Operation device and work machine

Abstract

The invention provides an operation device capable of improving operability of an operation device for operating a work machine and the work machine. The operation device (20) is provided with: a stop button (232) which is disposed on the front surface of the main body of the operation device (20) and which receives, from a user, an instruction to cause the rice transplanter (10) to execute a stop operation for automatic travel; and partial projections (27a, 27b, 27c) disposed on the front surface of the main body in the vicinity of the stop button (232) and projecting forward from the front surface of the main body.

Description

Technical Field

[0001] The present invention relates to an operating device for operating a working machine. Background Art

[0002] In the past, there are known work vehicles that can automatically travel in fields according to a preset target path. In addition, there are known operating devices (remote controllers) that allow users to start and stop the automatic travel of work vehicles in a place separated from the work vehicles (e.g., with reference to patent documentation 1).

[0003] Patent Document 1: Japanese Patent Application Laid-Open No. 2022-96512

[0004] The operating device is equipped with multiple operating units (operation buttons) that receive user operations, and each operating unit is assigned a function for operating the work vehicle. Having multiple operating units makes it difficult for the user to understand the functions assigned to each unit. Consequently, when operating a desired operating unit, the user must directly check the operating unit to avoid pressing the wrong one, resulting in poor operability. Summary of the Invention

[0005] An object of the present invention is to provide an operating device and a working machine capable of improving the operability of the operating device for operating a working machine.

[0006] The operating device according to the present invention is an operating device for operating a working machine. The operating device comprises: a first operating portion disposed on the front surface of a main body of the operating device, for receiving instructions from a user to cause the working machine to perform a specific action; and a protrusion disposed on the front surface of the main body near the first operating portion, protruding forward from the front surface of the main body.

[0007] Furthermore, the working machine according to the present invention starts and stops automatic travel in accordance with an instruction output from the operating device.

[0008] According to the present invention, it is possible to provide an operating device and a working machine capable of improving the operability of the operating device for operating a working machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a block diagram showing the configuration of an automatic driving system according to an embodiment of the present invention.

[0010] Figure 2A It is a side view which shows an example of the working vehicle (rice transplanter) which concerns on embodiment of this invention.

[0011] Figure 2B It is a top view which shows an example of the working vehicle (rice transplanter) which concerns on embodiment of this invention.

[0012] Figure 3 This is a diagram showing an example of a field and a target route according to an embodiment of the present invention.

[0013] Figure 4 It is a plan view showing the overall structure of the operating device according to the embodiment of the present invention.

[0014] Figure 5 It is a diagram showing the structure of a storage portion that stores an operating device according to an embodiment of the present invention.

[0015] Figure 6 It is a diagram showing a stored state of the operating device according to the embodiment of the present invention.

[0016] Figure 7 It is a perspective view showing a portion of the operating device according to the embodiment of the present invention in an enlarged manner.

[0017] Figure 8 It is a perspective view showing a portion of the operating device according to the embodiment of the present invention in an enlarged manner.

[0018] Figure 9A It is a diagram showing another configuration of the operating device according to the embodiment of the present invention.

[0019] Figure 9B It is a diagram showing another configuration of the operating device according to the embodiment of the present invention.

[0020] Figure 10 It is a diagram showing the structure of a grip portion of an operating device according to an embodiment of the present invention.

[0021] Figure 11A It is a perspective view showing an operating device according to a modified example of the present invention.

[0022] Figure 11B It is a perspective view showing an operating device according to a modified example of the present invention.

[0023] Figure 12 It is a diagram showing another configuration of the operating device according to the embodiment of the present invention.

[0024] Description of Reference Numerals

[0025] 1…Automatic driving system; 10…Rice transplanter (working machine); 11…Vehicle control device; 14…Working machine; 18a…Connecting frame; 18b…Connecting frame; 111…Driving processing unit; 112…Lifting processing unit; 113…Vehicle speed control processing unit; 114…Drive processing unit; 50…Storage unit; 51…Power supply terminal; 52…Cable; 20…Operating device; 20L…Handling unit; 20R…Handling unit; 21…Operation control unit; 22…Storage unit; 23…Operating unit; 24…Vibrating unit; 25…Communication unit; 27…Protrusion; 27a…Partial protrusion; 27b…Partial protrusion ; 27c…partial protrusion; 28…gap; 211…receiving processing unit; 212…output processing unit; 213…report processing unit; 231…power button; 232…stop button (first operating unit); 233…start / stop button (second operating unit); 234…PTO button (second operating unit); 235…accelerate / forward button (second operating unit); 236…decelerate / reverse button (second operating unit); 237…up button (second operating unit); 238…down button (second operating unit); 260…charging terminal; F…field; L1…specified distance; R…target path. DETAILED DESCRIPTION

[0026] The following embodiment is an example of embodying the present invention and does not limit the technical scope of the present invention.

[0027] like Figure 1 As shown, the automatic driving system 1 according to the embodiment of the present invention includes a rice transplanter 10 and an operating device 20. The rice transplanter 10 and the operating device 20 can communicate via a communication network N1. For example, the rice transplanter 10 and the operating device 20 can communicate via Bluetooth (registered trademark), wireless LAN (Wi-Fi (registered trademark)), infrared communication, or the like.

[0028] In this embodiment, as an example of the working machine of the present invention, a rice transplanter 10 is cited as an example for description. In addition, as other embodiments, the working machine may also be a working vehicle such as a tractor, a combine harvester, a construction machine, a snowplow, or an aircraft such as a drone for sowing operations. The rice transplanter 10 is an automatically driven vehicle having a structure capable of automatically driving (autonomous driving) in a pre-registered field. For example, an operator (user) registers a field of an operation object and sets a driving path (target path) for the rice transplanter 10 to automatically drive in the field. The rice transplanter 10 automatically drives according to the above-mentioned target path based on the position information of the current position of the rice transplanter 10 calculated by the positioning unit 16. In addition, the rice transplanter 10 performs planting operations while automatically driving in the field.

[0029] For example, the rice transplanter 10 Figure 3The vehicle automatically travels along the target path R in the field F shown. Figure 3 The illustrated field F includes an inner area Fa and an outer headland area Fb. A target route R, consisting of multiple work routes, is pre-set within the field F. For example, a work route Ra is set in the inner area Fa, which travels back and forth in parallel from a travel start position S. A work route Rb is set in the outer headland area Fb, which travels in a spiral (circular) pattern toward a travel end position G.

[0030] The rice transplanter 10 automatically travels from the travel start position S and operates while reciprocating along the work path Ra in the inner area Fa. Furthermore, the rice transplanter 10 operates while circling along the work path Rb to the travel end position G in the field headland area Fb.

[0031] Here, the work route Rb of the headland area Fb is set based on the number of work strokes. Figure 3 The work path Rb is shown in the case where the number of work strokes is 2, but the number of work strokes of the work path Rb may also be 1. Figure 3 In the illustrated working path Rb, the rice transplanter 10 performs work while circling the headland area Fb twice. The width of the headland area Fb is set to a width corresponding to the number of working strokes. Therefore, when the number of working strokes is two, the width of the headland area Fb is approximately twice the working width of the rice transplanter 10.

[0032] The target path R is not limited to Figure 3 The target path R is set appropriately according to the shape of the field F, the content of the work, etc. For example, the target path R is set appropriately according to the number of work strokes in the headland area Fb or the width of the headland area Fb.

[0033] The operating device 20 is a remote control operated by an operator to operate the rice transplanter 10. For example, the operator can operate the operating device 20 from a location separate from the rice transplanter 10 to instruct the rice transplanter 10 to start and stop automatic driving, manually operate the machine (forward and reverse), start and stop planting, change the vehicle speed, and raise or lower the work machine 14 (planting unit). When the operating device 20 is within a communication range with the rice transplanter 10, it can provide operating instructions to the rice transplanter 10. For example, the rice transplanter 10 starts and stops automatic driving based on the instructions output from the operating device 20.

[0034] The operating device 20 is equipped with a plurality of operating parts (operation buttons) that receive operations from the operator, and each operating part is assigned the above-mentioned functions for operating the rice transplanter 10. In existing operating devices, it is difficult for the operator to grasp the functions assigned to each operating part. When operating the target operating part, the operator has to directly observe the operating device to confirm to avoid pressing the wrong button, resulting in poor operability. In contrast, as shown below, the operating device 20 involved in this embodiment has a structure that can improve its operability. The specific structure of the rice transplanter 10 and the operating device 20 is described below.

[0035] [Rice transplanter 10]

[0036] like Figure 1 、 Figure 2A as well as Figure 2B As shown, the rice transplanter 10 includes a vehicle control device 11, a storage unit 12, a vehicle body 13, a working machine 14, a communication unit 15, a positioning unit 16, an obstacle detection unit 17, etc. The vehicle control device 11 is electrically connected to the storage unit 12, the vehicle body 13, the working machine 14, the positioning unit 16, the obstacle detection unit 17, etc. The vehicle control device 11 and the positioning unit 16 may also be capable of wireless communication.

[0037] Figure 2A 1 is a side view of the rice transplanter 10. Figure 2B 1 is a plan view of the rice transplanter 10. The rice transplanter 10 includes a vehicle body 13, a pair of left and right front wheels 132, a pair of left and right rear wheels 133, a working machine 14 (planting unit), and the like.

[0038] An engine (drive unit) 131 is arranged inside an engine hood 134 arranged at the front of the vehicle body 13. The power generated by the engine 131 is transmitted to the front wheel 132 and the rear wheel 133 via a gearbox 135. The power transmitted via the gearbox 135 is also transmitted to the work machine 14 via a PTO shaft 37 arranged at the rear of the vehicle body 13. In addition, it is configured to transmit power to the PTO shaft 37 via a planting clutch (work clutch, PTO clutch) (not shown). In the front-to-back direction of the vehicle body 13, a driving seat 138 for the operator to sit on is provided at a position between the front wheel 132 and the rear wheel 133.

[0039] A steering handle 137, a main gear lever (not shown), and a planting clutch lever (not shown) are located in front of the driver's seat 138. The steering handle 137 is used to change the steering angle of the rice transplanter 10. The main gear lever is configured to select at least the following gear positions: "Forward," "Reverse," "Neutral," and "Seedling Continuation." When the main gear lever is moved to the "Forward" position, power is transmitted to the front wheels 132 and rear wheels 133 in a direction that causes the rice transplanter 10 to move forward. When the main gear lever is moved to the "Reverse" position, power is transmitted to the front wheels 132 and rear wheels 133 in a direction that causes the rice transplanter 10 to move backward. When the main gear lever is moved to the "Neutral" position, power transmission to the front wheels 132 and rear wheels 133 is cut off. When the main gear lever is moved to the "Seedling Continuation" position, power transmission to the front wheels 132 and rear wheels 133 and the PTO shaft 37 is cut off. In addition, if the planting clutch lever is operated to the "engaged" position, the planting clutch enters a transmission state in which power is transmitted to the PTO shaft 37 (i.e., the working machine 14). If the planting clutch lever is operated to the "disengaged" position, the planting clutch enters a cut-off state in which power is not transmitted to the PTO shaft 37. That is, if the planting clutch lever is set to the "engaged" position, the drive of the working machine 14 is started, and the planting action is started. In addition, if the planting clutch lever is set to the "disengaged" position, the drive of the working machine 14 is stopped, and the planting action is stopped.

[0040] In addition, in the present embodiment, the vehicle control device 11 switches the "engagement (on)" and "disengagement (off)" of the planting clutch. If the vehicle control device 11 sets the planting clutch to "engagement", the drive of the working machine 14 is started, and the planting action is started. In addition, if the vehicle control device 11 sets the planting clutch to "disengagement", the drive of the working machine 14 is stopped, and the planting action is stopped. The vehicle control device 11 only needs to switch the "engagement" and "disengagement" of the planting clutch as an internal process, and it is not necessary to move the position of the planting clutch lever. In addition, the vehicle control device 11 can switch the planting clutch to "engagement (on)" and "disengagement (off)" according to the user operation on the operating device 20 ( Figure 4 The PTO button 234 is turned "ON" and "OFF" to switch the planting clutch between "engagement" and "disengagement".

[0041] The work machine 14 is connected to the rear of the vehicle body 13 via a lifting link mechanism 31. The lifting link mechanism 31 is composed of a parallel link structure including an upper link 39 and a lower link 38. The lower link 38 is connected to a lifting cylinder (lifting device) 32. By extending and retracting the lifting cylinder 32, the work machine 14 can be lifted up and down as a whole. In this way, the height of the work machine 14 can be changed between a working position (working height) in which the work machine 14 is lowered for planting operations and a non-working position (non-working height) in which the work machine 14 is raised for not planting operations. In addition, the lifting cylinder 32 is a hydraulic cylinder, but an electric cylinder can also be used. In addition, it is also possible to configure the work machine 14 to be lifted and lowered by an actuator other than a cylinder. In addition, the vehicle control device 11 can be operated according to the user's operation on the operating device 20 ( Figure 4 The up button 237 and the down button 238 are used to raise and lower the working machine 14.

[0042] The working machine 14 (planting unit) includes a planting input box 33, a plurality of planting units 34, a seedling loading platform 35, a plurality of floats 36, and the like.

[0043] Each planting unit 34 includes a planting transmission box 41 and a rotary box 42. Power is transmitted to the planting transmission box 41 via the PTO shaft 37 and the planting input box 33. Rotary boxes 42 are mounted on both sides of each planting transmission box 41 in the vehicle width direction. Two planting claws 43 are mounted side by side on each rotary box 42 along the travel direction of the rice transplanter 10. These two planting claws 43 perform planting in one row.

[0044] like Figure 2A As shown, the seedling loading platform 35 is arranged in the upper front of the planting unit 34 and is configured to carry a seedling mat. The seedling loading platform 35 is configured to be able to reciprocate and move laterally (can slide in the laterally). In addition, the seedling loading platform 35 is configured to be able to intermittently transport the seedling mat downward longitudinally at the reciprocating end of the seedling loading platform 35. Through this structure, the seedling loading platform 35 can supply seedlings in the seedling mat to each planting unit 34. In this way, in the rice transplanter 10, seedlings can be supplied to each planting unit 34 in sequence, and seedlings can be planted continuously.

[0045] Figure 2A The float 36 shown is provided at the bottom of the work machine 14 and is configured so that its lower surface can contact the ground. The float 36 contacts the ground to level the field surface before planting the seedlings. In addition, a float sensor (not shown) is provided on the float 36 for detecting the swing angle of the float 36. The swing angle of the float 36 corresponds to the distance between the field surface and the work machine 14. The rice transplanter 10 operates the lifting cylinder 32 based on the swing angle of the float 36 to raise and lower the work machine 14, thereby maintaining a constant height of the work machine 14 above the ground.

[0046] The seedling stand 19 is located outside the hood 134 in the vehicle width direction and can accommodate a seedling box containing a seedling mat. The seedling stand 19 is fixed to a connecting frame 18b extending vertically and longitudinally on the left and right sides of the hood 134. The upper portions of the left and right seedling stands 19 are connected by a connecting frame 18a extending vertically and in the vehicle width direction. A positioning unit 16 is located in the center of the connecting frame 18a in the vehicle width direction.

[0047] The right connecting frame 18b is provided with a storage portion 50 for storing the operating device 20. For example, when an operator rides on the rice transplanter 10, the operating device 20 can be stored in the storage portion 50. Details of the storage portion 50 will be described later.

[0048] The positioning unit 16 includes a positioning control unit 161, a storage unit 162, a communication unit 163, and a positioning antenna 164 (see Figure 1 ) and other communication equipment. Figure 2A and Figure 2B As shown, the positioning unit 16 is provided in the upper center of the front of the rice transplanter 10. The location where the positioning unit 16 is provided is not limited. In addition, the positioning control unit 161, the storage unit 162, the communication unit 163, and the positioning antenna 164 of the positioning unit 16 may be dispersed and arranged at different positions in the rice transplanter 10. In addition, the positioning unit 16 is connected to a battery, and the positioning unit 16 can also operate while the engine 131 is stopped. In addition, for example, a mobile phone terminal, a smart phone, a tablet terminal, a quantum compass, etc. may be used instead of the positioning unit 16.

[0049] The positioning control unit 161 is a computer system equipped with one or more processors, as well as nonvolatile memory and storage memory such as RAM. The storage unit 162 is a nonvolatile memory that stores programs for the positioning control unit 161 to execute positioning processing, as well as data such as positioning information and movement information. For example, the programs are non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reader (not shown), and stored in the storage unit 162. Alternatively, the programs can be downloaded from a server (not shown) via the communication network N1 to the positioning unit 16 and stored in the storage unit 162.

[0050] The communication unit 163 is a communication interface for connecting the positioning unit 16 to a communication network via a wire or wireless connection and performing data communication in accordance with a predetermined communication protocol with an external device such as a base station server via the communication network.

[0051] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0052] The positioning control unit 161 calculates the current position of the rice transplanter 10 based on the GNSS signal received from the satellite by the positioning antenna 164. For example, when the rice transplanter 10 is automatically traveling in the field F, if the positioning antenna 164 receives radio waves (transmission time, orbit information, etc.) respectively transmitted from multiple satellites, the positioning control unit 161 calculates the distance between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the rice transplanter 10 based on the calculated distance. In addition, the positioning control unit 161 can also perform positioning using a real-time kinematic method (RTK-GNSS positioning method (RTK method)), which calculates the current position of the rice transplanter 10 using correction information corresponding to a base station (reference station) closer to the rice transplanter 10. In this way, the rice transplanter 10 automatically travels using positioning information using the RTK method. The current position of the rice transplanter 10 may be the same as the positioning position (e.g., the position of the positioning antenna 164) or may be a position offset from the positioning position (e.g., the planting operation position of the planting unit 34). The positioning control unit 161 may also calculate (position) the current position of the rice transplanter 10 using a quantum compass.

[0053] An obstacle detection unit 17 is provided in front of the vehicle body 13. The obstacle detection unit 17 is composed of a sensor that detects obstacles within a specified detection area using infrared rays, ultrasonic waves, millimeter waves, etc. For example, the obstacle detection unit 17 can be a radar sensor (distance sensor) that can use lasers to measure the distance to the measurement object (obstacle) in three dimensions, or it can be a sonar sensor having multiple sonars that can use ultrasonic waves to measure the distance to the measurement object. The above-mentioned obstacles are, for example, ridges, water intakes, utility poles, materials temporarily placed in the field F, people, etc. If the obstacle detection unit 17 detects the above-mentioned obstacles, it sends the detection results (measurement information) to the vehicle control device 11. When the obstacle detection unit 17 detects an obstacle within the detection area, the vehicle control device 11 slows down or stops the rice transplanter 10. In addition, the obstacle detection unit 17 can also be provided in various directions such as the front, rear, left side, and right side. In this case, the vehicle control device 11 controls the travel of the rice transplanter 10 based on the detection results of each obstacle detection unit 17.

[0054] The storage unit 12 is a non-volatile storage unit such as a HDD (Hard Disk Drive), an SSD (Solid State Drive) or a flash memory that stores various information. The storage unit 12 stores control programs such as an automatic driving program for causing the vehicle control device 11 to perform automatic driving processing. For example, the above-mentioned automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, an EEPROM, a CD or a DVD, and is read and stored in the storage unit 12 using a prescribed reading device (not shown). In addition, the above-mentioned automatic driving program can also be downloaded from a server (not shown) via the communication network N1 to the rice transplanter 10 and stored in the storage unit 12. In addition, the path data of the target path R generated by the operating device 20 can also be stored in the storage unit 12.

[0055] The vehicle control device 11 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various calculations. The ROM is a non-volatile storage unit that pre-stores control programs such as the BIOS and OS for the CPU to perform various calculations. The RAM is a volatile or non-volatile storage unit that stores various information and is used as a temporary storage memory (work area) for the various processes performed by the CPU. Thus, the vehicle control device 11 controls the rice transplanter 10 by using the CPU to execute various control programs pre-stored in the ROM or storage unit 12.

[0056] The vehicle control device 11 controls the operation of the rice transplanter 10 according to various user operations on the rice transplanter 10. The vehicle control device 11 also performs automatic driving processing of the rice transplanter 10 based on the current position of the rice transplanter 10 calculated by the positioning unit 16 and a preset target path R.

[0057] like Figure 1 As shown, the vehicle control device 11 includes various processing units, such as a travel processing unit 111, a lift processing unit 112, a vehicle speed control processing unit 113, and a drive processing unit 114. Furthermore, the vehicle control device 11 functions as the various processing units by using the CPU to execute various processes in accordance with the automatic travel program. Furthermore, some or all of the processing units may be comprised of electronic circuits. Furthermore, the automatic travel program may be a program that causes multiple processors to function as the processing units.

[0058] The driving processing unit 111 controls the driving of the rice transplanter 10. Specifically, the driving processing unit 111 causes the rice transplanter 10 to automatically drive according to the target path R set in the field F. For example, if a driving start instruction is obtained from the operating device 20, the driving processing unit 111 starts the automatic driving of the rice transplanter 10. For example, when the rice transplanter 10 meets the start conditions (operation start conditions) for automatic driving, if the operator presses (for example, long presses) the start / stop button 233 (see Figure 4 ), the operating device 20 outputs a travel start instruction to the rice transplanter 10. Upon receiving the travel start instruction from the operating device 20, the travel processing unit 111 causes the rice transplanter 10 to automatically start traveling along the target route R. For example, the travel processing unit 111 causes the rice transplanter 10 to travel straight from the starting point to the end point of each working route, and to turn from the starting point to the end point of each turning route.

[0059] In addition, if the stop instruction is obtained from the operating device 20, the travel processing unit 111 stops the travel of the rice transplanter 10. For example, if the operator presses (for example, short presses) the start / stop button 233 (see Figure 4 ), the operating device 20 outputs a temporary stop instruction to the rice transplanter 10. In addition, for example, if the operator presses the stop button 232 (refer to Figure 4 ), the operating device 20 outputs an automatic travel stop instruction to the rice transplanter 10.

[0060] Furthermore, if a temporary stop instruction is received, the driving processing unit 111 temporarily stops automatic driving while maintaining the automatic driving mode. In this case, if the driving start instruction is received while in the temporary stop state, the driving processing unit 111 resumes automatic driving. Furthermore, if an automatic driving stop instruction is received, the driving processing unit 111 stops the engine 131. In this case, resuming automatic driving via the operating device 20 is prohibited. The driving processing unit 111 resumes automatic driving if the operator on the rice transplanter 10 starts the engine and performs the automatic driving start operation again.

[0061] The driving processing unit 111 controls the driving of the rice transplanter 10 based on the detection results of the obstacle detection unit 17. Specifically, if the obstacle detection unit 17 detects an obstacle, the driving processing unit 111 decelerates or stops the rice transplanter 10. Alternatively, the driving processing unit 111 may cause the rice transplanter 10 to perform avoidance driving to avoid the obstacle.

[0062] In addition, when manual operation is possible in the automatic driving mode, the driving processing unit 111 drives the rice transplanter 10 according to the driving instruction obtained from the operating device 20. For example, if a forward instruction is obtained from the operating device 20 during the temporary stop of the automatic driving, the driving processing unit 111 drives the rice transplanter 10 forward. For example, if the operator presses the acceleration / forward button 235 (see Figure 4 ), the operating device 20 outputs a forward driving instruction to the rice transplanter 10, and the driving processing unit 111 drives the rice transplanter 10 forward according to the forward driving instruction. In addition, if a reverse driving instruction is obtained from the operating device 20 during the temporary stop of automatic driving, the driving processing unit 111 drives the rice transplanter 10 backward. For example, if the operator presses the deceleration / reverse button 236 (refer to Figure 4 ), the operating device 20 outputs a reverse driving instruction to the rice transplanter 10, and the driving processing unit 111 causes the rice transplanter 10 to drive reversely according to the reverse driving instruction.

[0063] The lifting processing unit 112 controls the position (posture) of the working machine 14. Specifically, the lifting processing unit 112 changes the height of the working machine 14 between the working position (working height) in which the working machine 14 is lowered to perform planting work and the non-working position (non-working height) in which the working machine 14 is raised to perform no planting work. Figure 2A ) When leveling the field surface, the work machine 14 is lowered to the working position. The lifting processing unit 112 inputs a control signal to the lifting cylinder 32, causing the lifting cylinder 32 to extend and retract, thereby lifting the work machine 14.

[0064] Moreover, the lifting processing part 112 controls the lifting and lowering of the working machine 14 based on the position information of the rice transplanter 10. Specifically, the lifting processing part 112 lowers the working machine 14 from the non-working position to the working position based on the working start position in the target route R.

[0065] In addition, if the lifting instruction of the working machine 14 is obtained from the operating device 20, the lifting processing unit 112 lifts the working machine 14. For example, if the operator presses the lifting button 237 (see Figure 4 ), the operating device 20 outputs an ascending instruction to the rice transplanter 10, and the lifting processing unit 112 raises the working machine 14 according to the ascending instruction. In addition, if a descending instruction of the working machine 14 is obtained from the operating device 20, the lifting processing unit 112 lowers the working machine 14. For example, if the operator presses the descending button 238 (refer to Figure 4 ), the operating device 20 outputs a descending instruction to the rice transplanter 10, and the lifting processing unit 112 descends the working machine 14 according to the descending instruction.

[0066] The speed control processing unit 113 controls the speed of the rice transplanter 10 during automatic driving. Specifically, the speed control processing unit 113 switches the speed of the rice transplanter 10 based on pre-set setting information. For example, when the operator sets the speed for straight driving and the speed for turning driving at the operation terminal (not shown), the speed control processing unit 113 switches the speed (set speed) of the rice transplanter 10 according to the driving path (straight path, turning path, etc.). For example, when the rice transplanter 10 is driving on a straight path, the speed control processing unit 113 switches to the set speed for straight driving, and when the rice transplanter 10 is driving on a turning path, the speed control processing unit 113 switches to the set speed for turning driving.

[0067] In addition, if the vehicle speed change instruction is obtained from the operating device 20, the vehicle speed control processing unit 113 changes the vehicle speed of the rice transplanter 10. For example, if the operator presses the acceleration / forward button 235 (see Figure 4 ), the operating device 20 outputs an acceleration instruction to the rice transplanter 10. In addition, for example, if the operator presses the deceleration / reverse button 236 (see Figure 4 ), the operating device 20 outputs a deceleration instruction to the rice transplanter 10.

[0068] The drive processing unit 114 controls the drive of the working machine 14. Specifically, the drive processing unit 114 starts the drive of the working machine 14 and starts the planting action (the action of the planting unit 34 planting the seedlings onto the field surface). Specifically, the drive processing unit 114 switches the "engagement" and "disengagement" of the planting clutch and switches the drive and stop of the working machine 14. For example, the drive processing unit 114 sets the planting clutch to "engagement" to start the drive of the working machine 14 and the planting unit 34 starts the planting action. In addition, the drive processing unit 114 sets the planting clutch to "disengagement" to stop the drive of the working machine 14 and the planting unit 34 stops the planting action.

[0069] The drive processing unit 114 starts driving the working machine 14 at the work start position. Specifically, the drive processing unit 114 controls the engagement timing of the planting clutch so that the planting operation of the planting unit 34 starts when the rice transplanter 10 reaches the work start position, that is, when the planting unit 34 reaches the work start position.

[0070] In addition, if the driving instruction of the planting unit 34 is obtained from the operating device 20, the driving processing unit 114 sets the planting clutch to "engage" to start the planting operation of the planting unit 34. For example, if the operator presses the PTO button 234 (see Figure 4) (PTO is turned on), the operating device 20 outputs a drive instruction to the rice transplanter 10. In addition, if a drive stop instruction is obtained from the operating device 20, the drive processing unit 114 sets the planting clutch to "disengage" to stop the planting unit 34. For example, if the operator presses the PTO button 234 (refer to Figure 4 ) (PTO is disconnected), the operating device 20 outputs a drive stop instruction to the rice transplanter 10.

[0071] [Operating device 20]

[0072] like Figure 1 As shown, the operating device 20 is a device including an operation control unit 21, a storage unit 22, an operating unit 23, a vibration unit 24, and a communication unit 25. The operating device 20 is a device (remote controller) capable of remotely operating the rice transplanter 10. Alternatively, the operating device 20 may be a mobile information terminal such as a smartphone or a tablet terminal. Figure 4 2 shows a remote controller as an example of the operating device 20 .

[0073] The communication unit 25 is a communication interface for connecting the operating device 20 to the communication network N1 wirelessly or by wire, and performing data communication in accordance with a predetermined communication protocol with external equipment such as the rice transplanter 10 via the communication network N1.

[0074] The vibration unit 24 is a vibrator that vibrates the main body of the operating device 20. In response to instructions from the operation control unit 21, the vibration unit 24 drives an internal motor to rotate a flyweight (not shown), thereby vibrating the main body of the operating device 20. Furthermore, the operating device 20 may be capable of switching the vibration function between enabled and disabled based on a setting operation by the operator.

[0075] The operating unit 23 is an operating button that receives an operator's operation. The operating unit 23 is located on the front surface of the main body of the operating device 20. The operating unit 23 is, for example, a physical switch that the operator can press with a finger. In another embodiment, the operating unit 23 may be an image icon displayed on a touch panel.

[0076] like Figure 4 As shown, a plurality of operating units 23 are arranged on the front surface of the main body of the operating device 20. The plurality of operating units 23 include a power button 231, a stop button 232, a start / stop button 233, a PTO button 234, an acceleration / forward button 235, a deceleration / reverse button 236, an up button 237, and a down button 238. Each operating unit 23 is assigned a function for operating the rice transplanter 10. The specific functions of each operating unit 23 will be described later.

[0077] The storage unit 22 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. The storage unit 22 stores a control program for causing the operation control unit 21 to execute various processes. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reader (not shown) and stored in the storage unit 22. Alternatively, the control program can be downloaded from a server (not shown) via the communication network N1 to the operation device 20 and stored in the storage unit 22.

[0078] The operation control unit 21 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various computations. The ROM is a non-volatile storage unit that pre-stores control programs such as the BIOS and OS that enable the CPU to perform various computations. The RAM is a volatile or non-volatile storage unit that stores various information and serves as temporary memory for the various processes performed by the CPU. The operation control unit 21 controls the operating device 20 by having the CPU execute various control programs pre-stored in the ROM or storage unit 22.

[0079] like Figure 1 As shown, the operation control unit 21 includes various processing units, such as a reception processing unit 211, an output processing unit 212, and a report processing unit 213. Furthermore, the operation control unit 21 functions as the various processing units described above by using the CPU to execute various processes in accordance with the control program. Furthermore, some or all of the processing units described above may be comprised of electronic circuits. Furthermore, the control program may be a program for causing multiple processors to function as the processing units described above.

[0080] The acceptance processing unit 211 accepts an operation of the operation unit 23 by the operator. Specifically, the acceptance processing unit 211 accepts a pressing operation of each of the plurality of operation units 23 by the operator.

[0081] The output processing unit 212 outputs operation information (action instructions) corresponding to the operation of the operator received by the receiving processing unit 211 to the rice transplanter 10. The rice transplanter 10 performs a prescribed action based on the above-mentioned operation information (action instructions) obtained from the operating device 20. For example, if the operator presses a specific operating unit 23 of the operating device 20, the receiving processing unit 211 accepts the pressing operation of the operating unit 23, and the output processing unit 212 outputs operation information (action instructions) corresponding to the function assigned to the operating unit 23 to the rice transplanter 10. If the rice transplanter 10 obtains the above-mentioned operation information (action instructions), it performs an action corresponding to the operation information. In addition, if the rice transplanter 10 obtains the above-mentioned operation information (action instructions), it notifies (feeds back) the operating device 20 that the above-mentioned operation information has been obtained.

[0082] When the operating unit 23 receives an instruction from the operator, the reporting processing unit 213 reports information indicating that the instruction has been received to at least one of the operating device 20 and the rice transplanter 10. Specifically, if the operator presses the operating unit 23, the output processing unit 212 outputs the operation information to the rice transplanter 10. If the rice transplanter 10 obtains the operation information, it notifies (feeds back) the operating device 20 that the above operation information has been obtained. If the above notification is obtained, the reporting processing unit 213 vibrates the vibration unit 24. In this way, the operator can understand that his or her operation instruction has been accepted by the rice transplanter 10 and that the action corresponding to the operation instruction has been executed.

[0083] As another embodiment, if the operating device 20 has a display unit, the notification processing unit 213 may cause the display unit to display information indicating that the instruction has been received. In another embodiment, if the operating device 20 has a speaker, the notification processing unit 213 may play a sound (a buzzer, voice, etc.) from the speaker indicating that the instruction has been received.

[0084] Thus, the notification processing unit 213 may also notify the information by at least one of a method of displaying the information on the display unit, a method of generating a sound from the speaker, and a method of vibrating the vibration unit 24 .

[0085] Furthermore, the report processing unit 213 may output a report instruction to the rice transplanter 10. When the rice transplanter 10 receives the report instruction from the operating device 20, a sound (a buzzer sound, a voice, etc.) indicating that the instruction has been received is played from a speaker provided on the rice transplanter 10, or a message indicating that the instruction has been received is displayed on a display unit provided on the rice transplanter 10.

[0086] [Functions of the Operation Unit 23]

[0087] Hereinafter, the specific functions of each operating unit 23 will be described.

[0088] The power button 231 is an operating unit for turning the power of the operating device 20 on and off. The power button 231 is located at the upper end of the front surface of the main body of the operating device 20. When the power is on, the LED of the power button 231 lights up, and when the power is off, the LED of the power button 231 turns off.

[0089] The start / stop button 233 is an operation unit for starting the automatic travel of the rice transplanter 10 and temporarily stopping the automatically traveled rice transplanter 10. The start / stop button 233 is arranged on the right side near the center in the vertical direction of the main body front surface of the operating device 20.

[0090] For example, an operator rides on the rice transplanter 10 and moves the rice transplanter 10 (manually drives) to the operation start position, performs operations related to the operation start conditions, and switches to the automatic driving mode. As a result, the operator can start automatic driving through the operating device 20 at a location separated from the rice transplanter 10. For example, if the operator long-presses (operates by pressing for a predetermined time or longer) the start / stop button 233, the output processing unit 212 outputs a driving start instruction to the rice transplanter 10. If the rice transplanter 10 obtains the above-mentioned driving start instruction, it starts automatic driving and operation (planting operation) according to the target path R.

[0091] In addition, if the operator presses (short presses) the start / stop button 233 during the automatic driving of the rice transplanter 10, the output processing unit 212 outputs a driving stop instruction to the rice transplanter 10. If the rice transplanter 10 obtains the above-mentioned driving stop instruction, it temporarily stops automatic driving and stops the driving (operation) of the PTO. In addition, if the operator long presses the start / stop button 233 during the temporary stop of the rice transplanter 10, the rice transplanter 10 resumes automatic driving and the driving (operation) of the PTO. The operator can start or temporarily stop automatic driving by operating the start / stop button 233 at a location separated from the rice transplanter 10.

[0092] The PTO button 234 is an operating unit for turning the PTO drive on and off. The PTO button 234 is located on the left side of the front surface of the main body of the operating device 20, near the center in the vertical direction. For example, if the rice transplanter 10 temporarily stops during automatic travel, the drive processing unit 114 switches the planting clutch to "disengaged," stopping the drive of the work machine 14. If the rice transplanter 10 temporarily stops its automatic travel and the planting clutch becomes "disengaged" (PTO disconnected), the operator can turn the PTO button 234 on and off. For example, if the operator presses the PTO button 234 to turn it on, the output processing unit 212 outputs a PTO drive instruction to the rice transplanter 10. If the rice transplanter 10 receives this PTO drive instruction, it switches the planting clutch to "engaged," enabling planting operations using the planting unit 34. If the operator presses the PTO button 234 to turn it off, the output processing unit 212 outputs a PTO stop instruction to the rice transplanter 10. When the rice transplanter 10 acquires the PTO stop instruction, it switches the planting clutch to “disengagement” and stops the planting operation by the planting unit 34 .

[0093] The stop button 232 is an operation unit (emergency stop button) for stopping the automatically traveling rice transplanter 10 . The stop button 232 is arranged on the upper side of the main body front surface of the operating device 20 and between the power button 231 , the start / stop button 233 , and the PTO button 234 .

[0094] If the operator presses the stop button 232 while the rice transplanter 10 is operating automatically, the output processing unit 212 outputs an automatic operation stop instruction to the rice transplanter 10. Upon receiving the automatic operation stop instruction, the rice transplanter 10 stops the engine 131, halting automatic operation and operation. Unlike the temporary stop function of the start / stop button 233, the stop button 232 is assigned an emergency stop function. Therefore, when the stop button 232 is pressed, the engine of the rice transplanter 10 is stopped. Therefore, to resume automatic operation and operation, the operator must board the rice transplanter 10 to start the engine 131 and restart automatic operation. Since resuming automatic operation from a remote location via the operating device 20 is prohibited if the stop button 232 is pressed, the operator must move to the location of the rice transplanter 10 and, after confirming the safety of the area surrounding the rice transplanter 10, resume automatic operation.

[0095] As described above, the stop button 232 is an operating unit for emergency stop, so it is preferably configured to prevent unnecessary pressing due to accidental finger contact, and preferably to enable immediate pressing in an emergency. The specific configuration of the stop button 232 for achieving the above requirements will be described later.

[0096] The acceleration / forward button 235 is an operation unit for accelerating the speed of the rice transplanter 10 during automatic travel or for moving the rice transplanter 10 forward during a temporary stop of automatic travel.

[0097] If the operator presses the accelerate / forward button 235 while the rice transplanter 10 is automatically traveling, the output processing unit 212 outputs an acceleration instruction to the rice transplanter 10. Upon receiving the acceleration instruction, the rice transplanter 10 accelerates. Each time the accelerate / forward button 235 is pressed, the rice transplanter 10 accelerates in stages. Furthermore, if the accelerate / forward button 235 is held down for a long time, the rice transplanter 10 continuously accelerates while the button is held down.

[0098] Furthermore, if the operator presses the accelerator / forward button 235 while the automatic driving is temporarily stopped, the output processing unit 212 outputs a forward driving instruction to the rice transplanter 10. Upon receiving the forward driving instruction, the rice transplanter 10 drives forward. While the accelerator / forward button 235 is pressed, the rice transplanter 10 continues to drive forward. If the accelerator / forward button 235 is no longer pressed, the rice transplanter 10 stops driving.

[0099] The deceleration / reverse button 236 is an operating unit for decelerating the speed of the rice transplanter 10 during automatic travel and for reversing the rice transplanter 10 during temporary suspension of automatic travel. The deceleration / reverse button 236 is located on the lower left side of the front surface of the main body of the operating device 20 and below the acceleration / forward button 235.

[0100] If the operator presses the deceleration / reverse button 236 while the rice transplanter 10 is automatically traveling, the output processing unit 212 outputs a deceleration instruction to the rice transplanter 10. Upon receiving the deceleration instruction, the rice transplanter 10 decelerates. Each time the deceleration / reverse button 236 is pressed, the rice transplanter 10 decelerates in stages. Furthermore, if the deceleration / reverse button 236 is held down, the rice transplanter 10 continuously decelerates while the button is held down.

[0101] Furthermore, if the operator presses the deceleration / reverse button 236 during the temporary stop of automatic travel, the output processing unit 212 outputs a reverse travel instruction to the rice transplanter 10. Upon receiving the reverse travel instruction, the rice transplanter 10 travels reversely. While the deceleration / reverse button 236 is pressed, the rice transplanter 10 continues to travel reversely. When the deceleration / reverse button 236 is no longer pressed, the rice transplanter 10 stops traveling.

[0102] The raising button 237 is an operating unit for raising the working machine 14 while the automatic travel is temporarily stopped. The raising button 237 is located on the lower right side of the front surface of the main body of the operating device 20. When the operator presses the raising button 237 while the rice transplanter 10 is temporarily stopped during automatic travel, the output processing unit 212 outputs a raising instruction to the rice transplanter 10. Upon receiving this raising instruction, the rice transplanter 10 raises the height of the working machine 14.

[0103] The lowering button 238 is an operating unit for lowering the work implement 14 while the automatic travel is temporarily stopped. The lowering button 238 is located on the lower right side of the front surface of the main body of the operating device 20, below the raising button 237. When the operator presses the lowering button 238 while the rice transplanter 10 is temporarily stopped during automatic travel, the output processing unit 212 outputs a lowering instruction to the rice transplanter 10. Upon receiving the lowering instruction, the rice transplanter 10 lowers the height of the work implement 14.

[0104] As described above, the operating device 20 can receive the operator's operation of each operating part 23 at a location separated from the rice transplanter 10 , and output an operation instruction according to the operation to the rice transplanter 10 to operate the rice transplanter 10 .

[0105] The operating device 20 is provided with a communication display unit 251 (LED) that shows the communication status with the rice transplanter 10, and an abnormality display unit 252 (LED) that lights up when the rice transplanter 10 detects an obstacle or some kind of malfunction occurs in the rice transplanter 10.

[0106] In addition, a charging terminal 260 is provided on the bottom surface of the operating device 20 (see Figure 4 ).For example Figure 5 As shown, the operating device 20 can be stored in the storage portion 50 attached to the connecting frame 18b of the rice transplanter 10. Figure 6 As shown in FIG. 1 , the storage portion 50 includes a power supply terminal 51 on the inner bottom surface, and the power supply terminal 51 is connected to a cable 52 for supplying power to the battery of the rice transplanter 10. Therefore, if the operating device 20 is stored in the storage portion 50, Figure 6 As shown, the battery of the operating device 20 can be charged by connecting the charging terminal 260 and the power supply terminal 51. While the operator is riding on the rice transplanter 10, by storing the operating device 20 in the storage portion 50, the operating device 20 can be charged and the loss of the operating device 20 can be prevented.

[0107] [Specific Structure of Stop Button 232]

[0108] Reference Figure 4 and Figure 7 The specific structure of the stop button 232 will be described. Figure 7 It is a perspective view of the operating device 20 as viewed from the right side, and is a partially enlarged view of the periphery of the stop button 232 .

[0109] A stop button 232 is located on the upper side of the front surface of the main body of the operating device 20. A protrusion 27 is located near the stop button 232 and protrudes forward from the front surface of the main body of the operating device 20. The protrusion 27 is a slender wall-like member that rises forward from the front surface of the main body at a height of several millimeters and is configured so that the user can sense it by touch with a finger.

[0110] Specifically, the protrusion 27 is arranged around the stop button 232. In addition, the protrusion 27 is arranged so as to surround the outer periphery of the stop button 232.

[0111] Furthermore, the protrusion 27 is configured to include multiple partial protrusions. In this embodiment, the protrusion 27 is composed of three partial protrusions 27a, 27b, and 27c. The partial protrusions 27a, 27b, and 27c have the same shape. The partial protrusion 27a is located to the upper left of the stop button 232, the partial protrusion 27b is located to the upper right of the stop button 232, and the partial protrusion 27c is located below the center of the stop button 232.

[0112] In addition, gaps 28 are formed between adjacent partial protrusions. For example, gap 28a is formed between partial protrusion 27a and partial protrusion 27b, gap 28b is formed between partial protrusion 27b and partial protrusion 27c, and gap 28c is formed between partial protrusion 27c and partial protrusion 27a. In this embodiment, as shown in FIG. Figure 4 As shown, with the center position of the stop button 232 as the center of the circle and the position of the gap 28a as 0 degrees (12 o'clock direction), the gap 28b is arranged at the position of 120 degrees, and the gap 28c is arranged at the position of 240 degrees. The positions of the gaps 28a, 28b, and 28c are not limited to these.

[0113] The gap 28 is a region where the protrusion 27 is not formed on the front surface (surface) of the main body, and is a region between adjacent protrusions 27 .

[0114] In addition, since the stop button 232 of this embodiment is circular, the protrusion 27 is also formed in a circular shape along the shape of the stop button 232. Specifically, the partial protrusions 27a, 27b, and 27c are each formed in an arc shape.

[0115] With this configuration, the operator can identify the position of the stop button 232 by the tactile sensation (tactile sensation) of the protrusion 27 with their finger, without looking at the operating parts 23 of the operating device 20. Therefore, when the operator wishes to stop the automatic travel of the rice transplanter 10, they can immediately press the stop button 232 without looking at the operating device 20. This also prevents the operator from accidentally pressing the stop button 232. This improves the operability of the operating device 20.

[0116] In addition, in particular, it is possible to prevent erroneous operation of the stop button 232, so as in this embodiment (see Figure 4 ), a plurality of operating units 23 with other functions can be arranged near the stop button 232. Thus, the functions of the operating device 20 can be expanded and the operability can be further improved.

[0117] In addition, as described above, gaps 28 are formed between the protrusions 27 (see Figure 7), so it is possible to prevent foreign matter from being retained on the stop button 232. For example, if the rice transplanter 10 is driven in the field F, there is a possibility that water, mud, etc. will splash and splash onto the operating device 20, or rain will splash onto the operating device 20. Therefore, if the protrusion 27 is arranged so as to surround the stop button 232, foreign matter will easily accumulate on the inner side of the protrusion 27. In this regard, according to the present embodiment, the protrusion 27 is composed of a plurality of partial protrusions, and gaps 28 are formed between adjacent partial protrusions. Therefore, the gaps 28 can function as a discharge passage from the inner side of the protrusion 27 to the outer side, so that foreign matter in the protrusion 27 can be discharged. As a result, it is possible to prevent foreign matter from being retained on the stop button 232.

[0118] In addition, in order to improve the discharge function of foreign matter, e.g. Figure 8 As shown, the partially protruding portion 27c may be divided into a partially protruding portion 271c and a partially protruding portion 272c, and a gap 28d may be provided at a position opposite the gap 28a. Thus, when the operating device 20 is stored in the storage portion 50 or when the operating device 20 is held, the operating device 20 is in an upright position, so that foreign matter can be easily discharged through the gap 28d.

[0119] In the above embodiment, the protrusion 27 consists of three (see Figure 7 ) or four (refer to Figure 8 ) is composed, the number of protrusions 27 is not limited, and it can be composed of one or more than five.

[0120] In addition, in the above embodiment, the stop button 232 is circular in shape, but as another embodiment, the stop button 232 may also be rectangular in shape. Figure 9A As shown, when the stop button 232 is rectangular, the protrusion 27 is arranged linearly along the rectangular shape of the stop button 232. Specifically, the protrusion 27 includes linear partial protrusions 27a to 27d, which are respectively arranged adjacent to each side (left, top, right, and bottom) of the stop button 232. Furthermore, gaps 28a to 28d are formed between adjacent partial protrusions.

[0121] In addition, the protrusion 27 and the gap 28 are not limited to Figure 9A The structure shown can also be Figure 9B The structure shown.

[0122] In addition, as another embodiment, the operating device 20 may be formed with a recessed portion hollowed out from the main body surface toward the inside, instead of the protruding portion 27 .

[0123] In the above-described embodiments, the protrusion 27 is disposed near (around) the stop button 232. However, the operating portion 23 where the protrusion 27 is disposed is not limited to the stop button 232. For example, by disposing the protrusion 27, operability can be improved and erroneous operation can be prevented. Therefore, it is preferable to dispose the protrusion 27 near an operating portion 23 of particular importance. For example, the protrusion 27 may be disposed near an operating portion 23 that initiates an operation of the rice transplanter 10 (e.g., a traveling operation) or an operating portion 23 that initiates a posture change of a component of the rice transplanter 10 (e.g., the working machine 14). Furthermore, the operating portion 23 where the protrusion 27 is disposed is preferably larger in outer dimensions than the other operating portions 23 (the second operating portion of the present invention).

[0124] That is, the stop button 232 is an example of the first operating unit of the present invention, and the first operating unit of the present invention may be any operating unit that receives an instruction from the user to cause the working machine to perform a specific operation.

[0125] Alternatively, the protrusions 27 may be arranged at positions corresponding to the respective operating portions of the plurality of operating portions 23. For example, the protrusions 27 may be arranged near the stop button 232 and near the start / stop button 233. In this case, the shape and number of the protrusions 27 arranged near the stop button 232 and the shape and number of the protrusions 27 arranged near the start / stop button 233 may be different so that the operator can distinguish them by touch.

[0126] Furthermore, the report processing unit 213 may also differ in the reporting method when the operating unit 23 (in the above example, the stop button 232) configured with the protrusion 27 receives an instruction from the operator, and the reporting method when other operating units 23 receive instructions from the operator. For example, when the operator presses the stop button 232, the report processing unit 213 vibrates the vibrating unit 24 for a long time, while when the operator presses another operating unit 23, the report processing unit 213 vibrates the vibrating unit 24 for a short time. As another embodiment, the report processing unit 213 may also differ in the vibration period of the vibrating unit 24, the display color of the display unit, the output sound of the speaker, etc. between the operating unit 23 configured with the protrusion 27 and the other operating units 23.

[0127] [Structure of the grip]

[0128] like Figure 4As shown, grips 20L and 20R are formed on the side surfaces of the main body of the operating device 20 for the operator to grasp. Grip 20L is located on the lower left side of the operating device 20, and grip 20R is located on the lower right side of the operating device 20. Grip 20L and 20R are constricted portions formed by bending the side surfaces of the operating device 20 inward, and are positioned to be grasped by hand. The operator grasps grips 20L and 20R by pinching them with their palms, thereby enabling stable operation of the operating device 20. For example, while holding the operating device 20 with one hand at grips 20L and 20R, the operator can use the thumb of that hand to press down each operating portion 23.

[0129] Here, in order to prevent the erroneous operation of the stop button 232 during automatic driving, for example Figure 10 As shown, the stop button 232 may be positioned at a position at least a predetermined distance L1 away from the grips 20L, 20R. For example, the predetermined distance L1 is such that when the operator is holding the operating device 20 with one hand at the grips 20L, 20R, the thumb of the hand cannot reach the stop button 232. This prevents the stop button 232 from being unnecessarily pressed during autonomous driving.

[0130] In addition, the operation unit 23 other than the stop button 232 is preferably arranged within a predetermined distance L1 (see Figure 10 ) Thus, the operator can easily operate each operating unit 23 arranged within the predetermined distance L1 with one hand.

[0131] As described above, the operating device 20 according to this embodiment is a device for operating a working machine and includes: an operating portion 23 disposed on the front surface of the main body of the operating device 20, which receives instructions from the user to cause the working machine to perform a specific action; and a protrusion 27 disposed near the operating portion 23 on the front surface of the main body, projecting forward from the main body. For example, the operating portion 23 is a stop button 232 that stops the automatic travel of the rice transplanter 10, and the protrusion 27 is disposed around the stop button 232. Furthermore, the protrusion 27 includes multiple partial protrusions disposed around the stop button 232, with gaps 28 formed between adjacent partial protrusions. This configuration allows the operating portion 23 to be identified solely by touch, for example, thereby improving the operability of the operating device 20. Furthermore, the gaps 28 allow foreign matter within the operating portion 23 to be expelled, thereby improving the operability of the operating portion 23.

[0132] [Modification]

[0133] The operating device 20 will be described with the protrusion 27 omitted. Figure 11A As shown, the protrusion 27 is not arranged around the stop button 232 of the operating device 20 (see Figure 4 In this case, a step is provided on the stop button 232 so that the operator can recognize the position of the stop button 232 by touch (tactile sensation) of the finger without observing the operating device 20. Specifically, the step 29a is formed so that the front surface (surface) of the stop button 232 is located lower than the front surface of the main body of the operating device 20.

[0134] As another example, Figure 11B As shown, the stop button 232 may be arranged so that the front surface (surface) of the stop button 232 protrudes forward from the front surface of the main body of the operating device 20 to form a step 29b.

[0135] according to Figure 11A and Figure 11B The structure shown in FIG. 2 can be used by an operator to identify the step differences 29a and 29b using the sense of touch of a finger, thereby grasping the position of the stop button 232. Figure 4 The structure shown is applied Figure 11A and Figure 11B That is, in the operating device 20 , the step 29 a or 29 b may be provided on the stop button 232 , and the protrusion 27 may be arranged near the stop button 232 .

[0136] [Other embodiments]

[0137] As another embodiment of the operating device 20 , a switch button (not shown) for switching the long press function between valid and invalid may be provided on the front surface of the main body of the operating device 20 .

[0138] For example, if the operator presses the switch button to enable the long-press function, the acceptance processing unit 211 will allow the operation of the operating unit 23 that initiates a predetermined action of the rice transplanter 10 only if it is a long-press operation, and will deny the acceptance of a short-press operation. For example, if the operator presses the switch button to enable the long-press function, the acceptance processing unit 211 will allow the acceptance of each of the start / stop button 233, PTO button 234, accelerate / forward button 235, decelerate / reverse button 236, raise button 237, and lower button 238 if the operator has long-pressed the button. This prevents unintentional operator operations from being erroneously accepted, thereby improving safety.

[0139] Furthermore, since stop button 232 needs to immediately stop automatic driving in an emergency, it may accept short presses even when the long press function is enabled. Furthermore, start / stop button 233 may only accept long presses to start automatic driving and short presses to temporarily stop automatic driving, regardless of the long press function setting. Alternatively, if the long press function is disabled, all operating units may accept short presses.

[0140] As another embodiment of the operating device 20, the gap 28 may be a cutout portion of the annular protrusion 27. For example, the gap 28 may be a portion (cutout portion) where the height (protrusion height toward the front) of the annular protrusion 27 is lower. Alternatively, the gap 28 may be a through hole formed by cutting out the lower side (front surface side) of the annular protrusion 27. For example Figure 12 , a top view of a portion (upper side) of the operating device 20 and a bottom view of the portion are shown. Figure 12 As shown, the protrusion 27 is formed in a continuous ring shape on the front surface side, and a gap 28 (through hole) is formed by hollowing out the rear surface side. Figure 12 In the illustrated structure, the user can tactilely identify the protrusion 27 around the entire circumference of the stop button 232 , and the gap 28 can prevent foreign matter from being retained on the stop button 232 .

[0141] As another embodiment, the automated driving system 1 may also include an operating terminal (e.g., a tablet computer) for performing various setting operations. Based on operator operations, the operating terminal can, for example, register fields F, register work vehicles, register work machines, generate target routes, and set driving information. Furthermore, the operating terminal can accept various operations such as starting and stopping automated driving, which can be performed using the operating device 20, and remotely control the operation of the rice transplanter 10. Furthermore, the operating terminal can display the status of automated driving on a display.

[0142] [Notes on the invention]

[0143] The following is a summary of the invention extracted from the embodiment. In addition, each structure and each processing function described in the following notes can be selected and combined arbitrarily.

[0144] Note 1

[0145] An operating device for operating a working machine, comprising:

[0146] A first operating unit, disposed on the front surface of the main body of the operating device, receives an instruction from a user to cause the working machine to perform a specific action; and

[0147] The protrusion is arranged on the front surface of the main body near the first operating portion and protrudes forward from the front surface of the main body.

[0148] Note 2

[0149] The operating device according to note 1, wherein:

[0150] The first operating unit is a stop operating unit for stopping the automatic travel of the working machine.

[0151] The protrusion is arranged around the stop operation portion.

[0152] Note 3

[0153] The operating device according to note 2, wherein:

[0154] The protrusion includes a plurality of partial protrusions arranged around the stop operation portion.

[0155] A gap is formed between adjacent partial protrusions.

[0156] Note 4

[0157] An operating device according to any one of Notes 1 to 3, wherein:

[0158] A plurality of second operating parts are arranged on the front surface of the main body of the operating device, and the plurality of second operating parts receive instructions from the user to cause the working machine to perform a predetermined action different from the specific action.

[0159] The outer dimensions of the first operating portion are larger than the outer dimensions of each of the plurality of second operating portions.

[0160] Note 5

[0161] An operating device according to any one of Notes 1 to 4, wherein:

[0162] When the first operating unit receives an instruction from the user, at least one of the operating device and the working machine reports information indicating that the instruction has been received.

[0163] Note 6

[0164] The operating device according to note 5, wherein:

[0165] The information is reported by at least one of a method of displaying the information on a display unit provided on the operating device, a method of playing a sound from a speaker provided on the operating device, and a method of vibrating a vibration unit provided on the operating device.

[0166] Note 7

[0167] The operating device according to note 5, wherein:

[0168] A second operating portion is disposed on the front surface of the main body of the operating device, and the second operating portion receives an instruction from a user to cause the working machine to perform a predetermined action different from the specific action.

[0169] The reporting method when the first operating unit receives an instruction from the user is different from the reporting method when the second operating unit receives an instruction from the user.

[0170] Note 8

[0171] An operating device according to any one of Notes 1 to 7, wherein:

[0172] A grip portion for a user to grip the operating device is provided on a side surface of the main body of the operating device.

[0173] The first operating portion is disposed at a position spaced apart from the grip portion by a predetermined distance or more.

Claims

1. An operating device for operating a working machine, characterized in that: have: a first operating unit disposed on the front surface of the main body of the operating device and configured to receive an instruction from a user to cause the working machine to perform a specific action; and The protrusion is arranged on the front surface of the main body near the first operating portion and protrudes forward from the front surface of the main body.

2. The operating device according to claim 1, characterized in that The first operating unit is a stop operating unit for stopping the automatic travel of the working machine. The protrusion is arranged around the stop operation portion.

3. The operating device according to claim 2, characterized in that The protrusion includes a plurality of partial protrusions arranged around the stop operation portion. A gap is formed between adjacent partial protrusions.

4. The operating device according to claim 1, characterized in that A second operating portion is disposed on the front surface of the main body of the operating device, and the second operating portion receives an instruction from a user to cause the working machine to perform a predetermined action different from the specific action. The first operating portion has a larger outer dimension than the second operating portion.

5. The operating device according to claim 1, characterized in that When the first operating unit receives an instruction from the user, at least one of the operating device and the working machine reports information indicating that the instruction has been received.

6. The operating device according to claim 5, characterized in that The information is reported by at least one of a method of displaying the information on a display unit provided on the operating device, a method of generating a sound from a speaker provided on the operating device, and a method of vibrating a vibration unit provided on the operating device.

7. The operating device according to claim 5, characterized in that A second operating portion is disposed on the front surface of the main body of the operating device, and the second operating portion receives an instruction from a user to cause the working machine to perform a predetermined action different from the specific action. The reporting method when the first operating unit receives an instruction from the user is different from the reporting method when the second operating unit receives an instruction from the user.

8. The operating device according to claim 1, characterized in that A grip portion for a user to grip the operating device is provided on a side surface of the main body of the operating device. The first operating portion is disposed at a position spaced apart from the grip portion by a predetermined distance or more.

9. A working machine, characterized in that: Automatic driving is started and stopped according to an instruction output from the operating device according to any one of claims 1 to 8.

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