Agricultural machinery

Abstract

To provide an agricultural work machine capable of appropriately performing an automatic operation.SOLUTION: An agricultural work machine comprises: a traveling machine body A capable of automatic steering travel; and a display device D that is installed in the traveling machine body A separately from a meter panel 36. The display device D is positioned between preliminary seedling tables provided on the left and right sides of the traveling machine body A and at an intermediate portion in the vertical direction of the preliminary seedling tables. The display device D includes a notification lamp that displays necessary information for automatic steering travel. A teaching processing unit acquires a travel route through manual steering travel, and sets a target travel route.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to an agricultural work machine equipped with a traveling body capable of switching between manual traveling by manual steering and automatic traveling by automatic steering.

Background Art

[0002] Conventionally, as this type of agricultural work machine, there has been one provided with a changeover switch capable of switching between manual traveling and automatic traveling (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above agricultural work machine, it is necessary to appropriately perform automatic driving.

[0005] Therefore, an object of the present invention is to provide an agricultural work machine capable of appropriately performing automatic driving.

Means for Solving the Problems

[0006] The features of the present invention include a traveling body capable of automatic steering traveling, and a display device provided separately on the traveling body from a meter panel. The display device is disposed between spare seedling carriers provided on the left and right of the traveling body and at an intermediate portion in the vertical direction of the spare seedling carriers, and is provided with a warning lamp for displaying information necessary for automatic steering traveling on the display device. A traveling route is acquired by a teaching processing unit by performing manual steering traveling, and a target traveling route is set. Further, the features of the present invention include a traveling body capable of automatic steering traveling, and a console provided separately on the traveling body from a meter panel. The console has an operating device that allows input of information necessary for the automated steering drive, and when manual steering is performed, the driving path is acquired by the teaching processing unit and the target driving path is set. Furthermore, the present invention is characterized by a vehicle body that can switch between manual driving with manual steering and automatic driving with automatic steering, a steering wheel for the vehicle body, and a switch for switching between manual driving and automatic driving, and a display device is mounted on the vehicle body in an inclined position where the upper end of the display device is located further forward, and the display device is provided separately from the meter panel located in the center of the vehicle body in the left-right direction, and when the vehicle is in automatic driving mode, the display device shows that it is in automatic driving mode and also shows a deviation in the direction of travel of the vehicle body. The present invention is characterized by a vehicle body that can switch between manual driving with manual steering and automatic driving with automatic steering, a meter panel, and a display device that indicates that the vehicle is in automatic driving mode when it is in automatic driving mode, wherein the meter panel and the display device are spaced apart from each other in the front-rear direction of the vehicle body. In the above configuration, it is preferable that the meter panel and the display device are located in the center of the width direction of the traveling machine. In the above configuration, it is preferable that the front end of the display device is located in front of the front end of the meter panel. In the above configuration, it is preferable that the upper end of the display device is located above the upper end of the meter panel. In the above configuration, it is preferable that the vehicle body is equipped with a steering handle, and in a plan view, the meter panel is positioned to overlap with the handle, and the rear end of the display device is positioned in front of the front end of the handle. In the above configuration, it is preferable that the vehicle is equipped with a steering handle for steering the vehicle and a switching lever for switching the vehicle to the automatic driving mode, wherein the switching lever extends from the side of the steering post of the handle toward the grip portion of the handle. Another feature of the present invention is that it comprises a vehicle body that can switch between manual driving with manual steering and automatic driving with automatic steering, a steering wheel for the vehicle body, and a changeover switch that can switch between the manual driving and the automatic driving, wherein the changeover switch is located in a place where the vehicle operator can operate it while holding the steering wheel.

[0007] According to the present invention, the changeover switch is located in a place where the aircraft operator can operate it while holding the steering wheel. Therefore, when switching between manual and automatic driving modes, the aircraft operator can operate the changeover switch while still holding the steering wheel. In other words, since the changeover switch is located in a very close position that can be operated while holding the steering wheel, it is no longer necessary to look at the location of the changeover switch to confirm its position, as was done in the past, when switching modes.

[0008] As a result, the aircraft operator can switch between manual and automatic driving modes using a selector switch while keeping their eyes directly on the road ahead and without taking their hands off the steering wheel, and can maintain stable steering control even during this switching operation.

[0009] In the present invention, the changeover switch is preferably an operating lever located near the handle.

[0010] With this configuration, the changeover switch is made up of an operating lever near the handle, allowing for efficient switching operations. In other words, with an operating lever, switching can be performed by operating the tip of the lever that extends from the base end of the lever, so the length of the lever can be effectively utilized to apply a large moment to the base end of the lever with a small force. As a result, the control levers can be easily switched with minimal force, even using only the fingertips of the hand gripping the steering wheel, allowing for even more stable steering control.

[0011] In the present invention, it is preferable that the changeover switch is incorporated in the handle.

[0012] According to this configuration, since the changeover switch is incorporated in the handle, even while holding the handle, the changeover operation by the changeover switch can be performed more easily with fingertips or the like. Therefore, a more stable handle operation can be further continued.

Brief Description of the Drawings

[0013] [Figure 1] It is an overall side view of the rice transplanter. [Figure 2] It is an overall plan view of the rice transplanter. [Figure 3] It is a front view of the traveling body of the rice transplanter. [Figure 4] It is a perspective view of the front part of the traveling body of the rice transplanter. [Figure 5] It is a schematic view of the steering operation system. [Figure 6] It is a block circuit diagram of the positioning / automatic steering traveling system. [Figure 7] It is a view showing the monitor part and the operation panel part of the console. [Figure 8] It is a side view of the traveling body of another embodiment. [Figure 9] It is a front view of the traveling body of another embodiment. [Figure 10] It is a front view of the traveling body of another embodiment. [Figure 11] It is a perspective view of the front part of the traveling body of another embodiment. [Figure 12] It is a main part plan view showing the installation state of the changeover switch of another embodiment. [Figure 13] It is a main part side view showing the installation state of the changeover switch of another embodiment. [Figure 14] It is an overall side view of the rice transplanter of another embodiment. [Figure 15] It is an overall side view of the rice transplanter of another embodiment.

Modes for Carrying Out the Invention

[0014] Embodiments of the present invention will be described below with reference to the drawings. Here, a rice transplanter will be used as an example of an agricultural machine of the present invention.

[0015] [Overall configuration of the rice transplanter] As shown in Figures 1 to 3, a riding-type rice transplanter is configured as an agricultural machine, with a driver's seat 3 in the center of a traveling body A having a pair of left and right front wheels 1 and a pair of left and right rear wheels 2, and a seedling planting device B 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 traveling body A.

[0016] This rice transplanter has an engine 6 housed in a bonnet 5 at the front of the traveling body A. The traveling 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 traveling 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 (see Figure 1).

[0017] 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 (equivalent to a steering wheel) 11 for steering the front wheels 1 is located at the rear of the bonnet 5 and in front of the driver's seat 3. A main gear lever 12 for setting the driving speed is located on the left side of this 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.

[0018] In this embodiment, the forced lifting lever 13 is configured to be operated in both the vertical and horizontal directions. Operating it upward raises the seedling planting device B, and operating it downward lowers the seedling planting device B. Furthermore, operating it downward engages the planting clutch C. Operating it forward sets the left marker arm 26 (described later) to the working position, and operating it backward sets the right marker arm 26 to the working position.

[0019] 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.

[0020] 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.

[0021] 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 traveling machine 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 the traveling machine A is turned to continue the seedling planting work, the center mascot 14 can be visually aimed at the mark on the field surface by steering the machine, making it possible to plant seedlings at the optimal position based on the rows of already planted seedlings.

[0022] 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.

[0023] 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 traveling machine A. As a result, with the leveling float 22 leveling the mud surface of the seedling planting area, the driving force transmitted from the traveling machine 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.

[0024] 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 machine can be configured to automatically steer and drive (equivalent to automatic driving with automatic steering) along the target travel path.

[0025] Furthermore, this rice transplanter is also configured to allow seedling planting to be performed by manual steering (equivalent to manual driving with manual steering) by the operator (equivalent to the machine driver) operating the steering wheel 11, even when a target travel path has been set, instead of using automatic steering. For this reason, it is equipped with a marker device.

[0026] [Vehicle configuration] In this rice transplanter, a driver's compartment with a driver's seat 3 is formed in the center of the traveling 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 front bonnet 5 of the traveling 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 traveling body A closer to the ridge, facilitating the movement of the operator between the ridge and the traveling body A.

[0027] 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.

[0028] 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 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 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. The auxiliary frame 18 also functions as a guard for the worker.

[0029] At the front of the mobile 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 / alighting 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.

[0030] 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.

[0031] 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.

[0032] In this rice transplanter, multiple spare seedling trays 34 are supported by a vertical frame 31 and an auxiliary vertical frame 33 connected thereto.

[0033] 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.

[0034] [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.

[0035] 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.

[0036] The rear of the bonnet 5 is provided with inverted U-shaped console support frames 37 on both the left and right sides, their lower ends penetrating through to connect to the running 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] [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 of the support frame section. 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.

[0042] 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 that detects direction from the Earth's magnetic field, and a gyro sensor 45C that captures changes in the attitude of the mobile vehicle A by inertia. In this configuration, since the receiving unit 45 is positioned at the front of the mobile vehicle A (particularly in front of the front wheels 1), when the mobile vehicle A changes direction, the amount of lateral displacement is larger compared to the rear end of the mobile vehicle A, allowing for highly sensitive detection of changes in position information (see Figures 1 and 2).

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] Incidentally, switching between manual steering and automatic steering can be done using a push-type changeover switch 49 located on the steering wheel 11, as shown in Figures 1, 2, and 4. Each time the changeover switch 49 is pressed, the system is configured to alternate between manual steering and automatic steering. As shown in Figure 4, the steering wheel 11 is configured with an annular grip portion 11A located on the outer circumference and a hub portion 11B that integrally connects the grip portion 11A and the steering shaft 51 in the center. The changeover switch 49 is located on the hub portion 11B and is positioned so that it can be pressed, for example, with the thumb while the grip portion 11A is held in the hand.

[0053] Furthermore, when the mobile 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 control mode of the travel path determination unit 47B is set to first drive the vehicle A along a target travel path adjacent to the travel path (the first path traveled by human steering), and then drive the vehicle A along a target travel path adjacent to this.

[0054] [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.

[0055] In this automatic steering driving screen, a target driving path line 103 is displayed at the center of the screen in the left-right direction, and an icon 104 representing the vehicle A is displayed at 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.

[0056] 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 operations are performed.

[0057] 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-ready 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 by operating the changeover switch 49, 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.

[0058] 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.

[0059] 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 machine 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 machine A, improving work efficiency compared to the operation method in which the machine A is stopped to replenish seedlings.

[0060] In particular, during seedling planting, the operator operates the steering wheel 11 to move the mobile unit 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 mobile unit A, improving work efficiency.

[0061] [Effects and Effects of the Embodiment] According to the rice transplanter of this embodiment, when switching between manual steering and automatic steering, the operator can perform the switching operation using the changeover switch 49 while holding the grip portion 11A of the steering wheel 11. Therefore, the operator can switch between manual and automatic driving modes using the changeover switch 49 without taking their eyes off the road ahead or taking their hands off the steering wheel 11, and can maintain stable steering control even during this switching operation.

[0062] Furthermore, since the changeover switch 49 is incorporated into the steering wheel 11, the changeover operation can be performed more easily with the fingertips, etc., even while holding the grip portion 11A, allowing for even more stable steering control.

[0063] [Another embodiment] Other embodiments are described below.

[0064] <1> In the above embodiment, the agricultural machine was described as being configured to protect the operator by providing an auxiliary frame 18. However, for example, a signal wire may be provided between the operator and the machine A, and the machine A may be stopped if the signal wire is cut, detached, or subjected to excessive tension.

[0065] The stopping of the mobile unit A can be configured, for example, to be performed by a fuel cut solenoid. Furthermore, the stopping of the mobile unit A may be configured to occur not only in the above-mentioned movements related to the operator, but also, for example, when the mobile unit A runs onto a ridge or approaches a ridge at close range during automatic driving, or when the mobile unit A is driving in a serpentine manner. This is effective when, during automatic driving, the operator is on the mobile unit A, away from the driver's seat, replenishing seedlings to the seedling tray at the rear.

[0066] In particular, situations where the aircraft operator is not seated in the cockpit can be detected more accurately by installing, for example, a seating sensor, and the results can be reflected in each control system. Furthermore, the system may be configured to provide notification by alarm or other means instead of stopping the mobile unit A, or to provide notification in addition to stopping the mobile unit A.

[0067] <2> In agricultural machinery, there is a concern that the battery voltage may temporarily drop when the engine 6 is started. Therefore, the start of power supply to the meter panel, console D, positioning and automatic steering driving system, etc., may be delayed for a predetermined time (for example, a few seconds) after the engine starts, when it is expected that the battery voltage will stabilize. This configuration can prevent problems such as the system shutting down due to the supply voltage to the meter panel, console D, positioning and automatic steering driving system, etc., falling below the minimum drive voltage. However, this does not apply if the meter panel, console D, positioning and automatic steering driving system, etc., have batteries separate from the drive system battery.

[0068] <3> The support frame portion that supports the receiving unit 45 is not limited to the one described in the previous embodiment. For example, as shown in Figures 8 and 9, if a canopy 60 is provided to cover the area above the driver's seat 3, the support frame portion 61 that supports the canopy 60 may also serve as the support frame portion 61. In this embodiment, the top portion 61a of the support frame portion 61 supports both the canopy 60 and the receiving unit 45. In this support frame section 61, the left and right support columns 61b rising from the mobile body A are erected in close proximity to the bonnet 5, providing high rigidity and enabling stable support of the receiving unit 45.

[0069] Furthermore, the lower end of the vertical frame 31 that supports the spare seedling tray 34 may be configured as a double-cylinder structure that overlaps radially inward and outward, with the lower end fixed together with the traveling machine A, as shown in Figure 10. In this case, the outer cylinder 31B is configured to support the spare seedling tray 34, and the inner cylinder 31C can be configured as a gate-shaped support frame section that extends upward and is connected by a connecting frame 32. This configuration prevents vibrations from being transmitted to the receiving unit 45 via the support frame section when raising and lowering seedlings onto the spare seedling tray 34, enabling more accurate positioning measurements.

[0070] Furthermore, the outer cylinder 31B can incorporate a mechanism that allows the spare seedling tray 34 to slide or rotate around the cylinder axis, making the spare seedling tray easier to use.

[0071] <4> The changeover switch 49 is not limited to being able to switch both from manual driving to automatic driving and vice versa using a single switch 49. For example, the changeover switch 49 may be configured to only act on switching from manual driving to automatic driving. In this case, the positioning and automatic steering driving system may be configured so that the switch from automatic driving to manual driving is linked to human operation of the steering wheel 11.

[0072] Furthermore, a separate changeover switch 49 may be provided for switching from manual driving to automatic driving, and another changeover switch 49 for switching from automatic driving to manual driving. In any case, it is preferable that the changeover switch 49 for switching from manual to automatic driving be located in a place where the machine operator can operate it while holding the steering wheel 11.

[0073] Furthermore, the changeover switch 49 itself is not limited to the push-type switch provided on the handle 11 as described in the previous embodiment. For example, as shown in Figure 11, it may be configured as an operating lever that protrudes from the steering shaft 51 side at a position near the bottom of the handle 11 to a position near the bottom of the grip portion 11A. When the system is configured with an operating lever, the switching can be performed by operating the tip of the lever, which extends from the base end of the lever. This effectively utilizes the length of the lever, allowing a large moment to be applied to the base end of the lever with a small force, enabling the switching operation. As a result, the operating lever can be easily switched with minimal force, even with the fingertips of the hand gripping the handle 11, further enhancing stable handle operation.

[0074] Furthermore, as shown in Figures 12 and 13, an operating lever that serves as a changeover switch 49 may be provided in a position near the bottom of the handle 11, protruding to the left from the steering shaft 51 side, and the forced lifting lever 13 may be provided in a position that protrudes to the right from the steering shaft 51 side. In this case, both levers can be easily operated with little force using the fingertips of each hand gripping the handle 11.

[0075] Furthermore, in addition to operating levers specifically configured for the changeover switch 49, the operating lever may also be configured as a multi-purpose operating lever, for example, one of the functions of an operating lever provided for other changeover operations, with the function of the changeover switch 49 incorporated into it. In this case, for example, the function can be differentiated by multiple operating directions of the operating lever (for example, up, down, left, and right).

[0076] <5> In the above embodiment, the auxiliary frame 18 was shown to be provided extending from the side of the backrest of the driver's seat 3 to the rear of the driver's seat 3, but the configuration is not limited to this. For example, as shown in Figure 14, two lateral frame bodies 18C, which are detachably formed extending from the support frame body 18A and the rear frame 33A, may be provided separately on both sides of the driver's seat 3. With this auxiliary frame 18, the area around the driver's seat 3 is protected over a wide area.

[0077] Furthermore, as shown in Figure 15, the lateral frame body 18C may be configured to protrude forward from the support frame body 18A and guard the side portion of the seating area of ​​the driver's seat 3. In this embodiment, it is not necessary to remove the lateral frame body 18C when ascending or descending to the driver's step 15 or the auxiliary step 15A. Also, compared to the one in Figure 14, the number of attachment points at the end of the lateral frame body 18C is smaller, making it easier to attach and detach.

[0078] As mentioned above, reference numerals have been used to facilitate comparison with the drawings, but this does not mean that the present invention is limited to the configuration shown in the attached drawings. Furthermore, it goes without saying that the present invention can be implemented in various forms without departing from the spirit of the invention. [Industrial applicability]

[0079] The agricultural machinery in question is not limited to those that use the positioning system described in the previous embodiment for automatic steering, but can also be used with machinery that uses different types of positioning systems. Furthermore, in the case of rice transplanters, it may be a seeder equipped with a seeding device at the rear end of the traveling machine instead of a seedling planting device, and it can also be used with other agricultural machinery. [Explanation of Symbols]

[0080] 11. Steering wheel (equivalent to a steering wheel) 49 Changeover switch A. Mobile body D Console (equivalent to a display device)

Claims

1. A vehicle capable of automatic steering and driving, The system includes a display device provided separately from the meter panel on the aforementioned mobile body. The display device is positioned between the spare seedling trays provided on the left and right sides of the traveling machine, and in the intermediate portion in the vertical direction of the spare seedling trays. The aforementioned display device is equipped with a notification lamp that displays information necessary for automatic steering driving. An agricultural implement in which the driving path is acquired by the teaching processing unit through manual steering, and the target driving path is set.

2. The agricultural machine according to claim 1, wherein the display device comprises a display unit and an operating tool capable of inputting information necessary for the automatic steering operation.

3. The agricultural implement according to claim 2, wherein the display unit is facing the driver's seat.

4. The agricultural machine according to claim 1, wherein the display device overlaps with the steering wheel in the vertical direction.

5. The agricultural implement according to claim 2, wherein the operating device is composed of a plurality of operating devices, and a target travel path based on teaching is acquired by the operating device.

6. The agricultural implement according to claim 2, wherein the operating device is equipped with the notification lamp.

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