Work vehicles

Abstract

To provide a work vehicle that can suppress a wrong operation during remote operation.SOLUTION: A work vehicle includes: a travelling vehicle body including a front wheel and a steering device for steering the front wheel and capable of travelling a farm field; a control device for controlling the steering device; and a remote-control device for outputting a travel signal for the travelling vehicle body to the control device to remote-control the travelling vehicle body. The remote-control device includes at least four push buttons. Pushing two of the four push buttons at the same time can remote-control the travelling vehicle body. The control device executes right-left steering of the steering device in accordance with combination of the two push buttons pushed at the same time on the remote-control device. Pushing a single button of the four buttons does not execute right-left steering of the steering device.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a work vehicle. [Background technology]

[0002] Conventionally, some work vehicles that perform work in farm fields travel autonomously while measuring the position of the travelling vehicle body. For such work vehicles, a technique is known in which the vehicle travels along the edge of a farm field with a human driver and records the travel path to identify the field shape, sets a headland area along the identified field shape, sets a route (work route) for unmanned travel inside the set headland area, and sets the end of the set work route as the work end position (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-133701 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conventional technology described above, the work end position is located inside the edge of the field by the headland area, so after the work vehicle reaches the work end position, i.e., after the work vehicle finishes unmanned traveling, in order for the worker to get back on the work vehicle, the worker must enter the field by the headland area and walk through the field to the parked work vehicle. This is inconvenient and time-consuming, so if unmanned work vehicles could be remotely controlled, workers could get in without having to enter the field. However, because remote control is easy to operate, there is a risk of operational errors.

[0005] The present invention has been made in view of the above, To prevent the occurrence of operational errors when performing remote operations The object of the present invention is to provide a work vehicle that can [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, a work vehicle according to an embodiment includes: The vehicle has front wheels and is steered.The present invention comprises a traveling vehicle body having a steering device and capable of traveling within a farm field, a control device for controlling the steering device, and a remote control device for outputting a travel signal for the traveling vehicle body to the control device in order to remotely control the traveling vehicle body, the remote control device having at least four push buttons, the traveling vehicle body being remotely controlled by simultaneously pressing two of the four push buttons, and the control device executing left and right steering of the steering device in accordance with a combination of the two push buttons pressed simultaneously on the remote control device. However, even if the four push buttons are pressed individually, left and right steering of the steering device is not performed. It is characterized by: Effect of the Invention

[0007] According to the work vehicle according to the embodiment, To prevent the occurrence of operational errors when performing remote operations can be done. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic left side view showing a work vehicle according to an embodiment. [Diagram 2] FIG. 2 is a block diagram showing an example of a control system for the work vehicle according to this embodiment. [Diagram 3] FIG. 3 is an explanatory diagram of autonomous driving in a farm field. [Figure 4] FIG. 4 is a front view showing the remote control device. [Figure 5A] FIG. 5A is an explanatory diagram of a push button that is pressed when operating the machine body forward. [Figure 5B] FIG. 5B is an explanatory diagram of a push button that is pressed when operating the vehicle in reverse. [Figure 5C] FIG. 5C is an explanatory diagram of the push button that is pressed when turning the aircraft left. [Figure 5D] FIG. 5D is an explanatory diagram of the push button that is pressed when turning the aircraft to the right. [Figure 6A] FIG. 6A is a front view showing a remote control device according to a first modified example. [Figure 6B] FIG. 6B is a front view showing a remote control device according to the second modified example. [Figure 6C] FIG. 6C is a front view showing a remote control device according to a third modified example. [Figure 7] FIG. 7 is a front view showing a remote control device according to the fourth modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a work vehicle disclosed in the present application will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the embodiment described below. <Overall configuration of work vehicle (tractor)> First, the overall configuration of a work vehicle 1 according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a schematic left side view showing a work vehicle 1 according to an embodiment. In the following, a tractor will be used as an example of the work vehicle 1. The tractor 1, which is a work vehicle, is an agricultural tractor that performs agricultural work in a field while traveling by itself.

[0010] In addition, the tractor 1, which is a work vehicle, is operated by a driver (also called an operator) while driving within a field to perform specified tasks, and also performs specified tasks while autonomously driving within a field by controlling each part through a control system centered on the control device 100.

[0011] In the explanation using Fig. 1, the forward / rearward direction is the direction of travel of the tractor 1 when traveling straight, and the forward side in the traveling direction is defined as "front" and the rear side as "rear." The traveling direction of the tractor 1 is the direction from the operator's seat 8 to the steering wheel 9, which will be described later, when the tractor 1 is traveling straight.

[0012] Additionally, the left-right direction is a direction that is horizontally perpendicular to the front-rear direction. In the following, left and right are defined with respect to the "front" side. That is, when the pilot sits in the pilot's seat 8 and faces forward, the left hand side is the "left" and the right hand side is the "right". The up-down direction is the vertical direction. The front-rear direction, left-right direction, and up-down direction are perpendicular to each other in three dimensions. Furthermore, the tractor 1 or the traveling vehicle body 2 may be referred to as the "machine body".

[0013] As shown in FIG. 1, the tractor 1 includes a traveling body 2 and a work implement 6. The traveling body 2 is capable of traveling within a farm field, and includes front wheels 3 and rear wheels 4 as traveling devices. The front wheels 3 are provided as a pair on the left and right for steering. The rear wheels 4 are provided as a pair on the left and right for driving (driving wheels). Note that the traveling body 2 may include a crawler device as the traveling device instead of the wheels (front wheels 3 and rear wheels 4). In this case, the traveling crawler is the driving wheel.

[0014] Rotational power generated by an engine E, which is a drive source housed inside a bonnet 5, is transmitted to rear wheels 4, which are drive wheels, after being appropriately reduced in speed by a speed change device (transmission) 121 (see FIG. 2) provided in a power transmission device (mission case) 12, which is a traveling device. The rear wheels 4 are driven by the rotational power transmitted from the engine E. The speed change device 121 switches the rotational power transmitted from the engine E to one of a plurality of gears (for example, 1st to 8th gears).

[0015] The traveling vehicle body 2 is configured to be able to transmit power generated by the engine E and reduced in speed by the transmission 121 to the front wheels 3 via the 4WD clutch as well. In this case, when the 4WD clutch transmits power, the four wheels, the front wheels 3 and the rear wheels 4, are driven by the power transmitted from the engine E. Also, when the 4WD clutch blocks the transmission of power, only the two wheels, the rear wheels 4, are driven by the power transmitted from the engine E. In this way, the traveling vehicle body 2 is configured to be able to switch between two-wheel drive (2WD) and four-wheel drive (4WD).

[0016] A work implement 6 that performs work in a field is connected to the rear of the traveling body 2, and a PTO device 7 having a PTO (Power take-off) shaft 71 that transmits power to drive the work implement 6 is provided. A driver's seat 8 where a driver sits when operating the tractor 1 is provided in the center of the traveling body 2.

[0017] A steering wheel 9, which is a handle for steering the front wheels 3, is provided as a steering device in front of the cockpit 8. The steering wheel 9 and a drive section for driving the steering wheel constitute the steering device. The steering wheel 9 is provided at the upper end of a handle post 10. Various operating pedals 11 (such as an accelerator pedal, brake pedal, and clutch pedal) are provided below the handle post 10, near the feet of the pilot when he or she sits in the cockpit 8.

[0018] In addition, a lifting device 13 that raises and lowers the work implement 6 is provided at the rear of the traveling body 2. The lifting device 13 moves the work implement 6 to a non-working position by raising the work implement 6. In addition, the lifting device 13 moves the work implement 6 to a ground work position by lowering the work implement 6. The lifting device 13 includes a hydraulic lifting cylinder 131, a lift arm 132, a lift rod 133, a lower link 134, and a top link 135.

[0019] When hydraulic oil is supplied to the lift cylinder 131, the lift arm 132 rotates about the axis AX to raise the work implement 6, and when hydraulic oil is discharged from the lift cylinder 131, the lift arm 132 rotates about the axis AX to lower the work implement 6. A lift arm sensor that detects the rotation angle of the lift arm 132 is provided at the base of the lift arm 132 (near the axis AX). The height of the work implement 6 is calculated based on the detection value of the lift arm sensor.

[0020] Furthermore, the lift arm 132 is connected to the lower link 134 via the lift rod 133. In this manner, the lifting device 13 connects the work machine 6 to the traveling body 2 by the lower link 134 and the top link 135 so that the work machine 6 can be raised and lowered.

[0021] 1 illustrates an example in which the working machine 6 is a rotary tiller. The rotary tiller tills the field (soil) by rotating tiller tines 61 using power transmitted from a PTO shaft 71 of a PTO device 7.

[0022] The tractor 1 includes a control device 100 (see FIG. 2). The control device 100 controls the engine E and also controls the traveling speed of the traveling vehicle body 2. The control device 100 also controls the work equipment 6.

[0023] The tractor 1 also includes a positioning device 150. The positioning device 150 is provided on the upper part of the traveling body 2, and measures the position of the traveling body 2. The positioning device 150 is, for example, a Global Navigation Satellite System (GNSS), and can receive radio waves from a navigation satellite S orbiting in the sky to perform positioning and timing.

[0024] Furthermore, the tractor 1 allows the operator to set various tasks in a specific field by operating an information processing terminal (mobile terminal such as a tablet terminal) 160. The information processing terminal 160 can be connected to a communication network such as the Internet, and can be connected to a task management device via the communication network. In this case, the task management device is a system capable of so-called cloud computing. The information processing terminal 160 and the task management device are connected, for example, via a wireless LAN (Local Area Network).

[0025] The information processing terminal 160 includes a storage unit configured with, for example, a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and a display unit and an operation unit configured with a touch panel. Note that various keys and buttons may be provided separately as the operation unit. The task management device is a processing device having a CPU (Central Processing Unit) or the like, a storage device such as a ROM (Read Only Memory), a RAM (Random Access Memory), or a HDD (Hard Disk Drive), or further a computer provided with an input / output device.

[0026] The tractor 1 also includes a remote control device (hereinafter referred to as a remote control) 170. The remote control 170 is used when an operator remotely controls the traveling body 2. In order to remotely control the traveling body 2, the remote control 170 outputs to the control device 100 traveling signals related to traveling, such as forward, backward, left turn, right turn, and stop, to the traveling body 2.

[0027] The control device 100 is configured to be able to constantly communicate with the remote control 170. For example, when communication with the remote control 170 is confirmed to be interrupted, the control device 100 controls each unit to stop the tractor 1, thereby stopping the autonomous traveling of the tractor 1 (traveling body 2) in a state in which remote control by the remote control 170 is not possible. <Control system for work vehicles (tractors)> Next, a control system of the work vehicle (tractor) 1 centered around the control device 100 will be described with reference to Fig. 2. Fig. 2 is a block diagram showing an example of the control system of the work vehicle (tractor) 1 according to the embodiment. As shown in Fig. 2, the control device 100 is an engine ECU (Electronic Control Unit). The vehicle ECU 100 includes a travel system ECU 102 and a work implement lifting system ECU 103.

[0028] The engine ECU 101 controls the rotation speed of the engine E. The traveling system ECU 102 controls the rotation of the drive wheels (rear wheels 4) to control the traveling speed of the traveling vehicle body 2 (see FIG. 1). The working machine lifting system ECU 103 controls the lifting device 13 to drive the working machine 6 to lift and lower.

[0029] The control device 100 is capable of controlling each part through electronic control, and is equipped with a processing unit having a CPU (Central Processing Unit) and the like, as well as a memory unit in which various programs and necessary data such as a planned driving route R (described later) of the traveling vehicle body 2 that is set in advance for each farm field are stored.

[0030] As shown in Fig. 2, various sensors such as a positioning device (GNSS) 150, an engine revolution sensor 110, a vehicle speed sensor 111, a gear shift sensor 112, and a turning angle sensor 309 are connected to the control device 100. The engine revolution sensor 110 detects the number of revolutions of the engine E. The vehicle speed sensor 111 detects the traveling speed (vehicle speed) of the traveling vehicle body 2 (see Fig. 1). The gear shift sensor 112 detects which of a plurality of gear shift stages the transmission 121 is in. As described above, the turning angle sensor 309 detects the turning angle of the front wheels 3 (see Fig. 1).

[0031] The control device 100 receives inputs of position information of the traveling vehicle body 2 in a field or the like from the positioning device 150, the number of revolutions of the engine E from the engine revolution sensor 110, the traveling speed of the traveling vehicle body 2 from the vehicle speed sensor 111, the current gear position from the shift sensor 112, and the turning angle of the front wheels 3 from the turning angle sensor 309. When the control device 100 causes the tractor 1 to travel autonomously, as described above, the control device 100 steers the steering wheel 9 by controlling the steering cylinder connected to the steering wheel 9 while feeding back the turning angle of the front wheels 3 using the detection value of the turning angle sensor 309.

[0032] In the control device 100, the engine ECU 101 is connected to the engine E, the traveling system ECU 102 is connected to the transmission 121, and the work machine lifting system ECU 103 is connected to the lifting device 13. The engine ECU 101 outputs a rotation control signal to the engine E. The traveling system ECU 102 outputs a gear change control signal to the transmission 121. The work machine lifting system ECU 103 outputs a work machine lifting signal to the lifting device 13. In addition, the lifting device 13 lifts and lowers the work machine 6 based on the work machine lifting signal output from the work machine lifting system ECU 103.

[0033] Furthermore, in the control device 100, when the tractor 1 is caused to travel autonomously, a planned travel route R (see FIG. 3) corresponding to the work content of the work implement 6 is determined in advance for each field, digitized, and stored in the storage unit. Based on the measurement results of the positioning device 150, the control device 100 controls the engine E, the transmission 121, the lifting device 13, and the like so that the tractor travels along the stored planned travel route R. The planned travel route R is set according to the shape and size of the field, the width, length, and number of ridges formed in the field, and the type of crop. The planned travel route R will be described later with reference to FIG. 3.

[0034] As described above, the control device 100 is wirelessly connected to, for example, an information processing terminal (mobile terminal) 160 that can be carried by the operator of the tractor 1. The control device 100 controls each part of the tractor 1 based on an instruction signal from the information processing terminal 160 operated by the operator. The control device 100 may be configured to hold a machine information database of the tractor 1, and to be able to transmit and receive information such as the model from the mobile terminal 160 or the like.

[0035] As described above, the control device 100 is wirelessly connected to the remote control 170 that can be carried by the operator of the tractor 1. The control device 100 controls the traveling device and the steering device based on an instruction signal (traveling signal) from the remote control 170 operated by the operator. <Autonomous driving in farm fields> Next, the autonomous traveling of the work vehicle (tractor) 1 in the field F1 will be described with reference to Fig. 3. Fig. 3 is an explanatory diagram of the autonomous traveling in the field F. For example, in the case of tilling work by the tractor 1 performing work while autonomously traveling, the derivation unit of the control device 100 (see Fig. 2) derives information for generating a traveling route (planned traveling route) R in which an appropriate turning position, tilling depth, etc. are specified, based on information including the overall length, overall width, and tread of the tractor 1 (traveling body 2 and working implement 6), the capacity of the working implement 6 (for example, a rotary tiller), and the shape and area of ​​the field F1.

[0036] As shown in Fig. 3, the tractor 1 enters the field F1 from the entrance / exit of the field F1 along the planned travel route R, and automatically performs tilling work while turning appropriately. Depending on the program, the tractor 1 can also be controlled to exit the field F1 from the entrance / exit of the field F1 after tilling work and stop at a specified location.

[0037] The tractor 1 (traveling body 2) performs ground work while circling in the headland area A1, which is, for example, the inside of the ridge F2, i.e., a predetermined area from the edge of the field F1 to the inside. The tractor 1 performs ground (cultivation) work while repeatedly moving straight and turning in an area A2 that is more inward than the headland area A1, from a preset work start position P1 to a work end position P2.

[0038] Here, the work end position P2 is located inside the edge of the field F1 by the headland area A1. Therefore, in order for the operator H to get back on the tractor 1 after the tractor 1 has reached the work end position P2 (after work is completed), he or she must enter the field F1 by at least the headland area A1, which is inconvenient. According to this embodiment, the remote control 170 can be used to eliminate such inconvenience. <Remote control operation panel> Next, operation surface 171 of remote control 170 will be described with reference to FIG. 4. FIG. 4 is a front view showing remote control device (remote control) 170. As shown in FIG. 4, remote control 170 has operation surface 171, which is operated by an operator, on the front part of its main body. A plurality of push-button type operation buttons 172 are arranged, for example, in the upper half area of ​​operation surface 171. At least four operation buttons 172 (first operation button 172a to fourth operation button 172d) are arranged on operation surface 171. Furthermore, a push-button type power button 173 and a push-button type horn button 174 are further arranged, for example, in the lower half area of ​​operation surface 171.

[0039] The first operation button 172a and the second operation button 172b are pressed when traveling the tractor 1 (see FIG. 1). The third operation button 172c is pressed when temporarily stopping the tractor 1. The fourth operation button 172d is pressed when stopping the tractor 1 (stopping the engine E).

[0040] Also, the first operation button 172a to the fourth operation button 172d are arranged at positions that become the four vertices of a rectangle as indicated by the two-dot dashed line in the figure. Specifically, the first operation button 172a and the second operation button 172b are arranged at positions that become the two vertices that form the upper side of the rectangle, the third operation button 172c and the fourth operation button 172d are arranged at positions that become the two vertices that form the lower side of the rectangle, the first operation button 172a and the fourth operation button 172d are arranged at positions that become the two vertices that form the left side of the rectangle, and the second operation button 172b and the third operation button 172c are arranged at positions that become the two vertices that form the right side of the rectangle.

[0041] The power button 173 is pressed when turning on the power of the remote control 170. The horn button 174 is pressed when making the tractor 1 generate a warning sound. By having such a horn button 174, for example, when an operator watching the tractor 1 from a ridge finds a bird or the like in front of the tractor 1, he or she can scare the bird or the like away by pressing the horn button 174 to generate a warning sound. This makes it possible to suppress a decrease in work efficiency caused by the tractor 1 recognizing a bird as an obstacle and automatically stopping every time a bird is detected while working.

[0042] Furthermore, the remote control 170 can remotely operate the tractor 1 by simultaneously pressing two of the first to fourth operation buttons 172a to 172d (for example, the first operation button 172a and the second operation button 172b, etc.) before or after the tractor 1 starts autonomous traveling. In this case, the operator must press two operation buttons 172 simultaneously, which reduces the occurrence of erroneous operations compared to when one operation button 172 is pressed to operate the tractor 1.

[0043] Then, the control device 100 (see FIG. 2) controls the travel device to move the tractor 1 (traveling body 2) forward and backward and steers the steering device to the left and right according to the combination of two operation buttons 172 pressed simultaneously on the remote control 170.

[0044] Furthermore, on the operation surface 171 of the remote control 170, the following symbols are provided so that the operator can easily recognize the operation of the tractor 1 from the position of the operation button 172 to be pressed: "forward", "reverse", "left turn", and "right turn". In addition to being represented by letters, such symbols may be a combination of a design of the tractor 1 and an arrow indicating the direction in which the tractor 1 travels. In addition, the symbol for indicating left and right turns may be a combination of a design of the steering wheel 9 and an arrow indicating the direction in which the steering wheel 9 is turned.

[0045] 5A to 5D show combinations of push buttons (first operation button 172a to fourth operation button 172d) to be pressed when operating with remote control 170. Fig. 5A is an explanatory diagram of push button (operation button) 172 to be pressed when operating the aircraft forward, Fig. 5B is an explanatory diagram of push button (operation button) 172 to be pressed when operating the aircraft backward, Fig. 5C is an explanatory diagram of push button (operation button) 172 to be pressed when operating the aircraft left, and Fig. 5D is an explanatory diagram of push button (operation button) 172 to be pressed when operating the aircraft right.

[0046] As shown in Fig. 5A, when the first operation button 172a and the second operation button 172b are pressed simultaneously, the control device 100 (see Fig. 2) executes forward movement of the tractor 1. As shown in Fig. 5B, when the third operation button 172c and the fourth operation button 172d are pressed simultaneously, the control device 100 executes reverse movement of the tractor 1.

[0047] As shown in Fig. 5C, when the first operation button 172a and the fourth operation button 172d are pressed simultaneously, the control device 100 steers the steering device to the left, i.e., turns the tractor 1 to the left. As shown in Fig. 5D, when the second operation button 172b and the third operation button 172c are pressed simultaneously, the control device 100 steers the steering device to the right, i.e., turns the tractor 1 to the right.

[0048] Further, the control device 100 executes forward movement, reverse movement, left turning, and right turning of the tractor 1 in accordance with the combination of the two operation buttons 172 only while the two operation buttons 172 are being pressed simultaneously.

[0049] As described above, according to the tractor 1 according to the embodiment, the traveling body 2 is remotely controlled by simultaneously pressing two of the four operation buttons 172 (the first operation button 172a to the fourth operation button 172d) of the remote control 170 in a predetermined combination, so that the traveling body 2 can be remotely controlled while suppressing erroneous operation at least either before the start of the autonomous traveling of the traveling body 2 or after the end of the autonomous traveling of the traveling body 2. Therefore, for example, if the traveling body 2 is moved to the edge of the field by remote control at least either before the start of the autonomous traveling of the traveling body 2 or after the end of the autonomous traveling of the traveling body 2, the worker H can get on the traveling body 2 (tractor 1) without entering the field, which is convenient and improves workability. In particular, in the plowing work, it is more difficult to walk in the field F1, so if the worker H can get on the tractor 1 without entering the field, workability is greatly improved.

[0050] Moreover, an existing remote control can be used as the remote control 170, and functions can be added without increasing costs.

[0051] In addition, the four operation buttons 172 on the remote control 170 are arranged so that the positions of two operation buttons 172 pressed simultaneously approximately coincide with the movements (forward, backward, left turn, right turn, etc.) of the traveling body 2 caused by remote control of the remote control 170. In other words, the combination of two operation buttons 172 pressed simultaneously is a combination of positions that allows the worker H to easily imagine the movements of the traveling body 2, so that erroneous operation can be more reliably prevented.

[0052] Furthermore, since the traveling vehicle body 2 moves only while the two operation buttons 172 on the remote control 170 are being pressed simultaneously, erroneous operation can be further reliably prevented.

[0053] In the above embodiment, four operation buttons 172 (first operation button 172a to fourth operation button 172d) are provided on the operation surface 171 of the remote control 170, but the present invention is not limited to this and five or more operation buttons 172 may be provided. Even when there are five or more operation buttons 172, the tractor 1 is caused to move forward, backward, turn left, or turn right according to the combination of operation buttons 172 that are pressed simultaneously. <Modifications of the remote control> Next, modified examples of the remote control 170 will be described with reference to Fig. 6A to Fig. 6C and Fig. 7. Fig. 6A to Fig. 6C are front views showing remote control devices (remote controls) 270, 370, and 470 according to modified examples (No. 1 to No. 3). Fig. 7 is a front view showing remote control device (remote control) 570 according to modified example (No. 4).

[0054] As shown in Fig. 6A, four push-button type operation buttons 272a to 272d are arranged on an operation surface 271 of the remote control 270. The operation buttons 272a and 272b are pressed to run the tractor 1 (see Fig. 1). The operation button 272c is pressed to temporarily stop the tractor 1. The operation button 272d is pressed to stop the tractor 1 (stop the engine).

[0055] Moreover, the four operation buttons 272a to 272d are also arranged at the four vertices of a rectangle on the remote control 270. The remote control 270 makes it possible to remotely operate the tractor 1 by simultaneously pressing two of the four operation buttons 272a to 272d (for example, operation button 272a and operation button 272b, etc.) at least either before the start or after the end of the autonomous traveling of the tractor 1.

[0056] Furthermore, on the operation surface 271 of the remote controller 270, a marking line 273 that serves as a guide for the operator is marked in an X-shape. Such a marking line 273 makes it possible to remotely operate the tractor 1 while suppressing erroneous operation at least either before the start or after the end of the autonomous traveling of the tractor 1.

[0057] 6B, four push-button type operation buttons 372a to 372d are arranged on an operation surface 371 of the remote control 370. The operation buttons 372a and 372b are pressed when traveling the tractor 1. The operation button 372c is pressed when temporarily stopping the tractor 1. The operation button 372d is pressed when stopping the tractor 1 (stopping the engine).

[0058] Moreover, the four operation buttons 372a to 372d are also arranged at the four vertices of a rectangle on the remote control 370. The remote control 370 makes it possible to remotely operate the tractor 1 by simultaneously pressing two of the four operation buttons 372a to 372d (for example, operation button 372a and operation button 372b, etc.) at least either before the start or after the end of the autonomous traveling of the tractor 1.

[0059] Moreover, mark lines 373 that serve as guides for the operator are written generally in an X-shape on the four operation buttons 372a to 372d of the remote control 370. Such mark lines 373 make it possible to remotely operate the tractor 1 while preventing erroneous operation at least either before the start or after the end of the autonomous traveling of the tractor 1.

[0060] 6C, four push-button type operation buttons 472a to 472d are provided on an operation surface 471 of the remote control 470. Operation button 472a and operation button 472b are pressed when traveling the tractor 1. Operation button 472c is pressed when temporarily stopping the tractor 1. Operation button 472d is pressed when stopping the tractor 1 (stopping the engine).

[0061] Moreover, the four operation buttons 472a to 472d are also arranged at the four vertices of a rectangle on the remote control 470. The remote control 470 can remotely operate the tractor 1 by simultaneously pressing two of the four operation buttons 472a to 472d (for example, operation button 472a and operation button 472b, etc.) at least either before the start or after the end of the autonomous traveling of the tractor 1.

[0062] Furthermore, on the operation surface 471 of the remote control 470, a marking line 473 for the operator is generally marked in an X shape, except for the four operation buttons 472a to 472d. Such a marking line 473 makes it possible to remotely operate the tractor 1 while preventing erroneous operation at least either before the start or after the end of the autonomous traveling of the tractor 1.

[0063] 7, four push-button type operation buttons 572a to 572d are arranged on an operation surface 571 of the remote control 570. The operation buttons 572a and 572b are pressed when traveling the tractor 1. The operation button 572c is pressed when temporarily stopping the tractor 1. The operation button 572d is pressed when stopping the tractor 1 (stopping the engine).

[0064] Moreover, the four operation buttons 572a to 572d are also arranged at the four vertices of a rectangle on the remote control 570. The remote control 570 makes it possible to remotely operate the tractor 1 by simultaneously pressing two of the four operation buttons 572a to 572d (for example, operation button 572a and operation button 572b, etc.) at least either before the start or after the end of the autonomous traveling of the tractor 1.

[0065] Moreover, on operation surface 571 of remote control 570, marker lines 573 serving as a guide for the operator are marked in an X-shape. Moreover, on operation surface 571 of remote control 570, four areas 574a-574d partitioned by marker lines 573 are colored differently. In this way, by coloring four areas 574a-574d partitioned by marker lines 573, it becomes possible to remotely operate tractor 1 while suppressing erroneous operation at least either before the start or after the end of autonomous traveling of tractor 1.

[0066] In addition, the marker lines 573 of the remote control 570 may be drawn so as to form an X shape generally on the four operation buttons 572a to 572d, or may be drawn so as to form an X shape generally excluding the four operation buttons 572a to 572d.

[0067] According to the embodiment described above, the following work vehicle 1 is realized.

[0068] (1) A work vehicle 1 comprising: a traveling body 2 having a traveling gear and a steering device and capable of traveling within a field; a control device 100 that controls the traveling gear and the steering device so that the traveling body 2 travels autonomously along a preset traveling route R; and a remote operation device 170 that outputs a traveling signal for the traveling body 2 to the control device 100 in order to remotely operate the traveling body 2, the remote operation device 170 having at least four push buttons 172 (172a to 172d), the traveling body 2 can be remotely operated by pressing two of the four push buttons 172 simultaneously at least either before the traveling body 2 starts traveling or after the traveling body 2 ends traveling autonomously, and the control device 100 performs forward / backward movement of the traveling body 2 by the traveling gear and steering of the steering device left and right according to the combination of the two push buttons 172 pressed simultaneously on the remote operation device 170.

[0069] According to such a work vehicle 1, the traveling body 2 is remotely controlled by simultaneously pressing two of the four push buttons 172 of the remote control device 170 in a predetermined combination, so that the traveling body 2 can be remotely controlled while preventing erroneous operation at least either before the start or after the end of the autonomous traveling of the traveling body 2. Therefore, for example, if the traveling body 2 is remotely moved to the edge of the field at least either before the start or after the end of the autonomous traveling of the traveling body 2, the worker H can get on the traveling body 2 (work vehicle 1) without having to enter the field at all, which is convenient and improves workability.

[0070] (2) In (1) above, the remote control device 170 has four push buttons 172 arranged at the four vertices of a rectangle, and the control device 100 causes the traveling device to move the traveling body 2 forward when two push buttons 172 arranged at the two vertices that form the top side of the rectangle are pressed simultaneously, causes the traveling device to move the traveling body 2 backward when two push buttons 172 arranged at the two vertices that form the bottom side of the rectangle are pressed simultaneously, causes the steering device to steer left when two push buttons 172 arranged at the two vertices that form the left side of the rectangle are pressed simultaneously, and causes the steering device to steer right when two push buttons 172 arranged at the two vertices that form the right side of the rectangle are pressed simultaneously.

[0071] According to such a work vehicle 1, in addition to the effect of (1) above, the arrangement of the four push buttons 172 on the remote control device 170 is such that the positions of two push buttons 172 pressed simultaneously approximately coincide with the movements (forward, backward, left turn, right turn, etc.) of the traveling body 2 caused by remote control of the remote control device 170. In other words, the combination of two push buttons 172 pressed simultaneously is a combination of positions that allows the worker H to easily imagine the movements of the traveling body 2, so that erroneous operation can be further reliably prevented.

[0072] (3) In the above (1) or (2), the control device 100 controls the work vehicle 1 to move the traveling body 2 forward and backward by the traveling gear and to steer the steering device left and right in accordance with the combination of the two push buttons 172 only while the two push buttons 172 are pressed simultaneously.

[0073] According to such a work vehicle 1, in addition to the effects of (1) or (2) above, the traveling body 2 moves only while the two push buttons 172 on the remote control device 170 are pressed simultaneously, thereby further reliably preventing erroneous operation.

[0074] Further advantages and modifications may readily occur to those skilled in the art. Thus, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof. [Explanation of symbols]

[0075] 1. Work vehicle (tractor) 2 Running vehicle 3 Front wheel 4 Rear Wheel 5. Bonnet 6 Work equipment 7 PTO device 8. Cockpit 9. Steering Wheel 10 Handle post 11 Operation pedal 12 Power transmission device (transmission case) 13 Lifting device 61 Cultivating Claw 71 PTO shaft 131 Lifting cylinder 132 Lift arm 133 Lift Rod 134 Lower Link 135 Top Link 100 Control device 101 Engine ECU 102 Driving system ECU 103 Work equipment lifting system ECU 110 Engine revolution sensor 111 Vehicle speed sensor 112 Gear shift sensor 150 Positioning device (GNSS) 160 Information processing terminals (mobile terminals) 170 Remote control device (remote control) 172 Push button (operation button) 172a First operation button 172b Second operation button 172c 3rd operation button 172d 4th operation button AX axis A1 Headland area A2 inner area E-Engine F1 field F2 ridge H worker P1 Work start position P2 Work end position R Driving route (planned driving route) S Navigation satellite

Claims

1. A vehicle equipped with front wheels, A traveling vehicle body having a steering device that steers the front wheels and capable of traveling in a farm field; A control device for controlling the steering device; a remote control device that outputs a travel signal for the traveling vehicle body to the control device in order to remotely control the traveling vehicle body; Equipped with The remote control device is The vehicle body may be remotely controlled by simultaneously pressing two of the four push buttons, The control device includes: executing left / right steering of the steering device in response to a combination of two of the push buttons simultaneously pressed on the remote control device; The steering device is not steered left or right even when the four push buttons are pressed individually. A work vehicle characterized by:

2. The traveling vehicle body has a traveling device, The control device includes: executing forward and backward movement of the traveling vehicle body by the traveling device in response to a combination of two of the push buttons simultaneously pressed on the remote control device; Even if the four push buttons are pressed individually, the traveling device does not move the traveling vehicle body forward or backward.

2. The work vehicle according to claim 1 .

3. The control device includes: When a third operation button for temporarily stopping the traveling vehicle body and a fourth operation button for stopping the engine of the traveling vehicle body are simultaneously pressed among the four push buttons, the traveling device reverses the traveling vehicle body.

3. The work vehicle according to claim 2 .

4. The operation surface of the remote control device has markings indicating forward, backward, left turn, and right turn of the aircraft provided at positions other than the push buttons.

4. The work vehicle according to claim 1, wherein

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