Work vehicle

Abstract

To provide a work vehicle that improves work efficiency. A work vehicle of one aspect of the embodiment has a traveling vehicle body, a seedling transplanting unit provided to the traveling vehicle body, and a control device that controls a steering angle of a steering wheel of the traveling vehicle body and causes the traveling vehicle body to travel autonomously. As autonomous travel, the control device is capable of executing a travel assist function that causes the traveling vehicle body to automatically travel straight and transplants seedlings to a field using the seedling transplanting unit, and a turning assist function that causes the traveling vehicle body to turn without transplanting seedlings using the seedling transplanting unit. The control device is capable of executing the travel assist function and the turning assist function when traveling by hand in accordance with an operation of an operator.

Description

Technical Field

[0001] This invention relates to work vehicles. Background Technology

[0002] Previously, it was known that there were work vehicles that automatically travel in a straight line by keeping the operating device in a straight-line position (see, for example, Patent Document 1).

[0003] Patent Document 1: Japanese Patent Application Publication No. 2016-24541

[0004] The work vehicles are designed to perform autonomous driving, including manual driving based on operator input and automatic straight-line driving. However, there is room for improvement in terms of work efficiency during manual driving in work vehicles using the aforementioned technologies. Summary of the Invention

[0005] The present invention was made in view of the above circumstances, and its object is to provide a seedling transplanting machine that improves work efficiency.

[0006] To address the aforementioned issues and achieve the objectives, one embodiment of the work vehicle 1 includes: a vehicle body 2; a seedling transplanting section 4 disposed on the vehicle body 2; and a control device 100 that controls the steering angle of the steering wheels 10 of the vehicle body 2 and enables the vehicle body 2 to drive autonomously. As for autonomous driving, the control device 100 can perform a driving assistance function that enables the vehicle body 2 to automatically travel in a straight line and transplant seedlings into the field using the seedling transplanting section 4, and a turning assistance function that enables the vehicle body 2 to turn without using the seedling transplanting section 4. During manual driving, where the vehicle is driven by an operator, the control device 100 can perform both the driving assistance function and the turning assistance function.

[0007] Invention Effects

[0008] According to one implementation method, the work vehicle can improve work efficiency. Attached Figure Description

[0009] Figure 1 This is a side view showing the work vehicle.

[0010] Figure 2 This is a top view showing the work vehicle.

[0011] Figure 3 This is a block diagram showing the control system centered on the control device of the seedling transplanter.

[0012] Figure 4 This is a diagram illustrating a method for setting up a teaching driving work area according to an embodiment.

[0013] Figure 5This is a flowchart illustrating the manual driving process of the implementation method.

[0014] Label Explanation

[0015] 1. Seedling transplanter (operating vehicle)

[0016] 2. Vehicle body

[0017] 4. Seedling transplanting section

[0018] 10. Front wheels (steering wheels)

[0019] 11 Rear wheels

[0020] 35 Steering Wheel

[0021] 45 Automatic Straight-Line Travel Switch

[0022] 46 Autonomous Driving Switch

[0023] 48 Automatic Turning Switch

[0024] 91 Steering Sensor

[0025] 100 Controller (Control Device)

[0026] 170 Remote operating device (remote controller) Detailed Implementation

[0027] (Overview of the work vehicle)

[0028] First, refer to Figure 1 and Figure 2 An overview of the work vehicle 1 in the implementation method will be described.

[0029] Figure 1 This is a side view showing the work vehicle 1. Figure 2 This is a top view showing the work vehicle 1.

[0030] Furthermore, in the following description, the forward and backward direction refers to the direction of travel of the work vehicle 1 when it is traveling in a straight line. The front side of the direction of travel is defined as "front," and the rear side is defined as "rear." The direction of travel of the work vehicle 1 is the direction from the driver's seat 41 toward the steering wheel 35 (steering device) when traveling in a straight line (see reference). Figure 1 and Figure 2 ).

[0031] The left and right directions are horizontally orthogonal to the front and back directions, and are defined by the direction facing "forward". That is, when the operator (also known as the worker) is seated in the control seat 41 facing forward, the left side is "left" and the right side is "right".

[0032] The up-down direction is the vertical direction. The front-back, left-right, and up-down directions are orthogonal to each other. These directions are defined for ease of explanation and are not intended to limit the invention.

[0033] In this embodiment, the operating vehicle 1 will be described as a passenger-type seedling transplanter 1 that has a seedling planting section 4 as a field operation device and receives seedlings in the field. Figure 1 and Figure 2 As shown, the seedling transplanter 1 has a liftable seedling planting section 4 for planting seedlings in the field, which is provided on the rear side of the traveling vehicle body 2 via a lifting linkage mechanism 3.

[0034] The main body of the fertilizer applicator 5 is located on the upper rear side of the vehicle body 2. In addition, when the working vehicle 1 is not a seedling transplanter 1, it may sometimes be equipped with a seeding device or the like as a working device.

[0035] The vehicle body 2 is a four-wheel drive vehicle with front wheels 10 and rear wheels 11 serving as wheels, i.e., drive wheels. A gearbox 13 that transmits driving force to the seedling planting section 4 and the like is provided on the front side of the main frame 15 that constitutes the vehicle body 2. A hydraulic continuously variable transmission 14 that outputs the driving force supplied by the engine 30, i.e., the rotation generated by the engine 30, to the gearbox 13 is provided.

[0036] The continuously variable transmission (CVT) 14 is a hydrostatic CVT known as HST (Hydro Static Transmission). The following explanation addresses the case where the CVT is HST 14.

[0037] A secondary transmission mechanism 16 is provided within the gearbox 13. This secondary transmission mechanism 16 switches the driving mode of the vehicle body 2, such as when driving on the road in high-speed mode and when transplanting seedlings in low-speed mode. Front wheel end boxes 10a are provided on the left and right sides of the gearbox 13. Front wheels 10 are mounted on the left and right front axles 10b, which protrude outward from the front wheel support portion that allows the steering direction of the left and right front wheel end boxes 10a to be changed.

[0038] Furthermore, on the rear side of the main frame 15, a rear frame 22 is arranged laterally (see reference). Figure 2 The rear wheel gearbox 11a is installed on the left and right sides of the vehicle, and the rear wheels 11 are respectively installed on the left and right rear axles 11b that protrude outward from the rear wheel gearbox 11a.

[0039] Furthermore, the left and right link support frames 23 supporting the lifting linkage mechanism 3 protrude upwards from the upper part of the rear frame 22. A pair of lower link arms 24 are provided on the lower side of the left and right link support frames 23 and between the left and right sides. A hydraulically operated lifting cylinder 25 is provided between the left and right lower link arms 24.

[0040] An upper connecting arm 26 is provided above the lifting cylinder 25, forming a lifting linkage mechanism 3 as a parallel linkage mechanism. In addition, the other ends of the left and right lower connecting arms 24, lifting cylinder 25, and upper connecting arms 26, which are respectively connected to the sides of the traveling vehicle body 2, are mounted on the front of the seedling planting section 4.

[0041] In addition, an engine 30 is mounted on the main frame 15. The rotational power of the engine 30 is transmitted to the gearbox 13 via the belt drive 21 and HST 14. The rotational power transmitted to the gearbox 13 is divided into driving power and external extraction power after being changed by the auxiliary transmission mechanism 16 within the gearbox 13.

[0042] Furthermore, the rotational power of the engine 30 is transmitted to a hydraulic pump (not shown). The hydraulic pressure generated by the hydraulic pump is supplied to the power steering mechanism 88 of the HST 14 and steering wheel 35 (see reference). Figure 3 ), lifting cylinder 25, etc.

[0043] The external extraction power, which is taken out from the rotational power transmitted to the gearbox 13, is transmitted to the planting clutch box 27 located at the rear of the vehicle body 2, and from the planting clutch box 27 it is transmitted to the seedling planting section 4 via the planting drive shaft 67.

[0044] On the other hand, left and right drive shafts 42 are provided at the rear of the gearbox 13. Rotational power from the engine 30 is transmitted to the left and right rear wheel gearboxes 11a via the gearbox 13 and drive shafts 42.

[0045] Additionally, a side clutch 44 is provided upstream of the left and right drive shafts 42 in the transmission direction to switch on and off the power transmission to the left and right drive shafts 42 (see reference). Figure 3 ). For example Figure 1 As shown, a side clutch pedal 43a for engaging and disengaging the left and right side clutches 44 is provided on the lower front part and on the left and right sides of the control seat 41.

[0046] When turning by pressing the side clutch pedal 43a on the inside of the turn, causing the side clutch 44 to disengage, the steering wheel 35 can be operated to completely cut off the drive rotation of the rear wheel 11 on the inside of the turn.

[0047] A hood 39 is provided on the upper front side of the vehicle body 2, and a control panel 38 for operating various parts is arranged on the upper part of the hood 39. A monitor 86 (see reference) is provided on the control panel 38. Figure 3 )wait.

[0048] In addition, the hood 39 is equipped with a steering wheel 35 for steering the vehicle body 2, a gear shift lever 36 for operating the HST 14 and the seedling planting section 4, and a secondary gear shift lever 37 for operating the secondary gear shift mechanism 16.

[0049] Furthermore, a front cover 40 that can be opened and closed is provided on the front side of the hood 39. Inside the front cover 40 are a fuel tank, a battery, and a linkage mechanism that rotates the lower sides of the left and right front wheels 10 and the left and right front wheel end caps 10a when the steering wheel 35 is turned. The front wheels 10 are, for example, steering wheels that steer according to the steering wheel 35.

[0050] An engine cover 30a is provided on the rear side of the engine cover 39 and above the engine 30, covering the upper and side parts of the engine 30. An operator's seat 41 is provided on the upper part of the engine cover 30a for the operator to sit on.

[0051] A fertilizer applicator 5 is provided on the rear side of the control seat 41 and the rear end side of the main frame 15. The driving force of the fertilizer applicator 5 is transmitted by a fertilizer transmission mechanism, which is configured to face the fertilizer applicator 5 from the left and right sides of the left and right rear wheel gearboxes 11a.

[0052] The lower left and right sides of the engine hood 30a and engine hood 39 have roughly horizontal footrests 33. For example... Figure 2 As shown, part of the footboard 33 is grid-shaped, so that even if the mud attached to the operator's shoes or other items falling off the footboard 33, the fallen mud or other items will fall onto the field.

[0053] In addition, such as Figure 2 As shown, a rear pedal 330 is connected to the rear of the footrest 33. Preferably, the surface of the rear pedal 330 is treated with an anti-slip process, for example, forming a plurality of raised patterns, so that the foot is less likely to slip during operation.

[0054] In addition, a seedling rack 50 is provided on the front and left and right sides of the vehicle body 2. The seedling rack 50 is provided with multiple seedling carriers 52 on the seedling rack support 51 in a way that is spaced apart in the vertical direction. It can hold seedlings, fertilizer bags and other work materials to be added to the seedling planting section 4.

[0055] Furthermore, the seedling box 53, which holds the seedlings to be planted in the field, is assembled together with a sliding mechanism that allows it to slide in the left-right direction at the rear end of the lifting linkage mechanism 3. The seedling box 53 is provided with seedling dividers 54 that are longer in the vertical direction, spaced at predetermined intervals in the left-right direction. Below the seedling box 53 is a seedling planting device 55 that grabs the loaded seedlings and plants them into the field.

[0056] The seedling transplanting device 55 transplants seedlings simultaneously in 8 rows, the same number as the number of rows divided by the seedling divider 54. Four transplanting transmission boxes 56 are arranged at intervals below the seedling box 53. Transplanting rotators 57 are mounted on the left and right sides of the transplanting transmission boxes 56 respectively. While rotating, the transplanting rotators 57 use the planting rod 58 to pick up the seedlings and transplant them into the field.

[0057] The fertilization device 5 divides the fertilizer storage hopper 70 into the same number of working rows as the seedling transplanting section 4 (in Figure 2 (The example shown has 8 rows). In addition, the 8-row fertilizer hopper 70 is longer in the left and right direction, which reduces the convenience of fertilizer addition and disassembly. Therefore, it is also possible to have a so-called side-feeding structure in which the fertilizer hoppers divided into 4 rows are arranged side by side on the left and right.

[0058] At the lower part of the fertilizer hopper 70, a delivery device 71 for supplying fertilizer at a predetermined amount is provided in each row. Below the delivery device 71, a ventilation duct 72 is provided in the left-right direction for conveying air to pass through, allowing the fertilizer to move. Below the delivery device 71, a fertilizer hose 73 is provided to guide the fertilizer to the vicinity of the seedling planting position in the seedling planting section 4. In addition, a blower 74 is provided at one end of the ventilation duct 72, which generates conveying air by operating a blower motor 76.

[0059] like Figure 1 and Figure 2 As shown, below the seedling planting section 4, there is a central float 62C that slides in contact with the field surface and two side floats 62L and 62R on each side, which are arranged so as to rotate freely around the axis. In addition, the central float 62C and the left and right side floats 62L and 62R are sometimes collectively referred to as float 62.

[0060] Furthermore, below the seedling planting section 4, a leveling rotating body 63 is provided on the front side of the float 62 to level the unevenness of the field surface. In addition, the driving force is transmitted from the rear wheel gearbox 11a on the left and right sides to the leveling rotating body 63 via the rotating body drive shaft 63a.

[0061] In addition, such as Figure 1As shown, marking devices 65 are respectively installed on the left and right sides of the seedling planting section 4. Either the left or right side of the marking device 65 contacts the field surface, forming a groove that serves as the driving target for the next working row (next process). When one side of the left and right marking devices 65 touches the ground, the other side separates upwards. When the seedling planting section 4 rises during a turn, both sides separate upwards together. When the seedling planting section 4 descends after a turn, one side separates upwards, and the other side touches the ground.

[0062] In addition, such as Figure 1 and Figure 2 As shown, a center marker 66 that is longer in the vertical direction is provided at the center of the left and right sides of the vehicle body 2 and in front of the hood 39. By aligning the center marker 66 with the groove formed on the field by the left and right marking devices 65, the vehicle can travel in alignment with the working position of the next working row, thereby improving working accuracy and preventing non-working activities.

[0063] Furthermore, depending on the soil conditions, sometimes the guide lines formed by the left and right marking devices 65 are immediately buried, and the target for straight-line movement disappears. In this case, left and right side marking devices 19, which are positioned in front of the left and right marking devices 65, can be used. That is, the left and right side marking devices 19 are moved outwards so that they are positioned above the seedlings to be planted, thereby enabling planting operations that are consistent with the planting of seedlings in the previous row.

[0064] In addition, such as Figure 1 As shown, the seedling transplanter 1 has a position acquisition device 150. The position acquisition device 150 acquires the current position and orientation of the seedling transplanter 1. The position acquisition device 150 may include, for example, an orientation sensor, GPS (Global Positioning System), GNSS (Global Navigation Satellite System), or other positioning units. The position acquisition device 150 may also be composed of multiple devices. The position acquisition device 150 may also include a camera, an ultrasonic sensor, and may acquire the turning position in the field and detect the distance up to the turning position.

[0065] For example, the position acquisition device 150 receives positioning information from the positioning unit, generates the current position and orientation information of the vehicle body 2 based on the received positioning information, and obtains the current position and orientation. The position acquisition device 150 is, for example, mounted on the mounting support 59 and positioned above the vehicle body 2.

[0066] The straight-line driving control program and the turning control program generated based on the position information from the position acquisition device 150 are stored in different locations. For example, the straight-line driving control program is stored in the straight-line driving control ECU (Electronic Control Unit) 100a within the position acquisition device 150, and the turning control program is stored, for example, in the turning control ECU 100b housed in the hood 39. Furthermore, the straight-line driving control ECU 100a and the turning control ECU 100b are included in the control device 100 described later (see reference 100). Figure 3 In this context, the ECU 100a for straight-line driving control and the ECU 100b for turning control can also be stored in the same ECU.

[0067] (Control system of the seedling transplanter)

[0068] Next, refer to Figure 3 The control system of seedling transplanter 1 is described. Figure 3 This is a block diagram showing the control system centered on the control device 100 of the seedling transplanter 1. The seedling transplanter 1 is capable of controlling each part by means of electronic control and has a control device (hereinafter referred to as controller) 100 for controlling each part.

[0069] The controller 100 is equipped with a processing unit including a CPU (Central Processing Unit), a storage unit including ROM (Read Only Memory) and RAM (Random Access Memory), and an input / output unit. These units are interconnected and can exchange signals. The storage unit stores computer programs that control the seedling transplanter 1. The controller 100 reads the computer programs stored in the storage unit, thereby performing various functions.

[0070] The controller 100 is connected to actuators such as a throttle motor 80, hydraulic control valves 81 and 82, insert clutch working solenoid 83, side clutch working solenoid 84, HST motor 85, scribing lifting motor 87, steering motor 95, and differential lock switching motor 96.

[0071] The throttle motor 80 operates the throttle valve, which regulates the intake air volume of the engine 30, thereby increasing or decreasing the speed of the engine 30's output shaft. The hydraulic control valve 81 controls the extension and retraction of the lifting cylinder 25. The hydraulic control valve 82 controls the power steering mechanism 88. The engagement clutch working solenoid 83 engages the engagement clutch 27a.

[0072] The side clutch working solenoid 84 causes the side clutch 44 to operate, which is relative to the rear wheel 11 (see reference). Figure 1 The power transmission state is switched. In addition, the side clutches 44 are respectively installed on the left and right rear wheels 11, and the side clutch working solenoids 84 are provided with two corresponding side clutches 44.

[0073] HST motor 85 changes the rotation angle of the trunnion of HST 14, thereby changing the tilt angle of the swashplate of HST 14. Steering motor 95 is a motor that, in the case of automatic cornering control, drives the front wheels 10 (see reference) Figure 1 The steering mechanism, namely the steering wheel 35, adjusts the steering amount (steering angle). The steering motor 95 rotates the steering wheel 35. The lane marking lift motor 87 raises and lowers the lane marking 65.

[0074] The differential lock switching motor 96 is a motor that switches the operation and stop operation of the differential locking mechanism 97 (hereinafter referred to as the differential lock mechanism) that causes the left and right driving wheels, specifically the left and right front wheels 10, to rotate at the same rotational speed. When the differential lock mechanism 97 is in the engaged state, the left and right driving wheels rotate at the same rotational speed.

[0075] The controller 100 is connected to a speed sensor 90, a steering input sensor 91, a tilt sensor 92, etc., which serve as detection devices. Two speed sensors 90 are provided corresponding to the left and right rear wheels 11, respectively, to detect the speed of the left and right rear wheels 11. In addition, the speed sensors 90 can also detect the speed of the left and right front wheels 10.

[0076] Steering amount sensor 91 detects the amount of steering input to the steering wheel 35, which serves as the steering mechanism, i.e., the amount of steering input (steering angle) of the front wheels 10. Steering amount sensor 91 is, for example, mounted on a shaft connected to the steering arm. Furthermore, using the value when the steering wheel 35 is in a preset straight-line driving position as a reference value, steering input is detected in both the left and right directions. Tilt sensor 92 detects the tilt of the vehicle body 2, i.e., the tilt angle.

[0077] In addition, signals are input to the controller 100 as operation signals from the gear shift lever 36, the auxiliary gear shift lever 37, the autonomous driving switch 46, the insertion part lifting switch 47, the automatic straight-line travel switch 45, the automatic turning switch 48, and the line marking automatic lifting switch 49.

[0078] The autonomous driving switch 46 is a switch that toggles whether autonomous driving is enabled. Specifically, the autonomous driving switch 46 switches the driving mode between autonomous driving mode and manual driving mode. For example, when the autonomous driving switch 46 is "ON", the driving mode is set to autonomous driving mode. When the autonomous driving switch 46 is "OFF", the driving mode is set to manual driving mode. When the autonomous driving switch 46 is "ON", the automatic straight-line driving switch 45 and the automatic turning switch 48 are also "ON". That is, when the driving mode is autonomous driving mode, the automatic straight-line driving switch 45 and the automatic turning switch 48, even if temporarily "ON", can be changed to "OFF" by the operator.

[0079] The transplanting section lifting switch 47 is a switch that toggles whether the seedling transplanting section 4 is raised or lowered. The transplanting section lifting switch 47 is changed to the "raise" and "lower" positions.

[0080] When the planting section lifting switch 47 is in the "up" position, the seedling planting section 4 rises to the designated non-operating position, becoming the non-operating state where the seedling planting device 55 stops. When the planting section lifting switch 47 is in the "down" position, the seedling planting section 4 descends to the designated operating position, becoming the operating state where the seedling planting device 55 is working. That is, the planting section lifting switch 47 is a switch for detecting the operating state of the seedling planting section 4. Alternatively, an additional switch for detecting the operating state of the seedling planting section 4 may be provided.

[0081] The automatic raising / lowering switch 49 is a switch that toggles whether the automatic raising / lowering of the lane marker 65 is linked to the steering wheel 35's input, i.e., the steering input of the front wheels 10. When the automatic raising / lowering switch 49 is "on," control is performed to automatically raise / lower the lane marker 65 in conjunction with the steering input. Conversely, when the automatic raising / lowering switch 49 is "off," control is not performed to automatically raise / lower the lane marker 65 in conjunction with the steering input.

[0082] The automatic straight-line driving switch 45 is a switch that toggles whether automatic straight-line driving can be performed. When the automatic straight-line driving switch 45 is "on", the driving assistance function described later is effective, and automatic straight-line driving can be performed. When the automatic straight-line driving switch 45 is "off", the driving assistance function is ineffective, and automatic straight-line driving cannot be performed.

[0083] The automatic turn switch 48 is a switch that toggles whether automatic turning can be performed. When the automatic turn switch 48 is "on", the turning assist function (described later) is active, and automatic turning can be performed. When the automatic turn switch 48 is "off", the turning assist function is inactive, and automatic turning cannot be performed. When the automatic turn switch 48 is "off", even if the conditions for performing automatic turning are met, automatic turning will not be performed.

[0084] In addition, the current position information of the vehicle body 2 is input from the position acquisition device 150 to the controller 100. The controller 100 executes an autonomous driving mode in which the vehicle body 2 performs operations while driving automatically.

[0085] Furthermore, various information is input from the remote operating device 170 (hereinafter referred to as the "remote controller") to the controller 100. For example, information is input from the remote controller 170 via the receiver 180 (see reference 180). Figure 1 Various information is input to the controller 100. The receiver 180 is, for example, mounted on the mounting strut 59 (see reference). Figure 1 The receiver 180 is positioned on the upper front side of the vehicle body 2. Additionally, multiple receivers 180 may be provided.

[0086] Remote controller 170 can remotely operate the seedling transplanter 1. Remote controller 170 can also be a smartphone or other terminal device. Remote controller 170 sends control signals corresponding to the operator's commands. Remote controller 170 connects to controller 100 via short-range wireless communication such as Wi-Fi (registered trademark) or BLE (Bluetooth Low Energy), but is not limited to these; it can also connect via a communication network or other means, based on or instead of short-range wireless communication.

[0087] The remote controller 170 may also include a position sensor, GPS, GNSS or other positioning units. The remote controller 170 may also send its position information to the controller 100.

[0088] Multiple remote controllers 170 can be configured. That is, the controller 100 can obtain the position information of each remote controller 170 from multiple remote controllers 170.

[0089] (Autonomous driving mode)

[0090] Here, the autonomous (automatic) movement of the seedling transplanter 1 in the field will be described. Controller 100 (refer to...) Figure 3 It has the following autonomous driving modes: one side provides feedback to the front wheel 10 (refer to...). Figure 1 The steering amount is controlled while the steering motor 95 (refer to) is controlled. Figure 3And operate the steering wheel 35 (refer to) Figure 3 The autonomous driving mode includes automatic straight-line driving mode and automatic turning mode.

[0091] The automatic straight-line travel mode is as follows: the steering motor 95 is controlled to make the vehicle body 2 travel in a straight line along a pre-set straight-line path. In the automatic straight-line travel mode, seedlings are planted in the field using the seedling transplanting unit 4, and the vehicle body 2 travels in a straight line independently of the operator's operation. That is, the driving assistance function that enables the vehicle body 2 to travel in a straight line and transplant seedlings into the field is effective and the driving assistance function is executed.

[0092] The automatic turning mode is as follows: when the vehicle body 2 reaches the designated turning position, the seedling planting unit 4 stops planting seedlings, and the steering motor 95 is controlled to turn the vehicle body 2 along a pre-set turning path. The designated turning position is set, for example, using the travel distance of the completed work process, position information related to the completed work process, etc.

[0093] In automatic turning mode, for example, the seedling planting section 4 rises and enters a non-operational state, and the vehicle body 2 turns without the operator's control. That is, the turning assist function that enables the vehicle body 2 to turn without using the seedling planting section 4 to plant seedlings is effective and the turning assist function is executed.

[0094] In addition, such as Figure 4 As shown, a demonstration driving is performed to drive along the three sides of the field, La to Lc, with the help of an operator, thereby setting the work area for executing autonomous driving mode. Figure 4 This is a diagram illustrating a method for setting up a teaching driving work area according to an embodiment.

[0095] For example, when driving begins by operating the work area setting button (not shown), the position information of the vehicle body 2 is recorded as the starting point of edge La, and the position information of the vehicle body 2 during driving is also recorded. Then, when the steering wheel 35 is turned by the operator at a predetermined turning angle or more, the ending point of edge La is recorded, and edge La is set. In addition, the position information of the vehicle body 2 at the starting point of edge Lb is recorded. The predetermined turning angle is a preset value that can be determined as the angle at which the vehicle body 2 turns along the field ridge.

[0096] Furthermore, after the vehicle body 2 has traveled in a straight line, when the steering wheel 35 is turned by the operator to a predetermined angle or more, the end point of edge Lb is recorded, and edge Lb is set. In addition, the position information of the vehicle body 2 at the starting point of edge Lc is recorded.

[0097] After the vehicle body 2 has traveled in a straight line, when the operation area setting button is pressed, the position information of the vehicle body 2 is recorded as the endpoint of edge Lc, and edge Lc is set. By setting three edges La to Lc, the operation area is set.

[0098] In fields with designated work areas, autonomous driving mode can be executed. For example, in a field, it can automatically travel in a straight line along a driving path parallel to edge La or edge Lc. Furthermore, it can automatically turn when turning near the ridge on the side of edge Lb. When turning near the ridge on the side of a field that was not traversed during the teaching test, i.e., the side facing edge Lb, the turning can be performed using a remote control.

[0099] Furthermore, when the teaching drive has ended and the work area has been set, the seedling transplanter 1 can also drive and transplant seedlings into the field with the help of the operator when the driving mode is manual.

[0100] When the driving mode is manual and the seedling transplanter 1 is driven by the operator, the seedling transplanter 1 will perform automatic straight-line driving when the automatic straight-line driving switch 45 is "on". That is, even when the driving mode is manual, the seedling transplanter 1 can perform driving assistance functions.

[0101] Furthermore, when the driving mode is manual and the seedling transplanter 1 is driven by the operator, the seedling transplanter 1 can perform automatic turning when the automatic turning switch 48 is "on". That is, even when the driving mode is manual, the seedling transplanter 1 can perform the turning assist function.

[0102] When the driving mode changes from autonomous driving mode to manual driving mode, the controller 100 stores driving information for enabling the vehicle 2 to drive autonomously. For example, the controller 100 stores information related to straight-line travel paths and information related to turning paths. When the driving mode is changed to manual driving mode, driving assistance functions and turning assistance functions can be executed based on the stored driving information.

[0103] (Manual driving process)

[0104] Next, refer to Figure 5 The manual driving process of the implementation method will be explained. Figure 5 This is a flowchart illustrating the manual driving process of the implementation method.

[0105] The controller 100 determines whether the automatic straight-line driving switch 45 is "on" during driving based on manual driving mode (S100).

[0106] When the automatic straight-line driving switch 45 is "on" (S100: Yes), the controller 100 enables the driving assistance function (S101). When the automatic straight-line driving switch 45 is "off" (S100: No), the controller 100 proceeds to the next step (S102).

[0107] The controller 100 determines whether the automatic turn switch 48 is "on" (S102).

[0108] When the automatic turn switch 48 is "on" (S102: Yes), the controller 100 enables the turn assist function (S103). When the automatic turn switch is "off" (S102: No), the controller 100 terminates the current process.

[0109] In this way, even when the driving mode is manual, the driving assistance function and turning assistance function are effective by operating the automatic straight-line driving switch 45 and the automatic turning switch 48, and each assistance function can be executed.

[0110] The seedling transplanter 1 includes a traveling body 2, a seedling planting section 4, and a controller 100. The seedling planting section 4 is located on the traveling body 2. The controller 100 controls the steering angle of the front wheels 10 of the traveling body 2, enabling the traveling body 2 to move autonomously. For autonomous driving, the controller 100 can perform driving assistance functions, enabling the traveling body 2 to move automatically in a straight line and transplant seedlings into the field using the seedling planting section 4, and turning assistance functions, enabling the traveling body 2 to turn without using the seedling planting section 4 to transplant seedlings. During manual driving, where the machine is operated by a user, the controller 100 can perform both driving assistance and turning assistance functions.

[0111] Therefore, even in manual driving mode, the seedling transplanter 1 can perform at least one of the driving assistance function and the turning assistance function. This makes field operations easier for the operator. In other words, the seedling transplanter 1 improves work efficiency.

[0112] When the driving mode changes from autonomous driving mode to manual driving mode, the controller 100 stores driving information for performing autonomous driving.

[0113] Therefore, when the seedling transplanter 1 is in manual driving mode and is performing driving assistance and turning assistance functions, it can perform each assistance function according to the stored driving information.

[0114] (Modified Example)

[0115] The seedling transplanter 1 can be set with the seedling acceptance conditions for the field. These conditions include the number of seedlings taken, the planting depth, and the height of the leveling rotating body 63. The planting conditions can be set by the remote control 170. For example, the planting conditions can be changed from a predetermined initial state. This predetermined initial state can be set at the factory or by the operator.

[0116] When the seedling transplanter 1 changes its planting conditions from the prescribed initial state and then autonomously travels and turns, it resets the planting conditions to the prescribed initial state. For example, when the seedling transplanter 1 turns using the turning assist function, it resets the planting conditions to the prescribed initial state. The timing of resetting to the prescribed initial state includes when the traveling vehicle 2 reaches the starting position of the turn, when the traveling vehicle 2 finishes the turn, and when it reaches the starting position for the next process, etc.

[0117] Thus, the seedling transplanter 1 can, for example, use a remote control 170 to set planting conditions suitable for each working path (straight travel path) to plant seedlings.

[0118] The seedling transplanter 1 can also be configured to change whether to reset the planting conditions to the initial state based on a turn. For example, it can also be configured to change whether to reset to the initial state based on a turn using a remote control.

[0119] Therefore, when the field is considered to be on the same working path (straight-line travel path), and the planting conditions are not reset, the seedling transplanter 1 can plant seedlings under the set planting conditions. Thus, the operator can save the labor and time of setting the planting conditions.

[0120] Alternatively, the initial state can be set during autonomous operation. Thus, the seedling transplanter 1 can set planting conditions suitable for the field as the initial state.

[0121] The seedling transplanter 1 can also be one that can delete a portion of the edges La to Lc of the field obtained by teaching driving, based on the operation of the remote control 170 or the operation of the buttons set on the driving vehicle 2.

[0122] For example, when the controller 100 travels along the edge Lb of the field and acquires the edge Lb, it can delete the information of the edge Lb by means of a button operation. As a result, the seedling transplanter 1 can easily correct the edge during the teaching journey.

[0123] In addition, when the controller 100 obtains a new edge corresponding to the deleted edge by means of teaching driving, it connects the new edge to the edge connected to the deleted edge and sets the working area.

[0124] Therefore, the seedling transplanter 1 can easily correct the edges during teaching and can set the working area.

[0125] The controller 100 can also be capable of deleting a portion of the edges after obtaining the three edges La to Lc.

[0126] For example, if multiple buttons on the remote control 170 are pressed simultaneously, such as two buttons, edge deletion is performed. Thus, the seedling transplanter 1 can suppress erroneous edge deletion.

[0127] Furthermore, in the seedling transplanter 1, by pressing a dedicated button provided on the seedling transplanter 1, the position information contained in the edge is displayed as a point on the monitor 86. Moreover, by pressing the jogdial provided on the monitor 86, the point displayed on the monitor 86 can be cleared, and the edge can be deleted.

[0128] In the seedling transplanter 1, the priority order of operations is set. For example, regarding the priority order, in descending order, it is: stop of seedling transplanter 1 based on manual operation, operation of seedling transplanter 1 based on manual operation, stop based on remote control 170, and operation based on remote control 170.

[0129] Therefore, the seedling transplanter 1 can improve the safety of the operator riding on the seedling transplanter 1.

[0130] Furthermore, regarding the priority of operations, in descending order, it could be: stopping the seedling transplanter 1 based on manual operation, stopping the seedling transplanter 1 based on remote control 170, operating the seedling transplanter 1 based on manual operation, and operating the seedling transplanter 170 based on remote control 170. This prioritizes stopping the seedling transplanter 1, thereby improving the safety of the operator riding in the seedling transplanter 1.

[0131] The seedling transplanter 1 can also send input regarding whether manual operation is enabled to the remote controller 170. If manual operation is prioritized, the remote controller 170 displays the manual operation priority. This display can be made using a monitor or an indicator. Thus, manual operation priority can be confirmed using the remote controller 170.

[0132] The seedling transplanter 1 can also receive and display whether there is input based on the remote control 170. The display method can be a display or an indicator. Alternatively, the display method can be the illumination of a warning light, etc. In addition, it is preferable to display the information near the manual operation input section so that it can be checked during manual operation.

[0133] Additionally, actions based on the remote control 170 can be made to lag behind the display based on the seedling transplanter 1. This prevents the operator of the seedling transplanter 1 from performing unintended actions, thus improving operator safety.

[0134] Alternatively, the remote control 170 can be configured with a home button. By inputting the home button, the seedling transplanter 1 will automatically return to the vicinity of the remote control 170. Thus, by operating the remote control 170, the seedling transplanter 1 can automatically return to the location of the person holding the remote control 170.

[0135] The remote control 170 displays an error message based on the signal sent from the seedling transplanter 1. For example, if the seedling transplanter 1 detects the softness of the soil and determines that the soil is too soft, the remote control 170 displays the determination result. Thus, the owner of the remote control 170 can, for example, adjust the planting depth by increasing the planting depth.

[0136] The remote controller 170 unlocks by entering a special code before inputting any operation input. If the lock is not unlocked, the remote controller 170 cannot send operation input to the seedling transplanter. Furthermore, it can receive signals from the seedling transplanter 1 even before the lock is unlocked.

[0137] The seedling transplanter 1 can also be configured to accept signals from the remote controller 170. For example, the seedling transplanter 1 can be set to refuse to accept signals from the remote controller 170. This can prevent the operator of the seedling transplanter 1 from performing unintended actions and improve the operator's safety.

[0138] As for the turning method of the seedling transplanter 1, there are turning turns (turning) that are made directly from straight-line travel, and back turns (back turning) that are made after moving in a straight line and then turning.

[0139] When the driving mode is manual, the automatic turning switch 48 is "on", and the operator performs a lever operation for turning while driving straight, the controller 100 executes a turning assist function based on steering. Furthermore, when the driving mode is manual, the automatic turning switch 48 is "on", and a steering switch is performed from straight-line driving to reverse, the controller 100 executes a turning assist function based on reverse turning.

[0140] Therefore, the turning method can be selected without button operation when using the turning assist function. This makes selecting the turning method easy.

[0141] When cornering assist is activated, the controller 100 automatically corrects the steering amount of the steering wheel 35. For example, the controller 100 counts the rotational speed of the outer rear wheel 11 during the turn from the start to the end of the turn. Then, the controller 100 automatically corrects the steering amount of the steering wheel 35 so that the counted rotational speed matches the rotational speed in the set cornering path.

[0142] Therefore, in subsequent turns, without operator intervention, the machine can perform turns based on the set turning path. Thus, the seedling transplanter 1 improves its field applicability when performing turn-assisted turns.

[0143] In addition, the controller 100 can also automatically correct the steering amount of the steering wheel 35 in the current turn based on the rotation speed of the outer rear wheel 11 from the start of the turn to the completion of the turn in the previous turn.

[0144] Therefore, the seedling transplanter 1 can correct the steering amount of the steering wheel 35 during the turn based on the turning information at the same side of the field ridge, thereby improving the turning accuracy.

[0145] The seedling transplanter 1 can also be additionally configured to perform driving assistance functions, turning assistance functions, operation switches for various turning methods, and turntables when the driving mode is manual driving mode.

[0146] For example, the operating switches and turntables can switch between (i) not performing any auxiliary functions, (ii) performing only driving assistance functions, (iii) performing turning assistance functions in addition to driving assistance functions, (iv) performing turning assistance functions in addition to driving assistance functions, and (v) switching to autonomous driving mode. Thus, the seedling transplanter 1 can reduce the complexity of the operating system.

[0147] In the seedling transplanter 1, the working status (enabled status, disabled status) of each auxiliary function is displayed on the monitor 86. This allows the operator to easily confirm the working status of each auxiliary function.

[0148] The seedling transplanter 1 can also be one that can move to the starting point of the work area by means of automatic driving. In this case, the seedling transplanter 1 can drive to the starting point of the work regardless of the angle difference between the orientation of the starting point and the orientation of the current driving vehicle 2.

[0149] The seedling transplanter 1 may also be prohibited from moving to the start of the work if the angle difference between its position at the start of the work and the current position of the vehicle 2 is not within a specified angle. In this case, it will begin moving towards the start of the work when the angle difference becomes within the specified angle difference.

[0150] The seedling transplanter 1 can also make multiple turns (e.g., 2 times) to reach the starting point of the operation if the angle difference between the position at the starting point of the operation and the current position of the vehicle 2 is not within the specified angle.

[0151] The seedling transplanter 1 can also pre-set the working path in the working area and search for the actual driving path based on the distance between the working path and the traveling vehicle 2. Therefore, the seedling transplanter 1 can search for a driving path without making the orientation of the working path consistent with the orientation of the current position.

[0152] The seedling transplanter 1 can also be set to search for a work path within a specified area, and will automatically drive along the work path detected within the specified search area. For example, the search area can be set to extend from the current position of the vehicle body 2 towards the inside of the turn.

[0153] Therefore, the seedling transplanter 1 can search for the working path with high precision even when excessive turning occurs due to the condition of the field.

[0154] Alternatively, the search area can be set to extend forward and outward from the current position of the vehicle body 2 towards the inside of the turn. This allows the seedling transplanter 1 to search for the work path with high precision. Furthermore, the search area can also be set to extend backward and outward from the current position of the vehicle body towards the inside of the turn. This allows the seedling transplanter 1 to avoid skipping one work path.

[0155] The seedling transplanter 1 can also be configured to travel along a set path without specifying a particular area. Thus, the seedling transplanter 1 can, for example, switch paths at intermediate locations.

[0156] The seedling transplanter 1 has accumulated data on past operations in the field. When driving in a place where slippage occurred during the last operation and the differential lock mechanism 97 was activated, or in a place where the forced four-wheel drive function was activated, it automatically activates the differential lock mechanism 97 and the forced four-wheel drive function before slippage occurs.

[0157] Past operational data is recorded as driving data of the work vehicles (location information, speed information, steering angle information, etc.) and sent to the cloud and mobile devices. In addition, the locations where the differential lock mechanism 97 operates and the locations where the forced four-wheel drive function operates can also be displayed on the management system's mapping graph.

[0158] When the seedling transplanter 1 deviates from its straight-line travel path during autonomous driving, the deviated position is treated as the end of the deviation path. When the seedling transplanter 1 deviates from its straight-line travel path during autonomous driving, a predetermined distance is traced back from the deviated position and set as the deviated position. Therefore, when the seedling transplanter 1 resumes transplanting seedlings, it can suppress gaps.

[0159] Furthermore, if the seedling transplanter 1 deviates from its straight travel path, it can also set a position where it returns a certain number of seedlings from the deviated position. Thus, the seedling transplanter 1 can restart transplanting seedlings from a position that takes into account the speed.

[0160] The seedling transplanter 1 can also drive autonomously based on the information of the working vehicle and its location, and according to the already planted path information. As a result, the seedling transplanter 1 can avoid skipping one working path.

[0161] The seedling transplanter 1 can also use teaching points to define the working area. This reduces the memory and data processing load on the seedling transplanter 1. The seedling transplanter 1 can also set the working area without interpolating point coordinates. This allows for high-precision setting of the working area. Even when memory is insufficient, the seedling transplanter 1 can interpolate point coordinates and use an approximate polygon to set the working area.

[0162] When the tilt angle detected by the tilt sensor 92 becomes greater than a predetermined tilt angle, the seedling transplanter 1 stops the traveling vehicle 2. The predetermined tilt angle is preset. Multiple predetermined tilt angles can also be set. For example, the predetermined tilt angle includes a first predetermined tilt angle and a second predetermined tilt angle. The second predetermined tilt angle (e.g., 20 degrees) is greater than the first predetermined tilt angle (e.g., 10 degrees).

[0163] Near the edge of the field, when the angle of inclination reaches or exceeds the first predetermined angle of inclination, the seedling transplanter 1 stops the traveling vehicle 2. Near the center of the field, when the angle of inclination reaches or exceeds the second predetermined angle of inclination, the seedling transplanter 1 stops the traveling vehicle 2.

[0164] Therefore, the seedling transplanter 1 can stop near the center of the field, thus preventing it from sinking.

[0165] The seedling transplanter 1 can also be configured to stop the traveling vehicle 2 when the tilt angle reaches or exceeds a predetermined angle near the edge of the field. Alternatively, the seedling transplanter 1 can also be configured to decelerate the traveling vehicle 2 instead of stopping it when the tilt angle reaches or exceeds a predetermined angle near the center of the field. For example, the seedling transplanter 1 can maintain the traveling vehicle 2 at a pre-set, predetermined low speed.

[0166] Therefore, the seedling transplanter 1 can stop near the center of the field, thus preventing it from sinking.

[0167] The seedling transplanter 1 can also decelerate its vehicle body 2 when the tilt angle becomes greater than a predetermined angle near the edge of the field. Furthermore, even when the tilt angle becomes greater than a predetermined angle near the center of the field, the seedling transplanter 1 does not decelerate its vehicle body 2.

[0168] Therefore, the seedling transplanter 1 can prevent the seedlings from riding on the field ridges and prevent them from sinking into the culverts in the center of the field.

[0169] The seedling transplanter 1 can also be prohibited from driving autonomously along the edge of the field.

[0170] The seedling transplanter 1 can also be equipped with a human detection sensor. When a person is detected by the sensor, the traveling vehicle 2 will slow down or stop. The human detection sensor is, for example, mounted on the mounting support 59, located above the traveling vehicle 2. The human detection sensor is directional, detecting whether there are people within a specified range in front of the traveling vehicle 2.

[0171] Furthermore, the detection range of the human sensor can be physically limited, for example, by installing a cover. Thus, the seedling transplanter 1 can use a highly versatile human sensor to detect, for example, whether there are people within a specified range in front of the moving vehicle 2.

[0172] Additionally, the cover can also move in conjunction with the steering wheel 35. The seedling transplanter 1 can also rotate the mounting support 59 on which the human detection sensor is installed. Thus, for example, the detection range is changed in conjunction with the steering wheel 35. Therefore, the seedling transplanter 1 can detect people at the turning destination in advance.

[0173] The seedling transplanter 1 can also be configured to rotate a portion of the mounting support rod 59, on which a human sensor is mounted, 180 degrees in the front-to-back direction. For example, a portion of the mounting support rod 59 can rotate via a motor in conjunction with the HST (Hyper-Sensitive Transplant) operation. Alternatively, a portion of the mounting support rod 59 can also rotate in conjunction with the steering arm. Thus, when the seedling transplanter 1 reverses, a portion of the mounting support rod 59 rotates rearward, thereby enabling the detection of people in front and behind using a single human sensor.

[0174] If the seedling transplanter 1 stops midway along a straight path while autonomously traveling with the aid of driving assistance, it can restart from a turning path. The seedling transplanter 1 can also restart from the path closest to the current position of the vehicle body 2 if it stops midway along a straight path while autonomously traveling with the aid of driving assistance. The seedling transplanter 1 can also display the planted path and the predetermined restart path on the monitor 86.

[0175] The seedling transplanter 1 can also be configured such that the initial straight-line travel path in the work area is not parallel to, for example, edge La.

[0176] The seedling transplanter 1 can also be configured to adjust the intervals during each circle of movement when it makes multiple, for example, two, circling motions along the field ridges.

[0177] The seedling transplanter 1 can also generate autonomous driving paths, straight travel paths, and turning paths, and can detect the reduction of fertilizer, seedlings, and fuel. If the seedling transplanter 1 approaches a field ridge where seedlings are being replenished, and cannot proceed with the next stage of seedling transplanting due to insufficient materials, it will not switch to autonomous driving. In this case, the transplanting area at the current time is displayed on at least one of the seedling transplanter 1's monitor 86, the remote controller 170's monitor, and the mobile device. This allows the operator to monitor material consumption and determine the operating area at the time of material replenishment.

[0178] The working area is calculated using the operating status (engaged and disengaged) of the field ridge clutch of each unit, the operating status (engaged and disengaged) of the insertion clutch 27a, the speed of the front wheel 10, the speed of the rear wheel 11, and position information.

[0179] Those skilled in the art can readily derive further effects and variations. Therefore, the invention is not limited to the specific details and representative embodiments expressed and described above. Thus, various modifications can be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

Claims

1. A working vehicle, characterized in that, The working vehicle has: a driving body (2); a seedling planting section (4) disposed on the driving body (2); and a control device (100) that controls the steering angle of the steering wheels of the driving body (2) and enables the driving body (2) to drive autonomously. As for the autonomous driving, the control device (100) is capable of performing driving assistance functions that enable the vehicle body (2) to automatically travel in a straight line and transplant seedlings into the field using the seedling transplanting part (4), and turning assistance functions that enable the vehicle body (2) to turn without using the seedling transplanting part (4) to transplant seedlings. In the case of manual driving with the assistance of a driver, the driving assistance function and the turning assistance function are activated in response to the driver's operation to perform autonomous driving. The control device (100) can change the planting conditions for transplanting rice seedlings into the field according to the operation of the remote controller (170). When the vehicle body (2) turns, the control device (100) resets the seedling planting conditions, which have been changed according to the operation of the remote controller (170), to the initial state.

2. The working vehicle according to claim 1, characterized in that, When the control device (100) changes from autonomous driving to manual driving, it stores driving information for performing autonomous driving.

3. The operating vehicle according to claim 1 or 2, characterized in that, When the vehicle body (2) turns with the help of the turning assist function, the control device will reset the seedling planting conditions, which have been changed according to the operation of the remote controller (170), to the initial state.

4. The operating vehicle according to claim 1 or 2, characterized in that, The control device (100) enables teaching driving along three sides of the field, thereby setting the autonomous driving work area.

5. The operating vehicle according to claim 4, characterized in that, The control device (100) can delete a portion of the information about the edge of the field obtained through the teaching drive based on the operation of the remote controller (170) or the operation of the button set on the vehicle body (2).

6. The operating vehicle according to claim 5, characterized in that, When the control device (100) obtains a new edge corresponding to the deleted edge by means of the teaching drive, it connects the new edge to the edge connected to the deleted edge, thereby setting the working area.

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