are firmly fixed to the horizontal frames 3C by appropriate fixing means such as connecting metal fittings, diagonal braces, or welding. Therefore, the vertical frames 3L and 3R maintain a perpendicular state to the horizontal frames 3C. In other words, in a rear view, the corners between the vertical frames 3L and the horizontal frames 3C and the corners between the vertical frames 3R and the horizontal frames 3C are each right angles.

[0049] In this embodiment, the support frame 3 is supported by the machine body 10 so as to be rotatable about the rotation axis Ax1 while maintaining the relative positional relationship between the pair of vertical frames 3L, 3R and the horizontal frame 3C. The rotation axis Ax1 is an axis that passes through the fulcrum 31 provided on the horizontal frame 3C and extends along the front-to-rear direction D3. In other words, the support frame 3 that supports the working unit (spraying unit 41) is supported by the machine body 10 so as to be rotatable about the rotation axis Ax1 that extends along the front-to-rear direction D3. Here, the "rotation axis" referred to in this disclosure means a virtual axis (straight line) that serves as the center of rotational motion of the rotating body. In other words, the rotation axis Ax1 is a virtual axis that does not have a physical entity. However, the rotation axis Ax1 may also be a physical member, such as a pivot pin. The configuration for rotatably supporting the support frame 3 will be described in detail in the section "[3] Configuration Surrounding the Support Frame."

[0050] The spraying device 4 has a spraying unit 41 and the like. The spraying device 4 performs spraying work by spraying the chemical solution stored in the tank 64 as the spray material onto the crops V1 as the spray target. The spraying unit 41 is supported by the support frame 3 and is the part that sprays the chemical solution. In this embodiment, as an example, the spraying unit 41 is a spraying nozzle that actually serves as the outlet for the chemical solution. The spraying device 4 has a plurality of spraying units 41 (12 in this embodiment, as an example) that are made up of spraying nozzles. The spraying device 4 will be described in detail in the section "[3] Configuration around the support frame".

[0051] The airflow generating unit 5 generates an airflow that transports the spray material (chemical solution) discharged from the spraying unit 41. The airflow generating unit 5 is supported on the support frame 3 together with the spraying unit 41. In other words, the sprayer 1 according to this embodiment is an air-assisted type sprayer that sprays the spray material (chemical solution) using the airflow generated by the airflow generating unit 5. This enables the sprayer 1 to efficiently spray the spray material (chemical solution) even on spray targets (crops V1) located relatively far from the spraying unit 41. The airflow generating unit 5 will be explained in more detail in the section "[3] Configuration around the support frame."

[0052] The user interface 61 is a device that outputs information to the user and / or accepts operations. Here, the user interface 61 has a display unit 611 such as a liquid crystal display or organic EL display that displays various information, and an operation unit 612 such as a touch panel, knob, or push button switch that accepts operations. An operator, as an example of a user, can operate the operation unit 612 in accordance with the operation screen displayed on the display unit 611 to perform various settings. Specifically, the operator operates the operation unit 612 of the user interface 61 to set operating conditions, etc., of the spraying device 4. Examples of operating conditions of the spraying device 4 include the pressure (spray pressure) and flow rate when spraying the material from the spraying unit 41.

[0053] The obstacle detection device 62 includes a first sensor 621, a second sensor 622, a third sensor 623, and a fourth sensor 624. The first sensor 621 to the fourth sensor 624 are all disposed facing forward of the body 10. The first sensor 621 is disposed at the front left end of the top surface of the body 10, the second sensor 622 is disposed at the front right end of the top surface of the body 10, the third sensor 623 is disposed at the front of the first block 10L, and the fourth sensor 624 is disposed at the front of the second block 10R. The obstacle detection device 62 further includes a fifth sensor 625 (see FIG. 5) and a sixth sensor 626 (see FIG. 6). The fifth sensor 625 and the sixth sensor 626 are both disposed facing rearward of the body 10. The fifth sensor 625 is attached to the vertical frame 3L, and the sixth sensor 626 is attached to the vertical frame 3R.

[0054] Each of the first sensor 621 to the sixth sensor 626 includes, for example, an image sensor (camera), a sonar sensor, radar, or LiDAR (Light Detection and Ranging), and detects the surrounding conditions of the airframe 10. In the present embodiment, as an example, each of the first sensor 621 to the sixth sensor 626 is a three-dimensional sensor that measures the distance to each ranging point (measurement target) within the measurement range using a TOF (Time Of Flight) method, which measures the distance to a ranging point based on the round-trip time it takes for light or sound to reach the ranging point and return. The surrounding conditions of the airframe 10 include, for example, the presence or absence of an object (obstacle, etc.) present ahead in the traveling direction of the airframe 10, and the position (distance and direction) of the object.

[0055] The obstacle detection device 62 further includes a front contact sensor 627 and a rear contact sensor 628. The front contact sensors 627 are arranged as a pair on the left and right sides on the front side of the aircraft 10, and the rear contact sensors 628 are arranged as a pair on the left and right sides on the rear side of the aircraft 10. Each of the front contact sensors 627 and the rear contact sensors 628 detects an obstacle when it comes into contact with the obstacle. When each sensor detects an obstacle, it sends a detection signal to the control device.

[0056] The power source 63 is a drive source that supplies power to at least the traveling unit 11. The power source 63 has an engine such as a diesel engine. The power source 63 drives a hydraulic pump, and causes the hydraulic pump to supply hydraulic oil to the motor 112 of the traveling unit 11, thereby driving the traveling unit 11, etc.

[0057] Tank 64 stores a spray material such as a chemical solution. The spray material stored in tank 64 is supplied to spraying device 4 and sprayed from spraying section 41 of spraying device 4. Tank 64 can be replenished with the chemical solution to be sprayed from the outside. The capacity of tank 64 is, for example, approximately 200 L.

[0058] The display 65 is disposed on the top surface of the machine body 10. As an example, the display 65 is formed in a cylindrical shape having a length in the vertical direction D1. The lighting state of the display 65 changes depending on the operating state of the sprayer 1 (traveling state, spraying work execution state, etc.). This makes the operating state of the sprayer 1 visible even from around the sprayer 1.

[0059] The control device also includes an automatic driving control unit, an engine control unit, an HST (Hydro-Static Transmission) control unit that controls the hydrostatic continuously variable transmission, and an implement control unit. The automatic driving control unit causes the machine 10 to automatically drive along a target route in the field F1 based on positioning information obtained from the positioning device 2, etc. The engine control unit controls the engine. The HST control unit controls the hydrostatic continuously variable transmission. The implement control unit controls the spraying device 4 and other implements. Each control unit is constructed using an electronic control unit equipped with a microcontroller or the like, various types of information and control programs stored in the non-volatile memory of the microcontroller, etc.

[0060] The communication terminal is a communication interface that connects the sprayer 1 to a communication network by wire or wirelessly and executes data communication via the communication network in accordance with a predetermined communication protocol with external devices such as the operation terminal 201 and server 202. Electronic devices such as the positioning device 2, control device, and communication device are connected to a battery and can operate even when the power source 63 is stopped.

[0061] [3] Structure around the support frame Next, the configuration of the rear section around the support frame 3 of the spreader 1 according to this embodiment will be described with reference to FIGS.

[0062] Fig. 8 is an external view of the rear of the sprayer 1 as seen from the rear side (rear). Fig. 9 is a schematic view of the sprayer 1 as seen from diagonally rearward, with a partially enlarged view shown within the outlet. Fig. 10 is a cross-sectional view of the portion rearward from the vertical frame 3R, corresponding to the cross section taken along line B1-B1 in Fig. 8. Fig. 11 is an external view of the rear of the sprayer 1 as seen from the rear side (rear) while traveling on a horizontally inclined slope.

[0063] The spraying device 4 has a spraying section 41 made up of a spraying nozzle, as well as a spraying pipe 42, a pump 43 (see FIG. 6), a valve 44 (see FIG. 6), spraying piping, and the like.

[0064] The spraying unit 41 is an example of a working unit that performs work (spraying work) and is supported by the support frame 3. Because the support frame 3 is supported by the machine body 10, the spraying unit 41 (working unit) is indirectly supported by the machine body 10. In this embodiment, the spraying unit 41 is attached to a spraying pipe 42. The spraying pipe 42 is connected to a pump 43 via a valve 44 by a spraying piping. The pump 43 pressure-feeds the spray material (chemical solution) stored in a tank 64 to the spraying pipe 42. The valve 44 is an electronically controlled valve unit such as an electromagnetic valve, and changes the pressure (spray pressure) and spray pattern when spraying the material. As a result, the chemical solution in the tank 64 is supplied by the pump 43 via the valve 44 and the spraying pipe 42 to the spraying unit 41, and is sprayed from the spraying unit 41. Here, a mist of the chemical solution is discharged (sprayed) from the spraying unit 41, which is a spraying nozzle.

[0065] More specifically, as shown in Figures 8 and 9, the spraying pipes 42 are pipes having a length in the up-down direction D1, and two are attached to each of the vertical frames 3L and 3R of the support frame 3. That is, in this embodiment, the spraying device 4 has a total of four spraying pipes 42. The two (pair) spraying pipes 42 attached to each of the vertical frames 3L and 3R are arranged side by side in the left-right direction D2. Each spraying pipe 42 discharges the chemical solution as a spraying material injected from its upper end from the three spraying units 41 while flowing it downward through the pipe. Three spraying units 41 are attached to each spraying pipe 42, and the spraying device 4 has a total of 12 spraying units 41.

[0066] Each spraying unit 41 is attached to the corresponding spraying tube 42 so that its position can be changed in the up-down direction D1. This allows the spacing between adjacent spraying units 41 and the height position relative to the spraying tube 42 to be changed depending on the object to be sprayed (crop V1). Furthermore, each spraying unit 41 is attached so that its position in the up-down direction D1 and left-right direction D2 relative to the machine body 10, as well as its orientation (angle), can be changed depending on the object to be sprayed. However, in the spraying device 4, the number of spraying units 41 provided on each spraying tube 42, etc. can be changed as appropriate depending on the type of object to be sprayed (crop V1) or the length of each spraying tube 42, etc.

[0067] The airflow generating unit 5 also includes a duct 51 and a blower 52. The duct 51 forms a flow path for air to flow in the vertical direction D1. The blower 52 blows air into the duct 51. The airflow generating unit 5 generates an airflow by blowing air from outlet holes 511 (see FIG. 9) formed in the duct 51. In short, the airflow generating unit 5 generates an air flow (airflow) that flows outward from the outlet holes 511 by blowing air sent into the duct 51 by the blower 52 through a flow path within the duct 51. This configuration allows for the generation of a stable airflow over a relatively wide area. Furthermore, the airflow generating unit 5 can adjust the airflow volume by controlling the blower 52. The airflow generating unit 5 can adjust the transport distance of the target by adjusting the airflow volume; the greater the airflow volume, the farther the target can be transported. Therefore, in the sprayer 1 according to this embodiment, the range of the material to be sprayed by the spraying device 4 can be adjusted.

[0068] More specifically, the ducts 51 are pipes having a length in the vertical direction D1, and one duct 51 is attached to each of the vertical frames 3L and 3R of the support frame 3. That is, in this embodiment, the airflow generation unit 5 has a total of two ducts 51. Each duct 51 has a plurality of blowing holes 511 formed on the left and right sides thereof so as to be aligned in a row along the vertical direction D1. Each duct 51 blows air flowing in from its upper end downward through the pipe and out of each of the plurality of blowing holes 511. The blower 52 is attached to the upper end of each duct 51 and sends air into the duct 51 from the upper end of the duct 51. That is, in this embodiment, the airflow generation unit 5 has a total of two blowers 52. Here, each outlet hole 511 penetrates the pipe wall of duct 51 in the left-right direction D2, and air blown out from each outlet hole 511 forms airflows X1, X2 that flow outward in the left-right direction D2, as shown in Fig. 10. In this embodiment, as an example, blower 52 is an electrically operated blower that sends air into duct 51.

[0069] 10, the duct 51 of the airflow generating unit 5 is fixed to the vertical frame 3R by a mounting bracket 53 so as to be located rearward of the vertical frame 3R. Furthermore, the two scattering pipes 42 of the scattering device 4 are fixed to the duct 51 by a mounting bracket 45 so as to be located rearward of the duct 51. As a result, the two scattering pipes 42 are indirectly attached to the vertical frame 3R, and the scattering units 41 attached to each scattering pipe 42 are indirectly supported by the vertical frame 3R. In this embodiment, as an example, a plurality of (e.g., three) mounting brackets 45 are provided in the up-down direction D1 for one duct 51, and the scattering pipes 42 are fixed to the duct 51 at a plurality of locations in the longitudinal direction (up-down direction D1). Furthermore, the mounting bracket 45 also serves as a fixing device for the scattering unit 41, and the scattering unit 41 is firmly fixed by being attached to the mounting bracket 45.

[0070] Here, the duct 51, the two spray pipes 42 attached thereto, and the total of six spray units 41 attached to these two spray pipes 42 are arranged symmetrically in the left-right direction D2. As shown in Fig. 10, of the two spray pipes 42, the three spray units 41 provided on the left spray pipe 42 discharge the spray material Y1 toward the left front, and the three spray units 41 provided on the right spray pipe 42 discharge the spray material Y2 toward the right front. Therefore, the mist-like spray material Y1 discharged from the left spray unit 41 is carried leftward by the airflow X1 blown out leftward from the duct 51, and the mist-like spray material Y2 discharged from the right spray unit 41 is carried rightward by the airflow X2 blown out rightward from the duct 51.

[0071] Therefore, of the multiple (12) spraying units 41, the three spraying units 41 provided on the leftmost spraying tube 42 spray the chemical solution leftward toward the crops V1 located on the outer left side of the machine body 10. Of the multiple spraying units 41, the three spraying units 41 provided on the left inner spraying tube 42 adjacent to the leftmost spraying tube 42 spray the chemical solution rightward toward the crops V1 located in the inner space Sp1 of the machine body 10. Of the multiple spraying units 41, the three spraying units 41 provided on the rightmost spraying tube 42 spray the chemical solution rightward toward the crops V1 located on the outer right side of the machine body 10. Of the multiple spraying units 41, the three spraying units 41 provided on the right inner spraying tube 42 adjacent to the rightmost spraying tube 42 spray the chemical solution leftward toward the crops V1 located in the inner space Sp1 of the machine body 10.

[0072] With the above-described configuration, in the spraying device 4, the two spraying pipes 42 and six spraying parts 41 provided on the vertical frame 3L of the support frame 3 function as a left-side spraying unit. Also, the two spraying pipes 42 and six spraying parts 41 provided on the vertical frame 3R of the support frame 3 function as a right-side spraying unit. The pair of left and right spraying units are arranged at the rear of the machine body 10, capable of spraying in the left-right direction D2, with a gap (space Sp1) between them that allows the crops V1 to pass through.

[0073] Furthermore, each spraying pipe 42 attached to the vertical frame 3L or the vertical frame 3R of the support frame 3 is provided with a plurality of (three in this case) spraying units 41 arranged at intervals in the vertical direction D1. Therefore, the spraying device 4 can spray the spraying material from a plurality of positions in the vertical direction D1 along the vertical frame 3L or the vertical frame 3R of the support frame 3 using these plurality of spraying units 41. As a result, the spraying device 4 can evenly spray the chemical solution, which is the spraying material, from the bottom to the top of the crop V1, which is the spraying target.

[0074] In addition, the spraying device 4 has multiple (12) spraying units 41 divided into multiple systems, and is configured to be controllable for each system. As an example, the six spraying units 41 provided on the two inner spraying pipes 42 of the four spraying pipes 42 in the left-right direction D2 are classified as the first system, the three spraying units 41 provided on the leftmost spraying pipe 42 are classified as the second system, and the three spraying units 41 provided on the rightmost spraying pipe 42 are classified as the third system. Therefore, the spraying patterns by the spraying device 4 include a full spraying pattern in which the spray material (chemical solution) is sprayed from all spraying units 41, and a limited spraying pattern in which the spraying direction is limited. The limited dispersion patterns include a first dispersion pattern in which only the six dispersion units 41 of the first system spray, a second dispersion pattern in which only the three dispersion units 41 of the second system spray, and a third dispersion pattern in which only the three dispersion units 41 of the third system spray.Furthermore, the limited dispersion patterns include a fourth dispersion pattern in which only the nine dispersion units 41 of the first and second systems spray, a fifth dispersion pattern in which only the nine dispersion units 41 of the first and third systems spray, and a sixth dispersion pattern in which only the six dispersion units 41 of the second and third systems spray.

[0075] The spraying device 4 is controlled by a control device (work device control unit), and can switch between the multiple spraying patterns described above (a total of six patterns, including the full spraying pattern and six limited spraying patterns) as appropriate. The spraying device 4 can also change the spraying range of the sprayed material by changing the pressure (spray pressure) when spraying the sprayed material for each system. Furthermore, in this embodiment, the spraying range of the sprayed material can also be adjusted by adjusting the air volume of the airflow generating unit 5, making it possible to achieve a wider variety of spraying ranges depending on the spray target (crop V1) or sprayed material (chemical solution).

[0076] As described above, in this embodiment, the support frame 3 is supported by the machine body 10 so as to be rotatable about the rotation axis Ax1 while maintaining the relative positional relationship between the pair of vertical frames 3L, 3R and the horizontal frame 3C. In other words, the support frame 3 supporting the spraying unit 41 is not fixed relative to the machine body 10, but is configured to be rotatable about the rotation axis Ax1. When the support frame 3 rotates, the multiple spraying units 41 supported by the support frame 3 also rotate about the rotation axis Ax1.

[0077] Specifically, as shown in FIG. 9 , a fulcrum portion 31 is provided at the center of the horizontal frame 3C in the longitudinal direction (left-right direction D3). The fulcrum portion 31 is a member that serves as a fulcrum when the support frame 3 rotates, and is connected to the horizontal frame 3C by an appropriate connecting means such as welding, with the fulcrum portion 31 protruding upward from the upper surface of the horizontal frame 3C. An axle pin 32 is provided at the upper end of the fulcrum portion 31 so as to penetrate the fulcrum portion 31 along the front-rear direction D2. The axle pin 32 is a cylindrical shaft member having a length along the front-rear direction D2. Furthermore, a bearing pedestal 33 that supports the axle pin 32 is disposed at the center of the rear end of the aircraft body 10 in the left-right direction. The bearing pedestal 33 is connected to the frame 101 of the aircraft body 10 by an appropriate connecting means such as welding, with the axle pin 32 protruding upward from the upper surface of the frame 101. The axle pin 32 is rotatably supported by at least one of the fulcrum portion 31 and the bearing pedestal 33 via a bearing or other bearing member.

[0078] According to the above configuration, the support frame 3 is supported on the aircraft body 10 so as to be rotatable around the pivot pin 32. On the other hand, the support frame 3 is prohibited from moving other than rotating around the pivot pin 32, such as moving parallel to the front-to-rear direction D1, relative to the aircraft body 10. In other words, the central axis of the pivot pin 32 functions as the rotation axis Ax1, and the support frame 3 is supported on the aircraft body 10 so as to be rotatable around the rotation axis Ax1.

[0079] The sprayer 1 further includes a restricting member (not shown) that limits the rotation range (movable range) of the support frame 3 relative to the vehicle body 10. The restricting member may be provided on any of the vehicle body 10, the support frame 3, the fulcrum 31, and the bearing base 33. The restricting member limits the rotation range of the support frame 3 to a predetermined angle in each of a first direction R1 (see FIG. 9) and a second direction R2 (see FIG. 9) relative to a neutral position where the horizontal frame 3C is parallel to the upper surface of the vehicle body 10. The first direction R1 is a clockwise direction when viewed from the rear, and the second direction R2 is a counterclockwise direction when viewed from the rear. The predetermined angle can be set appropriately, for example, to 5 degrees, 10 degrees, 15 degrees, 20 degrees, or 30 degrees. Furthermore, a mechanism for adjusting the predetermined angle may be provided.

[0080] Furthermore, the sprayer 1 according to this embodiment does not include an actuator or the like that actively rotates the support frame 3. Therefore, the support frame 3 will only rotate when an external force acts on the support frame 3. For example, when the machine body 10 travels on a laterally inclined slope, the support frame 3 rotates due to its own weight, i.e., gravity acting on the support frame 3. Here, a stopper that prohibits rotation of the support frame 3 relative to the machine body 10 may be attached to the sprayer 1. For example, attaching the stopper when transporting the sprayer 1 prevents vibration of the support frame 3. Furthermore, the sprayer 1 may include a damper that applies a damping force to the support frame 3, which makes it easier to converge vibration of the support frame 3 when the machine body 10 is traveling, for example.

[0081] Here, the fulcrum 31 is positioned equidistant from the pair of vertical frames 3L, 3R of the horizontal frame 3C. "Equidistant" here refers not only to the case where the distances from the pair of vertical frames 3L, 3R are exactly the same, but also to the case where the difference in distance from the pair of vertical frames 3L, 3R is within an error range of a few centimeters (e.g., less than 10 cm). Therefore, the rotation axis Ax1 passing through the fulcrum 31 is located at the center (or approximately the center) of the horizontal frame 3C in the longitudinal direction (left-right direction D2). This allows the amount of lift (or lowering) of the vertical frame 3L to match the amount of lowering (or rising) of the vertical frame 3R during rotation of the support frame 3, thereby enabling the support frame 3 to rotate in a balanced manner. In particular, if the weight balance of the support frame 3 and the components supported by the support frame 3 (such as the spraying unit 41, the spraying pipe 42, and the airflow generating unit 5) is symmetrical in the left-right direction D2, the support frame 3 will be maintained in a neutral position as long as the aircraft 10 is kept horizontal.

[0082] With the rotatable support frame 3 described above, the support frame 3 rotates when the machine body 10 is traveling on a laterally inclined slope, as shown in FIG. 11 . That is, if the road surface of the field F1 is laterally inclined such that the right side in the left-right direction D2 is lower, the machine body 10 tilts to the right, while the support frame 3 maintains a horizontal posture with the horizontal frame 3C horizontally horizontal due to its own weight. Therefore, the support frame 3 rotates in the second direction R2 (counterclockwise) around the rotation axis Ax1 relative to the machine body 10. Here, the rotation angle θ1 (rotation amount) of the support frame 3 corresponds to the inclination angle of the machine body 10, i.e., the inclination angle θ2 around the rotation axis Ax1 relative to the horizontal plane of the field F1. For example, if the inclination angle θ2 of the field F1 is 10 degrees, the support frame 3 rotates by a rotation angle θ1 of 10 degrees. FIG. 11 illustrates a case where the rotation angle θ1 and the inclination angle θ2 are both 5 degrees.

[0083] In the sprayer 1 according to this embodiment, even on a slope such as the one shown in FIG. 11, the rotation of the support frame 3 reduces the likelihood of unevenness in the amount of sprayed material (chemical solution) by the sprayer unit 41. In other words, if the support frame 3 were fixedly supported on the machine body 10, the machine body 10 would tilt when traveling on a horizontally inclined slope. In this case, the distance from the sprayer unit 41 to the top and bottom of the crop V1 (the target of spraying), which extends vertically from the ground (field F1), would be different, potentially resulting in unevenness in the amount of sprayed material. In contrast, in the sprayer 1 according to this embodiment, the rotation of the support frame 3 allows the support frame 3 and the sprayer unit 41 supported by the support frame 3 to maintain the same posture as when traveling on a horizontal surface. Therefore, even for a crop V1 (target object) that extends vertically straight from the ground (field F1), the distance from the spraying unit 41 at its top and bottom is less likely to vary, which has the advantage of making it easier to suppress unevenness in the amount of sprayed material.

[0084] Furthermore, in this embodiment, the airflow generating unit 5 is also supported by the support frame 3, so the direction of the airflow generated by the airflow generating unit 5 can be kept horizontal regardless of the inclination of the machine body 10 while traveling on a laterally inclined surface. This allows the material to be scattered appropriately by air assist.

[0085] In this embodiment, as shown in FIG. 8, the spraying unit 41 is positioned higher than the center C1 of the travel unit 11 in the vertical direction D1. In other words, the travel unit 11, including the crawlers 111, has a certain height in the vertical direction D1, and if the center position in the vertical direction is the center C1, the spraying unit 41 is positioned higher than this center C1. In this embodiment, multiple (12) spraying units 41 are provided, and even the lowest spraying unit 41 is positioned higher (above) than the center C1 of the travel unit 11. This configuration allows the spraying unit 41 to be positioned at a certain height above the field F1, making it easier for the spraying unit 41 to spray the material over an appropriate range. Furthermore, even when the support frame 3 rotates relative to the machine body 10, the spraying unit 41 is less likely to come into contact with the field F1.

[0086] In this embodiment, the antenna 21 (first antenna) of the positioning device 2 is disposed above the rotation axis Ax1. Specifically, as shown in FIG. 9 , the antenna 21 is disposed on a bearing pedestal 33 that supports an axle pin 32. The antenna 21 receives signals (such as GNSS signals) transmitted from satellites 204. By disposing the antenna 21 in this position, the antenna 21 can receive signals without being affected by obstacles. Furthermore, if the antenna 21 is disposed on the rotation axis Ax1, even if the support frame 3 sways due to vibration, for example, the positional change of the antenna 21 can be minimized, thereby minimizing the impact on the reception (or transmission) of signals by the antenna 21. In particular, in this embodiment, the antenna 21 is disposed on the bearing pedestal 33 that supports the axle pin 32, which is the rotation center of the support frame 3. Therefore, even if the support frame 3 rotates, the antenna 21 does not rotate and the orientation of the antenna 21 is maintained constant. This makes it easier to stabilize the performance of the signal reception (or transmission) of the antenna 21.

[0087] Furthermore, in this embodiment, the rotation axis Ax1 is located at the center of the support frame 3 in the left-right direction D3. More precisely, the rotation axis Ax1 passing through the fulcrum 31 is located at the center (or approximately the center) of the horizontal frame 3C in the longitudinal direction (left-right direction D2). Therefore, the antenna 21 is located at a position that serves as a reference for the machine body 10, making it easier to fully demonstrate its performance as an antenna. In particular, when the antenna 21 is a position-determining antenna, the antenna 21 being located at the center in a plan view locates the position of the antenna 21, thereby determining the center position of the machine body 10 in the left-right direction D2, simplifying the process of determining the position of the machine body 10. Furthermore, when the machine body 10 has a gate-shaped configuration as in this embodiment, the antenna 21 is located directly above the spraying target (crop V1) that passes through the space Sp1 inside the machine body 10, making the above-described arrangement effective in determining the position of the spraying target.

[0088] 7, the antenna 22 (second antenna), which is separate from the antenna 21 (first antenna), is also positioned on an imaginary straight line L1 extending from the rotation axis Ax1. Therefore, both of the two antennas 21 and 22 are positioned on the center line (imaginary straight line L1) in the left-right direction D2 of the aircraft 10, which makes it easier for them to fully demonstrate their performance as antennas. In particular, when the antennas 21 and 22 are positioning antennas, the current position can be accurately determined at both the front and rear of the aircraft 10, and therefore the orientation (current heading) of the aircraft 10 can also be accurately determined.

[0089] [4] Arrangement of power sources, etc. Next, the arrangement of the power source 63 and other components in the aircraft 10 will be described in more detail with reference to FIGS.

[0090] Components of the sprayer 1, such as the power source 63 and the tank 64, are allocated and arranged in a first block 10L and a second block 10R in the machine body 10. Here, the power source 63 for driving the machine body 10 is arranged in the first block 10L, and the user interface 61, which outputs information to the user and / or receives operations, is arranged in the second block 10R. In this embodiment, the power source 63 is an engine that supplies power to at least the traveling unit 11 by driving a hydraulic pump. Therefore, the hydraulic pump and the fuel tank that supplies fuel to the power source 63, etc., are also arranged in the first block 10L, like the power source 63.

[0091] As described above, in this embodiment, the machine body 10 is divided into a first block 10L and a second block 10R aligned in the left-right direction D2, and the power source 63 is biased toward the first block 10L. Therefore, the first block 10L where the power source 63 is located is significantly affected by heat, vibration, electromagnetic noise, sound, and the like generated by the power source 63. In other words, the power source 63, such as an engine or motor, can be a heat source, a vibration source, an electromagnetic noise source, or a noise source when in operation. For example, if the user interface 61 were located on the same first block 10L as the power source 63, the heat or sound generated by the power source 63 could affect a user using the user interface 61 and potentially interfere with the user's work. Furthermore, electronic devices such as the user interface 61 are susceptible to damage from the heat, vibration, electromagnetic noise, and the like generated by the power source 63.

[0092] In the sprayer 1 according to this embodiment, at least the user interface 61 is provided in the second block 10R, not in the first block 10L where the power source 63 is located. This means that the heat, vibrations, electromagnetic noise, sound, etc. generated by the power source 63 are less likely to affect the user using the user interface 61, or the user interface 61 itself. As a result, it is possible to achieve a sprayer 1 (work machine) in which the heat, vibrations, electromagnetic noise, sound, etc. generated by the power source 63 are less likely to cause problems.

[0093] In particular, in this embodiment, a space Sp1 is formed between the first block 10L and the second block 10R, allowing the crop V1 (work object) to pass through. Therefore, according to the above-described arrangement of the power source 63 and the user interface 61, the space Sp1 is interposed between the power source 63 and the user interface 61, and the influence of heat, vibration, electromagnetic noise, sound, etc. generated by the power source 63 on the user interface 61 can be significantly reduced.

[0094] Specifically, as shown in FIG. 5, the power source 63 is housed in the front half of the first block 10L. The power source 63 is basically covered by a cover 102, which reduces the impact of heat generated by the power source 63 on the surroundings of the machine body 10. On the other hand, the user interface 61 is disposed in a manner that exposes it to the right of the second block 10R, as shown in FIG. 6. Therefore, a user who uses the user interface 61 will basically use the user interface 61 while standing on the right side of the machine body 10. This significantly reduces the impact of heat, sound, and the like generated by the power source 63 on the user who uses the user interface 61.

[0095] In this embodiment, the working unit includes a spraying unit 41 that sprays a substance (chemical solution) as part of its work, and a tank 64 for storing the substance is disposed in the second block 10R. In other words, the tank 64, which is heavy like the power source 63, is disposed in the second block 10R, not on the first block 10L side where the power source 63 is disposed. This facilitates weight balance between the first block 10L and the second block 10R of the vehicle 10, leading to improved stability of the vehicle 10 and improved driving performance (including turning performance). The tank 64 is fixed to the frame 101 of the second block 10R. A cover 102 is not provided on the portion of the second block 10R corresponding to the tank 64, leaving at least the right side and top of the tank 64 exposed.

[0096] In particular, in this embodiment, the weight balance between the first block 10L and the second block 10R is achieved when the remaining amount of material to be sprayed in the tank 64 is half (one-half) of the capacity of the tank 64, thereby achieving an optimal weight balance during actual use of the sprayer 1. In other words, while the remaining amount of material to be sprayed can fluctuate between 100% and 0% of the capacity of the tank 64, the weight balance between the first block 10L and the second block 10R is achieved when the remaining amount is the median value of 50%. Therefore, during actual use (operation) of the sprayer 1, the remaining amount of material to be sprayed fluctuates around the state where the weight balance between the first block 10L and the second block 10R is achieved (50% remaining), making it easy to achieve a weight balance between the first block 10L and the second block 10R. Furthermore, even if the remaining amount of material to be scattered is more or less than 50%, the weight difference between the first block 10L and the second block 10R is kept to less than half the weight of the material to be scattered of the capacity of the tank 64, thereby avoiding extreme imbalance in weight between the first block 10L and the second block 10R.

[0097] More specifically, as shown in Fig. 6, the tank 64 occupies most of the second block 10R in a side view (viewed from the right), and, as one example, has a hexagonal shape based on a rectangular shape that is long in the front-rear direction D3, with triangular notches at each of the lower corners on both sides in the front-rear direction D2. Due to the shape of the tank 64, spaces are secured on both the front and rear sides below the tank 64. Of the spaces below the tank 64, the pump 43 and the like of the spraying device 4 are disposed in the front space, and the valves 44 and the like are disposed in the rear space. A valve 44 is provided for each system of the multiple spraying units 41, and in this embodiment, three valves 44 are provided to correspond to three systems (first system, second system, and third system).

[0098] In this embodiment, the user interface 61 includes an operation unit 612 that accepts operations for adjusting the work (spraying work), and a display unit 611 that displays information related to the operation. More specifically, the display unit 611, which is made up of, for example, a liquid crystal display, is disposed near the front end of the second block 10R, and below the display unit 611, a knob, a push button switch, or the like is disposed as the operation unit 612. This allows the user to operate the operation unit 612 while viewing a setting screen, etc., displayed on the display unit 611.

[0099] A control box 613 for controlling the motor of the pump 43 is disposed above the pump 43, and the control box 613 also has an operation unit 612, such as a knob or a push button switch. Three knobs for controlling the valve 44 are disposed above the valve 44, corresponding to the three valves, as the operation unit 612. By operating the operation unit 612 on the control box 613, the user can control the operation of the pump 43 and adjust the flow rate of the sprayed substance (chemical solution). By operating the operation unit 612 above the valve 44, the user can open / close the valve 44 or adjust the sprayed substance pressure (spray pressure). When operating these operation units 612, for example, the flow meter measurement value or the pressure meter measurement value can be displayed on the display unit 611, and the user can easily perform adjustments related to the work by viewing the display on the display unit 611. However, because the operation units 612 above the valve 44 are located relatively far from the display unit 611, it is preferable for two users, for example, to work together to perform the adjustments. In this case, it is preferable that one user checks the display on the display unit 611 while the other user operates the operation unit 612, thereby improving the ease of adjustment work.

[0100] [5] Variation Below, we will list some modified examples of embodiment 1. The modified examples explained below can be applied in appropriate combinations.

[0101] The sprayer 1 is not limited to being used in orchards such as vineyards or apple orchards, but may also be used in other fields F1 or in work areas other than the field F1. Furthermore, the substance sprayed by the sprayer 1 is not limited to chemical solutions, but may be, for example, water, fertilizer, disinfectant, or other liquids, or powders. Similarly, the object onto which the substance is sprayed is not limited to grapevines, but may be other crops or objects other than crops (including inorganic substances). Furthermore, the sprayer 1 is not limited to being an unmanned aircraft that operates autonomously, but may be configured to be operated by a person (operator) (including remote operation), such as a ride-on type (manned aircraft) on which an operator can ride. Even in this case, the sprayer 1 is provided with an antenna 21 or the like to determine its current location.

[0102] Furthermore, the support frame 3 only needs to be attached to one end of the machine body 10 in the fore-and-aft direction D3, and may be attached to the front of the machine body 10. In this case, the working unit (spraying unit 41) supported by the support frame 3 will also be disposed in the front of the machine body 10, not the rear.

[0103] Furthermore, the machine body 10 only needs to have the first block 10L and the second block 10R aligned in the left-right direction D2, and the first block 10L and the second block 10R may be reversed left-right. That is, the first block 10L, which includes the power source 63 and the like, may be located on the right side, and the second block 10R, which includes the user interface 61 and the like, may be located on the left side.

[0104] Furthermore, the traveling unit 11 is not limited to a crawler-type traveling device, but may have one or more wheels and travel by rotating the wheels. Furthermore, the traveling unit 11 is not limited to a configuration driven by a hydraulic motor, but may be a configuration driven by an electric motor, for example.

[0105] Furthermore, the sprayer 1 is not limited to an air-assisted sprayer as in the first embodiment, but may be, for example, an electrostatic sprayer, or a combination of air-assisted and electrostatic sprayers, etc. If the sprayer 1 is an electrostatic sprayer, the airflow generating unit 5 can be omitted.

[0106] Furthermore, the power source 63 is not limited to an engine, and may have, for example, a motor (electric motor), or may be a hybrid power source including an engine and a motor.

[0107] Furthermore, the sprayer 1 may have a configuration in which the machine body 10 is not gate-shaped, but the entire machine body 10 travels between a pair of adjacent crop rows Vr1 (work aisle). In this case, the sprayer 1 travels along each work aisle without straddling the crop rows Vr1. In this case, the spraying device 4 performs spraying work by switching between a spraying pattern in which the chemical solution is sprayed in both the left and right directions D2, a spraying pattern in which the chemical solution is sprayed only to the left, and a spraying pattern in which the chemical solution is sprayed only to the right.

[0108] The antennas 21 and 22 are not limited to antennas for position identification, but may be antennas for wireless communication, for example. Furthermore, the antennas 21 and 22 are not limited to antennas for reception, but may be antennas for transmission, or for reception and transmission.

[0109] Furthermore, the user interface 61 may have a means for presenting information to the user by, for example, audio output, in addition to or instead of the display unit 611. Furthermore, at least one of the adjustment items (flow rate, pressure, etc.) may be automatically adjusted by the control device using the operation unit 612 of the user interface 61. In this case, the operation unit 612 may be omitted as appropriate, and the user interface 61 may simply display the adjustment result on the display unit 611.

[0110] Furthermore, in the first embodiment, the sprayer 1 has been described as an example of a work machine, but the work machine is not limited to the sprayer 1. For example, the work machine may be a top pinching machine, in which case the top pinching unit that performs the top pinching work is an example of a work unit and is supported by the support frame 3.

[0111] (Embodiment 2) The sprayer 1A according to this embodiment differs from the sprayer 1 according to embodiment 1 in that it further comprises a spraying section 41A (second spraying section) that is arranged alongside the spraying section 41 (first spraying section) in the front-to-rear direction D3 and sprays the spray material (chemical solution), as shown in Figure 12. Hereinafter, the same components as those in embodiment 1 will be given the same reference numerals and descriptions thereof will be omitted where appropriate.

[0112] In this embodiment, the sprayer 1A is equipped with a support frame 3 (first support frame) provided at the rear of the machine body 10, as well as a support frame 3A (second support frame) provided at the front of the machine body 10. A spraying device 4A and an airflow generating unit 5A are supported on the support frame 3A. The spraying device 4A (second spraying device) is configured symmetrically to the spraying device 4 (first spraying device) in the front-to-rear direction D3, and like the spraying device 4, has a spraying unit 41A and a spraying pipe 42A. The airflow generating unit 5A (second airflow generating unit) is configured symmetrically to the airflow generating unit 5 (first airflow generating unit) in the front-to-rear direction D3, and like the airflow generating unit 5, has a duct 51A and a blower 52A.

[0113] In short, the sprayer 1A is provided with a second working unit (spraying unit 41A) that is arranged alongside the first working unit (spraying unit 41) in the front-to-rear direction D3 and that performs work (spraying work). This allows the sprayer 1A to perform work (spraying work) at each of the two spraying units 41, 41A that are aligned in the front-to-rear direction D3, thereby improving work efficiency compared to when work is performed using only one of the working units.

[0114] Furthermore, like the support frame 3, the support frame 3A is supported rotatably about the rotation axis Ax1 relative to the machine body 10. Therefore, with regard to the spraying device 4A and airflow generating unit 5A attached to the support frame 3A, when the machine body 10 is traveling on a laterally inclined slope, the rotation of the support frame 3A makes it less likely that unevenness (uneven spraying) will occur in the amount of sprayed material (chemical solution) by the spraying unit 41A.

[0115] As a modification of the second embodiment, at least one of the support frames 3, 3A arranged in the front-rear direction D3 may be configured to be non-rotatable with respect to the airframe 10. For example, the support frame 3 is rotatably supported with respect to the airframe 10, and the support frame 3A is fixedly supported.

[0116] As another modification of embodiment 2, the spraying units (spraying devices) may be provided in three or more stages in the front-rear direction D3. For example, the sprayer 1A may further include a spraying unit (third spraying unit) located between the pair of spraying units 41, 41A in the front-rear direction D3.

[0117] The configuration of the second embodiment can be adopted in appropriate combination with the various configurations (including modified examples) described in the first embodiment.

[0118] (Embodiment 3) As shown in Figure 13, the sprayer 1B according to this embodiment differs from the sprayer 1 according to embodiment 1 in that it includes a rotary drive device 12. Hereinafter, the same components as those in embodiment 1 will be assigned the same reference numerals and descriptions thereof will be omitted as appropriate.

[0119] The rotation drive device 12 generates a rotational force that rotates the support frame 3 relative to the machine body 10 around the rotation axis Ax1. In other words, the rotation drive device 12 is an actuator that actively rotates the support frame 3. Specifically, the rotation drive device 12 is a motor, a reducer, etc. that are provided on the bearing base 33, and applies a rotational force to the axle pin 32. The rotation drive device 12 rotates the support frame 3 via the axle pin 32 and stops the support frame 3 at a desired rotation angle. This makes it easier to control the rotation angle of the support frame 3 to a desired angle compared to a configuration in which the support frame 3 rotates passively in response to an external force.

[0120] Furthermore, in this embodiment, the rotation drive device 12 rotates the support frame 3 in accordance with the attitude of the machine body 10. That is, as shown in FIG. 13 , the sprayer 1B is equipped with an attitude sensor 13 provided on the machine body 10, and the attitude of the machine body 10 is monitored by the attitude sensor 13. The attitude sensor 13 is, for example, a gyro sensor, and detects the inclination angle of the machine body 10 while traveling on a laterally inclined slope as the attitude of the machine body 10. The rotation drive device 12 rotationally drives the support frame 3 based on the detection result of the attitude sensor 13. As an example, if the inclination angle of the field F1 is 5 degrees and the machine body 10 is inclined 5 degrees to the right (see FIG. 11 ), the rotation drive device 12 rotates the support frame 3 by 5 degrees in the second direction R2. This allows the support frame 3 to be rotated to an appropriate rotation angle in accordance with the attitude of the machine body 10.

[0121] As a modification of the third embodiment, the rotation drive device 12 may drive the support frame 3 to rotate regardless of the attitude of the machine body 10. In this case, the attitude sensor 13 may be omitted as appropriate.

[0122] The configuration of the third embodiment can be adopted in appropriate combination with the various configurations (including modified examples) described in the first or second embodiment. [Explanation of symbols]

[0123] 1,1A,1B Spreader (work machine) 10 aircraft 10L 1st Block 10R 2nd Block 11 Running part 41,41A Spreading section (working section) 61 User Interface 63 Power source 64 Tank 111 Crawler 611 Display section 612 Operation section Sp1 space V1 Crops (working objects) D2 Left / right direction

Claims

1. An aircraft having a first block and a second block arranged side by side in a left-right direction that is a direction perpendicular to the direction of travel; a working unit supported on the machine body and performing work; a power source disposed in the first block for driving the airframe; a user interface disposed in the second block and configured to output information to a user and / or accept an operation from the user; Work machinery.

2. The machine body forms a space between the first block and the second block through which a work object to be worked by the working unit passes.

2. The work machine according to claim 1.

3. The machine body has a running section in each of the first block and the second block.

3. A work machine according to claim 1 or 2.

4. The traveling unit includes a crawler.

4. The work machine according to claim 3.

5. The working unit includes a spraying unit that sprays a spray material as the work, A tank in which the spray material is stored is disposed in the second block. A work machine according to any one of claims 1 to 4.

6. the user interface includes an operation unit that accepts an operation for adjusting the work, and a display unit that displays information related to the operation. A work machine according to any one of claims 1 to 5.

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