Work vehicle

Abstract

To provide a work vehicle that accurately carries out supply to a field based on a work plan map.SOLUTION: A control device adjusts a supply amount in a supply device based on a work instruction value from a work plan map when a terminal device is powered on and the position of a vehicle body is detectable. The work plan map corresponds to a field and is divided into mesh-like segments, each linked to the work instruction value. If the control device cannot communicate with the terminal device or detect the position of the vehicle body, the control device sets the supply amount in the supply device to a predefined standard supply amount, rather than the work instruction value.SELECTED DRAWING: Figure 4

Description

Technical Field

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

Background Art

[0002] Conventionally, it is known to create a work plan map showing the supply amount to each area of a field based on past cultivation data in the field (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the above technology, accurate supply to the field is not considered based on the created work plan map.

[0005] The present invention has been made in view of the above, and an object thereof is to provide a work vehicle that accurately executes supply to a field based on a work plan map.

Means for Solving the Problems

[0006] In order to solve the above-described problems and achieve the object, a work vehicle according to an aspect of the embodiment includes a traveling vehicle body, a supply device provided on the traveling vehicle body for supplying materials to a field, a position detection device for detecting information regarding the position of the traveling vehicle body, and a terminal device capable of storing a work plan map for the field where work is to be performed, and is communicable with a control device for controlling the supply device. The control device changes the supply amount in the supply device based on a work instruction value in the work plan map when the power of the terminal device is ON and the position of the traveling vehicle body can be detected. The work plan map corresponds to the field and is a map in which the work instruction value is associated with each section partitioned in a mesh shape. When the control device cannot communicate with the terminal device or the position of the traveling vehicle body cannot be detected, the supply amount in the supply device is set to a reference supply amount instead of the work instruction value.

Effect of the Invention

[0007] According to an aspect of the embodiment, the work vehicle can accurately perform supply to the field based on the work plan map.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Mode for Carrying Out the Invention

[0009] First, with reference to FIGS. 1 and 2, the outline of the work vehicle 1 according to the embodiment will be described. FIG. 1 is a side view showing the work vehicle 1. FIG. 2 is a plan view showing the work vehicle 1.

[0010] In the following description, the front-rear direction is the traveling direction when the work vehicle 1 travels straight, and the front side in the traveling direction is defined as "front" and the rear side as "rear". The traveling direction of the work vehicle 1 is the direction from the driver's seat 41 toward the steering wheel 35 (steering device) when traveling straight (see FIGS. 1 and 2).

[0011] The left-right direction is a direction horizontally orthogonal to the front-rear direction, and the left and right are defined toward the "front" side. That is, when the operator (also referred to as the worker) is seated in the driver's seat 41 and facing forward, the left hand side is "left" and the right hand side is "right".

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

[0013] In the embodiment, the work vehicle 1 will be described as a riding type seedling transplanter 1 that includes a seedling planting part 4 as a working machine and receives seedlings in a field. As shown in FIGS. 1 and 2, the seedling transplanter 1 includes a vertically movable seedling planting part 4 that plants seedlings in a field via a lift link mechanism 3 on the rear side of the traveling vehicle body 2.

[0014] The main body part of the fertilizer applicator 5 is arranged on the upper rear part of the traveling vehicle body 2. When the work vehicle 1 is not the seedling transplanter 1, it may include a seeding device that supplies seeds or the like as a working 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 wheels and driving wheels. On the front side of the main frame 15 that constitutes the body skeleton of the traveling body 2, there are a transmission case 13 that transmits driving force to the seedling planting unit 4 and the like, and a hydraulic continuously variable transmission 14 that outputs the driving force supplied from the engine 30, that is, the rotation generated by the engine 30, to the transmission case 13.

[0016] The continuously variable transmission 14 is a hydrostatic continuously variable transmission called a so-called HST (Hydro Static Transmission). Hereinafter, the case where the continuously variable transmission is the HST 14 will be described.

[0017] In the transmission case 13, there is provided a sub-transmission mechanism 16 for switching the traveling mode of the traveling body 2 during road travel in the high-speed mode or during seedling planting in the low-speed mode. On the left and right sides of the transmission case 13, front wheel final cases 10a are provided, and the front wheels 10 are attached to the left and right front axles 10b that project outward from the front wheel support portions capable of changing the steering direction of the left and right front wheel final cases 10a.

[0018] Also, on the rear side of the main frame 15, rear wheel gear cases 11a are attached to both the left and right sides of the rear frame 22 provided in the lateral direction (see FIG. 2), and the rear wheels 11 are respectively attached to the left and right rear axles 11b that project outward from the rear wheel gear cases 11a.

[0019] Also, on the upper part of the rear frame 22, left and right link support frames 23 for supporting the lift link mechanism 3 project upward. Below the left and right link support frames 23 and between the left and right, a pair of left and right lower link arms 24 are provided. A lift cylinder 25 that operates by hydraulic pressure is provided between the left and right lower link arms 24.

[0020] Above the lifting cylinder 25, an upper link arm 26 is provided, and a lifting link mechanism 3, which is a parallel link mechanism, is configured. Note that one end of each of the left and right lower link arms 24, which are connected to the traveling vehicle body 2 side, the lifting cylinder 25, and the other end side of the upper link arm 26 are attached to the front part of the seedling planting unit 4.

[0021] Also, an engine 30 is mounted on the main frame 15. The 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 shifted by a sub-transmission mechanism 16 in the transmission case 13 and then divided into traveling power and externally extractable power.

[0022] Also, 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, the power steering mechanism 88 (see Fig. 3) of the steering wheel 35, the lifting cylinder 25, etc.

[0023] The externally extractable power taken out from the rotational power transmitted to the transmission case 13 is transmitted to a planting clutch case 27 provided at the rear part of the traveling vehicle body 2, and is transmitted from the planting clutch case 27 to the seedling planting unit 4 by the planting transmission shaft 67.

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

[0025] Note that a side clutch 44 (see Fig. 3) for switching the power transmission to the left and right drive shafts 42 is arranged on the upstream side in the transmission direction from the left and right drive shafts 42. As shown in Fig. 1, a side clutch pedal 43a for switching the left and right side clutches 44 on and off is provided at the lower front side of the driver's seat 41 and on one side of the left and right.

[0026] When turning, if you step on the side clutch pedal 43a on the inner side of the turn among the left and right side clutch pedals 43a to disengage the side clutch 44 and then operate the steering wheel 35 to perform turning travel, the driving rotation of the rear wheel 11 on the inner side of the turn can be completely blocked.

[0027] At the upper front side of the traveling vehicle body 2, a bonnet 39 with a control panel 38 for operating each part disposed at the upper part is provided. The control panel 38 is provided with a monitor 86 (see FIG. 3) and the like.

[0028] Further, on the bonnet 39, a steering wheel 35 for steering the traveling vehicle body 2, a shift operation lever 36 for operating the HST 14 and the seedling planting part 4, a sub-shift operation lever 37 for operating the sub-shift mechanism 16, and the like are provided.

[0029] Also, a front cover 40 that can be opened and closed is provided on the front side of the bonnet 39. Inside the front cover 40, a fuel tank, a battery, and an interlocking mechanism for rotating the lower sides of the left and right front wheels 10 and the left and right front wheel final cases 10a in accordance with the steering of the steering wheel 35 are provided. The front wheels 10 are, for example, steering wheels that steer in response to the steering of the steering wheel 35.

[0030] An engine cover 30a that covers the upper part and the side part of the engine 30 is provided at a position behind the bonnet 39 and above the engine 30, and a driver's seat 41 on which the operator sits is provided on the upper part of the engine cover 30a.

[0031] A fertilizer applicator 5 is provided at the rear side of 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 so as to face the fertilizer applicator 5 from one side of the left and right rear wheel gear cases 11a.

[0032] On both the left and right sides at the lower part of the engine cover 30a and the bonnet 39, substantially horizontal floor steps 33 are formed. As shown in FIG. 2, the floor steps 33 are partially lattice-shaped. For example, even if mud attached to, for example, the shoes of an operator walking on the floor steps 33 falls off, the fallen mud etc. will fall onto the field.

[0033] Also, as shown in FIG. 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 process in which, for example, a plurality of protrusion patterns are formed so that the feet are less likely to slip during work.

[0034] In addition, on the front side of the traveling vehicle body 2 and on both the left and right sides, a spare seedling frame 50 for arranging a plurality of spare seedling placing tables 52 at intervals in the vertical direction on the seedling frame support 51 is provided respectively, and work materials such as seedlings and fertilizer bags to be replenished to the seedling planting part 4 can be placed thereon.

[0035] Also, at the rear end of the lifting link mechanism 3, a seedling tank 53 for loading seedlings to be planted in the field is mounted together with a sliding mechanism for sliding in the left-right direction. In the seedling tank 53, vertically long seedling partition fences 54 are respectively arranged at predetermined intervals in the left-right direction. Below the seedling tank 53, a seedling planting device 55 for scraping the loaded seedlings and planting them in the field is arranged.

[0036] The seedling planting device 55 can plant 8 rows simultaneously, which is the same number as the number of planting operation rows partitioned by the seedling partition fences 54. Four planting transmission cases 56 are arranged at intervals below the seedling tank 53, and planting rotaries 57 for taking seedlings by the planting rods 58 while rotating and planting them in the field are respectively mounted on both the left and right sides of the planting transmission cases 56.

[0037] The fertilizer application device 5 has a fertilizer application hopper 70 in which fertilizer is stored, and the fertilizer application hopper 70 is partitioned into the same number as the number of working rows of the seedling planting section 4 (in the example shown in FIG. 2, for 8 rows). Since the fertilizer application hopper 70 for 8 rows is long in the left-right direction, the convenience of fertilizer input and attachment / detachment is reduced. Therefore, it may have a so-called side fertilizer application structure in which those partitioned into 4 rows each are arranged side by side on the left and right.

[0038] Below the fertilizer application hopper 70, a feeding device 71 for supplying a set amount of fertilizer is provided for each row. Below the feeding device 71, a ventilation duct 72 through which the conveying air for moving the fertilizer passes is provided in the left-right direction. Below the feeding device 71, a fertilizer application hose 73 for guiding the fertilizer to the vicinity of the seedling planting position of the seedling planting section 4 is provided. Further, at one end of the ventilation duct 72, a blower 74 that is operated by a blower electric motor 76 to generate the conveying air is provided.

[0039] The amount of fertilizer supplied to the field (fertilizer application amount) can be adjusted by controlling the feeding device 71. For example, the amount of fertilizer supplied to the field is adjusted by controlling the rotational speed of the feeding section provided in the feeding device 71 and having a recess into which fertilizer flows from the fertilizer application hopper 70.

[0040] As shown in FIGS. 1 and 2, below the seedling planting section 4, a center float 62C that contacts the field surface and slides, and two left and right side floats 62L and 62R are provided so as to be rotatable about an axis. In some cases, the center float 62C and the left and right side floats 62L and 62R are collectively referred to as the float 62.

[0041] Also, below the seedling planting section 4, in front of the float 62, a leveling rotor 63 for leveling the unevenness of the field surface is provided. For example, a driving force is transmitted to the leveling rotor 63 from the rear wheel gear case 11a on the other left and right sides via a rotor transmission shaft 63a.

[0042] Further, as shown in Fig. 1, on both the left and right sides of the seedling planting unit 4, there are respectively provided line markers 65 that form grooves for guiding the traveling in the next working row (next process), with either the left or right side in contact with the field surface. When either the left or right side of the left and right line markers 65 contacts the ground, the other side is spaced upward. When the seedling planting unit 4 is lifted during turning, both the left and right sides are spaced upward. When the seedling planting unit 4 descends after turning, one side is spaced upward and the other side contacts the ground.

[0043] Also, as shown in Figs. 1 and 2, at the left and right central part of the traveling vehicle body 2 and in front of the bonnet 39, a vertically long center mascot 66 is provided. 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 working position of the immediately preceding working row, thereby improving the working accuracy and preventing the occurrence of non-working.

[0044] Note that depending on the soil quality of the field, the guide lines formed by the left and right line markers 65 may be buried immediately, and the reference for straight travel may disappear. In such a case, it is advisable to use the left and right side markers 19 provided in front of the left and right line markers 65. That is, by moving the left and right side markers 19 in the outer direction and positioning the side markers 19 above the planted seedlings, it becomes possible to perform the planting operation in accordance with the planting of the seedlings in the previous working row.

[0045] Also, as shown in Fig. 1, the seedling transplanter 1 is provided with a position detection device 150. The position detection device 150 detects the current position and orientation of the seedling transplanter 1. That is, the position detection device 150 detects information regarding the position and orientation of the traveling vehicle body 2. The position detection device 150 includes, for example, orientation sensors, positioning means such as GPS (Global Positioning System) and GNSS (Global Navigation Satellite System). The position detection device 150 may be composed of a plurality of devices. The position detection device 150 may include a camera and an ultrasonic sensor, and may acquire the turning position in the field and detect the distance to the turning position.

[0046] For example, the position detection device 150 receives positioning information from the positioning means, creates the current position information and azimuth information of the traveling vehicle body 2 based on the received positioning information, and detects the current position and azimuth. The position detection device 150 is attached to the attachment stay 59, for example, and is disposed above the traveling vehicle body 2.

[0047] The straight-ahead control program and the turning control program created based on the position information by the position detection device 150 are stored in different locations from each other. The straight-ahead control program is stored in the straight-ahead control ECU (Electronic Control Unit) 100a in the position detection device 150, for example, and the turning control program is stored in the turning control ECU 100b housed in the bonnet 39, for example. Note that the straight-ahead control ECU 100a and the turning control ECU 100b are included in the control device 100 (see FIG. 3) described later. The straight-ahead control ECU 100a and the turning control ECU 100b may be stored in the same ECU.

[0048] Next, the control system of the seedling transplanter 1 will be described with reference to FIG. 3. FIG. 3 is a block diagram showing the control system centered on the control device 100 of the seedling transplanter 1. The seedling transplanter 1 is capable of controlling each part by electronic control, and includes a control device (hereinafter referred to as a controller) 100 that controls each part.

[0049] The controller 100 is provided with a processing unit having a CPU (Central Processing Unit) or the like, a storage unit such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input / output unit, and these are connected to each other and can transfer signals to each other. A computer program for controlling the seedling transplanter 1 and the like is stored in the storage unit. The controller 100 exhibits each function by reading out a computer program or the like stored in the storage unit.

[0050] Connected to the controller 100 are, for example, as actuators, a throttle motor 80, hydraulic control valves 81, 82, a planting clutch operating solenoid 83, a side clutch operating solenoid 84, an HST motor 85, a line marker lifting motor 87, a steering motor 95, a differential lock switching motor 96, etc.

[0051] The throttle motor 80 increases or decreases the rotational speed of the output shaft of the engine 30 by operating a throttle that adjusts the intake air volume of the engine 30. The hydraulic control valve 81 controls the telescopic movement of the lifting 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, which are the steering wheels of the traveling vehicle body 2. The planting clutch operating solenoid 83 operates the planting clutch 27a. When the planting clutch 27a is in the "engaged" state, the planting rotary 57 rotates, and seedlings are planted by the planting rod 58. When the planting clutch 27a is in the "disengaged" state, the planting rotary 57 does not rotate, and seedlings are not planted by the planting rod 58.

[0052] The side clutch operating solenoid 84 operates a side clutch 44 that switches the power transmission state to the rear wheels 11 (see FIG. 1). Note that the side clutch 44 is provided on each of the left and right rear wheels 11, and two side clutch operating solenoids 84 are provided corresponding to each side clutch 44.

[0053] The HST motor 85 changes the tilt angle of the swash plate of the HST 14 by changing the rotation angle of the trunnion of the HST 14. The steering motor 95 is a motor that drives a steering wheel 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 steering wheel 35. The line marker lifting motor 87 raises and lowers the line marker 65.

[0054] The differential lock switching motor 96 is a motor that switches the operation and the stop of a differential lock mechanism 97 (hereinafter referred to as a differential lock mechanism) that rotates the left and right traveling wheels, specifically, the left and right front wheels 10, at the same rotational speed. When the differential lock mechanism 97 is in the engaged state, the left and right traveling wheels rotate at the same rotational speed.

[0055] The controller 100 is connected to a rotation speed sensor 90, a steering amount sensor 91, etc., which are detection devices. Two rotation speed sensors 90 are provided corresponding to the left and right rear wheels 11, and detect the rotational speeds of the left and right rear wheels 11 respectively. Note that the rotation speed sensor 90 may detect the rotational speeds of the left and right front wheels 10.

[0056] The steering amount sensor 91 detects the operation position of the steering wheel 35, which is a steering device, that is, the steering amount (steering angle) of the front wheels 10. The steering amount sensor 91 is provided, for example, on a shaft connected to the pitman arm. Note that the steering amount is detected in each of the left and right directions with the value when the steering wheel 35 is in a preset straight-ahead position as a reference value.

[0057] In addition, signals are input to the controller 100 as operation signals from a shift operation lever 36, a sub-shift operation lever 37, an autonomous driving switch 46, a planting unit lifting switch 47, an automatic straight-ahead switch 45, and an automatic turning switch 48, etc.

[0058] The autonomous driving switch 46 is a switch that switches whether to execute autonomous driving. Specifically, the autonomous driving switch 46 is a switch that switches the driving mode to a manual driving mode or an autonomous driving mode (automatic driving mode). The manual driving mode is a mode in which the vehicle travels by the manual operation of an operator. The autonomous driving mode is a mode in which the vehicle automatically travels without the manual operation of an operator.

[0059] For example, when the autonomous driving switch 46 is "ON", the driving mode is set to the autonomous driving mode. When the autonomous driving switch 46 is "OFF", the driving mode is set to the manual driving mode. When the autonomous driving switch 46 is turned "ON", the automatic straight - ahead switch 45 and the automatic turning switch 48 are turned "ON". That is, when the driving mode becomes the autonomous driving mode, the automatic straight - ahead switch 45 and the automatic turning switch 48 can be changed to "OFF" by the operator's operation even if they have been turned "ON" once.

[0060] The planting unit lifting switch 47 is a switch for switching whether to lift the seedling planting unit 4 or not. The planting unit lifting switch 47 is changed to the "raise" and "lower" positions.

[0061] When the planting unit lifting switch 47 is in the "raise" position, the seedling planting unit 4 rises to a predetermined non - working position, and the seedling planting device 55 stops in a non - working state. When the seedling planting unit 4 is in the non - working state, the planting clutch 27a is in the "off" state.

[0062] When the planting unit lifting switch 47 is in the "lower" position, the seedling planting unit 4 descends to a predetermined working position, and the seedling planting device 55 operates in a working state. That is, the planting unit lifting switch 47 is a switch for detecting the working state of the seedling planting unit 4. Note that a switch for detecting the working state of the seedling planting unit 4 may be provided separately. When the seedling planting unit 4 is in the working state, the planting clutch 27a is in the "on" state.

[0063] The automatic straight - ahead switch 45 is a switch for switching whether to enable the execution of automatic straight - ahead or not. When the automatic straight - ahead switch 45 is "ON", the driving assist function described later becomes effective and automatic straight - ahead can be executed. When the automatic straight - ahead switch 45 is "OFF", the driving assist function becomes invalid and automatic straight - ahead cannot be executed.

[0064] The automatic turning switch 48 is a switch that switches whether or not to enable the execution of automatic turning. When the automatic turning switch 48 is set to "ON", the turning assist function described later becomes effective and automatic turning can be executed. When the automatic turning switch 48 is set to "OFF", the turning assist function becomes invalid and automatic turning cannot be executed. When the automatic turning switch 48 is set to "OFF", even if the conditions for executing automatic turning are satisfied, automatic turning is not executed.

[0065] The controller 100 switches the driving mode between the manual driving mode and the autonomous driving mode according to the operations of the autonomous driving switch 46, the automatic straight - ahead switch 45, and the automatic turning switch 48.

[0066] Also, current position information of the traveling vehicle body 2 and the like are input to the controller 100 from the position detection device 150. The controller 100 executes an autonomous driving mode in which the traveling vehicle body 2 automatically travels while performing work.

[0067] The controller 100 has an autonomous driving mode (automatic driving mode) in which the steering motor 95 is controlled while feedback - controlling the steering amount of the front wheels 10 (see FIG. 1) to operate the steering wheel 35. The autonomous driving mode includes an automatic straight - ahead mode and an automatic turning mode.

[0068] The automatic straight - ahead mode is a mode in which the steering motor 95 is controlled so that the traveling vehicle body 2 travels along a preset straight - ahead path and travels straight. In the automatic straight - ahead mode, while the seedlings are being planted in the field by the seedling planting unit 4, the traveling vehicle body 2 travels straight without depending on the operator's operation. That is, a traveling assist function for transplanting seedlings in the field while automatically straight - advancing the traveling vehicle body 2 becomes effective and the traveling assist function is executed.

[0069] The automatic turning mode is a mode in which, when the traveling vehicle body 2 reaches a predetermined planting end position, the planting of seedlings by the seedling planting unit 4 is stopped, and the steering motor 95 is controlled so that the traveling vehicle body 2 follows a preset turning path, and the vehicle turns. The predetermined planting end position is set, for example, based on the traveling distance of the process in which the work is performed, the position information related to the process in which the work is performed, and the like.

[0070] In the automatic turning mode, for example, the seedling planting unit 4 rises to a non-operating state, and the traveling vehicle body 2 automatically turns without the operator's operation. That is, a turning assist function for turning the traveling vehicle body 2 without performing the planting of seedlings by the seedling planting unit 4 becomes effective, and the turning assist function is executed.

[0071] In addition, various information is input to the controller 100 from a remote operation device 170 (hereinafter referred to as "remote controller"). For example, the controller 100 receives various information from the remote controller 170 via a receiver 180 (see FIG. 1). The receiver 180 is attached to, for example, a mounting stay 59 (see FIG. 1) and is disposed above the front side of the traveling vehicle body 2. Note that a plurality of receivers 180 may be provided. The mounting stay 59 is attached to the traveling vehicle body 2.

[0072] The remote controller 170 can remotely operate the seedling transplanter 1. The remote controller 170 is a terminal device such as a smartphone. The remote controller 170 transmits a control signal according to the operator's operation. The remote controller 170 can be 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 communicably connected via a communication network or the like in addition to or instead of short-range wireless communication.

[0073] A plurality of remote controllers 170 may be provided. That is, the controller 100 may be able to acquire the position information of each remote controller 170 from a plurality of remote controllers 170. The remote controller 170 may be attachable to the seedling transplanter 1.

[0074] As shown in FIG. 4, a work plan map for the field is displayed on the remote controller 170. FIG. 4 is a diagram showing an example of the work plan map displayed on the remote controller 170.

[0075] The work plan map is stored in the remote controller 170. The remote controller 170 can store the work plan map for the field where the planting work is performed. The work plan map is, for example, created in advance and stored in the remote controller 170. The work plan map may be created by another device, transmitted from the other device to the remote controller 170, and stored in the remote controller 170. The work plan map corresponds to the field and is a map in which the fertilization amount (work instruction value) in the fertilizer applicator 5 is associated with each section divided in a mesh shape. Position information is associated with the field of the work plan map and each section. For example, information regarding latitude and longitude is associated with the field of the work plan map and each section.

[0076] For example, as shown in FIG. 4, the field name 200 of the work plan map, the section 202 of the field 201, and the set value of the fertilization amount in each section 202 are displayed on the remote controller 170. The sections 202 of the field 201 are displayed separately for each set value of the fertilization amount. For example, the sections 202 of the field 201 are displayed in different colors for each set value of the fertilization amount. In FIG. 4, for the sake of explanation, the color differentiation for each set value of the fertilization amount is displayed by the type of hatching. FIG. 4 shows an example of dividing the field into five sections, but the number of sections is not limited to this.

[0077] The set value of the fertilization amount includes a preset initial value. The initial value is set according to the previous growth state and the yield in the field. That is, the work plan map is created according to the previous growth state and the yield.

[0078] The set value of the fertilization amount in the field section can be changed (corrected) from the initial value. Specifically, the fertilization amount in the field section can be changed according to the operator's operation. The remote controller 170 displays an operation button 204 for selecting the field section to be corrected. By operating the operation button 204, the operator selects the section to be corrected, and by pressing the determination button 205, the section to be changed is determined. Then, by operating the operation button 204, the set value of the fertilization amount in the section to be changed is changed (corrected).

[0079] For example, when the section "1" is selected, as shown in FIG. 5, by operating the operation button 204, the set value of the fertilization amount in the section "1" is changed from "65" to "67" and increases. FIG. 5 is a diagram showing an example in which the set value of the fertilization amount is changed.

[0080] The controller 100 sets the fertilization amount in the field according to the work plan map of the remote controller 170 and controls the fertilizer application device 5. The controller 100 can control the fertilizer application device 5 based on the signal regarding the set value of the fertilization amount transmitted from the remote controller 170 and supply fertilizer to the field. The controller 100 changes the fertilization amount of the fertilizer supplied to the field based on the position information of the traveling vehicle body 2, the position information of the section in the work plan map, and the set value of the fertilization amount in the section. The controller 100 supplies fertilizer based on the set value of the fertilization amount of the section of the work plan map to the field corresponding to the section of the work plan map.

[0081] When the controller 100 satisfies a predetermined condition, it supplies fertilizer to the field according to the work plan map of the remote controller 170. When the controller 100 does not satisfy the predetermined condition, it does not supply fertilizer according to the work plan map of the remote controller 170 and supplies fertilizer based on the basic fertilization amount. The basic fertilization amount is the fertilization amount set by manual operation by the operator or the like. The basic fertilization amount is set, for example, by the operator operating the fertilizer application device 5. The predetermined condition will be described later.

[0082] That is, when the controller 100 satisfies a predetermined condition, it supplies fertilizer to the field based on the work plan map, and when it does not satisfy the predetermined condition, it supplies fertilizer to the field based on the basic fertilization amount.

[0083] Next, the control process of the fertilizer application device 5 according to the embodiment will be described with reference to the flowchart of FIG. 6. FIG. 6 is a flowchart for explaining the control process of the fertilizer application device 5 according to the embodiment.

[0084] The controller 100 determines whether the planting clutch 27a is in the "engaged" state (ON) (S100). For example, when the seedling planting unit 4 is in the working state, the controller 100 determines that the planting clutch 27a is in the "engaged" state. When the seedling planting unit 4 is in the non-working state, the controller 100 determines that the planting clutch 27a is in the "disengaged" state (OFF).

[0085] When the planting clutch 27a is in the "engaged" state (S100: Yes), the controller 100 determines whether the power of the remote controller 170 is ON (S101). For example, when the controller 100 can communicate with the remote controller 170, it determines that the power of the remote controller 170 is ON. When the controller 100 cannot communicate with the remote controller 170, it determines that the power of the remote controller 170 is OFF.

[0086] When the power of the remote controller 170 is ON (S101: Yes), the controller 100 determines whether the position of the traveling vehicle body 2 can be detected (S102). The controller 100 determines whether the position of the traveling vehicle body 2 can be detected by the position detection device 150. When the controller 100 can detect the position of the traveling vehicle body 2 by the position detection device 150 (S102: Yes), it determines that the predetermined condition is satisfied.

[0087] That is, when the planting clutch 27a is in the "engaged" state, the power of the remote controller 170 is ON, and the position of the traveling vehicle body 2 can be detected, the controller 100 determines that a predetermined condition is satisfied. When the planting clutch 27a is in the "disengaged" state (S100: No), the power of the remote controller 170 is OFF (S101: No), or the position of the traveling vehicle body 2 cannot be detected (S102: No), the controller 100 determines that the predetermined condition is not satisfied. Note that when at least one of the cases where the planting clutch 27a is in the "disengaged" state, the power of the remote controller 170 is OFF, or the position of the traveling vehicle body 2 cannot be detected applies, the controller 100 determines that the predetermined condition is not satisfied.

[0088] When the controller 100 can detect the position of the traveling vehicle body 2 (S102: Yes), that is, when a predetermined condition is satisfied, the fertilizer application amount in the fertilizer applicator 5 is set to the fertilizer application amount based on the work plan map (S103). That is, the controller 100 sets the fertilizer application amount in the fertilizer applicator 5 to the set value of the fertilizer application amount based on the work plan map. Thereby, the fertilizer supplied from the fertilizer applicator 5 to the field becomes the fertilizer application amount based on the work plan map. That is, the fertilizer is supplied to the field based on the set value of the fertilizer application amount set for each section of the work plan map.

[0089] When the planting clutch 27a is in the "disengaged" state (S100: No), the power of the remote controller 170 is OFF (S101: No), or the position of the traveling vehicle body 2 cannot be detected (S102: No), that is, when a predetermined condition is not satisfied, the fertilizer application amount in the fertilizer applicator 5 is set to the fertilizer application amount based on the basic fertilizer application amount (S104). Thereby, the fertilizer is supplied to the field based on the basic fertilizer application amount.

[0090] The seedling transplanter 1 includes a traveling vehicle body 2, a seedling planting unit 4, a fertilizer applicator 5, a position detection device 150, and a controller 100. The seedling planting unit 4 is provided on the traveling vehicle body 2 and performs the operation of planting seedlings in the field. The fertilizer applicator 5 is provided on the traveling vehicle body 2 and supplies fertilizer to the field. The position detection device 150 detects information regarding the position of the traveling vehicle body 2. The controller 100 is communicable with a remote controller 170 capable of storing a work plan map for the field where the planting operation is performed, and controls the fertilizer applicator 5. When the planting clutch 27a is ON, the power of the remote controller 170 is ON, and the position of the traveling vehicle body 2 can be detected, the controller 100 changes the amount of fertilizer applied by the fertilizer applicator 5 according to the set value of the amount of fertilizer applied in the work plan map. The work plan map corresponds to the field and is a map in which the set value of the amount of fertilizer applied is associated with each section divided in a mesh shape.

[0091] Thereby, when the seedling transplanter 1 can accurately supply fertilizer to the field based on the work plan map, it supplies fertilizer to the field based on the work plan map. Therefore, the seedling transplanter 1 can accurately supply fertilizer to the field based on the work plan map. Accordingly, the seedling transplanter 1 can improve the growth of seedlings in the field.

[0092] When the controller 100 cannot communicate with the remote controller 170, the amount of fertilizer applied by the fertilizer applicator 5 is set to the basic amount of fertilizer applied instead of the set value of the amount of fertilizer applied based on the work plan map.

[0093] Thereby, even when the seedling transplanter 1 cannot acquire the work plan map of the field from the remote controller 170, it can supply fertilizer to the field based on the basic amount of fertilizer applied.

[0094] When the controller 100 cannot detect the position of the traveling vehicle body 2, the amount of fertilizer applied by the fertilizer applicator 5 is set to the basic amount of fertilizer applied instead of the set value of the amount of fertilizer applied based on the work plan map.

[0095] Thereby, even when the seedling transplanter 1 cannot detect the position of the traveling vehicle body 2, it can supply fertilizer to the field based on the basic amount of fertilizer applied.

[0096] The seedling transplanter 1 may have the following configuration or the like.

[0097] When the work plan map in the field is not stored in the remote controller 170, the controller 100 may set the fertilization amount in the fertilizer applicator 5 to the basic fertilization amount instead of the set value of the fertilization amount based on the work plan map. When the controller 100 cannot read the work plan map in the field from the remote controller 170, the controller 100 may set the fertilization amount in the fertilizer applicator 5 to the basic fertilization amount instead of the set value of the fertilization amount based on the work plan map.

[0098] Thereby, even when the seedling transplanter 1 cannot obtain the work plan map of the field from the remote controller 170, it can supply fertilizer to the field based on the basic fertilization amount.

[0099] When the position of the traveling vehicle body 2 is outside the work plan map, the controller 100 may set the fertilization amount in the fertilizer applicator 5 to the basic fertilization amount instead of the set value of the fertilization amount based on the work plan map. For example, when the position of the traveling vehicle body 2 detected by the position detection device 150 is outside the area of the field in the work plan map, the controller 100 determines that the position of the traveling vehicle body 2 is outside the work plan map.

[0100] Thereby, even when, for example, there is a deviation in the detected position of the traveling vehicle body 2, the seedling transplanter 1 can supply fertilizer to the field based on the basic fertilization amount.

[0101] In addition, when the set value of the fertilization amount in the remote controller 170 is outside the fertilization possible range, the controller 100 may set the fertilization amount in the fertilizer applicator 5 to the basic fertilization amount instead of the set value of the fertilization amount based on the work plan map. The fertilization possible range is the fertilization amount of the fertilizer that can be supplied by the fertilizer applicator 5. The fertilization possible range is a range that is equal to or greater than a preset lower limit value and equal to or less than an upper limit value.

[0102] As a result, even when the set value of the fertilizer application amount in the remote controller 170 cannot be applied by the fertilizer applicator 5, for example, the seedling transplanter 1 can supply fertilizer to the field based on the basic fertilizer application amount.

[0103] Further, when the controller 100 sets the fertilizer application amount in the fertilizer applicator 5 to the basic fertilizer application amount instead of the set value of the fertilizer application amount based on the work plan map, the monitor 86 (display unit) may display that the fertilizer application amount is the basic fertilizer application amount.

[0104] As a result, the operator can recognize that the fertilizer application amount of the fertilizer supplied to the field by the fertilizer applicator 5 is the basic fertilizer application amount.

[0105] Further, when the controller 100 sets the fertilizer application amount to the basic fertilizer application amount instead of the set value of the fertilizer application amount based on the work plan map, the controller 100 may display on the monitor 86 the reason for setting the basic fertilizer application amount. For example, when the work plan map cannot be acquired from the remote controller 170, the monitor 86 displays that the work plan map cannot be acquired from the remote controller 170.

[0106] When the reason for setting the basic fertilizer application amount is eliminated, the display on the monitor 86 is erased.

[0107] After the start key (start switch) of the seedling transplanter 1 is turned ON, the controller 100 may detect the connection with the remote controller 170 when communication with the remote controller 170 is detected even once. The detection of the connection with the remote controller 170 continues until the start key is turned OFF.

[0108] When the set value of the fertilizer application amount in the remote controller 170 is outside the fertilizer application range, the controller 100 may regulate the fertilizer application amount in the fertilizer applicator 5 to the fertilizer application range of the fertilizer applicator 5. For example, when the set value of the fertilizer application amount in the remote controller 170 is less than the lower limit value of the fertilizer application range, the controller 100 sets the fertilizer application amount in the fertilizer applicator 5 to the lower limit value of the fertilizer application range and supplies fertilizer to the field.

[0109] As a result, the seedling transplanter 1 can supply fertilizer to the field within the range that can be supplied by the fertilizer applicator 5.

[0110] The change (correction) of the set value of the fertilizer application amount on the remote controller 170 may be correctable within a predetermined changeable range (correctable range) according to the input operation (correction input operation) of the operator. The predetermined changeable range is set in advance. The predetermined changeable range is set with respect to the initial value of the fertilizer application amount, for example, in a range of -50% or more and +50% or less with respect to the initial value of the fertilizer application amount.

[0111] As a result, the operator can change (correct) the set value of the fertilizer application amount based on the work plan map. Furthermore, the seedling transplanter 1 can suppress the setting of a fertilizer application amount that greatly deviates from the set value of the fertilizer application amount based on the work plan map, and can suppress the supply of fertilizer with a fertilizer application amount that is not suitable for the field.

[0112] Also, the set value of the fertilizer application amount that can be set by the remote controller 170 may be restricted within the fertilizable range. The set value of the fertilizer application amount that can be set by the remote controller 170 is set taking into account the specific gravity of the fertilizer. When the set value of the fertilizer application amount on the work plan map is changed by the remote controller 170, the set value of the fertilizer application amount according to the input operation of the operator is restricted within the fertilizable range. That is, when the input operation of the operator is a set value of the fertilizer application amount that exceeds the fertilizable range, the set value of the fertilizer application amount in the work plan map is restricted within the fertilizable range. For example, the set value of the fertilizer application amount on the work plan map is corrected based on the specific gravity of the fertilizer and the input operation of the operator. And when the corrected set value of the fertilizer application amount exceeds the fertilizable range, the remote controller 170 sets the corrected set value of the fertilizer application amount, that is, the set value of the fertilizer application amount displayed on the remote controller 170, to a value (predetermined lower limit value or upper limit value) that restricts within the fertilizable range.

[0113] As a result, it is possible to prevent a set value of the fertilizer application amount that cannot be supplied by the fertilizer applicator 5 of the seedling transplanter 1 from being set on the remote controller 170.

[0114] When the completion of the planting operation in the field is detected, the set value of the fertilization amount in the work plan map corrected (changed) on the remote controller 170 is reset. For example, when the set value of the fertilization amount in the work plan map is changed by the operator's input operation, the seedling planting operation in the field is performed, and when the planting operation in the field is completed, the changed set value of the fertilization amount is returned to the value before the change. For example, the completion of the planting operation in the field is detected, for example, by operating the "END button" of the remote controller 170.

[0115] Thereby, when the set value of the fertilization amount in the work plan map is changed, the remote controller 170 can prevent the operator from forgetting to reset the set value of the fertilization amount.

[0116] The set value of the fertilization amount in the work plan map changed on the remote controller 170 may be reset when fertilizer supply not based on the work plan map is performed.

[0117] When the planting clutch 27a is changed from the "engaged" state to the "disengaged" state, the seedling transplanter 1 may hold the fertilization amount in the fertilizer applicator 5 at the fertilization amount immediately before the planting clutch 27a becomes the "disengaged" state.

[0118] Thereby, the seedling transplanter 1 can suppress unnecessary driving of the motor of the feeding device 71. Further, the seedling transplanter 1 can suppress the response delay of the motor of the feeding device 71.

[0119] When the fertilization amount is changed by the remote controller 170, the fertilization amount immediately before the planting clutch 27a becomes the "disengaged" state, which is held when the planting clutch 27a is changed from the "engaged" state to the "disengaged" state, may be discarded.

[0120] When the seedling transplanter 1 performs double cropping, the fertilization amount in the fertilizer applicator 5 may be adjusted based on the position information of the traveling vehicle body 2. For example, when the traveling routes of the traveling vehicle body 2 overlap, the seedling transplanter 1 turns off the fertilization furrow clutch for the number of overlapping rows.

[0121] As shown in Fig. 7, the seedling transplanter 1 may be provided with a motor 300 (or motor generator) for driving the left and right rear wheels 11. Fig. 7 is a diagram for explaining the outline of the seedling transplanter 1 according to a modified example. The seedling transplanter 1 transmits the driving energy generated by the engine 30 to the ISG motor 301, and supplies the electric power generated by the ISG motor 301 to the low-voltage battery 302 and the high-voltage battery 303 to charge each battery 302, 303.

[0122] The electric power stored in the low-voltage battery 302 is supplied to the electric device 304 such as a light. The electric power stored in the high-voltage battery 303 is supplied to the working motor 305 for driving the seedling planting unit 4. The electric power stored in the high-voltage battery 303 is supplied to the motor 306 for driving the rear wheels 11. Further, a supercharger 307 is provided for the engine 30, and the motor 308 of the supercharger 307 is supplied with electric power from the high-voltage battery 303.

[0123] Thereby, the seedling transplanter 1 can supercharge by the motor of the supercharger 307 at low rotation by electrifying the supercharger 307, eliminating the lag of the supercharger 307, and improving the torque at low rotation. Further, the seedling transplanter 1 can sufficiently drive the seedling planting unit 4 even at low rotation, and can improve the workability.

[0124] The seedling transplanter 1 may drive the supercharger 307 by the motor 308 only when driving the supercharger 307. For example, during turning to the next process, the seedling transplanter 1 travels at a low speed, and the engine rotation speed also decreases. In such a case, the seedling transplanter 1 drives the supercharger 307 by the motor 308. Further, the seedling transplanter 1 drives the supercharger 307 by the motor 308 when the front wheels 10 and the rear wheels 11 are idling or when the differential lock mechanism 97 is operating.

[0125] The seedling transplanter 1 may drive the supercharger 307 by the motor 308 when the engine rotation speed is in the low-speed range.

[0126] As a result, the seedling transplanter 1 can increase the output of the engine 30. Also, the seedling transplanter 1 can stabilize the engine rotation speed and achieve excellent working accuracy.

[0127] When the engine rotation speed of the seedling transplanter 1 is in the medium-speed range or the high-speed range, the turbine of the supercharger 307 may be driven by the exhaust gas energy, and further, the motor 308 of the supercharger 307 may function as a generator by the surplus exhaust gas energy.

[0128] As a result, the seedling transplanter 1 can suppress fuel consumption and suppress exhaust gas emissions.

[0129] When slip is detected, the seedling transplanter 1 may automatically operate the deflock mechanism 97. When the deflock mechanism 97 is automatically operated, the remote controller 170 may store the information on the position where the deflock mechanism 97 is operated.

[0130] When automatically driving straight to plant seedlings, the fertilization amount in the fertilizer applicator 5 may be created as a map corresponding to the travel distance along the travel route by comparing the travel route with the work plan map. When the seedling transplanter 1 automatically drives straight to plant seedlings, it supplies fertilizer to the field based on a map corresponding to the travel distance along the travel route.

[0131] As a result, when the route traveled by automatic straight driving of the seedling transplanter 1 is determined, it can supply fertilizer to the field according to the travel distance in the travel route.

[0132] When fertilizer is supplied to the field based on a map corresponding to the travel distance along the travel route, the travel distance until the fertilization amount is switched is calculated and obtained as the distance from the travel start position in the travel route to the intersection of the travel route and the section in the map.

[0133] The seedling transplanter 1 may calculate the time from the vehicle speed of the traveling vehicle body 2 until the fertilizer application rate changes, and change the fertilizer application rate in the fertilizer application device 5 based on the calculated time.

[0134] Thereby, the seedling transplanter 1 can suppress the occurrence of a response delay when changing the fertilizer application rate.

[0135] When the difference between the predicted fertilizer application amount for the entire field calculated from a map corresponding to the traveling distance along the traveling route of the seedling transplanter 1 and the planned fertilizer application amount for the entire field in the work plan map for the field is equal to or greater than a predetermined difference, the seedling transplanter 1 may issue a warning. The seedling transplanter 1 may correct the fertilizer application amount in a map corresponding to the traveling distance along the traveling route.

[0136] When the seedling transplanter 1 does not perform fertilization based on a map corresponding to the traveling distance along the traveling route, the fertilizer application amount in the fertilizer application device 5 may be set as the basic fertilizer application amount.

[0137] For the traveling route in automatic straight travel and a plurality of routes obtained by offsetting the traveling route left and right within the working width range of the seedling planting unit 4, a map corresponding to the traveling distance along the traveling route may be created, and the fertilizer application amount in the fertilizer application device 5 may be adjusted by an average value.

[0138] Thereby, when the working width of the seedling planting unit 4 is large, the seedling transplanter 1 can supply fertilizer to the field in consideration of which section the seedling planting unit 4 passes through. Therefore, the seedling transplanter 1 can supply fertilizer to the field more accurately.

[0139] Further effects and modifications can be easily derived by those skilled in the art. For this reason, the broader aspects of the present invention are not limited to the specific details and representative embodiments shown and described above. Therefore, various changes can be made without departing from the spirit or scope of the general inventive concept defined by the appended claims and their equivalents.

Explanation of Reference Numerals

[0140] 1 Seedling transplanter (work vehicle) 2 Traveling vehicle body 4 Seedling planting unit 5 Fertilizer applicator 10 Front wheels 11 Rear wheels 27a Planting clutch 100 Controller (control device) 150 Position detection device

Claims

1. A running vehicle body, A supply device provided on the traveling vehicle body and supplying materials to a field; A position detection device that detects information regarding the position of the traveling vehicle body; a control device capable of communicating with a terminal device capable of storing a work plan map for the field where work is to be performed and controlling the supply device; Equipped with The control device includes: When the power supply of the terminal device is ON and the position of the traveling vehicle body can be detected, the supply amount of the supply device is changed based on the work instruction value in the work plan map; the work plan map corresponds to the field, and is a map in which the work instruction value is associated with each of the sections divided into a mesh shape, A work vehicle in which, when the control device cannot communicate with the terminal device or cannot detect the position of the traveling vehicle body, the supply amount in the supply device is set to a set reference supply amount rather than the work instruction value.

2. 2. The work vehicle according to claim 1, wherein, when the supply amount is outside a supplyable range of the supply device, the control device sets the supply amount to a supplyable range of the supply device.

3. 3. The work vehicle according to claim 1, wherein the control device sets the supply amount of the supply device to a lower limit value of a supplyable range when the supply amount is less than a lower limit value of a supplyable range of the supply device.

4. The work vehicle according to claim 1 , wherein the work plan map allows a set value of the supply amount for a plurality of sections having the same supply amount to be changed collectively among a plurality of sections.

Images