Farm field work machine

Abstract

To provide a farm field work machine capable of improving workability.SOLUTION: A farm field work machine includes a travelling vehicle body having travelling wheels including a steering wheel, which can travel in a farm field, a steering device for driving and steering the steering wheel, and a control device for controlling the steering device and causing the travelling vehicle body to travel autonomously, and supplies agricultural materials to a farm field as ground work by repeating automatic reciprocative travelling for travelling in a target travelling route. The travelling vehicle body performs replenishment of the agricultural materials in a side which is at least one peripheral side of the peripheral sides of the farm field, and includes a remote device capable of operating the travelling vehicle body remotely from the position away from the travelling vehicle body. The travelling vehicle body can be automatically stopped by a ridge for replenishing the agricultural materials. Furthermore, an approaching operation for causing the travelling vehicle body to approach the ridge can be performed by the remote device.SELECTED DRAWING: Figure 10

Description

[Technical field]

[0001] The present invention relates to a field working machine. [Background technology]

[0002] 2. Description of the Related Art Conventionally, work vehicles have been known that have an automatic mode in which the traveling vehicle body performs work while traveling autonomously in a farm field (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-141615 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, work vehicles with an automatic mode have room for improvement in terms of improving workability; for example, even in automatic mode, the operation of moving the machine to the edge of a field to replenish agricultural supplies requires the worker to manually move the vehicle (by operating the machine), which can be cumbersome.

[0005] The present invention has been made in view of the above, and has an object to provide a field work machine that can improve workability. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, the field work machine according to the present invention comprises a traveling body (2) having traveling wheels including a steering wheel and capable of traveling within a field, a steering device (95) that steers and drives the steering wheel, and a control device (100) that controls the steering device (95) and causes the traveling body (2) to travel autonomously, SelfThe field work machine supplies agricultural materials to a field as ground work by repeatedly moving back and forth, and the agricultural materials are replenished at at least one of the outer periphery edges of the field, and the machine is equipped with a remote device that can remotely operate the traveling body (2) from a position spaced apart from the traveling body (2), and the traveling body (2) is automatically stopped at the edge of a ridge to replenish the agricultural materials, and further, a ridge-pushing operation to pull the materials closer to the ridge can be performed by the remote device. Effect of the Invention

[0007] According to the field work machine of the present invention, workability can be improved. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic left side view showing a work vehicle according to an embodiment. [Diagram 2] FIG. 2 is a schematic plan view showing the work vehicle according to the embodiment. [Diagram 3] FIG. 3 is a block diagram showing an example of a control system centered around a control device. [Figure 4] FIG. 4 is an explanatory diagram of autonomous driving in a farm field. [Diagram 5] FIG. 5 is a diagram showing mode configurations implemented by the controller. [Figure 6] FIG. 6 is a diagram showing an example of obtaining work area information in the teaching mode. [Figure 7] FIG. 7 is a front view showing the remote control device. [Figure 8] FIG. 8 is a diagram showing a display example of the top screen (part 1) on the remote control display unit. [Figure 9] FIG. 9 is a diagram showing a display example of the top screen (part 2) on the remote control display unit. [Figure 10] FIG. 10 is a diagram showing a display example of the top screen (part 3) on the remote control display unit. [Figure 11]FIG. 11 is a diagram showing a display example of the top screen (part 4) on the remote control display unit. [Figure 12] FIG. 12 is a diagram showing a display example of the mode screen on the remote control display unit. [Figure 13] FIG. 13 is a diagram showing a display example of the menu screen (part 1) on the remote control display unit. [Figure 14] FIG. 14 is a diagram showing a display example of the menu screen (part 2) on the remote control display unit. [Figure 15] FIG. 15 is a diagram showing a display example of the menu screen (part 3) on the remote control display unit. [Figure 16] FIG. 16 is a diagram showing an example of a screen display on the remote control display unit during teaching. [Figure 17] FIG. 17 is a diagram showing a display example (part 1) of the screen on the device-side display unit. [Figure 18] FIG. 18 is a diagram showing a display example (part 2) of the screen on the device-side display unit. [Figure 19] FIG. 19 is a diagram showing a display example (part 3) of the screen on the device-side display unit. [Figure 20] FIG. 20 is a diagram showing a display example (part 4) of the screen on the device-side display unit. [Figure 21] FIG. 21 is a diagram showing a display example (part 5) of the screen on the device-side display unit. [Figure 22] FIG. 22 is a diagram showing a display example (part 6) of the screen on the device-side display unit. [Figure 23] FIG. 23 is a diagram showing a display example (part 7) of the screen on the device-side display unit. [Figure 24] FIG. 24 is a diagram showing a display example (part 8) of the screen on the device-side display unit. [Diagram 25] FIG. 25 is a diagram showing a display example (part 9) of the screen on the device-side display unit. [Figure 26] FIG. 26 is a diagram showing a display example (part 10) of the screen on the device-side display unit. [Figure 27]FIG. 27 is a diagram showing a display example (part 11) of the screen on the device-side display unit. [Figure 28] FIG. 28 is a diagram showing a display example (part 12) of the screen on the device-side display unit. [Figure 29] FIG. 29 is a diagram showing another example of obtaining the work area information in the teaching mode. [Diagram 30] FIG. 30 is a diagram showing a standing steering assist mechanism (part 1). [Diagram 31] FIG. 31 is a diagram showing the standing steering assist mechanism (part 2). DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a work vehicle disclosed in the present application will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the embodiment described below.

[0010] <Overview of the work vehicle (seedling transplanter)> First, an overview of a work vehicle (seedling transplanter) 1 according to an embodiment will be described with reference to Figures 1 and 2. Figure 1 is a schematic left side view showing a work vehicle (seedling transplanter) 1 according to an embodiment. Figure 2 is a schematic plan view showing a work vehicle (seedling transplanter) 1 according to an embodiment.

[0011] 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 operator's seat 41a (described later) to the steering wheel 35 when traveling straight (see Figures 1 and 2).

[0012] 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 41a and facing forward, the left hand side is the "left" and the right hand side is the "right."

[0013] The up-down direction is the vertical direction. The front-rear direction, left-right direction, and 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. In the following explanation, the work vehicle (seedling transplanter) 1 or the traveling body 2 described later may be referred to as the "machine body."

[0014] As shown in Figures 1 and 2, the work vehicle 1 includes a traveling body 2 and a working machine 4. In this embodiment, the work vehicle is described as a riding seedling transplanter 1 that includes a seedling planting unit 4 as a working machine and plants seedlings in the soil surface of a field. The seedling transplanter 1 includes the seedling planting unit 4, which can be raised and lowered, on the rear side of the traveling body 2 via a lifting link mechanism 3, for planting seedlings in the field.

[0015] A 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 provided with a sowing device for supplying seeds or the like as a work machine.

[0016] The traveling vehicle body 2 has steering wheels and driving wheels as traveling wheels. The traveling vehicle body 2 has a pair of left and right front wheels 10 and a pair of left and right rear wheels 11. In the traveling vehicle body 2, the steering wheels are the pair of left and right front wheels 10. In addition, in the traveling vehicle body 2, the driving wheels are the pair of left and right rear wheels 11, or the pair of left and right front wheels 10 and the pair of left and right rear wheels 11.

[0017] On the front side of the main frame 15, which constitutes the body skeleton of the running body 2, there are provided a transmission case 13 that transmits driving force to the seedling planting section 4, etc., 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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 89 (see FIG. 3) of the handle (also called the steering wheel) 35, the lift cylinder 25, etc.

[0025] 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.

[0026] 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.

[0027] 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 of the left and right drive shafts 42 in the transmission direction. 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 41a and on one of the left and right sides.

[0028] 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.

[0029] 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 display unit 86 (see FIG. 3) for displaying predetermined information, and the like.

[0030] The bonnet 39 is provided with a handlebar 35 for steering the traveling body 2, a speed change lever 36 for operating the HST 14 and the seedling planting unit 4, and an auxiliary speed change lever 37 for operating the auxiliary speed change mechanism 16. The operator's seat 41a, the handlebar 35, the speed change lever 36, the auxiliary speed change lever 37, etc. constitute an operator's section 41 in which an operator (worker) sits in the seedling transplanter 1.

[0031] 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 steering wheels that steer the vehicle body in response to the amount of steering of the handlebars 35, as described above.

[0032] 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 41a where the pilot is seated is provided above the engine cover 30a.

[0033] The fertilizer applicator 5 is provided behind the driver's seat 41a 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.

[0034] 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 falls from the shoes of an operator (worker) walking on the floor step 33, the fallen mud falls into the field.

[0035] 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.

[0036] 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, and work materials such as seedlings (seedling mats) and fertilizer bags to be replenished in the seedling planting section 4 can be placed on them.

[0037] A seedling tank 53 for loading seedlings (seedling mats) 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 placed on the seedling tank 53 at predetermined intervals in the horizontal direction. A seedling planting device 55 is placed below the seedling tank 53 for scraping seedlings from the loaded seedling mats and planting them in the field.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] The seedling planting unit 4 is disposed forward of the float 62 and has a soil leveling rotor 63 that levels the unevenness of the field surface. The seedling planting unit 4 plants seedlings in the soil surface leveled by the soil leveling rotor 63. Driving force is transmitted to the soil leveling rotor 63 from the rear wheel gear case 11a via a rotor transmission shaft 63a. The seedling planting unit 4 is driven and controlled by a control device 100 (see FIG. 3) described later.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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 also 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.

[0047] The position acquisition device 150, for example, 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.

[0048] Further, the straight running control program and the turning control program, which are created based on the position information from the position acquisition device 150, are stored in different locations. The straight running control program is stored, for example, in a straight running control ECU (Electronic Control Unit) in the position acquisition device 150, and the turning control program is stored, for example, in a turning control ECU housed in the bonnet 39. The straight running control ECU and the turning control ECU are included in the control device 100 (see FIG. 3), which will be described later. The straight running control ECU and the turning control ECU may be the same ECU.

[0049] <Control system for work vehicle (seedling transplanter)> Next, the control system of the work vehicle (seedling transplanter) 1 (see Figs. 1 and 2) will be described with reference to Fig. 3. Fig. 3 is a block diagram showing an example of a control system centered around a control device 100. The seedling transplanter 1, which is a work vehicle, is capable of controlling each part by electronic control and is equipped with a control device 100 that controls each part.

[0050] The control device 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 further 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 control device 100 performs each function by reading out the computer programs and the like stored in the storage section.

[0051] The control device 100 is connected to, for example, actuators such as a throttle motor 80, a hydraulic control valve 81, a hydraulic control valve 82, a planting clutch actuation solenoid 83, a side clutch actuation solenoid 84, an HST motor 85, a line drawing marker lifting motor 88, a steering device 95, and a differential lock switching motor 96.

[0052] 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 89. The planting clutch operating solenoid 83 operates the planting clutch 27a.

[0053] The side clutch actuation solenoid 84 actuates the side clutch 44 which switches the state of power transmission to the rear wheels 11 (see Figs. 1 and 2). 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.

[0054] The HST 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 device 95 steers and drives the left and right front wheels 10 (see Figures 1 and 2), which are steered wheels. The steering device 95 has a steering motor 95a. The steering motor 95a is a motor that drives the handle 35, which adjusts the steering amount (also called the steering angle or turning angle) of the front wheels 10, when automatic turning control is performed. The steering motor 95a rotates the handle 35. The line drawing marker lifting motor 88 lifts and lowers the line drawing marker 65.

[0055] The differential lock switching motor 96 is a motor that switches between operating and deactivating a differential lock mechanism 97 (hereinafter referred to as a differential lock mechanism) that rotates the left and right running wheels (for example, the left and right front wheels 10) at the same rotational speed. When the differential lock mechanism 97 is engaged, the vehicle can be forcibly put into four-wheel drive, and the left and right running wheels rotate at the same rotational speed.

[0056] A rotation speed sensor 90, a steering amount sensor 91, an inclination sensor 92, etc. are connected to the control device 100. 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. Note that the rotation speed sensors 90 may detect the rotation speeds of the left and right front wheels 10.

[0057] The steering amount sensor 91 detects the steering amount of the steering wheel 35, i.e., the steering amount (steering angle, turning 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 a value when the steering wheel 35 is in a preset straight-ahead position being used as a reference value.

[0058] Moreover, a plurality of steering amount sensors 91 may be provided. Moreover, the steering amount sensors 91 may be provided at a plurality of locations. By detecting the steering amount of the front wheels 10 by a plurality of steering amount sensors 91, it is possible to improve detection accuracy. The inclination sensor 92 detects the inclination angle, which is the inclination of the traveling vehicle body 2.

[0059] In addition, signals are input to the control device 100 as operation signals from the speed change lever 36, the sub-speed change lever 37, the mode change switch 46, the seedling planting section lift switch 47, the automatic turning change switch 48, the line drawing marker automatic lift switch 49, etc.

[0060] The mode changeover switch 46 is a switch for switching whether or not autonomous driving is performed. The mode changeover switch 46 is a switch for switching between an automatic mode, a manual mode, and a remote control mode, which will be described later.

[0061] The seedling planting section lifting switch 47 is a switch for switching whether to lift or lower the seedling planting section 4. The seedling planting section lifting switch 47 is changed to the "up" and "down" positions.

[0062] When the seedling planting unit lifting 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, entering a non-working state (seedling planting unit 4 off state). When the seedling planting unit lifting switch 47 is in the "down" position, the seedling planting unit 4 descends to a predetermined working position and the seedling planting device 55 (see Figures 1 and 2) operates, entering a working state (seedling planting unit 4 on state). In other words, the seedling planting unit lifting switch 47 is a switch that detects the working state of the seedling planting unit 4.

[0063] 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 steering amount of the handlebars 35 (i.e., the steering amount 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 steering amount. 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 steering amount.

[0064] The automatic turning changeover switch 48 is a switch that switches whether or not automatic turning is enabled in the manual mode. When the automatic turning changeover switch 48 is set to "ON", automatic turning is enabled. When the automatic turning changeover switch 48 is set to "OFF", automatic turning is disabled.

[0065] A display unit 86 and a setting unit 87 are connected to the control device 100. The display unit 86 is, for example, a liquid crystal monitor, and is arranged on the operation panel 38 of the operation unit 41 (see Figs. 1 and 2 for both). The setting unit 87 is, for example, a push button, and is arranged near the display unit 86 on the operation panel 38 of the operation unit 41. Note that if the display unit 86 is a touch panel monitor, the setting unit 87 will be arranged on the screen of the display unit 86.

[0066] The display unit 86 includes an aircraft-side display unit 86a disposed in the control unit 41, as well as a remote control-side display unit 86b disposed in the remote control device 160 described below. Therefore, the operator can use the aircraft-side display unit 86a when getting on the aircraft to operate it, and can use the remote control-side display unit 86b when remotely operating the aircraft using the remote control device 160. In this way, the display unit 86 has the aircraft-side display unit 86a and the remote control-side display unit 86b, so that the operator can easily grasp information whether the automatic mode, the remote control mode, or the manual mode is being executed.

[0067] The display unit 86 also displays a setting screen for preset reference values ​​for each part of the traveling vehicle body 2, the seedling planting unit 4, and the fertilizer application device 5. The display unit 86 displays a setting screen for setting reference values ​​for, for example, the seedling picking amount and planting depth in the seedling planting unit 4, the hydraulic sensitivity in the seedling planting unit 4, the on / off of the seedling planting unit 4, and the height of the soil leveling rotor 63. The setting unit 87 accepts the setting operation of the reference values ​​by the operator. That is, the operator can input and change the reference values ​​from the setting unit 87.

[0068] Further, a remote control device 160 is connected to the control device 100 so as to be capable of mutual communication, and various information is input from the remote control device 160. The control device 100 receives various information from the remote control device 160, for example, via a receiver 180 (see FIG. 1). The receiver 180 is attached, for example, to a mounting stay 59 (see FIG. 1), and is disposed above the front side of the traveling vehicle body 2. Note that a plurality of receivers 180 may be provided.

[0069] The remote control device 160 is operated by an operator when a remote operation mode, which will be described later, is executed. The remote control device 160 can remotely control the seedling transplanter 1. The remote control device 160 transmits a control signal corresponding to the operator's operation to the control device 100. The remote control device 160 may be communicatively connected to the control device 100 by short-range wireless communication, such as Wi-fi (registered trademark) or BLE (Bluetooth (registered trademark) Low Energy), or may be communicatively connected via a communication network or the like in addition to (or instead of) short-range wireless communication.

[0070] The remote control device 160 also includes, for example, a direction sensor and a positioning means such as a GPS or a GNSS. The remote control device 160 transmits position information of the remote control device 160 to the control device 100. The control device 100 then calculates the distance between the remote control device 160 and the traveling vehicle body 2 and the direction of the remote control device 160 relative to the traveling vehicle body 2 based on the position information of the remote control device 160 and the position information of the traveling vehicle body 2. The remote control device 160 includes a remote control side display unit 86b and a remote control side operation unit 87b that configure the display unit 86. Details of the remote control device 160 will be described later with reference to FIG. 7.

[0071] In this way, the current position information of the traveling vehicle body 2 and the like are input from the position acquisition device 150 to the control device 100, whereby the control device 100 controls the steering device 95 and allows the traveling vehicle body 2 (see Figs. 1 and 2) to travel autonomously. The control device 100 executes an automatic mode, described later, in which the traveling vehicle body 2 performs work while traveling autonomously.

[0072] <Automatic mode> Now, referring to Fig. 4, the autonomous driving (automatic mode) in a farm field by the seedling transplanter 1 will be described. Fig. 4 is an explanatory diagram of the autonomous driving in a farm field. The control device 100 (see Fig. 3) has an automatic mode in which the steering device 95 (see Fig. 3) is automatically controlled while feeding back the steering amount of the front wheels 10 (see Figs. 1 and 2). In the automatic mode, the control device 100 operates the handlebars 35 (see Fig. 3) by controlling the steering device 95. The automatic mode includes automatic straight-line control and automatic turning control.

[0073] When in the automatic mode, the control device 100 causes the traveling vehicle body 2 to travel autonomously. During autonomous traveling, the control device 100 controls the direction of travel of the traveling vehicle body 2 by controlling the steering wheel 35. During autonomous traveling, the control device 100 also controls the speed (vehicle speed) of the traveling vehicle body 2, for example, by controlling the number of revolutions of the engine 30. Note that, during autonomous traveling, the control device 100 may control the speed of the traveling vehicle body 2 by performing a brake operation.

[0074] As shown in Fig. 4, in the automatic mode, the seedling transplanter 1 automatically performs seedling planting work in the field while repeatedly moving straight and turning along the planned travel route L. As described above, the control device 100 acquires information on the current position of the seedling transplanter 1 and information on the turning position by the position acquisition device 150 (see Fig. 1) arranged above the traveling body 2.

[0075] The seedling transplanter 1 plants seedlings while traveling back and forth within a predetermined work area in the field. In this case, for straight travel, the control device 100 executes automatic straight travel control, so that the machine autonomously travels along a straight travel path L1 of the set planned travel path L. For turning travel, the control device 100 executes automatic turning control, so that the machine automatically turns along a turning travel path L2 of the planned travel path L.

[0076] The straight travel path L1 is parallel to a reference line L0 that serves as a travel reference. The reference line L0 is set in the field in accordance with the planting direction of the seedlings. For example, the control device 100 obtains the start position and end position of the straight travel as a reference start point P1 and a reference end point P2, respectively, and stores the line segment connecting the reference start point P1 and the reference end point P2 as the reference line L0.

[0077] The control device 100 controls the steering device 95 (steering motor 95a) so that the steering amount of the handle 35 becomes a predetermined steering amount while the seedling transplanter 1 is turning. The predetermined steering amount is a preset value. The predetermined steering amount is set depending on the type of the seedling transplanter 1, etc. Also, the predetermined steering amount is appropriately set so as to smoothly transition from automatic turning to automatic straight traveling.

[0078] In addition, while the seedling transplanter 1 is turning, the control device 100 may control the steering device 95 (steering motor 95a) so that the seedling transplanter 1 reaches any desired position on the set turning travel path L2 based on the position information acquired by the position acquisition device 150.

[0079] The control device 100 controls the steering device 95 (steering motor 95a) so that the seedling transplanter 1, after having turned by the automatic turning, reaches a planting start position by automatic straight travel in the next process.

[0080] When performing autonomous driving, the control device 100 controls the steering device 95 (steering motor 95a) based on the steering amount of the steering wheel 35 detected by the steering amount sensor 91. Specifically, the control device 100 compares the steering amount of the steering wheel 35 detected by the steering amount sensor 91 with a reference value, and controls the steering device 95 (steering motor 95a) based on the comparison result.

[0081] <Various modes> Here, we will explain each mode including the automatic mode executed by the control device 100. Fig. 5 is a diagram showing the mode configuration executed by the control device 100. As shown in Fig. 5, the control device 100 (see Fig. 3) has a first mode, a second mode, a teaching mode, and a four-wheel drive mode.

[0082] The first mode is a mode in which the traveling vehicle body 2 (see FIG. 1 and FIG. 2) can travel autonomously. In the first mode, the control device 100 has an automatic mode and a remote control mode. That is, the first mode includes the automatic mode and the remote control mode.

[0083] The automatic mode is a mode for automatically controlling the steering device 95 (see FIG. 3), and includes the automatic straight-line control and automatic turning control described above. In the automatic mode, the control device 100 causes the traveling vehicle body 2 to travel along a planned traveling route L (see FIG. 4) while repeating straight-line travel and turning.

[0084] The remote control mode is a mode in which the steering device 95 is controlled based on remote control by an operator. In the remote control mode, the operator operates the machine by operating the remote control device 160 (see FIG. 3).

[0085] In this way, by having an automatic mode and a remote operation mode in the first mode, for example, the traveling body 2 can be moved in remote operation mode from outside the field to a work starting point within the field, thereby improving workability by eliminating the hassle of the worker operating the machine to move the traveling body 2 and then walking through the field to get outside the field.

[0086] When the remote control mode is being executed, the control device 100 stops the autonomous traveling of the traveling vehicle body 2, that is, stops the automatic mode, and only accepts vehicle body operations based on operation signals from the remote control device 160.

[0087] According to this configuration, in the remote operation mode, remote operation by the remote control device 160 is possible. In this case, since the autonomous traveling is stopped, unintended traveling of the traveling vehicle body 2 during remote operation by the remote control device 160 can be prevented, thereby improving safety. Even when the automatic mode is being executed, the mode is switched to the remote operation mode when the traveling vehicle body 2 approaches a ridge, so that the autonomous traveling stops at the edge of the ridge, making it possible, for example, to replenish work materials at the edge of the ridge.

[0088] In addition, even when the automatic mode is being executed, when the traveling vehicle body 2 reaches a point where turning starts, the control device 100 transitions to a remote control mode so that the operator can operate the turning of the vehicle body. In this case, the control device 100 transitions to the remote control mode based on a mode switching operation signal from the remote control device 160.

[0089] According to such a configuration, by switching to the remote operation mode by operating the remote control device 160, erroneous operations can be suppressed, and thus safety can be improved.

[0090] In addition, while the automatic mode is being executed, the control device 100 operates each part including the seedling planting part 4 (see Figs. 1 and 2) based on an operation signal from the remote control device 160. This allows the operator to adjust each part including the seedling planting part 4 from the remote control device 160 while the automatic mode is being executed.

[0091] In this way, even in the automatic mode, remote operation from the remote control device 160 is accepted, and each section including the seedling planting section 4 can be operated remotely while the automatic mode is being executed, thereby improving workability.

[0092] In this case, among the operation signals from the remote control device 160 while the automatic mode is being executed, the control device 100 does not accept an operation signal related to the steering device 95. In this way, while the automatic mode is being executed, the control device 100 does not accept an operation signal related to the steering device 95 from the remote control device 160, that is, does not accept an operation of the steering device 95 from the remote control device 160, thereby making it possible to prevent erroneous operation during driving.

[0093] Furthermore, the control device 100 performs various adjustments in response to operation signals from the remote control device 160 while the automatic mode is being executed. Specifically, the control device 100 adjusts the start, stop and temporary stop of the traveling body 2, the speed of the traveling body 2, the seedling picking amount and planting depth in the seedling planting section 4, the hydraulic sensitivity in the seedling planting section 4, the on / off of the seedling planting section 4, and the height of the soil leveling rotor 63. Furthermore, the control device 100 switches to a four-wheel drive mode (forced four-wheel drive), which will be described later, in response to operation signals from the remote control device 160 while the automatic mode is being executed.

[0094] According to this configuration, various adjustments can be made remotely while the automatic mode is being executed, thereby improving workability.

[0095] In addition, when the automatic mode is being executed and the traveling vehicle body 2 reaches a point where turning ends, the control device 100 returns the seedling amount and planting depth in the seedling planting section 4, the hydraulic sensitivity in the seedling planting section 4, the on / off of the seedling planting section 4, and the height of the ground leveling rotor 63 to the previously set reference values ​​described above.

[0096] With this configuration, if the straight-line movement and turning of the aircraft are considered as one process, by returning the value changed in the previous process to the reference value when moving to the next process, various adjustments according to the next process can be easily made, thereby improving workability.

[0097] In addition, the standard values ​​for the seedling removal amount and planting depth in the seedling planting section 4, the hydraulic sensitivity in the seedling planting section 4, turning the seedling planting section 4 on and off, and the height of the ground leveling rotor 63 can be set using the control section 41, making setting operations easy.

[0098] In addition, the control device 100 performs adjustments such as steering the steering wheels (front wheels 10) using the steering device 95, moving forward, backward and stopping the traveling body 2, turning on and off the seedling planting unit 4, switching to four-wheel drive mode (forced four-wheel drive), and switching the state of the spare seedling frame (seedling rail) 50 (switching between rail state and loading state) using operation signals from the remote control device 160 while the remote operation mode is being executed. This allows various adjustments to be performed remotely while the remote operation mode is being executed, improving workability. Note that the state of the spare seedling frame (seedling rail) 50 can only be switched while the traveling body is stopped.

[0099] The second mode is a mode in which an operator can manually drive the traveling vehicle body 2. The control device 100 has a manual mode in the second mode. The manual mode is a mode in which an operator performs machine operation including steering operation and gear shifting operation.

[0100] The teaching mode is a mode in which, in order to execute the automatic mode, the traveling vehicle body 2 travels in the field where work is to be performed, thereby acquiring field information (information on the shape of the field, etc.). Note that, in the teaching mode, the control device 100 executes the manual mode. Therefore, in the teaching mode, the traveling vehicle body 2 travels in the field where work is to be performed by manual operation by the operator, thereby acquiring field information.

[0101] Fig. 6 is a diagram showing an example of acquisition of work area information in the teaching mode. As shown in Fig. 6, when the work area information indicates that the field F in which work is to be performed is not rectangular, for example, has an irregular shape such as an L-shape, the control device 100 can determine that the lengths of the three sides E1-E3 of the field F are different from the straight travel paths L01-L03 of the traveling body 2, and judges from the determination result that the field is not rectangular.

[0102] If the control device 100 determines in the teaching mode that the field F in which work is to be performed is not rectangular, it causes the traveling body 2 to travel in an area A1 (area indicated by diagonal lines in FIG. 6) in which autonomous traveling is possible in the automatic mode, and then transitions to the manual mode. In the example shown in FIG. 6, the control device 100 can, for example, determine the area A1 in which autonomous traveling is possible by the traveling body 2 from the straight traveling routes L01-L05.

[0103] According to this configuration, when the field F on which work is to be performed is an irregularly shaped field F, such as an L-shape, the automatic mode is executed in a rectangular area A1 where the traveling body 2 can travel autonomously, and the manual mode is executed in an area A2 other than the area A1 where the traveling body 2 can travel autonomously. This makes it possible to efficiently perform work even on an irregularly shaped field F by combining the automatic mode and the manual mode.

[0104] In the teaching mode, the control device 100 determines the shape of the field F by teaching using three sides as described above, but it is also possible to determine the shape of the field by teaching using two sides or four sides, for example.

[0105] Teaching using two sides is used, for example, in a U-shaped field consisting of one vertically long rectangular portion and two horizontally long rectangular portions, when the vertically long rectangular portions are not to be planted.

[0106] In teaching using two sides, full automatic turning is not performed on both ridges (sides). In the case of teaching using two sides, as in teaching using three sides, it is necessary to operate the traveling vehicle body 2 forward to the edge of the ridge and stop it using the remote control device 160. In addition, if you want to turn to the next process after the traveling vehicle body 2 has stopped, press the function button 8707 and start button 8709 (both see FIG. 7) on the remote control device 160 to perform automatic turning to move to the next process (restart autonomous traveling). In addition, when the remote control mode is switched to near the ridge on the side where teaching is not being performed, the vehicle automatically stops (parks). In addition, turning to the next process can be performed even from the position where it is stopped. In other words, the operation of the start button 8709 is accepted.

[0107] Teaching using four sides, for example, in a concave field, the last side is left empty without planting. The last side corresponds to the line at which the automatic mode switches to remote control mode. If the fourth side (including the top side) of a concave field is irregular, the traveling vehicle can stop (park) in response to the irregularity around the center of the field, switch to remote control mode, and turn by operating the remote control device.

[0108] The four-wheel drive mode (also called forced four-wheel drive mode) is a mode in which the pair of left and right front wheels 10 and the pair of left and right rear wheels 11 are both driven. In the four-wheel drive mode, the differential lock mechanism 97 (see FIG. 3) is engaged to make the vehicle into a forced four-wheel drive mode. In the four-wheel drive mode, the left and right running wheels (for example, the left and right front wheels 10) rotate at the same rotation speed. In the four-wheel drive mode, for example, if the running wheels (front wheels 10) are stuck deep in the soil, the running body 2 can escape from the soil.

[0109] While the automatic mode is being executed, the control device 100 transitions to the four-wheel drive mode based on an operation signal from the remote control device 160. As a result, for example, if the traveling vehicle body 2 becomes stuck in deep soil while the automatic mode is being executed, the traveling vehicle body 2 can be extricated from the deep soil by forcibly switching to four-wheel drive by executing the four-wheel drive mode through the operation from the remote control device 160.

[0110] <Remote control device> The remote control device 160 will be described with reference to Fig. 7. Fig. 7 is a front view showing the remote control device 160. As described above, the remote control device 160 is capable of wireless communication with the control device 100 (see Fig. 3), and by accepting operations by an operator, it is possible to change the travel mode of the machine (seedling transplanter 1), remotely control the machine, change the settings of the machine, and the like.

[0111] As shown in FIG. 7, remote control device 160 includes a display section 86 (hereinafter, remote control side display section 86b) and a setting section 87 (hereinafter, remote control side operation section 87b).

[0112] The remote control side display unit 86b is, for example, an LCD screen, and displays an opening screen, a home screen (top screen), a driving mode switching screen (mode screen), a menu screen, a remote control setting screen, a pairing screen, a brightness adjustment screen for adjusting the brightness of the LCD screen, a power saving time adjustment screen, a remote control information screen, an ending screen, etc.

[0113] The remote control side display section 86b is configured to transition between screens in response to various button operations of a remote control side operation section 87b (described later) or the passage of time.

[0114] As shown in Figure 7, the remote control side operation unit 87b has a mode switching operation device (driving mode button) 8701 for switching between automatic mode and remote operation mode, gear change operations 8702, 8708 for adjusting the speed of the traveling vehicle body 2 (see Figures 1 and 2) while the automatic mode is being executed, a four-wheel drive mode switching operation device (forced four-wheel drive button) 8703 for switching to four-wheel drive mode, a back button 8704, a menu button 8705, a decision button 8706, a function button 8707, a start button 8709, a power button 8710, a stop operation device (stop button) 8711 for stopping the autonomous traveling of the traveling vehicle body 2, and a pause operation device (pause button) 8712 for temporarily suspending the autonomous traveling of the traveling vehicle body 2.

[0115] In this way, by having the mode switching operation tool (traveling mode button) 8701 and the speed change operation tools 8702, 8708 in the remote control side operation section 87b, it is possible to switch between the automatic mode and the remote control operation mode with the remote control device 160, and while the remote control operation mode is being executed, it is possible to change the traveling speed with the remote control device 160. This makes it possible to improve remote operability.

[0116] Furthermore, by providing the stop operation tool (stop button) 8711 and the pause operation tool (pause button) 8712 in the remote control side operation unit 87b, the traveling vehicle body can be stopped and paused by the remote control device 160 while the remote control mode is being executed. This improves remote operability. Furthermore, by providing the four-wheel drive mode switching operation tool (forced four-wheel drive button) 8703 in the remote control side operation unit 87b, if the traveling vehicle body 2 becomes stuck in the soil surface while the automatic mode is being executed, the four-wheel drive mode can be executed by operation from the remote control device 160 to forcibly switch to four-wheel drive, thereby allowing the traveling vehicle body 2 to escape from the soil surface.

[0117] Furthermore, while the remote control mode is being executed, the remote control side operation unit 87b can adjust the forward and reverse movement of the traveling body 2 by using the gearshift operating devices 8702, 8708. The gearshift operating devices 8702, 8708 have a first gearshift operating device (forward button) 8702 that increases the speed of the traveling body 2 and moves the traveling body 2 forward, and a second gearshift operating device (reverse button) 8708 that decreases the speed of the traveling body 2 and moves the traveling body 2 backward.

[0118] In this way, the speed increase of the traveling body 2 and the forward movement of the traveling body 2 can be performed with the same operating tool, the forward movement button 8702, and the deceleration of the traveling body 2 and the reverse movement of the traveling body 2 can be performed with the same operating tool, the reverse movement button, thereby improving remote operability.

[0119] Furthermore, the remote control side operation unit 87b enables adjustment of the steering of the front wheels 10, which are the wheels steered by the steering device 95 (see FIG. 3), during execution of the remote operation mode. For this reason, the remote control device 160 has a left steering operation tool that is an operation tool for steering the front wheels 10 to the left, and a right steering operation tool that is an operation tool for steering the front wheels 10 to the right. In the example shown in FIG. 7, the left steering operation tool is a back button 8704 that is an operation tool for returning to the previous item among the various setting items, and the right steering operation tool is a decision button 8706 that is an operation tool for deciding on the various setting items.

[0120] In this way, by giving the right steering operating tool, which is an operating tool for steering the front wheels 10, which are the steered wheels, to the right, a function as an operating tool (decision button 8706) for deciding various setting items, and giving the left steering operating tool, which is an operating tool for steering the front wheels 10, which are the steered wheels, to the left, a function as an operating tool (back button 8704) for returning to the previous setting item, it is possible to reduce the types and number of operating tools and simplify the remote control device 160.

[0121] The remote control display unit 86b displays information as to whether or not the traveling vehicle body 2 (see Figs. 1 and 2) is currently capable of autonomous driving. The remote control display unit 86b also displays information as to whether or not the traveling vehicle body 2 is currently in autonomous driving. The remote control display unit 86b also displays information as to whether or not the traveling vehicle body 2 is currently capable of remote control. The remote control display unit 86b also displays information as to whether or not the traveling vehicle body 2 is currently being remotely controlled.

[0122] In this way, by displaying information on whether the traveling vehicle body 2 is currently capable of autonomous traveling or not, whether it is currently in autonomous traveling or not, whether it is currently capable of remote control or not, and whether it is currently in remote control or not on the remote control side display unit 86b, the worker can easily grasp this information. This improves workability.

[0123] In addition, the above information displayed by the remote control side display unit 86b (information as to whether the traveling vehicle body 2 is currently capable of autonomous driving, whether it is currently in autonomous driving, whether it is currently capable of remote control, and whether it is currently being remotely controlled) can also be displayed on the aircraft side display unit 86a (see Figure 3), which, together with the remote control side display unit 86b, constitutes the display unit 86 of this embodiment.

[0124] Furthermore, the remote control display unit 86b displays information on whether or not the teaching mode is being executed, and displays information on whether or not field information has been acquired. When the teaching mode is being executed and field information has been acquired, the remote control display unit 86b displays a display indicating that autonomous driving is possible throughout the field, and a display indicating that autonomous driving and manual driving are required within the field. Note that whether or not the teaching mode is being executed and whether or not field information has been acquired are determined by the control device 100 (see FIG. 3).

[0125] In this way, by displaying on the remote control side display unit 86b a display indicating that the robot can travel autonomously throughout the entire field and a display indicating that both autonomous and manual travel are required within the field, the operator can easily understand whether the robot can travel autonomously throughout the entire field or whether both autonomous and manual travel are required. This improves workability.

[0126] The above information displayed by the remote control side display unit 86b (information as to whether the teaching mode is being executed, whether field information has been acquired, and further information as to whether the vehicle is capable of autonomous driving throughout the entire field or whether autonomous driving and manual driving are required within the field) can also be displayed on the machine side display unit 86a, which, together with the remote control side display unit 86b, constitutes the display unit 86 of this embodiment.

[0127] Furthermore, during execution of the remote control mode, the remote control side display unit 86b displays the forward and reverse movement of the traveling vehicle body 2 and the steering angle of the steered wheels (front wheels 10) by the steering device 95. In this case, in the remote control side operation unit 87b, the forward button 8702, which is the first gearshift operation device, moves the traveling vehicle body 2 forward only while the forward button 8702 is being operated. Furthermore, the reverse button 8708, which is the second gearshift operation device, moves the traveling vehicle body 2 backward only while the reverse button 8708 is being operated. Furthermore, the decision button 8706, which is the right steering operation device, steers the steered wheels (front wheels 10) to the right in accordance with the amount of operation (pressing time) of the decision button 8706, and the back button 8704, which is the left steering operation device, steers the steered wheels (front wheels 10) to the left in accordance with the amount of operation (pressing time) of the back button 8704.

[0128] According to such a configuration, the operator can easily obtain a sense of operation for moving the traveling body 2 forward and backward and steering the steering wheels (front wheels 10) left and right, thereby improving remote operability.

[0129] When the control device 100 (see FIG. 3) detects that the remote control device 160 has been powered off, the seedling transplanter 1 immediately stops and switches to manual mode. The control device 100 also restricts the speed of the traveling body 2 from first speed by the forward button 8702 or the reverse button 8708 during execution of the remote control mode. When the traveling body 2 is temporarily stopped during execution of the remote control mode, the control device 100 also restricts the traveling body 2 from changing speed by the forward button 8702 or the reverse button 8708. In this case, the control device 100 accepts an operation signal of the forward button 8702 or the reverse button 8708 only when it is pressed simultaneously with the start button 8709.

[0130] Furthermore, the control device 100 changes the speed (increases or decreases the speed) of the traveling body 2 when the forward button 8702 or the reverse button 8708 is pressed simultaneously with the function button 8707. Furthermore, the control device 100 controls to sound a buzzer or the like when an operation signal is received from the remote control device 160, thereby confirming communication between the machine (seedling transplanter 1, traveling body 2) and the remote control device 160.

[0131] <Example of display on the remote control display> Display examples of the remote control display unit 86b (see FIG. 7) will be described with reference to Figs. 8 to 16. Figs. 8 to 11 are diagrams showing display examples of the top screen on the remote control display unit 86b. Fig. 8 shows a display example of a teaching screen among the top screens, Fig. 9 shows a display example of a remote control screen among the top screens, Fig. 10 shows a display example of an automatic driving screen among the top screens, and Fig. 11 shows a display example of a manual driving screen among the top screens.

[0132] Fig. 12 is a diagram showing an example of a mode screen displayed on the remote control display unit 86b. Figs. 13 to 15 are diagrams showing an example of a menu screen displayed on the remote control display unit 86b. Fig. 13 shows an example of a function setting screen displayed on the menu screen, Fig. 14 shows an example of a planting section operation screen displayed on the menu screen, which allows the user to operate the seedling planting section 4 (see Figs. 1 and 2), and Fig. 15 shows an example of a seedling rail operation screen displayed on the menu screen, which allows the user to operate the spare seedling frame (seedling rail) 50 (see Fig. 1). Fig. 16 is a diagram showing an example of a screen displayed on the remote control display unit 86b during teaching.

[0133] As shown in Figures 8(A) to (D), the remote control display unit 86b displays the remaining battery level, the GNSS level (positioning means), and the communication connection status at the top of the teaching screen, displays the current mode (teaching mode) in the upper area below the top, displays area determination information (work area information) and the current status in the central area below the upper area, and displays various messages in the lower area below the central area.

[0134] As shown in Figures 9(A) to (L), the remote control side display unit 86b displays the remaining battery level, the GNSS level which is the positioning means, and the communication connection status at the top of the remote operation screen, displays the current mode (remote operation mode) in the upper area below the top, displays the area determination information (work area information) and the current status in the central area below the upper area, and displays the steering angle (turning angle) status and the status of the gear change operating device which indicates the forward / reverse lever in the lower area below the central area.

[0135] As shown in Fig. 9, the steering angle status display uses an arrow to indicate the direction of travel of the aircraft. Also, the steering angle status display uses three types of icons to display the steering angle of the front wheel 10 (see Figs. 1 and 2), which is the steered wheel, in three stages: "small," "large," and "maximum."

[0136] As shown in Figures 10(A) to (H), the remote control side display unit 86b displays the remaining battery level, the GNSS level which is the positioning means, and the communication connection status at the top of the automatic driving screen, displays the current mode (automatic mode) in the upper area below the top, displays area determination information (work area information) and the current status in the central area below the upper area, and displays the driving status ("forward" or "neutral"), the status of the gear shift operating device which indicates the forward / reverse lever, and various messages in the lower area below the central area.

[0137] As shown in Figures 11(A) to (G), on the manual driving screen, the remote control side display unit 86b displays the remaining battery level, the GNSS level which is the positioning means, and the communication connection status at the top, the upper area below the top displays the current mode (manual mode) at the top, the lower area below the central area displays area determination information (work area information) and whether or not it is possible to switch to automatic mode, and the lower area below the central area displays various messages.

[0138] As shown in Fig. 12(A) to (H), the remote control side display unit 86b displays the remaining battery level, the GNSS level as a positioning means, and the communication connection status at the top of the mode screen, and displays multiple menus in the area below the top. In the example shown in Fig. 12, the modes of "teaching", "automatic driving", "manual driving", and "remote operation" are displayed below the currently open item "driving mode switching". Also, in the example shown in Fig. 12, "long press confirm" is displayed below the mode items (bottom) as an operation instruction for confirming the item, together with the operation button display icon of the remote control device 160 (see Fig. 7). The operator can proceed to the selected item by selecting and confirming a desired item from multiple menus displayed on the mode screen.

[0139] As shown in Fig. 13(A)-(O), the remote control side display unit 86b displays the remaining battery level, the GNSS level as the positioning means, and the communication connection status at the top of the function setting screen, and displays the currently open item "Function setting" and selection items (such as "seedling amount", "planting depth", and "rotor height") in the area below the top, and displays the seedling amount display icon, the current value of the seedling amount, and the correction value of the seedling amount below that, and displays the planting depth display icon, the current value of the planting depth, and the correction value of the planting depth below that, and displays the rotor height display icon, the current value of the rotor height, and the correction value of the rotor height below that, and displays the hydraulic sensitivity display icon, the current value of the hydraulic sensitivity, and the correction value of the hydraulic sensitivity below that. Also, in the example shown in Fig. 13, "Long press Confirm" is displayed at the bottom together with the operation button display icon of the remote control device 160 as an operation explanation for adjusting the seedling amount, planting depth, rotor height, and hydraulic sensitivity.

[0140] As shown in Fig. 14(A)-(H), the remote control side display unit 86b displays the remaining battery level, the GNSS level, which is the positioning means, and the communication connection status at the top of the planting unit operation screen, displays the currently open item "Planting" in the area below the top, displays "Planting unit up" selected when raising the seedling planting unit 4 below that, displays "Planting unit down" selected when lowering the seedling planting unit 4 below that, and displays the on / off state of "Planting". Also, in the example shown in Fig. 14, "Long press Confirm" is displayed at the bottom together with the operation button display icon of the remote control device 160 as an operation instruction for the seedling planting unit 4.

[0141] 15(A) and (B), the remote control side display unit 86b displays the remaining battery level, the GNSS level, which is the positioning means, and the communication connection status at the top of the seedling rail operation screen, and in the area below the top, displays the currently open item "seedling rail", and below that displays "Extend" which is selected when extending the spare seedling frame (seedling rail) 50, and below that displays "Reducing" which is selected when reducing the spare seedling frame (seedling rail) 50. Also, in the example shown in FIG. 15, at the bottom, "Pressed Operate" is displayed together with the operation button display icon of the remote control device 160 as an operation instruction for the spare seedling frame (seedling rail) 50.

[0142] As shown in Fig. 16, the remote control side display unit 86b displays the remaining battery level, the GNSS level as the positioning means, and the communication connection status at the top of the screen during teaching of the traveling body 2 (see Figs. 1 and 2), and below that, a "menu" field, and below that, in order from the top, a menu screen displaying "function settings," "seedling rail," "planting unit," and "remote control settings," with "remote control settings" selected. Also, in the example shown in Fig. 16, "select" is displayed at the bottom together with the operation button display icon of the remote control device 160 as an operation explanation for menu selection.

[0143] The remote control display unit 86b also displays an interruption screen that is displayed preferentially when each part is in a specified state. The interruption screen displays, for example, the state of each part, a message, "OK" that the operator selects when checking the state, and the like.

[0144] As examples of displays on the interrupt screen, for example, when the traveling vehicle body 2 is in a "tilt stop" state, a message such as "The vehicle is stopping because it has tilted significantly" is displayed. Also, for example, when the traveling vehicle body 2 is in an "automatic driving pause" state, messages such as "GNSS status has deteriorated, so driving will be paused", "Parking brake pedal is applied", "Driving will be paused", "Driving will be paused because an abnormality has been detected", "Obstacle detected and paused", and "Please check for safety" are displayed.

[0145] For example, if the battery level is low, a message such as "Please replace the battery" is displayed. For example, if teaching is in progress, a message such as "Sub-route created" or "Acquired points deleted" is displayed. For example, if mode switching is in progress, a message such as "Switched to manual driving", "Switched to automatic driving", "Switched to remote control mode", or "Switched to teaching mode" is displayed.

[0146] <Example of display on the aircraft side display> Display examples of the machine-side display unit 86a will be described with reference to Figures 17 to 28. Figures 17 to 28 are diagrams showing display examples of the screen on the machine-side display unit 86a. The seedling transplanter 1 (see Figures 1 and 2) also displays various information on the machine-side display unit 86a of the operation unit 41 (see Figures 1 and 2).

[0147] As shown in FIG. 17, the aircraft side display unit 86a displays a display icon 8601 of the GNSS level, which is a positioning means, a display icon 8602 of the robot mode (automatic mode) switching state, a display icon 8603 of the remote control connection state, a display icon 8604 of the work area information acquisition state, a mode display icon 8605, and a mode state display icon 8606.

[0148] The machine-side display unit 86a also displays adjusted values ​​(information) of each unit, including the seedling planting unit 4 (see Figs. 1 and 2), during execution of any of the automatic mode, remote control mode, and manual mode. Specifically, the machine-side display unit 86a displays the speed of the traveling vehicle body 2 (see Figs. 1 and 2), the seedling picking amount and seedling planting depth in the seedling planting unit 4, the hydraulic sensitivity in the seedling planting unit 4, and the height of the soil leveling rotor 63 (see Fig. 1), which are adjusted during execution of any of the automatic mode, remote control mode, and manual mode. Furthermore, the machine-side display unit 86a displays the number of times the seedling mats are fed sideways in the seedling planting unit 4, and the number of seedling mats required per 10 ares. As shown in Figure 17, the machine side display unit 86a displays the number of seedling mats required per 10 ares at the upper left side, the seedling removal amount at the seedling planting section 4 at the middle left side, the number of times the seedling mats are fed sideways at the seedling planting section 4 at the lower left side, the seedling planting depth at the seedling planting section 4 at the upper right side, the height of the ground leveling rotor 63 at the middle right side, and the hydraulic sensitivity at the seedling planting section 4 at the lower right side.

[0149] In this way, the machine-side display unit 86a displays the adjusted values ​​of each part including the seedling planting unit 4 during execution of any of the automatic mode, the remote control mode, and the manual mode, so that the operator can easily grasp these adjusted values. This can improve workability. In addition, the machine-side display unit 86a displays the values ​​of the speed of the traveling vehicle body 2, the seedling picking amount and planting depth in the seedling planting unit 4, the hydraulic sensitivity in the seedling planting unit 4, and the height of the soil leveling rotor 63, which are adjusted during execution of any of the automatic mode, the remote control mode, and the manual mode, so that the operator can easily grasp these adjusted values. This can improve workability.

[0150] In addition, the machine side display unit 86a displays the number of times the seedling mats are fed sideways in the seedling planting section 4 and the number of seedling mats required per 10 ares, so that the worker can easily grasp this information. This improves workability.

[0151] Furthermore, as shown in FIG. 18, when the connection with the remote control device 160 (see FIG. 7) is released, the machine-side display section 86a does not display (displays in a darkened state) the remote control connection status display icon 8603.

[0152] In addition, when the automatic mode is being executed, as shown in FIG. 19, the aircraft side display unit 86a displays the mode display icon 8605, and when the automatic mode is not being executed, as shown in FIG. 20, the mode display icon 8605 is displayed in a darkened state and the display content is changed.

[0153] Also, the machine-side display unit 86a displays the work area information acquisition state display icon 8604 when area determination information (work area information) has been acquired as shown in Fig. 21, and does not display the work area acquisition state display icon 8604 (displays it darkened) when area determination information (work area information) has been acquired as shown in Fig. 22. Furthermore, the machine-side display unit 86a changes the display content of the work area information acquisition state display icon 8604 and displays it when area determination information (work area information) indicating that the field is irregularly shaped has been acquired as shown in Fig. 23.

[0154] In addition, as shown in FIG. 24, when the traveling vehicle body 2 is traveling autonomously, that is, when the automatic mode is being executed, the vehicle body side display unit 86a displays a mode display icon 8605, and as shown in FIG. 25, when the traveling vehicle body 2 is in a state where autonomous traveling is possible, the mode display icon 8605 is displayed with its display content changed, and as shown in FIG. 26, when the traveling vehicle body 2 is in a state where autonomous traveling is not possible, the mode display icon 8605 is displayed in a darkened state and the display content is changed.

[0155] The machine-side display unit 86a also displays a screen for adjusting the seedling amount as shown in Fig. 27. The screen for adjusting the seedling amount as shown in Fig. 27 is displayed by switching from the main screen as shown in Fig. 17, etc. The machine-side display unit 86a also displays a screen for adjusting the planting depth as shown in Fig. 28. The screen for adjusting the planting depth as shown in Fig. 28 is displayed by switching from the main screen as shown in Fig. 17, etc.

[0156] <Another example of obtaining work area information> Fig. 29 is a diagram showing another example of acquiring work area information in the teaching mode. As shown in Fig. 29, in another example of acquiring work area information in the teaching mode, the control device 100 (see Fig. 3) erases the latest information (position information Pa4) one by one from among the position information Pa1 to Pa4 of points acquired in the process of recognizing the work area by operating the remote control device 160 (see Fig. 7) or the seedling transplanter 1 side.

[0157] Until now, if a mistake was made in recognizing the work area while it was being recognized, there was no way to correct it and the only option was to reset the acquired work area information, but by configuring it in this way, it becomes possible to make corrections during the work area recognition work.

[0158] The position information Pa4 of the point acquired in the process of recognizing the work area may be erased by simultaneously pressing at least two or more operation buttons on the remote control device 160. By configuring in this way, it is possible to prevent erroneous operation. Also, for example, it is possible to configure the device to display a confirmation information screen of the position information of the point on the machine side display unit 86a (see FIG. 3) by pressing a dedicated button on the seedling transplanter 1 side, and to erase the position information Pa4 of the point acquired in the process of recognizing the work area using a jog dial or the like when the confirmation information screen is displayed. By configuring in this way, it is possible to prevent erroneous operation.

[0159] <Standing steering assist mechanism> Figures 30 and 31 are diagrams showing the standing steering assist mechanism. In the seedling transplanter 1, for example, when seedlings are loaded in the seedling tank 53 (see Figures 1 and 2), an operator may steer while standing on the floor step 33. As shown in Figure 30, by providing a recess 33a on the floor step 33 into which the operator W can place his / her feet, the operator W who stands while steering can brace himself / herself on the floor step 33, thereby improving safety.

[0160] In addition, as shown in Figure 31, by providing a guard portion 33b that is erected on the floor step 33 and protects the waist of the worker W at its tip, the worker W can be prevented from being thrown off the machine body (seedling transplanter 1), thereby increasing safety.

[0161] According to the embodiment described above, the following work vehicle 1 is realized.

[0162] (1) A work vehicle 1 comprising a traveling body 2 having traveling wheels including a steering wheel (front wheels 10, rear wheels 11) and capable of traveling within a field, a steering device 95 that steers and drives the steering wheels (front wheels 10), and a control device 100 that controls the steering device 95 and causes the traveling body 2 to travel autonomously, the control device 100 having a first mode in which the traveling body 2 can travel autonomously and a second mode in which the traveling body 2 can be manually driven by an operator, and in the first mode having an automatic mode in which the steering device 95 is automatically controlled, and a remote control mode in which the steering device 95 is controlled based on remote operation by the operator.

[0163] Such a work vehicle 1 has an automatic mode and a remote control mode in a first mode in which the traveling body 2 can travel autonomously, so that, for example, the traveling body 2 can be moved in the remote control mode from outside the field to a work start point within the field. This improves workability by eliminating the hassle of a worker having to manually (operate the machine) move the traveling body 2 and then walk through the field to get out of the field.

[0164] (2) In the above (1), the work vehicle 1 is provided with a remote control device 160 that is operated by an operator when a remote operation mode is being executed and transmits an operation signal to the control device 100, and the control device 100 stops the autonomous traveling of the traveling body 2 while the remote operation mode is being executed and only accepts operation of the vehicle body by an operation signal from the remote control device 160.

[0165] In addition to the effect of (1) above, such a work vehicle 1 enables remote control by the remote control device 160 in the remote control mode. In this case, since autonomous traveling is stopped, unintended traveling of the traveling body 2 during remote operation by the remote control device 160 can be prevented, thereby improving safety.

[0166] (3) In the above (1) or (2), the control device 100, in the automatic mode, causes the traveling body 2 to travel by repeatedly moving straight and turning along a predetermined planned traveling route L, and even while the automatic mode is being executed, when the traveling body 2 reaches a point where it starts to turn, the work vehicle 1 transitions to a remote control mode.

[0167] With such a work vehicle 1, in addition to the effects of (1) or (2) above, even when the automatic mode is being executed, the traveling body 2 switches to remote control mode when approaching a ridge, so that autonomous traveling stops at the edge of the ridge, making it possible, for example, to replenish work materials at the edge of the ridge.

[0168] (4) In any one of (1) to (3) above, the work vehicle 1 is provided with a remote control device 160 that is operated by an operator when a remote operation mode is executed and transmits an operation signal to the control device 100, and when transitioning to the remote operation mode, the control device 100 transitions to the remote operation mode based on the operation signal from the remote control device 160.

[0169] According to such a work vehicle 1, in addition to any one of the effects (1) to (3) above, by switching to the remote operation mode by operating the remote control device 160, erroneous operation can be suppressed, thereby improving safety.

[0170] (5) In any one of (1) to (4) above, a work vehicle 1 comprising a remote control device 160 that is operated by an operator when a remote operation mode is being executed and that transmits an operation signal to the control device 100, and a work implement 4 that is attached to the traveling body 2 and performs work in a field, the work implement 4 having a ground leveling rotor 63 that levels the soil surface in the field and is a seedling planting unit 4 that plants seedlings in the soil surface leveled by the ground leveling rotor 63, and the control device 100 controls the seedling planting unit 4 and, when the automatic mode is being executed, operates each unit including the seedling planting unit 4 based on an operation signal from the remote control device 160 to the control device.

[0171] According to such a work vehicle 1, in addition to any one of the effects (1) to (4) above, remote operation from the remote control device 160 can be accepted even in the automatic mode, and each section including the seedling planting section 4 can be operated remotely while the automatic mode is being executed, thereby improving workability.

[0172] (6) In the work vehicle 1 described above in (5), the control device 100 does not accept an operation signal relating to the steering device 95 among operation signals sent to the control device from the remote control device 160 while the automatic mode is being executed.

[0173] According to such a work vehicle 1, in addition to the effect of (5) above, while the automatic mode is being executed, no operation signal related to the steering device 95 from the remote control device 160 is accepted, i.e., no operation of the steering device 95 from the remote control device 160 is accepted, thereby preventing erroneous operation during driving.

[0174] (7) In the above (5) or (6), the control device 100 performs various adjustments including starting, stopping and pausing the traveling body 2, the speed of the traveling body 2, the amount of seedlings and planting depth in the seedling planting section 4, the hydraulic sensitivity in the seedling planting section 4, turning the seedling planting section 4 on and off, and the height of the soil leveling rotor 63, in response to operation signals sent from the remote control device 160 to the control device while the automatic mode is being executed, of the work vehicle 1.

[0175] According to such a work vehicle 1, in addition to the above-mentioned effects (5) and (6), various adjustments can be made remotely while the automatic mode is being executed, thereby improving workability.

[0176] (8) In (7) above, in the automatic mode, the control device 100 causes the traveling body 2 to travel straight and turn repeatedly along a predetermined planned traveling route L, and even while the automatic mode is being executed, when the traveling body 2 reaches a point where it starts turning, the control device 100 switches to a remote control mode, and when the traveling body 2 reaches a point where it ends turning while the automatic mode is being executed, the control device 100 returns the seedling picking amount and planting depth in the seedling planting unit 4, the hydraulic sensitivity in the seedling planting unit 4, the on / off of the seedling planting unit 4, and the height of the soil leveling rotor 63 to predetermined reference values, the work vehicle 1.

[0177] According to such a work vehicle 1, in addition to the effect of (7) above, if the straight-line movement and turning of the vehicle are considered as one process, by returning the value changed in the previous process to the reference value when moving to the next process, various adjustments according to the next process can be easily made, thereby improving workability.

[0178] (9) In the above (8), the work vehicle 1 is provided with a control unit 41 into which a worker rides, a display unit 86 arranged on the control unit 41, and a setting unit 87 arranged on the control unit 41, the display unit 86 displays a setting screen for reference values, and the setting unit 87 accepts setting operations for the reference values ​​by the worker.

[0179] With such a work vehicle 1, in addition to the effect of (8) above, the seedling removal amount and planting depth in the seedling planting section 4, the hydraulic sensitivity in the seedling planting section 4, the on / off of the seedling planting section 4, and the reference values ​​for the height of the ground leveling rotor 63 can be set using the control section 41, making setting operations easy.

[0180] (10) In any one of (5) to (9) above, the control device 100 performs various adjustments including steering the steering wheels (front wheels 10) using the steering device 95, moving the traveling body 2 forward, backward and stopping, and turning the seedling planting unit 4 on and off, in response to an operation signal sent from the remote control device 160 to the control device while the remote operation mode is being executed, of the work vehicle 1.

[0181] According to such a work vehicle 1, in addition to any one of the effects (5) to (9) above, various adjustments can be made remotely while the remote operation mode is being executed, thereby improving workability.

[0182] (11) In any one of (1) to (10) above, the control device 100 has, in the second mode, a manual mode in which an operator manually operates the vehicle including steering and gear shifting, and the control device 100 further has a teaching mode in which field information is acquired by causing the traveling body 2 to travel in the manual mode within the field where work is to be performed, and if it is determined in the teaching mode that the field where work is to be performed is not rectangular, the work vehicle 1 is caused to travel in an area where autonomous traveling by the traveling body 2 is possible in the automatic mode, and then transitions to the manual mode.

[0183] According to such a work vehicle 1, in addition to any one of the effects (1) to (10) above, when the field on which work is to be performed is not rectangular (for example, an irregularly shaped field such as an L-shape), the automatic mode is executed in rectangular areas where autonomous travel is possible by the traveling body 2, and the manual mode is executed in areas other than the areas where autonomous travel is possible by the traveling body 2. This makes it possible to efficiently perform work even on an irregularly shaped field by combining the automatic mode and the manual mode.

[0184] (12) In any one of (1) to (11) above, a work vehicle 1 is provided with a remote control device 160 that is operated by an operator when a remote operation mode is being executed and that transmits an operation signal to the control device 100, the running wheels include a pair of left and right front wheels 10 and a pair of left and right rear wheels 11, the control device 100 has a four-wheel drive mode in which the pair of left and right front wheels 10 and the pair of left and right rear wheels 11 are both driven, and when the automatic mode is being executed, the work vehicle 1 transitions to the four-wheel drive mode based on the operation signal from the remote control device 160.

[0185] According to such a work vehicle 1, in addition to any one of the effects (1) to (11) above, for example, when the traveling body 2 becomes stuck in deep soil while the automatic mode is being executed, the traveling body 2 can be extricated from the deep soil by executing the four-wheel drive mode through the operation of the remote control device 160 and forcibly switching to four-wheel drive.

[0186] 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]

[0187] 1 Work vehicle (seedling transplanter (field work machine)) 2 Running vehicle 4 Work equipment (seedling planting section) 10 Driving wheels (steering wheels, front wheels) 11 Running wheels (rear wheels) 41 Control Unit 63 Land leveling rotor 86 Display section 87 Setting section 95 Steering device 100 Control device 160 Remote control device L Planned driving route

Claims

1. A traveling vehicle body having traveling wheels including steering wheels and capable of traveling in a farm field; a steering device that steers and drives the steering wheels; A control device that controls the steering device and causes the traveling vehicle body to travel autonomously, A field working machine that supplies agricultural materials to a field as a ground work by repeating automatic reciprocating travel along a target travel route, The agricultural materials are replenished along at least one of the outer periphery edges of the field, and the field work machine is equipped with a remote device that can remotely control the traveling body from a position spaced from the traveling body, and the traveling body is automatically stopped at the edge of a ridge to replenish the agricultural materials, and a ridge-pushing operation to pull the materials closer to the ridge can be performed by the remote device.

2. A remote device capable of remote control transmits an operation signal to the control device, The field work machine according to claim 1, characterized in that an operation signal from the remote device to the control device can start, stop, and temporarily halt the traveling vehicle body during the autonomous traveling, adjust the speed of the traveling vehicle body during the autonomous traveling, and turn on and off the supply of agricultural materials during the autonomous traveling.

3. The vehicle has a ground leveling device that levels the soil surface in a farm field, and is equipped with a work device that supplies agricultural materials to the soil surface leveled by the ground leveling device, and during the autonomous traveling, each part including the work device can be operated based on an operation signal sent from the remote device to the control device, During the autonomous traveling, among operation signals from the remote device to the control device, an operation signal related to the steering device is not accepted, The control device has a manual driving function in which an operator manually operates the vehicle, including a steering operation and a gear shift operation, The control device further has a teaching function of acquiring field information by manually driving the traveling vehicle body in a field where work is to be performed, The field work machine according to claim 1 or 2, characterized in that if the teaching function determines that part of the field where work is to be performed cannot be driven autonomously, the autonomous driving involves driving the vehicle body through an area where autonomous driving is possible, and then transitioning to the manual driving.

Images