Work vehicle

Abstract

To provide a work vehicle which executes automatic travelling according to a field.SOLUTION: A work vehicle performs work in a field. The work vehicle includes: a travelling vehicle body; an antenna for receiving a satellite signal from a satellite; a satellite positioning device for detecting the position of the travelling vehicle based on the satellite signal; and a control device for executing the work according to a work instruction value, based on the position of the travelling vehicle, and a work plan map in which the work instruction value is associated with a section obtained by partitioning the field in a mesh-like manner. The section is set according to machine information of the work vehicle.SELECTED DRAWING: Figure 3

Description

[Technical field]

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

[0002] Conventionally, there is known a work vehicle that performs work in a field by using a work map for the field (see, for example, Patent Document 1). The work map is created by dividing the field into a mesh shape. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-162439 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, since the above-mentioned work map is not created in accordance with the machine information of the work vehicle, there is room for improvement with respect to the work of the work machine when working in the field.

[0005] The present invention has been made in consideration of the above, and has an object to provide a work vehicle with improved workability in farm fields. [Means for solving the problem]

[0006] In order to solve the above problems and achieve the object, a work vehicle (1) according to one aspect of the embodiment performs work in a field. The work vehicle (1) includes a traveling body (2), an antenna (151) that receives satellite signals from a satellite, a satellite positioning device (150) that detects the position of the traveling body (2) based on the satellite signals, and a control device (100) that executes work according to work instruction values ​​based on the position of the traveling body (2) and a work plan map in which work instruction values ​​are linked to sections that divide the field into a mesh shape. The sections are set according to vehicle information of the work vehicle (1). Effect of the Invention

[0007] According to one aspect of the embodiment, the work vehicle can improve workability in a farm field. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a side view showing a work vehicle. [Diagram 2] FIG. 2 is a plan view showing the work vehicle. [Diagram 3] FIG. 3 is a diagram showing the relationship between a farm field divided into meshes and a seedling transplanter. [Figure 4] FIG. 4 is a block diagram showing a control system centered on the control device of the seedling transplanter. [Diagram 5] FIG. 5 is a schematic block diagram of the controller. [Figure 6] FIG. 6 is a diagram showing a method for setting a working area by teaching running according to the embodiment. [Figure 7] FIG. 7 is a flowchart illustrating the fertilizer supply process according to the embodiment. [Figure 8] FIG. 8 is a diagram showing an example in which a bad road is set (part 1). [Figure 9] FIG. 9 is a diagram showing an example in which a bad road is set (part 2). [Figure 10] FIG. 10 is a diagram showing a state in which the bad road setting has been cancelled. [Figure 11] FIG. 11 is a diagram showing a display example of the monitor (part 1). [Figure 12] FIG. 12 is a diagram showing a display example of the monitor (part 2). [Figure 13] FIG. 13 is a diagram showing a display example of the monitor (part 3). [Figure 14] FIG. 14 is a diagram showing a display example of the monitor (part 4). [Figure 15] FIG. 15 is a diagram showing a display example of the monitor (part 5). [Figure 16]FIG. 16 is a diagram showing a display example of the monitor (part 6). [Figure 17] FIG. 17 is a diagram showing a display example of the monitor (part 7). DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

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

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

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

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

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

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

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

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

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

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

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

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

[0022] The rotational power of the engine 30 is transmitted to a hydraulic pump (not shown). The hydraulic pressure generated by the hydraulic pump is supplied to the HST 14, a power steering mechanism 88 (see FIG. 4) of the handle 35, the lift cylinder 25, etc.

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

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

[0025] A side clutch 44 (see FIG. 4) that switches on and off the power transmission to the left and right drive shafts 42 is disposed upstream in the transmission direction from the left and right drive shafts 42. As shown in FIG. 1, a side clutch pedal 43a that switches on and off the left and right side clutches 44 is provided at the lower front side of the cockpit 41, on one of the left and right sides.

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

[0027] A bonnet 39 having an operation panel 38 arranged on top thereof for operating each section is provided on the upper front side of the traveling body 2. The operation panel 38 is provided with a monitor 86 (see FIG. 4) and the like.

[0028] In addition, the bonnet 39 is provided with a handlebar 35 for steering the traveling body 2, a speed change operation lever 36 for operating the HST 14 and the seedling planting unit 4, and an auxiliary speed change operation lever 37 for operating the auxiliary speed change mechanism 16. By operating the speed change operation lever 36, the traveling body 2 can be switched between forward and reverse.

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

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

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

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

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

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

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

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

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

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

[0039] The fertilizer application device 5 supplies fertilizer to the field based on a work plan map. The work plan map is a map in which the field is divided into mesh-like sections and fertilizer application amounts (work instruction values) are linked to each section. The fertilizer application device 5 is controlled by the control device 100, which will be described later, and supplies fertilizer to the field based on the work plan map. The amount of fertilizer to be applied to the field is set based on the past growth conditions of seedlings, etc.

[0040] Here, an example of supplying fertilizer to a field based on a work plan map will be described, but the present invention is not limited to this. The seedling transplanter 1 may supply fertilizer to a field or plant seedlings based on a work plan map.

[0041] In the work plan map, the field is divided into square sections. The sections are set according to the machine information of the seedling transplanter 1. Specifically, the sections are set so that the width of the sections is equal to the width of the seedling transplanter 1.

[0042] As shown in Fig. 3, the work plan map divides the field F into a number of sections G according to the width W of the seedling transplanter 1. The size (width) L of the section G is equal to the width W of the seedling transplanter 1. Fig. 3 is a diagram showing the relationship between the field F divided into meshes and the seedling transplanter 1. In Fig. 3, differences in the amount of fertilizer in the sections G are shown by different types of hatching, and sections G with the same amount of fertilizer are shown by the same hatching. Fig. 3 shows an example of a field F in which three different amounts of fertilizer are set, but the present invention is not limited to this.

[0043] For example, if the width of the seedling transplanter 1 is 2.4 m, the field is divided into sections of 2.4 m x 2.4 m on the work plan map. Also, if the width of the seedling transplanter 1 is 2.0 m, the field is divided into sections of 2.0 m x 2.0 m on the work plan map.

[0044] The section of the work plan map is set with the position in the farm field where the seedling transplanter 1 starts planting seedlings as its starting point.

[0045] A section of the work plan map may be set to have a preset position as its starting point. For example, the starting point may be set to be the intersection of the southernmost latitude and the westernmost latitude in the field.

[0046] The sections of the work plan map and the fertilizer amounts (work instruction values) associated with the sections may be created by an external device or by the seedling transplanter 1. The work plan map is stored in the memory unit 110b of the control device 100 described later.

[0047] In addition, position information of each section of the work plan map is set. The position information of the section includes position information on a virtual line passing through the center of the section. Specifically, the position information of the section includes position information on a virtual line passing through the center of the section along the moving direction (front-rear direction) of the seedling transplanter 1.

[0048] 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.

[0049] In addition, below the seedling planting section 4, a ground leveling rotor 63 for leveling unevenness in the field is provided ahead of the float 62. Driving force is transmitted to the ground leveling rotor 63 from the rear wheel gear case 11a on the other left or right side via a rotor transmission shaft 63a.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] As shown in FIG. 1, the seedling transplanter 1 further includes a position detection device (satellite positioning device) 150 and an antenna 151.

[0054] The antenna 151 receives satellite signals, for example, from a GPS (Global Positioning System) satellite. The antenna 151 is attached, for example, to a mounting stay 59, and disposed above the traveling vehicle body 2. The antenna 151 is provided with an inertial positioning unit (angular velocity detection device) 152 (IMU: Internal Measurement Unit). The inertial positioning unit 152 detects the acceleration, inclination, and angular velocity of the traveling vehicle body 2.

[0055] The position detection device 150 detects the current position and orientation of the seedling transplanter 1. That is, the position detection device 150 detects the position of the traveling body 2 and the orientation of the traveling body 2. The position detection device 150 detects the position of the traveling body 2 and the orientation of the traveling body 2 based on a satellite signal received by the antenna 151.

[0056] Next, the control system of the seedling transplanter 1 will be described with reference to Fig. 4. Fig. 4 is a block diagram showing the control system centered on the control device 100 of the seedling transplanter 1. In Fig. 4, the seedling transplanter 1 is capable of controlling each part by electronic control, and is equipped with a control device (hereinafter referred to as a controller) 100 that controls each part.

[0057] 5, the controller 100 includes a processing unit 110a having a CPU (Central Processing Unit) and the like, a storage unit 110b such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input / output unit 110c, which are connected to each other so that signals can be exchanged between them.

[0058] The memory unit 110b stores a computer program for controlling the seedling transplanter 1. The memory unit 110b stores a work plan map. The controller 100 performs each function by reading out the computer program stored in the memory unit 110b.

[0059] Returning to Figure 4, the controller 100 is connected to, for example, actuators such as a throttle motor 80, hydraulic control valves 81, 82, a planting clutch actuation solenoid 83, a side clutch actuation solenoid 84, an HST motor 85, a line drawing marker lifting motor 87, a steering motor 95, and a differential lock switching motor 96.

[0060] The throttle motor 80 increases or decreases the rotation speed of the output shaft of the engine 30 by operating a throttle that adjusts the amount of intake air of the engine 30. The hydraulic control valve 81 controls the extension and contraction operation of the lift cylinder 25. The hydraulic control valve 82 controls the power steering mechanism 88. The power steering mechanism 88 changes the direction of the front wheels 10 that are the steering wheels of the traveling body 2. The planting clutch operating solenoid 83 operates the planting clutch 27a.

[0061] The side clutch actuation solenoid 84 actuates the side clutch 44 which switches the state of power transmission to the rear wheels 11 (see FIG. 1). The side clutch 44 is provided on each of the left and right rear wheels 11, and two side clutch actuation solenoids 84 are provided corresponding to each side clutch 44.

[0062] 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 motor 95 is a motor that drives the handle 35, which is a steering device that adjusts the steering amount (steering angle) of the front wheels 10 (see FIG. 1) when automatic turning control is performed. The steering motor 95 rotates the handle 35. The line drawing marker lifting motor 87 lifts and lowers the line drawing marker 65.

[0063] The differential lock switching motor 96 is a motor that switches between operation and deactivation of a differential lock mechanism 97 (hereinafter referred to as the differential lock mechanism) that rotates the left and right running wheels, specifically the left and right front wheels 10, at the same rotational speed. When the differential lock mechanism 97 is engaged, the left and right running wheels rotate at the same rotational speed.

[0064] The controller 100 is connected with detection devices such as a rotation speed sensor 90, a steering amount sensor 91, a depth sensor 92, a position detection device 150, and an inertial positioning unit 152. Two rotation speed sensors 90 are provided corresponding to the left and right rear wheels 11, and detect the rotation speeds of the left and right rear wheels 11, respectively. The rotation speed sensors 90 may detect the rotation speeds of the left and right front wheels 10.

[0065] The steering amount sensor 91 detects the operation position of the steering wheel 35, which is a steering device, i.e., the steering amount (steering angle) of the front wheels 10. The steering amount sensor 91 is provided, for example, on a shaft connected to a pitman arm. The steering amount is detected in both the left and right directions, with a value when the steering wheel 35 is in a preset straight-ahead position being used as a reference value.

[0066] The depth sensor 92 detects the depth of the field. The depth sensor 92 measures the depth to the water surface or the soil surface by, for example, reflecting ultrasonic waves or laser light.

[0067] The detection device may include a fertile soil sensor and a water temperature sensor. The fertile soil sensors are provided, for example, on the left and right front wheels 10, and detect the fertilizer concentration in the field. The fertile soil sensors have electrodes and detect the fertility according to the current values ​​measured by the two fertile soil sensors. The water temperature sensor detects the temperature of the water in the field.

[0068] In addition, signals are input to the controller 100 as operation signals from the speed change operation lever 36, the sub-speed change operation lever 37, the autonomous driving changeover switch 46, the planting unit lifting / lowering switch 47, the automatic straight-line changeover switch 45, and the automatic turning changeover switch 48, etc.

[0069] The autonomous driving changeover switch 46 is a switch for switching whether or not to execute autonomous driving. Specifically, the autonomous driving changeover switch 46 is a switch for switching the driving mode between a manual driving mode and an autonomous driving mode (automatic driving mode). The manual driving mode is a mode in which the vehicle travels by manual operation of an operator. The autonomous driving mode is a mode in which the vehicle travels automatically without manual operation of an operator.

[0070] For example, when the autonomous driving changeover switch 46 is "ON", the driving mode is set to the autonomous driving mode. When the autonomous driving changeover switch 46 is "OFF", the driving mode is set to the manual driving mode. When the autonomous driving changeover switch 46 is turned "ON", the automatic straight-line driving changeover switch 45 and the automatic turning changeover switch 48 are turned "ON". Note that even if the automatic straight-line driving changeover switch 45 and the automatic turning changeover switch 48 are once turned "ON", they can be changed to "OFF" by the driver's operation.

[0071] The planting section lifting switch 47 is a switch for switching whether to lift or lower the seedling planting section 4. The planting section lifting switch 47 is changed to the "up" and "down" positions.

[0072] When the planting unit lift switch 47 is in the "up" position, the seedling planting unit 4 rises to a predetermined non-working position and the seedling planting device 55 stops, resulting in a non-working state. When the planting unit lift switch 47 is in the "down" position, the seedling planting unit 4 descends to a predetermined working position and the seedling planting device 55 operates, resulting in a working state. In other words, the planting unit lift switch 47 is a switch that detects the working state of the seedling planting unit 4. Note that a separate switch that detects the working state of the seedling planting unit 4 may be provided.

[0073] The automatic straight-line driving changeover switch 45 is a switch that switches whether or not automatic straight-line driving is enabled. When the automatic straight-line driving changeover switch 45 is set to "ON," a driving assist function, which will be described later, is enabled, and automatic straight-line driving can be executed. When the automatic straight-line driving changeover switch 45 is set to "OFF," the driving assist function is disabled, and automatic straight-line driving cannot be executed.

[0074] The automatic turning changeover switch 48 is a switch that switches whether or not automatic turning is enabled. When the automatic turning changeover switch 48 is set to "ON", a turning assist function, which will be described later, is enabled, and automatic turning can be performed. When the automatic turning changeover switch 48 is set to "OFF", the turning assist function is disabled, and automatic turning cannot be performed. When the automatic turning changeover switch 48 is set to "OFF", automatic turning is not performed even if the conditions for performing automatic turning are met.

[0075] The controller 100 switches the driving mode between a manual driving mode and an autonomous driving mode in response to the operation of the autonomous driving changeover switch 46, the automatic straight-line driving changeover switch 45, and the automatic turning changeover switch 48.

[0076] Furthermore, information relating to the current position of the traveling vehicle body 2 and the like is input to the controller 100 from the position detection device 150. The controller 100 executes an autonomous traveling mode in which the traveling vehicle body 2 performs work while traveling automatically.

[0077] Furthermore, the controller 100 executes work according to the work instruction value based on the position of the traveling vehicle body 2 and the work plan map. Specifically, the controller 100 controls the fertilizer applicator 5 to supply the fertilizer amount associated with the section in which the current traveling vehicle body 2 exists in the work plan map to the field.

[0078] Moreover, various information is input to the controller 100 from a remote control device 170 (hereinafter referred to as the "remote control"). For example, various information is input to the controller 100 from the remote control 170 via a receiver 180 (see FIG. 1). The receiver 180 is attached, for example, to a mounting stay 59 (see FIG. 1) and disposed above the front side of the traveling vehicle body 2. Note that a plurality of receivers 180 may be provided. The mounting stay 59 is attached to the traveling vehicle body 2.

[0079] The remote control 170 can remotely control the seedling transplanter 1. The remote control 170 may be a terminal device such as a smartphone. The remote control 170 transmits a control signal according to an operation by an operator. The remote control 170 is communicably connected to the controller 100 by short-range wireless communication such as Wi-fi (registered trademark) or BLE (Bluetooth (registered trademark) Low Energy), but is not limited thereto, and may be communicatively connected via a communication network or the like in addition to or instead of the short-range wireless communication.

[0080] There may be provided a plurality of remote controls 170. That is, the controller 100 may be capable of acquiring position information of each remote control 170 from the plurality of remote controls 170.

[0081] Here, the autonomous driving (automatic driving) in the field by the seedling transplanter 1 will be described. The controller 100 has an autonomous driving mode (automatic driving mode) in which the steering motor 95 (see FIG. 4) is controlled to operate the handlebars 35 (see FIG. 4) while feeding back the steering amount of the front wheels 10 (see FIG. 1). The autonomous driving mode includes an automatic straight-line mode and an automatic turning mode.

[0082] The automatic straight-line mode is a mode in which the steering motor 95 is controlled so that the traveling body 2 travels straight along a preset straight-line route. In the automatic straight-line mode, the traveling body 2 travels straight without the operation of the driver while the seedling planting unit 4 plants seedlings in the field. In other words, the traveling assist function for transplanting seedlings in the field while automatically moving the traveling body 2 straight is enabled, and the traveling assist function is executed.

[0083] In the automatic turning mode, when the traveling body 2 reaches a predetermined planting end position, the seedling planting unit 4 stops planting the seedlings, and the steering motor 95 is controlled to turn the traveling body 2 along a preset turning path. The predetermined planting end position is set, for example, based on the travel distance of the process where the work was performed, position information related to the process where the work was performed, etc.

[0084] In the automatic turning mode, for example, the seedling planting unit 4 is raised and put into a non-working state, and the traveling body 2 turns automatically without the operation of the driver. In other words, the turning assist function for turning the traveling body 2 is enabled without the seedling planting unit 4 planting seedlings, and the turning assist function is executed.

[0085] As shown in Fig. 6, a working area in which the autonomous driving mode is executed is set by performing teaching travel, in which the robot travels along three sides La to Lc of the field by operation of the operator. Fig. 6 is a diagram showing a method for setting a working area by teaching travel according to the embodiment.

[0086] For example, when a working area setting button (not shown) is operated to start traveling, position information of the traveling body 2 is recorded as the start point of side La, and the position information of the traveling body 2 while traveling is recorded. Then, when the handlebars 35 are turned by the operator by a predetermined turning angle or more, the end point of side La is recorded and side La is set. In addition, position information of the traveling body 2 at the start point of side Lb is recorded. The predetermined turning angle is a preset value, and is an angle at which it can be determined that the traveling body 2 has turned along the bank.

[0087] Furthermore, when the steering wheel 35 is rotated by the driver by a predetermined turning angle or more after the traveling vehicle body 2 has traveled straight, the end point of the side Lb is recorded and the side Lb is set. In addition, the position information of the traveling vehicle body 2 at the start point of the side Lc is recorded.

[0088] When the working area setting button is operated after the traveling body 2 has traveled straight, the position information of the traveling body 2 is recorded as the end point of side Lc, and side Lc is set. The working area is set by setting the three sides La to Lc. In teaching traveling, seedlings are planted in the field by the seedling planting unit 4 while the traveling body 2 is traveling straight. Teaching traveling is a perimeter process in which planting work is performed along the perimeter of the field. The working area is an area in which seedlings are planted in the field by the reciprocating process in which the traveling body 2 travels back and forth.

[0089] The work area set by the teaching run may be set as the range in which the section is set on the work plan map. That is, the range in which the section is set may be set by performing teaching work in the field. In this case, the section is set based on the point where the seedling transplanter 1 starts planting work in the work area set by the teaching run.

[0090] Also, for example, if the seedling transplanter 1 starts planting seedlings from the southernmost latitude and the westernmost latitude in the work area, the division is set based on the intersection of the southernmost latitude and the westernmost latitude of the work area.

[0091] In a field in which a work area is set, an autonomous driving mode can be executed. For example, in a field, automatic straight travel is possible along a straight travel path parallel to side La or side Lc. In addition, automatic turning is possible when turning near the ridge on the side Lb side. When turning near the side of the field that was not traveled in the teaching travel, i.e., the ridge on the side opposite side Lb, turning by remote control is possible. Note that automatic turning may be executed when turning near the ridge of the side of the field that was not traveled in the teaching travel.

[0092] Furthermore, even when the teaching drive is completed and the working area is set, if the drive mode is the manual drive mode, the seedling transplanter 1 can drive by the operator's operation and transplant seedlings into the field.

[0093] When the driving mode is the manual driving mode and the seedling transplanter 1 is driven by the operator, if the automatic straight driving changeover switch 45 is turned "ON", the seedling transplanter 1 performs automatic straight driving. In other words, the seedling transplanter 1 can perform the driving assist function even if the driving mode is the manual driving mode.

[0094] In addition, when the driving mode is the manual driving mode and the seedling transplanter 1 is driven by the operator, if the automatic turning changeover switch 48 is turned "ON", the seedling transplanter 1 can perform automatic turning. In other words, the seedling transplanter 1 can perform the turning assist function even if the driving mode is the manual driving mode.

[0095] Next, the fertilizer supply process according to the embodiment will be described with reference to Fig. 7. Fig. 7 is a flowchart illustrating the fertilizer supply process according to the embodiment.

[0096] The controller 100 reads out from the memory unit 110b a work plan map for the farm field in which work is to be performed by the seedling transplanter 1 (S100).

[0097] Next, the controller 100 detects the position of the traveling vehicle body 2 by the position detection device 150 (S101).

[0098] Next, the controller 100 sets the amount of fertilizer to be supplied to the field by the fertilizer applicator 5 based on the position of the traveling body 2 and the work plan map (S102). Specifically, the controller 100 reads out the amount of fertilizer associated with the section corresponding to the position of the traveling body 2, and sets the read amount of fertilizer as the amount of fertilizer to be supplied to the field.

[0099] Next, the controller 100 supplies the set amount of fertilizer to the farm field by the fertilizer application device 5 (S103).

[0100] Next, the controller 100 determines whether or not to end the work in the field (S104). For example, the controller 100 determines that the work in the field is to end when traveling in the work area of ​​the field is ended. When the controller 100 determines that the work in the field is to end (S104: Yes), it ends the current process. The controller 100 returns to step S101 and repeats the above process until it determines that the work in the field is not to end (S104: No).

[0101] The seedling transplanter 1 performs work in a field. The seedling transplanter 1 includes a traveling body 2, an antenna 151, a position detection device 150, and a controller 100. The antenna 151 receives a satellite signal from a satellite. The position detection device 150 detects the position of the traveling body 2 based on the satellite signal. The controller 100 executes the supply of fertilizer according to the amount of fertilizer linked to the section based on the position of the traveling body 2 and a work plan map in which the amount of fertilizer is linked to the section that divides the field into a mesh shape. The section is set according to the machine information of the seedling transplanter 1.

[0102] This allows the seedling transplanter 1 to supply fertilizer to the field according to the sections divided according to the machine information of the seedling transplanter 1. Therefore, the seedling transplanter 1 can supply fertilizer to the field based on the work plan map. Therefore, the seedling transplanter 1 can improve the workability of supplying fertilizer in the field.

[0103] In addition, the width of the plot on the work plan map is equal to the width of the seedling transplanter 1.

[0104] For example, when the seedling transplanter 1 travels across a plot in the traveling direction of the seedling transplanter 1, there is a risk that fertilizer cannot be supplied to the field according to the work plan map.

[0105] By setting the width of the sections in the work plan map to be equal to the width of the seedling transplanter 1, the seedling transplanter 1 can be prevented from traveling across sections in the traveling direction of the seedling transplanter 1, for example. Therefore, the seedling transplanter 1 can easily supply fertilizer to the field according to the fertilizer application amount linked to the section in the work plan map. Furthermore, the seedling transplanter 1 can improve workability in the field by supplying fertilizer to the field based on the work plan map in which the sections are divided to be equal to the width of the seedling transplanter 1.

[0106] The range in which the plots are to be established is set by carrying out a teaching operation in the field.

[0107] This allows a section equal to the width of the seedling transplanter 1 to be set in the work area set by the teaching work. Therefore, the seedling transplanter 1 can be prevented from traveling across sections in the work area in the traveling direction of the seedling transplanter 1. Therefore, the seedling transplanter 1 can easily supply fertilizer to the field in the work area according to the fertilizer application amount linked to the section of the work plan map.

[0108] The controller 100 stores in the memory unit 110b the section in which the traveling body 2 has been turned. When the seedling planting unit 4 has risen to a predetermined position, the controller 100 stores in the memory unit 110b the section in which the seedling planting unit 4 has risen to the predetermined position as the section in which the traveling body 2 has been turned.

[0109] For example, when the planting unit lifting / lowering switch 47 is changed to the "up" position, the controller 100 determines that the traveling body 2 has been turned.

[0110] In addition, the controller 100 may determine that a turning operation of the traveling body 2 has been performed when the value detected by a link sensor provided on the lower link arm 24 or the upper link arm 26 becomes a predetermined first threshold value capable of detecting the rise of the seedling planting section 4.

[0111] In addition, the controller 100 may determine that a turning operation of the traveling body 2 has been performed when the value of a float sensor that detects the position of the float 62 becomes a predetermined second threshold value capable of detecting the rise of the seedling planting section 4.

[0112] Furthermore, the controller 100 may determine that a turning operation of the traveling vehicle body 2 has been performed when the handlebar 35 has been operated by a turning angle equal to or greater than a preset turning angle.

[0113] In addition, the controller 100 may determine that a turning operation of the traveling vehicle body 2 is being performed when the gear shift operating lever 36 is changed to the reverse position, and store in the memory unit 110b the section where the gear shift operating lever 36 is changed to the reverse position as the section where the turning operation of the traveling vehicle body 2 was performed.

[0114] This allows the seedling transplanter 1 to store the turning position in association with the section of the work plan map.

[0115] The controller 100 may store the depth of the field detected by the depth sensor 92 in association with the section of the work plan map that corresponds to the position where the depth is detected.

[0116] This makes it possible to manage the field depth for each plot on the work plan map.

[0117] The controller 100 may calculate the average field depth for each section and update the average field depth for the entire field based on the average field depth for each section. For example, the controller 100 updates the average field depth for the entire field when seedlings are being planted in the field. That is, the controller 100 can update the initial field depth (value before work begins) while work is being performed in the field.

[0118] When the calculated field depth in the section is deeper than the average value, the controller 100 stores the section that is deeper than the average value.

[0119] This allows the seedling transplanter 1 to memorize, for example, the position of a field that has been disturbed by turning.

[0120] When the sections in which it is determined that the traveling body 2 has performed a turning operation are adjacent to each other for a predetermined number of sections (for example, three sections), the controller 100 determines that the section in which it is determined that the traveling body 2 has performed a turning operation is a ridge (headland).

[0121] This enables the seedling transplanter 1 to automatically set the ridge (headland).

[0122] When a predetermined number (for example, three or more) of consecutive sections in which it has been determined that the traveling body 2 has performed a turning operation are adjacent to each other, the controller 100 may determine that the section on the extension of the predetermined number or more consecutive sections is the edge of a field (headland).

[0123] This enables the seedling transplanter 1 to accurately set the ridge (headland).

[0124] The controller 100 may weight the degree of roughness of the field according to the number of times the seedling planting unit 4 is raised and lowered, the number of times the handle 35 is operated, and the number of times the switch is made to reverse. For example, if turning operations are performed many times in the field, the soil is roughened and the field becomes deeper. The controller 100 can automatically determine the degree of roughness of the field by weighting the degree of roughness of the field according to the number of times the seedling planting unit 4 is raised and lowered, the number of times the handle 35 is operated, and the number of times the switch is made to reverse.

[0125] For example, the seedling transplanter 1 corrects the depth of the soil leveling rotor 63 in accordance with the weighting of the degree of roughness of the field. For example, the soil leveling rotor 63 is operated by an electric motor.

[0126] This allows the seedling transplanter 1 to adjust the depth of the soil leveling rotor 63 according to the degree of roughness of the field.

[0127] When the traveling body 2 is traveling across the boundary between the sections along the traveling direction of the traveling body 2, the controller 100 calculates the amount of fertilizer to be applied according to the occupancy ratio of the seedling transplanter 1 to the two sections in the width direction of the traveling body 2. The controller 100 supplies fertilizer to the field according to the calculated amount of fertilizer to be applied. For example, when the seedling transplanter 1 is traveling across the boundary between the two sections and the boundary between the two sections is in the center of the width direction of the seedling transplanter 1, the controller 100 sets the amount of fertilizer to be applied as the average value of the amounts of fertilizer associated with each section.

[0128] As a result, the seedling transplanter 1 can supply an appropriate amount of fertilizer to each section even when traveling across sections.

[0129] When the traveling vehicle body 2 is traveling automatically across the boundary of a section along the traveling direction of the traveling vehicle body 2, the controller 100 calculates the amount of lateral deviation between the straight traveling path in the automatic traveling and the actual traveling path based on the position information of the traveling vehicle body 2. The controller 100 stores the average value of the calculated amount of lateral deviation for each section. The position information of the traveling vehicle body 2 is detected by the position detection device 150.

[0130] This allows the seedling transplanter 1 to memorize deviations from a straight travel path during automatic travel.

[0131] When the traveling vehicle body 2 is traveling automatically, the controller 100 may calculate the average value of the field depth for each section, and store the calculated average value of the field depth in association with the section.

[0132] This enables the seedling transplanter 1 to store the field depth for each section.

[0133] When the traveling vehicle body 2 is traveling automatically, the controller 100 may calculate an average value of the altitude for each section and store the calculated average value of the altitude for each section. The altitude is detected by the position detection device 150 based on a satellite signal.

[0134] This allows the seedling transplanter 1 to automatically determine that part of the field is deep and that the traveling body 2 is sinking or slipping in the mud, and can store the altitude height for each section.

[0135] When the traveling vehicle body 2 is traveling automatically, the controller 100 may store the average value of the angular velocity for each section. The angular velocity is detected by the inertial positioning unit 152.

[0136] This allows the seedling transplanter 1 to automatically determine when part of the field is deep and the traveling body 2 sinks or gets caught on a hard plate and cannot move forward straight, and the angular velocity can be stored for each section.

[0137] When the traveling vehicle body 2 is traveling automatically, the controller 100 may store an average value of the inclination of the traveling vehicle body 2 for each section. The inclination of the traveling vehicle body 2 is detected by the inertial positioning unit 152.

[0138] This allows the seedling transplanter 1 to automatically determine when part of the field is deep and the traveling body 2 sinks or gets caught on a hard plate and cannot move forward straight, and the inclination of the traveling body 2 can be stored for each section.

[0139] When the traveling vehicle body 2 is traveling automatically, the controller 100 calculates the difference in the steering angle from the median value (value when traveling straight) of the steering wheel 35. The controller 100 may store the calculated difference for each section. The difference is calculated as an absolute value.

[0140] This allows the seedling transplanter 1 to detect, by the difference, that the seedling transplanter 1 cannot travel straight unless the handle 35 is adjusted due to the influence of external disturbances or the like, and allows the detection result to be stored for each section.

[0141] The controller 100 may calculate a difficulty score for automatic driving based on the average field depth for each section, the average altitude for each section, the average angular velocity for each section, the average inclination of the running vehicle body 2 for each section, and the difference in steering angle for each section.

[0142] This makes it possible to set the difficulty level of autonomous driving for each category and manage it for each category.

[0143] The controller 100 may calculate the travel difficulty score such that the travel difficulty score increases as the amount of lateral deviation for each section increases.

[0144] This allows the operator to easily determine, for example, that a section with a high travel difficulty score is a location where it is difficult to move the seedling transplanter 1 in a straight line.

[0145] The controller 100 may calculate the traveling difficulty score such that the greater the field depth for each section is relative to the average value, the greater the traveling difficulty score becomes.

[0146] This allows the operator to easily determine, for example, that a section with a high travel difficulty score is a location where it is difficult to move the seedling transplanter 1 in a straight line.

[0147] The controller 100 may calculate the travel difficulty score such that the lower the altitude of each section is from the average value, the higher the travel difficulty score becomes.

[0148] This allows the operator to easily determine, for example, that a section with a high travel difficulty score is a location where it is difficult to move the seedling transplanter 1 in a straight line.

[0149] The controller 100 may calculate the traveling difficulty score such that the traveling difficulty score increases as the angular velocity of each section increases.

[0150] This allows the operator to easily determine, for example, that a section with a high travel difficulty score is a location where it is difficult to move the seedling transplanter 1 in a straight line.

[0151] The controller 100 may calculate the traveling difficulty level score so that the greater the inclination of the traveling vehicle body 2 for each section, the greater the traveling difficulty level score.

[0152] This allows the operator to easily determine, for example, that a section with a high travel difficulty score is a location where it is difficult to move the seedling transplanter 1 in a straight line.

[0153] The controller 100 may calculate the traveling difficulty level score such that the greater the difference in steering angle between the sections, the greater the traveling difficulty level score.

[0154] This allows the operator to easily determine, for example, that a section with a high travel difficulty score is a location where it is difficult to move the seedling transplanter 1 in a straight line.

[0155] When a predetermined number or more of consecutive sections have a travel difficulty score of a predetermined value or more, the controller 100 may set a section on the extension of the predetermined number or more consecutive sections as a rough road. In other words, the controller 100 determines that there is a strip of rough road.

[0156] For example, due to the characteristics of the hard ground or the effects of plowing with a tractor, the depth of the field is not uniform, making it easy to trip over the ground and making it difficult to travel. In other words, bad roads tend to occur in strips.

[0157] For example, as shown in Figures 8 and 9, when a predetermined number (e.g., "3") or more of sections G in which the travel difficulty score is a predetermined value (e.g., "10") or more are consecutive, the controller 100 sets the section on the extension of the predetermined number or more consecutive sections as a bad road. Figure 8 is a diagram showing an example (part 1) of a bad road being set. Figure 9 is a diagram showing an example (part 2) of a bad road being set. In Figures 8 and 9, the travel difficulty score is shown for the section for which the travel difficulty score was calculated.

[0158] In Fig. 8, three sections with travel difficulty scores of "10", "11", and "10" are consecutive along the traveling direction of the traveling vehicle body 2. Therefore, a rough road is set along the traveling direction of the traveling vehicle body 2 as shown by the thick arrow.

[0159] 9, three sections with travel difficulty scores of "10," "11," and "12" are consecutive along a direction perpendicular to the traveling direction of the traveling vehicle body 2. Therefore, a rough road is set along the direction perpendicular to the traveling direction of the traveling vehicle body 2, as shown by the thick arrow.

[0160] When a predetermined number of consecutive sections have a travel difficulty score of a predetermined value or more, the seedling transplanter 1 can estimate the location of the bad road by setting the section on the extension of the predetermined number of consecutive sections as a bad road. In addition, the seedling transplanter 1 can suppress erroneous detection of the location of the bad road based on local data.

[0161] The controller 100 may regulate the maximum speed of the traveling vehicle body 2 when the seedling transplanter 1 automatically travels on a location determined to be a bad road.

[0162] As a result, when the seedling transplanter 1 is automatically traveling on a rough road, the speed of the traveling body 2 is regulated, and the traveling performance during automatic traveling can be improved.

[0163] When the seedling transplanter 1 automatically travels on a road determined to be a bad road, the controller 100 may correct the amount of steering of the steering wheel 35 so that the steering is increased.

[0164] This allows the seedling transplanter 1 to improve its travelling performance during automatic travel on rough roads.

[0165] The controller 100 sets a bad road and, if the travel difficulty score of the section set as a bad road falls below a predetermined value due to subsequent driving, cancels the bad road setting for sections subsequent to the section whose travel difficulty score falls below the predetermined value.

[0166] For example, as shown in Fig. 10, if there are successive sections with travel difficulty scores of "10", "11", "12", and "10" in a direction perpendicular to the traveling direction of the traveling vehicle body 2, and the travel difficulty score of the section set as a bad road is "8", the bad road setting of the sections thereafter that were set as bad roads is cancelled. Fig. 10 is a diagram showing the state where the bad road setting has been cancelled.

[0167] This allows the seedling transplanter 1 to suppress the execution of speed restrictions and control of the steering wheel 35 in sections that are not rough, similar to those for rough roads. Therefore, the seedling transplanter 1 can suppress, for example, the steering amount of the steering wheel 35 becoming large, which reduces the straightness of the traveling body 2.

[0168] In the work plan map, a scalar value of the amount of water movement may be linked to each section. In a farm field, water flows from a place with a large scalar value to a place with a small scalar value. When a scalar value of the amount of water movement is linked to each section, the controller 100 increases the amount of herbicide sprayed as the scalar value increases.

[0169] Thereby, the seedling transplanter 1 can reduce unevenness in the spraying of the herbicide in the field.

[0170] The seedling transplanter 1 may be capable of changing the upper limit of the trunnion opening of the HST 14. When the upper limit of the trunnion opening of the HST 14 becomes smaller, the speed of the traveling body 2 is restricted. In other words, when the upper limit of the trunnion opening of the HST 14 becomes smaller than normal, the speed of the traveling body 2 becomes slower than normal. When the upper limit of the trunnion opening of the HST 14 is reduced to restrict the speed of the traveling vehicle body 2, an image as shown in Fig. 11 is displayed on the monitor 86. Fig. 11 is a diagram showing an example of the display on the monitor 86 (part 1). By operating an operation unit capable of changing the upper limit of the trunnion opening of the HST 14, an indicator 200 corresponding to the upper limit of the trunnion opening of the HST 14 moves on the monitor 86. Note that the speed restriction of the traveling vehicle body 2 can be set for both forward and reverse. For example, the upper limit of the trunnion opening of the HST 14 shown by the indicator 200 is displayed as "slow" and "fast."

[0171] The monitor 86 displays a speed restriction ratio 201 in "%". The monitor 86 also displays an icon 202 indicating the direction in which the speed of the traveling vehicle body 2 is restricted, specifically, whether the restricted direction is forward or backward. Also, for example, a snail icon 203 is displayed to indicate that the speed of the traveling vehicle body 2 is restricted.

[0172] On the monitor 86, as shown in Fig. 12, an arrow 204 indicating the direction in which the speed of the traveling vehicle body 2 is restricted, and a snail icon 203 indicating that the speed of the traveling vehicle body 2 is restricted may be displayed. Fig. 12 is a diagram showing a display example of the monitor 86 (part 2).

[0173] The upper limit opening degree of the trunnion opening degree of the HST 14 indicated by the indicator 200 may be displayed as a restriction ratio in "%".

[0174] Furthermore, when the upper limit of the trunnion opening of the HST 14 is restricted more than normal in response to the operation of the gear shift lever 36, and the speed of the traveling vehicle body 2 is restricted, the monitor 86 may display, for example, a padlock icon 205 indicating that restriction is in place, as shown in Fig. 13. Fig. 13 is a diagram showing a display example of the monitor 86 (part 3). The padlock icon 205 may be displayed on the monitor 86 at a point where restriction of the speed of the traveling vehicle body 2 begins in response to the operation of the gear shift lever 36. The monitor 86 may display a "slow forward" icon 206 indicating that restriction is in place.

[0175] Also, the upper limit of the trunnion opening of HST 14 is restricted more than usual, and the speed of the traveling vehicle body 2 is restricted, so that bar display 207 of the forward / reverse gear number of HST 14 for a speed position that cannot be set may be displayed in white as shown in Fig. 14. Bar display 208 of the forward / reverse gear number of HST 14 for a speed position that can be set may be displayed in solid black. Fig. 14 is a diagram showing a display example of monitor 86 (part 4).

[0176] Furthermore, when the upper limit of the trunnion opening of the HST 14 is restricted more than usual and the speed of the traveling vehicle body 2 is restricted, the monitor 86 may display a pop 209 notifying that the speed of the traveling vehicle body 2 is restricted, together with a restriction ratio 210, as shown in Fig. 15. Fig. 15 is a diagram showing a display example of the monitor 86 (part 5).

[0177] Furthermore, when the upper limit of the trunnion opening of the HST 14 is restricted more than usual and the speed of the traveling vehicle body 2 is restricted, the monitor 86 may display a restriction ratio 212 together with an icon 211 indicating the traveling direction of the traveling vehicle body 2, as shown in Fig. 16. Fig. 16 is a diagram showing a display example of the monitor 86 (part 6).

[0178] Furthermore, when the upper limit of the trunnion opening of the HST 14 is restricted more than usual and the speed of the traveling vehicle body 2 is restricted, the monitor 86 may display a restriction ratio 213 superimposed on a bar display 207 of the forward / reverse gear number of the HST 14 at a speed position that cannot be set, as shown in white on the monitor 86, as shown in Fig. 17. Fig. 17 is a diagram showing a display example of the monitor 86 (part 7).

[0179] In addition, when the upper limit of the trunnion opening of the HST 14 is restricted more than usual and the speed of the traveling vehicle body 2 is restricted, the controller 100 activates the autobrake when transitioning to a stopping operation. In addition, when the autobrake is activated, the controller 100 releases the autobrake when the gear shift lever 36 is operated from neutral to forward or reverse.

[0180] 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]

[0181] 1. Seedling transplanter (work vehicle) 2 Running vehicle 4 Seedling planting department 5 Fertilizer application equipment 35 Handle 36 Gear shift lever 86 Monitor 92 Depth Sensor 100 Controller (control device) 110a Processing section 110b Storage section 150 Position detection device (satellite positioning device) 151 Antenna 152 Inertial positioning unit (angular velocity detection device)

Claims

1. A work vehicle that performs work in a field, A running vehicle body, an antenna for receiving a satellite signal from a satellite; a satellite positioning device that detects the position of the traveling vehicle body based on the satellite signal; a control device that executes work according to the work instruction values ​​based on a position of the traveling vehicle body and a work plan map in which work instruction values ​​are linked to sections that divide the field into a mesh shape; Equipped with The section is set according to vehicle information of the work vehicle.

2. The work vehicle of claim 1 , wherein the width of the compartment is equal to the width of the work vehicle.

3. The work vehicle according to claim 1 , wherein the range in which the division is provided is set by performing a teaching operation in a farm field.

4. The work vehicle according to claim 1 , wherein the control device causes a memory unit to store the section in which the turning operation of the traveling body has been performed.

5. Depth sensor to detect field depth Equipped with The control device includes: Calculating the average field depth for each of the plots; The work vehicle according to claim 1 , wherein an average depth of the entire field is updated based on the calculated average field depth of each of the sections.

6. A seedling planting unit provided on the traveling vehicle body; A handle provided on the traveling vehicle body; a gear shift lever capable of switching between forward and reverse of the traveling vehicle body; Equipped with The control device includes: The work vehicle according to claim 1 , wherein a weight is assigned to the roughness of the field according to the number of times the seedling planting unit is raised and lowered, the number of times the handle is operated, and the number of times the vehicle is switched to reverse.

7. The control device includes: When the traveling vehicle body is traveling across the boundary between the sections along the traveling direction of the traveling vehicle body, a work instruction value is calculated according to an occupancy ratio of the work vehicle to the two sections in a width direction of the traveling vehicle body, The work vehicle according to claim 1 , wherein a work is performed according to the calculated work instruction value.

8. The control device includes: When the traveling vehicle body is automatically traveling across the boundary of the section along the traveling direction of the traveling vehicle body, a lateral deviation amount between a traveling route in the automatic traveling and an actual traveling route is calculated, The work vehicle according to claim 1 , wherein the calculated average value of the amount of lateral deviation is stored for each section.

9. Angular velocity detection device for detecting the angular velocity of the traveling vehicle body Equipped with The control device includes: The work vehicle according to claim 1 , wherein the average value of the angular velocity is stored for each of the sections when the traveling body is traveling automatically.

10. The control device includes: When the traveling vehicle body is traveling across the boundary of the section along the traveling direction of the traveling vehicle body, a lateral deviation amount between a preset traveling route and an actual traveling route is calculated, A traveling difficulty score is calculated, which increases as the amount of lateral deviation increases; The work vehicle according to claim 1 , wherein when a predetermined number or more of consecutive sections have a travel difficulty score equal to or greater than a predetermined value, a section on the extension of the predetermined number or more consecutive sections is set as a rough road.

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