Work vehicle

Abstract

To provide a work vehicle that improves work efficiency.SOLUTION: A work vehicle includes: a travelling vehicle body; and a control device for controlling a steering angle of a steering wheel of the travelling vehicle body to allow the travelling vehicle body to autonomously travel. The control device sets a working area to autonomously travel by teaching travel along a plurality of sides of a farm field. A seedling planting part is installed to the travelling vehicle body. The control device can change a condition of planting a seedling to a farm field in accordance with an operation by a remote operation tool and, when the travelling vehicle body transitions to the nest step, resets the condition of planting a seedling that is changed in accordance with the operation by the remote operation tool to a predetermined initial state.SELECTED DRAWING: Figure 4

Description

[Technical field]

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

[0002] 2. Description of the Related Art Conventionally, there is known a work vehicle in which an operating device is held in a straight-ahead position and the traveling body is caused to travel automatically in a straight line (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-24541 A Summary of the Invention [Problem to be solved by the invention]

[0004] A work vehicle can be considered to perform manual driving by an operator and autonomous driving such as automatic straight-line driving, etc. However, there is room for improvement in improving the work efficiency of a work vehicle using the above technology.

[0005] The present invention has been made in consideration of the above, and has an object to provide a seedling transplanter that improves work efficiency. [Means for solving the problem]

[0006] In order to solve the above problems and achieve the objective, a work vehicle (1) according to one aspect of the embodiment includes a traveling body (2) and a control device (100) that controls the steering angle of the steering wheel of the traveling body (2) and causes the traveling body (2) to travel autonomously, the control device (100) sets a work area for the autonomous travel by teaching travel along multiple sides of a field, a seedling planting unit (4) provided on the traveling body, and the control device (100) is capable of changing the seedling planting conditions in the field in response to operation by a remote control device, and when the traveling body (2) moves to the next process, the seedling planting conditions changed in response to operation by the remote control device are reset to a predetermined initial state. Effect of the Invention

[0007] According to one aspect of the embodiment, the work vehicle can improve work efficiency. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a side view showing a work vehicle. [Diagram 2] FIG. 2 is a plan view showing the work vehicle. [Diagram 3] FIG. 3 is a block diagram showing a control system centered on the control device of the seedling transplanter. [Figure 4] FIG. 4 is a diagram showing a method for setting a working area by teaching running according to the embodiment. [Diagram 5] FIG. 5 is a flowchart illustrating the manual driving process according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] (Overview of work vehicles) First, an overview of a work vehicle 1 according to an embodiment will be described with reference to Figures 1 and 2. Figure 1 is a side view showing the work vehicle 1. Figure 2 is a plan view showing the work vehicle 1.

[0010] In the following description, the forward / rearward direction is the direction of travel of the work vehicle 1 when traveling straight, with the forward side in the direction of travel being defined as "front" and the rear side being defined as "rear." The forward direction of the work vehicle 1 is the direction from the driver's seat 41 toward the handle 35 (steering device) when traveling straight (see Figures 1 and 2).

[0011] The left-right direction is a direction that is horizontally perpendicular to the front-rear direction and defines left and right facing the "front." In other words, when a pilot (also called an operator) is seated in the pilot's seat 41 and facing forward, the left hand side is the "left" and the right hand side is the "right."

[0012] The up-down direction is the vertical direction. The front-rear direction, the left-right direction, and the up-down direction are perpendicular to each other. Each direction is defined for the convenience of explanation, and the present invention is not limited to these directions.

[0013] In the embodiment, the work vehicle 1 is described as a riding seedling transplanter 1 that is equipped with a seedling planting unit 4 as a field work device and receives seedlings in a field. As shown in Figures 1 and 2, the seedling transplanter 1 is equipped with the seedling planting unit 4 that can be raised and lowered via a lifting link mechanism 3 on the rear side of the traveling body 2 to plant seedlings in the field.

[0014] A main body of the fertilizer applicator 5 is disposed on the upper rear side of the traveling body 2. When the work vehicle 1 is not a seedling transplanter 1, it may be equipped with a sowing device for supplying seeds as a work device.

[0015] The traveling body 2 is a four-wheel drive vehicle equipped with left and right front wheels 10 and rear wheels 11, which are driving wheels. On the front side of the main frame 15 constituting the body framework of the traveling body 2, there are provided a transmission case 13 that transmits driving force to the seedling planting section 4 and the like, and a hydraulic continuously variable transmission 14 that outputs the driving force supplied from the engine 30, i.e., the rotation generated by the engine 30, to the transmission case 13.

[0016] The continuously variable transmission 14 is a hydrostatic continuously variable transmission known as HST (Hydro Static Transmission). In the following, a case where the continuously variable transmission is the HST 14 will be described.

[0017] An auxiliary transmission mechanism 16 is provided in the transmission case 13 for switching the driving mode of the traveling vehicle body 2 between high-speed mode for road driving and low-speed mode for planting seedlings. Front wheel final cases 10a are provided on the left and right sides of the transmission case 13, and front wheels 10 are attached to left and right front axles 10b that protrude outward from front wheel support parts that can change the steering direction of the left and right front wheel final cases 10a.

[0018] In addition, rear wheel gear cases 11a are attached to both the left and right sides of a rear frame 22 (see Figure 2) that is provided laterally on the rear side of the main frame 15, and rear wheels 11 are respectively attached to left and right rear axles 11b that protrude outward from the rear wheel gear case 11a.

[0019] Left and right link support frames 23 that support the lifting link mechanism 3 protrude upward from the upper part of the rear frame 22. A pair of left and right lower link arms 24 are provided below and between the left and right link support frames 23. A hydraulically operated lifting cylinder 25 is provided between the left and right lower link arms 24.

[0020] An upper link arm 26 is provided above the lifting cylinder 25, forming a parallel link mechanism, the lifting link mechanism 3. The left and right lower link arms 24, the lifting cylinder 25, and the other end of the upper link arm 26, each of which has one end connected to the traveling body 2, are attached to the front of the seedling planting section 4.

[0021] In addition, an engine 30 is mounted on the main frame 15. Rotational power of the engine 30 is transmitted to the transmission case 13 via the belt transmission device 21 and the HST 14. The rotational power transmitted to the transmission case 13 is changed in speed by the sub-transmission mechanism 16 in the transmission case 13, and then separated into traveling power and externally extracted power.

[0022] The rotational power of the engine 30 is transmitted to a hydraulic pump (not shown). The hydraulic pressure generated by the hydraulic pump is supplied to the HST 14, a power steering mechanism 88 (see FIG. 3) of the handle 35, the lift cylinder 25, etc.

[0023] The external extraction power extracted from the rotational power transmitted to the transmission case 13 is transmitted to a planting clutch case 27 provided at the rear of the running body 2, and transmitted from the planting clutch case 27 to the seedling planting section 4 via a planting transmission shaft 67.

[0024] Meanwhile, left and right drive shafts 42 are provided at the rear of the transmission case 13. Rotational power from the engine 30 is transmitted via the transmission case 13 and the drive shafts 42 to the left and right rear wheel gear cases 11a.

[0025] A side clutch 44 (see FIG. 3) that switches on and off the power transmission to the left and right drive shafts 42 is disposed upstream in the transmission direction from the left and right drive shafts 42. As shown in FIG. 1, a side clutch pedal 43a that switches on and off the left and right side clutches 44 is provided at the lower front side of the cockpit 41 and on one of the left and right sides.

[0026] Of the left and right side clutch pedals 43a, when the side clutch pedal 43a on the inside of the turn is depressed to disengage the side clutch 44, and then the steering wheel 35 is operated to make a turn, the drive rotation of the rear wheel 11 on the inside of the turn can be completely cut off.

[0027] A bonnet 39 with an operation panel 38 arranged on top for operating each part is provided on the upper front side of the traveling body 2. The operation panel 38 is provided with a monitor 86 (see FIG. 3) and the like.

[0028] The bonnet 39 is also provided with a handlebar 35 for steering the traveling body 2, a speed change operation lever 36 for operating the HST 14 and the seedling planting section 4, an auxiliary speed change operation lever 37 for operating the auxiliary speed change mechanism 16, and the like.

[0029] In addition, an openable and closable front cover 40 is provided in front of the bonnet 39. A fuel tank, a battery, and an interlocking mechanism for rotating the left and right front wheels 10 and the lower sides of the left and right front wheel final cases 10a in response to steering of the handlebars 35 are provided inside the front cover 40. The front wheels 10 are, for example, steered wheels that are turned in response to steering of the handlebars 35.

[0030] An engine cover 30a that covers the top and sides of the engine 30 is provided behind the bonnet 39 and above the engine 30, and a pilot's seat 41 where the pilot is seated is provided above the engine cover 30a.

[0031] The fertilizer applicator 5 is provided behind the driver's seat 41 and at the rear end side of the main frame 15. The driving force of the fertilizer applicator 5 is transmitted by a fertilizer transmission mechanism provided to face the fertilizer applicator 5 from one of the left and right rear wheel gear cases 11a.

[0032] A substantially horizontal floor step 33 is formed on both the left and right sides of the lower portion of the engine cover 30a and the bonnet 39. As shown in Fig. 2, the floor step 33 is partially lattice-shaped, so that even if mud on the shoes of an operator walking on the floor step 33 falls, the fallen mud falls into the field.

[0033] 2, a rear step 330 is connected to the rear of the floor step 33. It is preferable that the surface of the rear step 330 is subjected to an anti-slip treatment, for example, a pattern of multiple projections, so that the feet do not easily slip during work.

[0034] In addition, at the front of the traveling body 2, on both the left and right sides, spare seedling frames 50 are provided, in which multiple spare seedling carrying platforms 52 are arranged at intervals in the vertical direction on seedling frame supports 51, so that work materials such as seedlings and fertilizer bags to be replenished in the seedling planting section 4 can be placed on them.

[0035] A seedling tank 53 for loading seedlings to be planted in the field is attached to the rear end of the lifting link mechanism 3 together with a sliding mechanism for sliding it left and right. Seedling partition fences 54 that are long in the vertical direction are arranged at predetermined intervals in the horizontal direction on the seedling tank 53. A seedling planting device 55 is arranged below the seedling tank 53 to pick up the loaded seedlings and plant them in the field.

[0036] The seedling planting device 55 plants the same number of seedling rows as those separated by the seedling partition fence 54, i.e., eight rows at a time. Four planting transmission cases 56 are arranged at intervals below the seedling tank 53, and planting rotaries 57 are attached to both the left and right sides of the planting transmission cases 56, which rotate to pick up seedlings using planting rods 58 and plant them in the field.

[0037] In the fertilizer applicator 5, the fertilizer hopper 70 in which the fertilizer is stored is divided into the same number of sections as the number of working rows in the seedling planting section 4 (8 rows in the example shown in FIG. 2). Since the fertilizer hopper 70 with 8 rows is long in the left-right direction and therefore the convenience of adding fertilizer and attaching and detaching it is reduced, the fertilizer hopper 70 may have a so-called side fertilizer application structure in which sections divided into 4 rows are arranged on each side.

[0038] A payout device 71 that supplies a set amount of fertilizer at each row is provided below the fertilizer hopper 70. A ventilation duct 72 through which conveying air that moves the fertilizer passes is provided in the left-right direction below the payout device 71. A fertilizer hose 73 that guides fertilizer to the vicinity of the seedling planting position in the seedling planting section 4 is provided below the payout device 71. In addition, a blower 74 that is operated by an electric blower motor 76 to generate conveying air is provided at one end of the ventilation duct 72.

[0039] 1 and 2, a center float 62C that slides on the field surface and two side floats 62L and 62R are provided rotatably around an axis below the seedling planting section 4. The center float 62C and the left and right side floats 62L and 62R are sometimes collectively referred to as floats 62.

[0040] In addition, below the seedling planting section 4, a ground leveling rotor 63 for leveling unevenness in the field is provided ahead of the float 62. Driving force is transmitted to the ground leveling rotor 63 from the rear wheel gear case 11a on the other left or right side via a rotor transmission shaft 63a.

[0041] 1, line drawing markers 65 are provided on both the left and right sides of the seedling planting section 4, one of which comes into contact with the field surface to form a groove that serves as a guide for traveling in the next work row (next process). When one of the left and right line drawing markers 65 comes into contact with the field surface, the other moves upward, and when the seedling planting section 4 is raised during a turn, both the left and right sides move upward, and when the seedling planting section 4 is lowered after the turn, one of the left and right sides moves upward and the other side comes into contact with the field.

[0042] 1 and 2, a center mascot 66 that is long in the vertical direction is provided in the left-right center of the traveling body 2 and in front of the bonnet 39. By aligning the center mascot 66 with the grooves formed in the field by the left and right line markers 65, it becomes possible to travel in accordance with the work position of the previous work row, improving work accuracy and preventing non-working.

[0043] Depending on the soil quality of the field, the guide lines formed by the left and right line-drawing markers 65 may quickly become buried, and the indication for going straight may disappear. In such a case, it is better to use the left and right side markers 19 provided forward of the left and right line-drawing markers 65. That is, by moving the left and right side markers 19 outward and positioning the side markers 19 above the planted seedlings, it becomes possible to perform planting work in accordance with the planting of the seedlings in the previous work row.

[0044] As shown in FIG. 1, the seedling transplanter 1 includes a position acquisition device 150. The position acquisition device 150 acquires the current position and orientation of the seedling transplanter 1. The position acquisition device 150 includes, for example, an orientation sensor and a positioning means such as a Global Positioning System (GPS) or a Global Navigation Satellite System (GNSS). The position acquisition device 150 may be composed of a plurality of devices. The position acquisition device 150 may include a camera or an ultrasonic sensor, and may acquire a turning position in a farm field and detect a distance to the turning position.

[0045] For example, the position acquisition device 150 receives positioning information from a positioning means, creates current position information and direction information of the traveling vehicle body 2 based on the received positioning information, and acquires the current position and direction. The position acquisition device 150 is attached to the mounting stay 59, for example, and disposed above the traveling vehicle body 2.

[0046] A straight-line control program and a turning control program, which are created based on position information from position acquisition device 150, are stored in different locations. The straight-line control program is stored, for example, in a straight-line control ECU (Electronic Control Unit) 100a in position acquisition device 150, and the turning control program is stored, for example, in a turning control ECU 100b housed in bonnet 39. Note that straight-line control ECU 100a and turning control ECU 100b are included in control device 100 (see FIG. 3), which will be described later. Straight-line control ECU 100a and turning control ECU 100b may be stored in the same ECU.

[0047] (Seedling transplanter control system) Next, the control system of the seedling transplanter 1 will be described with reference to Fig. 3. Fig. 3 is a block diagram showing the control system centered on the control device 100 of the seedling transplanter 1. The seedling transplanter 1 is capable of controlling each part by electronic control, and is equipped with a control device (hereinafter referred to as a controller) 100 that controls each part.

[0048] The controller 100 is provided with a processing section having a CPU (Central Processing Unit) and the like, a storage section such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input / output section, which are connected to each other and can exchange signals with each other. The storage section stores computer programs and the like for controlling the seedling transplanter 1. The controller 100 performs each function by reading out the computer programs and the like stored in the storage section.

[0049] The controller 100 is connected to, for example, actuators such as a throttle motor 80, hydraulic control valves 81, 82, a planting clutch actuation solenoid 83, a side clutch actuation solenoid 84, an HST14 motor 85, a line drawing marker lifting motor 87, a steering motor 95, and a differential lock switching motor 96.

[0050] The throttle motor 80 increases or decreases the rotation speed of the output shaft of the engine 30 by operating a throttle that adjusts the amount of intake air of the engine 30. The hydraulic control valve 81 controls the extension and contraction operation of the lift cylinder 25. The hydraulic control valve 82 controls the power steering mechanism 88. The planting clutch operating solenoid 83 operates the planting clutch 27a.

[0051] The side clutch actuation solenoid 84 actuates the side clutch 44 which switches the state of power transmission to the rear wheels 11 (see FIG. 1). The side clutch 44 is provided on each of the left and right rear wheels 11, and two side clutch actuation solenoids 84 are provided corresponding to each side clutch 44.

[0052] The HST14 motor 85 changes the rotation angle of the trunnion of the HST 14, thereby changing the inclination angle of the swash plate of the HST 14. The steering motor 95 is a motor that drives the handle 35, which is a steering device that adjusts the steering amount (steering angle) of the front wheels 10 (see FIG. 1) when automatic turning control is performed. The steering motor 95 rotates the handle 35. The line drawing marker lifting motor 87 lifts and lowers the line drawing marker 65.

[0053] The differential lock switching motor 96 is a motor that switches between operation and deactivation of a differential lock mechanism 97 (hereinafter referred to as the differential lock mechanism) that rotates the left and right running wheels, specifically the left and right front wheels 10, at the same rotational speed. When the differential lock mechanism 97 is engaged, the left and right running wheels rotate at the same rotational speed.

[0054] The controller 100 is connected to detection devices such as a rotation speed sensor 90, a steering amount sensor 91, and an inclination sensor 92. Two rotation speed sensors 90 are provided corresponding to the left and right rear wheels 11, and detect the rotation speeds of the left and right rear wheels 11, respectively. The rotation speed sensors 90 may detect the rotation speeds of the left and right front wheels 10.

[0055] The steering amount sensor 91 detects the amount of operation of the steering wheel 35, which is a steering device, i.e., the steering amount (steering angle) of the front wheels 10. The steering amount sensor 91 is provided, for example, on a shaft connected to a pitman arm. The steering amount is detected in both the left and right directions, with the value when the steering wheel 35 is in a preset straight-ahead position being used as a reference value. The inclination sensor 92 detects the inclination angle, which is the inclination of the traveling vehicle body 2.

[0056] In addition, signals are input to the controller 100 as operation signals from the speed change operation lever 36, the sub-speed change operation lever 37, the autonomous driving changeover switch 46, the planting unit lifting / lowering switch 47, the automatic straight-line movement changeover switch 45, the automatic turning changeover switch 48, the line drawing marker automatic lifting / lowering switch 49, etc.

[0057] The autonomous driving changeover switch 46 is a switch for switching whether or not to execute autonomous driving. Specifically, the autonomous driving changeover switch 46 is a switch for switching the driving mode between the autonomous driving mode and the manual driving mode. For example, when the autonomous driving changeover switch 46 is "ON", the driving mode is set to the autonomous driving mode. When the autonomous driving changeover switch 46 is "OFF", the driving mode is set to the manual driving mode. When the autonomous driving changeover switch 46 is "ON", the automatic straight-line changeover switch 45 and the automatic turning changeover switch 48 are "ON". That is, when the driving mode is the autonomous driving mode, the automatic straight-line changeover switch 45 and the automatic turning changeover switch 48 can be changed to "OFF" by the operation of the pilot even if they have been "ON" once.

[0058] The planting section lifting switch 47 is a switch for switching whether to lift or lower the seedling planting section 4. The planting section lifting switch 47 is changed to the "up" and "down" positions.

[0059] When the planting unit lift switch 47 is in the "up" position, the seedling planting unit 4 rises to a predetermined non-working position and the seedling planting device 55 stops, resulting in a non-working state. When the planting unit lift switch 47 is in the "down" position, the seedling planting unit 4 descends to a predetermined working position and the seedling planting device 55 operates, resulting in a working state. In other words, the planting unit lift switch 47 is a switch that detects the working state of the seedling planting unit 4. Note that a separate switch that detects the working state of the seedling planting unit 4 may be provided.

[0060] The automatic line drawing marker raising / lowering switch 49 is a switch that switches whether or not the line drawing marker 65 is automatically raised / lowered in conjunction with the amount of operation of the handlebars 35, i.e., the amount of steering of the front wheels 10. When the automatic line drawing marker raising / lowering switch 49 is "ON," control is executed to automatically raise / lower the line drawing marker 65 in conjunction with the amount of steering. On the other hand, when the automatic line drawing marker raising / lowering switch 49 is "OFF," control is not executed to automatically raise / lower the line drawing marker 65 in conjunction with the amount of steering.

[0061] The automatic straight-line driving changeover switch 45 is a switch that switches whether or not automatic straight-line driving is enabled. When the automatic straight-line driving changeover switch 45 is set to "ON," a driving assist function, which will be described later, is enabled, and automatic straight-line driving can be executed. When the automatic straight-line driving changeover switch 45 is set to "OFF," the driving assist function is disabled, and automatic straight-line driving cannot be executed.

[0062] The automatic turning changeover switch 48 is a switch that switches whether or not automatic turning is enabled. When the automatic turning changeover switch 48 is set to "ON", a turning assist function, which will be described later, is enabled, and automatic turning can be performed. When the automatic turning changeover switch 48 is set to "OFF", the turning assist function is disabled, and automatic turning cannot be performed. When the automatic turning changeover switch 48 is set to "OFF", automatic turning is not performed even if the conditions for performing automatic turning are met.

[0063] Further, the controller 100 receives current position information of the traveling vehicle body 2 from the position acquisition device 150. The controller 100 executes an autonomous traveling mode in which the traveling vehicle body 2 performs work while traveling automatically.

[0064] Moreover, various information is input to the controller 100 from a remote control device 170 (hereinafter referred to as a "remote control"). For example, various information is input to the controller 100 from the remote control 170 via a receiver 180 (see FIG. 1). The receiver 180 is attached to, for example, a mounting stay 59 (see FIG. 1), and is disposed above the front side of the traveling vehicle body 2. Note that multiple receivers 180 may be provided.

[0065] The remote control 170 can remotely control the seedling transplanter 1. The remote control 170 may be a terminal device such as a smartphone. The remote control 170 transmits a control signal according to an operation by an operator. The remote control 170 is communicably connected to the controller 100 by short-range wireless communication such as Wi-fi (registered trademark) or BLE (Bluetooth (registered trademark) Low Energy), but is not limited thereto, and may be communicatively connected via a communication network or the like in addition to or instead of the short-range wireless communication.

[0066] The remote control 170 may include, for example, a direction sensor and a positioning means such as a GPS or a GNSS. The remote control 170 may transmit position information of the remote control 170 to the controller 100.

[0067] There may be provided a plurality of remote controls 170. That is, the controller 100 may be capable of acquiring position information of each remote control 170 from the plurality of remote controls 170.

[0068] (Autonomous driving mode) Here, the autonomous driving (automatic driving) in the field by the seedling transplanter 1 will be described. The controller 100 (see FIG. 3) has an autonomous driving mode in which the steering motor 95 (see FIG. 3) is controlled to operate the handlebars 35 (see FIG. 3) while feeding back the steering amount of the front wheels 10 (see FIG. 1). The autonomous driving mode includes an automatic straight-line mode and an automatic turning mode.

[0069] The automatic straight-line mode is a mode in which the steering motor 95 is controlled so that the traveling body 2 travels straight along a preset straight-line route. In the automatic straight-line mode, the traveling body 2 travels straight without the operation of the driver while the seedling planting unit 4 plants seedlings in the field. In other words, the traveling assist function for transplanting seedlings in the field while automatically moving the traveling body 2 straight is enabled, and the traveling assist function is executed.

[0070] In the automatic turning mode, when the traveling body 2 reaches a predetermined turning position, the seedling planting unit 4 stops planting seedlings, and the steering motor 95 is controlled so that the traveling body 2 turns along a preset turning path. The predetermined turning position is set, for example, based on the travel distance of the process where the work was performed, position information related to the process where the work was performed, etc.

[0071] In the automatic turning mode, for example, the seedling planting unit 4 is raised and put into a non-working state, and the traveling body 2 turns without the operation of the operator. In other words, the turning assist function for turning the traveling body 2 is enabled without the seedling planting unit 4 planting seedlings, and the turning assist function is executed.

[0072] As shown in Fig. 4, a working area in which the autonomous driving mode is executed is set by performing teaching traveling along three sides La to Lc of the field by operation of a driver. Fig. 4 is a diagram showing a method for setting a working area by teaching traveling according to the embodiment.

[0073] For example, when a working area setting button (not shown) is operated to start traveling, position information of the traveling body 2 is recorded as the start point of side La, and the position information of the traveling body 2 while traveling is recorded. Then, when the handlebars 35 are turned by the operator by a predetermined turning angle or more, the end point of side La is recorded and side La is set. In addition, position information of the traveling body 2 at the start point of side Lb is recorded. The predetermined turning angle is a preset value, and is an angle at which it can be determined that the traveling body 2 has turned along the bank.

[0074] Furthermore, when the driver rotates the handlebars 35 by a predetermined angle or more after the traveling vehicle body 2 has traveled straight, the end point of the side Lb is recorded and the side Lb is set. In addition, the position information of the traveling vehicle body 2 at the start point of the side Lc is recorded.

[0075] When the working area setting button is operated after the traveling body 2 has traveled straight, the position information of the traveling body 2 is recorded as the end point of side Lc, and side Lc is set. The working area is set by setting the three sides La to Lc.

[0076] In a field where a work area is set, the autonomous driving mode can be executed. For example, in a field, automatic straight driving along a straight driving route parallel to side La or side Lc is possible. In addition, automatic turning is possible when turning near the edge of the side Lb. When turning near the edge of the field that was not traveled during teaching driving, i.e., the edge opposite side Lb, turning by remote control is possible.

[0077] Furthermore, even when the teaching drive is completed and the working area is set, if the drive mode is the manual drive mode, the seedling transplanter 1 can drive by the operator's operation and transplant seedlings into the field.

[0078] When the driving mode is the manual driving mode and the seedling transplanter 1 is driven by the operator, if the automatic straight driving changeover switch 45 is turned "ON", the seedling transplanter 1 performs automatic straight driving. In other words, the seedling transplanter 1 can perform the driving assist function even if the driving mode is the manual driving mode.

[0079] In addition, when the driving mode is the manual driving mode and the seedling transplanter 1 is driven by the operator, if the automatic turning changeover switch 48 is turned "ON", the seedling transplanter 1 can perform automatic turning. In other words, the seedling transplanter 1 can perform the turning assist function even if the driving mode is the manual driving mode.

[0080] When the driving mode is changed from the autonomous driving mode to the manual driving mode, the controller 100 stores driving information for autonomous driving of the traveling vehicle body 2. For example, the controller 100 stores information on a straight route and information on a turning route. When the driving mode becomes the manual driving mode, a driving assist function and a turning assist function can be executed based on the stored driving information.

[0081] (Manual driving process) Next, the manual driving process according to the embodiment will be described with reference to Fig. 5. Fig. 5 is a flowchart illustrating the manual driving process according to the embodiment.

[0082] The controller 100 determines whether or not the automatic straight running changeover switch 45 has been turned "ON" during running in the manual running mode (S100).

[0083] When the automatic straight running changeover switch 45 is turned "ON" (S100: Yes), the controller 100 enables the driving assist function (S101). When the automatic straight running changeover switch 45 is "OFF" (S100: No), the controller 100 advances the process to step S102.

[0084] The controller 100 determines whether the automatic turning changeover switch 48 has been turned "ON" (S102).

[0085] If the automatic turning changeover switch 48 is turned "ON" (S102: Yes), the controller 100 enables the turning assist function (S103). If the automatic turning switch is "OFF" (S102: No), the controller 100 ends this processing.

[0086] In this way, even if the driving mode is the manual driving mode, the driving assist function and the turning assist function can be enabled by operating the automatic straight-line driving changeover switch 45 and the automatic turning changeover switch 48, and each assist function can be executed.

[0087] The seedling transplanter 1 includes a traveling body 2, a seedling planting unit 4, and a controller 100. The seedling planting unit 4 is provided on the traveling body 2. The controller 100 controls the steering angle of the front wheels 10 of the traveling body 2 to make the traveling body 2 travel autonomously. The controller 100 can execute, as autonomous driving, a driving assist function that transplants seedlings into a field using the seedling planting unit 4 while automatically moving the traveling body 2 in a straight line, and a turning assist function that turns the traveling body 2 without transplanting seedlings using the seedling planting unit 4. The controller 100 can execute the driving assist function and the turning assist function during manual driving, which is driven by the operator's operation.

[0088] As a result, even when the driving mode of the seedling transplanter 1 is the manual driving mode, the seedling transplanter 1 can execute at least one of the driving assist function and the turning assist function. This makes it easier for the operator to work in the field. In other words, the seedling transplanter 1 can improve the work efficiency.

[0089] When the driving mode is changed from the autonomous driving mode to the manual driving mode, the controller 100 stores driving information for executing the autonomous driving.

[0090] As a result, when the seedling transplanter 1 executes the traveling assist function or the turning assist function in the manual traveling mode, it can execute each assistance based on the stored traveling information.

[0091] (Modification) The seedling transplanter 1 can set the acceptance conditions for seedlings to be accepted in the field. The planting conditions include the seedling quantity, planting depth, and the height of the soil leveling rotor 63. The planting conditions can be set by the remote control 170. For example, the planting conditions can be changed from a predetermined initial state. The predetermined initial state may be set at the time of shipment from the factory, or may be set by an operator, etc.

[0092] The seedling transplanter 1 resets the planting conditions to the predetermined initial state when the planting conditions are changed from a predetermined initial state, and the seedling transplanter 1 performs autonomous traveling and turns. For example, when the seedling transplanter 1 turns using the turning assist function, the planting conditions are reset to the predetermined initial state. The timing for resetting to the predetermined initial state is when the traveling body 2 reaches the turning start position, when the traveling body 2 finishes turning, when the traveling body 2 reaches the work start position for the next process, etc.

[0093] Thereby, the seedling transplanter 1 can plant seedlings under planting conditions suitable for each work path (straight path) by using the remote control 170, for example.

[0094] The seedling transplanter 1 may be capable of changing whether or not to reset the planting conditions to the initial state depending on the turning. For example, it may be possible to change whether or not to reset the planting conditions to the initial state depending on the turning by remote control operation.

[0095] As a result, when the planting conditions are set not to be reset on a work route (straight route) where the field condition is considered to be the same, the seedling transplanter 1 can plant seedlings under the set planting conditions. Therefore, the operator can save the trouble of setting the planting conditions.

[0096] The predetermined initial state may be set during autonomous traveling, so that the seedling transplanter 1 can set planting conditions suitable for the field as the predetermined initial state.

[0097] The seedling transplanter 1 may be capable of deleting a part of the sides La to Lc of the field acquired by teaching travel in response to an operation using the remote control 170 or a button provided on the traveling body 2.

[0098] For example, when the controller 100 travels along the side Lb of the field and acquires the information on the side Lb, the controller 100 deletes the information on the side Lb by operating a button. This makes it easier for the seedling transplanter 1 to correct the side during teaching travel.

[0099] When the controller 100 acquires a new side corresponding to the deleted side by teaching running, the controller 100 connects the new side to the side to which the deleted side was connected, and sets the working area.

[0100] This allows the seedling transplanter 1 to easily correct the sides during teaching travel and set the working area.

[0101] The controller 100 may be capable of deleting some of the sides after the three sides La to Lc are obtained.

[0102] The deletion of the side is executed, for example, when a plurality of buttons, for example, two buttons, are pressed simultaneously on the remote control 170. This allows the seedling transplanter 1 to prevent the side from being erroneously deleted.

[0103] In addition, the seedling transplanter 1 displays the position information included in the side as a point on the monitor 86 by pressing a dedicated button provided on the seedling transplanter 1. The point displayed on the monitor 86 may be erased by pressing a jog dial provided on the monitor 86, and the side may be deleted.

[0104] Priority of operations is set in the seedling transplanter 1. For example, the priority is, in descending order, stop by manual operation of the seedling transplanter 1, operation by manual operation of the seedling transplanter 1, stop by the remote control 170, and operation by the remote control 170.

[0105] As a result, the seedling transplanter 1 can improve the safety for the operator riding in the seedling transplanter 1.

[0106] The priority order of operations may be, in descending order, stopping by manual operation of the seedling transplanter 1, stopping by the remote control 170, operation by manual operation of the seedling transplanter 1, and operation by the remote control 170. This allows the seedling transplanter 1 to be stopped with priority, thereby improving the safety of the operator who is on board the seedling transplanter 1.

[0107] The seedling transplanter 1 may transmit the presence or absence of input by manual operation to the remote control 170. When the manual operation has priority, the fact that the manual operation has priority is displayed on the remote control 170. The display method may be a display or an indicator. In this way, the fact that the manual operation has priority can be confirmed by the remote control 170.

[0108] The seedling transplanter 1 may receive and display the presence or absence of input from the remote control 170. The display method may be a display or an indicator. The display method may also be turning on a warning light, etc. It is preferable that the display is located near the input unit for manual operation so that it can be confirmed during manual operation.

[0109] The operation by the remote control 170 may be delayed from the display by the seedling transplanter 1. This can prevent the operator of the seedling transplanter 1 from performing an unexpected operation, thereby improving the safety of the operator.

[0110] The remote control 170 may be provided with a home button, and the seedling transplanter 1 may be configured to automatically return to the vicinity of the remote control 170 by pressing the home button. This allows the seedling transplanter 1 to automatically return to the owner of the remote control 170 by operating the remote control 170.

[0111] The remote control 170 displays an error based on a signal transmitted from the seedling transplanter 1. For example, when the seedling transplanter 1 detects the hardness or softness of the field and determines that the field is soft, the determination result is displayed on the remote control 170. This allows the owner of the remote control 170 to adjust the planting depth, for example, to be deeper.

[0112] The remote control 170 is unlocked by inputting a special code before inputting an operation. The remote control 170 cannot transmit an operation input to the seedling transplanting device until the remote control 170 is unlocked. Note that the remote control 170 can receive signals from the seedling transplanting machine 1 even before the remote control 170 is unlocked.

[0113] The seedling transplanter 1 may be able to set whether or not to receive a signal transmitted from the remote control 170. For example, the seedling transplanter 1 can be set to reject reception of a signal transmitted from the remote control 170. This can prevent the operator of the seedling transplanter 1 from performing an unexpected operation, thereby improving the safety of the operator.

[0114] The seedling transplanter 1 can turn by a turn (straight forward travel followed by a direct turn) or by a back turn (straight forward travel followed by a backward travel and then a back turn).

[0115] The controller 100 executes a turning assist function by turning when the driving mode is the manual driving mode, the automatic turning changeover switch 48 is "ON", and the driver operates the lever to turn while driving straight ahead. Also, the controller 100 executes a turning assist function by turning backward when the driving mode is the manual driving mode, the automatic turning changeover switch 48 is "ON", and the driver operates the lever to turn from straight ahead to reverse.

[0116] This allows the selection of a turning method using the turning assist function without operating any buttons, making it easy to select a turning method.

[0117] When executing turning assistance, the controller 100 automatically corrects the steering amount of the steering wheel 35. For example, the controller 100 counts the number of rotations of the rear wheel 11 on the outside of the turn from the start of the turn to the completion of the turn in the immediately preceding turn. Then, the controller 100 automatically corrects the steering amount of the steering wheel 35 so that the counted number of rotations matches the number of rotations in the set turning path.

[0118] As a result, in subsequent turns, the seedling transplanter 1 can perform turning with turning assistance along the set turning path without the need for correction operations by the operator, etc. Therefore, the seedling transplanter 1 can improve the field adaptability when performing turning assistance.

[0119] Furthermore, the controller 100 may automatically correct the steering amount of the steering wheel 35 in the current turn based on the number of revolutions of the rear wheel 11 on the outside of the turn from the start of the turn to the completion of the turn before last.

[0120] This allows the seedling transplanter 1 to correct the steering amount of the handle 35 in the current turn based on the turning information for the ridge on the same side, thereby improving the turning accuracy.

[0121] When the seedling transplanter 1 is in the manual travel mode, the seedling transplanter 1 may be provided with a travel assist function, a turning assist function, and an operation switch or dial for executing each turning method.

[0122] For example, the operation switch or dial can be switched between (1) not executing each assist function, (2) executing only the driving assist function, (3) executing the turning assist function in addition to the driving assist function, (4) executing the back turning of the turning assist function in addition to the driving assist function, and (5) transitioning to the autonomous driving mode. This makes it possible for the seedling transplanter 1 to suppress the complexity of the operation system.

[0123] In the seedling transplanter 1, the operating state (ON state, OFF state) of each assist function is displayed on the monitor 86. This allows the operator to easily check the operating state of each assist function.

[0124] The seedling transplanter 1 may be capable of moving to a work start point in the work area by automatic travel. In this case, the seedling transplanter 1 can travel to the work start point regardless of the angle difference between the direction at the work start point and the current direction of the traveling vehicle body 2.

[0125] The seedling transplanter 1 may be prohibited from traveling to the work start point if the angular difference between the direction at the work start point and the current direction of the traveling body 2 is not within a predetermined angle. In this case, when the angular difference becomes within the predetermined angle difference, the seedling transplanter 1 starts traveling toward the work start point.

[0126] If the angular difference between the orientation at the work start point and the current orientation of the traveling body 2 is not within a specified angle, the seedling transplanter 1 may make multiple turns (for example, two turns) and travel to the work start point.

[0127] The seedling transplanter 1 may set a work path in the work area in advance and search for an actual travel path based on the distance between the work path and the traveling body 2. This allows the seedling transplanter 1 to search for a travel path without aligning the direction of the work path with the direction at the current position.

[0128] The seedling transplanter 1 may set a search area for searching for a work path and automatically travel along the work path detected within the set search area. The search area is set, for example, so as to extend inward from the current position of the traveling body 2 as the center.

[0129] This allows the seedling transplanter 1 to search for a work path with high accuracy when oversteering occurs due to the state of the field.

[0130] The search area may be set, for example, so as to turn around the current position of the traveling body 2 and expand toward the inside and forward. This allows the seedling transplanter 1 to search for a work path with high accuracy. The search area may be set, for example, so as to turn around the current position of the traveling body and expand toward the inside and backward. This allows the seedling transplanter 1 to avoid skipping a work path.

[0131] The seedling transplanter 1 may set a travel route without providing a specific area, so that the seedling transplanter 1 can switch routes, for example, at an intermediate point.

[0132] The seedling transplanter 1 has accumulated data on past work in the field, and when traveling through a place where slippage occurred during the previous work and the differential lock mechanism 97 was activated or the forced four-wheel drive function was activated, the differential lock mechanism 97 or the forced four-wheel drive function is automatically activated before slippage occurs.

[0133] The accumulated data of past work is recorded as driving data of the work vehicle (position information, vehicle speed information, steering angle information, etc.) and transmitted to the cloud or a mobile device. The location where the differential lock mechanism 97 is activated or the location where the forced four-wheel drive function is activated may be displayed on a map of the management system.

[0134] When the seedling transplanter 1 deviates from a straight path during autonomous travel, the deviated position is processed as the end of the deviation trajectory. When the seedling transplanter 1 deviates from a straight path during autonomous travel, the seedling transplanter 1 sets a position a predetermined distance back from the deviation position as the deviation position. This allows the seedling transplanter 1 to prevent gaps when restarting seedling transplantation.

[0135] In addition, when the seedling transplanter 1 deviates from the straight path, the seedling transplanter 1 may set a position a certain number of plants back from the deviation position as the deviation position. This allows the seedling transplanter 1 to resume transplanting seedlings from a position that takes into account the speed.

[0136] The seedling transplanter 1 may perform autonomous travel based on the planted route information in addition to the work vehicle information and the direction information. This allows the seedling transplanter 1 to avoid skipping a work route.

[0137] The seedling transplanter 1 may set the working area using teaching points. This allows the seedling transplanter 1 to reduce memory and data processing load. The seedling transplanter 1 may set the working area without thinning out point coordinates. This allows the seedling transplanter 1 to set the working area with high accuracy. If memory is insufficient, the seedling transplanter 1 may thin out point coordinates and set the working area using an approximate polygon.

[0138] The seedling transplanter 1 stops the traveling body 2 when the inclination angle detected by the inclination sensor 92 becomes equal to or greater than a predetermined inclination angle. The predetermined inclination angle is set in advance. A plurality of predetermined inclination angles may be set. For example, the predetermined inclination angles include a first predetermined inclination angle and a second predetermined inclination angle. The second predetermined inclination angle (e.g., 20 degrees) is greater than the first predetermined inclination angle (e.g., 10 degrees).

[0139] When the seedling transplanter 1 is near the edge of the field, the traveling body 2 stops when the inclination angle is equal to or greater than a first predetermined inclination angle. When the seedling transplanter 1 is near the center of the field, the traveling body 2 stops when the inclination angle is equal to or greater than a second predetermined inclination angle.

[0140] This prevents the seedling transplanter 1 from stopping near the center of the field and thus prevents it from sinking.

[0141] The seedling transplanter 1 may stop the traveling body 2 when the inclination angle reaches a predetermined inclination angle or more near the bank of the field. Also, the seedling transplanter 1 may decelerate the traveling body 2 without stopping the traveling body 2 when the inclination angle reaches a predetermined inclination angle or more near the center of the field. For example, the seedling transplanter 1 sets the speed of the traveling body 2 to a predetermined low speed that is set in advance.

[0142] This prevents the seedling transplanter 1 from stopping near the center of the field and thus prevents it from sinking.

[0143] The seedling transplanter 1 may decelerate the traveling body 2 when the inclination angle becomes equal to or greater than a predetermined inclination angle near the edge of the field. The seedling transplanter 1 decelerates the traveling body 2 when the inclination angle becomes equal to or greater than a predetermined inclination angle near the edge of the field. Also, the seedling transplanter 1 does not decelerate the traveling body 2 even when the inclination angle becomes equal to or greater than a predetermined inclination angle near the center of the field.

[0144] This enables the seedling transplanter 1 to be prevented from climbing over the banks of the field while also being prevented from getting stuck in the culvert in the center of the field.

[0145] The seedling transplanter 1 may be prohibited from autonomously traveling along the edge of a bank.

[0146] The seedling transplanter 1 may be provided with a human presence sensor, and when a human is detected by the human presence sensor, the traveling body 2 may be slowed down or stopped. The human presence sensor is attached to the mounting stay 59, for example, and positioned above the traveling body 2. The human presence sensor has directionality and detects the presence or absence of a human within a predetermined range in front of the traveling body 2.

[0147] The detection range of the human sensor may be physically limited, for example, by attaching a cover. This allows the seedling transplanter 1 to detect the presence or absence of a person within a predetermined range in front of the traveling body 2, for example, by using the versatile human sensor.

[0148] The cover may move in conjunction with the handle 35. The seedling transplanter 1 may rotate the mounting stay 59 to which the human sensor is attached. This allows, for example, the detection range to be changed in conjunction with the handle 35. Therefore, the seedling transplanter 1 can quickly detect a person at the destination of the turn.

[0149] In the seedling transplanter 1, a part of the mounting stay 59 to which the human sensor is attached may be rotatable 180 degrees in the forward and backward directions. For example, a part of the mounting stay 59 is rotated by a motor in conjunction with the HST operation. Note that a part of the mounting stay 59 may be rotated in conjunction with a pitman arm. In this way, when the seedling transplanter 1 is driven backward, a part of the mounting stay 59 is rotated backward, so that a single human sensor can detect people in the front and rear.

[0150] The seedling transplanter 1 performs autonomous traveling using the traveling assist function, and if it stops in the middle of a straight route, it will resume from a turning route. The seedling transplanter 1 performs autonomous traveling using the traveling assist function, and if it stops in the middle of a straight route, it may resume from the route that is closest to the current position of the traveling body 2. The seedling transplanter 1 may display on the monitor 86 the route where planting has already been performed and the route where planting is scheduled to be resumed.

[0151] The initial straight path of the seedling transplanter 1 in the working area does not have to be parallel to the side La, for example.

[0152] When the seedling transplanter 1 travels around the field along the ridge a plurality of times, for example, twice, the interval between each travel may be adjustable.

[0153] The seedling transplanter 1 may generate a route, a straight route, and a turning route for autonomous driving, and may be capable of detecting a decrease in fertilizer, seedlings, and fuel. When the seedling transplanter 1 approaches the bank side where seedlings are replenished in the field and the seedling planting work in the next process cannot be performed due to a shortage of materials such as seedlings, the seedling transplanter 1 does not switch to automatic driving. In this case, the current planting work area is displayed on at least one of the monitor 86 of the seedling transplanter 1, the monitor of the remote control 170, and the mobile device. This allows the worker to check the consumption of materials and the work area at the timing of material replenishment.

[0154] The working area is calculated using the operating status (ON and OFF states) of each unit's bank clutch, the operating status (ON and OFF states) of the planting clutch 27a, the rotation speed of the front wheels 10, the rotation speed of the rear wheels 11, and position information.

[0155] Further advantages and modifications may readily occur to those skilled in the art. Thus, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof. [Explanation of symbols]

[0156] 1. Seedling transplanter (work vehicle) 2 Running vehicle 4 Seedling planting department 10 Front wheels (steering wheels) 11 Rear wheel 35 Handle 45 Automatic straight-line switching switch 46 Autonomous driving switch 48 Automatic rotation switch 91 Steering amount sensor 100 Controller (control device) 170 Remote control device (remote control)

Claims

1. A running vehicle body, A control device that controls a steering angle of a steering wheel of the traveling vehicle body and causes the traveling vehicle body to travel autonomously, The control device sets a work area in which the autonomous traveling is performed by performing teaching traveling along a plurality of sides of the farm field, A seedling planting unit provided on the traveling vehicle body; The control device can change the planting conditions of seedlings in the field in response to operation by a remote control device, A work vehicle characterized in that, when the traveling vehicle body moves to the next process, the seedling planting conditions that have been changed in response to operation by the remote control device are reset to a predetermined initial state.

2. The predetermined initial state of the seedling planting conditions can be set, The work vehicle according to claim 1, wherein whether or not to reset to the initial state can be set.

3. 3. The work vehicle according to claim 1, wherein the information on the edges of the field obtained by the teaching travel is capable of being deleted in part.

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