Title of Invention: Work Machine
Technical field
[0001]
　TECHNICAL FIELD The present invention relates to a working machine such as a ride-on rice transplanter and a ride-on direct seeder.
Background technology
[0002]
　In a riding-type rice transplanter, which is an example of a working machine, as disclosed in Patent Document 1, a synthetic resin roof is supported by a support frame that extends upward from the machine body, and the roof serves as a driver's seat. Some are configured to cover the upper part of the fuselage, including
[0003]
　In addition, as disclosed in Patent Document 2, there is a work machine (agricultural work machine) that travels in a field, which is a work site, to perform work while automatically traveling along a preset travel route. Such a work machine travels along a preset travel route in a work site while identifying the vehicle position during travel by means of satellite signals.
[0004]
　Furthermore, as shown in Patent Literature 3, there is also a work machine that creates a fertilization plan map and determines the amount of fertilizer to be applied to each area in the work area based on the fertilization plan map.
prior art documents
patent literature
[0005]
Patent Document 1: JP-A-2014-150749
Patent Document 2: JP-A-2017-184640
Patent Document 3: JP-A-2019-176801
SUMMARY OF THE INVENTION
Problems to be Solved by the Invention
[0006]
　As in Patent Document 1, if the roof covers the airframe including the driver's seat, the roof becomes relatively large. As a result, for example, when a strong wind blows under the roof, the roof is lifted up, so there is room for improvement in terms of preventing damage to the roof.
[0007]
　A first object of the present invention is to prevent the roof from being damaged when a strong wind blows under the roof in a work machine provided with a roof that covers the upper side of the machine body including the driver's seat.
[0008]
　If the work machine deviates from the intended work site, the work machine may collide with a ridge or the like, or may perform unnecessary work on an adjacent work site. Therefore, it is required to detect whether or not the work machine is present in the work area with higher accuracy.
[0009]
　A second object of the present invention is to accurately detect whether or not a working machine exists within a work area.
Means to solve problems
[0010]
　In order to achieve the first object, a working machine according to an embodiment of the present invention includes a driver's seat supported by a machine body, a support frame extending upward from the machine body, and the driver's seat. a roof supported by the support frame to cover the upper side of the fuselage, the roof having an opening oriented along the upper surface of the roof and an area below the roof; and a communication path for communicating with the opening.
[0011]
　According to such a configuration, for example, when strong wind blows into the lower side of the roof, a state can be obtained in which part of the strong wind passes through the communication passage of the roof and escapes through the opening to the upper side of the roof. As a result, the state in which the roof is lifted is weakened, which is advantageous in terms of preventing damage to the roof.
[0012]
　According to such a configuration, the opening of the roof faces in a direction along the upper surface of the roof and does not face upward. As a result, in rainy weather, rainwater is less likely to enter the opening of the roof, and rainwater is less likely to fall from the opening of the roof to the fuselage through the communication passage.
[0013]
　In the present invention, the roof is supported by the support frame and the opening faces forward so that the front portion of the roof is lower than the rear portion of the roof when viewed from the side. and is suitable.
[0014]
　According to such a configuration, for example, when a strong wind blows from the front side toward the fuselage, the roof is in a state of being pushed downward due to the forward tilting posture of the roof, and part of the strong wind can pass through the opening of the roof to the underside of the roof, which is advantageous in terms of preventing damage to the roof.
[0015]
　For example, when a strong wind blows from the rear side toward the fuselage, the strong wind blows to the lower side of the roof because the roof is tilted forward. However, since it is possible to obtain a state in which part of the strong wind passes through the connecting passage of the roof and escapes from the opening to the upper side of the roof, the state in which the roof is lifted is weakened, which is advantageous in terms of preventing damage to the roof. .
　In this case, since the roof opening faces forward, which is the direction along the upper surface of the roof, if a strong wind blows from the rear toward the fuselage as described above, part of the strong wind will be blown into the roof. This is advantageous in terms of preventing damage to the roof since it can be smoothly pulled out from the opening in the forward direction.
[0016]
　In the present invention, a plurality of divided roof portions are provided on the roof so that they are arranged side by side in the front-rear direction, and in the roof portion adjacent in the front-rear direction, the rear portion of the front roof portion is provided. the rear part of the front roof part and the front part of the rear roof part are arranged so as to be located below the front part of the rear roof part, and the front part of the roof part In the portion where the rear part overlaps the front part of the rear roof part, a part is provided in which the rear part of the front roof part and the front part of the rear roof part are separated from each other in the vertical direction. It is preferable that the communication path is provided.
[0017]
　According to such a structure, since a plurality of divided roof portions are provided and one roof portion is relatively small, the roof portion is easy to handle and easy to manufacture. become a thing. This is advantageous in terms of improving productivity compared to a structure that handles a large roof that is not divided into a plurality of roof portions.
[0018]
　According to such a configuration, when a plurality of divided roof portions are provided as described above, in the roof portions adjacent in the longitudinal direction, the rear portion of the front roof portion and the front portion of the rear roof portion are separated. are superimposed on each other, and the rear portion of the front roof portion and the front portion of the rear roof portion are vertically separated from each other to provide an opening and a communication passage in the roof.
　In this case, the front roof section is superimposed such that the rear section is positioned under the front section of the rear roof section, so that a forward facing roof opening is easily constructed.
[0019]
　As previously mentioned, when the rear of the front roof section is stacked under the front of the rear roof section, the rear of the front roof section is supported in a forward leaning position. Even if rainwater enters between the rear roof portion and the front portion of the rear roof portion, the rainwater rarely reaches the rear end portion of the front roof portion and falls into the fuselage.
[0020]
　In the present invention, it is preferable that a cushioning material is provided between the rear portion of the front roof portion and the front portion of the rear roof portion.
[0021]
　According to such a configuration, even if the front roof portion and the rear roof portion vibrate due to the vibration of the aircraft during running, the collision between the rear portion of the front roof portion and the front portion of the rear roof portion will not occur. Since it is suppressed by the cushioning material, the collision noise between the rear portion of the front roof portion and the front portion of the rear roof portion is suppressed.
[0022]
　In the present invention, a first support frame supporting one of the front and rear parts of the roof and a second support frame supporting the other of the front and rear parts of the roof are provided, A positioning unit that outputs positioning data indicating the position of the aircraft based on positioning signals is supported by the first support frame so that it is positioned at the same height as one of the front and rear parts of the roof in a side view. It is preferable that
[0023]
　The work equipment is equipped with a positioning unit that outputs positioning data indicating the position of the aircraft based on positioning signals from navigation satellites. may be configured to be
[0024]
　According to such a configuration, the positioning unit is supported by the first support frame in the first and second support frames that support one and the other of the front and rear parts of the roof. It is used both for supporting the roof and for supporting the positioning unit, which is advantageous in terms of structural simplification.
[0025]
　According to such a configuration, the positioning unit is supported so as to be positioned at the same height as one of the front and rear parts of the roof when viewed from the side. The positioning unit and the roof are compactly supported without protruding to the side.
[0026]
　In the present invention, it is preferable that a concave portion into which the positioning unit can be inserted in plan view is provided in one of the front portion and the rear portion of the roof.
[0027]
　With such a configuration, the positioning unit does not protrude significantly forward from the front part of the roof (because the positioning unit does not protrude significantly rearward from the rear part of the roof). Compactly supported.
[0028]
　In the present invention, it is preferable that the lateral width of the concave portion is set larger than the lateral width of the positioning unit.
[0029]
　In addition to being equipped with the positioning unit, the work machine may be equipped with another device for communication or the like.
　According to such a configuration, since the horizontal width of the concave portion of the roof is set to be larger than the horizontal width of the positioning unit, another device in addition to the positioning unit is attached to the support frame so as to enter the concave portion of the roof. Easy to support.
[0030]
　In the present invention, a connection mechanism capable of connecting and disconnecting the first support frame and the roof, a working position in which the first support frame and the roof can be connected by the connection mechanism, and the connection a support mechanism capable of repositionably supporting the roof on the second support frame over a non-working position spaced apart from the positioning unit in the longitudinal direction when the mechanism is released; over a first working height at which the first support frame and the roof are connectable by the connecting mechanism, and a first non-working height lower than the first working height, a first height changing mechanism capable of changing the height of the first support frame; and a connecting mechanism capable of connecting the first support frame and the roof with the roof positioned at the working position. a second height varying mechanism capable of varying the height of the second support frame over a second working height and a second non-working height lower than the second working height; and is suitable.
[0031]
　According to such a configuration, for example, when the work machine is placed on the bed of a truck and transported, or when the work machine is stored in a warehouse or the like, the first and second operations are performed by performing the operation described below. Support frames, positioning units and roof heights can be reduced.
[0032]
　When performing normal work with the work implement, the first and second support frames are set to the first working height and the second working height, the roof is set to the working position, and the roof is set to the second working position by the coupling mechanism. 1 supporting frame.
[0033]
　In the aforesaid state, the connecting mechanism is operated to the disengaged state to disengage the roof from the first support frame. That is, the height of the first support frame is changed from the first working height to the first non-working height lower than the first working height by the first height changing mechanism. The positioning unit supported on the is also set at a low position together with the first support frame.
[0034]
　Further, the height of the second support frame is changed from the second working height to a second non-working height lower than the second working height by the second height changing mechanism. The roof, which is supported on the base, is also set at a low position together with the second support frame.
　At this time, the roof is separated from the first support frame by setting the roof to the non-working position by the support mechanism.
[0035]
　As described above, the heights of the first and second support frames, the positioning unit, and the roof can be lowered. can be easily stored.
[0036]
　In the present invention, a right front and rear drainage channel with a concave cross section is provided along the front and rear direction on the right part of the upper surface of the roof, and a left front and rear drainage channel with a concave cross section is provided on the left part of the upper surface of the roof in the front and rear direction. A plurality of left and right drainage channels having a concave cross section are provided along the upper surface of the roof in the horizontal direction and connected to the front and rear drainage channels, and rainwater is drained from the right and left front and rear drainage channels. It is preferred that
[0037]
　According to such a structure, the front and rear drainage channels and the left and right drainage channels are provided on the upper surface of the roof, and rainwater is mainly drained from the front and rear drainage channels.
　In this case, the front and rear drainage channels with a concave cross section and the left and right drainage channels with a concave cross section are arranged on the upper surface of the roof so as to intersect each other, so that the front and rear drainage channels and the left and right drainage channels function as reinforcements for the roof. , can improve the rigidity of the roof.
[0038]
　In the present invention, it is preferable that the working device is supported at the rear part of the machine body and rainwater is drained from the front part of the right and left front and rear drainage channels.
[0039]
　In working machines such as riding-type rice transplanters and riding-type direct seeders, working machines such as a seedling planting device, a seeding device, and a fertilizing device are often supported at the rear part of the machine body.
　According to the above configuration, since rainwater is drained from the front portions of the front and rear drainage channels on the right and left sides of the roof, rainwater from the front and rear drainage channels rarely splashes on the working device.
　By draining rainwater from the front of the front and rear drainage channels on the right and left sides of the roof, less rainwater falls from the left and right center of the front of the roof. Advantageous.
[0040]
　In order to achieve the second object, a work machine according to one embodiment of the present invention is a work machine that works and travels on a work site according to a work instruction value, and is a work machine that receives a satellite signal from a satellite. An antenna, a satellite positioning module that outputs positioning data corresponding to the position of the vehicle based on the satellite signal, and the work instruction value is input for each section divided into a mesh in correspondence with the work site. a storage unit for storing a work plan map; and vehicle position determination for determining whether or not the vehicle position is within the work area according to the work instruction value input to the section corresponding to the vehicle position. and a part.
[0041]
　A work machine that specifies its own vehicle position based on a satellite signal from a satellite travels for work while confirming its own vehicle position in the work area by associating the work area map or the like with the own vehicle position. Even in such a work machine, there are cases where the work machine deviates from the work place and travels due to a defect in the work place map, a malfunction of a positioning unit such as a satellite antenna, an error in detecting the position of the vehicle, or the like.
[0042]
　In the above configuration, it is confirmed which section of the work plan map the vehicle position corresponds to, and based on the work instruction value input to that section, it is determined whether or not the vehicle position is within the work area. Therefore, in addition to confirming the vehicle position corresponding to the work area map, etc., it is possible to determine whether the vehicle is located within the work area based on the work instruction value entered in the section corresponding to the vehicle position on the work plan map. By determining whether or not the position of the vehicle is within the work area, it can be double checked. As a result, even if there is a problem with the work site map or if there is some error in the vehicle position, it is possible to accurately confirm whether or not the vehicle is located within the work site.
[0043]
　Further, the work instruction value includes a non-work value for not performing work, and the vehicle position determination unit determines that the vehicle position is outside the work area when the work instruction value is the non-work value. You can judge that there is.
[0044]
　With such a configuration, the work instruction value for determining that the vehicle position is outside the work area is clarified, and it is possible to more easily determine whether or not the vehicle position is within the work area. It is possible to accurately confirm whether or not the position is within the work area.
[0045]
　The map correction unit corrects the work plan map, wherein the work instruction value for performing the work is a work value within a predetermined range larger than the non-work value, and the map correction unit corrects the outer circumference position of the work site. The work place map shown can be referred to, and the map correction unit may correct the work value of the section corresponding to the outer circumference position to a value between the non-work value and the work value.
[0046]
　With such a configuration, it can be easily confirmed from the work instruction value input to the section corresponding to the position of the vehicle that the vehicle is traveling in the vicinity of the outer peripheral area of ​​the work site such as the ridge. As a result, when traveling in the vicinity of the outer peripheral area of ​​the work site such as a ridge, it can be used as a trigger for appropriate travel, and it is possible to easily avoid deviating from the work site.
[0047]
　Moreover, it is preferable to provide a notification unit that issues a warning when the vehicle position determination unit determines that the vehicle position is outside the work area.
[0048]
　With such a configuration, the driver and the worker can recognize that the vehicle is located outside the working area, which can be used as an opportunity to take appropriate measures.
[0049]
　Further, the vehicle position determination unit may determine that the vehicle position is outside the work area, and a notification unit that issues a warning when the vehicle is in a working state.
[0050]
　During work travel, there may be cases where the worker deviates from the work area to replenish materials or fuel, and there is no problem with this travel. Traveling outside the working area poses a problem when the work continues even though the vehicle is traveling outside the working area. When working outside the working area, the working device collides with a ridge or the like and is damaged, or improper work is performed on the adjacent working area.
[0051]
　According to the above configuration, since the warning is issued only after deviating from the work area while traveling for work, unnecessary warnings can be suppressed and only more appropriate warnings can be issued. As a result, appropriate countermeasures can be taken in response to an appropriate warning, and work traveling can be efficiently performed.
[0052]
　Further, a predetermined standard work value is set as the work instruction value, and if the work state continues after the warning is issued, the work may be performed with the standard work value.
[0053]
　In situations where it is necessary to continue working travel even if the vehicle deviates from the work site, there are many cases in which a predetermined specific work is performed. According to the above configuration, the standard work value for such a specific work is determined in advance, and when the work travels outside the work area, the work can be automatically performed with the standard work value. Work travel can be performed effectively.
[0054]
　Further, the work related to the work travel may be fertilization work, and the work instruction value may be the amount of fertilizer to be applied.
[0055]
　With such a configuration, it is possible to accurately determine whether or not the vehicle is located within the work area even during work travel during fertilization work.
Brief description of the drawing
[0056]
[Fig. 1] Fig. 1 is a left side view of a riding-type rice transplanter.
[Fig. 2] Fig. 2 is a plan view of a riding-type rice transplanter.
[Fig. 3] Fig. 3 is a front view of the riding-type rice transplanter.
[Fig. 4] Fig. 4 is an exploded perspective view of a preliminary seedling placement frame, a support frame, a positioning unit, etc. in the front part of the machine body.
[Fig. 5] Fig. 5 is an exploded perspective view of a support frame, a frame-like portion of a roof, etc. in the rear part of the fuselage.
6 is a cross-sectional plan view of a second height changing mechanism; FIG.
7 is a cross-sectional plan view of the support mechanism; FIG.
8 is a perspective view of a roof; FIG.
9 is a vertical cross-sectional left view of the roof. FIG.
10 is an exploded perspective view of the roof; FIG.
[Fig. 11] The preliminary seedling loading frame and support frame at the front of the fuselage are set to the first working height, the support frame at the rear of the fuselage is set to the second working height, and the roof is set to the working position. Fig. 3 is a left side view of the folded state;
[Fig. 12] The preliminary seedling cradle frame and support frame at the front of the fuselage were set to the first non-working height, the support frame at the rear of the fuselage was set to the second non-working height, and the roof was removed. It is a left side view of a state.
[Fig. 13] The preliminary seedling cradle frame and support frame at the front of the machine body are set at the first non-working height, the support frame at the rear of the machine body is set at the second non-working height, and the roof is at the non-working position. is a left side view of the state set to .
14 is a side view of a rice transplanter that is an example of an agricultural work machine capable of automatically traveling; FIG.
15 is an explanatory diagram showing the area division of a field in which travel routes are set; FIG.
[Fig. 16] Fig. 16 is an explanatory diagram for explaining a circular running route set in the outer peripheral area and running of the rice transplanter.
[Fig. 17] Fig. 17 is an explanatory diagram for explaining the reciprocating travel route set in the central area and the travel of the rice transplanter.
18 is a functional block diagram showing a control system of the rice transplanter; FIG.
19 is a diagram exemplifying a fertilization plan map; FIG.
MODE FOR CARRYING OUT THE INVENTION
[0057]
(Embodiment 1)
　FIGS. 1 to 13 show a riding-type rice transplanter as an example of a working machine. 1 to 13, F indicates the forward direction, B indicates the rearward direction, U indicates the upward direction, D indicates the downward direction, R indicates the right direction, and L indicates the left direction. .
[0058]
(Overall Configuration of Ride-on Rice Transplanter)
　As shown in FIGS. 1 and 2, the ride-on rice transplanter has a link mechanism at the rear of a machine body 11 having right and left front wheels 1 and right and left rear wheels 2. 3 and a hydraulic cylinder 4 for lifting and lowering the link mechanism 3. A seedling planting device 5 (corresponding to a working device) is supported at the rear of the link mechanism 3, and the seedling planting device 5 is supported at the rear of the machine body 11. It is
[0059]
　In the seedling planting device 5, a planting transmission case 6 arranged at a predetermined interval in the left-right direction, a rotating case 7 rotatably supported on the right and left parts of the planting transmission case 6, and a rotating case 7 A planting arm 8 supported at both ends, a float 9, a seedling platform 10, and the like are provided.
[0060]
　A fertilizing device 12 (corresponding to a working device) is supported over the rear part of the machine body 11 and the seedling planting device 5. The fertilizing device 12 includes a hopper 13, a feeding unit 14, a blower 15, a groover 16 and a hose. 17 etc. are provided.
[0061]
　A driver's seat 18 is supported at the rear of the fuselage 11 . In the fertilizing device 12, a hopper 13 for storing fertilizer and a feed-out section 14 are provided on the rear side of the operator's seat 18 in the body 11, and a blower 15 is provided on the left laterally outside of the feed-out section 14. . A grooving device 16 is attached to the float 9 , and a hose 17 is connected across the feeding portion 14 and the grooving device 16 .
[0062]
　In the seedling planting device 5 , the seedling tray 10 is driven to reciprocate and laterally feed, while the planting arm 8 (rotary case 7 ) is rotationally driven. Take it out and plant it in the field.
[0063]
　In the fertilizing device 12, the fertilizer from the hopper 13 is delivered by the delivery portion 14, and is supplied to the grooving device 16 through the hose 17 by the conveying air of the blower 15, and the grooving device 16 forms grooves on the paddy surface. Fertilizer is supplied from the ditch making device 16 to the ditch of the paddy field.
[0064]
(Construction of the front part of the machine body)
　As shown in Figs. A steering handle 20 for steering operation is provided at the rear portion of the bonnet 19 . Right and left steps 21 for getting on and off are provided on the right and left sides of the bonnet 19 .
[0065]
　The right and left spare seedling placement frames 22 (corresponding to the first support frame) are connected to the lower front portion of the machine body 11 and extend laterally outward, and the laterally outer sides of the right and left steps 21 are placed upward. has been extended to The preliminary seedling loading base frame 22 is configured in an arch shape (bifurcated shape) in a side view, and three preliminary seedling loading bases 23 are supported by the preliminary seedling loading base frame 22 .
[0066]
　Of the three spare seedling mounts 23, the center spare seedling mount 23 is supported by a spare seedling mount frame 22, and the front spare seedling mount 23 is in front of the central spare seedling mount 23. It is supported so as to be swingable in the front-rear direction, and a rear spare seedling placement table 23 is supported so as to be swingable in the front-rear direction at the rear part of the central spare seedling placement table 23. - 特許庁
[0067]
　In the states shown in FIGS. 1, 2 and 3, the front spare seedling placement table 23 is operated rearward with respect to the central spare seedling placement table 23, and the rear spare seedling placement table 23 is operated forward. The front and rear spare seedling mounts 23 are stacked on top of the central spare seedling mount 23 .
[0068]
　From the state shown in FIGS. 1, 2, and 3, the front spare seedling loading base 23 is operated to the front side and the rear spare seedling loading base 23 is operated to the rear side with respect to the central preliminary seedling loading base 23. Thus, the three spare seedling placement tables 23 can be set in a state in which they are spread out in a line.
[0069]
(Structure of First Support Frame in Front of Airframe)
　As shown in FIGS. 1 to 4, an arch-shaped support frame 24 (corresponding to the first support frame) is provided when viewed from the front. The support frame 24 is formed by bending a round pipe, and is provided with a horizontal portion 24a extending in the left-right direction, right and left vertical portions 24b, and right and left front-back portions 24c.
[0070]
　Channel-shaped brackets 22a are connected to the upper portions of the right and left spare seedling placement frames 22, and the ends of the front-rear portions 24c of the support frames 24 swing about the axis P1 along the left-right direction. It is supported by the bracket 22a of the frame 22 for placing the preliminary seedling as possible.
[0071]
　The states shown in FIGS. 1, 2, 3, and 11 are states in which the support frame 24 (vertical portion 24b) faces upward with respect to the bracket 22a of the preliminary seedling loading frame 22. and the support frame 24 is set at the first working height H11. The support frame 24 can be fixed at the first working height H11 by attaching a fixing member (not shown) across the bracket 22a of the preliminary seedling rest frame 22 and the front-rear portion 24c of the support frame 24. can.
[0072]
　By removing the fixing member and swinging the support frame 24 rearward around the axis P1, the vertically oriented portion 24b of the support frame 24 faces downward as shown in FIGS. The seedling rest frame 22 and support frame 24 can be set at a first non-working height H12 that is lower than the first working height H11.
[0073]
　At the first non-working height H12, the vertical portion 24b of the support frame 24 hits the rear portion of the preliminary seedling placement frame 22, so the support frame 24 cannot swing forward from the state shown in FIGS. . The support frame 24 can be fixed at the first non-working height H12 by attaching the removed fixing member across the bracket 22a of the preliminary seedling placement frame 22 and the front-rear portion 24c of the support frame 24.
[0074]
　As described above, the first height changing mechanism 31 is provided to change the height of the preliminary seedling placement frame 22 and the support frame 24 over the first working height H11 and the first non-working height H12. there is The first height changing mechanism 31 is provided with the bracket 22a of the preliminary seedling support frame 22, the front-rear portion 24c of the support frame 24, fixing members, and the like.
[0075]
(Construction of Positioning Unit)
　As shown in FIGS. 1 to 4, the positioning unit 25 is attached to the laterally facing portion 24a of the support frame 24 at the center of the lateral direction. As described above (Configuration of First Support Frame at Front of Machine), preliminary seedling rest frame 22 and support frame 24 extend across first working height H11 and first non-working height H12. When the height is changed, the positioning unit 25 moves together with the support frame 24 .
[0076]
　The positioning unit 25 is provided with a receiving device (not shown) that acquires position information using a satellite positioning system, and an inertial measurement device (not shown) that detects the inclination (pitch angle, roll angle) of the airframe 11. The positioning unit 25 outputs positioning data indicating the position of the airframe 11 .
[0077]
　The above-mentioned satellite positioning system (GNSS: Global Navigation Satellite System) includes GPS (Global Positioning System) as a typical example. GPS uses a plurality of GPS satellites orbiting the earth, a control station that tracks and controls the GPS satellites, and a receiving device provided in a positioning target (airframe 11) to measure the position of the receiving device. It is something to do.
[0078]
(Construction of Second Support Frames at the Rear of the Airframe)
　As shown in FIGS. and extends laterally outward, and extends laterally outward of the hopper 13 upward. Right and left connections 29 are connected to the top of the support frame 26 .
[0079]
　Right and left support frames 27 (corresponding to second support frames) are connected to connecting portions 29 and extend upward. A reinforcing frame 28 is connected across the lower rear portion of the fuselage 11 and the support frame 26 .
[0080]
　As shown in FIGS. 5 and 6, the connection portion 29 is formed by bending a plate material, and is provided with a notch portion 29a and a connection hole 29b, and is provided with an opening portion 29c having a diameter larger than that of the connection hole 29b. It is A bracket 30 is connected to a portion of the connecting portion 29 facing the opening 29c, and a round pipe-shaped guide member 33 is connected to the bracket 30. As shown in FIG.
[0081]
　A fixing member 34 formed by bending a round bar into a channel shape is provided, and the fixing member 34 is swingable around an axis P2 along the longitudinal direction of the guide member 33 and slidable along the axis P2. It is supported by the guide member 33 .
[0082]
　A spring 35 is attached across the bracket 30 and a spring receiving portion 34b fixed to the fixing member 34 while passing through the opening 29c of the connecting portion 29. As shown in FIG. The fixing member 34 is biased by a spring 35 so that the end portion 34 a of the fixing member 34 enters the connection hole 29 b of the connection portion 29 .
[0083]
　As shown in FIG. 5, a connection pin 27a and a connection hole 27b are provided in the lower portion of the support frame 27, and a connection pin 27c and a connection hole 27d are provided in the upper and lower intermediate portions of the support frame 27. As shown in FIG.
[0084]
　The states shown in FIGS. 1, 3, 5, 6 and 11 are states in which the support frames 26 and 27 are set at the second working height H21.
　The connection pins 27a of the support frame 27 are inserted into the notch portions 29a of the connection portion 29 from above, the support frame 27 is put inside the connection portion 29, and the end portion 34a of the fixing member 34 is connected to the support frame 27 and the connection portion. 29, the support frame 27 is connected to the connecting portion 29, and the support frames 26, 27 are set at the second working height H21.
[0085]
　12 and 13, the support frames 26, 27 are set at a second non-working height H22 lower than the second working height H21.
　The connection pin 27c of the support frame 27 is inserted into the notch 29a of the connection portion 29 from above, the support frame 27 is put inside the connection portion 29, and the end portion 34a of the fixing member 34 is connected to the support frame 27 and the connection portion. The support frame 27 is connected to the connection portion 29 by being inserted across the connection holes 27d and 29b of the support frame 29, and the support frames 26 and 27 are set to the second non-working height H22.
[0086]
　As described above, the second height changing mechanism 32 is provided to change the height of the support frames 26 and 27 over the second working height H21 and the second non-working height H22. The second height changing mechanism 32 is provided with connection pins 27a and 27c and connection holes 27b and 27d of the support frame 27, a connection portion 29, a fixing member 34, a spring 35, and the like.
[0087]
(Overall Construction of Roof)
　As shown in FIGS. 1, 2 and 3, a roof 36 is provided. It is supported by a support frame 24 and support frames 26 and 27 .
[0088]
　As shown in FIGS. 8, 9 and 10, the roof 36 has a frame-like portion 37 made of a metal round pipe-like member and an elongated plate, and two roof portions 38 and 39 made of synthetic resin. are provided, and the frame-like portion 37 and the roof portions 38 and 39 are connected with bolts.
[0089]
(Configuration of Frame-Shaped Portion of Roof)
　As shown in FIGS. 9 and 10, in the frame-shaped portion 37, a round pipe-shaped front portion 40, round pipe-shaped right and left lateral portions 41, and round pipe-shaped A frame-shaped member is constructed by connecting the rear portion 42 of the . A round pipe-shaped intermediate portion 43 is connected across the front portion 40 and the rear portion 42 . Elongated plate-shaped front and rear left and right portions 44 are connected across the front portion of the lateral portion 41 and the front portion of the intermediate portion 43, and are coupled across the rear portion of the lateral portion 41 and the rear portion of the intermediate portion 43. .
[0090]
　A number of brackets 45 are connected upward to the front portion 40 , the lateral portion 41 , the rear portion 42 , the intermediate portion 43 and the left and right portions 44 in the frame-like portion 37 . Connecting brackets 47 and 48 are downwardly connected to the rear and front-to-rear intermediate portions of the right and left lateral portions 41 .
[0091]
　Connecting brackets 46 are forwardly connected to the right and left portions of the front portion 40 . A portion of the front portion 40 between the right and left connection brackets 46 is bent rearward to form a recess 40a that opens forward.
[0092]
(Structure of Roof Portion in Roof)
　As shown in FIGS. ing.
[0093]
　The front roof portion 38 is integrally constructed of synthetic resin. A concave portion 38c opened to the front side is provided in the front portion of the roof portion 38 (roof 36), and the rear portion 38d of the front roof portion 38 is formed in a plane shape.
[0094]
　In the front roof portion 38, a right front-rear drainage channel 38a having a concave cross-section is provided along the front-rear direction on the right portion of the upper surface of the front roof portion 38 (roof 36). A path 38a is provided along the front-rear direction on the left portion of the upper surface of the front roof portion 38 (roof 36). Two left and right drainage channels 38b having a concave cross section are provided along the left and right direction on the upper surface of the front roof portion 38 (roof 36) and connected to the right and left front and rear drainage channels 38a.
[0095]
　The rear roof portion 39 is integrally constructed of synthetic resin. A right front-rear drainage channel 39a having a concave cross-section is provided along the front-rear direction on the right part of the upper surface of the rear roof portion 39 (roof 36), and a left front-rear drainage channel 39a having a concave cross-section is provided at the rear roof. It is provided along the front-rear direction on the left portion of the upper surface of the portion 39 (roof 36). Left and right drainage channels 39b having a concave cross section are provided along the left and right direction on the upper surface of the rear roof portion 39 (roof 36) and connected to the right and left front and rear drainage channels 39a.
[0096]
　In the front and rear roof portions 38, 39, the rear portion 38d of the front roof portion 38 is positioned below the front portion 39c of the rear roof portion 39 so that the rear portion 38d of the front roof portion 38 is below the front portion 39c of the rear roof portion 39. The front part 39c of the rear roof part 39 is arranged in contact and overlapped. In this state, the right and left front and rear drainage channels 38a of the front roof portion 38 and the right and left front and rear drainage channels 39a of the rear roof portion 39 are connected.
[0097]
　In the portion where the rear portion 38d of the front roof portion 38 and the front portion 39c of the rear roof portion 39 overlap, the portion between the right and left front and rear drainage channels 39a in the front portion 39c of the rear roof portion 39 is upward. A portion is provided where the rear portion 38d of the front roof portion 38 and the front portion 39c of the rear roof portion 39 are separated from each other along the vertical direction.
[0098]
　Along the upper surface of the front roof portion 38 (roof 36) at the rear portion 38d of the front roof portion 38 and the portion between the right and left front and rear drainage channels 39a at the front portion 39c of the rear roof portion 39 are provided in the front and rear roof portions 38, 39 (roof 36) and are positioned downwardly relative to the front and rear roof portions 38, 39 (roof 36). Communicating passages 50 are provided in the front and rear roof portions 38, 39 (roof 36) for communicating the area with the opening 49. As shown in FIG.
[0099]
　With the front and rear roof sections 38 and 39 positioned as described above, the front and rear roof sections 38 and 39 are bolted to the bracket 45 of the frame-shaped section 37 .
　A cushioning material 51 such as rubber or slightly hard sponge is sandwiched between the rear portion 38d of the front roof portion 38 and the portion between the right and left front and rear drainage channels 39a in the front portion 39c of the rear roof portion 39. It is set up so that it can be
[0100]
(Structure for Supporting the Roof on the First Support Frame)
　As shown in FIGS.
[0101]
　A fixing member (not shown) is attached across the connection bracket 46 of the roof 36 and the connection bracket 24d of the support frame 24 while the connection bracket 46 of the roof 36 is inserted into the connection bracket 24d of the support frame 24. Thereby, the connection bracket 46 of the roof 36 and the connection bracket 24d of the support frame 24 are connected. The connection bracket 46 of the roof 36 is removed from the connection bracket 24d of the support frame 24 by removing the fixing member.
[0102]
　As described above, the connecting mechanism 53 capable of connecting and disconnecting the preliminary seedling rest frame 22 and the support frame 24 and the roof 36 is provided. The connection mechanism 53 is provided with the connection bracket 46 of the roof 36, the connection bracket 24d of the support frame 24, a fixing member, and the like.
[0103]
(Structure for supporting the roof on the second support frame)
　As shown in FIGS. A hole 54 a is provided in the support portion 54 . A fixing member 55 formed by bending a round bar into a channel shape is provided, and the fixing member 55 can swing about an axis P3 along the left-right direction of the support portion 54 and can slide along the axis P3. It is supported by the support portion 54 .
[0104]
　A spring 56 is attached across the spring receiving portion 55b fixed to the fixing member 55 and the support portion 54, and the end portion 55a of the fixing member 55 is located on the side where the end portion 55a of the fixing member 55 enters the connecting hole 54a of the support portion 54. 55 is biased by a spring 56 . In the roof 36, connecting brackets 47 and 48 are provided with connecting holes 47a and 48a along the left-right direction.
[0105]
　With the connection brackets 47 and 48 of the roof 36 inserted into the support portion 54, the end portion 55a of the fixing member 55 extends over the connection hole 54a of the support portion 54 and the connection holes 47a and 48a of the connection brackets 47 and 48. The roof 36 (connection brackets 47 and 48) is connected to the support frame 27 (support portion 54) by being inserted in the same direction. By removing the fixing member 55, the roof 36 (connection brackets 47, 48) is removed from the support frame 27 (support portion 54).
[0106]
　As shown in FIG. 11, with the connecting bracket 47 of the roof 36 connected to the support portion 54, the roof 36 is positioned at the working position A1.
　With the roof 36 positioned at the work position A1, the connection bracket 46 of the roof 36 and the connection bracket 24d of the support frame 24 are connected as described above (configuration for supporting the roof on the first support frame). can be connected by the connecting mechanism 53 .
[0107]
　As shown in FIG. 13, with the connection mechanism 53 released and the connection bracket 48 of the roof 36 connected to the support portion 54, the roof 36 is positioned at the non-working position A2. With the roof 36 positioned at the non-working position A2, the roof 36 separates rearward from the preliminary seedling placement frame 22, the support frame 24, and the positioning unit 25 along the front-rear direction.
[0108]
　As described above, at the work position A1 at which the preliminary seedling loading frame 22 and the support frame 24 can be connected to the roof 36 by the connecting mechanism 53, and in the state in which the coupling mechanism 53 is released, the preliminary seedling loading frame 22 and the supporting frame 22 are operated. A support mechanism 57 is provided that can support the roof 36 on the support frames 26 and 27 so as to change the position of the roof 36 over a non-working position A2 separated from the frame 24 and the positioning unit 25 in the longitudinal direction. A support mechanism 57 is provided with a support portion 54, a fixing member 55, a spring 56, connecting brackets 47 and 48, and the like.
[0109]
(Supporting State of Roof with First and Second Supporting Frames) The states
　shown in FIGS. This is the state in which the support frames 26 and 27 are set at the second working height H21.
[0110]
　1, 2, 3, and 11, the connection bracket 46 of the roof 36 and the connection bracket 24d of the support frame 24 are connected by the connection mechanism 53, and the connection bracket 47 of the roof 36 is connected to the support portion 54. Thus, the roof 36 is set at the working position A1.
[0111]
　In the above-described state, the front portion of the roof 36 is supported by the auxiliary seedling placement frame 22 and the support frame 24 so that the front portion of the roof 36 is lower than the rear portion of the roof 36 in a side view. and the rear portion of the roof 36 is supported by the support frames 26,27.
　The front part of the roof 36 is supported by the preliminary seedling rest frame 22 and the support frame 24 so that the positioning unit 25 is positioned at the same height as the front part of the roof 36 in a side view.
[0112]
　The positioning unit 25 is inserted into the recess 38c of the roof portion 38 in front of the roof 36 and the recess 40a of the front portion 40 of the roof 36 in plan view. It is in the state provided in the front part of. In this case, the horizontal width of the concave portion 38c of the roof portion 38 in front of the roof 36 and the concave portion 40a of the front portion 40 is set to be larger than the horizontal width of the positioning unit 25 .
[0113]
　In a plan view, the roof 36, the driver's seat 18, the rear portion of the bonnet 19, the steering handle 20, the hopper 13 and the extension portion 14 of the fertilizer applicator 12 overlap, and the driver's seat 18, the rear portion of the bonnet 19, and the steering handle 20 overlap. , the area of ​​the fuselage 11 including the hopper 13 and the delivery section 14 of the fertilizing device 12 is covered by a roof 36 above.
[0114]
　As shown in FIGS. 8, 9 and 10, for example, when a strong wind blows into the lower side of the roof 36, part of the strong wind passes through the communication passage 50 of the roof 36 and escapes from the opening 49 to the upper side of the roof 36. Become.
[0115]
　In rainy weather, rainwater falling on the upper surface of the roof 36 flows into the front and rear drainage channels 38a, 39a of the roof 36, or flows into the front and rear drainage channels 38a, 39a from the left and right drainage channels 38b, 39b of the roof 36. It is mainly collected in 36 front and rear drainage channels 38a, 39a.
　Since the roof 36 is tilted forward, the rainwater collected in the front and rear drainage channels 38a and 39a of the roof 36 flows forward along the front and rear drainage channels 38a and 39a of the roof 36, and flows into the front and rear drainage channels 38a of the roof 36. The water is drained from the front part of the seedling and falls on the preliminary seedling tray 23.
[0116]
(For example, when the riding-type rice transplanter is transported on a truck bed, or when the riding-type rice transplanter is stored in a warehouse, etc.)
　The above-mentioned (state of support by the first and second support frames on the roof) And from the state shown in FIG. 11, the height of the roof 36 and the like can be lowered by performing the operation described below.
[0117]
　In the state shown in FIG. 11, the connecting mechanism 53 is set to the released state, and the connecting bracket 46 of the roof 36 is removed from the connecting bracket 24d of the support frame 24. As shown in FIG. The fixing member 55 of the support mechanism 57 is removed, and the connection bracket 47 of the roof 36 is removed from the support portion 54 . As a result, the roof 36 is removed from the preliminary seedling placement frame 22 , the support frame 24 , and the support frames 26 and 27 .
[0118]
　Next, as described above (configuration of the first support frame in the front part of the machine body) and shown in FIG. is set to the first non-working height H12.
　As described above (configuration of the second support frame at the rear of the fuselage) and as shown in FIG. .
[0119]
　Next, as shown in FIG. 13, in the removed roof 36, the connecting brackets 48 of the roof 36 are connected to the support portions 54, and the roof 36 is positioned at the non-working position A2. When the roof 36 is positioned at the non-working position A2, the roof 36 is separated rearward from the preliminary seedling placement frame 22, the support frame 24, and the positioning unit 25 along the front-rear direction. There is no interference with the spare seedling rest frame 22, the support frame 24, or the positioning unit 25. - 特許庁
　In this case, it is preferable to attach a fixing member (not shown) such as a belt or a rod across the front portion of the roof 36 and the steering handle 20 so that the roof 36 does not swing back and forth.
[0120]
(Another Embodiment of Embodiment 1)
(1) In the front and rear roof portions 38 and 39 of the roof 36, the rear portion 38d of the front roof portion 38 is positioned above the front portion 39c of the rear roof portion 39. As such, the rear portion 38d of the front roof portion 38 and the front portion 39c of the rear roof portion 39 may be placed in contact and overlapped.
[0121]
　According to this configuration, in the portion where the rear portion 38d of the front roof portion 38 and the front portion 39c of the rear roof portion 39 overlap, the rear portion 38d of the front roof portion 38 is provided with a portion that bulges upwards. Front and rear roof portions 38, 39 (roof 36) are provided with rearward facing openings 49, oriented along the upper surface of roof portion 39 (roof 36).
[0122]
(2) The roof 36 is provided with three or more roof portions 38, 39, configured as shown in FIGS. may be configured.
[0123]
　According to this configuration, there are a plurality of openings 49 facing forward along the upper surface of the roof 36 and a plurality of openings 49 facing rearward along the upper surface of the roof 36. , on the roof 36 .
　The roof 36 may be configured such that the openings 49 facing forward and the openings 49 facing rearward are provided in a mixed manner.
[0124]
(3) Instead of providing the roof portions 38 and 39 divided into the roof 36, one roof 36 may be integrally constructed.
　According to this configuration, one or more openings 49 can be provided facing forward, backward, rightward, or leftward, which are directions along the upper surface of the roof 36 .
[0125]
(4) A thin sheet cushioning material 51 is sandwiched between the rear portion 38d of the front roof portion 38 and the front portion 39c of the rear roof portion 39 so as to overlap each other. may
[0126]
(5) The configuration of the preliminary seedling placement frame 22, the support frame 24 (first support frame), the positioning unit 25, and the first height change mechanism 31 is provided at the rear of the body 11, and the support frames 26, 27 ( A second support frame) and a second height change mechanism 32 arrangement may be provided at the front of the fuselage 11 .
[0127]
　With this arrangement, the rear portion of roof 36 is supported by a first support frame and the front portion of roof 36 is supported by a second support frame.
　The positioning unit 25 is supported so as to be positioned at the same height as the rear portion of the roof 36 when viewed from the side, and a concave portion into which the positioning unit 25 can enter is provided at the rear portion of the roof 36 when viewed from above.
　In the support mechanism 57, the position of the roof 36 can be changed between a working position A1 and a non-working position A2 separated forward from the preliminary seedling placement frame 22, the support frame 24, and the positioning unit 25 along the front-rear direction. supported by
[0128]
(6) In the support mechanism 57, the lateral portion 41 of the roof 36 is slidably supported by the support portion 54 along the longitudinal direction, thereby changing the position of the roof 36 between the working position A1 and the non-working position A2. It may be configured to be capable of being supported.
[0129]
(7) In the roof 36, three or more front and rear drainage channels 38a, 39a may be provided, and four or more left and right drainage channels 38b, 39b may be provided.
[0130]
(Embodiment 2)
　Hereinafter, as Embodiment 2 of the working machine of the present invention, a rice transplanter that travels in a farm field (corresponding to a "working area") will be described as an example. Moreover, this rice transplanter fertilizes the field based on a fertilization plan map (corresponding to a "work plan map").
[0131]
(Overall Structure)
　As shown in FIG. 14, the rice transplanter is provided with a riding-type four-wheel-drive traveling body (hereinafter referred to as a body 101). The body 101 includes a parallel quadruple link type link mechanism 111 connected to the rear part of the body 101 so as to be able to swing up and down, a hydraulic lifting cylinder 111a that drives the link mechanism 111 to swing, and a rear end region of the link mechanism 111. and a fertilizing device 104 extending from the rear end region of the machine body 101 to the seedling planting device 103 and the like. The seedling planting device 103 and the fertilizing device 104 are examples of working devices.
[0132]
　The body 101 includes wheels 112, an engine 113, and a hydraulic continuously variable transmission 114 as mechanisms for running. The wheels 112 include steerable left and right front wheels 112A and non-steerable left and right rear wheels 112B. The engine 113 and the continuously variable transmission 114 are mounted on the front portion of the airframe 101 . Power from the engine 113 is supplied to the front wheels 112A, the rear wheels 112B, the working device, etc. via the continuously variable transmission 114 and the like.
[0133]
　The seedling planting device 103 is configured in an eight-row planting format, for example. The seedling planting device 103 includes a seedling platform 131, a planting mechanism 132 for eight rows, and the like. The seedling planting device 103 can be changed to a two-row planting, a four-row planting, a six-row planting, etc. by controlling each row clutch (not shown).
[0134]
　The seedling mounting table 131 is a base on which eight rows of mat-like seedlings are mounted. The seedling mounting table 131 reciprocates in the left-right direction with a constant stroke corresponding to the lateral width of the mat-like seedling, and the vertical feeding mechanism 133 moves the seedling mounting table 131 upward each time the seedling mounting table 131 reaches the left and right stroke ends. Each mat-like seedling is longitudinally fed at a predetermined pitch toward the lower end of the seedling placement table 131.例文帳に追加 The eight planting mechanisms 132 are of a rotary type and are arranged in the horizontal direction at regular intervals corresponding to the intervals between the planting rows. Then, each planting mechanism 132 cuts off one seedling from the lower end of each mat-like seedling placed on the seedling platform 131 by power from the machine body 101, and plants it in the muddy part after leveling. As a result, when the seedling planting device 103 is in an operating state, the seedlings can be taken out from the mat-like seedlings placed on the seedling placement table 131 and planted in the mud part of the paddy field.
[0135]
　As shown in FIG. 14, the fertilizing device 104 includes a horizontally long hopper 141, a feeding mechanism 142, an electric blower 143, a plurality of fertilizing hoses 144, and a grooving device 145 provided for each row. The hopper 141 stores granular or powdery fertilizer. The feeding mechanism 142 is operated by power transmitted from the engine 113 and feeds out two rows of fertilizer from the hopper 141 by a predetermined amount.
[0136]
　The blower 143 operates with electric power from a battery (not shown) mounted on the machine body 101, and generates a transport wind that transports the fertilizer delivered by each delivery mechanism 142 toward the muddy surface of the field. The fertilizing device 104 can be switched between an operating state in which the fertilizer stored in the hopper 141 is supplied to the field by a predetermined amount and a non-operating state in which the supply is stopped by intermittent operation of the blower 143 or the like.
[0137]
　Each fertilizing hose 144 guides the fertilizer conveyed by the conveying wind to each grooving device 145 . Each grooving machine 145 is located on each grading float 115 . Each grooving device 145 ascends and descends together with each leveling float 115, forms a fertilizing groove in the muddy part of the paddy field, and guides the fertilizer into the fertilizing groove during work traveling in which each leveling float 115 touches the ground.
[0138]
　As shown in FIG. 14, the airframe 101 has an operating section 120 in the rear area. The driving unit 120 includes a steering wheel 121 for steering the front wheels, a main shift lever 122 that adjusts the vehicle speed by performing a shift operation of the continuously variable transmission 114, an auxiliary shift lever 123 that enables shift operation of the sub transmission, A work operation lever 125 that enables the up/down operation of the planting device 103 and switching of the operating state, etc., and a touch panel that displays (notifies) various information and notifies (outputs) the operator, and receives input of various information. and a driver's seat 116 for an operator (driver). Furthermore, a preliminary seedling frame 117 for storing preliminary seedlings is provided in front of the operating section 120 .
[0139]
　The steering wheel 121 is connected to the front wheels 112A via a steering mechanism (not shown), and the steering angle of the front wheels 112A is adjusted by rotating the steering wheel 121. FIG.
[0140]
(Travel route) The travel route
　used in seedling planting work (an example of field work) by this rice transplanter will be described below. As shown in FIG. 15, the farm field is divided into an outer peripheral area where the round trip route is set and a central area where the round trip route is set. The rice transplanter first carries out seedling planting work on the central region along the reciprocating travel route, and then carries out seedling planting work on the outer peripheral region along the circular travel route.
[0141]
　FIG. 16 shows a circuit route. The circular traveling route consists of a linear circular route extending parallel to the boundary line (bank) of the field, and a turning route incorporating forward and backward movement to connect the linear circular routes. In FIG. 16, the circular straight route is given the reference R1, and the turning route is given the reference R2. FIG. 17 shows a round trip route. The reciprocating travel route consists of a large number of reciprocating routes substantially parallel to each other and turning routes (U-turn routes) connecting the reciprocating routes. In FIG. 17, the reciprocating route is given R3, and the turn route is given R5. In FIGS. 16 and 17, the transition route for transitioning from the round trip route to the round trip route is denoted by R4. In the example here, the transition path is similar to the turning path. Further, in FIGS. 16 and 17, the working width of the rice transplanter is indicated by W, and the entrance/exit GA of the rice transplanter to the field is drawn with oblique lines. FIG. 17 shows a starting guide route (marked with reference numeral R6) from the entrance/exit GA to the travel start position S of the round-trip travel route. Since the rice transplanter travels on the turning route R5, the turning route R2, the starting guidance route R6, and the transition route R4 without performing any work, these routes are indicated by dotted lines. Since the rice transplanter travels on the straight circuit route R1 and the round-trip route R3 while performing work, these routes are indicated by solid lines.
[0142]
(Control System)
　Next, the control system of the rice transplanter will be described using FIG. 18 while referring to FIG.
[0143]
　Signals from a positioning unit 108, an automatic changeover switch 127, a travel sensor group 128, and a work sensor group 129 are input to the control unit 106, which forms the core of the control system of the rice transplanter. A control signal is output from the control unit 106 to the traveling equipment group 101A, the work equipment group 101B, the general-purpose terminal 109, and the notification unit 110. FIG.
[0144]
　The positioning unit 108 outputs positioning data for calculating the position and orientation of the airframe 101 . The positioning unit 108 includes a satellite positioning module 108A that receives radio waves from global navigation satellite system (GNSS) satellites, and an inertial measurement module 108B that detects triaxial tilt and acceleration of the airframe 101 .
[0145]
　The automatic changeover switch 127 is provided in the operation unit 120 and is a switch for selecting an automatic travel mode in which the machine body 101 travels automatically and a manual travel mode in which the aircraft 101 travels manually. The traveling sensor group 128 includes various sensors for detecting conditions such as the steering angle, the operating positions of the main shift lever 122 and the sub shift lever 123, the vehicle speed, the engine speed, and the set values ​​for these. The work sensor group 129 includes various sensors that detect the states of the link mechanism 111, the seedling planting device 103, and the fertilizing device 104 and set values ​​for them.
[0146]
　The traveling equipment group 101A includes, for example, a front wheel 112A and a continuously variable transmission 114 . Based on the control signal from the control unit 106, the steering angle of the front wheels 112A is controlled, and the continuously variable transmission 114 is operated to control the vehicle speed.
[0147]
　The work equipment group 101B includes, for example, an elevating cylinder 111a, a seedling planting device 103, and a fertilizing device 104. As shown in FIG. Based on the control signal from the control unit 106, the amount of seedlings taken by the seedling planting device 103 is adjusted, and the amount of fertilizer applied by the fertilizing device 104 is adjusted.
[0148]
　The control unit 106 includes a travel control section 161 , a work control section 162 , a vehicle position calculation section 163 , a travel route setting section 164 , a work parameter setting section 165 , a storage section 166 and a vehicle position determination section 167 . The control unit 106 includes a processor such as an ECU and a CPU.
[0149]
　The vehicle position calculator 163 calculates the map coordinates (vehicle position) of the aircraft 101 based on the satellite positioning data sequentially sent from the positioning unit 108 .
[0150]
　This rice transplanter is capable of automatic travel and manual travel. Therefore, the travel control unit 161 performs control in an automatic travel mode in which automatic travel is performed or a manual travel mode in which manual travel is performed, based on a command from the automatic changeover switch 127 . The travel control unit 161 includes an automatic travel control unit 611 and a manual travel control unit 612. The automatic travel control unit 611 operates in the automatic travel mode, and the manual travel control unit 612 operates in the manual travel mode. In the automatic driving mode, the automatic driving control unit 611 adjusts the steering control amount so that the lateral deviation and the azimuth deviation are reduced based on the lateral deviation and the azimuth deviation calculated by comparing the vehicle position and the target travel route. to calculate The steering angle of the front wheels 112A is adjusted based on the steering control amount. In the manual travel mode, manual travel control unit 612 adjusts the steering angle of front wheels 112A based on the amount of operation of steering wheel 121 . The manual travel control unit 612 controls the continuously variable transmission 114 and the like so that the vehicle travels at a travel speed corresponding to the operating positions of the main gear shift lever 122 and the sub gear shift lever 123 .
[0151]
　The travel route setting unit 164 sets a travel route, which is a target travel route in automatic travel, and provides the travel route to the automatic travel control unit 611 .
[0152]
　The work parameter setting unit 165 sets the adjustment amount of the planting mechanism 132 and transmits it to the work control unit 162 . The adjustment amount of the planting mechanism 132 is set according to the work performed by the work equipment group 101B set according to the travel position on the target travel route in the automatic travel mode, and is detected by the work sensor group 129 in the manual travel mode. It is set according to the specified setting value. The work control section 162 controls the planting mechanism 132 of the seedling planting device 103 based on the signal received from the work parameter setting section 165 .
[0153]
　The work parameter setting unit 165 also sets the amount of fertilizer to be applied by the fertilizing device 104 based on the fertilization plan map 150 described below and the vehicle position, and transmits the set amount to the work control unit 162 . The work parameter setting unit 165 confirms the section of the fertilization plan map 150 corresponding to the position of the vehicle, and determines the set value of the feeding mechanism 142 according to the amount of fertilizer applied to that section. The determined setting values ​​are transmitted to the work control unit 162 . Based on the signal received from the work parameter setting unit 165, the work control unit 162 controls the delivery mechanism 142 of the fertilizer applicator 104 to control the amount of fertilizer applied.
[0154]
　The storage unit 166 stores a fertilization plan map 150, which will be described later. As will be described later, the vehicle position determination unit 167 determines whether or not the vehicle position (the position of the machine body 101) is within an agricultural field based on the amount of fertilizer applied in the section of the fertilization plan map 150 to which the vehicle position belongs. do. When the vehicle position (the position of the machine body 101) is outside the field, the vehicle position determination unit 167 can cause the notification unit 110 to issue a warning.
[0155]
(Fertilization Planning Map)
　Next, traveling control in automatic traveling will be described using FIG. 19 while referring to FIGS. 14 and 18. FIG.
[0156]
　In a farm field, the growth state of crops is not constant for each region of the farm field due to factors such as sunshine and other weather conditions, soil conditions, and the like. In order to promote sufficient growth of crops and to keep the growth of crops in the field constant, the amount of fertilizer applied is adjusted for each area of ​​the field. Therefore, a fertilization plan map 150 is created for each field, and fertilization work is performed based on the fertilization plan map 150 .
[0157]
　The fertilization plan map 150 has a configuration in which rectangular sections of arbitrary size are arranged in a matrix. The fertilization plan map 150 corresponds to the field to be worked, and each section corresponds to a specific area of ​​the field. In other words, the field is divided into matrix-like regions, and each region of the field is associated with the division of the fertilization planning map 150 on a one-to-one basis.
[0158]
　The amount of fertilizer to be applied to the corresponding area of ​​the farm field is input to the section of the fertilization plan map 150 . For example, a fertilizer application amount of 40 kg/a or more and 100 kg/a or less is input as a working value for the fertilizer application amount in the section where the fertilizer is applied. A fertilizer application amount of 100 kg/a is input for areas with poor sunlight and poor soil conditions, and a fertilizer application amount of 50 kg/a is input for areas with good sunlight and excellent soil conditions. Appropriate fertilization amounts are also input for other areas according to the conditions.
[0159]
　In addition, the amount of fertilizer to be applied may be obtained according to the distribution of the grain yield of the previous year, or may be determined by an operator based on experience, and is determined by any method. Note that "0", which corresponds to the non-work value, is input as the amount of fertilizer applied to the section corresponding to the outside of the field. The work parameter setting unit 165 reads the fertilization amount input to the section corresponding to the position of the vehicle when the machine body 101 travels in the field, and determines the set value according to the read fertilization amount. The feed mechanism 142 of the device 104 is controlled to control the amount of fertilizer applied.
[0160]
　Furthermore, the fertilization plan map 150 is also used to determine whether or not the vehicle position (the position of the machine body 101) is within a field. In the fertilization plan map 150, the amount of fertilizer applied is input to the area inside the field, and "0" corresponding to the non-work value is input as the amount of fertilizer applied to the area outside the field because the fertilization work is not performed. Therefore, by confirming the fertilization plan map 150, the vehicle position determining unit 167 can determine whether the vehicle position (the position of the machine body 101) is inside the field or outside the field. Specifically, the vehicle position determination unit 167 acquires the vehicle position from the vehicle position calculation unit 163, and reads the fertilization amount input to the section of the fertilization plan map 150 corresponding to the vehicle position. Then, the vehicle position determination unit 167 determines that the vehicle position (the position of the machine body 101) is outside the field when the read fertilizer application amount is "0". Note that the non-working value is not limited to "0", and may be any range of numerical values, any character string, or a blank.
[0161]
　In addition to comparing the vehicle position calculated by the vehicle position calculation unit 163 with the field map, or separately from this, as described above, the section corresponding to the vehicle position calculated by the vehicle position calculation unit 163 By confirming the input fertilizer application amount, it is possible to determine whether the machine body 101 is outside the field or inside the field. As a result, it is possible to easily and accurately detect whether or not the vehicle position (the position of the machine body 101) is outside the field.
[0162]
(Another embodiment of Embodiment 2)
(1) The above rice transplanter can be realized not only in automatic traveling but also in manual traveling. In manual driving, a warning is issued from the notification unit 110 in response to a notification from the vehicle position determination unit 167, and the driver can stop the machine body 101 in response to the warning and perform an operation to return to the field. In automatic driving, the notification unit 110 is not necessarily required, and the automatic driving control unit 611 may perform necessary control.
[0163]
(2) In each of the above-described embodiments, the fertilization plan map 150 may input a value that allows recognition of the outer periphery to a section corresponding to an area including the outer periphery L of the field such as a ridge. At this time, the control unit 106 may further include a map correction section 168, and the map correction section 168 may be configured to compare with the field map and correct the value of the section corresponding to the outer peripheral portion of the field. For example, this section is populated with a value between the non-working value and the working value, such as "20".
[0164]
　Obstacles such as water inlets may exist in the outer peripheral portion of the field. By inputting such values ​​into the fertilization plan map 150, the own vehicle position determination unit 167 can easily determine that the vehicle is traveling in the outer peripheral portion of the field, and notifies the automatic travel control unit 611 to that effect. Alternatively, the notification unit 110 or the like can notify that effect. As a result, measures such as reducing the traveling speed can be performed by the automatic traveling control unit 611 in automatic traveling and by the driver's operation in manual traveling. As a result, the body 101 can be easily avoided from obstacles.
[0165]
(3) In each of the above-described embodiments, the warning is issued when the vehicle position determination unit 167 determines that the vehicle position (the position of the machine body 101) is outside the field, and when the fertilization work continues. It's okay to be broken. In such a configuration, the work control unit 162 acquires from the fertilization device 104 whether or not the fertilization work is being performed, and notifies the notification unit 110 of the fact that the fertilization work is being performed. Notification unit 110 receives notification from vehicle position determination unit 167 that the vehicle position (position of machine body 101) is outside the field, and also receives notification from work control unit 162 that fertilization work is in progress. Warn when notified.
[0166]
　The rice transplanter may deviate from the field when replenishing seedlings or fuel, and is also moved between fields. The problem of deviating from the field occurs when deviating from the field while performing fertilization work. Conversely, if a warning is given when seedlings are replenished, fuel is replenished, or when a field is moved, it is troublesome and may cause a necessary warning to be missed. Therefore, it is preferable that a warning is given when the field is deviated only during fertilization operations, which actually require a warning.
[0167]
(4) In each of the above embodiments, any work plan map may be used instead of the fertilization plan map 150 . That is, it can be applied not only to the rice transplanter but also to various work machines that perform work other than fertilization work. The work plan map is assumed to have mesh-like divisions corresponding to the work area, and work values ​​for adjusting the amount of work are input to each division in the work area.
[0168]
(5) In each of the above embodiments, the warning may be issued from the general-purpose terminal 109 without providing the notification unit 110 . As a result, the general-purpose terminal 109 can be used to issue a warning with a simple configuration without providing the notification unit 110 .
[0169]
(6) As described above, the fertilization plan map 150 corresponds to the field to be worked on. Therefore, the fertilization plan map 150 (work plan map) may be applied to any map, which is map information indicating the position and coordinates of the field (work area). Such maps may be existing general purpose maps. As a result, even if the determined own vehicle position deviates from the actual position due to a malfunction of the positioning unit 108 or the like, the work instruction value of the fertilization plan map 150 indicates whether the rice transplanter is positioned inside or outside the field. can decide whether to
[0170]
(7) The fertilization plan map 150 (work plan map) may also be shared with a yield map associated with taste and yield acquired by a combine (harvester) that performs harvesting in the same field. A rice transplanter and a combine work continuously on the same field. Therefore, it is preferable to associate the yield map generated by the combine with the fertilization plan map 150 used by the rice transplanter. This makes it possible to plan more systematic and precise agricultural work. The division of the yield map generated by the combine may be equal to or smaller than the division of the fertilization plan map 150 used by the rice transplanter.
[0171]
(8) The travel control unit 161, the work control unit 162, the vehicle position calculation unit 163, the travel route setting unit 164, the work parameter setting unit 165, the vehicle position determination unit 167, and the map correction unit 168 included in the control unit 106 , may be divided into such functional blocks, but functional blocks having one or more of these functions may be grouped together or divided into a plurality of functional blocks. Also, all or part of the functions of the control unit 106 may be implemented in software. The software (program) is stored in the storage unit 166 or any storage unit (not shown) and executed by the processor included in the control unit 106 or another processor.
Industrial applicability
[0172]
　The working machine of the present invention is not limited to a rice transplanter, but may be an agricultural working machine such as a tractor that performs work while traveling on a work site. You can also
Code explanation
[0173]
　　　5 Seedling planting device (working device)
　　11 Machine body
　　12 Fertilizing device (working device)
　　18 Driver's seat
　　22 Spare seedling placement frame (support frame, first support frame)
　　24 Support frame (first support frame)
　　26 Support frame (Second Support Frame)
　　25 Positioning Unit
　　27 Support Frame (Second Support Frame)
　　31 First Height Changing Mechanism
　　32 Second Height Changing Mechanism
　　36 Roof
　　38 Roof Portion
　38a Front/Rear Drainage Channel
　38b Left/Right Drainage Channel
　38c
　Recess 38d Rear portion
　　39 Roof portion
　39a Front/rear drainage channel
　39b Left/right drainage channel
　39c Front portion
　40a Recess
　　49 Opening
　　50 Communication path
　　51 Cushioning material
　　53 Connection mechanism
　　57 Support mechanism
　　A1 Work position
　　A2 Non-work position
108A Satellite positioning module
　110 Notification unit
　150 Fertilization plan map (work plan map)
　166 Storage unit
　167 Vehicle position determination unit
　168 Map correction unit
　H11 First work height
　H12 Second 1 non-working height
　H21 2nd working height
　H22 2nd non-working height
The scope of the claims
[Claim 1]
　A driver's seat supported by an airframe, a support frame extending
　upward from the airframe, and a roof supported by the support frame so as to cover the upper side of the airframe including the driver's seat
　, A working machine, wherein a roof is provided with an opening facing in a direction along the upper surface of the roof, and a communication path that communicates a region below the roof with the opening.
[Claim 2]

　2. The roof is supported by the support frame and the opening faces 　forward so that the front part of the roof is lower than the rear part of the roof when viewed from the side. Work machine as described.
[Claim 3]
　A plurality of divided roof portions are provided on the roof such that they are arranged side by side in the
　front-rear direction, and in the roof portions adjacent in the front-rear direction, the rear portion of the front roof portion is the rear portion of the roof portion. The rear portion of the front roof portion and the front portion of the rear roof portion are arranged so as to be positioned below the front portion of the roof portion, and the rear portion of the front roof portion and the rear portion of the roof portion are arranged to overlap each
　other. In the portion where the front portion of the roof portion overlaps, a portion is provided in which the rear portion of the front roof portion and the front portion of the rear roof portion are separated in the vertical direction, and the opening and the communication passage are provided. 3. The work machine according to claim 2, wherein a is provided.
[Claim 4]
　4. The working machine according to claim 3, wherein a cushioning material is provided between the rear portion of the front roof portion and the front portion of the rear roof portion.
[Claim 5]
　a first support frame supporting one of the front and rear parts of the roof and a second support frame supporting the other of the front and rear parts of the roof
　; A positioning unit for outputting positioning data indicating the position of the airframe is supported by the first support frame so as to be positioned at the same height as one of the front and rear parts of the roof in a side view. Item 5. The work machine according to any one of Items 1 to 4.
[Claim 6]
　6. The working machine according to claim 5, wherein a concave portion into which the positioning unit can be inserted in plan view is provided in one of the front portion and the rear portion of the roof.
[Claim 7]
　7. The working machine according to claim 6, wherein the lateral width of said concave portion is set to be larger than the lateral width of said positioning unit.
[Claim 8]
　A connection mechanism capable of connecting and disconnecting
　the first support frame and the roof, a working position in which the first support frame and the roof can be connected by the connection mechanism, and a released state of the connection mechanism. a support mechanism capable of supporting the roof on the second support frame in a position-changeable manner over a non-working position spaced apart from the positioning unit in the longitudinal direction; and
　a state in which the roof is positioned at the working position. over a first working height at which the first support frame and the roof are connectable by the connecting mechanism, and a first non-working height lower than the first working height, the first a first height changing mechanism capable of changing the height
　of a support frame; and a second working height capable of connecting the first support frame and the roof with the connecting mechanism while the roof is positioned at the working position. and a second height changing mechanism capable of changing the height of the second support frame over a second non-working height lower than the second working height. 8. The working machine according to any one of 7.
[Claim 9]
　A right front-rear drainage channel with a concave cross-section is provided along the front-rear direction on the right part of the top surface of the roof, and
　a left front-rear drainage channel with a concave cross-section is provided along the front-rear direction on the left part of the top surface of the roof. A plurality of left and right drainage channels having a concave cross section are provided
　along the left and right direction on the upper surface of the roof and connected to the front and rear drainage channels, and
　rainwater is drained from the right and left front and rear drainage channels. 9. The working machine according to any one of 1 to 8.
[Claim 10]

　10. The working machine according to claim 9, 　wherein the working machine is supported at the rear part of the machine body, and rainwater is drained from the front part of the right and left front and rear drainage channels.
[Claim 11]
　A work machine that travels on a work site according to a work instruction value, and includes
　a satellite antenna that receives satellite signals from satellites, and
　a satellite positioning module that outputs positioning data corresponding to the position of the vehicle based on the satellite signals.
　a storage unit for storing a work plan map in which the work instruction value is input for each section divided into a mesh in
　correspondence with the work site; and a vehicle position determination unit that determines whether or not the vehicle position is within the work area according to the work instruction value.
[Claim 12]
　The work instruction value includes a non-work value for not performing work, and the
　vehicle position determination unit determines that the vehicle position is outside the work area when the work instruction value is the non-work value. The working machine according to claim 11 .
[Claim 13]
　A map correction unit for correcting the work plan map is provided,
　wherein the work instruction value for performing work is a work value within a predetermined range larger than the non-work value, and the
　map correction unit indicates the outer peripheral position of the work site.
　13. The method according to claim 12, wherein a work place map can be referred to, and the map correction unit corrects the work value of the section corresponding to the outer circumference position to a value between the non-work value and the work value. working machine.
[Claim 14]
　14. The work machine according to any one of claims 11 to 13, further comprising a notification unit that issues a warning when the vehicle position determination unit determines that the vehicle position is outside the work area.
[Claim 15]
　14. The system according to any one of claims 11 to 13, further comprising a notification unit that issues a warning when the vehicle position determination unit determines that the vehicle position is outside the work area and the vehicle is in a working state. working machine.
[Claim 16]
　16. The working machine according to claim 14 or 15, wherein a predetermined standard work value is set as the work instruction value, and if the
　work state continues after the warning is issued, the work is performed with the standard work value. .
[Claim 17]
　The work machine according to any one of claims 11 to 16, wherein the work related to the work travel is fertilization work, and the work instruction value is the amount of fertilizer to be applied.