JP7516244B2 - Display device and agricultural machine equipped with the display device - Google Patents

Description

The present invention relates to a display device for agricultural machinery that spreads agricultural materials and to agricultural machinery equipped with this display device.

Conventionally, a display device that displays the position of a tractor while it is traveling in a field is disclosed in Patent Document 1. The technology disclosed in Patent Document 1 displays a guidance line, including the work line of the tractor working in the field, on a display device, allowing navigation of the tractor.

Patent No. 5667731

However, the display device described in Patent Document 1 cannot display the working status of agricultural work in the field, and therefore the worker cannot clearly grasp the working status of agricultural work while traveling in the field.
In view of the above problems, an object of the present invention is to provide a display device that enables a user to clearly grasp the working status of agricultural work while traveling in a farm field.

The technical means of the present invention for solving this technical problem is characterized by the following points.
The display device is a display device equipped with a display unit that displays a graphic representing the work status from an agricultural work unit of a traveling vehicle body having an agricultural work unit that performs agricultural work, and a control unit that controls the display unit, the display unit including a field display unit that displays a graphic representing a field in which the traveling vehicle body travels, a vehicle body display unit that displays a graphic representing the position of the traveling vehicle body on the field display unit, and an agricultural work unit display unit that displays a graphic representing the agricultural work unit on a side of the vehicle body display unit that corresponds to the direction of the agricultural work unit relative to the traveling vehicle body, and the control unit causes the agricultural work unit display unit to display a work state in which the agricultural work unit is working and a stopped state in which the agricultural work unit has stopped working in different display forms, and controls the field display unit to display a graphic representing the work status from the agricultural work unit of a traveling vehicle body. The position of the vehicle body display unit is fixed, and when the traveling vehicle body travels , a graphic representing the field displayed on the field display unit scrolls or rotates in accordance with changes in the position of the traveling vehicle body, and the agricultural work unit display unit has a first agricultural work unit display unit that displays the work status of a first agricultural work unit performing work on the left side or to the left of the traveling vehicle body, and a second agricultural work unit display unit that displays the work status of a second agricultural work unit performing work on the right side or to the right of the traveling vehicle body, and is configured so that by pressing the graphic displayed on the first agricultural work unit display unit, work from the first agricultural work unit is started or stopped, and by pressing the graphic displayed on the second agricultural work unit display unit, work from the second agricultural work unit is started or stopped.

Preferably, the control unit causes the agricultural work unit display unit to display different colors when in the working state and when in the stopped state.

The display device according to claim 3, wherein the control unit preferably causes the first agricultural work unit display unit to display the working status and stopped state of the first agricultural work unit in different display forms, and causes the second agricultural work unit display unit to display the working status and stopped state of the second agricultural work unit in different display forms.
Preferably, the display unit includes a trajectory display unit that displays a graphic representing a work trajectory of the work by the farm work unit on the field display unit,
Preferably, the control section causes the trajectory display section to display a graphic representing the work trajectory along the movement trajectory of the agricultural work unit in a working state, superimposed on the field display section.

Preferably, the trajectory display unit has a first trajectory display unit that displays a figure representing a work trajectory by a first agricultural work unit display unit that displays the work status of a first agricultural work unit performing work on the left side or to the left of the traveling body, and a second trajectory display unit that displays a figure representing a work trajectory by a second agricultural work unit display unit that displays the work status of a second agricultural work unit performing work on the right side or to the right of the traveling body, and the control unit causes the first trajectory display unit to display a figure representing the work trajectory by the first agricultural work unit along the movement trajectory of the first agricultural work unit in a working state, superimposed on the field display unit, and causes the second trajectory display unit to display a figure representing the work trajectory by the second agricultural work unit along the movement trajectory of the second agricultural work unit in a working state, superimposed on the field display unit.

Preferably, a storage unit is provided for storing the work trajectory, and the control unit stores the work trajectory in the storage unit.
The display device is a display device equipped with a display unit that displays a graphic representing the work status from an agricultural work unit of a traveling vehicle body having an agricultural work unit that performs agricultural work, and a control unit that controls the display unit, the display unit including a field display unit that displays a graphic representing a field in which the traveling vehicle body travels, a vehicle body display unit that displays a graphic representing the position of the traveling vehicle body on the field display unit, and an agricultural work unit display unit that displays a graphic representing the agricultural work unit on a side of the vehicle body display unit that corresponds to the direction of the agricultural work unit relative to the traveling vehicle body, and the control unit displays on the agricultural work unit display unit a work state in which the agricultural work unit is performing work and a stopped state in which the agricultural work unit has stopped working. the vehicle body display unit displays the field in a different display form depending on the state of the vehicle, the position of the vehicle body display unit is fixed relative to the field display unit, and when the vehicle body moves, a figure representing the field shown on the field display unit scrolls or rotates in accordance with a change in the position of the vehicle body, the agricultural work is a spraying work of spraying a spray material, and the agricultural work unit includes a first spraying unit provided on a first boom extending to the left from the vehicle body and a second spraying unit provided on a second boom extending to the right from the vehicle body, and an operation switch for operating to spray the spray material from the first spraying unit and the second spraying unit is displayed on the display unit superimposed on the field display unit.

The agricultural machine is equipped with a traveling vehicle body having an agricultural work unit that performs agricultural work, and a display device having a display unit that displays a graphic representing the work status of the agricultural work unit, and the display device is the display device described above.

According to the present invention, the agricultural work status can be clearly grasped by the display on the agricultural work display section of the display device, so that the agricultural work status can be clearly grasped while traveling in a field.

FIG. FIG. 2 is a side view of the agricultural machine as viewed from the right. FIG. FIG. 2 is a view showing a first tube of the conveying tube; FIG. 4 is a view showing a second tube of the conveying tube. FIG. 2 is a diagram showing the system from the blower to the spray unit. FIG. 13 shows the covering plate in a second position. FIG. 2 shows the covering plate in a first position. 1 shows a control block diagram of an agricultural machine. FIG. 2 is a diagram showing an example of a planning screen M1. FIG. 4 is a diagram showing an example of a spray plan stored in a plan storage unit. A diagram showing the relationship between the first application rate Fn and the second application rate Rn when the agricultural machine is located within the area Qn. This figure shows the relationship between the first application rate Fn and the second application rate Rn when the agricultural machine is located on the boundary of area Qn, the first pipe is located in the left area, and the second pipe is located in the right area. A figure showing the relationship between the first spray rate Fn and the second spray rate Rn, which is different from that shown in Figure 11B. 1 is a diagram showing an example of a plurality of regulation lines that regulate the relationship between the rotation speed of a motor that drives a blower and the amount of air blown per unit time by the blower. 1 is an example of a display screen displayed on a display unit, showing a selection menu for selecting one prescribed line from a plurality of prescribed lines. This is an example of a display screen displayed on the display unit, and is a screen that displays an operation switch for operating the spraying unit to spray the spraying material, a graphic representing the spraying status from the spraying unit, and a margin gauge. FIG. 2 is a diagram showing only operation switches extracted from a display screen. 13A and 13B are diagrams showing modified examples of the operation switch. FIG. 13 is a diagram showing another modified example of the operation switch. FIG. 13 is a diagram showing margin gauges each indicating a different margin. 1 is a diagram illustrating an example of a system configuration and a processing operation flow of an agricultural machine that calculates a margin. FIG. 2 is a front view showing the upper part of the cabin. FIG. 4 is a side view showing the upper front portion of the cabin. FIG. FIG. FIG. FIG. FIG. 2 is a perspective view of the support bracket, the support plate, and the positioning device. FIG. 2 is a plan view of the support bracket, the support plate, and the positioning device.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
1 to 3 are external views of an agricultural machine 1 according to the present invention. The agricultural machine 1 is a machine that travels through fields and the like to perform agricultural work. The agricultural machine 1 of this embodiment is capable of spreading a spreading material. The spreading material is, for example, a granular fertilizer, seed, herbicide, or the like, which is a solid material.
In this embodiment, the agricultural machine 1 is a riding agricultural machine (e.g., a riding management machine) capable of spreading a spreading material. However, the agricultural machine 1 is not limited to a riding agricultural machine, and may be, for example, a tractor equipped with a working device (implement) such as a spreading device.

As shown in Figures 1 to 3, the agricultural machine 1 comprises a body (car body) 2, a traveling device 3, and a prime mover 4. The traveling device 3 supports the body 2 so that it can travel. Hereinafter, the body 2 and the traveling device 3 may be collectively referred to as a traveling body 8. The traveling device 3 is a wheel-type device having front wheels 3F rotatably supported on the axle at the front of the body 2, and rear wheels 3R rotatably supported on the axle at the rear of the body 2. The traveling device 3 may be a crawler-type traveling device.

The prime mover 4 is provided in the airframe 2 and is an internal combustion engine such as a diesel engine or a gasoline engine, or a rotating electric machine such as a motor or a motor generator. The prime mover 4 may be both an internal combustion engine and a rotating electric machine. In this embodiment, the prime mover 4 is an internal combustion engine.
The vehicle body 2 is provided with a driver's seat 5, a steering device 6 such as a steering wheel for steering the traveling device 3, and a speed change device 7 such as a transmission to which the power of the prime mover 4 is transmitted. The speed change device 7 changes gear stages by operating operating members arranged around the driver's seat 5, and the speed (vehicle speed) of the vehicle body 2 is changed according to the gear stage. Note that the speed change device 7 may be a continuously variable speed change device. The speed change device 7 is also provided with a PTO shaft that rotates by the power of the prime mover 4.

The agricultural machine 1 is provided with multiple containers 10 for storing the material to be sprayed. The multiple containers 10 are lined up in the width direction of the machine body 2 and are supported by the machine body 2. The multiple containers 10 include a left container 10L provided on one side (left side) of the machine body 2 and a right container 10R provided on the other side (right side) of the machine body 2. Each of the multiple containers 10, i.e., the left container 10L and the right container 10R, is provided with a spray amount adjustment device 11L, 11R that adjusts the amount of the material to be sprayed and discharges it. Hereinafter, for ease of explanation, the spray amount adjustment device 11L may be referred to as the "first spray amount adjustment device 11L" and the spray amount adjustment device 11R may be referred to as the "second spray amount adjustment device 11R."

The first spray amount adjustment device 11L has a case 12L into which the material to be sprayed from the left container 10L is introduced, a spray discharge mechanism 13 that discharges the material to be sprayed, and a first electric motor 14L that drives the spray discharge mechanism 13. The spray discharge mechanism 13 is a roll-type mechanism that discharges the material to be sprayed from the case 12L by rotating a roll, or a shutter-type mechanism that discharges the material to be sprayed by opening and closing a shutter to change the opening area of the discharge port at the bottom of the case 12L. In this embodiment, the spray discharge mechanism 13 includes a payout roller 13L that is rotatably supported on the case 12L.

An inlet (entrance) through which the material to be spread is introduced is formed at the upper end of the case 12L, and an outlet (discharge port) through which the material to be spread is discharged is formed at the lower end of the case 12L. The material to be spread stored in the left container 10L is discharged by the rotation of the pay-out roller 13L. A recess is formed in the peripheral wall of the pay-out roller 13L into which the material to be spread enters, and the amount of material to be spread is measured by the material to be spread entering the recess. As shown in FIG. 8, the first electric motor 14L is driven by a control signal from the control device 60. The first electric motor 14L controls the number of rotations (rotation speed) of the pay-out roller 13L by the control signal output from the control device 60, and the amount of material to be spread (discharged amount of material to be spread) discharged from the first amount of spread adjustment device 11L can be adjusted by the number of rotations of the pay-out roller 13L. In addition, when the scattering and discharging mechanism 13 is a shutter-type mechanism, the first electric motor 14L controls the opening degree of the shutter by a control signal output from the control device 60, and can adjust the amount of scattering material discharged from the first scattering amount adjustment device 11L (discharge scattering amount) depending on the opening degree of the shutter.

The second spray rate adjusting device 11R has a case 12R into which the material to be scattered from the right container 10R is introduced, a spray discharge mechanism 13 that discharges the material to be scattered, and a first electric motor 14R that drives the spray discharge mechanism 13. In this embodiment, the spray discharge mechanism 13 includes a payout roller 13R rotatably supported on the case 12R, similar to the first spray rate adjusting device 11L.
An inlet is formed at the upper end of the case 12R, similar to the case 12L, and an outlet is formed at the lower end of the case 12R. The material stored in the left container 10L is discharged by the rotation of the pay-out roller 13R. A recess is formed in the peripheral wall of the pay-out roller 13R, similar to the pay-out roller 13L, into which the material to be spread enters, and the amount of material to be spread is measured by the material entering the recess. The first electric motor 14R is driven by a control signal from the control device 60. The first electric motor 14R controls the number of rotations (rotation speed) of the pay-out roller 13R by a control signal output from the control device 60, and the amount of material to be spread (discharged amount of material to be spread) discharged from the second spray amount adjustment device 11R can be adjusted by the number of rotations of the pay-out roller 13R. In addition, when the scattering discharge mechanism 13 is a shutter-type mechanism, the first electric motor 14R controls the opening degree of the shutter using a control signal output from the control device 60, and can adjust the amount of scattering material discharged from the second scattering amount adjustment device 11R (discharge scattering amount) depending on the opening degree of the shutter.

The agricultural machine 1 is equipped with a conveying pipe 15 through which the sprayed material flows. The conveying pipe 15 is a pipe through which the sprayed material discharged from each of the first spray rate adjustment device 11L and the second spray rate adjustment device 11R flows. The conveying pipe 15 is a pipe that can be extended in the width direction of the machine body 2, and includes a first pipe 15L that extends to one side (left side) of the machine body 2 in the extended state, and a second pipe 15R that extends to the other side (right side) of the machine body 2 in the extended state.

The first pipe 15L is supported by a first boom 18L extending leftward from the body 2, and extends from the base end to the tip end of the first boom 18L. The second pipe 15R is supported by a second boom 18R extending rightward from the body 2, and extends from the base end to the tip end of the second boom 18R.
3, the first boom 18L and the second boom 18R can be bent (raised and lowered) between a retracted state in which the tip is located rearward of the machine body 2 and a spraying state in which the tip is located in the width direction of the machine body 2. When the first boom 18L and the second boom 18R are in the spraying state, the first pipe 15L extends to the left of the machine body 2, and the second pipe 15R extends to the right of the machine body 2.

The first boom 18L and the second boom 18R may be configured to be extendable and retractable. The extendable configuration is realized, for example, by joining two cylinders 25, 26 (see Figures 4A and 4B) described later in a manner that allows them to extend and retract. In this case, the first boom 18L can be changed between a contracted state in which it extends less to the left, and an extended state in which it extends more to the left than in the contracted state. The second boom 18R can be changed between a contracted state in which it extends less to the right, and an extended state in which it extends more to the right than in the contracted state. In other words, the first boom 18L can be extended to the left, and the second boom 18R can be extended to the right.

The raising and lowering motions and the extending and contracting motions of the first boom 18L and the second boom 18R can be performed by actuators such as motors, cylinders, etc. The operation of the actuators can be controlled by a control device 60, which will be described later.
1, a connection part 19L is formed on the base end side of the first pipe 15L, and the connection part 19L is connected to the outlet of the case 12L of the first spray rate adjustment device 11L. A connection part 19R is formed on the base end side of the second pipe 15R, and the connection part 19R is connected to the outlet of the case 12R of the second spray rate adjustment device 11R.

As shown in FIG. 4A, a plurality of spray ports 21L are formed at a predetermined interval on the peripheral wall of the first pipe 15L from the base end side to the tip end side. The plurality of spray ports 21L are holes for spraying the material to be sprayed to the outside. A plurality of spray units 22 are attached to positions corresponding to the plurality of spray ports 21L. As a result, a plurality of spray units 22 are provided on the first boom 18L. The plurality of spray units 22 provided on the first boom 18L may be collectively referred to as the "first spray unit 221" below. Each of the plurality of spray units 22 includes a cylindrical body 22A having approximately the same outer diameter as the opening of the spray port 21L, and a deflector 22B provided on the cylindrical body 22A. The inner diameter of the plurality of cylindrical bodies 22A is the same.

An opening 23 that opens in the axial direction is formed at the tip of the first tube 15L, and the opening 23 also functions as the spray port 21L. The opening 23 is provided with an opening plate 24 that adjusts the opening of the opening 23.
In the first pipe 15L, the inner diameter Ra on the first spray amount adjusting device 11L side (base end side) is larger than the inner diameter Rb of the tip end side opposite the base end. Specifically, the first pipe 15L is formed by joining at least two cylinders 25, 26 so as to be freely expandable and contractible, and the inner diameter Ra of the cylinder 25 on the base end side is larger than the inner diameter Rb of the cylinder 26 on the tip end side.

As shown in FIG. 4B, a plurality of spray ports 21R are formed in the peripheral wall of the second pipe 15R, similar to the first pipe 15L, and a plurality of spray units 22 are attached at positions corresponding to the plurality of spray ports 21R. As a result, a plurality of spray units 22 are also provided in the second boom 18R. The plurality of spray units 22 provided in the second boom 18R may hereinafter be collectively referred to as the "second spray unit 222." An opening 23 is also formed in the tip of the second pipe 15R, and the opening 23 also functions as a spray port 21R. An opening plate 24 is also provided in the opening 23 of the second pipe 15R.

In the second pipe 15R, the inner diameter Ra on the second spray amount adjusting device 11R side (base end side) is larger than the inner diameter Rb of the tip end. Specifically, like the first pipe 15L, the second pipe 15R is also formed by joining two cylinders 25, 26 so that they can expand and contract, and the inner diameter Ra of the cylinder 25 on the base end side is larger than the inner diameter Rb of the cylinder 26 on the tip end side.
As shown in Figures 1, 2, 4A, 4B, 5, 6, and 7, the conveying pipe 15 has a supply pipe 29 through which a medium for conveying the material to be sprayed, a conveying medium such as a liquid or gas, flows. The base end of the supply pipe 29 is disposed at the rear of the machine body 2 and is connected to the outlet 201b of the blower 201 described later. The supply pipe 29 may be composed of two independent pipes (a third pipe 29L and a fourth pipe 29R), or the base end may be a single pipe that branches into two pipes (the third pipe 29L and the fourth pipe 29R) at the middle. The third pipe 29L and the fourth pipe 29R are supported on the sides of the machine body 2 and extend forward. The tip side of the third pipe 29L is connected to the first pipe 15L, and the tip side of the fourth pipe 29R is connected to the second pipe 15R.

The agricultural machine 1 is equipped with a transport adjustment device that adjusts the amount of medium that transports the material to be sprayed. In this embodiment, as shown in Figures 2 and 3, the transport adjustment device is a blower 201 that generates the amount of gas as the medium, i.e., the transport air for transporting the material to be sprayed, and an adjustment device 202 that can adjust the air volume of the blower 201. The blower 201 is attached to the rear of the machine body 2.
In the present embodiment, the number of blowers 201 attached to the machine body 2 is one, but two or more blowers 201 may be attached to the machine body 2. For example, when one blower 201 is attached to the machine body 2, the supply pipe 29 may be one pipe having a base end branched into two pipes (third pipe 29L and fourth pipe 29R) at a midway point. When two blowers 201 are attached to the machine body 2, the supply pipe 29 may be composed of two independent pipes (third pipe 29L and fourth pipe 29R), and one blower may be connected to one supply pipe (third pipe 29L) and the other blower may be connected to the other supply pipe (fourth pipe 29R). When two or more blowers 201 are attached to the machine body 2, an adjustment device 202 capable of adjusting the airflow rate for each blower 201 is provided. In this case, two or more blowers 201 and two or more adjustment devices 202 can be arranged side by side in the front-to-rear direction.

As shown in Figures 6 and 7, the blower 201 has an intake port 201a that draws in outside air (air) and an outlet port 201b that delivers the outside air drawn in from the intake port 201a to the conveying pipe 15. In this embodiment, the blower 201 is a blower fan (sirocco fan), but may be another type of fan (e.g., centrifugal fan, axial fan, etc.). The intake port 201a and the outlet port 201b are formed in a cylindrical shape, and the opening shapes of the intake port 201a and the outlet port 201b are circular. However, the opening shapes of the intake port 201a and the outlet port 201b are not limited to circular, and may be other shapes (e.g., square).

The adjustment device 202 has a second electric motor 35, a covering plate 203 capable of covering the suction port 201a of the blower 201, and a linking mechanism 204 linking the output shaft of the second electric motor 35 and the covering plate 203. The linking mechanism 204 is a mechanism that transmits the power of the second electric motor 35 to the covering plate 203, and converts the rotation of the output shaft of the second electric motor 35 into the movement (oscillation) of the covering plate 203.

The rotation (rotation direction, rotation speed) of the output shaft of the second electric motor 35 is controlled by the control device 60. The output shaft of the second electric motor 35 is connected to the covering plate 203 via the linking mechanism 204. A reduction gear or the like is interposed between the output shaft of the second electric motor 35 and the linking mechanism 204 as necessary. The covering plate 203 moves with the rotation of the output shaft of the second electric motor 35. The covering plate 203 changes position between the first position P1 (see FIG. 7) and the second position P2 (see FIG. 6) by swinging in an arc around the pivot part 207 as a fulcrum.

In this way, by changing the position of the covering plate 203 between the first position P1 and the second position P2, the area of the area that the covering plate 203 covers the suction port 201a changes between 0% and 100%, so the air volume (amount of conveyed air) of the blower 201 can be controlled. Also, by changing the area of the area that the covering plate 203 covers the suction port 201a while keeping the rotation speed of the blower 201 constant, the air volume (amount of conveyed air) of the blower 201 can be controlled. Therefore, the air volume of the blower 201 can be controlled without performing control to change the rotation speed of the blower 201.

Figure 8 shows a control block diagram of the agricultural machine. The agricultural machine 1 is equipped with a control device 60, a display device 61, a communication device 62, and a positioning device 63. The control device 60 is a device that performs various controls of the agricultural machine 1, and controls the spray amount adjustment device (first spray amount adjustment device 11L, second spray amount adjustment device 11R), the transport adjustment device (blower 201, adjustment device 202), etc. The control device 60 can control the amount of material sprayed from the spraying section 22 and the blowing volume of the transport air.

The control device 60 is connected to a rotation sensor 91 that detects the rotation speed of the pay-out roller 13L, a rotation sensor 92 that detects the rotation speed of the pay-out roller 13R, and an operation sensor 93 that detects the operation amount (rotation amount) of the cover plate 203. When controlling the rotation speeds of the pay-out roller 13L and the pay-out roller 13R, the control device 60 sets the rotation speeds of the first electric motors 14L and 14R so that the actual rotation speeds detected by the rotation sensors 91 and 92 match the target rotation speeds.

When the control device 60 changes the area of the region that the covering plate 203 covers the suction port 201a, it sets the rotation (rotation angle) of the output shaft of the second electric motor 35 so that the actuation amount (rotation amount) detected by the actuation sensor 93 matches the target actuation amount.
The display device 61 is a device that displays various information related to the agricultural machine 1, and is a device that includes a liquid crystal panel, an organic EL panel, etc. As shown in Fig. 8, the display device 61 has a control unit 61a, a storage unit 61b, and a display unit 61c. The control unit 61a is composed of a CPU, etc., and performs various controls related to the display device 61 (such as display control). The storage unit 61b is a non-volatile memory, etc., and stores various information, programs (application software), etc. related to the agricultural machine 1. The control unit 61a can perform control based on the information, programs, etc. stored in the storage unit 61b. The display unit 61c is a touch panel that can display and input.

The communication device 62 is a device that transmits various data to the outside of the agricultural machine 1 and retrieves external data into the agricultural machine 1. The communication device 62 is a device that performs wireless communication, for example, by Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE 802.11 series, which is a communication standard, or wireless communication by a mobile phone communication network, a data communication network, a mobile phone communication network, or the like.
The positioning device 63 can detect its own position (positioning information including latitude and longitude) by a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. The positioning device 63 receives satellite signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and detects the position (e.g., latitude and longitude) of the agricultural machine 1, i.e., the vehicle body position, based on the satellite signals. That is, the positioning device 63 detects the position of the traveling vehicle body 8 based on the signals from the positioning satellite. The positioning device 63 has a receiving device 63a and an inertial measurement unit (IMU) 63b. The receiving device 63a is a device that has an antenna and the like and receives satellite signals transmitted from the positioning satellite. In this embodiment, the receiving device 63a is attached to the machine body 2. Note that the mounting location of the receiving device 63a is not limited to the embodiment. The inertial measurement unit 63b has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, etc. The inertial measurement unit 63b is also attached to the aircraft 2, and can detect the roll angle, pitch angle, yaw angle, etc. of the aircraft 2.

The control device 60 performs automatic steering control to automatically control the steering of the traveling vehicle body 8 based on the detection information detected by the positioning device 63.
When performing automatic steering control, first, a driving reference line is set, and after the driving reference line is set, a planned driving line that is parallel to the driving reference line is set, thereby making it possible to perform automatic steering control.

In automatic steering control, the agricultural machine 1 (traveling body 8) is automatically steered in the direction of travel so that the body position measured by the positioning device 63 coincides with the planned travel line. Specifically, before automatic steering control is performed, the agricultural machine 1 (traveling body 8) is moved to a predetermined position in the field, and when the operator operates the steering changeover switch (registration switch) provided on the agricultural machine 1 at the predetermined position, the body position measured by the positioning device 63 is set as the start point of the travel reference line. In addition, when the agricultural machine 1 (traveling body 8) is moved from the start point of the travel reference line and the operator operates the steering changeover switch at the predetermined position, the body position measured by the positioning device 63 is set as the end point of the travel reference line. A straight line connecting the start point and the end point is set as the travel reference line.

After the driving reference line is set, for example, the agricultural machine 1 (traveling body 8) is moved to a location different from the location where the driving reference line was set, and when the operator operates the steering changeover switch, a planned driving line, which is a straight line parallel to the driving reference line, is set. After the planned driving line is set, automatic steering control is started, and the traveling direction of the agricultural machine 1 (traveling body 8) is changed so that it follows the planned driving line.

The control device 60 also controls the spray amount adjustment devices (first spray amount adjustment device 11L, second spray amount adjustment device 11R) based on the set spray amount set at a predetermined position. In this embodiment, the set spray amount is set by an external device. The external device is a fixed computer such as a personal computer (PC) or a server, or a portable computer (mobile terminal) such as a smartphone or tablet.

8, a case will be described in which the set spray amount is set by external devices, that is, a PC (referred to as a fixed terminal) 75 and a server 70. Note that the set spray amount may be set by an internal device provided in the agricultural machine 1, for example, a display device 61, and is not limited thereto.
The server 70 has a field memory unit 71 that stores a field map, a plan creation unit 72 that sets (creates) a spraying plan including a set spraying rate, and a plan memory unit 73 that stores the spraying plan. The field memory unit 71 and the plan memory unit 73 are composed of non-volatile memory and the like. The field memory unit 71 stores a plurality of field maps that have been created in advance. The plan creation unit 72 is composed of electric and electronic components, computer programs, and the like provided in the server 70. When the set spraying rate is set by the display device 61, the display device 61 has the field memory unit 71, the plan creation unit 72, and the plan memory unit 73.

When the fixed terminal 75 connects to the server 70 and performs a predetermined operation, the plan creation unit 72 of the server 70 displays a plan screen M1 on the display unit of the fixed terminal 75, as shown in FIG. 9. The plan screen M1 includes a field selection acquisition unit 100 for selecting a field, a field display unit 101 for displaying a field map, and a time input unit 102 for inputting time. The field selection acquisition unit 100 displays a list of field maps stored in the field storage unit 71 as described above, and when one field map is selected from the list, the field display unit 101 displays the field selected by the field selection acquisition unit 100 (selected field). When a time (month, day, hour) is input in the time input unit 102, the time for spraying the spraying product in the selected field is set.

The plan creation unit 72 displays the outline (contour LK) of the selected field selected by the field selection acquisition unit 100 on the field display unit 101. In the field display unit 101, the field depicting the field is assigned a position (latitude, longitude). In addition, the field in the field display unit 101 is divided into a number of areas Qn (n = 1, 2, 3, ... n), and a set application amount Wn of the sprayed material can be set for each of the divided areas Qn.

When a predetermined operation is performed, for example, the plan creation unit 72 displays a selection pointer 106 on the field display unit 101. When an arbitrary area Qn is selected with the pointer 106, the plan creation unit 72 displays a spray input unit 107 on the plan screen M1 for inputting a set spray amount Wn corresponding to the selected area Qn. When a set spray amount is input to the spray input unit 107, the plan creation unit 72 sets the input set spray amount (input spray amount) to the set spray amount Wn for the selected area Qn. Note that even when multiple areas Qn are selected with the pointer 106, the plan creation unit 72 sets the set spray amount input to the spray input unit 107 to the set spray amount Wn for the multiple areas Qn.

As described above, the plan creation unit 72 can set the set spray amount Wn for each area Qn, i.e., set the set spray amount Wn for each specified position (area Qn). As shown in FIG. 10, a spray plan including the set spray amount Wn set for each area Qn, the field identification information of the selected field selected by the field selection acquisition unit 100, and the time (time information) input to the time input unit 102 is stored in the plan memory unit 73.

The spraying plan stored in the plan memory unit 73 can be acquired by the agricultural machine 1. For example, when the communication device 62 of the agricultural machine 1 connects to the server 70 and requests the server 70 to transmit a spraying plan, the requested spraying plan is transmitted to the communication device 62. Alternatively, the server 70 transfers the spraying plan to a mobile terminal, and the mobile terminal transmits the transferred spraying plan to the communication device 62. The spraying plan may be stored in an electronic storage medium such as a USB memory or an SD card, and the electronic storage medium may be connected to an input interface of the agricultural machine 1, thereby allowing the agricultural machine 1 to acquire the spraying plan. When the agricultural machine 1 acquires the spraying plan, the spraying plan is stored in the plan memory unit 78 provided in the agricultural machine 1.

As shown in FIG. 8, the control device 60 has a spray amount acquisition unit 81 that acquires the spray plan acquired by the agricultural machine 1 when spraying the spray material. The spray amount acquisition unit 81 is composed of electric and electronic components, computer programs, etc. provided in the control device 60. When a predetermined operation is performed in the agricultural machine 1, the spray amount acquisition unit 81 displays a list of spray plans stored in the plan memory unit 78 on the display device 61, and when a predetermined spray plan is selected from the displayed list of spray plans by an operator or the like, the selected spray plan is acquired. Alternatively, when a command is issued in the agricultural machine 1 to start a spraying operation to spray the spray material, the spray amount acquisition unit 81 determines from the plan memory unit 78 a spray plan for the field corresponding to the vehicle position detected by the positioning device 63, and acquires the determined spray plan. In other words, the spray amount acquisition unit 81 is capable of acquiring at least the set spray amount Wn for each predetermined position created by an external device before performing the spraying operation.

The control device 60 has a scattering calculation unit 82 and a scattering control unit 83. The scattering calculation unit 82 and the scattering control unit 83 are composed of electric and electronic components provided in the control device 60, a computer program, and the like.
The spray calculation unit 82 calculates a first spray amount Fn of the spray material discharged from the first spray amount adjustment device 11L to the first tube 15L and a second spray amount Rn of the spray material discharged from the second spray amount adjustment device 11R to the second tube 15R based on the set spray amount Wn acquired by the spray amount acquisition unit 81.

As shown in FIG. 11A, when the first pipe 15L and the second pipe 15R of the agricultural machine 1 are located within the area Qn in a plan view, the spraying calculation unit 82 sets the first spraying amount Fn and the second spraying amount Rn so that the sum Zn of the first spraying amount Fn and the second spraying amount Rn (Zn=Fn+Rn, n=1, 2, 3, ...) matches the set spraying amount Wn. For example, when the agricultural machine 1 is approximately in the center of the area Qn, the left half of the area Qn in the direction of travel of the agricultural machine 1 is sprayed on the first pipe 15L side, and the right half of the area Qn is sprayed on the second pipe 15R side. The spraying calculation unit 82 sets half of the set spraying amount Wn to the first spraying amount Fn and the second spraying amount Rn (Fn=Wn/2, Rn=Wn/2).

As shown in FIG. 11B, when the first pipe 15L and the second pipe 15R of the agricultural machine 1 are located on the boundary of the area Qn in a plan view and the tips of the first pipe 15L and the second pipe 15R substantially straddle the area Qn, the spray calculation unit 82 sets the set spray amount Wn for the area Qn in which the first pipe 15L is located to the first spray amount Fn, and sets the set spray amount Wn for the area Qn in which the second pipe 15R is located to the second spray amount Rn.

As shown in FIG. 11C, when the first pipe 15L and the second pipe 15R of the agricultural machine 1 are located at the boundary of the area Qn in a plan view and the tips of the first pipe 15L and the second pipe 15R are located approximately halfway through the area Qn (the central position), the spraying calculation unit 82 sets the first spraying amount Fn to half (1/2) of the set spraying amount Wn for the area Qn in which the first pipe 15L is located, and sets the second spraying amount Rn to half (1/2) of the set spraying amount Wn for the area Qn in which the second pipe 15R is located.

As shown in FIG. 11A, the positions of the tip of the first pipe 15L and the tip of the second pipe 15R can be determined by adding the position information ΔL (ΔX, ΔY) from the positioning device 63 to the tips of the first pipe 15L and the second pipe 15R to the current body position of the agricultural machine 1. Pipe material information and position information ΔL regarding the length, position, etc. of the first pipe 15L and the second pipe 15R are stored in the control device 60.

When the vehicle position detected by the positioning device 63 is a predetermined position, the spray control unit 83 performs spray adjustment control to adjust the discharge spray amount (first spray amount Fn, second spray amount Rn) discharged from the spray amount adjustment device (first spray amount adjustment device 11L, second spray amount adjustment device 11R) to the set spray amount Wn. Specifically, in the spray adjustment control, the spray control unit 83 controls the first spray amount adjustment device 11L based on the first spray amount Fn calculated (set) by the spray calculation unit 82, and controls the second spray amount adjustment device 11R based on the second spray amount Rn.

As shown in FIG. 11A, when the set spray rate W1 of area Q1 is 2.0 kg/10a, the first spray rate F1 in area Q1 is 1.0 kg/10a, and the second spray rate R1 in area Q1 is 1.0 kg/10a. The spray control unit 83 sets the rotation speed of the pay-out roller 13L (the rotation speed of the first electric motor 14L) so that the first spray rate F1 of the first spray rate adjustment device 11L is 1.0 kg/10a while passing through area Q1, and sets the rotation speed of the pay-out roller 13R (the rotation speed of the first electric motor 14R) so that the second spray rate R1 of the second spray rate adjustment device 11R is 1.0 kg/10a.

As shown in FIG. 11B, if the set spray rate W2 for area Q2 is 3.0 kg/10a and the set spray rate W9 for area Q9 is 5.0 kg/10a, the first spray rate F5 for area Q2 is 3.0 kg/10a and the second spray rate R9 for area Q9 is 5.0 kg/10a. The spray control unit 83 sets the rotation speed of the pay-out roller 13L (the rotation speed of the first electric motor 14L) so that the first spray rate F5 of the first spray rate adjustment device 11L is 3.0 kg/10a while passing through areas Q2 and Q9, and sets the rotation speed of the pay-out roller 13R (the rotation speed of the first electric motor 14R) so that the second spray rate R9 of the second spray rate adjustment device 11R is 5.0 kg/10a.

As shown in FIG. 11C, if the set spray rate W9 for area Q9 is 5.0 kg/10a and the set spray rate W12 for area Q12 is 4.0 kg/10a, the first spray rate F9 for area Q9 is 2.5 kg/10a and the second spray rate R12 for area Q12 is 2.0 kg/10a. The spray control unit 83 sets the rotation speed of the pay-out roller 13L (the rotation speed of the first electric motor 14L) so that the first spray rate F1 of the first spray rate adjustment device 11L is 2.5 kg/10a while passing through areas Q9 and Q12, and sets the rotation speed of the pay-out roller 13R (the rotation speed of the first electric motor 14R) so that the second spray rate R12 of the second spray rate adjustment device 11R is 2.0 kg/10a.

As described above, the control device 60 not only performs the dispersion adjustment control, but also performs the transport adjustment control to adjust the transport force in the transport adjustment device (blower 201, adjustment device 202). That is, the control device 60 has not only the dispersion control unit 83, but also the transport control unit 84 that performs the transport adjustment control. The transport control unit 84 is composed of electrical and electronic components, computer programs, etc. provided in the control device 60.

The control device 60 (conveying control unit 84) adjusts the volume of the conveying air as control of the conveying adjustment control based on the spraying amount (first spraying amount Fn, second spraying amount Rn) of the spraying amount adjustment device (first spraying amount adjustment device 11L, second spraying amount adjustment device 11R).
As described above, the amount of the scattering material discharged from each of the multiple scattering units 22 of the first tube 15L from the base end to the tip end of the first tube 15L can be made substantially the same. Also, the amount of the scattering material discharged from each of the multiple scattering units 22 of the second tube 15R from the base end to the tip end of the second tube 15R can be made substantially the same.

Furthermore, when the amount of scattering material discharged from the first tube 15L (first scattering amount Fn) is the same as the amount of scattering material discharged from the second tube 15R (second scattering amount Rn), the amount discharged from the multiple scattering sections 22 provided in the first tube 15L can be made approximately the same as the amount discharged from the multiple scattering sections 22 provided in the second tube 15R.
<Control of spray amount>
As described above, the control device 60 controls the spray amount adjustment devices (first spray amount adjustment device 11L, second spray amount adjustment device 11R) to control the spray amount from the spray unit 22. The control device 60 also controls the transport adjustment devices (blower 201, adjustment device 202) to control the amount of transport air blown.

The control device 60 is a computer equipped with a CPU, memory, etc., and has a storage unit 85, a selection acquisition unit 86, and a setting unit 87, as shown in FIG. 8. The storage unit 85 is a non-volatile memory, etc., and stores various information, programs, etc. used to control the spray amount. The selection acquisition unit 86 and the setting unit 87 are composed of electric and electronic components, programs, etc. provided in the control device 60. The selection acquisition unit 86 and the setting unit 87 perform operations related to the control of the spray amount (operations to acquire selections, operations to make settings) based on the information, programs, etc. stored in the storage unit 85.

In the embodiment shown in FIG. 8, the control device 60 provided separately from the display device 61 includes a storage unit 85, a selection acquisition unit 86, and a setting unit 87, but the display device 61 may be configured to include the storage unit 85, the selection acquisition unit 86, and the setting unit 87. In this case, the display device 61 functions as a control device having the storage unit 85, the selection acquisition unit 86, and the setting unit 87. The display device 61 may also be configured as a mobile terminal such as a smartphone or a tablet.

The memory unit 85 stores a number of prescribed lines that define the relationship between the number of rotations of the delivery roller 13R (first electric motor 14R) that adjusts the spray rate of the first spray rate adjustment device 11L (second spray rate adjustment device 11R) and the airflow rate per unit time of the blower 201. FIG. 12 shows the prescribed lines L1 to L9 stored in the memory unit 85. The number of prescribed lines may be two or more, but is preferably three or more, and more preferably five or more. In the present embodiment, the number of prescribed lines is nine. The airflow rate per unit time of the blower 201 can be adjusted by changing the area of the area that the airflow adjustment shutter (covering plate 203) provided at the suction port 201a of the blower 201 covers the suction port 201a.

The specified lines L1 to L9 are graphs of a function showing the relationship between the rotation speed (hereinafter referred to as the "spray motor rotation speed") of the delivery roller 13R (first electric motor 14R) that adjusts the amount of sprayed material discharged from the first spray amount adjustment device 11L (second spray amount adjustment device 11R) and the air volume per unit time (hereinafter referred to as the "volumetric air volume") of the blower 201, with the spray motor rotation speed (rpm) on the horizontal axis and the air volume (volumetric air volume) ( ^m3 /sec) on the vertical axis, and show the relationship between the amount of sprayed material and the volumetric air volume.

In other words, because the amount of material sprayed is determined by the spray motor rotation speed, the graph showing the relationship between the spray motor rotation speed and the volumetric air volume is also a graph showing the relationship between the amount of material sprayed and the volumetric air volume. Therefore, the prescribed lines L1 to L9, which are determined based on the relationship between the spray motor rotation speed and the volumetric air volume, can be said to be prescribed lines that determine the relationship between the amount of material sprayed and the volumetric air volume discharged from the spray amount adjustment devices 11L and 11R.

The multiple regulation lines L1 to L9 are respectively regulated based on the multiple opening degrees of the air flow adjustment shutter described above. One regulation line corresponds to one opening degree of the air flow adjustment shutter. Therefore, the multiple regulation lines L1 to L9 respectively correspond to multiple (9) different opening degrees of the air flow adjustment shutter.
For example, the specified line L1 is a graph of a function showing the relationship between the volumetric airflow and the spray motor rotation speed when the opening degree of the covering plate 203 provided at the suction port 201a of the blower 201 is "A%". The specified line L2 is a graph of a function showing the relationship between the volumetric airflow and the spray motor rotation speed when the opening degree of the covering plate 203 provided at the suction port 201a of the blower 201 is "B% (B>A)". Similarly, the specified line L3 is a graph of a function showing the relationship between the volumetric air volume and the spray motor rotation speed when the opening degree is "C% (C>B)", the specified line L4 is a graph of a function showing the relationship between the opening degree of "D% (D>C)", the specified line L5 is a graph of a function showing the relationship between the opening degree of "E% (E>D)", the specified line L6 is a graph of a function showing the relationship between the opening degree of "F% (F>E)", the specified line L7 is a graph of a function showing the relationship between the opening degree of "G% (G>F)", the specified line L8 is a graph of a function showing the relationship between the opening degree of "H% (H>G)", and the specified line L9 is a graph of a function showing the relationship between the opening degree of "I% (I>H)".

The multiple prescribed lines L1 to L9 can be obtained by setting the opening of the air volume adjustment shutter (covering plate 203) to multiple stages, measuring the change in volumetric air volume at each opening setting, and calculating and graphing a function showing the relationship between the volumetric air volume and the spray motor rotation speed (the amount of sprayed material discharged from the first spray volume adjustment device 11L (second spray volume adjustment device 11R)) based on the measurement results. In other words, the multiple prescribed lines L1 to L9 can be derived by actual measurement. However, the multiple prescribed lines L1 to L9 do not all have to be derived by actual measurement, and some of the multiple prescribed lines may be derived by actual measurement as reference prescribed lines, and the remaining prescribed lines may be derived by multiplying a correction coefficient by the function representing the derived reference prescribed line. The multiple prescribed lines L1 to L9 may also be derived by a method other than actual measurement, such as simulation.

When the airflow adjustment shutter is the covering plate 203, the airflow adjustment shutter (covering plate 203) adjusts the airflow (volume airflow) by changing the opening area of the suction port 201a of the blower 201. That is, the airflow adjustment shutter (covering plate 203) changes the opening area of the suction port 201a of the blower 201 by changing the opening degree, and the airflow (volume of conveyed air) of the blower 201 can be controlled by changing the area of the area where the covering plate 203 covers the suction port 201a of the blower 201. In addition, the airflow (volume of conveyed air) of the blower 201 can be controlled by changing the area of the area where the covering plate 203 covers the suction port 201a while keeping the rotation speed of the blower 201 constant. Therefore, the airflow of the blower 201 can be controlled without performing control to change the rotation speed of the blower 201. This adjusts the airflow (volume airflow). In this case, the multiple defined lines L1 to L9 are defined based on the multiple opening degrees of the air volume adjustment shutter. In this case, the "volume air volume" is the total amount of the transport air flowing through both the third pipe (first transport pipe) 29L and the fourth pipe (second transport pipe) 29R.

The selection acquisition unit 86 acquires one specified line selected from the multiple specified lines L1 to L9 stored in the memory unit 85. The selection acquisition unit 86 displays a selection menu on the display unit 61c that enables an operation to select one specified line from the multiple specified lines L1 to L9. If the display unit 61c is a touch panel, the selection menu is displayed on the screen as multiple selection buttons. The worker can select one specified line by pressing a selection button from the selection menu displayed on the display unit 61c. The selection acquisition unit 86 acquires the selected one specified line (information of a function representing the specified line).

The setting unit 87 sets the relationship between the spray motor rotation speed and the volumetric air volume based on the specified line acquired by the selection acquisition unit 86. For example, when the specified line L1 is selected and acquired, the setting unit 87 sets the relationship between the spray motor rotation speed and the volumetric air volume based on the specified line L1. Specifically, the opening degree of the air volume adjustment shutter (covering plate 203) is set to the opening degree when the specified line L1 is specified.

In the above-described embodiment, the volume of the conveying air was changed by adjusting the position of the covering plate 203 covering the suction port 201a of the blower 201, but the volume of the conveying air may also be adjusted by adjusting the output of the blower 201 (the rotation speed of the blower fan).
In the above-described embodiment, an airflow adjustment shutter (covering plate 203) is provided at the suction port 201a of the blower 201, but an airflow adjustment shutter may be provided at the supply pipe 29 to adjust the airflow.

An example of a method for adjusting the amount of spray from the spray unit 22 based on the control of the control device 60 will be described below.
First, the selection acquisition unit 86 of the control device 60 displays a selection menu on the display unit 61c of the display device 61, which allows an operation to select one prescribed line from the plurality of prescribed lines L1 to L9. Fig. 13 shows an example of a display screen M2 displayed on the display unit 61c. The selection menu is displayed on this display screen M2. In Fig. 13, selection buttons E1 to E9 numbered 1 to 9 are displayed as the selection menu. The selection buttons E1 to E9 correspond to the prescribed lines L1 to L9, respectively. For example, when the selection button E1 is pressed, the prescribed line L1 is selected.

The operator performs an operation to provisionally select one of the plurality of prescribed lines L1 to L9 based on the selection menu displayed by the selection acquisition unit 86 (first step). This provisional selection operation can be performed by pressing one of the selection buttons E1 to E9. It is preferable that the provisional selection is performed according to the type of material that the operator intends to spread.
For example, if the material the operator is trying to spread is not easily blown away by the wind (e.g., heavy weight or specific gravity, large particle size, etc.), the operator selects a prescribed line (e.g., any of L7 to L9) that provides a large volumetric air volume relative to the number of rotations of the spray motor. If the material the operator is trying to spread is easily blown away by the wind (e.g., light weight or specific gravity, small particle size, etc.), the operator selects a prescribed line (e.g., any of L1 to L3) that provides a small volumetric air volume relative to the number of rotations of the spray motor. If the material the operator is trying to spread is standard, the operator selects a prescribed line (e.g., any of L4 to L6) that provides a standard volumetric air volume relative to the number of rotations of the spray motor.

When the operator provisionally selects one specified line, the selection acquisition unit 86 acquires the selected specified line. The setting unit 87 provisionally sets the relationship between the spray motor rotation speed and the volumetric air volume based on the specified line provisionally selected and acquired by the selection acquisition unit 86 (second step). For example, when the specified line L5 is provisionally selected and acquired, the relationship between the spray motor rotation speed and the volumetric air volume is provisionally set based on the specified line L5. Specifically, the opening degree of the air volume adjustment shutter (covering plate 203) is provisionally set to the opening degree when the specified line L5 is specified.

Next, the operator performs provisional spraying of the spraying material using the spraying unit 22 based on the provisional settings and measures the amount sprayed (third step). This provisional spraying can be performed by the operator pressing the "Start spraying" button E10 (see FIG. 13) displayed on the display unit 61c. The provisional settings can be canceled by pressing the "Cancel" button E11 (see FIG. 13) displayed on the display unit 61c.

Preliminary spraying is performed for a fixed time (e.g., 30 seconds) by setting the spraying motor rotation speed to one specific rotation speed (e.g., standard rotation speed). The spraying motor rotation speed may be set automatically to a predetermined rotation speed, or may be selected by the operator from the display screen of the display unit 61c. When the "Start spraying" button is pressed, preliminary spraying begins, and the preliminary spraying ends automatically after a fixed time has elapsed.

The amount of sprayed material is measured by attaching collection bags for the sprayed material to all or some of the spraying ports 21L, 21R of the multiple spraying units 22, collecting the sprayed material, and measuring the weight of the collected sprayed material. The weight of the collected sprayed material may be measured by a weighing device provided on the agricultural machine 1 when the operator presses a "weigh" button displayed on the display screen of the display unit 61c, or the operator may measure the weight using the weighing device.

Once the weight measurement of the product sprayed by the provisional spray is completed, the measured provisional spray amount is compared with the planned spray amount (fourth step). The planned spray amount is the amount of fertilizer that the worker had planned (planned) (for example, a standard amount of fertilizer to be sprayed on agricultural crops). The planned spray amount is input in advance by the worker and stored in the memory unit 85. The planned spray amount is, for example, the set spray amount Wn described above, but is not limited to this. The control device 60 displays a screen on the display unit 61c that allows the worker to input the provisional spray amount. The worker can input the provisional spray amount from the screen displayed on the display unit 61c. Note that if the provisional spray amount is measured by a weighing device provided on the agricultural machine 1, the control device 60 may be configured to read the measurement value from the weighing device, eliminating the need for input by the worker.

The control device 60 compares the amount of spraying resulting from the provisional spraying with the planned amount of spraying, and determines whether the difference between the two is within a predetermined amount that is determined in advance and stored in the memory unit 85. If the difference between the two exceeds the predetermined amount, the control device 60 determines whether the amount of spraying resulting from the provisional spraying is more or less than the planned amount of spraying. This comparison and determination is preferably performed by the control device 60, but may also be performed by the operator.

If the difference between the amount of spraying resulting from the provisional spraying and the planned amount of spraying is within a specified amount, the spraying desired by the operator is being carried out, and so the provisional settings are maintained. In other words, the provisional settings are treated as the final settings and the settings are terminated. The setting termination operation can be performed, for example, by the control device 60 displaying the "End setting" and "Change setting" buttons on the display screen of the display unit 61c, and the operator pressing the "End setting" button.

If the difference between the amount of spraying by the provisional spraying and the planned amount of spraying exceeds the predetermined amount, the operator presses the "change setting" button. The selection acquisition unit 86 then displays a selection menu on the display unit 61c that allows the operator to select one of the multiple prescribed lines L1 to L9 again. The operator selects a prescribed line different from the provisionally selected prescribed line (e.g., prescribed line L5) from the selection menu displayed on the display unit 61c. For example, if the amount of spraying by the provisional spraying is greater than the planned amount of spraying, the operator selects one of the prescribed lines (prescribed lines L1 to L4) below the prescribed line L5. If the amount of spraying by the provisional spraying is less than the planned amount of spraying, the operator selects one of the prescribed lines (prescribed lines L5 to L9) above the prescribed line L5. Then, the first to fourth steps are repeated until the difference between the amount of spraying by the provisional spraying and the planned amount of spraying is within the predetermined amount, and the setting when the difference is within the predetermined amount is regarded as the final setting and the setting is terminated.

Through the above operations, the operator can select the most suitable prescribed line from a number of pre-set prescribed lines depending on the type of material to be spread, and the optimal amount of spraying can be achieved based on the selected prescribed line.
Next, we will explain a method for equalizing the amount of spraying from the spraying section 22 located at the base end of the boom (first boom 18L, second boom 18R) and the amount of spraying from the spraying section 22 located at the tip end.

In this method, after the first and second steps, the third step is to perform the above-mentioned preliminary spraying and then measure the amount of sprayed from the spraying unit 22 at the base end of the boom (first boom 18L, second boom 18R) and the amount of sprayed from the spraying unit 22 at the tip end. The amount of sprayed is measured by attaching a collection bag for the spray material to the spraying port at the tip end and the spraying port at the base end of the boom among the spraying ports 21L, 21R of the multiple spraying units 22, collecting the sprayed material, and measuring the weight of the collected sprayed material. The weight of the collected sprayed material may be measured by a weighing device provided on the agricultural machine 1 when the operator presses the "weigh" button displayed on the display screen of the display unit 61c, or the operator may use the weighing device to measure the weight.

When the weight measurement of the sprayed material from the spraying units 22 at the base end and tip end is completed, the fourth step is to calculate the difference between the spray amount at the base end and the spray amount at the tip end, and to determine whether the calculated difference is within a predetermined value. The control device 60 displays a screen on the display unit 61c that allows the user to input the spray amount at the base end and the spray amount at the tip end. The operator can input the spray amount at the base end and the spray amount at the tip end from the screen displayed on the display unit 61c. In addition, when the spray amount at the base end and the spray amount at the tip end are measured by a weighing device provided on the agricultural machine 1, the control device 60 may be configured to read the measured value by the weighing device, eliminating the need for operator input. The control device 60 calculates the difference between the spray amount at the base end and the spray amount at the tip end, and determines whether the calculated difference is within a predetermined value stored in the memory unit 85. This comparison and determination is preferably performed by the control device 60, but may also be performed by the operator.

If the difference between the spray amount on the base end side and the spray amount on the tip end side is within a predetermined value, the provisional setting is maintained. In other words, the provisional setting is treated as the final setting and the setting is terminated. The setting termination operation can be performed, for example, by the control device 60 displaying "End Setting" and "Change Setting" buttons on the display screen of the display unit 61c and the operator pressing the "End Setting" button.
If the difference between the base end side spray amount and the tip end side spray amount exceeds a predetermined value, the operator presses the "change setting" button. Then, the selection acquisition unit 86 displays a selection menu on the display unit 61c that allows the operator to select one of the multiple prescribed lines L1 to L9 again. The operator selects a prescribed line different from the provisionally selected prescribed line (for example, prescribed line L5) from the selection menu displayed on the display unit 61c. If the base end side spray amount is less than the tip end side spray amount, one of the prescribed lines (prescribed lines L1 to L4) below the prescribed line L5 is selected. If the base end side spray amount is greater than the tip end side spray amount, one of the prescribed lines (prescribed lines L5 to L9) above the prescribed line L5 is selected. Then, the first to fourth steps are repeated until the difference between the base end side spray amount and the tip end side spray amount is within a predetermined value, and the setting when the difference is within the predetermined amount is regarded as the final setting and the setting is terminated.

This allows the optimum prescribed line to be selected from a number of pre-set prescribed lines in order to achieve even spraying depending on the type of material selected by the worker, etc., and enables spraying that equalizes the amount of sprayed from the multiple spraying units based on the selected prescribed line.
<Operation switch shape>
A plurality of screens are displayed on the display unit 61c of the display device 61 in response to operations. Fig. 14 shows an example of a display screen M3 displayed on the display unit 61c. The display screen M3 is an example of a screen that can be displayed after agricultural work support application software (hereinafter also referred to as "app") stored in the storage unit 85 is started. The agricultural work support app is an app that supports agricultural work by the agricultural machine 1 by displaying the traveling and work (spraying) status of the agricultural machine 1. In other words, after the app is started, the display device 61 operates as a support device that supports agricultural work.

As shown in Fig. 14, an operation switch 110 is displayed in the upper right corner of the display screen M3 for operating the spray unit 22 to spray the spray material. Fig. 15 shows only the operation switch 110 extracted from the display screen M3.
The operation switch 110 has a first operation unit 111, a second operation unit 112, a third operation unit 113, and a fourth operation unit 114. The first operation unit 111, the second operation unit 112, the third operation unit 113, and the fourth operation unit 114 are operated by pressing or touching (hereinafter referred to as "pressing, etc."). Specifically, the first operation unit 111, the second operation unit 112, the third operation unit 113, and the fourth operation unit 114 are displayed on a touch panel constituting the display unit 61c. The worker can operate each operation unit by pressing, etc., the first operation unit 111, the second operation unit 112, the third operation unit 113, and the fourth operation unit 114 displayed on the touch panel.

The first operating unit 111 is an operating unit for performing an operation to scatter a scattering material from the first scattering unit 221. The second operating unit 112 is an operating unit for performing an operation to scatter a scattering material from the second scattering unit 222. The third operating unit 113 is an operating unit for performing an operation to scatter a scattering material from the first scattering unit 221 and the second scattering unit 222. The fourth operating unit 114 is an operating unit for performing an operation to stop the scattering of a scattering material from the first scattering unit 221 and the second scattering unit 222.

As shown in FIG. 15, the first operation unit 111 has a display that means "left." The second operation unit 112 has a display that means "right." The third operation unit 113 has a display that means "both." The fourth operation unit 114 has a display that means "stop." The color of part or all of the fourth operation unit 114 can be made different from the color of the other operation units to make it stand out and easier to respond to in an emergency.

When an operation based on the operation switch 110 (spraying or stopping) is being performed, the color of the operation part changes to a color different from the color of the operation part when no operation is being performed. For example, when a material is being sprayed from the first spraying part 221 by operating the first operation part 111, the color of the first operation part 111 changes to a color different from the colors of the other operation parts. When the spraying of the material is stopped by operating the fourth operation part 114, the color of the fourth operation part 114 changes to a color different from the colors of the other operation parts.

When the first operating unit 111 is operated, the control device 60 sends a control signal to the first electric motor 14L. The first electric motor 14L rotates the payout roller 13L of the scattering discharge mechanism 13 in response to the control signal output from the control device 60, thereby scattering the scattering material from the first scattering unit 221. If the scattering discharge mechanism 13 is a shutter-type mechanism, the first electric motor 14L opens the shutter in response to the control signal output from the control device 60, thereby scattering the scattering material from the first scattering unit 221.

When the second operating unit 112 is operated, the control device 60 sends a control signal to the first electric motor 14R. The first electric motor 14R rotates the payout roller 13R of the scattering discharge mechanism 13 in response to the control signal output from the control device 60, thereby scattering the material from the second scattering unit 222. If the scattering discharge mechanism 13 is a shutter-type mechanism, the first electric motor 14R opens the shutter in response to the control signal output from the control device 60, thereby scattering the material from the second scattering unit 222.

When the third operating unit 113 is operated, the control device 60 sends a control signal to the first electric motors 14L, 14R. The first electric motors 14L, 14R rotate the payout rollers 13L, 13R of the scattering discharge mechanism 13 in response to the control signal output from the control device 60, thereby scattering the material from the first scattering unit 221 and the second scattering unit 222. If the scattering discharge mechanism 13 is a shutter-type mechanism, the first electric motors 14L, 14R open the shutter in response to the control signal output from the control device 60, thereby scattering the material from the first scattering unit 221 and the second scattering unit 222.

When the fourth operating unit 114 is operated, the control device 60 sends a control signal to the first electric motors 14L, 14R. The first electric motors 14L, 14R stop the rotation of the payout rollers 13L, 13R of the scattering and discharging mechanism 13 in response to the control signal output from the control device 60, thereby stopping the scattering of the scattering material from the first scattering unit 221 and the second scattering unit 222. If the scattering and discharging mechanism 13 is a shutter-type mechanism, the first electric motors 14L, 14R stop the scattering of the scattering material from the first scattering unit 221 and the second scattering unit 222 by closing the shutter in response to the control signal output from the control device 60.

When the fourth operating unit 114 is operated, the control device 60 stops the spraying of the spraying material from the first spraying unit 221 and the second spraying unit 222 if the spraying material is being sprayed from the first spraying unit 221 and the second spraying unit 222, stops the spraying of the spraying material from the first spraying unit 221 if the spraying material is being sprayed only from the first spraying unit 221, and stops the spraying of the spraying material from the second spraying unit 222 if the spraying material is being sprayed only from the second spraying unit 222.

Next, a description will be given of the arrangement of the first operation unit 111, the second operation unit 112, the third operation unit 113, and the fourth operation unit 114. In the following description of the display unit 61c, the directions of up, down, left, and right are the directions when viewed from a direction perpendicular to the screen of the display unit 61c.
15, the first operation unit 111 is disposed on the left side of the operation switch 110, which is the side (left side) corresponding to the first boom 18L. The second operation unit 112 is disposed on the right side of the operation switch 110, which is the side (right side) corresponding to the second boom 18R. The fourth operation unit 114 is disposed between the first operation unit 111 and the second operation unit 112. The third operation unit 113 is disposed below the fourth operation unit 114. In other words, the first operation unit 111, the second operation unit 112, the third operation unit 113, and the fourth operation unit 114 are disposed in a T-shape as a whole.

As shown in FIG. 1, in the agricultural machine 1, the first boom 18L extends leftward from the machine body 2, and the second boom 18R extends rightward from the machine body 2. In other words, when the agricultural machine 1 is in a state where the booms are extended to the left and right (i.e., when spraying), it has a T-shape when viewed from the front. Therefore, the operation switch 110, which is T-shaped as a whole, is reminiscent of the shape of the agricultural machine 1 when viewed from the front. The first spraying unit 221 is provided on the first boom 18L, and the second spraying unit 222 is provided on the second boom 18R. Therefore, the first operation unit 111 located on the left of the operation switch 110 is reminiscent of the first spraying unit 221, and the second operation unit 112 located on the right of the operation switch 110 is reminiscent of the second spraying unit 222.

In addition, in the agricultural machine 1, the direction of scattering of the scattering material from the first scattering unit 221 and the second scattering unit 222 is downward. The third operating unit 113 located below the operation switch 110 is arranged in a direction (downward) that corresponds to the scattering direction of the scattering material, so it evokes a state in which the scattering material is being scattered. On the other hand, the fourth operating unit 114 located above the third operating unit 113 is arranged in a direction opposite to the scattering direction (upward), so it evokes a state in which scattering of the scattering material has stopped.

As described above, the layout of each operation unit reminds the operator of the position and direction of spraying of the spray unit, so the operator can intuitively understand the function of each operation unit from the layout of the first operation unit 111, the second operation unit 112, the third operation unit 113, and the fourth operation unit 114. This makes it possible to quickly operate each operation unit without pressing the wrong button and perform spraying work accurately.
FIG. 16 shows a modified embodiment of the operating switch 110. In FIG.

In this modified operating switch 110, the first operating unit 111, the second operating unit 112, the third operating unit 113, and the fourth operating unit 114 are arranged in a T-shape as a whole, similar to the operating switch 110 of the embodiment shown in FIG. 15. The operating switch 110 of this modified form differs from the operating switch 110 of the embodiment shown in FIG. 15 in that the arrangement of the third operating unit 113 and the fourth operating unit 114 is reversed. In other words, in the modified operating switch 110, the third operating unit 113 is arranged between the first operating unit 111 and the second operating unit 112, and the fourth operating unit 114 is arranged below the third operating unit 113.

As shown in Figures 15 and 16, in the operating switch 110 of the present invention, one of the third operating unit 113 and the fourth operating unit 114 is arranged between the first operating unit 111 and the second operating unit 112, and the other of the third operating unit 113 and the fourth operating unit 114 is arranged below the one of the operating units.
FIG. 17 shows another modified embodiment of the operation switch 110. In FIG.

The difference between this modified operating switch 110 and the operating switch 110 of the embodiment shown in FIG. 15 is that in addition to the first operating section 111, the second operating section 112, the third operating section 113, and the fourth operating section 114, the operating switch 110 has a fifth operating section 115 and a sixth operating section 116. This modified operating switch 110 is used when the first boom 18L and the second boom 18R are configured to be extendable and retractable.

The fifth operating unit 115 is an operating unit for performing an operation to extend and retract the first boom 18L. The sixth operating unit 116 is an operating unit for performing an operation to extend and retract the second boom 18R.
When the fifth operation unit 115 is operated, the control device 60 transmits a control signal to an actuator that operates the first boom 18L. The actuator extends or contracts the first boom 18L in response to the control signal output from the control device 60. Specifically, when the first boom 18L is retracted, the actuator extends the first boom 18L, and when the first boom 18L is extended, the actuator retracts the first boom 18L.

When the sixth operating unit 116 is operated, the control device 60 transmits a control signal to an actuator that operates the second boom 18R. The actuator extends or contracts the second boom 18R in response to the control signal output from the control device 60. Specifically, when the second boom 18R is retracted, the actuator extends the second boom 18R, and when the second boom 18R is extended, the actuator retracts the second boom 18R.
17, the fifth operation unit 115 is disposed on the left side of the first operation unit 111. The sixth operation unit 116 is disposed on the right side of the second operation unit 112. In other words, the fifth operation unit 115 is disposed on the leftmost side of the operation switch 110, and the sixth operation unit 116 is disposed on the rightmost side of the operation switch 110. The first operation unit 111, the second operation unit 112, the third operation unit 113, the fourth operation unit 114, the fifth operation unit 115, and the sixth operation unit 116 are disposed in a T-shape as a whole.

As described above, in the agricultural machine 1, the first boom 18L extends to the left from the body 2, and the second boom 18R extends to the right from the body 2. Therefore, the operation switch 110, which is T-shaped overall, evokes the shape of the agricultural machine 1 when viewed from the front. The extension direction of the first boom 18L is to the left, and the extension direction of the second boom 18R is to the right. Therefore, the fifth operation unit 115 located on the leftmost side of the operation switch 110 evokes the extension of the first boom 18L, and the sixth operation unit 116 located on the rightmost side of the operation switch 110 evokes the extension of the second boom 18R.

In this way, the arrangement of the fifth operation unit 115 and the sixth operation unit 116 reminds the operator of the extension of the first boom 18L and the second boom 18R, so that the operator can intuitively understand the function of each operation unit from the arrangement of the fifth operation unit 115 and the sixth operation unit 116. Therefore, it becomes possible to quickly operate each operation unit without pressing the wrong button and accurately extend or retract the boom.
17 may be used when the first boom 18L and the second boom 18R are configured to bendable (to be raised and lowered). In this case, the fifth operation unit 115 serves as an operation unit for performing an operation to raise and lower the first boom 18L. The sixth operation unit 116 serves as an operation unit for performing an operation to raise and lower the second boom 18R.

<Display of agricultural machinery operation status (spraying status)>
14, a graphic representing the spraying status from the spraying unit 22 is displayed on the display screen M3 of the display unit 61c of the display device 61. The display unit 61c includes a field display unit 190, a vehicle body display unit 191, and a spraying unit display unit 192. The control unit 61a of the display device 61 is capable of acquiring the position of the traveling vehicle body 8 from the positioning device 63, and controls the display unit 61c (the field display unit 190, the vehicle body display unit 191, and the spraying unit display unit 192).

The field display section 190 is a section that displays a figure Z1 that virtually represents the field (farm field, etc.) on which the traveling vehicle body 8 travels. The figure Z1 that represents the field on which the traveling vehicle body 8 travels includes a horizontal line Z11 and a grid (mesh) made up of horizontal lines Z12 and vertical lines Z13. To represent the depth (three-dimensional effect) of the field, the distance between adjacent vertical lines Z13 becomes narrower as they approach the horizontal line Z11.

The field display section 190 shows a vehicle body display section 191. The vehicle body display section 191 virtually shows the traveling vehicle body 8 by a figure Z2 that represents the position of the traveling vehicle body 8. The figure Z2 that represents the position of the traveling vehicle body 8 is displayed as a pointed triangular figure that points in the traveling direction of the traveling vehicle body 8, and an arrow Y1 that represents the traveling direction is displayed superimposed on the figure Z2 that represents the position of the traveling vehicle body 8. The display position of the vehicle body display section 191 relative to the field display section 190 is fixed. Furthermore, the center position of the vehicle body display section 191 is the current position of the traveling vehicle body 8 on the field display section 190.

Therefore, when the running vehicle body 8 is actually running, the display position of the running vehicle body 8 on the field display section 190 remains fixed, and the virtual field (field image) shown on the field display section 190 scrolls or rotates as the position of the running vehicle body 8 detected by the positioning device 63 changes.
The spraying unit display section 192 is a section that displays a figure Z3 that represents the spraying unit 22. The spraying unit display section 192 has a first spraying unit display section 192A and a second spraying unit display section 192B. The first spraying unit display section 192A displays a figure Z31 that represents the first spraying unit 221 on the left side that corresponds to the first boom 18L. The second spraying unit display section 192B displays a figure Z32 that represents the second spraying unit 222 on the right side that corresponds to the second boom 18R.

The figure Z3 representing the spraying unit 22 is displayed on the side corresponding to the direction of the spraying unit 22 relative to the traveling body 8. Specifically, since the first spraying unit 221 is provided on the first boom 18L extending leftward relative to the traveling body 8, the figure Z31 representing the first spraying unit 221 is displayed extending to the left of the vehicle body display unit 191. Since the second spraying unit 222 is provided on the second boom 18R extending rightward relative to the traveling body 8, the figure Z32 representing the second spraying unit 222 is displayed extending to the right of the vehicle body display unit 191. This allows the operator to intuitively grasp the meaning of the figures Z31 and Z32 representing the first spraying unit 221 and the second spraying unit 222.

The figure Z31 representing the first spraying section 221 includes a plurality of small figures Z31a spaced apart from the center of the width of the figure Z2 representing the position of the traveling body 8 to the left. The figure Z32 representing the second spraying section 222 includes a plurality of small figures Z32a spaced apart from the center of the width of the figure Z2 representing the position of the traveling body 8 to the right. These small figures Z31a, Z32a are figures that evoke the plurality of spraying sections 22 provided on the first boom 18L and the plurality of spraying sections 22 provided on the second boom 18R. In this embodiment, the small figures Z31a, Z32a are circular, but may be other shapes (such as squares). Also, the figure Z31 representing the first scattering section 221 may be a bar-shaped figure extending leftward from the center of the width direction of the figure Z2 representing the position of the traveling body 8, and the figure Z32 representing the second scattering section 222 may be a bar-shaped figure extending rightward from the center of the width direction of the figure Z2 representing the position of the traveling body 8. Also, the figure Z31 representing the first scattering section 221 and the figure Z32 representing the second scattering section 222 may be figures in which small figures such as circles are arranged along the bottom of a bar-shaped figure. Also, the figure Z3 representing the scattering section 22 may be part of the figure Z2 representing the position of the traveling body 8. Also, the figure Z2 representing the position of the traveling body 8 may double as the figure Z3 representing the scattering section 22.

The spray unit display unit 192 is a part that displays a spray state in which a spray material is being sprayed from the spray unit 22 and a stop state in which spraying of the spray material from the spray unit 22 has been stopped. The control unit 61a causes the spray unit display unit 192 to display, in different display forms, a spray state in which a spray material is being sprayed from the spray unit 22 and a stop state in which spraying of the spray material from the spray unit 22 has been stopped.
When the first operating unit 111 is operated, the first dispersing unit display unit 192A displays that the device is in a dispersing state in which the first dispersing unit 221 is dispersing a dispersing material. When the second operating unit 112 is operated, the second dispersing unit display unit 192B displays that the device is in a dispersing state in which the second dispersing unit 222 is dispersing a dispersing material. When the third operating unit 113 is operated, the first dispersing unit display unit 192A displays that the device is in a dispersing state in which the first dispersing unit 221 is dispersing a dispersing material, and the second dispersing unit display unit 192B displays that the device is in a dispersing state in which the second dispersing unit 222 is dispersing a dispersing material. When the fourth operating unit 114 is operated, the display of the dispersing state changes to a display of a stopped state. In this way, the operation of the operating switch 110 and the display of the dispersing unit display unit 192 are linked.

The control unit 61a causes the first dispersing unit display unit 192A to display the dispersing state and stopped state of the first dispersing unit 221 in different display forms. Therefore, the first dispersing unit display unit 192A displays the dispersing state and stopped state of the first dispersing unit 221 in different display forms. The control unit 61a causes the second dispersing unit display unit 192B to display the dispersing state and stopped state of the second dispersing unit 222 in different display forms. Therefore, the second dispersing unit display unit 192B displays the dispersing state and stopped state of the second dispersing unit 222 in different display forms.

The control unit 61a causes the dispersing unit display unit 192 to display different colors when in a dispersing state and when in a stopped state. Therefore, the dispersing unit display unit 192 displays different colors when in a dispersing state and when in a stopped state. Figure 14 shows the display of the dispersing unit display unit 192 when the first dispersing unit 221 is in a dispersing state and the second dispersing unit 222 is in a stopped state. In this case, the display color of the first dispersing unit display unit 192A is different from the display color of the second dispersing unit display unit 192B.

For example, the display color of the spray unit display unit 192 is yellow when in the spraying state, and is black when in the stopped state. In this way, it is preferable to make the brightness or saturation of the display color when in the spraying state higher than the brightness or saturation of the display color when in the stopped state. This allows the operator to intuitively know whether the spray unit 22 is in the spraying state or in the stopped state from the display color of the spray unit display unit 192.

As shown in FIG. 14, the display unit 61c includes a trajectory display unit 193. The trajectory display unit 193 is a part that displays a figure Z4 representing the scattering trajectory of the scattering material by the scattering unit 22, superimposed on the field display unit 190. The control unit 61a causes the trajectory display unit 193 to display the figure Z4 representing the scattering trajectory superimposed on the field display unit 190 along the movement trajectory of the scattering unit 22 in the scattering state. The movement trajectory of the scattering unit 22 can be calculated based on the position of the traveling vehicle body 8 obtained from the positioning device 63 and the pre-stored positional relationship between the traveling vehicle body 8 and the scattering unit 22.

The trajectory display unit 193 has a first trajectory display unit 193A and a second trajectory display unit 193B. The first trajectory display unit 193A displays a figure Z41 representing the scattering trajectory of the first scattering unit 221 on the left side, which corresponds to the first boom 18L. The second trajectory display unit 193B displays a figure Z42 representing the scattering trajectory of the second scattering unit 222 on the right side, which corresponds to the second boom 18R.

The control unit 61a causes the first trajectory display unit 193A to display a figure Z41 representing the scattering trajectory along the movement trajectory of the first scattering unit 221 in the scattering state, superimposed on the field display unit 190. The control unit 61a causes the second trajectory display unit 193B to display a figure Z42 representing the scattering trajectory along the movement trajectory of the second scattering unit 222 in the scattering state, superimposed on the field display unit 190.
The figure Z4 representing the scattering trajectory of the scattering material by the scattering unit 22 is a band-shaped figure, and is displayed so as to extend on the opposite side of the traveling vehicle body 8 (the lower side of the display screen M3) with respect to the figure Z3 representing the scattering unit 22. The figure Z41 representing the scattering trajectory by the first scattering unit 221 is displayed so as to extend on the opposite side of the figure Z2 representing the position of the traveling vehicle body 8 (the lower side of the display screen M3) with respect to the figure Z31 representing the first scattering unit 221. The figure Z41 representing the scattering trajectory by the first scattering unit 221 is displayed with the same width as the display width of the figure Z31 representing the first scattering unit 221. The figure Z42 representing the scattering trajectory by the second scattering unit 222 is displayed so as to extend on the opposite side of the figure Z2 representing the position of the traveling vehicle body 8 (the lower side of the display screen M3) with respect to the figure Z32 representing the second scattering unit 222. A graphic Z42 representing the scattering trajectory of the second scattering portion 222 is displayed with the same width as the display width of the graphic Z32 representing the second scattering portion 222.

In this way, the trajectory display unit 193 displays the figure Z4 representing the scattering trajectory of the scattering material by the scattering unit 22 superimposed on the field display unit 190, making it possible to grasp on the display screen M3 which part of the field the scattering material has been scattered. Also, the figure Z31 representing the first scattering unit 221 and the figure Z32 representing the scattering trajectory by the second scattering unit 222 are displayed on the field display unit 190, making it possible to grasp on the display screen M3 the area where the scattering material has been scattered by the first scattering unit 221, the area where the scattering material has been scattered by the second scattering unit 222, and the area where the scattering material has been scattered by the first scattering unit 221 and the second scattering unit 222.

The display screen M3 shown in FIG. 14 includes a first region RG1 in which only the figure Z41 representing the scattering trajectory by the first scattering unit 221 is displayed, a second region RG2 in which only the figure Z42 representing the scattering trajectory by the second scattering unit 222 is displayed, and a third region RG3 in which the figures Z41 and Z42 representing the scattering trajectories by the first scattering unit 221 and the second scattering unit 222 are displayed. By looking at this display screen M3, the operator can understand that scattering is performed only by the first scattering unit 221 in the first region RG1, scattering is performed only by the second scattering unit 222 in the second region RG2, and scattering is performed by the first scattering unit 221 and the second scattering unit 222 in the third region RG3.

In Figure 14, figures (Z1 to Z4) representing the dispersion status from the dispersion unit 22 and an operation switch 110 for performing the operation of dispersing the dispersion material from the dispersion unit are displayed on the same display screen M3, but they may be configured to be displayed on different display screens.
Also, in the present invention, the dispersing unit display unit 192 may be configured to have the function of the operation switch 110. For example, the dispersing unit 221 may be started or stopped by pressing the figure Z31 displayed on the first dispersing unit display unit 192A, and the dispersing unit 222 may be started or stopped by pressing the figure Z32 displayed on the second dispersing unit display unit 192B. In this case, the first dispersing unit display unit 192A has the functions of the first operation unit 111 and the fourth operation unit 114, and the second dispersing unit display unit 192B has the functions of the second operation unit 112 and the fourth operation unit 114.

The control unit 61a can store the spraying trajectory in the memory unit 61b. Specifically, when spraying from the first spraying unit 221 is started or stopped, or when spraying from the second spraying unit 222 is started or stopped, the spraying information of the start and stop of spraying from the first spraying unit 221 and the second spraying unit 222 and the spraying position information based on a signal from a positioning satellite are stored in the memory unit 61b as spraying trajectory history information. The stored spraying trajectory history information can be displayed on the display device 61 or an external device (such as a fixed terminal 75). This makes it possible to check the actual spraying situation even if the first spraying unit 221 or the second spraying unit 222 is stopped for some reason, such as to avoid falling objects in the field.

The configuration of the display device 61 described above can be applied not only to agricultural machines 1 equipped with a spraying unit 22 that sprays a spray material, but also to agricultural machines 1 that perform agricultural work other than spraying. In other words, the configuration of the display device 61 described above can be applied to agricultural machines 1 equipped with an agricultural work unit that performs agricultural work not limited to spraying work.
Therefore, "spraying" in the above description (the description in the section <Display of the working status of the agricultural machine>) can be read as "work" or "farm work". Therefore, the "spraying unit", "first spraying unit", and "second spraying unit" can be read as the "farm work unit", "first farm work unit", and "second farm work unit", respectively. The first farm work unit works on the left side or to the left of the traveling body 8, and the second farm work unit works on the right side or to the right of the traveling body. In addition, the "spraying unit display unit", "first spraying unit display unit", and "second spraying unit display unit" can be read as the "farm work unit display unit", "first farm work unit display unit", and "second farm work unit display unit", respectively. In addition, the "spraying status", "spraying state", "spraying of the sprayed material", and "spraying trajectory of the sprayed material" can be read as the "working status", "working state", "work", and "working trajectory", respectively.

An example of the agricultural machine 1 to which the above-described display device 61 can be applied is an agricultural machine (e.g., a mower, an offset mower, a boom mower, etc.) that performs grass cutting work as agricultural work. In this case, the agricultural work unit is a grass cutting unit.
When the agricultural machine 1 is a normal mower (a mower whose mowing unit does not swing left and right), the agricultural work unit includes a first mowing unit located to the left of the traveling body and a second mowing unit located to the right of the traveling body. In this case, the first agricultural work display unit indicates a working state in which the first mowing unit is working to the left of the traveling body, and the second agricultural work display unit indicates a working state in which the second mowing unit is working to the right of the traveling body.

If the agricultural machine 1 is an offset mower or a boom mower, the mowing unit swings left and right relative to the traveling body. In this case, the first agricultural work display unit shows a working state in which the mowing unit is working on the left side of the traveling body, and the second agricultural work display unit shows a working state in which the mowing unit is working on the right side of the traveling body.
<Display of margin of travel speed relative to spraying capacity>
As shown in Fig. 8, the agricultural machine 1 is provided with a speed sensor 63c that detects the traveling speed of the machine body 2 (traveling body 8). The speed sensor 63c is capable of transmitting information (speed value) relating to the detected traveling speed of the machine body 2 to the control device 60. In the example shown in Fig. 8, the speed sensor 63c is provided in the positioning device 63, but the speed sensor 63c may be provided separately from the positioning device 63. For example, the speed sensor 63c may calculate the traveling speed of the machine body 2 (traveling body 8) from the number of rotations (rotation speed) of the front wheels 3F or the rear wheels 3R.

The amount of spraying (spraying capacity) per unit time in the agricultural machine 1 is uniquely determined by the planned spraying value (amount to be sprayed), the running speed of the machine body 2 (current speed value), and the spraying width. For example, the unit of the amount of spraying per unit time is "kg/sec", the unit of the planned spraying value is "kg/a", the unit of the running speed of the machine body 2 is "m/sec", and the unit of the spraying width is "m". The planned spraying value is a planned value of the amount of spraying required per unit time, and is, for example, the set spraying amount Wn input to the above-mentioned spraying input unit 107. The spraying width can be calculated from the length of the first pipe 15L and the length of the second pipe 15R. As described above, the length of the first pipe 15L and the length of the second pipe 15R are stored in the control device 60. Therefore, the control device 60 can calculate the spraying width based on the stored length of the first pipe 15L and the second pipe 15R.

The control device 60 calculates the currently required amount of spraying (spraying capacity) per unit time from the current speed value detected by the speed sensor 63c, the spraying plan value, and the spraying width, and drives the drive device that operates to change the amount of spraying by the spraying unit 22 so as to achieve that amount of spraying (spraying capacity). In the present embodiment, the drive device that operates to change the amount of spraying by the spraying unit 22 is the first electric motors 14L, 14R. However, the drive device that operates to change the amount of spraying by the spraying unit 22 is not limited to the first electric motors 14L, 14R, and may be another drive device described above (e.g., the second electric motor 35, etc.). In the following explanation, the drive device is described as being the first electric motors 14L, 14R.

The control device 60 calculates the currently required amount of spraying (spraying capacity) per unit time from the current speed value detected by the speed sensor 63c, the spraying plan value, and the spraying width, and drives the first electric motors 14L, 14R to achieve that amount of spraying (spraying capacity). However, because the first electric motors 14L, 14R are set to a maximum rotation speed according to their specifications, there exists a threshold value (upper limit) that cannot be met depending on the combination of the current speed value and the spraying plan value.

To explain in more detail, when the current speed value increases, the rotation speed of the first electric motors 14L, 14R must be increased to achieve the currently required amount of spraying per unit time (spraying capacity). However, if the current speed value becomes too high, the motor specifications make it impossible to increase the rotation speed. Therefore, there is a threshold value (upper limit) for the driving speed at which the required amount of spraying per unit time can be achieved. Hereinafter, this threshold value will be referred to as the "maximum speed value."

The control device 60 calculates the margin of the current speed value relative to the maximum speed value (a numerical value indicating how much margin the current speed value has relative to the maximum speed value) based on the current speed value, which is the current running speed of the machine 2 detected by the speed sensor 63c, and the maximum speed value, which is the maximum running speed at which the required spray amount per unit time can be achieved, and displays it on the display device 61.
As shown in Fig. 8, the agricultural machine 1 is provided with an input unit 61d for inputting elements (hereinafter referred to as "input elements") used to calculate the margin. Fig. 8 shows an example in which the input unit is provided in the display device 61, but the input unit 61d may be provided in an external device (the fixed terminal 75 or the server 70). The input unit 61d may be displayed as a portion (input field) in which the input elements can be input on the display screen of the display unit 61c (which may be the display unit of the fixed terminal 75 or the server 70), or may be a reading device that reads input elements stored in a storage medium such as a USB memory or an SD card, or both may be used in combination depending on the type of input element.

The control device 60 calculates the maximum speed value based on the input elements input to the input unit 61d. The input elements input to the input unit 61d include the above-mentioned spray width and spray plan value. The input elements also include a metering value indicating the amount of spraying from the spray unit 22 in a certain period of time, a motor specification value including the maximum rotation speed of the motor (first electric motor 14L, 14R) which is the drive device, a calculation function (rotation speed calculation curve) for calculating the rotation speed (rpm) of the motor (first electric motor 14L, 14R) based on the metering value and the spraying capacity (the amount of spraying per unit time currently required), and the spray plan value.

The metering value is used to calculate the motor rotation speed from the spraying capacity using a calculation function. The metering value can be calculated by actual measurement. For example, the spraying unit 22 sprays the spray material for a certain period of time (e.g., 60 seconds), and the spray amount at this time is measured and used as the metering value.
The calculation function (rotation speed calculation curve) is a function (relational expression) for calculating the motor rotation speed using the regulated amount value and the currently required spray amount per unit time (spraying capacity) as variables.

The spraying plan values are set individually for each of the multiple areas formed by dividing the field. These areas correspond to the multiple areas Qn (n = 1, 2, 3, ... n) described above. In this case, the control device 60 uses the spraying plan values set individually for each of the multiple areas Qn as input elements and calculates the maximum speed value for each of the multiple areas. If different spraying plan values are set for each of the multiple areas Qn, a different maximum speed value is calculated for each area. If the same spraying plan value is set for all areas Qn, the same maximum speed value is calculated for all areas Qn.

The control device 60 may also calculate the maximum speed value using the maximum spray plan value among the spray plan values set individually for each of the multiple areas Qn as an input element. For example, if the spray plan value (set spray amount) for area Q1 is 2.0 kg/10a, the spray plan value (set spray amount) for area Q2 is 3.0 kg/10a, and the spray plan value (set spray amount) for the other areas Qn (n≧3) is 1.0 kg/10a, the control device 60 calculates the maximum speed value using the spray plan value set for area Q2 as an input element.

The control device 60 may also calculate the maximum speed value using a current spray value indicating the current spray amount instead of the spray plan value as an input element. The current spray value can be calculated based on, for example, the current settings of the spray amount adjustment devices (first spray amount adjustment device 11L, second spray amount adjustment device 11R) set by the control device 60.
The control device 60 calculates the margin as the ratio of the difference between the maximum speed value and the current speed value with respect to the maximum speed value calculated based on the input elements. That is, margin=(maximum speed value-current speed value)/maximum speed value. For example, when the maximum speed value is 5 (m/sec) and the current speed value is 4 (m/sec). The margin is calculated as (5-4)/5=0.2, that is, 20%. This margin means that the current speed value has a margin of 20% with respect to the maximum speed value. That is, it means that even if the running speed is increased by 20% from the current speed value, the required amount of spraying per unit time can be realized. In this case, the operator can perform the spraying work by increasing the running speed of the agricultural machine 1, which improves the work efficiency and allows the work to be completed in a short time. Also, for example, when the maximum speed value is 5 (m/sec) and the current speed value is 5 (m/sec). The margin is calculated as (5-5)/5=0, that is, 0%. This margin means that the current speed value has no margin relative to the maximum speed value. In other words, if the traveling speed is increased above the current speed value, the required amount of spraying per unit time cannot be achieved. In this case, the worker performs spraying work by maintaining the traveling speed as it is, because increasing the traveling speed of the agricultural machine 1 would make it impossible to obtain the required amount of spraying.

The control device 60 displays the calculated margin on the display device 61. The margin displayed on the display device 61 may be displayed as a numerical value (e.g., "20%"), but it is preferable to display it as a margin gauge that graphically represents the margin.
FIG. 14 shows the display screen M3 of the display device 61 on which the margin gauge YG is displayed. The margin gauge YG can show the margin by the area or length of the figure Z20 showing the current speed value relative to the area or length of the figure Z10 showing the maximum speed value. The margin gauge YG is displayed as a bar graph. The color of the figure Z10 showing the maximum speed value is different from the color of the figure Z20 showing the current speed value. In FIG. 14, the figure Z10 showing the maximum speed value is displayed as a vertically long rectangle, and the figure Z20 showing the current speed value is displayed by filling in a part of the inside of the figure Z10 showing the maximum speed value. In the case of the margin gauge YG shown in FIG. 14, the whole figure is the figure Z10 showing the maximum speed value, the filled-in part (part of a different color) in the figure Z10 is the figure Z20 showing the current speed value, and the unfilled part Z30 in the figure Z10 shows the "margin".

The ratio of the area (or length) of the figure Z20 indicating the current speed value to the area (or length) of the figure Z10 indicating the maximum speed value is set to the ratio of the current speed value to the maximum speed value. For example, if the maximum speed value is 5 (m/sec) and the current speed value is 4 (m/sec) (when the margin is 20%), if the area (or length) of the figure Z10 indicating the maximum speed value is 100, then the area (or length) of the figure Z20 indicating the current speed value is 80.

Figure 14 shows the margin gauge YG when the margin is 80%. Figure 18 (a) shows the margin gauge YG when the margin is 60%, (b) shows the margin gauge YG when the margin is 20%, and (c) shows the margin gauge YG when the margin is 5%. In this way, as the margin gauge YG decreases, the area or length of the figure Z20 indicating the current speed value relative to the area or length of the figure Z10 indicating the maximum speed value increases. In this way, by displaying the margin on the margin gauge YG, the margin is displayed visually in an easy-to-understand manner, allowing the operator to easily and accurately grasp the margin.

As shown in Fig. 14, the margin gauge YG is preferably displayed on the same display screen M3 as the figures (Z1 to Z4) showing the spraying status from the spraying unit 22. In Fig. 14, the operation switch 110 for operating the spraying unit to spray the material, the figures (Z1 to Z4) showing the spraying status from the spraying unit 22, and the margin gauge YG are displayed on the same display screen M3.
As shown in Fig. 8, the agricultural machine 1 includes a notification unit 61e that notifies the operator that the margin is equal to or less than a predetermined value when the margin is equal to or less than a predetermined value. The predetermined value is, for example, margin = 5%. In this case, when the margin is equal to or less than 5%, the notification unit 61e notifies the operator that the margin is equal to or less than 5%. In the example shown in Fig. 8, the notification unit 61e is provided in the display device 61, but the notification unit 61e may be provided in a device different from the display device 61.

The notification unit 61e is, for example, a sound generating device (buzzer, speaker, etc.) that notifies by sound or voice, or a light generating device (LED, etc.) that notifies by lighting or flashing light. The notification unit 61e may also notify by displaying (characters, figures, etc.) on the display screen of the display unit 61c of the display device 61. The control device 60 transmits a control signal to the notification unit 61e when the margin exceeds a predetermined value. When the notification unit 61e receives the control signal, it notifies the operator that the margin has exceeded the predetermined value by a method such as sound, light, display, etc. This allows the operator to know that the margin has fallen below the predetermined value, and makes it possible to take measures such as reducing (or not increasing) the driving speed. This prevents the operator from driving at a speed that exceeds the maximum speed value, and prevents insufficient spraying due to excessive speed.

FIG. 19 shows an example of a system configuration and a processing operation flow of the agricultural machine 1 that calculates the above-mentioned margin.
In the case of the system shown in FIG. 19, the positioning device 63 is equipped with a speed sensor 63c. The control device 60 is composed of, for example, an ECU (Electric Control Unit) of a motor controller that controls the motors (first electric motors 14L, 14R). The current speed value detected by the speed sensor 63c of the positioning device 63 is transmitted to the control device 60. The positioning device 63 also transmits the position (latitude, longitude) of the agricultural machine 1, i.e., the position of the traveling body 8, to the display device 61. The display device 61 transmits the spraying plan value and the metering value to the control device 60. The spraying plan value and the metering value are input from the input unit 61d. The control device 60 calculates the maximum speed value based on the spraying plan value, the metering value, the motor specification value, the calculation function, and the spraying width transmitted from the display device 61.

When calculating the maximum speed value, the control device 60 may calculate the maximum speed value for each of the multiple areas using a dispersion plan value that is set individually for each of the multiple areas Qn as the dispersion plan value, or may calculate the maximum speed value using the maximum dispersion plan value among the dispersion plan values that are set individually for each of the multiple areas Qn. The control device 60 may also calculate the maximum speed value using a current dispersion value that indicates the current amount of dispersion instead of the dispersion plan value.

The control device 60 calculates the margin of safety based on the current speed value transmitted from the positioning device 63 and the calculated maximum speed value, and transmits the calculated margin of safety to the display device 61. The display device 61 displays the received margin of safety on the display unit 61c in the form of a margin of safety gauge YG or the like (see FIG. 14). Furthermore, when the margin of safety falls below a predetermined value, the control unit 61a of the display device 61 activates the notification unit 61e to notify the operator that the margin of safety has fallen below the predetermined value. Note that instead of a configuration in which the display device 61 activates the notification unit 61e, a configuration in which the control device 60 activates the notification unit 61e may be used.

The control device 60 transmits a control signal to the motor driver of the first electric motor 14L, 14R. The first electric motor 14L, 14R drives the scattering discharge mechanism 13 based on the received control signal, and the scattering material is scattered from the scattering unit 22.
In the system shown in Fig. 19, the control device 60 may be composed of a control unit 61a of the display device 61, or may be composed of both the ECU of the motor controller and the control unit 61a of the display device 61. When the control device 60 is composed of the control unit 61a of the display device 61, the maximum speed value can be calculated and displayed on the display device 61, so that the system configuration can be simplified. When the whole or part of the control device 60 is composed of the control unit 61a of the display device 61, the current speed value detected by the speed sensor 63c can be transmitted to the display device 61. In addition, the current speed value and the maximum speed value can be transmitted from the control device 60 to the display device 61, and the margin can be calculated by the control unit 61a of the display device 61.

<Mounting structure of positioning device>
1 and 2, the agricultural machine 1 includes a cabin 9 mounted on a traveling body 8. The cabin 9 has a roof 150 on its upper portion.
Fig. 20 is a front view showing the upper part of cabin 9, and Fig. 21 is a side view showing the front upper part of the cabin. Roof 150 has an upper plate 151 and a flange 152. Upper plate 151 is located at the upper part of roof 150. As shown in Fig. 21, flange 152 protrudes forward below upper plate 151 beyond the front edge of upper plate 151. The upper surface of roof 150 includes the upper surface of upper plate 151 and the upper surface of flange 152.

As shown in FIG. 20, the cabin 9 has front pillars 153L and 153R. The front pillar 153L is provided at the front left of the cabin 9. The front pillar 153L is provided at the front right of the cabin 9. A windshield 154 is provided between the front pillars 153L and 153R. The upper part of the front pillar 153L and the upper part of the front pillar 153R are connected by a front upper frame 155.

Rear pillars (not shown) are provided behind the front pillars 153L and 153R. The front pillars 153L, 153R and the rear pillars are connected by side upper frames 156 (see FIG. 21). Side windows 157 are provided between the front pillars 153L, 153R and the rear pillars.
20 and 21, the positioning device 63 is supported on the roof 150 by a support bracket 160. As shown in FIGS. 22 to 25, the support bracket 160 has a base plate 161, a left leg 162, a right leg 163, and a front leg 166.

The base plate 161 has a mounting portion 161a on which the positioning device 63 is mounted, a left extension portion 161b extending leftward from the mounting portion 161a, and a right extension portion 161c extending rightward from the mounting portion 161a. The mounting portion 161a, the left extension portion 161b, and the right extension portion 161c are formed in a continuous flat surface.
The left leg 162 includes a left inclined portion 161d. The left inclined portion 161d extends downward and left from the left end of the base plate 161. The right leg 163 includes a right inclined portion 161e. The right inclined portion 161e extends downward and right from the right end of the base plate 161.

The base plate 161 is arranged so that its longitudinal direction faces the width direction of the roof 150 (width direction of the aircraft body 2). The placement portion 161a is located at the center of the longitudinal direction of the base plate 161. As shown in FIG. 20, the base plate 161 extends over the entire length of the width direction of the roof 150 (width direction of the aircraft body 2). As shown in FIG. 27, the length of the base plate 161 in the front-rear direction is set to be more than half the length of the positioning device 63 in the front-rear direction over more than half the length of the base plate 161 in the longitudinal direction (width direction of the roof 150).

The lower part of the left leg 162 extends further downward from the lower end of the left inclined part 161d. The left leg 162 is attached to the left part of the cabin 9 or the left part of the traveling vehicle body 8. In this embodiment, the left leg 162 is attached to the front pillar 153L or the left side upper frame 156 of the cabin 9. A through hole 164L is provided in the left leg 162. An attachment piece 165L is attached to the front pillar 153L or the left side upper frame 156L. The left leg 162 is attached to the front pillar 153L or the left side upper frame 156L by inserting a bolt BL1 through the through hole 164L and screwing the bolt BL1 into a screw hole formed in the attachment piece 165L. The left leg 162 may be attached to a bracket 159L for attaching the left side mirror 158L.

The lower part of the right leg 163 extends further downward from the lower end of the right inclined part 161e. The right leg 163 is attached to the left part of the cabin 9 or the left part of the traveling vehicle body 8. In this embodiment, the right leg 163 is attached to the front pillar 153R or the right side upper frame 156R of the cabin 9. A through hole 164R is provided in the right leg 163. An attachment piece 165R is attached to the front pillar 153R or the left side upper frame 156. The right leg 163 is attached to the front pillar 153R or the right side upper frame 156R by inserting a bolt BL2 into the through hole 164R and screwing the bolt BL2 into a screw hole formed in the attachment piece 165R. The right leg 163 may be attached to a bracket 159R for attaching a right side mirror 158R.

As shown in Figures 22, 23, 25, etc., the front legs 166 extend downward from the front portion (front edge portion) of the base plate 161. The front legs 166 include a left front leg 166L and a right front leg 166R. The left front leg 166L extends downward from the left front portion (left front edge portion) of the base plate 161. The right front leg 166R extends downward from the right front portion (right front edge portion) of the base plate 161.

The front legs 166 (left front leg 166L, right front leg 166R) have an abutment portion 167, a left connecting portion 168, and a right connecting portion 169. The abutment portion 167 is provided below the base plate 161 and abuts against the upper surface of the flange portion 152. The left connecting portion 168 extends diagonally upward and to the left from the abutment portion 167 and is connected to the base plate 161. The right connecting portion 169 extends diagonally upward and to the right from the abutment portion 167 and is connected to the base plate 161. As shown in FIG. 23, the left connecting portion 168 and the right connecting portion 169 are formed in a V-shape when viewed from the front.

The front legs 166 (left front leg 166L, right front leg 166R) are provided with shaft support parts 171 that support the support shaft 170 described later. The shaft support part 171 has a pair of shaft support pieces 172L provided on the left front leg 166L and a pair of shaft support pieces 172R provided on the right front leg 166R. The pair of shaft support pieces 172L are arranged opposite each other with a gap in the width direction of the roof 150, and extend forward from the upper part of the right connecting part 169 of the left front leg 166L. The pair of shaft support pieces 172R are arranged opposite each other with a gap in the width direction of the roof 150, and extend forward from the upper part of the left connecting part 168 of the right front leg 166R. A through hole 171a is formed in the shaft support part 171 (shaft support piece 172L, shaft support piece 172R). As shown in FIG. 23, a nut NT1 is fixed to one of the pair of shaft support pieces 172L and one of the pair of shaft support pieces 172R.

The support bracket 160 is attached to the vehicle body 8 in a state in which it is placed on the roof 150. As shown in Figures 20 and 21, the front leg 166 is placed on the upper surface of the flange 152 of the upper surface of the roof 150.
24 and 27, a through hole 167a is provided in the abutment portion 167. With the front leg 166 placed on the flange 152, the abutment portion 167 abuts against the upper surface of the flange 152. In this state, a bolt BL3 is inserted into the through hole 167a and screwed into a screw hole formed in the flange 152. As a result, the abutment portion 167 is fixed to the upper surface of the flange 152, and the front leg 166 is fixed to the flange 152. As shown in FIG. 24, the abutment portion 167 is located at a position overlapping a notch 161f formed in the base plate 161 in a top view.

As shown by the phantom lines in FIG. 20, the left leg 162 and the right leg 163 may be provided with abutment portions 177 that abut the upper surface of the roof 150. The abutment portions 177 abut the upper surface of the flange portion 152 on the upper surface of the roof 150. The abutment portions 177 and the flange portion 152 can be fixed with fasteners such as bolts (not shown). In this case, the front leg 166, the left leg 162, and the right leg 163 are fixed to the upper surface of the roof 150 (the upper surface of the flange portion 152). In this case, the left leg 162 does not have to be attached to the front pillar 153L or the left side upper frame 156, but may be attached thereto. Also, the right leg 163 does not have to be attached to the front pillar 153R or the right side upper frame 156, but may be attached thereto.

26, a support plate 179 is interposed between the positioning device 63 and the base plate 161. The positioning device 63 is fixed to the upper surface of the support plate 179 by bolts or the like. The support plate 179 is disposed on the mounting portion 161a of the base plate 161. The support plate 179 has a pivot piece 180 that is pivoted to the shaft support portion 171. The pivot piece 180 includes a first piece 181, a second piece 182, a third piece 183, and a fourth piece 184. The first piece 181 extends forward from the left part of the front edge of the support plate 179. The second piece 182 extends forward from the right part of the front edge of the support plate 179. The third piece 183 and the fourth piece 184 are provided on a front lower piece 185 that extends downward and forward from the center of the front edge of the support plate 179. The third piece 183 extends rearward from the lower left part of the front lower piece 185. The fourth piece 184 extends rearward from the lower right part of the front lower piece 185. A through hole 180a is formed in the pivot piece 180 (first piece 181, second piece 182, third piece 183, fourth piece 184).

The first piece 181 is disposed so as to overlap one of the pair of shaft support pieces 172L. The second piece 182 is disposed so as to overlap the other of the pair of shaft support pieces 172L. The third piece 183 is disposed so as to overlap one of the pair of shaft support pieces 172R. The fourth piece 184 is disposed so as to overlap the other of the pair of shaft support pieces 172R.
A support shaft 170 is inserted through a through hole 171a formed in the shaft support portion 171 and a through hole 180a formed in the pivot piece 180. The support shaft 170 is formed of, for example, a bolt, and the bolt is screwed into a nut NT1. The support shaft 170 supports the positioning device 63 so that the positioning device 63 can rotate forward. The support plate 179 is rotatable forward about the support shaft 170. Therefore, the positioning device 63 can also rotate forward about the support shaft 170.

21 shows the position of the positioning device 63 when the positioning device 63 is rotated forward around the support shaft 170 together with the support plate 179. As shown in FIG. 21, a part of the positioning device 63 is located higher than the upper surface of the roof 150 when rotated forward.
26 and 27, the base plate 161 and the support plate 179 can be fixed with a bolt BL4. When the base plate 161 and the support plate 179 are fixed with the bolt BL4, the positioning device 63 cannot rotate forward. When the bolt BL4 is removed, the positioning device 63 can rotate forward.

<Summary>
As described above, the agricultural machine 1 comprises a body 2, a container 10 provided on the body 2 for storing the material to be sprayed, a spray amount adjusting device 11 for adjusting the amount of the material stored in the container 10 to be sprayed and discharging it, a transport pipe 15 through which the material discharged from the spray amount adjusting device 11 flows together with the transport air, a plurality of spraying units 22 provided on the transport pipe 15 for spraying the material to be sprayed, a blower 201 for generating the transport air that flows through the transport pipe 15, and a control unit for controlling the amount of spraying from the spraying unit 22. The control device 60 has a memory unit 61b in which a plurality of prescribed lines L1 to L9 are stored which specify the relationship between the amount of spray of the spray material discharged from the spray amount adjustment device 11 and the air volume per unit time of the blower 201, a selection acquisition unit 60b which acquires one prescribed line selected from the plurality of prescribed lines L1 to L9, and a setting unit 60c which sets the relationship between the spray amount and the air volume based on the prescribed line acquired by the selection acquisition unit 60b.

According to this configuration, it is possible to select the optimum prescribed line from among a number of preset prescribed lines in order to achieve even spraying from the multiple spraying units depending on the type of material to be sprayed, and it is possible to achieve spraying that equalizes the amount of sprayed from the multiple spraying units based on the selected prescribed line. In particular, when multiple spraying units are provided along the boom, it is possible to achieve even spraying from the base end to the tip of the boom.

In addition, the agricultural machine 1 is equipped with an air volume adjustment shutter (covering plate 203) that adjusts the air volume of the blower 201, and the air volume adjustment shutter is capable of adjusting the air volume by changing the opening degree, and the multiple specified lines L1 to L9 are respectively specified based on the multiple opening degrees of the air volume adjustment shutter.
According to this configuration, by setting one specified line from a number of specified lines L1 to L9, the relationship between the spray amount and the air volume per unit time of the blower 201 is set, so that it is possible to more reliably set the air volume required to achieve the desired spray amount.

Further, the air volume adjustment shutter (covering plate 203) adjusts the volume of air blown by changing the opening area of the outside air (air) suction port 201a of the blower 201.
According to this configuration, the amount of air blown can be easily adjusted by the air volume adjusting shutter.
The agricultural machine 1 also has pay-out rollers 13L, 13R that rotate to discharge the material stored in the container 10, and the spray amount adjustment device 11 adjusts the amount of material discharged from the spray amount adjustment device 11 by controlling the rotation speed of the pay-out rollers 13L, 13R, and the specified lines L1 to L9 are specified based on the relationship between the rotation speed of the pay-out rollers 13L, 13R and the air volume per unit time of the blower 201.

According to this configuration, the specified lines L1 to L9 are defined based on the relationship between the rotation speed of the payout rollers 13L, 13R and the air volume per unit time of the blower 201, so that the optimal specified line can be reliably selected to achieve even spraying from multiple spray sections depending on the type of material to be sprayed, etc.
The agricultural machine 1 also includes a body 2, a traveling device 3 that supports the body 2 so that it can travel, a first spraying unit 221 provided on a first boom 18L extending leftward from the body 2, a second spraying unit 222 provided on a second boom 18R extending rightward from the body 2, and an operation switch 110 that operates the spraying of a material from the first spraying unit 221 and the second spraying unit 222, and the operation switch 110 includes a first operation unit 111 that operates to spray a material from the first spraying unit 221, a second operation unit 112 that operates to spray a material from the second spraying unit 222, and a second operation unit 113 that operates to spray a material from the first spraying unit 221 and the second spraying unit 222. The spray gun has a third operating unit 113 for operating a spray gun to start and stop the spraying of the spray material from the first spraying unit 221 and the second spraying unit 222, and a fourth operating unit 114 for operating to stop the spraying of the spray material from the first spraying unit 221 and the second spraying unit 222, and the first operating unit 111 is located on the left side of the operating switch 110 which is the side corresponding to the first boom 18L, and the second operating unit 112 is located on the right side of the operating switch 110 which is the side corresponding to the second boom 18R, and one of the third operating unit 113 and the fourth operating unit 114 is located between the first operating unit 111 and the second operating unit 112, and the other of the third operating unit 113 and the fourth operating unit 114 is located below one of the operating units.

With this configuration, the first operating unit 111 is disposed on the side corresponding to the first boom 18L, and the second operating unit 112 is disposed on the side corresponding to the second boom 18R, so that the work performed by operating the first operating unit 111 and the work performed by operating the second operating unit 112 can be understood in relation to the arrangement of the booms. Therefore, the worker can intuitively understand the content of the work performed by the operation based on the arrangement of the operating units.

In addition, the fourth operation unit 114 is disposed between the first operation unit 111 and the second operation unit 112 , and the third operation unit 113 is disposed below the fourth operation unit 114 .
According to this configuration, the third operating unit 113, which is arranged in a direction (downward) corresponding to the direction of scattering of the scattering material, evokes a state in which the scattering material is being scattered. The fourth operating unit 114, which is arranged in the opposite direction (upward) to the scattering direction, evokes a state in which scattering of the scattering material has stopped. Therefore, it is possible to intuitively grasp the functions of the third operating unit 113 and the fourth operating unit 114.

In addition, the third operation unit 113 may be disposed between the first operation unit 111 and the second operation unit 112, and the fourth operation unit 114 may be disposed below the third operation unit 113.
With this configuration, the risk of accidentally operating the fourth operating unit 114 when operating the first operating unit 111 or the second operating unit 112 can be reduced, thereby preventing the occurrence of areas where spraying is not performed.

Moreover, the first operation unit 111, the second operation unit 112, the third operation unit 113, and the fourth operation unit 114 are arranged in a T shape as a whole.
According to this configuration, the operating switch 110 is reminiscent of the shape of the agricultural machine 1 when viewed from the front with the booms 18L, 18R extended to the left and right (i.e., in a spraying state). Therefore, the worker can intuitively grasp the content of the work to be performed by operating the operating part based on the arrangement of the operating part.

The first operation unit 111, the second operation unit 112, the third operation unit 113, and the fourth operation unit 114 are operated by pressing or touching.
According to this configuration, the first operation unit 111, the second operation unit 112, the third operation unit 113, and the fourth operation unit 114 can be easily operated.
The agricultural machine 1 also includes a touch panel (display unit 61c) on which the operation switch 110 is displayed, and the first operation unit 111, the second operation unit 112, the third operation unit 113 and the fourth operation unit 114 are displayed on the touch panel.

With this configuration, the first operation unit 111, the second operation unit 112, the third operation unit 113, and the fourth operation unit 114 can be operated by pressing or touching the touch panel, making it easy to operate and eliminating the need to install a device that constitutes an operation switch.
In addition, the first boom 18L and the second boom 18R are configured to be extendable and retractable, and the operation switch 110 has a fifth operation unit 115 that extends and retracts the first boom 18L and a sixth operation unit 116 that extends and retracts the second boom 18R, with the fifth operation unit 115 being positioned to the left of the first operation unit 111 and the sixth operation unit 116 being positioned to the right of the second operation unit 112.

According to this configuration, the arrangement of the fifth operating unit 115 and the sixth operating unit 116 is reminiscent of the extension of the first boom 18L and the second boom 18R, so that the function (extension/retraction) of each operating unit can be intuitively understood from the arrangement of the fifth operating unit 115 and the sixth operating unit 116.
The agricultural machine 1 also comprises a body 2, a traveling device 3 that supports the body 2 so that it can run, a spraying unit 22 that moves together with the body 2 to spray a spray material, a speed sensor 63c that detects the running speed of the body 2, a control device 60 that controls the amount of spray material sprayed by the spraying unit 22, and a display device 61, and the control device 60 calculates the margin of the current speed value relative to the maximum speed value based on the current speed value, which is the current running speed detected by the speed sensor 63c, and the maximum speed value, which is the maximum running speed at which the required amount of spraying per unit time can be achieved, and displays this on the display device 61.

With this configuration, the display device 61 can show how much margin the current driving speed has compared to the maximum driving speed at which the required amount of spraying can be achieved, making it possible to drive at a speed close to the maximum driving speed at which the required amount of spraying can be achieved, thereby preventing insufficient spraying and reduced work efficiency.
In addition, the control device 60 calculates the ratio of the difference between the maximum speed value and the current speed value to the maximum speed value as a margin, and displays it on the display device 61.

According to this configuration, it is possible to easily grasp from the margin displayed on the display device 61 how much margin the current speed value has with respect to the maximum speed value.
In addition, the display device 61 is capable of displaying a margin gauge YG that graphically represents the margin, and the margin gauge YG represents the margin as the area or length of a figure Z20 that indicates the current speed value relative to the area or length of a figure Z10 that indicates the maximum speed value.

According to this configuration, by looking at the margin gauge YG, the margin can be grasped graphically, so that the margin can be intuitively and easily grasped.
The agricultural machine 1 also has an input section 61d that inputs input elements including the spraying width by the spraying section 22 and a spraying plan value, which is a planned value of the amount of spraying required per unit area, and a drive unit (first electric motors 14L, 14R) that operates to change the amount of spraying by the spraying section, and the control device 60 calculates the spraying capacity per unit time currently required based on the current speed value detected by the speed sensor 63c and the spraying width and spraying plan value input from the input section 61d, and drives the drive unit to satisfy the spraying capacity.

According to this configuration, the amount of spraying by the spraying section can be changed by the drive device so as to satisfy the currently required spraying capacity per unit time, thereby preventing insufficient spraying.
In addition, the input elements input to the input section 61d include a metering value indicating the amount of spraying to be sprayed from the spraying section 22 in a certain period of time, a motor specification value including the maximum rotation speed of the motor (first electric motor 14L, 14R) which is the driving device, a calculation function for calculating the rotation speed of the motor based on the metering value and the spraying capacity, and a spraying plan value, and the control device 60 calculates the maximum speed value based on the input elements.

According to this configuration, the maximum velocity value based on the dispersion plan value can be accurately calculated based on the input elements.
In addition, the control device 60 may calculate the maximum speed value using a current spray value indicating the current spray amount instead of the spray plan value as an input element.
With this configuration, the maximum speed value can be accurately calculated based on the current application rate on the basis of the input elements.

In addition, the spraying plan values are set individually for each of a plurality of areas Qn formed by partitioning the field.
According to this configuration, the maximum speed value can be calculated based on the dispersion plan values that are set individually for each of the multiple areas Qn.
In addition, the control device 60 may use, as input elements, the spraying plan values that are set individually for each of the multiple areas Qn, and calculate the maximum speed value for each of the multiple areas Qn.

According to this configuration, when a spraying plan value is set for each of a plurality of areas, a maximum speed value can be calculated for each of the plurality of areas Qn. Therefore, by setting a current speed value for each area based on the calculated maximum speed value, an optimal spray amount can be achieved for each area.
In addition, the control device 60 may calculate the maximum speed value using the maximum spray plan value among the spray plan values that are set individually for each of the multiple areas Qn as an input element.

According to this configuration, when a spraying plan value is set for each of a plurality of areas, the maximum speed value can be calculated based on the maximum spraying plan value among the set spraying plan values, thereby reliably avoiding the risk of an insufficient spraying amount.
The display device 61 is also a display device equipped with a display unit 61c that displays a graphic representing the work status from the agricultural working unit 22 of the traveling body 8 having the agricultural working unit 22 that performs agricultural work, and a control unit 61a that controls the display unit 61c, and the display unit 61c includes a field display unit 190 that displays a graphic Z1 representing the field on which the traveling body 8 is traveling, a vehicle body display unit 191 that displays a graphic representing the position of the traveling body 8 on the field display unit 190, and an agricultural working unit display unit 192 that displays a graphic Z3 representing the agricultural working unit 22 on the side of the vehicle body display unit 191 that corresponds to the direction of the agricultural working unit 22 relative to the traveling body 8, and the control unit 61a causes the agricultural working unit display unit 192 to display a work state in which the agricultural working unit 22 is working and a stopped state in which the agricultural working unit 22 has stopped working in different display forms.

According to this configuration, the work status from the agricultural work unit 22 can be clearly grasped by the display on the agricultural work unit display section 192 of the display device 61, so that the agricultural work status from the agricultural work unit 22 can be clearly grasped while traveling in the field.
Furthermore, the control unit 61a causes the farm work unit display unit 192 to display different colors when in a working state and when in a stopped state.

According to this configuration, it is possible to easily and reliably know from the display on the farm work unit display section 192 whether the farm work unit 22 is in a working state or in a stopped state.
In addition, the agricultural work unit display unit 22 has a first agricultural work unit display unit 192A that displays the work status of the first agricultural work unit 221 performing work on the left side of the running body 8, and a second agricultural work unit display unit 192B that displays the work status of the second agricultural work unit 222 performing work on the right side of the running body 8.

With this configuration, the layout of the first agricultural work unit 221 and the first agricultural work unit display unit 192A correspond to each other, and the layout of the second agricultural work unit 222 and the second agricultural work unit display unit 192B correspond to each other, so that the display of the first agricultural work unit display unit 192A and the second agricultural work unit display unit 192B allows the user to intuitively grasp the work status of the first agricultural work unit 221 and the second agricultural work unit 222.

In addition, the control unit 61a causes the first agricultural work unit display unit 192A to display the work status and stopped state of the first agricultural work unit 221 in different display forms, and causes the second agricultural work unit display unit 192B to display the work status and stopped state of the second agricultural work unit 222 in different display forms.
With this configuration, it is possible to easily and reliably know whether the first agricultural working unit 221 and the second agricultural working unit 222 are in a working state or in a stopped state.

The display unit 61c also includes a trajectory display unit 193 that displays a figure Z4 representing the work trajectory of work by the agricultural work unit 22 on the field display unit 190, and the control unit 61a causes the trajectory display unit 193 to display the figure Z4 representing the work trajectory superimposed on the field display unit 190 along the work trajectory of the agricultural work unit 22 in a working state.
According to this configuration, a figure Z4 representing the work trajectory by the agricultural work unit 22 is displayed on the field display unit 190, so that it is possible to see which part of the field the work has been performed on by looking at the display unit 61c.

The trajectory display unit 193 also has a first trajectory display unit 193A that displays a figure Z41 representing the work trajectory of the first agricultural work unit 221 working on the left side of the traveling body 8, and a second trajectory display unit 193B that displays a figure Z42 representing the work trajectory of the second agricultural work unit 222 working on the right side of the traveling body 8, and the control unit 61a causes the first trajectory display unit 193A to display the figure Z41 representing the work trajectory of the first agricultural work unit 221 in a working state, superimposed on the field display unit 190 along the movement trajectory of the first agricultural work unit 221 in a working state, and causes the second trajectory display unit 193B to display the figure Z42 representing the work trajectory of the second agricultural work unit 222 in a working state, superimposed on the field display unit 190 along the movement trajectory of the second agricultural work unit 222 in a working state.

With this configuration, the area where the spraying material was sprayed by the first agricultural working unit 221, the area where work was performed by the second agricultural working unit 222, and the area where work was performed by both the first agricultural working unit 221 and the second agricultural working unit 222 can be understood by looking at the display unit 61c.
Furthermore, the agricultural machine 1 includes a storage unit 61b that stores the work trajectory, and the control unit 61a stores the work trajectory in the storage unit 61b.

According to this configuration, even if the first agricultural working unit 221 or the second agricultural working unit 222 stops for some reason, such as to avoid falling objects in the field, the actual work situation can be confirmed by the work trajectory stored in the memory unit 61b.
In addition, the agricultural work is spraying work to spread a spray material, and the agricultural work unit 22 includes a first spraying unit 221 provided on a first boom 18L extending to the left from the running body 8, and a second spraying unit 222 provided on a second boom 18R extending to the right from the running body 8.

The agricultural machine 1 also includes a running body 8 having an agricultural working unit 22 that performs agricultural work, and a display device 61 having a display unit 61c that displays graphics representing the work status from the agricultural working unit 22, and the display device 61 is a display device that displays the above-mentioned work status.
According to this configuration, it is possible to obtain an agricultural machine 1 that makes it possible to clearly grasp the work situation from the agricultural working unit 22 while traveling in a farm field.

The agricultural machine 1 also comprises a traveling body 8, a cabin 9 mounted on the traveling body 8 and having a roof 150 on top, a positioning device 63 that detects the position of the traveling body 8 based on signals from a positioning satellite, and a support bracket 90 that supports the positioning device 63 on the roof 150, the support bracket 90 having a base plate 161 having a mounting portion 161a on which the positioning device 63 is mounted, a left extension portion 161b extending leftward from the mounting portion 161a, and a right extension portion 161c extending rightward from the mounting portion 161a, and a front leg portion 166 extending downward from the front of the base plate 161, the support bracket 90 having an abutment portion 167 where the front leg portion 166 abuts against the upper surface of the roof 150, and the support bracket 90 is attached to the traveling body 8 in a state where it is placed on the roof 150.
According to this configuration, the support bracket 160 capable of securing a wide area base plate 161 can be stably attached to the roof 150, thereby enabling the positioning device 63 to be stably supported.

In addition, the support bracket 90 has a left leg 162 extending downward from the left part of the base plate 161, and a right leg 163 extending downward from the right part of the base plate 161, and the left leg 162 and the right leg 163 have abutment parts 177 that abut against the upper surface of the roof 150, and are attached to the running vehicle body 8 in a state where they are placed on the roof 150.
According to this configuration, the support bracket 160 can be stably attached to the roof 150 by abutting the left leg 162 and the right leg 163 against the upper surface of the roof 150 .

It also has a left leg 162 extending downward from the left part of the base plate 161 and attached to the left part of the cabin 9 or the running body 8, and a right leg 163 extending downward from the right part of the base plate 161 and attached to the right part of the cabin 9 or the running body 8.
According to this configuration, by attaching the left extension portion 161b and the right extension portion 161c to the cabin 9 or the running vehicle body 8, the support bracket 160 can be stably attached to the roof 150, making it possible to stably support the positioning device 63.

In addition, roof 150 has an upper plate 151 located at the top of roof 150, and a flange portion 152 below upper plate 151 and protruding forward from the front edge of upper plate 151, and the upper surface of roof 150 includes the upper surface of upper plate 151 and the upper surface of flange portion 152, and abutment portion 167 abuts against the upper surface of flange portion 152.
According to this configuration, the abutment portion 167 of the front leg portion 166 of the support bracket 160 abuts against the upper surface of the flange portion 152 of the roof 150 , so that the support bracket 160 can be stably supported on the roof 150 .

The base plate 161 may be placed on the upper plate 151 .
According to this configuration, the front leg 166 of the support bracket 160 is placed on the flange 152 of the roof 150 and the base plate 161 is placed on the upper plate 151, thereby enabling the support bracket 160 to be stably supported on the roof 150.
The base plate 161 extends across the entire width of the roof 150 .

With this configuration, the positioning device 63 can be stably supported on the base plate 161 .
The length of the base plate 161 in the front-rear direction is set to be equal to or greater than half the length of the roof 150 in the width direction and equal to or greater than half the length of the positioning device 63 in the front-rear direction.
According to this configuration, the base plate 161 is formed to be wide, which improves the strength of the base plate 161 and allows the positioning device 63 to be stably supported on the base plate 161 .

The front leg 166 also has a left front leg 166L extending downward from the left front portion of the base plate 161, and a right front leg 166R extending downward from the right front portion of the base plate 161.
According to this configuration, the left front leg 166L and the right front leg 166R can reliably support the front portion of the base plate 161, and can also prevent the base plate 161 from tilting or deforming.

In addition, the front leg 166 has a left connecting portion 168 that extends diagonally upward and to the left from the abutment portion 167 and is connected to the base plate 161, and a right connecting portion 169 that extends diagonally upward and to the right from the abutment portion 167 and is connected to the base plate 161.
According to this configuration, since the front leg portion 166 is formed in an inverted triangular shape, the rigidity of the front leg portion 166 is improved.

The agricultural machine 1 also has a support shaft 170 that supports the positioning device 63 so that the positioning device 63 can rotate forward, and a shaft support portion 171 that supports the support shaft 170 is provided on the front leg portion 166 .
According to this configuration, by rotating the positioning device 63 forward, the height of the agricultural machine 1 can be lowered.
Although the embodiment of the present invention has been described above, the embodiment disclosed herein should be considered as illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims.

1 Agricultural machine 2 Machine body 8 Traveling vehicle body 18L First boom 18R Second boom 22 Spraying section (agricultural work section)
61 Display device 61c Display unit 61a Control unit 190 Field display unit 191 Vehicle body display unit 192 Spraying unit display unit (farm work unit display unit)
192A 1st spreading section display section (1st agricultural work section display section)
192B 2nd spreading section display section (2nd agricultural work section display section)
193 Trajectory display section 193A First trajectory display section 193B Second trajectory display section 221 First scattering section (first agricultural work section)
222 Second Spraying Division (Second Agricultural Work Division)
Z1: A figure representing a field; Z2: A figure representing the position of a traveling vehicle; Z3: A figure representing a spraying section (a figure representing an agricultural work section)
Z31 Figure representing the first spraying section (Figure representing the first agricultural work section)
Z32 Figure representing the second spraying section (Figure representing the second agricultural work section)
Z4: Figure showing the scattering trajectory (Figure showing the work trajectory)
Z41: A figure showing the scattering trajectory by the first scattering unit (a figure showing the work trajectory by the first agricultural work unit)
Z42 Figure showing the spraying trajectory by the second spraying unit (Figure showing the work trajectory by the second agricultural work unit)

Claims (8)

A display device including: a display unit that displays a graphic representing a work status from an agricultural work unit of a traveling vehicle body that performs agricultural work; and a control unit that controls the display unit,
The display unit is
a field display unit that displays a graphic representing a field on which the traveling vehicle body travels;
a vehicle body display unit that displays a graphic representing the position of the traveling vehicle body on the field display unit;
an agricultural work unit display unit that displays a graphic representing the agricultural work unit on a side of the vehicle body display unit that corresponds to a direction of the agricultural work unit relative to the traveling vehicle body;
Including,
The control unit causes the agricultural work unit display unit to display a work state in which the agricultural work unit is working and a stop state in which the agricultural work unit has stopped working in different display forms,
a position of the vehicle body display unit relative to the field display unit is fixed, and when the traveling vehicle body travels, a graphic representing a field displayed on the field display unit scrolls or rotates in accordance with a change in the position of the traveling vehicle body ;
The agricultural work unit display unit includes a first agricultural work unit display unit that displays the work status of a first agricultural work unit that performs work on the left part or to the left of the traveling body, and a second agricultural work unit display unit that displays the work status of a second agricultural work unit that performs work on the right part or to the right of the traveling body,
By pressing a figure displayed on the first farm work unit display unit, start or stop of work from the first farm work unit is executed;
A display device configured to start or stop work from the second farm work unit by pressing a figure displayed on the second farm work unit display unit . The display device according to claim 1 , wherein the control unit causes the agricultural work unit display unit to display in a different color when in the working state and when in the stopped state. The display device according to claim 1 or 2, wherein the control unit causes the first agricultural work unit display unit to display the working status and stopped state of the first agricultural work unit in different display forms, and causes the second agricultural work unit display unit to display the working status and stopped state of the second agricultural work unit in different display forms. The display unit includes a trajectory display unit that displays a graphic representing a work trajectory of the work performed by the farm work unit on the field display unit,
The display device according to any one of claims 1 to 3 , wherein the control unit causes the trajectory display unit to display a figure representing the work trajectory along the movement trajectory of the agricultural work unit in a working state, superimposed on the field display unit. The trajectory display unit has a first trajectory display unit that displays a graphic representing a work trajectory by a first agricultural work unit performing work on the left part or to the left of the traveling body, and a second trajectory display unit that displays a graphic representing a work trajectory by a second agricultural work unit performing work on the right part or to the right of the traveling body,
The display device according to claim 4, wherein the control unit causes the first trajectory display unit to display a graphic representing the work trajectory of the first agricultural working unit in a working state, superimposed on the field display unit, along the movement trajectory of the first agricultural working unit in a working state, and causes the second trajectory display unit to display a graphic representing the work trajectory of the second agricultural working unit in a working state, superimposed on the field display unit. A storage unit that stores the work trajectory,
The display device according to claim 4 , wherein the control unit stores the work trajectory in the storage unit. A display device including: a display unit that displays a graphic representing a work status from an agricultural work unit of a traveling vehicle body that performs agricultural work; and a control unit that controls the display unit,
The display unit is
a field display unit that displays a graphic representing a field on which the traveling vehicle body travels;
a vehicle body display unit that displays a graphic representing the position of the traveling vehicle body on the field display unit;
an agricultural work unit display unit that displays a graphic representing the agricultural work unit on a side of the vehicle body display unit that corresponds to a direction of the agricultural work unit relative to the traveling vehicle body;
Including,
The control unit causes the agricultural work unit display unit to display a work state in which the agricultural work unit is working and a stop state in which the agricultural work unit has stopped working in different display forms,
a position of the vehicle body display unit relative to the field display unit is fixed, and when the traveling vehicle body travels, a graphic representing a field displayed on the field display unit scrolls or rotates in accordance with a change in the position of the traveling vehicle body;
The agricultural work is a spraying work of spraying a spray material,
The agricultural work unit includes a first spraying unit provided on a first boom extending leftward from the traveling body, and a second spraying unit provided on a second boom extending rightward from the traveling body,
The display unit includes a display device that displays operation switches for operating the first spray unit and the second spray unit to spray a spray material superimposed on the field display unit. A traveling vehicle body having an agricultural work unit for performing agricultural work;
a display device having a display unit that displays a graphic representing the work status of the farm work unit;
Equipped with
An agricultural machine, wherein the display device is the display device according to any one of claims 1 to 7 .

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