Operation device, work machine, operation method, and operation program

Abstract

Provided are an operation device, a work machine, an operation method, and an operation program with which it is possible to improve the operability of the operation device for operating the work machine. The operation device (20) outputs a forward travel instruction to the rice transplanter (10) when receiving a simultaneous pressing operation for turning on both the acceleration button (232) and the deceleration button (233) in the plurality of operation units (23), and outputs a forward travel instruction to the rice transplanter (10) after the simultaneous pressing operation. In the present invention, an operation unit (23) of one of an acceleration button (232) and a deceleration button (233) is kept in an ON state, the other operation unit (23) is brought from the ON state to an OFF state, then the other operation unit (23) is brought from the OFF state to the ON state, and when such an operation is received, a vehicle speed change instruction is output to a rice transplanter (10).

Description

Technical Field

[0001] The present invention relates to an operating device for operating a working machine, a working machine, an operating method, and an operating program. 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 accept user operations, and each operating unit is assigned a function for operating the work vehicle. Furthermore, conventional operating devices have a structure that allows the work vehicle to perform functions different from those assigned to the respective operating units when two operating units are pressed simultaneously. However, conventional operating devices have limited functions that can be performed on the work vehicle by simultaneously operating the two operating units, resulting in a problem of low operability of the operating device. Summary of the Invention

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

[0006] An operating device according to the present invention includes multiple operating units that receive instructions from a user to cause a work machine to perform a predetermined action. Upon receiving a first operation that turns on both a first operating unit and a second operating unit among the multiple operating units, the operating device outputs a first action instruction to the work machine. Upon receiving a second operation, the operating device outputs a second action instruction, different from the first action instruction, to the work machine. The second operation is to, after the first operation, turn one of the first and second operating units from the on state to the off state while maintaining the other operating unit in the on state, and then turn the other operating unit from the off state to the on state.

[0007] Furthermore, the working machine according to the present invention performs an operation in accordance with an operation instruction output from the operating device.

[0008] Furthermore, an operating method according to the present invention is an operating method for an operating device including a plurality of operating units configured to receive instructions from a user to cause a work machine to perform a predetermined action. The operating method comprises: receiving an operation on the plurality of operating units from a user; upon receiving a first operation that turns both a first operating unit and a second operating unit on, outputting a first action instruction to the work machine; and upon receiving a second operation, outputting a second action instruction different from the first action instruction to the work machine, wherein the second operation is: after the first operation, while maintaining one of the first and second operating units in the on state, turning the other operating unit off from the on state, and then turning the other operating unit on from the off state.

[0009] Furthermore, an operating program according to the present invention is an operating program for an operating device including a plurality of operating units configured to receive instructions from a user to cause a work machine to perform a predetermined action. The operating program is configured to cause one or more processors to: receive an operation on the plurality of operating units from a user; upon receiving a first operation that turns both a first operating unit and a second operating unit on, output a first action instruction to the work machine; and upon receiving a second operation, output a second action instruction different from the first action instruction to the work machine, wherein the second operation is to, after the first operation, turn one of the first and second operating units off from an on state while maintaining the other operating unit on, and then turn the other operating unit on from an off state.

[0010] According to the present invention, it is possible to provide an operating device, a working machine, an operating method, and an operating program capable of improving the operability of an operating device for operating a working machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a block diagram showing the configuration of an automatic driving system according to an embodiment of the present invention.

[0012] Figure 2A It is a side view which shows an example of the working vehicle (rice transplanter) which concerns on embodiment of this invention.

[0013] Figure 2B It is a top view which shows an example of the working vehicle (rice transplanter) which concerns on embodiment of this invention.

[0014] Figure 3 This is a diagram showing an example of a field and a target route according to an embodiment of the present invention.

[0015] Figure 4 It is a plan view showing the overall structure of the operating device according to the embodiment of the present invention.

[0016] 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.

[0017] Figure 6 It is a diagram showing a stored state of the operating device according to the embodiment of the present invention.

[0018] Figure 7A This is a timing chart showing an example of on / off timing of the operating portion of the operating device according to the embodiment of the present invention.

[0019] Figure 7B This is a timing chart showing an example of on / off timing of the operating portion of the operating device according to the embodiment of the present invention.

[0020] Figure 8A This is a timing chart showing an example of on / off timing of the operating portion of the operating device according to the embodiment of the present invention.

[0021] Figure 8B This is a timing chart showing an example of on / off timing of the operating portion of the operating device according to the embodiment of the present invention.

[0022] Figure 9A This is a timing chart showing an example of on / off timing of the operating portion of the operating device according to the embodiment of the present invention.

[0023] Figure 9B This is a timing chart showing an example of on / off timing of the operating portion of the operating device according to the embodiment of the present invention.

[0024] Figure 10 This is a flowchart showing an example of the procedure of an operation control process executed by the operation device according to the embodiment of the present invention.

[0025] Figure 11 It is a schematic diagram showing the structure of the operating device according to the embodiment of the present invention.

[0026] Figure 12 This is a diagram showing an example of a functional mode of the operating device according to the embodiment of the present invention.

[0027] Description of Reference Numerals

[0028] 1…Automatic driving system; 10…Rice transplanter (working machine); 11…Vehicle control device; 14…Working machine; 111…Driving processing unit; 112…Lifting processing unit; 113…Vehicle speed control processing unit; 114…Drive processing unit; 20…Operating device; 21…Operation control unit; 22…Storage unit; 23…Operating unit; 211…Receiving processing unit; 212…Output processing unit; 213…Report processing unit; 231…Power button; 232…Acceleration button (operating unit); 233…Deceleration button (operating unit); 234…PTO disconnect button (operating unit); 235…Pause button (operating unit); 236…Emergency stop button. DETAILED DESCRIPTION

[0029] The following embodiment is an example of embodying the present invention and does not limit the technical scope of the present invention.

[0030] 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.

[0031] 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 the field of the work 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.

[0032] For example, the rice transplanter 10 Figure 3 The 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.

[0033] 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.

[0034] 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.

[0035] The target path R is not limited to Figure 3 The path shown can be appropriately set according to the shape of the field F, the content of the work, etc. For example, the target path R can be appropriately set according to the number of work strokes in the headland area Fb or the width of the headland area Fb.

[0036] 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 rice transplanter 10 (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.

[0037] The operating device 20 is provided with a plurality of operating parts (operating buttons) that receive the operations of the operator, and each operating part is provided with the above-mentioned functions for operating the rice transplanter 10. In the existing operating device, there is a structure that enables the work vehicle (for example, a rice transplanter) to perform functions different from the functions assigned to the respective operating parts when two operating parts are pressed at the same time. However, in the existing operating device, the functions that can be performed in the work vehicle by the simultaneous operation of the two operating parts are limited, and there is a problem of low operability of the operating device. In contrast, as shown below, the operating device 20 involved in this embodiment has a structure that can improve its operability. Below, the specific structure of the rice transplanter 10 and the operating device 20 is described.

[0038] [Rice transplanter 10]

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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 "engagement" and "disengagement" of the planting clutch according to the user operation on the operating device 20 ( Figure 4 The PTO disconnect button 234 is turned "on" and "off" to switch the planting clutch between "engagement" and "disengagement".

[0044] 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 the 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 lift and lower the work machine 14 according to the user operation on the operating device 20.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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) for detecting the swing angle of the float 36 is provided on 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.

[0049] 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.

[0050] The right connecting frame 18b is provided with a storage portion 50 for storing the operating device 20. For example, when an operator is riding 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0055] 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.

[0056] 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 and 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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 temporary stop button 235 (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.

[0062] 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 temporary stop button 235 (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 emergency stop button 236 (refer to Figure 4 ), the operating device 20 outputs an automatic travel stop instruction to the rice transplanter 10.

[0063] 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.

[0064] 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.

[0065] 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 the forward driving 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 (operates) the acceleration button 232 and the deceleration button 233 (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 temporary stop button 235 and the PTO disconnect button 234 (see 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.

[0066] Furthermore, "simultaneous pressing of two operating units 23" is not limited to operations in which both operating units 23 are turned on at the same time, but also includes operations in which one operating unit 23 is turned on and then the other operating unit 23 is turned on within a predetermined time. Furthermore, simultaneous pressing is not limited to operations using two operating units 23, but may also involve operations using three or more operating units 23.

[0067] 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.

[0068] 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.

[0069] 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 deceleration button 233 and the PTO disconnect button 234 (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 acceleration button 232 and the temporary stop button 235 (see 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.

[0070] 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.

[0071] 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 accelerator button 232 (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 button 233 (see Figure 4 ), the operating device 20 outputs a deceleration instruction to the rice transplanter 10.

[0072] 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.

[0073] The drive processing unit 114 starts driving the working machine 14 at the work start position. Specifically, the drive processing unit 114 controls the timing of engaging 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.

[0074] 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 disconnect 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 "disconnect" to stop the planting unit 34. For example, if the operator presses the PTO disconnect button 234 (refer to Figure 4 ) (PTO is disconnected), the operating device 20 outputs a drive stop instruction to the rice transplanter 10.

[0075] [Operating device 20]

[0076] 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 .

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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, an acceleration button 232, a deceleration button 233, a PTO disconnect button 234, a temporary stop button 235, and an emergency stop button 236. 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.

[0081] The storage unit 22 is a non-volatile storage unit such as a HDD, SSD or flash memory that stores various information. The storage unit 22 stores information for the operation control unit 21 to perform the operation control process described later (see Figure 10 ) and other control programs. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 22. Alternatively, the control program may be downloaded from a server (not shown) via the communication network N1 to the operating device 20 and stored in the storage unit 22.

[0082] 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.

[0083] 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.

[0084] The receiving and processing unit 211 receives the operation of the operating unit 23 by the operator. Specifically, the receiving and processing unit 211 receives the pressing operation of each of the multiple operating units 23 by the operator. For example, for each operating unit 23, the receiving and processing unit 211 receives a short press operation, a long press operation, and a simultaneous press operation. In addition, a "long press operation" is an operation in which the operating unit 23 remains in the on state for more than a specified time after it becomes in the on state (an operation in which the operator continues to press the operating unit 23 for more than a specified time), and a "short press operation" is an operation in which the operating unit 23 becomes an off state from the on state within the above-mentioned specified time after it becomes in the on state (an operation in which the operator releases the operating unit 23 within a specified time after pressing the operating unit 23).

[0085] Furthermore, the reception processing unit 211 can receive a combination of simultaneous pressing and a short press, as well as a combination of simultaneous pressing and a long press. For example, after receiving simultaneous pressing of two operating units 23, the reception processing unit 211 can receive a short press or a long press of the other operating unit 23 while maintaining the on state of one operating unit 23. Specific operation methods will be described later.

[0086] 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.

[0087] 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 unit 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 received and the action corresponding to the operation instruction has been executed in the rice transplanter 10.

[0088] 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.

[0089] 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 .

[0090] 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.

[0091] [Functions of the Operation Unit 23]

[0092] Hereinafter, the specific functions of each operating unit 23 will be described.

[0093] The power button 231 is an operation unit for turning on / off the power of the operating device 20. Figure 4 In the embodiment, the power button 231 is located at the upper end of the front surface of the main body of the operating device 20. However, the position of the power button 231 is not limited thereto and may be located on the lower side of the main body, for example. 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.

[0094] The temporary stop button 235 is an operation part which starts the automatic travel of the rice transplanter 10 and temporarily stops the rice transplanter 10 which is automatically traveling.

[0095] 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 by operating the operating device 20 at a location separated from the rice transplanter 10. For example, if the operator presses and holds the temporary stop button 235, the output processing unit 212 outputs a driving start instruction to the rice transplanter 10. If the rice transplanter 10 receives the above-mentioned driving start instruction, it will start automatic driving and operation (planting operation) according to the target path R.

[0096] In addition, if the operator presses (short press operation) the temporary stop button 235 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 temporary stop button 235 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 and temporarily stop automatic driving by operating the temporary stop button 235 at a location separated from the rice transplanter 10.

[0097] The PTO disconnect button 234 is an operating unit for connecting / disconnecting the drive of the PTO. For example, if the rice transplanter 10 temporarily stops during automatic driving, the drive processing unit 114 switches the planting clutch to "disconnected" to stop the drive of the working machine 14. If the automatic driving of the rice transplanter 10 is temporarily stopped and the planting clutch becomes "disconnected" (PTO becomes disconnected), the operator can perform the on / off operation on the PTO disconnect button 234. For example, if the operator presses the PTO disconnect button 234 to turn it into the on state, the output processing unit 212 outputs a PTO drive instruction to the rice transplanter 10. If the rice transplanter 10 obtains the above-mentioned PTO drive instruction, it switches the planting clutch to "engaged" and can perform the planting action with the help of the planting unit 34. If the operator presses the PTO disconnect button 234 to turn it into the disconnected state, 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 .

[0098] The accelerator button 232 is an operating unit for accelerating the speed of the rice transplanter 10 during automatic driving. If the operator presses the accelerator button 232 while the rice transplanter 10 is automatically driving, the output processing unit 212 outputs an acceleration instruction to the rice transplanter 10. Upon receiving the acceleration instruction, the rice transplanter 10 accelerates its speed. Each time the accelerator button 232 is pressed, the rice transplanter 10 accelerates its speed in stages. Furthermore, if the accelerator button 232 is pressed and held, the rice transplanter 10 continuously accelerates its speed while the button is pressed and held (the period of the long press).

[0099] The deceleration button 233 is an operating unit that decelerates the speed of the rice transplanter 10 during automatic driving. If the operator presses the deceleration button 233 while the rice transplanter 10 is automatically driving, the output processing unit 212 outputs a deceleration instruction to the rice transplanter 10. If the rice transplanter 10 receives the deceleration instruction, it decelerates. Each time the deceleration button 233 is pressed, the rice transplanter 10 decelerates in stages. In addition, if the deceleration button 233 is pressed and held, the rice transplanter 10 continuously decelerates while the button is pressed and held (the period of the long press).

[0100] The four operating parts 23, namely the acceleration button 232, the deceleration button 233, the PTO disconnect button 234 and the temporary stop button 235, are arranged in two rows vertically and two rows horizontally on the upper side of the front surface of the main body of the operating device 20, and are arranged at the four vertices of a rectangle. In addition, the acceleration button 232 is arranged in the upper right, the deceleration button 233 is arranged in the upper left, the PTO disconnect button 234 is arranged in the lower right, and the temporary stop button 235 is arranged in the lower left. In addition, in the 2×2 arrangement, the positions of the acceleration button 232, the deceleration button 233, the PTO disconnect button 234 and the temporary stop button 235 are not limited to Figure 4 Position shown.

[0101] In addition, the functions assigned to the four operating units 23 are not limited to Figure 4 Each of the functions shown above may be assigned other functions. Examples of other functions include raising and lowering the work machine, increasing and decreasing the engine speed, shifting the driving position during automatic driving, and registering reference points when generating a target path.

[0102] The emergency stop button 236 is an operating unit for stopping the automatically traveling rice transplanter 10. The emergency stop button 236 is arranged on the lower side (below the four operating units 23) of the main body front surface of the operating device 20. In addition, the emergency stop button 236 can also be arranged on the upper side of the main body.

[0103] If the operator presses the emergency stop button 236 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. Thus, unlike the temporary stop function of the temporary stop button 235, the emergency stop button 236 is assigned an emergency stop function. Therefore, when the emergency stop button 236 is pressed, the engine of the rice transplanter 10 is stopped. Therefore, to resume automatic operation and operation, the operator needs to board the rice transplanter 10 to start the engine 131 and restart the automatic operation. Thus, if the emergency stop button 236 is pressed, resuming automatic operation from a remote location via the operating device 20 is prohibited. Therefore, the operator moves to the location of the rice transplanter 10 and, after confirming the safety of the area surrounding the rice transplanter 10, performs the operation to resume automatic operation.

[0104] Here, a function different from the functions assigned to the individual operation units 23 is assigned to a combination of two of the four operation units 23. For example, a forward travel function is assigned to a combination of the accelerator button 232 and the decelerator button 233, a reverse travel function is assigned to a combination of the PTO disconnect button 234 and the pause button 235, a right turn (right steering) function is assigned to a combination of the accelerator button 232 and the PTO disconnect button 234, and a left turn (left steering) function is assigned to a combination of the decelerator button 233 and the pause button 235.

[0105] The function assigned to the combination of the two operating units 23 is executed, for example, when the two operating units 23 are pressed simultaneously. Specifically, if the operator presses the acceleration button 232 and the deceleration button 233 simultaneously during the temporary stop of the automatic travel of the rice transplanter 10, the output processing unit 212 outputs a forward travel instruction to the rice transplanter 10. The travel processing unit 111 causes the rice transplanter 10 to travel forward in accordance with the forward travel instruction. In addition, if the operator presses the PTO disconnect button 234 and the temporary stop button 235 simultaneously during the temporary stop of the automatic travel of the rice transplanter 10, the output processing unit 212 outputs a reverse travel instruction to the rice transplanter 10. The travel processing unit 111 causes the rice transplanter 10 to travel reverse in accordance with the reverse travel instruction.

[0106] Furthermore, if the operator simultaneously presses the accelerator button 232 and the PTO disconnect button 234 while the rice transplanter 10 is temporarily stopped from automatically traveling, the output processing unit 212 outputs a travel start instruction and a right turn instruction to the rice transplanter 10. The travel processing unit 111 causes the rice transplanter 10 to start a right turn according to the right turn instruction. Furthermore, if the operator simultaneously presses the decelerator button 233 and the temporary stop button 235 while the rice transplanter 10 is temporarily stopped from automatically traveling, the output processing unit 212 outputs a travel start instruction and a left turn instruction to the rice transplanter 10. The travel processing unit 111 causes the rice transplanter 10 to start a left turn according to the left turn instruction.

[0107] Furthermore, identification frames A1 to A4 (see FIG. 1 ) surrounding the two operation portions 23 corresponding to the combination may be displayed on the front surface of the main body of the operation device 20. Figure 4 ), and the names of the functions corresponding to the combination ( Figure 4 "Forward", "Back", "Right Turn", "Left Turn"), so that the operator can easily grasp the functions performed by pressing the two operating parts 23 at the same time.

[0108] 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 .

[0109] The operating device 20 may also be provided with a communication display unit that shows the communication status with the rice transplanter 10, an abnormality display unit (LED) that lights up when the rice transplanter 10 detects an obstacle or some kind of malfunction occurs in the rice transplanter 10, and the like.

[0110] Alternatively, a charging terminal 260 may be provided on the bottom surface of the operating device 20 (see FIG. Figure 6 ).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, the storage portion 50 has 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, when the operating device 20 is stored in the storage portion 50, as shown in FIG. 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.

[0111] [Adjustment function by simultaneous pressing operation]

[0112] As described above, when the operator simultaneously presses and operates multiple operating parts 23 (two operating parts 23 in this embodiment), the operating device 20 can cause the rice transplanter 10 to perform a function different from the function assigned to each operating part 23. In addition, the operating device 20 has a structure (adjustment function) that can further cause the rice transplanter 10 to perform a specific action (adjustment action) by performing specific operations on multiple operating parts 23 that are pressed and operated simultaneously. For example, the operating device 20 can adjust the speed of the rice transplanter 10, adjust the travel distance during driving, and adjust the steering amount during steering operation. Specific examples of these adjustment functions are described below.

[0113] Figure 7A and Figure 7B 23 is a timing chart showing an example of an operation method related to the vehicle speed adjustment function. Figure 7A and Figure 7B The deceleration button 233 and the acceleration button 232 are shown in FIG. 2 , and the on / off timing of each operation button is shown.

[0114] For example Figure 7AAs shown, when the rice transplanter 10 temporarily stops automatic travel, if the operator simultaneously presses the accelerator button 232 and the decelerator button 233 (for example, after pressing the decelerator button 233 (at time t1), the accelerator button 232 is pressed within a predetermined time (at time t2)), the operation control unit 21 receives the simultaneous pressing operation and outputs a forward travel instruction to the rice transplanter 10. As a result, the rice transplanter 10 starts to travel forward. While the simultaneous pressing operation continues, that is, while both the accelerator button 232 and the decelerator button 233 are in the on state (at time t2 to t3), the operation control unit 21 continues to output the forward travel instruction to the rice transplanter 10. As a result, the rice transplanter 10 continues to travel forward.

[0115] Here, when the operator releases the accelerator button 232 at time t3, that is, when the accelerator button 232 is turned off from the on state, the operation control unit 21 starts measuring time. Then, when the accelerator button 232 is turned on again within a set time after being turned off (time t4), the operation control unit 21 accelerates the speed of the rice transplanter 10 that is traveling forward.

[0116] Furthermore, when the acceleration button 232 is not turned on again within the set time after being turned off, that is, when only the deceleration button 233 is pressed for a predetermined time, the operation control unit 21 stops the forward travel of the rice transplanter 10.

[0117] As other examples, Figure 7B As shown, when the operator releases the deceleration button 233 at time t3, that is, when the deceleration button 233 is turned off from the on state, the operation control unit 21 starts measuring time. Then, when the deceleration button 233 is turned on again within a set time after being turned off (time t4), the operation control unit 21 decelerates the speed of the rice transplanter 10 that is traveling forward.

[0118] Furthermore, when the deceleration button 233 is not turned on again within a set time after being turned off, that is, when only the acceleration button 232 is pressed for a predetermined time, the operation control unit 21 stops the forward travel of the rice transplanter 10.

[0119] In this way, when the acceleration button 232 and the deceleration button 233 are pressed simultaneously, the operation control unit 21 outputs a forward driving instruction to the rice transplanter 10. When one of the acceleration button 232 and the deceleration button 233 is turned off and on, the operation control unit 21 outputs a speed adjustment instruction (acceleration instruction or deceleration instruction) to the rice transplanter 10. In this way, the operator can make the rice transplanter 10 move forward and adjust the speed by using the two operation units 23.

[0120] As another embodiment, the operation control unit 21 may also cause the rice transplanter 10 to continue traveling forward when the operator disconnects one of the acceleration button 232 and the deceleration button 233 after the acceleration button 232 and the deceleration button 233 are simultaneously pressed. For example, after the operator simultaneously presses the acceleration button 232 and the deceleration button 233 and the rice transplanter 10 begins traveling forward, when the operator disconnects the acceleration button 232, the operation control unit 21 continuously outputs a forward driving instruction to the rice transplanter 10. Thus, after the operator starts traveling forward by simultaneously pressing the acceleration button 232, even if the operator releases one of the operation units 23 (disconnects the operation), the forward driving can continue. In addition, if the operator further disconnects the deceleration button 233 and both the acceleration button 232 and the deceleration button 233 are disconnected, the operation control unit 21 outputs a stop instruction to the rice transplanter 10.

[0121] In addition, the operation control unit 21 may also be able to switch whether to continue forward travel when the one operating unit 23 is released. Specifically, the operation control unit 21 may also be able to switch the output method of the action instruction between a first output mode and a second output mode. In the first output mode, when an operation is received that causes the one operating unit 23 to be switched from an on state to an off state after receiving a simultaneous pressing operation, the forward travel instruction is continuously output to the rice transplanter 10. In the second output mode, when an operation is received that causes the one operating unit 23 to be switched from an on state to an off state after receiving a simultaneous pressing operation, the output of the forward travel instruction to the rice transplanter 10 is stopped. Thus, when the first output mode is set, the operator can continue forward travel by continuously pressing one operating unit 23, thereby improving operability. On the other hand, when the second output mode is set, the operator can stop forward travel by releasing one operating unit 23, thereby improving safety.

[0122] Here, a specific example of the method for adjusting the operation of the rice transplanter 10 will be described. The above-mentioned adjustment method includes a method for adjusting the operation of the rice transplanter 10 by a short press operation (adjustment method 1) and a method for adjusting the operation of the rice transplanter 10 by a long press operation (adjustment method 2).

[0123] [Adjustment method 1]

[0124] Figure 8A and Figure 8B A specific example of the vehicle speed adjustment method 1 is shown in FIG. Figure 8A As shown, the operation control unit 21 accelerates the vehicle speed each time a short press is performed. The acceleration amount (acceleration amplitude) is preset, and the operation control unit 21 outputs an acceleration instruction to the rice transplanter 10 to accelerate the vehicle speed by the preset acceleration amount each time a short press operation is received from the operator after the simultaneous pressing operation. Figure 8A In the example shown, the operator performs simultaneous pressing operations (times t2 to t3) and then performs three short press operations (times t4 to t5, time t6 to t7, and time t8 to t9). The operation control unit 21 outputs an acceleration instruction to the rice transplanter 10 with each short press operation, and the rice transplanter 10 increases its speed by the specified amount. Furthermore, after time t9, the rice transplanter 10 maintains the speed obtained after the three accelerations and continues to move forward.

[0125] In addition, if Figure 8B As shown, the operation control unit 21 decelerates the vehicle speed each time a short press is performed. The deceleration amount (deceleration amplitude) is preset, and the operation control unit 21 outputs a deceleration instruction to the rice transplanter 10 to decelerate the vehicle speed by the preset deceleration amount each time a short press is received from the operator after the simultaneous pressing operation. Figure 8B In the example shown, the operator performs two short presses (at times t2-t3) followed by two short presses (at times t4-t5 and t6-t7). The operation control unit 21 outputs a deceleration instruction to the rice transplanter 10 with each short press, and the rice transplanter 10 reduces its speed by the specified amount. Furthermore, after time t7, the rice transplanter 10 maintains the speed obtained from the two decelerations and continues to move forward.

[0126] In addition, Figure 8B In the example shown, when the operator briefly presses the accelerator button 232 between time t8 and t9, the operation control unit 21 outputs an acceleration instruction to the rice transplanter 10. In this case, the rice transplanter 10 decelerates twice, accelerates once, and continues to travel forward while maintaining the accelerated speed.

[0127] As described above, by the adjustment method 1, the operation control unit 21 outputs the vehicle speed change instruction to the rice transplanter 10 according to the short press operation. The rice transplanter 10 changes the vehicle speed during forward travel in stages according to the number of short press operations.

[0128] [Adjustment method 2]

[0129] Figure 9A and Figure 9BA specific example of the vehicle speed adjustment method 2 is shown in FIG. Figure 9A As shown, the operation control unit 21 accelerates the vehicle speed according to the long press operation. If the operation control unit 21 receives the long press operation from the operator after the simultaneous pressing operation, it outputs an acceleration instruction to the rice transplanter 10 to accelerate the vehicle speed by an acceleration amount corresponding to the operation time of the long press operation (long press period).

[0130] exist Figure 9A In the example shown, the operator performs a long press operation on the accelerator button 232 (operation at time t4 to t5) after performing a simultaneous pressing operation (time t2 to t3). Therefore, the operation control unit 21, for example, starts outputting an acceleration instruction to the rice transplanter 10 at the time point when it is determined to be a long press operation (after a predetermined time has passed from time t4), and continues outputting the acceleration instruction until time t5. While obtaining the above-mentioned acceleration instruction, the rice transplanter 10 continuously (proportionally) accelerates the vehicle speed. If the operator releases the accelerator button 232 at time t5, the operation control unit 21 stops outputting the acceleration instruction. As a result, the rice transplanter 10 continues to move forward at the vehicle speed at time t5.

[0131] If the operator then long-presses the accelerator button 232 again at time t6 (operation from time t6 to t7), the operation control unit 21 outputs an acceleration instruction to the rice transplanter 10. While receiving this acceleration instruction, the rice transplanter 10 continuously accelerates. If the operator releases the accelerator button 232 at time t7, the operation control unit 21 stops outputting the acceleration instruction. As a result, the rice transplanter 10 continues traveling at the speed at time t7.

[0132] exist Figure 9B In the example shown, the operator performs a simultaneous pressing operation (time t2 to t3) and then performs a long press operation on the deceleration button 233 (operation at time t4 to t5). Therefore, the operation control unit 21, for example, starts outputting a deceleration instruction to the rice transplanter 10 at the time point when it is determined to be a long press operation (after a predetermined time has passed from time t4), and continues outputting the deceleration instruction until time t5. While receiving the above-mentioned deceleration instruction, the rice transplanter 10 continuously (proportionally) decelerates the vehicle speed. If the operator releases the deceleration button 233 at time t5, the operation control unit 21 stops outputting the deceleration instruction. As a result, the rice transplanter 10 continues to move forward at the vehicle speed at time t5.

[0133] In addition, Figure 9B In the example shown, for example, when the operator long-presses the accelerator button 232 between time t6 and t7, the operation control unit 21 outputs an acceleration instruction to the rice transplanter 10. In this case, the rice transplanter 10 decelerates according to the long-press duration of the deceleration button 233, then accelerates according to the long-press duration of the accelerator button 232, and continues to travel forward while maintaining the accelerated speed.

[0134] As described above, in the adjustment method 2, the operation control unit 21 outputs a vehicle speed change instruction to the rice transplanter 10 according to the long press operation. The rice transplanter 10 continuously changes the vehicle speed during forward travel according to the time of the long press operation (long press time).

[0135] The above-mentioned adjustment methods 1 and 2 can be combined, and the operation control unit 21 outputs a speed change instruction to the rice transplanter 10 based on each of the short press operation and the long press operation by the operator after the simultaneous pressing operation. In this way, the operator can make the rice transplanter 10 move forward and adjust (fine-tune) the speed with a small amount of movement or adjust the speed with a large amount of movement.

[0136] In the above example, the vehicle speed change process during forward travel is shown, but the vehicle speed change process during reverse travel can also be realized in the same manner. For example, when the operator presses the PTO disconnect button 234 and the temporary stop button 235 (see Figure 4 ), the operation control unit 21 outputs a reverse driving instruction to the rice transplanter 10. Thereafter, when the operator short-presses (adjustment method 1) or long-presses (adjustment method 2) the PTO disconnect button 234, the operation control unit 21 outputs an acceleration instruction to the rice transplanter 10. When the operator short-presses (adjustment method 1) or long-presses (adjustment method 2) the temporary stop button 235, the operation control unit 21 outputs a deceleration instruction to the rice transplanter 10.

[0137] In another embodiment, the operation control unit 21 may also execute a process for changing the vehicle speed during a turn. For example, when the operator simultaneously presses the accelerator button 232 and the PTO disconnect button 234, the operation control unit 21 outputs a right turn instruction to the rice transplanter 10. Subsequently, when the operator briefly presses the accelerator button 232 (adjustment method 1) or long presses it (adjustment method 2), the operation control unit 21 outputs an acceleration instruction to the rice transplanter 10. When the operator briefly presses the PTO disconnect button 234 (adjustment method 1) or long presses it (adjustment method 2), the operation control unit 21 outputs a deceleration instruction to the rice transplanter 10.

[0138] In addition, for example, when the operator presses the deceleration button 233 and the temporary stop button 235 at the same time, the operation control unit 21 outputs a left turn instruction to the rice transplanter 10. Thereafter, when the operator short-presses (adjustment method 1) or long-presses (adjustment method 2) the deceleration button 233, the operation control unit 21 outputs an acceleration instruction to the rice transplanter 10. When the operator short-presses (adjustment method 1) or long-presses (adjustment method 2) the temporary stop button 235, the operation control unit 21 outputs a deceleration instruction to the rice transplanter 10.

[0139] In another embodiment, the operation control unit 21 may also execute a process for changing the steering amount during a turn. For example, when the operator simultaneously presses the accelerator button 232 and the PTO disconnect button 234, the operation control unit 21 outputs a right turn instruction to the rice transplanter 10. Subsequently, when the operator briefly presses the accelerator button 232 (adjustment method 1) or long presses the accelerator button 232 (adjustment method 2), the operation control unit 21 outputs an instruction to increase the steering amount to the rice transplanter 10. When the operator briefly presses the PTO disconnect button 234 (adjustment method 1) or long presses the PTO disconnect button 234 (adjustment method 2), the operation control unit 21 outputs an instruction to decrease the steering amount to the rice transplanter 10.

[0140] In addition, for example, when the operator presses the deceleration button 233 and the temporary stop button 235 at the same time, the operation control unit 21 outputs a left turn instruction to the rice transplanter 10. Thereafter, when the operator short-presses (adjustment method 1) or long-presses (adjustment method 2) the deceleration button 233, the operation control unit 21 outputs an increase instruction for the steering control amount to the rice transplanter 10. When the operator short-presses (adjustment method 1) or long-presses (adjustment method 2) the temporary stop button 235, the operation control unit 21 outputs a decrease instruction for the steering control amount to the rice transplanter 10.

[0141] [Operation Control Processing]

[0142] Below, refer to Figure 10 An example of the operation control process executed by the operation device 20 will be described.

[0143] In addition, the present invention can be understood as the invention of an operation control method (an example of the operation method of the present invention) that executes one or more steps included in the above-mentioned operation control processing. In addition, one or more steps included in the above-mentioned operation control processing described here can also be appropriately omitted. In addition, for each step in the above-mentioned operation control processing, the execution order can also be different within the scope of producing the same effect. Moreover, the case where the operation control unit 21 executes each step in the above-mentioned operation control processing is cited here as an example for explanation, but as another embodiment, an operation control method in which one or more processors disperse and execute each step in the operation control processing is also conceivable.

[0144] In step S1, the operation control unit 21 determines whether or not the operator has received simultaneous pressing operations on multiple operation units 23. If the operation control unit 21 has received the simultaneous pressing operations (S1: Yes), the process proceeds to step S2. The operation control unit 21 waits until the operator has received the simultaneous pressing operations (S1: No). For example, if the operator has simultaneously pressed four operation units 23 (see Figure 4), that is, when both the operation units 23 are turned on within a predetermined time, the operation control unit 21 determines that the above-mentioned simultaneous pressing operation is received.

[0145] Furthermore, when the operation control unit 21 receives a pressing operation on one of the operation units 23 but does not receive the aforementioned simultaneous pressing operations, it outputs operation information (action instructions) corresponding to the function assigned to the operation unit 23 to the rice transplanter 10. For example, if the operator presses the accelerator button 232 while the rice transplanter 10 is automatically traveling, the operation control unit 21 outputs an acceleration instruction to the rice transplanter 10. If the operator presses the decelerator button 233 while the rice transplanter 10 is automatically traveling, the operation control unit 21 outputs a deceleration instruction to the rice transplanter 10.

[0146] Hereinafter, as an example, a case where the operator simultaneously presses the acceleration button 232 and the deceleration button 233 while the rice transplanter 10 is stopped will be described.

[0147] In step S2, the operation control unit 21 outputs a forward driving instruction to the rice transplanter 10. As a result, the rice transplanter 10 begins to travel forward. Furthermore, while the operator continues to press the accelerator button 232 and the decelerator button 233, the operation control unit 21 continues to output the forward driving instruction to the rice transplanter 10, and the rice transplanter 10 continues to travel forward according to the forward driving instruction.

[0148] Next, in step S3, the operation control unit 21 determines whether the accelerator button 232 is in the OFF state. For example, if the operator releases their hand from either the accelerator button 232 or the decelerator button 233, the operation control unit 21 determines that the accelerator button 232 is in the OFF state. If the operation control unit 21 determines that the accelerator button 232 is in the OFF state (S3: YES), the process proceeds to step S4. On the other hand, if the operation control unit 21 determines that the accelerator button 232 is not in the OFF state (S3: NO), the process proceeds to step S31.

[0149] In step S31, the operation control unit 21 determines whether the deceleration button 233 is in the off state. For example, if the operator releases the deceleration button 233 from either the acceleration button 232 or the deceleration button 233, the operation control unit 21 determines that the deceleration button 233 is in the off state. If the operation control unit 21 determines that the deceleration button 233 is in the off state (S31: Yes), the process proceeds to step S32. On the other hand, if the operation control unit 21 determines that the deceleration button 233 is not in the off state (S31: No), the process proceeds to step S3.

[0150] Thus, after receiving the simultaneous pressing operation, the operation control unit 21 determines whether either the acceleration button 232 or the deceleration button 233 is in the off state (S3 and S31). If the operation control unit 21 determines that the acceleration button 232 is in the off state after receiving the simultaneous pressing operation (S3: Yes), the processing of the following steps S4 to S6 is executed. If the operation control unit 21 determines that the deceleration button 233 is in the off state after receiving the simultaneous pressing operation (S31: Yes), the processing of the following steps S32 to S34 is executed.

[0151] In step S4, the operation control unit 21 determines whether the acceleration button 232 is in the on state. Figure 7A As shown, when the operator turns the accelerator button 232 off at time t3 and then turns the accelerator button 232 on again at time t4, the operation control unit 21 determines that the accelerator button 232 has become on (S4: Yes) and moves the processing to step S5.

[0152] On the other hand, when the operation control unit 21 determines that the accelerator button 232 is not in the on state ( S4 : NO), the process proceeds to step S6 .

[0153] In step S5, the operation control unit 21 outputs an acceleration instruction to the rice transplanter 10. If the rice transplanter 10 obtains the acceleration instruction, it accelerates the vehicle speed. Here, the operation control unit 21 outputs an acceleration instruction to the rice transplanter 10 according to the operation method of the operator. For example, when the operator short-presses the acceleration button 232 (see Figure 8A ), the operation control unit 21 outputs an acceleration instruction (see [Adjustment Method 1]) to accelerate the vehicle speed by a predetermined acceleration amount (acceleration width) to the rice transplanter 10. As a result, the rice transplanter 10 slightly increases the vehicle speed of the forward travel.

[0154] In addition, for example, when the operator long-presses the acceleration button 232 (see Figure 9A ), the operation control unit 21 outputs an acceleration instruction (see [Adjustment Method 2]) to the rice transplanter 10 to accelerate the vehicle speed by an acceleration amount (acceleration amplitude) corresponding to the time of the long press operation (long press period). As a result, the rice transplanter 10 continuously accelerates the forward driving speed during the long press operation.

[0155] After step S5, the operation control unit 21 shifts the process to step S3. Each time the operation control unit 21 receives a short press operation or a long press operation of the accelerator button 232, the operation control unit 21 accelerates the vehicle speed during forward travel (S3 to S5).

[0156] In step S6, the operation control unit 21 determines whether the deceleration button 233 is in the off state. For example, if the operator releases his hand from the acceleration button 232 and then releases his hand from the deceleration button 233, the operation control unit 21 determines that both the acceleration button 232 and the deceleration button 233 are in the off state. If the operation control unit 21 determines that the deceleration button 233 is in the off state (S6: Yes), the process proceeds to step S7.

[0157] On the other hand, if the operation control unit 21 determines that the deceleration button 233 is not in the OFF state (S6: NO), the process moves to step S4. In this case, since the deceleration button 233 is still in the ON state, the operation control unit 21 continues to output the forward driving instruction to the rice transplanter 10, and the rice transplanter 10 continues to drive forward.

[0158] In step S7, the operation control unit 21 outputs a stop instruction to the rice transplanter 10. Specifically, when the operator releases his hands from both the accelerator button 232 and the decelerator button 233, the operation control unit 21 determines that both the accelerator button 232 and the decelerator button 233 are in the OFF state and outputs a stop instruction to the rice transplanter 10. Upon receiving the stop instruction, the rice transplanter 10 stops forward travel.

[0159] On the other hand, when the deceleration button 233 is in the OFF state after receiving the simultaneous pressing operation (S31: YES), in step S32, the operation control unit 21 determines whether the deceleration button 233 is in the ON state. Figure 7B As shown, when the operator turns the deceleration button 233 off at time t3 and then turns the deceleration button 233 on again at time t4, the operation control unit 21 determines that the deceleration button 233 has been turned on (S32: Yes) and moves the processing to step S33.

[0160] On the other hand, when the operation control unit 21 determines that the deceleration button 233 is not in the on state ( S32 : NO), the process proceeds to step S34 .

[0161] In step S33, the operation control unit 21 outputs a deceleration instruction to the rice transplanter 10. If the rice transplanter 10 receives the deceleration instruction, it decelerates the vehicle speed. Here, the operation control unit 21 outputs a deceleration instruction to the rice transplanter 10 according to the operator's operation method. For example, when the operator short-presses the deceleration button 233 (see Figure 8B ), the operation control unit 21 outputs a deceleration instruction (see [Adjustment Method 1]) to decelerate the vehicle speed by a predetermined deceleration amount (deceleration width) to the rice transplanter 10. As a result, the rice transplanter 10 slightly reduces the vehicle speed of the forward travel.

[0162] In addition, for example, when the operator long-presses the deceleration button 233 (see Figure 9B ), the operation control unit 21 outputs a deceleration instruction (see [Adjustment Method 2]) to the rice transplanter 10 to decelerate the vehicle speed by a deceleration amount (deceleration width) corresponding to the time of the long press operation (long press period). As a result, the rice transplanter 10 continuously decelerates the forward travel speed during the long press operation.

[0163] After step S33, the operation control unit 21 shifts the process to step S3. Each time the operation control unit 21 receives a short press operation or a long press operation of the deceleration button 233, the operation control unit 21 decelerates the vehicle speed during forward travel (S31 to S33).

[0164] In step S34, the operation control unit 21 determines whether the accelerator button 232 is in the off state. For example, if the operator releases their hand from the decelerator button 233 and then releases their hand from the accelerator button 232, the operation control unit 21 determines that both the accelerator button 232 and the decelerator button 233 are in the off state. If the operation control unit 21 determines that the accelerator button 232 is in the off state (S34: YES), the process proceeds to step S7 described above.

[0165] On the other hand, if the operation control unit 21 determines that the accelerator button 232 is not in the OFF state (S34: NO), the process moves to step S32. In this case, since the accelerator button 232 is still in the ON state, the operation control unit 21 continues to output the forward driving instruction to the rice transplanter 10, and the rice transplanter 10 continues to drive forward.

[0166] As described above, the operation control unit 21 outputs an acceleration instruction to accelerate the vehicle speed to the rice transplanter 10 when receiving the following operation, which is: after the simultaneous pressing operation, the acceleration button 232 is changed from the on state to the off state while the deceleration button 233 is maintained in the on state, and then the acceleration button 232 is changed from the off state to the on state; the operation control unit 21 outputs a deceleration instruction to decelerate the vehicle speed to the rice transplanter 10 when receiving the following operation, which is: after the simultaneous pressing operation, the deceleration button 233 is changed from the on state to the off state while the acceleration button 232 is maintained in the on state, and then the deceleration button 233 is changed from the off state to the on state.

[0167] Moreover, the operation control part 21 performs the process (operation control process) of outputting the operation instruction corresponding to the simultaneous pressing operation and the operation instruction corresponding to the operation after this operation instruction (short pressing operation, long pressing operation) to the rice transplanter 10.

[0168] As described above, the operating device 20 involved in this embodiment is a device (such as a remote control) having a plurality of operating parts 23 that receive instructions from a user (operator) to cause a working machine (such as a rice transplanter 10) to perform a prescribed action. In addition, when the operating device 20 receives a pressing operation (an example of the first operation of the present invention) that simultaneously turns both the first operating part 23 and the second operating part 23 of the plurality of operating parts 23 into an on state, the operating device 20 outputs a first action instruction to the above-mentioned working machine. In addition, when the operating device 20 receives a second operation (short press operation, long press operation), it outputs a second action instruction different from the above-mentioned first action instruction to the above-mentioned working machine, and the second operation is: after the above-mentioned first operation, while the operating part 23 of one of the first operating part 23 and the second operating part 23 is maintained in an on state, the operating part 23 of the other is changed from the on state to the off state, and then the operating part 23 of the other is changed from the off state to the on state.

[0169] According to the above configuration, the operating device 20 can, for example, change (adjust) the travel speed of the work machine by simultaneously pressing both operating parts 23 to start the work machine's travel. This allows the same operating part 23 to output both the action instructions generated by the simultaneous pressing and the action instructions that differ from the action instructions. Furthermore, the amount of action can be adjusted by using a predetermined method of operating the operating parts 23, thereby improving the operability of the operating device 20 for moving the work machine.

[0170] [Other embodiments]

[0171] In the above embodiment, the action instruction (first action instruction) indicated to the rice transplanter 10 when a simultaneous pressing operation is received, and the action instruction (second action instruction) indicated to the rice transplanter 10 when a short pressing operation or a long pressing operation is received after the simultaneous pressing operation are instructions for different action objects. For example, in the above example, when the first action instruction is a driving instruction for the rice transplanter 10 to drive (action object), the second action instruction is a speed change instruction for the vehicle speed (action object). In addition, when the first action instruction is a turning instruction for turning (action object), the second action instruction is a speed change instruction for the vehicle speed (action object) or an increase or decrease instruction for the steering control amount (action object). As another example, when the first action instruction is a driving instruction, the second action instruction may also be an instruction to raise or lower the working machine. In addition, when the first action instruction is a driving instruction, the second action instruction may also be an instruction to shift the driving position left or right. In addition, when the first action instruction is a driving instruction, the second action instruction may also be an instruction to change the engine speed.

[0172] In contrast, in other embodiments of the present invention, the first action instruction and the second action instruction may be instructions for the same action object. Furthermore, the second action instruction may be an instruction for causing the action object to move a smaller amount than the amount of movement corresponding to the first action instruction. For example, the first action instruction and the second action instruction may both be driving instructions for the rice transplanter 10 (action object). In this case, for example, when the operator presses the accelerator button 232 and the decelerator button 233 simultaneously, the operation control unit 21 outputs a forward driving instruction to the rice transplanter 10. If the operator then releases the accelerator button 232, disengaging the accelerator button 232, the operation control unit 21 outputs a stop instruction to the rice transplanter 10. Furthermore, if the operator subsequently receives a short press of the accelerator button 232, the operation control unit 21 outputs a forward driving instruction to the rice transplanter 10 for a predetermined distance. Thus, for example, the operator can make subtle position adjustments, such as making the rice transplanter 10 move forward near a ridge by pressing both buttons simultaneously, and then moving the rice transplanter 10 incrementally to a predetermined position at the edge of the ridge by repeatedly pressing the buttons briefly.

[0173] As another example, the first action instruction and the second action instruction may both be instructions for raising and lowering the working machine 14 (action object). In this case, for example, when the operation control unit 21 receives an operation of pressing the accelerator button 232 and the decelerator button 233 simultaneously from the operator, it outputs an instruction for lowering the working machine 14 to the rice transplanter 10. If the operator then releases the accelerator button 232 and the accelerator button 233 is disconnected, it outputs an instruction for stopping the raising and lowering of the working machine 14 to the rice transplanter 10. Then, when the operator then receives a short press operation of the accelerator button 232, it outputs a descending instruction to lower the working machine 14 by a predetermined amount of movement to the rice transplanter 10. Thus, for example, the operator can make fine position adjustments such as lowering the working machine 14 to the vicinity of the field surface by pressing the accelerator button 232 simultaneously, and then lowering the working machine 14 little by little by repeating the short press operation to move it to a predetermined position on the field surface.

[0174] [Other Function Examples of the Operation Unit 23]

[0175] The functions of each operating unit 23 are not limited to the above-mentioned embodiment. Figure 11 As shown in FIG. 1 , the operating device 20 of the present invention can be represented as a device having operating units 61 to 64 to which different functions A to D are assigned. Functions A to D can be Figure 4 The functions shown may also be other functions.

[0176] In addition, the function of operating the working machine (rice transplanter 10) by simultaneously pressing two of the operating parts 61 to 64 may be Figure 12Any of the multiple modes shown.

[0177] For example Figure 12 The first mode shown is similar to the above-mentioned embodiment (see Figure 4 ) corresponds. Specifically, if the operator presses the operating unit 61 (A button) and the operating unit 62 (B button) at the same time, the operation control unit 21 outputs a forward driving instruction to the rice transplanter 10. If the operator presses the operating unit 63 (C button) and the operating unit 64 (D button) at the same time, the operation control unit 21 outputs a reverse driving instruction to the rice transplanter 10. In addition, if the operator presses the operating unit 62 (B button) and the operating unit 64 (D button) at the same time, the operation control unit 21 outputs a right turn instruction to the rice transplanter 10. If the operator presses the operating unit 61 (A button) and the operating unit 63 (C button) at the same time, the operation control unit 21 outputs a left turn instruction to the rice transplanter 10. In addition, if the operator presses the operating unit 61 (button A) and the operating unit 64 (button D) at the same time, the operating control unit 21 outputs an instruction to the rice transplanter 10 to raise the working machine 14. If the operator presses the operating unit 62 (button B) and the operating unit 63 (button C) at the same time, the operating control unit 21 outputs an instruction to the rice transplanter 10 to lower the working machine 14.

[0178] As another example, the functions shown in the second mode, the third mode, and the fourth mode may be assigned to the combination of simultaneous pressing operations of the respective operating portions. Figure 12 In addition to the modes shown, a mode in which functions required for transplantation work are assigned to combinations of simultaneous pressing operations of the operating portions may be used.

[0179] Furthermore, the operation control unit 21 may accept an operation from the operator to select any one of the first to fourth modes for the function corresponding to the combination of simultaneous pressing operations and set the selected mode. The operator may also be able to switch between the first to fourth modes as appropriate.

[0180] 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 that can be performed on the operating device 20, such as starting and stopping automated driving, and remotely control the operation of the rice transplanter 10. Furthermore, the operating terminal can display the status of automated driving on a display unit.

[0181] [Notes on the invention]

[0182] 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.

[0183] Note 1

[0184] An operating device includes a plurality of operating parts for receiving instructions from a user to cause a working machine to perform a predetermined action, wherein:

[0185] When a first operation is received to turn on both the first and second operating parts of the plurality of operating parts, a first operation instruction is output to the working machine.

[0186] When a second operation is received, a second action instruction different from the first action instruction is output to the above-mentioned working machine, and the above-mentioned second operation is: after the above-mentioned first operation, while maintaining the operating part of one of the above-mentioned first operating part and the above-mentioned second operating part in the on state unchanged, the operating part of the other party is changed from the on state to the off state, and then the operating part of the above-mentioned other party is changed from the off state to the on state.

[0187] Note 2

[0188] The operating device according to note 1, wherein:

[0189] The second operation is an operation in which, after the first operation, the operating part of the other party is changed from the on state to the off state while the operating part of the other party is maintained in the on state, and then the operating part of the other party is changed from the off state to the on state and then changed from the on state to the off state within a specified time.

[0190] Note 3

[0191] The operating device according to note 2, wherein:

[0192] The first action instruction and the second action instruction are instructions for the same action object.

[0193] The second operation instruction is an instruction to cause the operation target to operate with an operation amount smaller than the operation amount corresponding to the first operation instruction.

[0194] Note 4

[0195] The operating device according to note 2, wherein:

[0196] The first action instruction and the second action instruction are instructions for different action objects.

[0197] The second motion instruction is an instruction to cause the corresponding motion target to perform motion with a preset motion amount.

[0198] Note 5

[0199] An operating device according to any one of Notes 1 to 4, wherein:

[0200] The second operation is an operation in which, after the first operation, the operating portion of the other party is changed from the on state to the off state while the operating portion of the other party is maintained in the on state, and then the operating portion of the other party is changed from the off state to the on state and then maintained in the on state for more than a specified time.

[0201] Note 6

[0202] The operating device according to note 5, wherein:

[0203] The first action instruction and the second action instruction are instructions for different action objects.

[0204] The second operation instruction is an instruction to cause the corresponding operation target to operate by an amount of operation corresponding to a period of time during which the other operation portion is in the on state exceeding the predetermined time.

[0205] Note 7

[0206] The operating device according to note 6, wherein:

[0207] When an operation of switching the other operating portion from an on state to an off state is received after the operation object is operated by the operation amount, the operation object after the operation by the operation amount is maintained.

[0208] Note 8

[0209] An operating device according to any one of Notes 1 to 7, wherein:

[0210] When the first operation is received, a travel instruction is output to the work machine, and when the second operation is received, a vehicle speed change instruction is output to the work machine.

[0211] Note 9

[0212] The operating device according to note 8, wherein:

[0213] An instruction to change the vehicle speed according to the duration of the on state in the second operation is output to the working machine.

[0214] Note 10

[0215] An operating device according to note 8 or 9, wherein:

[0216] When receiving the second operation described below, an acceleration instruction for accelerating the vehicle speed is output to the working machine, wherein the second operation is: after the first operation, while the first operating part is maintained in the on state, the second operating part is switched from the on state to the off state, and then the second operating part is switched from the off state to the on state,

[0217] When the second operation is received, a deceleration instruction to slow down the vehicle speed is output to the working machine. The second operation is: after the first operation, the first operating part is changed from the on state to the off state while maintaining the second operating part in the on state, and then the first operating part is changed from the off state to the on state.

[0218] Note 11

[0219] An operating device according to any one of Notes 1 to 10, wherein:

[0220] The output method of the first action instruction can be switched between a first output mode and a second output mode,

[0221] In the first output mode, when an operation is received to turn the other operating unit from the on state to the off state after the second operation is received, the first operation instruction is continuously output to the working machine.

[0222] In the second output mode, when an operation of switching the other operating unit from an on state to an off state is received after the second operation is received, the output of the first operation instruction to the working machine is stopped.

[0223] Note 12

[0224] An operating machine, wherein:

[0225] An operation corresponding to an operation instruction output from the operating device described in any one of Supplementary Notes 1 to 11 is executed.

Claims

1. An operating device comprising a plurality of operating parts for receiving instructions from a user to cause a working machine to perform a predetermined action, wherein: When a first operation is received to turn on both a first operating unit and a second operating unit among the plurality of operating units, a first operation instruction is output to the working machine; When a second operation is received, a second action instruction different from the first action instruction is output to the working machine, and the second operation is: after the first operation, while maintaining the operating part of one of the first operating part and the second operating part in the on state unchanged, the operating part of the other side is changed from the on state to the off state, and then the operating part of the other side is changed from the off state to the on state.

2. The operating device according to claim 1, characterized in that The second operation is an operation that, after the first operation, changes the operating part of the other party from the on state to the off state while maintaining the operating part of the one party in the on state, and then changes the operating part of the other party from the off state to the on state and then changes the operating part of the other party from the on state to the off state within a specified time.

3. The operating device according to claim 2, characterized in that The first action instruction and the second action instruction are instructions for the same action object, The second action instruction is an instruction to cause the action target to perform an action with an action amount smaller than the action amount corresponding to the first action instruction.

4. The operating device according to claim 2, characterized in that The first action instruction and the second action instruction are instructions for different action objects. The second action instruction is an instruction to cause the corresponding action target to perform an action with a preset action amount.

5. The operating device according to claim 1, characterized in that The second operation is an operation that, after the first operation, changes the operating part of the other party from the on state to the off state while maintaining the operating part of the one party in the on state, and then changes the operating part of the other party from the off state to the on state and then maintains the operating part of the other party in the on state for more than a specified time.

6. The operating device according to claim 5, characterized in that The first action instruction and the second action instruction are instructions for different action objects. The second operation instruction is an instruction to cause the corresponding operation target to operate by an amount of operation corresponding to a period of time during which the other operation portion is in the on state exceeding the predetermined time.

7. The operating device according to claim 6, characterized in that When an operation of switching the other operating portion from an on state to an off state is received after the operation object is operated by the operation amount, the operation object after the operation by the operation amount is maintained.

8. The operating device according to claim 1, characterized in that When the first operation is received, a travel instruction is output to the work machine, and when the second operation is received, a vehicle speed change instruction is output to the work machine.

9. The operating device according to claim 8, characterized in that An instruction to change the vehicle speed according to the duration of the on state in the second operation is output to the working machine.

10. The operating device according to claim 8 or 9, characterized in that: When receiving the following second operation, an acceleration instruction for accelerating the vehicle speed is output to the working machine, the second operation being: after the first operation, the second operating part is switched from the on state to the off state while the first operating part is maintained in the on state, and then the second operating part is switched from the off state to the on state, When the following second operation is received, a deceleration instruction to slow down the vehicle speed is output to the working machine. The second operation is: after the first operation, the first operating part is changed from the on state to the off state while maintaining the second operating part in the on state, and then the first operating part is changed from the off state to the on state.

11. The operating device according to claim 1, characterized in that The output method of the first action instruction can be switched between a first output mode and a second output mode, In the first output mode, when an operation to turn the other operating unit from an on state to an off state is received after the second operation is received, the first operation instruction is continuously output to the working machine. In the second output mode, when an operation of switching the other operating unit from the on state to the off state is received after the second operation is received, output of the first operation instruction to the working machine is stopped.

12. A working machine, characterized in that: An operation corresponding to an operation instruction output from the operating device according to any one of claims 1 to 11 is executed.

13. An operating method for operating an operating device including a plurality of operating units for receiving instructions from a user to cause a working machine to perform a predetermined action, wherein: implement: accepting operations on the plurality of operating parts from a user; outputting a first operation instruction to the working machine when a first operation of turning on both a first operating unit and a second operating unit among the plurality of operating units is received; and When a second operation is received, a second action instruction different from the first action instruction is output to the working machine, and the second operation is: after the first operation, while maintaining the operating part of one of the first operating part and the second operating part in the on state unchanged, the operating part of the other side is changed from the on state to the off state, and then the operating part of the other side is changed from the off state to the on state.

14. An operation program for an operating device including a plurality of operating units for receiving instructions from a user to cause a working machine to perform a predetermined action, wherein: Used to cause one or more processors to execute: accepting operations on the plurality of operating parts from a user; outputting a first operation instruction to the working machine when a first operation of turning on both a first operating unit and a second operating unit among the plurality of operating units is received; and When a second operation is received, a second action instruction different from the first action instruction is output to the working machine, and the second operation is: after the first operation, while maintaining the operating part of one of the first operating part and the second operating part in the on state unchanged, the operating part of the other side is changed from the on state to the off state, and then the operating part of the other side is changed from the off state to the on state.

Images