JP7664973B2 - Agricultural machinery - Google Patents

Description

The present invention relates to an agricultural machine equipped with a traveling body that can be freely switched between manual driving with manual steering and automatic driving with automatic steering.

Conventionally, this type of agricultural machine has been equipped with a switch that allows the machine to be freely switched between manual and automatic driving (see, for example, Patent Document 1).

JP 2004-201530 A (FIG. 1)

The above agricultural machinery needs to be operated automatically.

Therefore, the object of the present invention is to provide an agricultural machine that can perform automatic operation appropriately.

The present invention is characterized in that the vehicle is provided with a running body capable of automatic steering and a console provided on the running body separately from the meter panel,
The console has an operating tool that can input information necessary for the automatic steering driving, and by performing manual steering driving, a driving route is obtained by a teaching processing unit and a target driving route is set, the console is in an inclined position positioned further forward toward the upper end, the console has an operation panel and an alarm lamp, and the console is positioned forward of the seat with the operation panel and the alarm lamp facing toward the seat .
Another feature of the present invention is that it comprises a running body that can be switched between manual driving by manual steering and automatic driving by automatic steering, a handle for steering the running body, and a changeover switch that can be switched between the manual driving and the automatic driving, and a display device is provided on the running body in an inclined position located forward toward the upper end side of the display device, and the display device is provided separately from a meter panel provided in the center of the running body in the left-right direction, and when in the automatic driving mode, the display device displays that it is in the automatic driving mode, and displays a display indicating a deviation in the driving direction of the running body.
The present invention is characterized in that it comprises a traveling vehicle body capable of switching between manual driving using manual steering and automatic driving using automatic steering, a meter panel, and a display device which indicates that the vehicle is in the automatic driving mode when the vehicle is in the automatic driving mode, the meter panel and the display device being arranged at a distance from each other in the fore-and-aft direction of the vehicle body.
In the above configuration, it is preferable that the meter panel and the display device are provided at a center portion in a width direction of the traveling machine body.
In the above configuration, it is preferable that a front end of the display device is located forward of a front end of the meter panel.
In the above configuration, it is preferable that an upper end of the display device is located higher than an upper end of the meter panel.
In the above configuration, it is preferable that a handle for steering the traveling body is provided, the meter panel is positioned so as to overlap with the handle in a plan view, and the rear end of the display device is positioned forward of the front end of the handle.
In the above configuration, it is preferable that the vehicle is provided with a handle for steering the traveling body and a switching lever for switching the traveling body to the automatic traveling mode, the switching lever extending from the handle post side of the handle toward the grip portion side of the handle.
Another feature of the present invention is that it comprises a running vehicle that can be switched between manual driving by manual steering and automatic driving by automatic steering, a steering wheel for steering the running vehicle, and a changeover switch that can be switched between the manual driving and the automatic driving, the changeover switch being located in a position where it can be operated by the vehicle operator while holding the steering wheel.

According to the present invention, the changeover switch is provided in a position where the vehicle operator can operate it while holding the steering wheel, so that when switching between manual and automatic driving, the operator can use the changeover switch while holding the steering wheel. In other words, because the changeover switch is provided in a position that is very close to the vehicle operator's hand so that the operator can operate it while holding the steering wheel, there is no need to take the trouble of directing one's gaze to the changeover switch to check its position, as was the case in the past.

As a result, the operator can switch between manual and automatic driving using a selector switch without taking his or her hands off the steering wheel, while still looking straight ahead in the direction of travel, and can continue to steer stably even when switching between the two modes.

In the present invention, it is preferable that the changeover switch is an operating lever provided near the handle.

According to this configuration, the changeover switch is configured as an operating lever near the handle, so that the changeover operation can be performed efficiently. That is, in the case of an operating lever, the changeover can be performed by operating the tip end of the lever that extends from the base end of the lever, so that a large moment can be applied to the base end of the lever with a small force by effectively utilizing the length of the lever.
As a result, the operating lever can be easily switched with little force even using the fingertips of the hand gripping the steering wheel, allowing for even more stable and continuous steering operation.

In the present invention, it is preferable that the changeover switch is incorporated into the handle.

According to this configuration, since the changeover switch is incorporated in the handle, the changeover operation can be more easily performed with the fingertips or the like while holding the handle.
Therefore, the steering operation can be continued more stably.

FIG. FIG. FIG. 2 is a front view of the running body of the rice transplanter. This is an oblique view of the front part of the running body of the rice transplanter. FIG. 2 is a schematic diagram of a steering operation system. FIG. 2 is a block circuit diagram of the positioning and automatic steering driving system. FIG. 2 is a diagram showing a monitor section and an operation panel section of the console. FIG. 11 is a side view of a traveling machine body according to another embodiment. FIG. 11 is a front view of a traveling machine body according to another embodiment. FIG. 11 is a front view of a traveling machine body according to another embodiment. FIG. 11 is a perspective view of the front part of the traveling body of another embodiment. 13 is a plan view of a main portion showing an installation state of a changeover switch according to another embodiment. FIG. 13 is a side view of a main portion showing an installation state of a changeover switch according to another embodiment. FIG. FIG. 11 is an overall side view of a rice transplanter according to another embodiment. FIG. 11 is an overall side view of a rice transplanter according to another embodiment.

The following describes an embodiment of the present invention with reference to the drawings. Here, a rice transplanter will be used as an example of an agricultural machine according to the present invention.

[Overall configuration of the rice transplanter]
As shown in Figures 1 to 3, a riding rice transplanter as an agricultural machine is configured by having a driver's seat 3 in the center of a running body A having a pair of left and right front wheels 1 and a pair of left and right rear wheels 2, and a seedling planting device B that can be raised and lowered freely via a link mechanism L that is raised and lowered by the expansion and contraction operation of a hydraulic cylinder 4 at the rear end of the running body A.

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

A lift lever 10 is located on the right side of the driver's seat 3, which raises and lowers the seedling planting device B and engages and disengages the planting clutch C, and a steering wheel (equivalent to a handle) 11, which steers the front wheels 1, is located behind the bonnet 5 and in front of the driver's seat 3. A main speed change lever 12, which sets the driving speed, is provided on the left side of the steering wheel 11, and a forced lift lever 13 is provided on the right side of the steering wheel 11, which forcibly raises and lowers the seedling planting device B and engages and disengages the planting clutch C in conjunction with the raising and lowering.

In this embodiment, the forced lift lever 13 is configured to be oscillated in the up-down and back-and-forth directions. When operated upward, the seedling planting device B rises, and when operated downward, the seedling planting device B descends. Furthermore, when operated downward, the planting clutch C enters an engaged state. When operated forward, the left side of the marker arms 26, which will be described later, assumes the working position, and when operated backward, the right side marker arm 26 assumes the working position.

The seedling planting device B is an example of a paddy field working device, and is configured for eight rows, and includes a transmission case 21 connected to the rear end of the link mechanism L to which the driving force of the transmission shaft 8 is transmitted, multiple ground leveling floats 22, a seedling carrier 23 on which mat-like seedlings are placed, and a rotary planting arm 24 operated by the driving force from the transmission case 21.

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

When the marker arm 26 is set in the operating position shown in Figure 1, the outer circumference of the marker ring 27 comes into contact with the field surface, and as the traveling machine body A rotates as it travels, a concave mark that will be the center of the next travel is continuously formed on the field surface. As a result, by forming a concave mark on the field surface with the marker ring 27, when the traveling machine body A is turned to continue seedling planting work, the center mascot 14 can be steered in a manner that visually aims at the mark on the field surface, making it possible to plant seedlings in the optimal position based on the rows of seedlings already planted.

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

When planting seedlings with this rice transplanter, the lift lever 10 is operated to lower the seedling planting device B to a level where the ground leveling float 22 touches the ground, and the planting clutch C is engaged to allow the traveling machine body A to travel. As a result, while the ground leveling float 22 is leveling the muddy surface at the seedling planting location, the seedling carrier 23 is reciprocated left and right by the driving force transmitted from the traveling machine body A, and during this reciprocating movement, the planting claws of the multiple planting arms 24 cut out a specified amount of seedlings from the bottom ends of the mat-like seedlings placed on the seedling carrier 23 and plant them in the field. Then, if necessary, a concave mark is formed on the field surface by the marker device.

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

In addition, this rice transplanter is also configured so that even when a target driving route has been set, the operator (corresponding to the machine operator) can operate the steering wheel 11 to manually drive the machine (corresponding to manual driving with manual steering) to perform seedling planting work. For this reason, a marker device is provided.

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

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

The work step 17 facilitates the supply of mat-like seedlings to the seedling carrier 23 of the seedling planting device B, and an auxiliary frame 18 is formed along the work step 17, with handrail-like horizontal frame bodies 18B connected to the rear ends of the left and right support frame bodies 18A to support the worker who stands on the work step 17. This auxiliary frame 18 is configured so that the worker can not only hold it, but also stabilize the worker's posture by contacting it with part of the worker's body. The auxiliary frame 18 also functions as a guard for the worker.

At the front of the traveling body A, a vertical frame 31 is positioned vertically outside the left and right boarding and disembarking steps 16, a connecting frame 32 is connected to the upper end of the vertical frame 31, and an auxiliary vertical frame 33, the upper end of which is connected to the middle part of the vertical frame 31 and is positioned parallel to the left and right vertical frames 31, forms a gate-shaped support frame section.

The vertical frames 31 are made of pipe material, and by bending the vertical frames 31, the connecting frames 32 are integrally formed in a form that extends from the upper ends of the vertical frames 31 toward the inside of the vehicle body. The extending ends of each connecting frame 32 are connected to each other with brackets 42, so that the left and right connecting frames 32 are integrated. Note that the left and right vertical frames 31 and the connecting frames 32 that connect them may be constructed from a single member by bending long pipe material.

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

In this rice transplanter, multiple spare seedling carriers 34 are supported by a vertical frame 31 and an auxiliary vertical frame 33 connected to it.

With this configuration, the multiple spare seedling carriers 34 arranged on the left and right, the left and right vertical frames 31, and the auxiliary vertical frames 33 are positioned outside the boarding and disembarking steps 16, so that there is no hindrance to the movement of workers on the boarding and disembarking steps 16.

[Meter panels]
As shown in Figure 4, a meter panel 36 is disposed at the rear end of the bonnet 5, in front of the steering wheel 11. The meter panel 36 is configured to display work information by including a backlit liquid crystal display and multiple indicator lamps. The liquid crystal display displays the hour meter, the status of the automatic planting clutch, the remaining fuel, the temperature of the cooling water, etc. Additionally, multiple indicator lamps are provided, such as an oil shortage lamp, a charge lamp, a seedling shortage lamp, a planting indicator lamp, a fringe clutch lamp, and a marker lamp.

The meter panel 36 may be configured to have only a liquid crystal display device and display all work information on the liquid crystal display device. It may also be configured to have an indicator with a pointer that moves in addition to a lamp.

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

A connecting plate 40 is provided to connect to the left and right side frame bodies 37A of this console support frame 37, and the upper end of this connecting plate 40 is bent so as to protrude in the direction of the driver's seat 3, forming an eaves portion 41 integrally. The console D is formed in a box shape and is supported by the connecting plate 40. Due to this support form, the eaves portion 41 protrudes from above the console D in the direction of the driver's seat 3. Incidentally, the left and right sides of the console D are not provided with anything that functions as a sunshade, but the left and right sides of the console D may be provided with eaves portions 41. This makes it possible to block sunlight that shines on the monitor unit 38 from the side.

When viewed from the front-rear direction, the console D is positioned within the width of the bonnet 5 and the width of the steering wheel 11, and the bottom end of the monitor section 38 is positioned above the top end of the steering wheel 11. In addition, because the console support frame 37 is formed in the inclined position described above, the monitor section 38 of the console D can be easily viewed and information can be reliably grasped by lowering one's line of sight slightly from the front during work, and the console D does not obstruct the view of the center mascot 14.

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

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

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

As shown in FIG. 6, the receiving unit 45 incorporates an antenna 45A that receives radio signals from multiple positioning satellites, a magnetic compass 45B that detects direction from geomagnetism, and a gyro sensor 45C that uses inertia to detect changes in the attitude of the running vehicle A. In this configuration, the receiving unit 45 is positioned at the front position of the running vehicle A (particularly, forward of the front wheel 1), so when the running vehicle A changes its direction of travel, the amount of lateral displacement is greater than at the rear end of the running vehicle A, and changes in position information can be detected with high sensitivity (see FIGS. 1 and 2).

The steel material that constitutes the rice transplanter may become partially magnetized during manufacturing or processing. For example, if the connecting frame 32 becomes magnetized, magnetism may act from the connecting frame 32 to the magnetic compass 45B, reducing the accuracy of detecting the earth's magnetic field. For this reason, a non-magnetic material with a specified thickness is used as the support member 44 to increase the distance between the connecting frame 32 and the magnetic compass 45B and suppress the influence of magnetism. In addition to synthetic rubber, it is also possible to use a material with vibration-proofing properties such as urethane foam as the support member.

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

The control unit 47 includes a teaching processing unit 47A, which is configured by software, a driving route determination unit 47B, and a driving control unit 47C. This control unit 47 outputs information to the monitor unit 38 and acquires information from the touch panel 38A. This control unit 47 also outputs control information to the steering control unit 48.

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

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

A drive gear 54 is fixed near the lower end of the steering shaft 51, and a steering control motor 56 is provided to drive a pinion gear 55 that meshes with the drive gear 54. In addition, a rotary encoder 57 that measures the amount of rotation is provided at the lower end of the steering shaft 51.

In addition, this steering operation system is configured to make effective use of the inside of the bonnet 5 by providing a steering control motor 56 at the front and side of the steering shaft 51, and to avoid creating a space that protrudes below the driver's seat 3.

This rice transplanter is configured so that the operator manually steers the rice transplanter between one ridge of the field and the other ridge, and the travel route during this travel is acquired by the teaching processing unit 47A of the control unit 47, and a target travel route is generated and stored from this travel route.

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

Incidentally, switching between manual steering driving and automatic steering driving can be performed by a push-type changeover switch 49 provided on the steering wheel 11, as shown in Figures 1, 2 and 4. Each time the changeover switch 49 is pressed, manual steering driving and automatic steering driving are alternately switched.
4, the steering wheel 11 is configured with an annular grip portion 11A located on the outer periphery and a hub portion 11B that integrally connects the grip portion 11A with a steering shaft 51 in the center. The changeover switch 49 is provided on the hub portion 11B and is located at a position where it can be pressed with, for example, the thumb when the grip portion 11A is held in the hand.

Furthermore, when the traveling vehicle A is automatically steered to travel along a target traveling route, the operator can operate the steering wheel 11 to correct the traveling route.
In addition, the control form of the driving path determination unit 47B is set so that first, the driving body A is caused to drive along a target driving path adjacent to the driving path (the path first traveled by manual steering driving), and then the driving body A is caused to drive along the target driving path adjacent to this.

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

In this automatic steering driving screen, a target driving route line 103 is displayed in the center of the screen in the left-right direction, and an icon 104 representing the driving vehicle A is displayed in the center of the screen. A declination line 105 indicating the deviation angle (declination) of the driving direction of the driving vehicle based on this icon 104, and an indicator section 106 indicating the amount of deviation in degrees are also displayed.

A deviation display section 107 that displays the deviation (deviation) of the traveling vehicle A from the target traveling route, and a speed display section 108 are formed on the upper part of the monitor section 38. The deviation display section 107 displays a numerical value indicating the deviation amount, and a bar graph section that visually displays the deviation amount. The speed display section 108 displays the traveling speed of the traveling vehicle A as a numerical value. In addition, the display form is set so that the relative angle between the target traveling route line 103 and the icon 104 changes when a steering operation is performed.

As a result, when automatic steering driving is performed, the system is started by operating the operation switch 39A on the console D, and the system is switched to a state where teaching is possible by operating the operation switch 39A or the setting button 101. By performing manual steering driving, the driving route is acquired by the teaching processing unit 47A and the target driving route is set. After this, by switching to automatic steering driving mode by operating the changeover switch 49, the screen of Figure 7 described above is displayed on the monitor unit 38, and automatic steering driving along the target driving route becomes possible.

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

In this way, when the rice transplanter selects automatic steering travel with the target travel route set, radio signals from a positioning satellite are received, the error between the target travel route and the current position of the traveling body A is determined, and automatic steering travel is performed to control in a direction to reduce this error, eliminating the need for the operator to operate the steering wheel 11. This allows the operator to replenish seedlings without stopping the traveling body A, improving work efficiency compared to a work style in which seedlings are replenished by stopping the traveling body A.

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

[Actions and Effects of the Embodiments]
According to the rice transplanter of this embodiment, when switching between manual steering travel and automatic steering travel, the operator can use the changeover switch 49 to perform the switching operation while holding the grip portion 11A of the steering wheel 11.
Therefore, the operator can switch between manual and automatic driving using the changeover switch 49 without taking his/her eyes off the road ahead and without taking his/her hands off the steering wheel 11, and can continue to stably operate the steering wheel even when performing the switching operation.

In addition, because the changeover switch 49 is built into the steering wheel 11, the changeover operation can be performed more easily with the fingertips, etc., even while holding the grip portion 11A, allowing for even more stable and continuous steering operation.

[Another embodiment]
Other embodiments will be described below.

〈1〉 In the previous embodiment, the agricultural machine was described as being configured to provide protection for the machine operator by providing an auxiliary frame 18, but it may also be configured, for example, to provide a signal line between the machine operator and the running machine A, and to stop the running machine A if the signal line is cut or disconnected, or if a large tension is applied to the signal line, or some other phenomenon occurs.

The stopping of the traveling vehicle A can be performed, for example, by a fuel cut solenoid.
In addition to the above-mentioned movements of the machine operator, the traveling machine A may be configured to stop when, for example, the traveling machine A climbs up onto a ridge or approaches the ridge too close during automatic traveling, or when the traveling machine A meanders. This is effective when, during automatic traveling, the machine operator leaves the driver's seat on the traveling machine A to supply seedlings to the seedling tray at the rear.

In particular, a situation in which the operator is not sitting in the driver's seat can be detected more accurately by providing, for example, a seating sensor, and the result can be reflected in each control.
In addition, instead of stopping the traveling machine body A, an alarm or the like may be used to notify the user, or in addition to stopping the traveling machine body A, an alarm or the like may be used to notify the user.

〈2〉 Because there is concern that the battery voltage may temporarily drop when the engine 6 is started, the agricultural machine may be configured to delay the start of power supply to the meter panel, console D, positioning/automatic steering driving system, etc. for a predetermined time (e.g., several seconds) after the engine is started, when it is assumed that the battery voltage will stabilize. This configuration makes it possible to avoid problems such as the voltage supplied to the meter panel, console D, positioning/automatic steering driving system, etc. falling below the minimum drive voltage and causing the system to shut down. However, this does not apply when the meter panel, console D, positioning/automatic steering driving system, etc. are equipped with batteries in addition to the drive system battery.

<3> The support frame portion supporting the receiving unit 45 is not limited to that described in the previous embodiment, and for example, as shown in Figures 8 and 9, when a canopy 60 is provided to cover the upper part of the driver's seat 3, a gate-shaped support frame portion 61 may serve as the support frame portion 61. In this embodiment, the canopy 60 and the receiving unit 45 are supported on a top portion 61a of the support frame portion 61.
In this support frame portion 61, the left and right support pillars 61b that rise from the running body A are erected at locations close to the bonnet 5 and are provided with high rigidity, thereby enabling the receiving unit 45 to be stably supported.

The lower end of the vertical frame 31 supporting the spare seedling platform 34 may be configured as a double-cylinder structure with the inside and outside overlapping in the radial direction, with the lower end both fixed to the traveling body A, as shown in FIG. 10. In this case, the outer cylinder 31B is configured to support the spare seedling platform 34, and the inner cylinder 31C can be configured as a gate-shaped support frame section that extends upward and is connected by the connecting frame 32. This configuration can prevent vibrations caused when seedlings are raised or lowered onto the spare seedling platform 34 from being transmitted to the receiving unit 45 via the support frame section, allowing for more accurate positioning measurements.

In addition, a mechanism can be incorporated into the outer tube 31B that allows the spare seedling carrier 34 to slide or rotate around the tube axis, making the spare seedling carrier easier to use.

〈4〉 The changeover switch 49 is not limited to a common changeover switch 49 that can perform both switching from manual driving to automatic driving and vice versa, but may be configured so that the changeover switch 49 acts only to switch from manual driving to automatic driving. In this case, the positioning and automatic steering driving system may be configured so that switching from automatic driving to manual driving is linked to manual operation of the steering wheel 11.

Also, a changeover switch 49 for switching from manual driving to automatic driving and a changeover switch 49 for switching from automatic driving to manual driving may be provided separately.
In either case, it is particularly preferable that the changeover switch 49 for switching from manual driving to automatic driving be provided in a location where the operator can operate it while holding the steering wheel 11.

Moreover, the changeover switch 49 itself is not limited to the push type provided on the handle 11 described in the previous embodiment. For example, as shown in Fig. 11, it may be configured as an operating lever provided in a state in which it protrudes from the steering shaft 51 side in a position near the lower part of the handle 11 to a position near the lower part of the grip portion 11A.
In the case of an operating lever, switching can be performed by operating the tip of the lever that extends from the base end of the lever, so the length of the lever can be effectively used to apply a large moment to the base end of the lever with a small force for switching operation. As a result, the operating lever can be easily switched with a small force even with the fingertips of the hand gripping the handle 11, and stable handle operation can be continued.

Also, as shown in Figures 12 and 13, an operating lever serving as a changeover switch 49 may be provided protruding to the left from the steering shaft 51 side near the bottom of the handlebars 11, and the forced lift lever 13 may be provided protruding to the right from the steering shaft 51 side. In this case, both levers can be easily operated with little force by the fingertips of each hand gripping the handlebars 11.

In addition to being configured as a dedicated operation lever for the changeover switch 49, the operation lever may be configured as a dual-purpose operation lever that incorporates the function of the changeover switch 49 into one function of an operation lever provided for other switching operations. In this case, for example, the operation lever can be configured so that different functions can be used depending on the multiple operating directions (e.g., up, down, left, right, etc.) of the operation lever.

<5> In the above embodiment, the auxiliary frame 18 is provided on the side of the backrest of the driver's seat 3 and behind the driver's seat 3, but the present invention is not limited to this configuration.
14, two side frame bodies 18C formed so as to be detachable across the support frame body 18A and the rear frame 33A may be provided separately on both sides of the driver's seat 3. With this auxiliary frame 18, the periphery of the driver's seat 3 can be protected over a wide area.

Also, as shown in FIG. 15, the side frame body 18C may be configured to protrude forward from the support frame body 18A to guard the side of the seating area of the driver's seat 3. In this embodiment, there is no need to remove the side frame body 18C when ascending or descending to the driver's step 15 or auxiliary step 15A. Also, compared to the one in FIG. 14, the number of mounting parts at the end of the side frame body 18C is fewer, so it can be easily attached and detached.

As mentioned above, the symbols are used for ease of comparison with the drawings, but the present invention is not limited to the configurations shown in the attached drawings. Furthermore, it goes without saying that the present invention can be embodied in various forms without departing from the spirit of the invention.

The agricultural machine is not limited to one that uses the positioning system described in the previous embodiment for automatic steering, but can also be used for one that uses a different type of positioning system. In the case of a rice transplanter, the target may be a seeding machine equipped with a seeding device at the rear end of the traveling body instead of a seedling planting device, and further, it can also be used in other agricultural machines.

11 Steering wheel (equivalent to a steering wheel)
49 Changeover switch A Running machine body D Console (corresponding to display device)

Claims (3)

A traveling body capable of automatic steering and traveling;
A console is provided on the traveling machine body separately from the meter panel,
The console has an operation tool capable of inputting information necessary for the automatic steering driving,
A driving route is acquired by the teaching processing unit by performing manual steering driving, and a target driving route is set;
The console is in an inclined position, with the upper end positioned forward,
The console has an operation panel and a notification lamp,
The console is disposed forward of the seat with the operation panel and the notification lamp facing the seat . The agricultural machine according to claim 1, wherein the console can be switched to a maintenance mode by operating an operating tool provided on the console. The agricultural machine according to claim 1 or 2, further comprising, inside the console, at least one of the teaching processing unit, a travel path determination unit that determines an error between the target travel path and the position of the traveling machine body, and a travel control unit that controls steering.

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