Riding type vegetable transplanter

Abstract

To provide a riding type vegetable transplanter capable of reducing operation burden on an operator and supporting planting operation.SOLUTION: A riding type vegetable transplanter 1 includes: a planting implement planting a seedling of vegetable in a field; a traveling body 5 implementing planting operation 4 and traveling; operation 3 which is provided for the traveling body 5 and an operator can sit; a communication device 401 receiving information about automatic steering from a portable terminal 500; a setting part 131C setting a reference azimuth from the information received by the communication device 401; and a controller 131 which controls the automatic steering that travels the traveling body 5 along the reference azimuth.SELECTED DRAWING: Figure 1D

Description

Technical Field

[0001] The present invention relates to, for example, a riding vegetable transplanter for planting vegetable seedlings in a field.

Background Art

[0002] The riding vegetable transplanter disclosed in Patent Document 1 includes a planting work machine for planting vegetable seedlings in a field, a traveling body that travels while mounting the planting work machine, a driver's seat provided on the traveling body and where a driver can sit, and a steering handle provided in front of the driver's seat for steering the traveling body.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the riding vegetable transplanter disclosed in Patent Document 1, an operation is performed in which a driver operates a steering handle to cause the traveling body to travel along a ridge in a field, and a planting work machine plants vegetable seedlings on the upper surface of the ridge. That is, the driver needs to operate the steering handle so that the traveling body travels along the ridge in the field. For this reason, there is a problem that the operation by the driver (operator) of the riding vegetable transplanter is burdensome.

[0005] Therefore, in view of the above problems, an object of the present invention is to provide a riding vegetable transplanter that can reduce the driving burden on an operator and support the planting work.

Means for Solving the Problems

[0006] A riding vegetable transplanter according to one aspect of the present invention includes a planting work machine for planting vegetable seedlings in a field, a traveling body on which the planting work machine is mounted and travels, a driver's seat provided on the traveling body, a communication device for receiving information related to automatic steering from a mobile terminal, a setting unit for setting a reference azimuth from the information received by the communication device, and a control device for controlling the automatic steering to cause the traveling body to travel along the reference azimuth.

Effect of the Invention

[0007] According to the above configuration, the driving burden on the operator of the riding vegetable transplanter can be reduced, and the planting work can be supported.

Brief Description of the Drawings

[0008]

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Mode for Carrying Out the Invention

[0009] Hereinafter, an embodiment of the present invention will be described with appropriate reference to the drawings. FIG. 1A is a schematic side view showing the overall configuration of a riding vegetable transplanter according to this embodiment. FIG. 1B is a schematic plan view of the riding vegetable transplanter. FIG. 1C is a schematic front view of the riding vegetable transplanter. As shown in FIG. 1A, the riding vegetable transplanter 1 (hereinafter, appropriately abbreviated as the transplanter 1) is a riding-type transplanter having a driver's seat 3 on which an operator (driver, operator, worker, user) 2 sits.

[0010] As shown in FIGS. 1A and 1B, the transplanter 1 has a planting work machine 4 for planting seedlings 7 (for example, vegetable seedlings) in a field 6, and a traveling body 5 that travels while mounting the planting work machine 4. Therefore, the transplanter 1 is a machine that plants the seedlings 7 in the field 6 by the planting work machine 4 while traveling through the field 6 by the traveling body 5. That is, the transplanter 1 is a riding-type vegetable transplanter for planting the seedlings 7 (for example, vegetable seedlings).

[0011] In the embodiments of the present invention, the front direction of the operator 2 sitting in the driver's seat 3 of the transplanter 1 (the direction of arrow A1 in FIGS. 1A and 1B) is defined as the front, and the rear direction of the operator 2 (the direction of arrow A2 in FIGS. 1A and 1B) is defined as the rear for description. Also, the direction of arrow K1 in FIGS. 1A and 1B is referred to as the longitudinal direction of the machine body. Further, the right side of the operator 2 (the direction of arrow B1 in FIG. 1B) is defined as the right, and the left side of the operator 2 (the direction of arrow B2 in FIG. 1B) is defined as the left for description.

[0012] Also, as shown in FIG. 1B, the horizontal direction, which is perpendicular to the longitudinal direction of the machine body (arrow K1), is described as the width direction of the machine body (arrow K2). The direction from the central portion in the width direction of the machine body 16 toward the right or left is described as the outside of the machine body. In other words, the outside of the machine body means the direction in the width direction K2 that is away from the center in the width direction of the machine body 16. The direction opposite to the outside of the machine body is described as the inside of the machine body. In other words, the inside of the machine body means the direction in the width direction K2 that approaches the center in the width direction of the machine body 16.

[0013] First, an overview of the planting work implement 4 will be described. As shown in FIG. 1A, the planting work implement 4 has a seedling placing table 9 on which a plurality of seedling trays (cell trays) 8 having a large number of seedlings 7 are placed.

[0014] As shown in FIGS. 10 and 11, the seedling tray 8 is made of plastic, is formed thin and has flexibility, and is formed in a rectangular shape in plan view. The seedling tray 8 has a large number of pot portions 8a arranged in a grid pattern at a predetermined pitch in the vertical and horizontal directions. The opening edge portions of the pot portions 8a are connected by a flat upper surface wall 8b. The pot portions 8a project from the upper surface wall 8b toward the back side. In the seedling tray 8, the seedlings 7 (soil block seedlings) are grown by supplying floor soil to the pot portions 8a, sowing seeds in the floor soil, and raising seedlings.

[0015] As shown in Fig. 7, the seedling placing table 9 has a placing plate 10 on which the seedling tray 8 is placed in a state of being inclined downward (inclined in a direction of moving rearward as it goes downward). As shown in Fig. 1A, the seedlings 7 in the seedling tray 8 are taken out one by one by a seedling taking-out device 11 disposed at the lower rear of the seedling placing table 9 and supplied to the lower planting body 12. The planting body 12 reciprocates vertically and receives the seedlings 7 at the top dead center position. Further, the planting body 12 enters the field 6 when descending and plants the seedlings 7. Specifically, the planting body 12 is formed by an opener that can be opened and closed in the front-rear direction. When in the closed state, it holds the seedlings 7 inside and moves downward. When it enters the field 6, it opens in the front-rear direction to form a planting hole in the field 6 and drops the seedlings 7 into the planting hole for planting. The planting work machine 4 takes out the seedlings 7 from the seedling tray 8 and automatically plants them in the field 6 at a predetermined interval.

[0016] As shown in Fig. 7, the placing plate 10 can place a plurality of seedling trays 8 side by side vertically along the inclined direction. The seedling tray 8 is arranged with its longitudinal direction aligned with the inclined direction. The seedling taking-out device 11 takes out the seedlings 7 from the lowermost seedling tray 8 (8A) among the plurality of seedling trays 8 placed on the placing plate 10. Further, the seedling taking-out device 11 takes out the seedlings 7 one by one from the seedling tray 8 while intermittently laterally feeding the seedling placing table 9 by one pitch of the pot part 8a in the machine width direction K2. When a horizontal row of seedlings 7 is taken out from the seedling tray 8, the seedling tray 8 is vertically fed downward by one pitch of the pot part 8a along the inclined direction. Thereby, the next horizontal row of seedlings 7 can be taken out. Thereafter, the seedling placing table 9 is laterally fed in the direction opposite to the previous one to take out the seedlings 7. When a horizontal row of seedlings 7 is taken out, the seedling tray 8 is vertically fed. By sequentially repeating this, all the seedlings 7 are taken out from the seedling tray 8.

[0017] As shown in Fig. 7, the seedling placing table 9 has an inversion guide 13 at the lower part. After the seedling 7 is taken out by the seedling taking-out device 11, the seedling tray 8 is sent to the inversion guide 13 by being vertically fed. The seedling tray 8 sent to the inversion guide 13 is guided by the inversion guide 13 and guided to the back side (lower surface side) 10A of the placing plate 10. Further, the seedling placing table 9 has an empty tray guide 14 on the back side of the placing plate 10. The empty tray guide 14 has a curved portion 14a at the lower part. The curved portion 14a takes over the seedling tray 8 from the inversion guide 13 and guides it to a guide main body portion 14b arranged on the back side of the placing plate 10. The empty seedling tray 8 is guided to the upper part of the back surface of the placing plate 10 by the guide main body portion 14b. The empty tray guide 14 has an upper guide portion 14c at the upper part. The upper guide portion 14c extends forward from the upper end of the guide main body portion 14b toward the driver's seat 3 side. Further, the upper guide portion 14c is formed in a slightly forward-downward inclined shape (an inclined shape that shifts downward as it goes forward). The empty seedling tray 8 can be taken out from the upper guide portion 14c.

[0018] Next, the traveling body 5 will be described in detail. As shown in Fig. 1A, the traveling body 5 is arranged in front of the planting work machine 4. As shown in Fig. 8, the traveling body 5 includes a machine body 16 on which the driver's seat 3 is mounted, and a traveling device 17 that supports the machine body 16 so as to be able to travel.

[0019] The vehicle body 16 has a prime mover 18, a prime mover frame 19, a transmission case 20, and a vehicle body frame 21. The prime mover 18 is, for example, a diesel engine. The prime mover 18 is disposed at the front portion of the traveling body 5. The prime mover frame 19 is disposed below the prime mover 18 and supports the prime mover 18. The transmission case 20 is disposed behind the prime mover 18 and houses a transmission mechanism that shifts the power output from the prime mover 18. The prime mover frame 19 is connected to the front portion of the transmission case 20. The vehicle body frame 21 is disposed behind the transmission case 20. In other words, the vehicle body frame 21 is disposed at the rear portion of the traveling body 5. The transmission case 20 is connected to the front portion of the vehicle body frame 21. The vehicle body frame 21 has a support 22 at the rear portion. The driver's seat 3 is attached to the support 22 via a seat attachment member 31.

[0020] The driver's seat 3 is disposed at the rear portion of the vehicle body 16. The driver's seat 3 has a seat portion 3A and a backrest portion 3B. The seat portion 3A is the portion where the operator 2 sits (places the buttocks and thighs). The backrest portion 3B is the portion where the seated operator 2 leans the back, and is provided so as to extend upward from the rear portion of the seat portion 3A.

[0021] As shown in FIGS. 1A and 1B, in this embodiment, the traveling device 17 is a wheel-type traveling device having left and right front wheels 23 and left and right rear wheels 24. The front wheels 23 and the rear wheels 24 rotate when the power output from the transmission case 20 is transmitted thereto.

[0022] As shown in FIGS. 1A and 1B, in front of the driver's seat 3, a steering wheel 25 for steering the traveling body 5 (front wheels 23), a bonnet 26, and a steering column 27 are provided. A fuel tank or the like is housed in the bonnet 26. The prime mover 18 is disposed below the bonnet 26. The steering column 27 covers a handle post or the like that supports the steering wheel 25.

[0023] Figure 1D is a configuration and control block diagram of a traveling system of a passenger vegetable transplanter. As shown in Figure 1D, the transplanter 1 is provided with a steering device 320. The steering device 320 has a steering wheel 25, a rotating shaft (steering shaft) 25b that rotates as the steering wheel 25 rotates, and an auxiliary mechanism (power steering mechanism) 25c that assists the steering of the steering wheel 25. The auxiliary mechanism 25c includes a hydraulic pump 133, a control valve 323 to which the hydraulic oil discharged from the hydraulic pump 133 is supplied, and a steering cylinder 321 that is operated by the control valve 323. The control valve 323 is an electromagnetic valve that operates based on a control signal. The control valve 323 is, for example, a three-position switching valve that can be switched by the movement of a spool or the like. Also, the control valve 323 can be switched by the steering of the steering shaft 25b. The steering cylinder 321 is connected to an arm (knuckle arm) 322 that changes the direction of the front wheels 23.

[0024] Therefore, by operating the steering wheel 25, the switching position and opening degree of the control valve 323 are switched according to the operation of the steering wheel 25, and the piston rod of the steering cylinder 321 moves left or right according to the switching position and opening degree of the control valve 323, whereby the steering direction of the front wheels 23 can be changed. Note that the above-described steering device 320 is an example and is not limited to the above-described configuration.

[0025] As shown in FIG. 1D, the transplanter 1 is provided with a position detection device 330. As shown in FIGS. 1A and 1C, the position detection device 330 is attached to the connecting frame 420. The position detection device 330 is a device that detects its own position (positioning information including latitude and longitude) by means of a satellite positioning system. That is, the position detection device 330 includes an antenna unit 400 that receives signals (position of positioning satellites, transmission time, correction information, etc.) transmitted from a plurality of positioning satellites, and a communication antenna 403 that receives a radio signal including correction information of positioning error from a base station (reference station) capable of receiving signals from the positioning satellites. A communication device 401 that acquires correction information of the positioning error from the radio signal received by the communication antenna 403, and detects the position (latitude, longitude) based on the received satellite positioning information and correction information. Further, the position detection device 330 may have an inertial measurement device such as a gyro sensor or an acceleration sensor, and detect the position corrected by the inertial measurement device as its own position. The position detection device 330 can detect the position (travel position) of the transplanter 1 (traveling body 5).

[0026] As shown in FIG. 1D, the transplanter 1 is provided with a control device 131 that controls the automatic steering of the traveling body 5 based on the satellite positioning information received by the antenna unit 400. The control device 131 is connected to the position detection device 330 and the travel detection device 341 of the travel system. Therefore, the control device 131 can acquire the position (travel position) detected by the position detection device 330 and the detection value detected by the travel detection device 341. The travel detection device 341 is, for example, a crank sensor, a cam sensor, an engine rotation sensor, an accelerator sensor, a vehicle speed sensor, a steering angle sensor, or the like.

[0027] The control device 131 controls the travel system in the transplanter 1. The control device 131 controls, for example, the engine speed, the vehicle speed, the steering angle of the steering device 320, etc. based on the detection value detected by the travel detection device 341. The control device 131 has a steering control unit 131A and a storage device 131B.

[0028] The control device 131 is composed of an electric / electronic circuit, a processor, a memory, etc. The processor is, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), and an ASIC (Application Specific Integrated Circuit), etc. The storage device 131B is a non-volatile memory or the like, and stores various control programs (such as a steering control program, a setting program), various data, etc. For example, when the aforementioned processor of the control device 131 executes the steering control program stored in the storage device 131B, it functions as the steering control unit 131A.

[0029] The steering control unit 131A (control device 131) can automatically control (autosteering control) the steering of the transplanter 1 (traveling body 5) based on the set reference azimuth. FIG. 1E is a view of the steering column in front of the driver's seat as seen from the driver's seat side. As shown in FIGS. 1D and 1E, the transplanter 1 includes a shift lever 350, a steering changeover switch (GS switch) 351, a first switch 352, a second switch 353, a main switch 354, a third switch 355, and a fourth switch 356. The shift lever 350, the steering changeover switch 351, the first switch 352, the second switch 353, the main switch 354, the third switch 355, and the fourth switch 356 are connected to the control device 131.

[0030] The shift lever 350 is operated by the operator 2 for shifting the transmission mechanism. The steering changeover switch 351 is a switch that can be switched ON / OFF by the operator 2, and enables the auto-steering control when it is ON and disables the auto-steering control when it is OFF. The first switch 352 is operated by the operator 2 to set the starting point of the reference azimuth. The second switch 353 is operated by the operator 2 to set the ending point of the reference azimuth. The third switch 355 (easy start switch) is a switch that can be switched ON / OFF by the operator 2, and enables the auto-steering control without operating the steering changeover switch 351 when the permission condition for auto-steering is satisfied while it is ON. The fourth switch 356 (inter-row assist switch) is a switch that can be switched ON / OFF by the operator 2, and enables the inter-row assist function when it is ON and disables the inter-row assist function when it is OFF.

[0031] The main switch 354 is a switch for turning the power supply on / off and turning the prime mover 18 on / off. Specifically, the main switch 354 can be switched to any of the start, operation, and stop positions. When the switch key is inserted into the main switch 354 by the operator 2 and turned to the start position, the prime mover 18 starts and the power supply of the transplanter 1 is turned on. When the hand is released after the prime mover 18 starts, the switch key returns to the operation position. The operation position is the position where various electrical devices of the transplanter 1 operate. When the switch key is turned from the operation position to the stop position, the prime mover 18 stops and the switch key can be inserted and removed.

[0032] As shown in FIG. 1E, the shift lever 350, the steering changeover switch 351, the first switch 352, and the second switch 353 are installed near the driver's seat 3 and can be operated by the operator 2. For example, the steering changeover switch 351 is provided near the grip of the shift lever 350. The first switch 352 is provided on the upper part of the steering column 27 on the right side of the display device 360, and the second switch 353 is provided on the upper part of the steering column 27 on the left side of the display device 360. The main switch 354 is provided on the upper part of the steering column 27 at the front right side.

[0033] In the field 6, when the first switch 352 is operated, the control device 131 sets the position of the transplanter 1 (traveling body 5) (the position of the antenna unit 400 specified based on the satellite positioning information) as the starting point of the reference azimuth and stores this starting point in the storage device 131B. Subsequently, when the transplanter 1 (traveling body 5) advances by a certain distance or more by the driver's operation and the second switch 353 is operated, the control device 131 sets the position of the transplanter 1 (traveling body 5) (the position of the antenna unit 400 specified based on the satellite positioning information) as the ending point of the reference azimuth and stores this ending point in the storage device 131B. Then, the control device 131 stores in the storage device 131B the azimuth of the straight line route connecting the starting point and the ending point as the reference azimuth.

[0034] When the steering changeover switch 351 is turned on under the condition that the permission conditions for automatic steering are satisfied, the control device 131 performs automatic steering control to make the transplanter 1 (traveling body 5) travel along the reference azimuth. The permission conditions for automatic steering are that the reference azimuth is stored in the storage device 131B (that is, the reference azimuth is set), and the difference between the traveling direction of the transplanter 1 (traveling body 5) and the reference azimuth is equal to or less than the allowable value.

[0035] When the steering changeover switch 351 is turned on and the auto-steering control becomes effective, the steering control unit 131A sets the switching position and the opening degree of the control valve 323 so that the traveling position of the transplanter 1 (traveling body 5) (the position of the traveling body 5) is made to coincide with the planned traveling route parallel to the reference azimuth, that is, so that the traveling body 5 is moved on the planned traveling route parallel to the reference azimuth. In other words, when the steering changeover switch 351 is ON, the control device 131 sets the moving direction and the moving amount of the piston rod of the steering cylinder 321 (the steering direction and the steering angle of the front wheels 23) so that the traveling position of the transplanter 1 coincides with the planned traveling route.

[0036] Specifically, when the auto-steering control is effective, the steering control unit 131A compares the traveling position of the transplanter 1 (traveling body 5) detected by the position detection device 330 with the position (planned traveling position) indicated by the planned traveling route. When the traveling position and the planned traveling position coincide, the steering angle and the steering direction of the steering wheel 25 in the steering device 320 (the steering angle and the steering direction of the front wheels 23) are held without being changed (the opening degree and the switching position of the control valve 323 are maintained without being changed).

[0037] On the other hand, when the traveling position and the planned traveling position do not coincide, the steering control unit 131A changes the steering angle and / or the steering direction of the steering wheel 25 in the steering device 320 (changes the opening degree and / or the switching position of the control valve 323) so that the deviation (displacement amount) between the traveling position and the planned traveling position becomes zero.

[0038] In the above-described embodiment, the steering control unit 131A changes the steering angle of the steering device 320 based on the deviation between the traveling position and the planned traveling position in the auto-steering control. However, when the azimuth of the planned traveling route R1 and the azimuth (vehicle body azimuth) of the traveling direction (traveling direction) of the transplanter 1 (traveling body 5) are different, the steering control unit 131A may set the steering angle so that the vehicle body azimuth coincides with the azimuth of the planned traveling route R. Further, the steering control unit 131A may set the final steering angle in the auto-steering control based on the steering angle obtained based on the deviation (position deviation) and the steering angle obtained based on the azimuth deviation in the auto-steering control. The setting of the steering angle in the auto-steering control in the above-described embodiment is an example and is not limited.

[0039] When the permission condition for auto-steering is satisfied, the control device 131 starts the control of auto-steering based on the satellite positioning information when the steering changeover switch 351 is turned on, and ends the control of auto-steering when the steering changeover switch 351 is turned off. That is, the transplanter 1 can travel the traveling body 5 along the reference azimuth by the auto-steering control by the steering control unit 131A (control device 131) from when the steering changeover switch 351 is turned on until it is turned off.

[0040] On the other hand, when the auto-steering control is invalid, the steering control unit 131A sets the steering direction and steering angle of the front wheels 23, the vehicle speed, etc. based on the operation of the operator 2 (operation of the steering wheel 25 of the operator 2, operation of the accelerator of the operator 2, etc.). In this way, the steering control unit 131A can manually change the direction of the transplanter 1 (traveling body 5).

[0041] As shown in FIGS. 1D and 1E, the transplanter 1 includes a display device 360 and an alarm lamp 362. The display device 360 is disposed at the center of the upper part of the steering column 27 in front of the driver's seat 3. The alarm lamp 362 is disposed on the right side of the display device 360 of the steering column 27. The operator 2 can visually recognize the display device 360 and the alarm lamp 362 while sitting on the driver's seat 3. The display device 360 has, for example, a segment display unit 361. The segment display unit 361 is a segment LCD (Liquid Crystal Display) that displays various information in a segment format for a plurality (for example, four) of characters. The segment display unit 361 can display various setting information before the start of automatic steering, various display information related to automatic steering, and the like in a segment format. Note that the display device 360 may include a dot matrix display unit (for example, a display unit composed of a liquid crystal panel, a touch panel, etc.) with excellent expressiveness instead of the segment display unit 361. The alarm lamp 362 lights up, blinks, etc. under the control of the control device 131 when there is an abnormality, a caution, etc. about the transplanter 1. Thus, notification to the operator 2 is performed.

[0042] Now, as shown in FIGS. 1A to 1C, spare seedling tables 28 (front spare seedling table 28F, rear spare seedling table 28K) on which seedling trays 8 having seedlings 7 are placed are respectively arranged in front of and behind the traveling body 5. Specifically, the front spare seedling table 28F is arranged on the side of the bonnet 26. Further, the rear spare seedling table 28K is arranged on the side of the rear step 33 behind the driver's seat 3.

[0043] The front spare seedling table 28F has a plurality of stages (for example, six stages) of spare seedling placement parts 28A, and is provided on the left side and the right side of the bonnet 26. The operator 2 can take out the seedling tray 8 from the front spare seedling table 28F and supply it to the planting work machine 4 (seedling placing table 9). Further, the rear spare seedling table 28K has a plurality of stages (for example, five stages) of spare seedling placement parts 28A, and is provided on the left side and the right side of the rear step 33. The operator 2 can take out the seedling tray 8 from the rear spare seedling table 28K and supply it to the planting work machine 4 (seedling placing table 9).

[0044] The front preliminary seedling table 28F has a support column 28B that extends to a position higher than the driver's seat 3. The support column 28B is erected on both the left and right sides of the traveling body 5, for example, on the left side and the right side of the bonnet 26. Specifically, the support column 28B is a portal-shaped support column having a front support column 28B1 and a rear support column 28B2 that are erected at intervals in the front-rear direction of the traveling body 5, and a front-rear frame 28B3 that connects the top of the front support column 28B1 and the top of the rear support column 28B2. Six stages of preliminary seedling placement parts 28A are mounted on the support column 28B at intervals in the vertical direction. Also, the rear preliminary seedling table 28K has a support column similar to the support column 28B of the front preliminary seedling table 28F and has basically the same configuration as the front preliminary seedling table 28F, so a detailed description thereof is omitted here.

[0045] As shown in FIG. 1C, the upper parts of the support columns 28B on both the left and right sides are connected by a connecting frame 420. For this reason, both support columns 28B are firmly held by the connecting frame 420. As shown in FIGS. 1A and 1C, an antenna unit 400 for receiving satellite positioning information and a housing 405 containing a communication device 401 are respectively attached to the connecting frame 420. The antenna unit 400 is in a higher positional relationship than the other components except the antenna unit 400.

[0046] The antenna unit 400 is attached to the upper side of the connecting frame 420. Also, a housing 405 and a rearview mirror 430 are attached to the lower side of the connecting frame 420. The rearview mirror 430 is attached to the left end side of the connecting frame 420.

[0047] FIG. 2A is a left side view of an upper part of a preliminary seedling table of a riding vegetable transplanter. FIG. 2B is a plan view of a position detection device attached to the central part of the connecting frame. FIG. 2C is an exploded perspective view of an upper part of a preliminary seedling table of a riding vegetable transplanter as viewed from the lower left rear. FIG. 2D is an exploded perspective view of an upper part of a preliminary seedling table of a riding vegetable transplanter as viewed from the upper left rear.

[0048] Specifically, as shown in FIG. 2A, a bracket 410 is attached to the connecting frame 420. An antenna unit 400 is attached to the upper part of the bracket 410. A housing 405 is attached to the lower part of the bracket 410. As shown in FIG. 2B, in a plan view, the antenna unit 400 and the housing 405 are arranged at overlapping positions via the bracket 410.

[0049] As shown in FIGS. 2A to 2D, the bracket 410 includes a first bracket 411 to which the housing 405 is attached and fixed to the connecting frame 420, and a second bracket 412 to which the antenna unit 400 is attached. As shown in FIGS. 2C and 2D, screw holes 411a are formed in the first bracket 411. Long holes 412a that are long along the connecting frame 420 are formed in the second bracket 412. The second bracket 412 is screwed to the first bracket 411 by inserting a fastening member 413 such as a bolt into the long hole 412a and screwing it into the screw hole 411a.

[0050] The first bracket 411 includes a sandwiching portion 411A having a V-shaped cross section in a side view fixed to the connecting frame 420, and a mounting plate portion 411B having a rectangular shape in a plan view to which the housing 405 is attached to the lower surface. For example, the V-shaped sandwiching portion 411A is fixed to the connecting frame 420 in a state of sandwiching the connecting frame 420 by pressing against the connecting frame 420 inside thereof or welding to the connecting frame 420. Note that the sandwiching portion 411A may be fixed to the connecting frame 420 with a fastening component or the like.

[0051] Through holes into which bolts 415 are inserted are formed at the four corners of the mounting plate portion 411B of the first bracket 411. The housing 405 is attached to the lower surface of the mounting plate portion 411B by screwing the bolts 415 inserted into the through holes into female screws 407 formed at the four corners inside the upper surface of the housing 405. In FIG. 2C, for reasons of convenience of explanation, a state where the female screws 407 are screwed into the bolts 415 of the mounting plate portion 411B is shown, but it should be noted that the female screws 407 are formed at the four corners inside the upper surface of the housing 405.

[0052] As shown in FIGS. 2C and 2D, the second bracket 412 includes a substantially rectangular mounting plate portion 412A with rounded corners, and an L-shaped frame body 412B that is fixed to the lower surface of the mounting plate portion 412A and is long in the lateral width direction of the second bracket 412. The L-shaped frame body 412B has an upper side portion 412B1 and a hanging side portion 412B2. The upper side portion 412B1 of the L-shaped frame body 412B is fixed to the lower surface of the mounting plate portion 412A. Two long holes 412a are formed side by side in the lateral width direction in the hanging side portion 412B2 of the L-shaped frame body 412B.

[0053] As shown in FIG. 2B, in a plan view, the size of the mounting surface to which the antenna unit 400 is attached of the bracket 410 is larger than that of the antenna unit 400. This mounting surface is the surface whose outer contour is formed by the mounting plate portion 411B of the first bracket 411 and the mounting plate portion 412A of the second bracket 412. As shown in FIGS. 2B and 2C, the mounting plate portion 412A of the second bracket 412 is larger than the lower surface 400a of the antenna unit 400.

[0054] Also, as shown in FIGS. 2A to 2D, a handle portion 416 that can be gripped by the operator 2 is attached to the mounting plate portion 412A of the second bracket 412. The handle portion 416 is formed of, for example, a resin material. Therefore, there is almost no influence on the antenna unit 400. The handle portion 416 may be made of metal as long as it is located outside the range of the directivity pattern of the antenna unit 400 shown by the two-dot chain line in FIGS. 6A and 6B described later. The handle portion 416 is gripped by the operator 2 and can be used for changing the posture between the standing posture SP (see FIG. 2A) and the storage posture DP (see FIG. 5) of the antenna unit 400 described later.

[0055] As shown in Fig. 2A, the housing 405 houses the communication device 401 and the speaker 402. The speaker 402 is attached to the housing 405 in a posture facing the driver's seat 3. The housing 405 includes a partition wall 406 that divides the first space 405A housing the communication device 401 and the communication antenna 403 and the second space 405B housing the speaker 402.

[0056] Fig. 3 is a perspective view seen from the left rear of the housing in the closed state. Fig. 4A is a perspective view seen from the left rear of the housing in the open state. Fig. 4B is a perspective view seen from the right rear lower part of the housing in the open state.

[0057] As shown in Figs. 3 to 4B, the housing 405 includes, for example, an upper body 408A having an opening downward and in a box shape, and a lower body 408B having an opening upward and in a box shape, and the upper part of the lower body 408B can be inserted into the opening below the upper body 408A. The upper body 408A has a top surface portion 408A1, a right side wall portion 408A2, a left side wall portion 408A3, a front wall portion 408A4, and a rear wall portion 408A5. The speaker 402 is disposed inside the upper body 408A on the side closer to the driver's seat 3 of the partition wall 406 (that is, the second space 405B). The lower body 408B has a bottom surface portion 408B1, a right side wall portion 408B2, a left side wall portion 408B3, a front wall portion 408B4, and a rear wall portion 408B5. As shown in Fig. 4A, the communication device 401 and the communication antenna 403 are disposed inside the lower body 408B on the side farther from the driver's seat 3 than the partition wall 406 (that is, the first space 405A). The upper body 408A and the lower body 408B are formed by processing a metal plate member into a box shape and painting the surface to prevent rust, but they may be made of resin or the like other than metal.

[0058] The housing 405 can be changed between a closed state shown in FIG. 3 and an open state (see FIGS. 4A and 4B) in which work can be performed on the communication device 401 inside the housing 405 from the driver's seat 3 side. Specifically, the housing 405 includes a pivot shaft 408C that pivotally supports the lower body 408B with respect to the upper body 408A. The pivot shaft 408C is a shaft member located on the far side of the upper body 408A and the lower body 408B from the driver's seat 3 and parallel to the lateral side on the far side. For this reason, the lower body 408B can be opened and closed with respect to the upper body 408A using the pivot shaft 408C as a pivot axis.

[0059] As shown in FIGS. 3 and 4B, the housing 405 is provided with fasteners 460 for maintaining the closed state on the left and right sides of the housing 405, respectively. As shown in FIGS. 3, 4A, and 4B, the fastener 460 is a pin member in a "コ" shape.

[0060] Specifically, as shown in FIG. 4A, one end 460a of the right fastener 460 has a disk plate 461 with a diameter larger than that of the through hole 408B22 fixed in a state of being inserted into the through hole 408B22 in the right side wall portion 408B2 of the lower body 408B. A compression spring 462 is inserted into one end 460a of the right fastener 460 so that the compression spring 462 is positioned between the disk plate 461 at one end 460a and the inner surface side of the right side wall portion 408B2.

[0061] Similarly, as shown in FIG. 4A, one end 460a of the left fastener 460 has a disk plate 461 with a diameter larger than that of the through hole 408B32 fixed in a state of being inserted into the through hole 408B32 in the left side wall portion 408B3 of the lower body 408B. A compression spring 462 is inserted into one end 460a of the left fastener 460 so that the compression spring 462 is positioned between the disk plate 461 at one end 460a and the inner surface side of the left side wall portion 408B3.

[0062] The other end 460b of the right fastener 460 can be inserted into the through hole 408A21 of the right side wall portion 408A2 of the upper body 408A and the through hole 408B23 of the right side wall portion 408B2 of the lower body 408B in the closed state of the housing 405 shown in FIG. 3. Also, the other end 460b of the left fastener 460 can be inserted into the through hole 408A31 of the left side wall portion 408A3 of the upper body 408A and the through hole 408B33 of the left side wall portion 408B3 of the lower body 408B in the closed state of the housing 405 as shown in FIG. 3. Thereby, the housing 405 becomes the closed state shown in FIG. 3.

[0063] Here, the opening operation of the housing 405 will be briefly described. The operator 2 grips the right fastener 460 and pulls it outward against the biasing force of the compression spring 462 to pull out the other end 460b of the right fastener 460 from the through hole 408A21 of the right side wall portion 408A2 of the upper body 408A. That is, as shown in FIG. 4B, the other end 460b of the right fastener 460 is removed, and the fastener 460 is rotated downward with one end 460a as the rotation axis. Similarly, the operator 2 grips the left fastener 460 and pulls it outward against the biasing force of the compression spring 462 to pull out the other end 460b of the left fastener 460 from the through hole 408A31 of the left side wall portion 408A3 of the upper body 408A. That is, as shown in FIG. 4B, the other end 460b of the left fastener 460 is removed, and the fastener 460 is rotated downward with one end 460a as the rotation axis. When the other ends 460b of the left and right fasteners 460 are removed in this way, the lower body 408B of the housing 405 can be opened with respect to the upper body 408A with the opening and closing shaft 408C as the rotation axis. Regarding the closing operation of the housing 405, the operator 2 may perform the reverse operation of the above. That is, the housing 405 can be brought into the closed state.

[0064] As shown in FIG. 3, the closed state of the housing 405 is a state in which the upper body 408A and the lower body 408B are combined, and a first space 405A and a second space 405B partitioned by a partition wall 406 are formed between the upper body 408A and the lower body 408B. Further, as shown in FIG. 4A, the open state of the housing 405 is a state in which the lower body 408B is opened downward with respect to the upper body 408A using the opening / closing shaft 408C as a rotation axis. In this open state, work can be performed on the communication device 401 inside the lower body 408B from the driver's seat 3 side. Further, the lower body 408B includes a USB hub 404 (branch device) connected to the control device 131. The USB hub 404 includes two USB (Universal Serial Bus) ports 404A. In the open state of the housing 405, it is possible to connect a USB cable connected to an external device (for example, the mobile terminal 500) possessed by the operator 2 to the USB port 404A, and charging and data communication with the external device via the USB cable are possible.

[0065] As shown in FIG. 2B, the antenna unit 400 is connected to the control device 131 via a cable CB1. The communication device 401 is connected to the control device 131 via a cable CB2. As shown in FIG. 4A, the cable CB2 has a power supply cable CB21 for supplying power to the communication device 401 and a communication cable CB22 for performing data communication between the communication device 401 and the control device 131. The speaker 402 is connected to the audio output circuit of the control device 131 via a cable CB3. The USB port 404A inside the housing 405 is connected to the control device 131 via a cable CB4.

[0066] The cables CB1 to CB4 are arranged along the connecting frame 420. For example, the cables CB1 to CB4 are arranged along the right side from a substantially central position in the lateral width direction of the connecting frame 420, and then are arranged downward along the rear column 28B2 of the right column 28B.

[0067] Below the bonnet 26, the prime mover 18 is arranged, and a muffler is arranged on the left side of the prime mover 18. The high-temperature exhaust gas from the prime mover 18 is exhausted to the outside by the muffler. Therefore, the left side of the bonnet 26 is higher in temperature than the right side. In other words, since the right side (one side) of the bonnet 26 is lower in temperature than the left side (the other side) among the left and right sides of the bonnet 26, the side closer to the right side (one side) of the bonnet 26 is the right support column 28B (that is, one support column), and the side closer to the left side (the other side) of the bonnet 26 is the left support column 28B (that is, the other support column). Also, if the air sucked in from the air intake formed on the right side surface of the bonnet 26 passes through the inside of the bonnet 26 and is exhausted from the exhaust port formed on the left side surface of the bonnet 26, the left side of the bonnet 26 will be significantly higher in temperature than the right side.

[0068] In other words, as shown in FIG. 1C, cables CB2 to CB4 to the housing 405 are routed in the right support column 28B (one support column) on the right side and the one-side range from the right support column 28B in the connecting frame 420 to the housing 405, and a cable CB1 to the antenna unit 400 is routed in the one-side range from the right support column 28B in the connecting frame 420 to the antenna unit 400. The rearview mirror 430 is attached to a location on the connecting frame 420 close to the left support column 28B (the other support column).

[0069] As shown in FIG. 4B, a cable passage portion 409 is provided on the right side wall portion 408A2 of the upper body 408A. The cable passage portion 409 is a waterproof cable insertion port through which the cable CB2 of the communication device 401, the cable CB3 of the speaker 402, and the cable CB4 of the USB hub 404 are passed.

[0070] As shown in FIG. 4A, the communication antenna 403 is provided inside the housing 405. The communication antenna 403 is connected to the communication device 401 via a cable CB5.

[0071] As shown in FIGS. 3 and 4A, the housing 405 has a transmissive portion 405C through which radio signals can pass. Specifically, a substantially trapezoidal opening 408B31 is formed in the left side wall portion 408B3 of the lower body 408B. The transmissive portion 405C is a plate member made of a transparent or translucent material and is larger than the opening 408B31. The transmissive portion 405C is attached to the inner surface of the left side wall portion 408B3 so as to close the opening 408B31. For example, by inserting fasteners such as bolts into the through holes formed at the four corners of the peripheral edge of the opening 408B31 of the left side wall portion 408B3 and screwing them into the screw holes of the transmissive portion 405C (screwing them in), the transmissive portion 405C is screwed and fastened to the inner surface of the left side wall portion 408B3. The transmissive portion 405C is, for example, formed of a transparent or translucent resin material and can be utilized as a viewing window. That is, it is possible to confirm the lighting state of the lamp display (for example, a power lamp when power is supplied, a communication state lamp indicating the communication state, etc.) of the communication device 401 inside the housing 405 from the outside of the housing 405 through the transmissive portion 405C (viewing window).

[0072] Note that the housing 405 may be formed of a radio wave transmissive material through which radio signals can pass. The housing 405 may be, for example, formed of a transparent or translucent resin material. Also, at least a part of the housing 405 may be formed of a transparent or translucent material. Here, the upper body 408A and the lower body 408B are made of metal, but are not limited thereto. At least one of the upper body 408A and the lower body 408B may be formed of a transparent or translucent resin material. For example, the lower body 408B may be entirely formed of a transparent or translucent resin material, or a part of it may be formed of a transparent or translucent resin material.

[0073] FIG. 5 is a left side view of an upper portion of a spare seedling table with the connecting frame in the stored position. The connecting frame 420 is configured to be switchable between an upright position SP shown in FIG. 2A and a stored position DP shown in FIG. 5 by rotating around a horizontal axis X3 along the lateral width direction (machine width direction K2) of the traveling body 5. In the upright position SP of the connecting frame 420 shown in FIG. 2A, the antenna unit 400 is located at a position higher than the upper portions of both support columns 28B and can receive satellite positioning information. In the stored position DP of the connecting frame 420 shown in FIG. 5, the antenna unit 400 is lower than in the upright position SP and is located below the housing 405. Therefore, in the stored position DP, the antenna unit 400 cannot receive satellite positioning information or the reception state deteriorates significantly.

[0074] When the reception level of a signal indicating satellite positioning information from the antenna unit 400 is equal to or lower than a specified value and correction information for positioning error is acquired by the communication device 401, the control device 131 determines that the connecting frame 420 is in the stored position DP. For example, when the control device 131 determines that the connecting frame 420 is in the stored position DP, it can notify the operator 2 by outputting a voice from the speaker 402 saying "the connecting frame 420 is in the stored position DP", segment - displaying a character string indicating the same on the display device 360, or causing the warning lamp 362 to emit light.

[0075] Here, a configuration in which the connecting frame 420 is switchable between the upright position SP shown in FIG. 2A and the stored position DP shown in FIG. 5 will be described. As shown in FIGS. 2C and 2D, the connecting frame 420 includes a left leg portion 421, a right leg portion 422, and a rod - shaped body 423. The left leg portion 421 has a lower left portion 421A connected to the front - rear frame 28B3 of the support column 28B on the left side of the traveling body 5, and a first extending portion 421B bent upward and extending from the lower left portion 421A. The right leg portion 422 has a lower right portion 422A connected to the front - rear frame 28B3 of the support column 28B on the right side of the traveling body 5, and a second extending portion 422B bent upward and extending from the lower right portion 422A. The rod - shaped body 423 is a member that connects the upper end of the first extending portion 421B and the upper end of the second extending portion 422B and extends in the lateral width direction (machine width direction K2) of the traveling body 5.

[0076] A rotation support 28B4 for rotatably supporting a connection frame 420 is fixed to the upper part of the front and rear frames 28B3 of the support column 28B. That is, the rotation supports 28B4 are fixed to the respective support columns 28B on both the left and right sides.

[0077] The left rotation support 28B4 includes a pair of support walls 28B41 that extend upward with a slightly larger interval than the lower left part 421A of the left leg part 421, a semi-circular protrusion 28B42 that protrudes upward at the central part of the pair of support walls 28B41, a through hole formed in the protrusion 28B42, and a fixing pin 28B43 inserted into the through hole formed at the tip of the lower left part 421A of the left leg part 421.

[0078] The right rotation support 28B4 also includes a pair of support walls 28B41 that extend upward with a slightly larger interval than the lower right part 422A of the right leg part 422, a semi-circular protrusion 28B42 that protrudes upward at the central part of the pair of support walls 28B41, a through hole formed in the protrusion 28B42, and a fixing pin 28B43 inserted into the through hole formed at the tip of the lower right part 422A of the right leg part 422.

[0079] Therefore, the connection frame 420 can rotate between an upright posture SP shown in Fig. 2A and a storage posture DP shown in Fig. 5.

[0080] The connecting frame 420 can be fixed in the standing posture SP shown in FIG. 2A and the storage posture DP shown in FIG. 5, respectively. As shown in FIG. 2A, the left rotating support 28B4 includes a first female screw portion 28B61 for screwing the connecting frame 420 in the standing posture SP and a second female screw portion 28B62 for screwing the connecting frame 420 in the storage posture DP. In the standing posture SP shown in FIG. 2A, two fixing bolts 28B5 are inserted into the vertical through holes formed in the lower left portion 421A of the left leg portion 421, and the lower left portion 421A of the left leg portion 421 is screwed to the first female screw portion 28B61 of the left rotating support 28B4 by the two fixing bolts 28B5. Further, two fixing bolts 28B5 are inserted into the vertical through holes formed in the lower right portion 422A of the right leg portion 422, and the lower right portion 422A of the right leg portion 422 is screwed to the first female screw portion 28B61 of the right rotating support 28B4 by the two fixing bolts 28B5. Thereby, the connecting frame 420 is fixed to the support column 28B in the standing posture SP.

[0081] On the other hand, as shown in FIG. 2D, by removing the two fixing bolts 28B5 from the lower left portion 421A of the left leg portion 421 and removing the two fixing bolts 28B5 from the lower right portion 422A of the right leg portion 422, the connecting frame 420 becomes rotatable. The operator 2 rotates the connecting frame 420 around the horizontal axis X3 to the storage posture DP shown in FIG. 5. In the storage posture DP shown in FIG. 5, the two removed fixing bolts 28B5 are inserted into the vertical through holes of the lower left portion 421A of the left leg portion 421 and screwed to the second female screw portion 28B62 of the left rotating support 28B4. Further, the two removed fixing bolts 28B5 are inserted into the vertical through holes of the lower right portion 422A of the right leg portion 422 and screwed to the second female screw portion 28B62 of the right rotating support 28B4. Thereby, the connecting frame 420 is fixed to the support column 28B in the storage posture DP.

[0082] FIG. 6A is a partial front view of a riding type vegetable transplanter showing a state in which the seedling tray of the front reserve seedling table is in a use posture. FIG. 6B is a partial front view of a riding type vegetable transplanter showing a state in which the seedling trays of the front reserve seedling table and the rear reserve seedling table are in a non-use posture.

[0083] As shown in FIG. 6A, the rearview mirror 430 is attached to the left end side of the connecting frame 420 so that its posture can be changed. For example, a reinforcing plate 424L is attached to the left end side of the connecting frame 420. Specifically, the reinforcing plate 424L is welded in a state of being obliquely passed between a middle portion of the first extending portion 421B on the left end side of the connecting frame 420 and a portion close to the left end side of the rod-shaped body 423. A rod-shaped protrusion 425 is attached to the reinforcing plate 424L in a penetrating state. Specifically, as shown in FIG. 2A, a male screw 425a is formed on the base end side of the rod-shaped protrusion 425. With the base end side of the rod-shaped protrusion 425 inserted into the through hole of the reinforcing plate 424L from the back side of the reinforcing plate 424L (that is, the driver's seat 3 side), a nut 425c is screwed onto the male screw 425a protruding from the front side of the reinforcing plate 424L. Thereby, the rod-shaped protrusion 425 is fixed to the reinforcing plate 424L. On the other hand, the tip side of the rod-shaped protrusion 425 has a spherical body 425b.

[0084] As shown in FIG. 2C, the rearview mirror 430 includes a frame body 431, a mirror 432 held on the front side of the frame body 431, and a gripping portion 433 (see FIG. 2A) provided on the rear surface of the frame body 431. As shown in FIG. 2A, the gripping portion 433 has, for example, a vertically cut cylindrical shape in which substantially semi-cylindrical pieces are arranged with their semi-cylindrical inner surfaces facing each other, and has a substantially spherical concave portion inside the vertically cut cylinder. A substantially circular opening is formed at the tip of the gripping portion 433, and this opening is slightly smaller than the spherical body 425b at the tip of the rod-shaped protrusion 425. When inserting the rod-shaped protrusion 425 of the reinforcing plate 424L into the opening of the gripping portion 433 of the rearview mirror 430, the tip side of the gripping portion 433 bends radially and the rod-shaped protrusion 425 is inserted into the gripping portion 433, and the inserted rod-shaped protrusion 425 is held by the gripping portion 433. Further, as the posture of the rearview mirror 430 is changed, the insertion state of the rod-shaped protrusion 425 in the gripping portion 433 is changed, and the gripping portion 433 holds the changed insertion state. For this reason, the posture state after the change of the rearview mirror 430 is maintained. For example, as shown in FIG. 6A, even if the rearview mirror 430 is changed from the horizontal posture shown by the solid line to the vertical posture shown by the broken line, the gripping portion 433 holds the vertical posture.

[0085] As shown by the two-dot chain lines in FIGS. 6A and 6B, the antenna unit 400 has a directivity pattern in a shape that flares upward. In FIGS. 6A and 6B, the upper sides of the two-dot chain line extending diagonally upward to the left and the two-dot chain line extending diagonally upward to the right are the reception ranges of the antenna unit 400. Since the back mirror 430 is located outside the range of the directivity pattern of the antenna unit 400 (that is, below the two-dot chain line), the satellite signal is not blocked by the back mirror 430. Further, although the back mirror 430 is attached to the connecting frame 420 so that its posture can be changed, it is located outside the range of the directivity pattern of the antenna unit 400 regardless of the posture state of the back mirror 430.

[0086] As shown in FIGS. 6A and 6B, the spare seedling placement part 28A of the front spare seedling table 28F has a base end part 28A1 rotatably attached around the front-rear axis X4 along the front-rear direction of the traveling body 5 to the front support column 28B1 and the rear support column 28B2, and is configured to be switchable between the use posture UP1 shown in FIG. 6A and the non-use posture UP2 shown in FIG. 6B. As shown in FIG. 6A, in the use posture UP1 of the spare seedling placement part 28A of the front spare seedling table 28F, since the tip part 28A2 on the side opposite to the base end part 28A1 of the spare seedling placement part 28A is positioned in the lateral width direction of the traveling body 5, spare seedlings can be placed. Further, as shown in FIG. 6B, in the non-use posture UP2 of the spare seedling placement part 28A of the front spare seedling table 28F, since the tip part 28A2 of the spare seedling placement part 28A is in an inclined posture raised so as to approach the support column 28B, spare seedlings cannot be placed. Further, the rear spare seedling table 28K has the same support columns as the support columns 28B of the front spare seedling table 28F, and for the spare seedling placement part 28A of the front spare seedling table 28F as well, similar to the case of the front spare seedling table 28F, it is switchable between the use posture UP1 and the non-use posture UP2 of the spare seedling placement part 28A.

[0087] As shown in FIG. 6B, the rod-shaped body 423 of the connecting frame 420 is located at a position higher than the uppermost seedling standby section 28A among the plurality of seedling standby sections 28A when the uppermost seedling standby section 28A is in the non-use posture UP2. That is, the rod-shaped body 423 of the connecting frame 420 is at the position of the third height H3 from the uppermost seedling standby section 28A of the front seedling table 28F and at the position of the third height H4 from the uppermost seedling standby section 28A of the rear seedling table 28K. As shown in FIG. 6B, the uppermost seedling standby sections 28A of the front seedling table 28F and the rear seedling table 28K are located outside the range of the directivity pattern in the non-use posture UP2.

[0088] As shown in FIGS. 1A and 1B, the traveling body 5 has a floor seat 29 disposed below the driver's seat 3. The floor seat 29 has a front step 29a at the front on which the operator 2 seated on the driver's seat 3 places his / her feet. The front step 29a is disposed in front of and below the driver's seat 3. A transmission case 20 is disposed below the front step 29a. A seat base cover 30 that covers a portion 22A (see FIG. 8) of the support 22 that supports the driver's seat 3 is provided behind the front step 29a and below the driver's seat 3.

[0089] As shown in FIGS. 1A, 7 to 9, a blank tray receiving portion 15 capable of receiving the empty seedling tray 8 sent out from the empty tray guide 14 is provided behind the sheet table cover 30. The upper guide portion 14c is located above the empty tray receiving portion 15 and extends toward the empty tray receiving portion 15. The empty tray receiving portion 15 is provided on the rear side of the driver's seat 3 and the front side of the seedling placing table 9. In other words, the empty tray receiving portion 15 is provided between the driver's seat 3 and the empty tray guide 14 (seedling placing table 9). Thereby, it is possible to prevent the empty seedling tray 8 sent out from the empty tray guide 14 from falling downward between the driver's seat 3 and the empty tray guide 14 (seedling placing table 9). Further, the empty tray receiving portion 15 is provided above the front step 29a and below the driver's seat 3. Therefore, the empty tray receiving portion 15 is provided at a height at which the empty seedling tray 8 sent out from the empty tray guide 14 can be received well. Further, since the upper guide portion 14c is formed in a forwardly downward inclined shape and extends toward the empty tray receiving portion 15, the empty seedling tray 8 can be sent out well to the empty tray receiving portion 15. Further, the rear end portion of the empty tray receiving portion 15 is located below the upper rear end portion of the empty tray guide 14. Specifically, the rear end portion of the empty tray receiving portion 15 and the rear end portion of the empty tray guide 14 overlap in plan view. Thereby, it is possible to prevent the empty seedling tray 8 sent out from the empty tray guide 14 from falling downward between the empty tray guide 14 and the empty tray receiving portion 15, and the empty seedling tray 8 can be received by the empty tray receiving portion 15.

[0090] As shown in FIGS. 7 and 9, the empty tray receiving portion 15 has an extending portion (first receiving portion) 32 at the rear of the floor sheet 29 and a plurality of rear steps (second receiving portions) 33 disposed behind the extending portion 32. The extending portion 32 is provided at a position higher than the front step 29a and is provided behind the seat base cover 30. Specifically, it protrudes rearward from the lower end of the rear portion of the seat base cover 30. Further, the left portion of the extending portion 32 protrudes leftward of the seat base cover 30, and the right portion protrudes rightward of the seat base cover 30. The left and right portions of the extending portion 32 are connected to the front step 29a by the inclined portions 29b. The inclined portions 29b extend in an inclined direction that shifts upward as it goes rearward from the rear portion of the front step 29a. The plurality of rear steps 33 are disposed behind the extending portion 32 and at substantially the same height position as the extending portion 32.

[0091] The plurality of rear steps 33 include a first rear step 33R and a second rear step 33L. The first rear step 33R is disposed behind the right portion of the extending portion 32, and the second rear step 33L is disposed behind the left portion of the extending portion 32. The first rear step 33R and the second rear step 33L are supported by the airframe 16 (airframe frame 21) via frame members (referred to as step frames) 34.

[0092] As shown in FIG. 7, the step frame 34 has first to third frame members 34A to 34C. The first frame member 34A is disposed to extend in the width direction K2 of the airframe between the rear step 33 and the extending portion 32. The lower portion of the second frame member 34B is fixed to the airframe frame 21 and the first frame member 34A is fixed to the upper portion. The third frame member 34C protrudes rearward from the first frame member 34A. The third frame member 34C is disposed on the lower surface side of the rear step 33 and supports the rear step 33 from below. Further, a plurality of the third frame members 34C are provided and are provided at the left and right portions of the first rear step 33R and the second rear step 33L, respectively.

[0093] The rear step 33 is disposed in front of the seedling mounting table 9. Therefore, when the operator 2 supplies (replenishes) the seedling tray 8 to the seedling mounting table 9, the operator 2 can catch a foot on the rear step 33, and by catching a foot on the rear step 33, the replenishment of the seedling tray 8 can be easily performed.

[0094] As shown in FIGS. 1B and 9, the planting work machine 4 of the present embodiment has two (a plurality of) seedling mounting tables 9, and a first rear step 33R is disposed in front of one seedling mounting table 9 (the first seedling mounting table 9R), and a second rear step 33L is disposed in front of the other seedling mounting table 9 (the second seedling mounting table 9L).

[0095] Note that the first rear step 33R and the second rear step 33L may be formed continuously. Further, the rear step 33 may be constituted by one member. When there is one seedling mounting table 9, one rear step 33 is provided. When there are three or more seedling mounting tables 9, the rear step 33 may be provided in a number corresponding to the number of the seedling mounting tables 9, or one rear step 33 common to each seedling mounting table 9 may be provided.

[0096] Next, the planting work machine 4 will be described in detail. As shown in FIGS. 1A and 1B, the planting work machine 4 has a transplanting frame 36. As shown in FIG. 1B, the transplanting frame 36 has a main frame 37 and a plurality of unit frames 38. The plurality of unit frames 38 include a first unit frame 38R and a second unit frame 38L.

[0097] As shown in FIGS. 12 to 14, the main frame 37 has a first frame 39 to a twelfth frame 50. The first frame 39 is disposed at the front portion of the main frame 37. The first frame 39 has a first column portion 39a on the right side, a second column portion 39b on the left side, and a connecting portion 39c that connects the upper portions of the first column portion 39a and the second column portion 39b. The first column portion 39a and the second column portion 39b are bent forward at a midway portion in the vertical direction. Specifically, the first column portion 39a and the second column portion 39b are formed such that the lower portion is linear in the vertical direction and the upper portion is inclined so as to shift forward as it goes upward. The lower portion of the second column portion 39b protrudes below the lower end of the first column portion 39a.

[0098] The second frame 40 is disposed to extend in the machine width direction K2 below the first column portion 39a and the second column portion 39b. The lower end of the second column portion 39b is connected to the second frame 40. The right portion of the second frame 40 protrudes to the right of the first column portion 39a, and the left portion protrudes to the left of the second column portion 39b. The third frame 41 connects the lower portion of the first column portion 39a and the second frame 40.

[0099] The fourth frame 42 protrudes rearward from a midway portion in the vertical direction of the first frame 39. Specifically, the fourth frame 42 has a first portion 42a to a third portion 42c. The front portion of the first portion 42a is connected to a midway portion in the vertical direction of the first column portion 39a and protrudes to the right of the first column portion 39a. The middle portion to the rear portion of the first portion 42a extends rearward from the outer end of the front portion of the first portion 42a. The front portion of the second portion 42b is connected to the lower portion of the second column portion 39b and protrudes to the left of the second column portion 39b. The middle portion to the rear portion of the second portion 42b extends rearward from the outer end of the front portion of the second portion 42b. The third portion 42c connects the rear ends of the first portion 42a and the second portion 42b.

[0100] The fifth frame 43 has a front portion formed horizontally and is connected to the right portion of the second frame 40. The fifth frame 43 is formed in an inclined shape that shifts upward from the middle portion to the rear portion as it goes backward, and the rear end portion is connected to the third portion 42c of the fourth frame 42.

[0101] The sixth frame 44 has a front portion formed horizontally and is connected to the left portion of the second frame 40. The sixth frame 44 is formed in an inclined shape that shifts upward from the middle portion to the rear portion as it goes backward, and the rear end portion is connected to the third portion 42c of the fourth frame 42.

[0102] The seventh frame 45 connects the first portion 42a and the second portion 42b of the fourth frame 42. Specifically, it connects the inner side portion (left portion) of the front part of the first portion 42a inside the fuselage and the inner side portion (right portion) of the front part of the second portion 42b inside the fuselage.

[0103] The eighth frame 46 connects the first portion 42a and the second portion 42b of the fourth frame 42. Specifically, the eighth frame 46 connects a connecting piece 51R fixed to the middle portion in the longitudinal direction of the fuselage of the first portion 42a and a connecting piece 51L fixed to the middle portion in the longitudinal direction of the fuselage of the second portion 42b.

[0104] The ninth frame 47 connects the lower part of the second support portion 39b and the third frame 41.

[0105] The tenth frame 48 is disposed at approximately the center in the body width direction K2 of the main frame 37 and connects the ninth frame 47 and the third portion 42c of the fourth frame 42.

[0106] The eleventh frame 49 and the twelfth frame 50 are arranged at intervals in the body width direction K2 at the center in the body width direction K2 of the front portion of the main frame 37. The eleventh frame 49 and the twelfth frame 50 connect the seventh frame 45 and the second frame 40.

[0107] On the upper part of the first support column portion 39a, a first spring hanging stay 52R is provided, and on the upper part of the second support column portion 39b, a second spring hanging stay 52L is provided.

[0108] On the upper part between the eleventh frame 49 and the twelfth frame 50, a fixed plate 53 is provided. On the fixed plate 53, a rolling shaft 54 is attached in a forward protruding manner. The rolling shaft 54 has a rolling axis X1 extending in the longitudinal direction of the aircraft body (arrow K1). The rolling shaft 54 is disposed at substantially the center in the width direction K2 of the aircraft body of the main frame 37.

[0109] On the rear side of the seventh frame 45, a rail member (referred to as the first rail) 56 extending in the width direction K2 of the aircraft body is disposed. The first rail 56 is formed by a channel steel-shaped member and is open rearward. On the upper surface of the first rail 56, a plurality of stay members 55 are fixed at predetermined intervals in the width direction K2 of the aircraft body. Each stay member 55 is bolt-fixed to the seventh frame 45.

[0110] On the front side of the eighth frame 46, a rail member (referred to as the second rail) 58 extending in the width direction K2 of the aircraft body is disposed. The second rail 58 is formed by a channel steel-shaped member and is open forward. A plurality of stay members 57 are fixed to the second rail 58. Each stay member 57 is bolt-fixed to the eighth frame 46.

[0111] On the front part of the sixth frame 44, a support bracket (referred to as the first support bracket) 59 is fixed. The first support bracket 59 is erected on the sixth frame 44. On the front part of the fifth frame 43, a support bracket (referred to as the second support bracket) 60 is fixed. The second support bracket 60 is erected on the fifth frame 43.

[0112] A plurality of connecting plates 61 are provided at the rear part of the main frame 37. The plurality of connecting plates 61 include a first connecting plate 61R and a second connecting plate 61L. The first connecting plate 61R is fixed to the right part of the third part 42c of the fourth frame 42, and the second connecting plate 61L is fixed to the left part of the third part 42c.

[0113] As shown in FIG. 1B, the first unit frame 38R is arranged on the right part of the main frame 37, and the second unit frame 38L is arranged on the left part of the main frame 37. Specifically, the first unit frame 38R and the second unit frame 38L are arranged between the first part 42a and the second part 42b of the fourth frame 42. The first unit frame 38R is arranged on the right side between the first part 42a and the second part 42b, and the second unit frame 38L is arranged on the left side between the first part 42a and the second part 42b. The first connecting plate 61R is arranged behind the first unit frame 38R, and the second connecting plate 61L is arranged behind the second unit frame 38L.

[0114] As shown in FIG. 1A, the first unit frame 38R and the second unit frame 38L are respectively provided with a seedling extraction device 11, a planting body 12, and a covering wheel (ground roller) 62.

[0115] A plurality of seedling extraction devices 11 are provided. The plurality of seedling extraction devices 11 include a first seedling extraction device 11R provided on the first unit frame 38R and a second seedling extraction device 11L provided on the second unit frame 38L.

[0116] A plurality of planting bodies 12 are provided. The plurality of planting bodies 12 include a right planting body 12R provided on the first unit frame 38R and a left planting body 12L provided on the second unit frame 38L. The right planting body 12R constitutes a part of a first planting device 35R (see FIG. 28) that plants the seedlings 7 taken out by the first seedling taking-out device 11R in the field 6. The left planting body 12L constitutes a part of a second planting device 35L (see FIG. 28) that plants the seedlings 7 taken out by the second seedling taking-out device 11L in the field 6.

[0117] The soil covering wheels 62 include a first soil covering wheel 62R provided on the first unit frame 38R and a second soil covering wheel 62L provided on the second unit frame 38L. Two first soil covering wheels 62R and two second soil covering wheels 62L are provided respectively. The two first soil covering wheels 62R are arranged side by side in the machine body width direction K2. The two second soil covering wheels 62L are also arranged side by side in the machine body width direction K2. The first soil covering wheel 62R is arranged behind the right planting body 12R, rolls on the left and right sides of the seedling 7 planted by the right planting body 12R to mound soil to the base of the seedling 7 and compresses the base of the plant. The second soil covering wheel 62L is arranged behind the left planting body 12L, rolls on the left and right sides of the seedling 7 planted by the left planting body 12L to mound soil to the base of the seedling 7 and compresses the base of the plant.

[0118] As shown in FIG. 1A, the first unit frame 38R, the first seedling taking-out device 11R, the right planting body 12R (the first planting device 35R) and the first soil covering wheel 62R constitute a first transplanting unit 63R. The second unit frame 38L, the second seedling taking-out device 11L, the left planting body 12L (the second planting device 35L) and the second soil covering wheel 62L constitute a second transplanting unit 63L.

[0119] There may be one transplanting unit, or three or more. Also, the number of seedling placing tables 9 is determined according to the number of transplanting units.

[0120] As shown in FIGS. 15 and 16, the first unit frame 38R has a frame body 64 that is rectangular in plan view. The frame body 64 includes a first side frame 65A and a second side frame 65B that are arranged opposite to each other with a space therebetween in the body width direction, a front frame (referred to as the first front frame 66) that connects the front portions of the first side frame 65A and the second side frame 65B, a rear frame 67 that connects the front portions of the first side frame 65A and the second side frame 65B, and a second front frame 68 that is arranged behind the first front frame 66 and connects the first side frame 65A and the second side frame 65B. The first side frame 65A is arranged outside the body of the second side frame 65B.

[0121] The second unit frame 38L also has a frame body 64 having the same configuration as that of the first unit frame 38R.

[0122] At the front portion of each frame body 64, a first unit bracket 69 and a second unit bracket 70 are provided, which are arranged with a space therebetween in the body width direction K2. The upper portions of the first unit bracket 69 and the second unit bracket 70 are fixed to the first front frame 66 and the second front frame 68, and they protrude downward from the frame body 64. The first unit bracket 69 is arranged on the outer side of the body of the frame body 64, and the second unit bracket 70 is arranged on the inner side of the body of the frame body 64.

[0123] As shown in FIG. 15, a drive main shaft 71 is arranged to extend in the body width direction K2 at the front portions of the first unit frame 38R (the first transplant unit 63R) and the second unit frame 38L (the second transplant unit 63L). Further, the drive main shaft 71 is provided to extend in the body width direction at the front portion of the main frame 37.

[0124] The front portions of the first unit frame 38R and the second unit frame 38L are supported by the drive spindle 71 so as to be movable in the machine width direction K2. Specifically, the drive spindle 71 has an axis extending in the machine width direction K2 and is provided from the front portion of the fifth frame 43 to the front portion of the sixth frame 44. The left side of the drive spindle 71 is rotatably supported by the first support bracket 59 via a bearing 72, and the right side is rotatably supported by the second support bracket 60 via a bearing 73. The first unit frame 38R and the second unit frame 38L are disposed above the drive spindle 71. The drive spindle 71 passes through the lower portions of the first unit bracket 69 and the second unit bracket 70 of the first unit frame 38R and the second unit frame 38L, and is rotatably supported by bearings 74 provided on the first unit bracket 69 and the second unit bracket 70. Thereby, the front portions of the first unit frame 38R and the second unit frame 38L are supported by the drive spindle 71 so as to be movable in the machine width direction K2.

[0125] As shown in FIGS. 15 and 17, the first unit frame 38R has a first mounting plate 76R attached to the first connecting plate 61R, and the second unit frame 38L has a second mounting plate 76L attached to the second connecting plate 61L.

[0126] As shown in FIGS. 17 and 18, the first mounting plate 76R is attached to the rear frame 67 of the first unit frame 38R by bolts 77A and nuts 77B so as to be position - adjustable in the machine width direction K2. The second mounting plate 76L is attached to the rear frame 67 of the second unit frame 38L by bolts 77A and nuts 77B so as to be position - adjustable in the machine width direction K2. The first mounting plate 76R is attached to the first connecting plate 61R by bolts 78A and nuts 78B so as to be position - adjustable in the machine width direction K2. The second mounting plate 76L is attached to the second connecting plate 61L by bolts 78A and nuts 78B so as to be position - adjustable in the machine width direction K2. By changing the mounting position of the first mounting plate 76R in the machine width direction K2 with respect to the first connecting plate 61R, the first unit frame 38R can be position - adjusted in the machine width direction K2 with respect to the main frame 37. By changing the mounting position of the second mounting plate 76L in the machine width direction K2 with respect to the second connecting plate 61L, the second unit frame 38L can be position - adjusted in the machine width direction K2 with respect to the main frame 37. That is, the first transplanting unit 63R and the second transplanting unit 63L are each independently supported by the main frame 37 so as to be position - adjustable in the machine width direction K2.

[0127] By adjusting the positions of the first unit frame 38R and the second unit frame 38L in the machine width direction K2, the row spacing W1 (see FIG. 15), which is the interval in the machine width direction K2 between the right planting body 12R and the left planting body 12L (the interval in the machine width direction K2 between the seedlings 7 planted by the right planting body 12R and the seedlings 7 planted by the left planting body 12L), can be adjusted.

[0128] As shown in FIG. 17, indicators 78 are provided on the first mounting plate 76R and the second mounting plate 76L. Row - spacing display portions 79 are provided on the first connecting plate 61R and the second connecting plate 61L. Numbers representing the row spacing W1 are marked on the row - spacing display portions 79. By aligning the indicator 78 with the number on the row - spacing display portion 79, the adjustment of the row spacing W1 can be easily performed.

[0129] As shown in Fig. 16, an input sprocket 83, which is an input member for inputting rotational power to the drive spindle 71, is provided on the central side of the drive spindle 71 so as to be integrally rotatable. The input sprocket 83 is supported by a bearing 84, and the bearing 84 is attached to a stay member 85 fixed to the tenth frame 48.

[0130] Fig. 19 shows a side view of a power input section 86 for inputting power to the drive spindle 71, and Fig. 20 shows a plan view of a part of the power input section 86 developed.

[0131] As shown in Figs. 19 and 20, the power input section 86 includes an input shaft 87, a gear transmission mechanism 88, and a winding transmission mechanism 89 including an input sprocket 83.

[0132] As shown in Fig. 1A, power is transmitted to the input shaft 87 from a PTO shaft (power take-off shaft) protruding rearward from the transmission case 20. Specifically, a first joint shaft 92 is interlockingly connected to the PTO shaft 90 via a planting clutch (inter-row clutch) 91, and a second joint shaft 93 is interlockingly connected to the first joint shaft 92. The second joint shaft 93 is interlockingly connected to the input shaft 87. The planting clutch 91 intermittently transmits the power output from the PTO shaft 90 to the input shaft 87. When the planting clutch 91 is disengaged, the operations of the planting body 12, the seedling taking-out device 11, etc. stop, and when connected, the operations of the planting body 12, the seedling taking-out device 11, etc. resume. Therefore, the control device 131 can plant the seedlings 7 at a predetermined plant spacing by adjusting the disengagement time of the planting clutch 91.

[0133] As shown in Figs. 19 and 20, the gear transmission mechanism 88 includes a first bevel gear 88A fitted to the input shaft 87 so as to be integrally rotatable, and a second bevel gear 88B meshing with the first bevel gear 88A. The winding transmission mechanism 89 includes a first transmission sprocket 94 integrally rotatable with the second bevel gear 88B, a second transmission sprocket 95 to which power is transmitted from the first transmission sprocket 94, and a third transmission sprocket 96 to which power is transmitted from the second transmission sprocket 95. Power is transmitted from the third transmission sprocket 96 to the input sprocket 83.

[0134] As shown in FIGS. 1A and 21, the main frame 37 (planting work implement 4) is attached to the traveling body 5 via the implement mounting device 123. The implement mounting device 123 includes a mounting frame 124 that detachably mounts the main frame 37 (planting work implement 4), and a work implement lifting mechanism 125 that raises and lowers the main frame 37 (planting work implement 4).

[0135] As shown in FIG. 21, the mounting frame 124 has a shaft receiver 128 that rotatably supports the rolling shaft 54 around the rolling axis X1. The main frame 37 is swingable around the rolling axis X1 with respect to the mounting frame 124. The right planting body 12R and the left planting body 12L are arranged side by side in the machine body width direction K2 with the rolling axis X1 interposed therebetween.

[0136] The work implement lifting mechanism 125 includes a connecting link mechanism 129 that connects the traveling body 5 and the mounting frame 124, and a lifting drive body (lifting cylinder 130) that drives the planting work implement 4 to move up and down.

[0137] The connecting link mechanism 129 is constituted by parallel links, and includes an upper link 129A and a lower link 129B disposed below the upper link 129A. The front portion of the upper link 129A is rotatably connected to the rear portion of the machine body 16 (machine body frame 21) around the axis in the machine body width direction K2. The rear portion of the upper link 129A is rotatably connected to the mounting frame 124 around the axis in the machine body width direction K2. The front portion of the lower link 129B is rotatably connected to the rear portion of the machine body 16 (machine body frame 21) around the axis in the machine body width direction K2. The rear portion of the lower link 129B is rotatably connected to the mounting frame 124 around the axis in the machine body width direction K2. The connecting link mechanism 129 enables the planting work implement 4 to move up and down in parallel.

[0138] The lifting drive body is, for example, a lifting cylinder 130 constituted by a hydraulic cylinder. One end side (the bottom side of the cylinder main body 130A) of the lifting cylinder 130 is rotatably connected to the rear part of the machine body 16 (the machine body frame 21) around the axis in the machine body width direction K2. The other end side of the lifting cylinder 130 (the connecting body 130C attached to the tip side of the piston rod 130B) is rotatably connected to the mounting frame 124 around the axis in the machine body width direction K2. One end side of the lifting cylinder 130 is pivotally supported concentrically with the front part of the upper link 129A, and the other end side is pivotally supported concentrically with the rear part of the lower link 129B.

[0139] As shown in FIG. 21, the transplanter 1 includes a control valve 132 that controls the lifting cylinder 130. The control valve 132 is controlled by a control device 131. The control valve 132 is formed by a solenoid valve and is constituted by, for example, a three-position direction switching valve that can be switched between a neutral position, a raising position, and a lowering position. The control valve 132 is connected to the control device 131 by electrical wiring or the like and is connected to the cylinder main body 451 of the lifting cylinder 130, the hydraulic pump 133, and the hydraulic oil tank 134 via hydraulic pipelines. When a raising command signal is transmitted from the control device 131 to the control valve 132, the control valve 132 is switched to the raising position, and the hydraulic oil from the hydraulic pump 133 is supplied to the bottom side of the cylinder main body 451, and the lifting cylinder 130 extends and the main frame (the planting work implement 4) rises. Further, when a lowering command signal is transmitted from the control device 131 to the control valve 132, the control valve 132 is switched to the lowering position, and the hydraulic oil is supplied to the rod side of the cylinder main body 451, and the lifting cylinder 130 contracts and the main frame 37 descends.

[0140] Incidentally, the lifting and lowering drive body may be composed of an electric cylinder (electric actuator) or an electric hydraulic cylinder (electric hydraulic actuator). The electric cylinder is a cylinder driven by electricity. For example, it is an actuator that rotates a ball screw around its axis by an electric motor to move a ball screw nut, and advances and retracts a rod by the movement of this ball screw nut. The electric hydraulic cylinder is an actuator that integrates, for example, an electric motor, an oil tank, a hydraulic pump, a valve, a hydraulic cylinder, etc., and is an actuator in which the hydraulic pump rotates and the valve is switched by the rotation of the electric motor to operate the hydraulic cylinder.

[0141] As shown in FIG. 22, the transplanter 1 has a rolling mechanism 135 that swings the planting work implement 4 around the rolling axis X1. The rolling mechanism 135 includes a rolling motor 136, a rolling roller 137, and a cable body 138. The rolling motor 136 and the rolling roller 137 are provided on the mounting frame 124 (work implement mounting device 123). The rolling motor 136 and the rolling roller 137 are arranged above the rolling shaft 54 and at a position corresponding to the center of the main frame 37 in the machine body width direction K2. The rolling roller 137 is arranged above the rolling motor 136. The rolling motor 136 is composed of an electric motor that can rotate forward and backward. Also, the rolling motor 136 is connected to the control device 131. The control device 131 controls the rolling mechanism 135.

[0142] As shown in FIGS. 23 and 24, the power of the rolling motor 136 is transmitted to the rolling roller 137 via a transmission mechanism (gear transmission mechanism) 139. The transmission mechanism 139 includes a first gear 139A that is rotationally driven by the power of the rolling motor 136, and a second gear 139B that meshes with the first gear 139A. The second gear 139B has a larger diameter than the first gear 139A and rotates integrally with the rolling roller 137. Therefore, the rolling roller 137 rotates forward and backward by the power of the rolling motor 136.

[0143] The cable body 138 is formed of, for example, a wire or a cable, etc., and is wound around the rolling roller 137. One side (right side) 138R of the cable body 138 extends from the rolling roller 137 to one side (right side), and the other side (left side) 138L extends from the rolling roller 137 to the other side (left side). One side 138R of the cable body 138 is connected to one side in the machine width direction K2 of the planting work machine 4, and the other side 138L is connected to the other side in the machine width direction K2 of the planting work machine 4. Specifically, as shown in FIG. 22, one side 138R of the cable body 138 is connected to one end side of the first buffer spring 140R, and the other side 138L is connected to one end side of the second buffer spring 140L. The other end side of the first buffer spring 140R is hooked on the first spring hanging stay 52R of the main frame 37, and the other end side of the second buffer spring 140L is hooked on the second spring hanging stay 52L. That is, one end side of the cable body 138 is connected to one side in the machine width direction K2 of the main frame 37 via the first buffer spring 140R, and the other end side is connected to the other side in the machine width direction K2 of the main frame 37 via the second buffer spring 140L.

[0144] When the rolling roller 137 is rotated in the forward and reverse single directions by the rolling motor 136, for example, when rotated in the clockwise direction in FIG. 22, the left side of the cable body 138 is pulled. Thereby, the main frame 37 (planting work machine 4) swings in the clockwise direction in FIG. 22 around the rolling axis X1. Further, when the rolling roller 137 is rotated in the forward and reverse other directions (counterclockwise direction in FIG. 22) by the rolling motor 136, the right side of the cable body 138 is pulled. Thereby, the main frame 37 (planting work machine 4) swings in the counterclockwise direction in FIG. 22 around the rolling axis X1. As described above, the main frame 37 (planting work machine 4) is freely swingable around the rolling axis X1.

[0145] As shown in FIG. 23, the mounting frame 124 is provided with a detection sensor 141 for detecting a large swing around the rolling axis X1 of the planting work machine 4. The detection sensor 141 includes a first limit switch 141R for detecting the swing of the planting work machine 4 in the clockwise direction and a second limit switch 141L for detecting the swing of the planting work machine 4 in the counterclockwise direction. One of the numerous teeth of the second gear 139B is a detection tooth 142 that protrudes radially outward of the gear more than the other teeth. When this detection tooth 142 contacts the contact of the first limit switch 141R or the second limit switch 141L, a large swing around the rolling axis X1 of the planting work machine 4 is detected. When the first limit switch 141R or the second limit switch 141L detects the detection tooth 142, for example, the drive of the rolling motor 136 is stopped.

[0146] As shown in FIG. 1B, the planting work machine 4 has a first sensing roller 126R (sensing roller 126) disposed on the front side of the right planter 12R and a second sensing roller 126L (sensing roller 126) disposed in front of the left planter 12L. The first sensing roller 126R is provided on the first unit frame 38R. That is, the first transplanting unit 63R includes the first sensing roller 126R. The second sensing roller 126L is provided on the second unit frame 38L. That is, the second transplanting unit 63L includes the second sensing roller 126L.

[0147] As shown in FIG. 22, the first sensing roller 126R is a member for detecting the height of the first planting surface 144R, which is the planting surface of the field 6 corresponding to the right planter 12R. In other words, the first sensing roller 126R is a member for detecting the height of the first ridge 143R where the seedlings 7 are planted by the right planter 12R.

[0148] The second sensing roller 126L is a member for detecting the height of the second planting surface 144L, which is the planting surface of the field 6 corresponding to the left planter 12L. In other words, the second sensing roller 126L is a member for detecting the height of the second ridge 143L where the seedlings 7 are planted by the left planter 12L.

[0149] The first sensing roller 126R rolls on the first planting surface 144R and moves up and down following the height change of the first planting surface 144R. The second sensing roller 126L rolls on the second planting surface 144L and moves up and down following the height change of the second planting surface 144L.

[0150] As shown in FIG. 25, the first sensing roller 126R is supported by a first roller support mechanism 145R on the first unit frame 38R so as to be swingable up and down. The second sensing roller 126L is supported by a second roller support mechanism 145L on the second unit frame 38L so as to be swingable up and down.

[0151] The first roller support mechanism 145R includes a first roller bracket 146R that supports the first sensing roller 126R so as to be swingable up and down, and a first biasing spring (spring) 147R that biases the first roller bracket 146R downward to press the first sensing roller 126R against the field surface (ground). The first roller bracket 146R has a first arm 148A, a second arm 148B, and a connecting member 148C. The first arm 148A is disposed on the outer side of the machine body of the first sensing roller 126R, and the second arm 148B is disposed on the inner side of the machine body of the first sensing roller 126R. The first arm 148A and the second arm 148B project forward from the first sensing roller 126R. The connecting member 148C connects the first arm 148A and the second arm 148B on the front side of the first sensing roller 126R.

[0152] As shown in FIGS. 25 and 27, a support bracket 149 is provided on the first unit frame 38R. The support bracket 149 has a fixed plate 149A provided across the first unit bracket 69 and the second unit bracket 70, and a mounting plate 149B fixed to the fixed plate 149A. The mounting plate 149B is disposed in front of the first sensing roller 126R. The mounting plate 149B is formed to have a width corresponding to the width of the first sensing roller 126R in the machine width direction K2. Further, the mounting plate 149B has a first side plate portion 149a on the outer end side in the machine width direction K2 and a second side plate portion 149b on the inner end side in the machine width direction K2. The front portions of the first arm 148A and the second arm 148B are pivotally supported by the first side plate portion 149a and the second side plate portion 149b by a pivot 150. The rear portions of the first arm 148A and the second arm 148B are rotatably supported by a roller shaft 151 having an axis along which the first sensing roller 126R extends in the machine width direction K2.

[0153] As shown in FIGS. 25 and 26, the first biasing spring 147R is formed of a compression coil spring and is fitted outside a rod member 152. The lower portion of the rod member 152 is pivotally supported by a rod support shaft 153 fixed to the second arm 148B. The upper portion of the rod member 152 is supported by a support stay 154 fixed to the second side frame 65B of the first unit frame 38R so as to be vertically movable along the axial direction of the rod member 152. The first biasing spring 147R is interposed in a compressed state between a spring receiving plate 155 attached to the rod member 152 and the support stay 154.

[0154] The second roller support mechanism 145L includes a second roller bracket 146L that supports the second sensing roller 126L so as to be vertically swingable, and a second biasing spring (spring) 147L that biases the second roller bracket 146L downward to press the second sensing roller 126L against the field surface (ground). The second roller bracket 146L is configured in the same manner as the first roller bracket 146R. The second roller bracket 146L is supported by the second unit frame 38L by a support bracket 149, and rotatably supports the second sensing roller 126L by a roller shaft 151. The second biasing spring 147L is formed of a compression coil spring and is fitted onto a rod member 152 on the second unit frame 38L side. The rod member 152 is pivotally supported by the second roller bracket 146L and is supported by a support stay 154 fixed to the second side frame 65B of the second unit frame 38L.

[0155] The height (height change) of the first planting surface 144R is detected by the first sensor mechanism 156R based on the swing amount of the first roller bracket 146R (the amount of change in the vertical position of the first sensing roller 126R). The height (height change) of the second planting surface 144L is detected by the second sensor mechanism 156L based on the swing amount of the second roller bracket 146L (the amount of change in the vertical position of the second sensing roller 126L).

[0156] As shown in FIGS. 25 and 27, the first sensor mechanism 156R includes a first height detection sensor 157R and a first detection arm 159R. The first height detection sensor 157R is formed of a potentiometer. The first height detection sensor 157R is attached to a sensor bracket 158 fixed to the second side plate portion 149b on the first unit frame 38R side. The first detection arm 159R has an arm body 160 and a contact 161. The front portion of the arm body 160 is connected to the rotation detector of the first height detection sensor 157R and is rotatable together with the rotation detector. The contact 161 is fixed to the rear portion of the arm body 160. The contact 161 is formed by a pin and abuts on the second arm 148B of the first roller bracket 146R. The arm body 160 can swing vertically concentrically with the first roller bracket 146R. When the first detection arm 159R swings vertically together with the first roller bracket 146R, the first height detection sensor 157R detects the amount of swing of the first roller bracket 146R. Thereby, the height (height change) of the first planting surface 144R can be detected.

[0157] The second sensor mechanism 156L includes a second height detection sensor 157L and a second detection arm 159L. The second height detection sensor 157L is also formed of a potentiometer. The second height detection sensor 157L is attached to a sensor bracket 158 fixed to the second side plate portion 149b on the second unit frame 38L side. The second detection arm 159L has an arm body 160 and a contact 161. The front portion of the arm body 160 is connected to the rotation detector of the second height detection sensor 157L and is rotatable together with the rotation detector. The contact 161 is fixed to the rear portion of the arm body 160. The contact 161 is formed by a pin and abuts on the second arm 148B of the second roller bracket 146L. The arm body 160 can swing vertically concentrically with the second roller bracket 146L. When the second detection arm 159L swings vertically together with the second roller bracket 146L, the second height detection sensor 157L detects the amount of swing of the second roller bracket 146L. Thereby, the height (height change) of the second planting surface 144L can be detected.

[0158] As shown in FIGS. 25 and 26, the first roller support mechanism 145R is provided with a scraper 162 for removing mud from the first detection roller 126R. The scraper 162 is attached to a scraper bracket 163. The scraper bracket 163 is provided so as to straddle the first detection roller 126R and is fixed to the first roller bracket 146R. Similarly, the second roller support mechanism 145L is also provided with a scraper 162 for removing mud from the second detection roller 126L.

[0159] As shown in FIG. 22, the first height detection sensor 157R and the second height detection sensor 157L are connected to the control device 131 and transmit the detection values to the control device 131. The control device 131 acquires the detection values detected by the first height detection sensor 157R and the second height detection sensor 157L.

[0160] If there is a height difference between the first planting surface 144R and the second planting surface 144L, the planting depth of the seedlings 7 planted by the right planter 12R and the planting depth of the seedlings 7 planted by the left planter 12L will be different. Therefore, when a height difference occurs between the first planting surface 144R and the second planting surface 144L, in order to make the first height H1, which is the height of the right planter 12R with respect to the first planting surface 144R (planting surface), and the second height H2, which is the height of the left planter 12L with respect to the second planting surface 144L (planting surface), a predetermined height, the planting work machine 4 is swung around the rolling axis X1. Specifically, the control device 131 calculates the height difference between the first height H1 and the second height H2 based on the detection values detected by the first detection roller 126R and the second detection roller 126L, and swings the planting work machine 4 around the rolling axis X1 in a direction to reduce this height difference. In other words, the control device 131 calculates the height difference between the first detection roller 126R and the second detection roller 126L based on the detection values detected by the first detection roller 126R and the second detection roller 126L, and swings the planting work machine 4 around the rolling axis X1 in a direction to reduce the height difference between the first detection roller 126R and the second detection roller 126L.

[0161] More specifically, if the second planting surface 144L is higher than the first planting surface 144R, a height difference occurs between the first sensing roller 126R and the second sensing roller 126L. In this case, the control device 131 swings the planting implement 4 around the rolling axis X1 so that the left side rises and the right side falls. As a result, basically, the planting depth of the seedlings 7 planted by the right planter 12R and the planting depth of the seedlings 7 planted by the left planter 12L are made the same. In addition, when a height difference is provided in advance between the first height H1 and the second height H2 by the angle adjustment unit 194 described later, the planting implement 4 is swung around the rolling axis X1 so as to return to the set height.

[0162] Further, the control device 131 raises and lowers the planting implement 4 based on the unevenness of the planting surface (field 6) detected by one of the first sensing roller 126R or the second sensing roller 126L, and calculates the height difference between the first sensing roller 126R and the second sensing roller 126L with reference to the one sensing roller.

[0163] In this embodiment, the first sensing roller 126R detects the unevenness of the first planting surface 144R, and by raising and lowering the planting implement 4 according to the unevenness of the first planting surface 144R, the planting depth of the seedlings 7 in the longitudinal direction of the machine body (arrow K1), that is, the longitudinal direction of the ridge, is made the same. Specifically, when the planting surface becomes higher, the planting implement 4 is raised, and when the planting surface becomes lower, the planting implement 4 is lowered. In addition, the height difference is calculated based on the height of the second sensing roller 126L with respect to the first sensing roller 126R with the first sensing roller 126R as a reference. By calculating the height difference between the first sensing roller 126R and the second sensing roller 126L with reference to one of the first sensing roller 126R or the second sensing roller 126L, the rolling control for swinging the planting implement 4 around the rolling axis X1 can be stably performed.

[0164] Note that the second sensing roller 126L may detect the unevenness of the second planting surface 144L, raise and lower the planting implement 4, and calculate the height difference between the first sensing roller 126R and the second sensing roller 126L with the second sensing roller 126L as a reference.

[0165] Further, in the present embodiment, when the height difference between the first sensing roller 126R and the second sensing roller 126L is less than a predetermined value, the rolling control by the control device 131 is not performed, and the height difference is absorbed by the free swing around the rolling axis X1 of the planting work implement 4. When the height difference between the first planting surface 144R and the second planting surface 144L becomes equal to or greater than a predetermined value, the control device 131 operates the rolling mechanism 135 to perform rolling control.

[0166] As shown in FIG. 28, swing frames 164 are provided on the first unit frame 38R and the second unit frame 38L so as to be vertically swingable. Since the first unit frame 38R and the second unit frame 38L are fixed to the main frame 37, the swing frame 164 is vertically swingable with respect to the main frame 37 (transplanting frame 36).

[0167] The swing frame 164 provided on the first unit frame 38R is referred to as a first swing frame 164R, and the swing frame 164 provided on the second unit frame 38L is referred to as a second swing frame 164L. Since the first swing frame 164R and the second swing frame 164L are symmetric about the left and right and have the same structure, the first swing frame 164R and the second swing frame 164L will be described together.

[0168] As shown in FIGS. 28 and 29, the swing frame 164 includes a first side frame portion 164A on the outer side of the machine body, a second side frame portion 164B on the inner side of the machine body, an intermediate frame portion 164C connecting the front and rear middle portions of the first side frame portion 164A and the second side frame portion 164B, a rear frame portion 164D connecting the rear portions of the first side frame portion 164A and the second side frame portion 164B, a first support portion 164E fixed to the front portion of the first side frame portion 164A by bolts or welding, etc., and a second support portion 164F fixed to the front portion of the second side frame portion 164B by bolts or welding, etc.

[0169] The first support part 164E is rotatably supported on the first unit bracket 69 around a horizontal axis (axis extending in the machine width direction), and the second support part 164F is rotatably supported on the second unit bracket 70 around the horizontal axis. Therefore, the rocking frame 164 can rock up and down at the rear part. Specifically, the planting drive shaft 165 is rotatably supported around the horizontal axis across the first unit bracket 69 and the second unit bracket 70, and the first support part 164E and the second support part 164F are rotatably supported on this planting drive shaft 165. A transmission gear 166 is integrally rotatably provided on the planting drive shaft 165, and rotational power is transmitted from the drive main shaft 71 to this transmission gear 166 to rotate the planting drive shaft 165.

[0170] As shown in FIGS. 28 and 29, a first planting lifting mechanism 167R (planting lifting mechanism 167) is provided on the first rocking frame 164R, and a right planting body 12R is provided on this first planting lifting mechanism 167R so as to be reciprocally movable up and down. A second planting lifting mechanism 167L (planting lifting mechanism 167) is provided on the second rocking frame 164L, and a left planting body 12L is provided on this second planting lifting mechanism 167L so as to be reciprocally movable up and down. The right planting body 12R and the first planting lifting mechanism 167R constitute a first planting device 35R (planting device 35), and the left planting body 12L and the second planting lifting mechanism 167L constitute a second planting device 35L (planting device 35).

[0171] The first soil covering wheel 62R is supported on the first rocking frame 164R by a first roller frame (roller frame 168) 168R so as to be rockable up and down. The second soil covering wheel 62L is supported on the rocking frame 164 by a second roller frame 168L (roller frame 168) so as to be rockable up and down.

[0172] Since the first roller frame 168R and the second roller frame 168L are formed with the same structure, the first roller frame 168R and the second roller frame 168L will be described together.

[0173] As shown in FIGS. 29 and 30, the roller frame 168 is formed of a pipe material or the like, and has a first side rod portion 168A on the outer side of the machine body, a second side rod portion 168B on the inner side of the machine body, and a rear rod portion 168C at the rear. The first side rod portion 168A has a first portion 168a extending in the longitudinal direction of the machine body and a second portion 168b extending upward from the rear end of the first portion 168a. The front portion of the first portion 168a is rotatably connected about a horizontal axis to a bracket member 169 protruding downward from the first side frame 65A. The second side rod portion 168B has a first portion 168c extending in the longitudinal direction of the machine body and a second portion 168d extending upward from the rear end of the first portion 168c. The front portion of the first portion 168c is rotatably connected about a horizontal axis to a bracket member 170 protruding downward from the second side frame 65B. The rear rod portion 168C connects the rear portions of the first side rod portion 168A and the second side rod portion 168B. Specifically, the upper ends of the second portion 168b and the second portion 168d are connected. The covering wheel 62 is attached to the rear portions of the first portion 168a and the first portion 168c via stay members 171.

[0174] A first planting depth adjusting mechanism 172R (planting depth adjusting mechanism 172) is provided across the first swing frame 164R and the first roller frame 168R, and a second planting depth adjusting mechanism 172L (planting depth adjusting mechanism 172) is provided across the second swing frame 164L and the second roller frame 168L. Since the first planting depth adjusting mechanism 172R and the second planting depth adjusting mechanism 172L are formed with the same structure, the first planting depth adjusting mechanism 172R and the second planting depth adjusting mechanism 172L will be described together.

[0175] The planting depth adjusting mechanism 172 is a mechanism that fixedly changes the distance between the roller frame 168 and the swing frame 164 and adjusts the planting depth of the seedlings 7 by changing the distance.

[0176] As shown in FIGS. 29 and 30, the planting depth adjustment mechanism 172 includes a mechanism frame 173, an adjustment motor 174, a drive mechanism 175, and a link member 176. The mechanism frame 173 is erected on the rear frame portion 164D of the swing frame 164. The adjustment motor 174 is formed by an electric motor and is connected to the control device 131. The adjustment motor 174 is attached to the mechanism frame 173. Specifically, the adjustment motor 174 is attached to the upper part of the mechanism frame 173. The drive mechanism 175 is driven by the adjustment motor 174. Specifically, the drive mechanism 175 includes a first gear 177 driven by the adjustment motor 174 and a second gear 178 that meshes with the first gear 177 and rotates. The link member 176 connects the drive mechanism 175 and the roller frame 168 and moves up and down in conjunction with the drive of the drive mechanism 175.

[0177] The first gear 177 is formed by a pinion gear, and the second gear 178 is formed by a sector gear. The first gear (pinion gear) 177 is rotatably attached to the upper part of the mechanism frame 173. The second gear (sector gear) 178 has its lower part pivotally supported by the mechanism frame 173 and has a gear portion 178a that meshes with the first gear (pinion gear) 177 at the upper part. The second gear 178 (sector gear) has a connecting portion 178b for connecting the link member 176. The upper part 176a of the link member 176 is connected to the connecting portion 178b via a ball joint. The lower part 176b of the link member 176 is connected via a ball joint to a bracket member 179 fixed to the rear rod portion 168C.

[0178] In the above-described planting depth adjustment mechanism 172, when the first gear 177 is rotated by the adjustment motor 174, the second gear 178 swings around the pivot portion 180. When the second gear 178 swings, the connecting portion 178b moves up and down to move the link member 176 up and down. When the link member 176 moves up and down, the swing frame 164 swings up and down with respect to the roller frame 168. As a result, the distance between the roller frame 168 and the swing frame 164 changes, and the height of the planting body 12 with respect to the soil covering ring 62 changes. When the height of the planting body 12 with respect to the soil covering ring 62 changes, the height of the planting body 12 with respect to the planting surface changes, so that the planting depth can be changed. Further, by stopping the drive of the adjustment motor 174, the distance between the roller frame 168 and the swing frame 164 is fixed, and the set planting depth can be maintained.

[0179] The swing frame 164 swings up and down as the soil covering ring 62 follows the unevenness of the field 6. The swing frame 164 is set to be located at the center of the swing allowable range. When the planting depth is changed, the swing frame 164 swings up and down with respect to the transplanting frame 36, so that the relative position in the vertical direction with respect to the transplanting frame 36 changes. Therefore, when the distance between the roller frame 168 and the swing frame 164 is changed, the control device 131 moves the main frame 37 (transplanting frame 36) up and down in a direction to return the relative position of the swing frame 164 with respect to the transplanting frame 36 in response to the change in the distance between the roller frame 168 and the swing frame 164.

[0180] The planting depth adjustment mechanism 172 has a detection unit 182 that detects the amount of change in the distance between the roller frame 168 and the swing frame 164. The detection unit 182 is connected to the control device 131 and feeds back the amount of change in the distance between the roller frame 168 and the swing frame 164 to the control device 131. The detection unit 182 is composed of, for example, a potentiometer. The rotation detector of the detection unit 182 is connected to a pivot 181 that pivotally supports the second gear 178. The pivot 181 rotates integrally with the second gear 178. Therefore, the detection unit 182 detects the amount of rotation of the second gear 178.

[0181] Figure 31 shows a soil covering pressure adjusting mechanism 183 for adjusting the soil covering pressure (the force with which the soil covering wheel 62 presses the ground). The soil covering pressure adjusting mechanism 183 includes a support plate 185, an operation lever 184, a spring hanging arm 186, a first fixed bracket 187A, a second fixed bracket 187B, an interlocking link 188, and an adjusting spring 189.

[0182] The support plate 185 is fixed to the rear part of the unit frame 38. The operation lever 184 is attached to the support plate 185 so as to be swingable about a pivot 185A. The spring hanging arm 186 is fixed to the operation lever 184 by bolts and swings integrally with the operation lever 184. The first fixed bracket 187A is fixed to the swing frame 164. The second fixed bracket 187B is fixed to the unit frame 38. The interlocking link 188 includes a first link 188A pivotally supported by the first fixed bracket 187A and a second link 188B pivotally supported by the second fixed bracket 187B. The first link 188A and the second link 188B are pivotally connected. The adjusting spring 189 is formed of a tension coil spring, one end of which is hooked to a locking hole 186a formed at the end of the spring hanging arm 186, and the other end of which is hooked to a locking hole 188a formed in the first link 188A.

[0183] In the soil covering pressure adjusting mechanism 183, the soil covering pressure can be adjusted by changing the spring force of the adjusting spring 189 by swinging the operation lever 184 around the pivot 185A. A plurality of locking portions 185a are provided on the upper part of the support plate 185, and the locking piece 184a of the operation lever 184 can be locked to the locking portions 185a, so that the operation lever 184 can be fixed at a plurality of positions.

[0184] As shown in FIG. 32, the planting depth adjustment mechanism 172 is operated by the operation unit 127. As shown in FIGS. 1A and 1B, the operation unit 127 is provided near the driver's seat 3. Specifically, the operation unit 127 is provided in an inclined shape that shifts upward as it goes forward, at the upper part of the steering column 27 in front of the driver's seat 3. Also, the operation unit 127 is disposed below the steering wheel 25. Further, the operation unit 127 can be operated by the operator 2 seated in the driver's seat 3. As shown in FIGS. 21 and 30, the operation unit 127 is connected to the control device 131.

[0185] As shown in FIG. 32, the operation unit 127 sends an operation signal for operating the planting depth adjustment mechanism 172 to the control device 131. Also, the operation unit 127 has a planting depth adjustment unit 190 for operating the planting depth adjustment mechanism 172. The planting depth adjustment unit 190 is provided at the rear (lower part) of the operation unit 127. The planting depth adjustment unit 190 has an operation dial (rotary operation member) 191 and an indicator 192 indicating the rotational position of the operation dial 191. The indicator 192 is provided on the upper surface of the operation dial 191. The planting depth adjustment mechanism 172 (adjustment motor 174) is operated by rotating the operation dial 191 to the left or right. The planting depth adjustment unit 190 has a depth display unit 193 indicating the operation direction of the operation dial 191. The depth display unit 193 has the character "deep" provided on the right side of the operation dial 191 and the character "shallow" provided on the left side of the operation dial 191.

[0186] In the above-mentioned planting depth adjustment unit 190, when the operation dial 191 is turned to the right, a first operation signal S1 is sent from the operation unit 127 to the control device 131. When the control device 131 acquires the first operation signal S1, it operates the planting depth adjustment unit 190 in the direction of increasing the planting depth. The indicator 192 is set to the reference planting depth in a state facing forward (upward) as shown in FIG. 32. When the operation dial 191 is turned to the right from the state where the indicator 192 faces forward, the planting depth becomes deeper from the reference depth as it is turned more. When the operation dial 191 is turned to the left, a second operation signal S2 is sent from the operation unit 127 to the control device 131. When the control device 131 acquires the second operation signal S2, it operates the planting depth adjustment unit 190 in the direction of decreasing the planting depth. When the operation dial 191 is turned to the left from the state where the indicator 192 faces forward, the planting depth becomes shallower from the reference depth as it is turned more. It should be noted that the planting depth may be increased when the operation dial 191 is turned to the right and decreased when it is turned to the left.

[0187] The operation dial 191 can be operated stepwise, and the planting depth can be adjusted stepwise. The operation dial 191 may be made continuously operable so that the planting depth can be continuously adjusted.

[0188] Since the operator 2 can operate the planting depth adjustment mechanism 172 while sitting on the driver's seat 3 by the planting depth adjustment unit 190, the adjustment of the planting depth of the seedlings 7 can be easily performed.

[0189] The operation unit 127 has an angle adjustment unit 194. The angle adjustment unit 194 performs an operation of lowering one side in the machine width direction K2 of the planting work machine 4 around the rolling axis X1 or lowering the other side. By lowering one side in the machine width direction K2 of the planting work machine 4, the planting body 12 on that side is lowered, and by lowering the other side in the machine width direction K2 of the planting work machine 4, the planting body 12 on the other side is lowered. Thereby, fine adjustment of the planting depth can be performed.

[0190] For example, even if the first planting surface 144R and the second planting surface 144L are at the same height, the planting depth of the seedlings 7 planted by the right planter 12R and the planting depth of the seedlings 7 planted by the left planter 12L may be slightly different. In such a case, for example, the planter 12 with the shallower planting depth is lowered to finely adjust the planting depth. The rolling control is performed in the state where this adjustment has been made.

[0191] As shown in FIG. 32, the angle adjustment unit 194 is provided at the front part (upper part) of the operation unit 127 and has a lower right switch 195 and a lower left switch 196 arranged side by side in the machine body width direction K2. The lower right switch 195 sends a first lowering signal to the control device 131 to lower one side (the first planter arrangement side) of the planting work machine 4 around the rolling axis X1. In other words, the lower right switch 195 sends a first lowering signal S3 to the control device 131 to lower the first planter arrangement side of the planting work machine 4 around the rolling axis X1. When the control device 131 acquires the first lowering signal S3, it lowers the right side of the planting work machine 4.

[0192] The lower left switch 196 sends a second lowering signal S4 to the control device 131 to lower the other side (the second planter arrangement side) of the planting work machine 4 in the machine body width direction K2 around the rolling axis X1. When the control device 131 acquires the second lowering signal S4, it lowers the left side of the planting work machine 4.

[0193] For example, each time the lower right switch 195 or the lower left switch 196 is pressed, the planting work machine 4 rotates by a predetermined angle around the rolling axis X1, and the planting depth can be finely adjusted in a predetermined dimension unit (a few millimeters or a few centimeters). Note that it is not limited to this.

[0194] Further, the operation unit 127 has a transplanting unit height adjustment unit 197. The transplanting unit height adjustment unit 197 is arranged in the middle part of the operation unit 127 (between the angle adjustment unit 194 and the planting depth adjustment unit 190), and has a raising switch 198 and a lowering switch 199. The lowering switch 199 is arranged to the right and rear (lower) of the raising switch 198.

[0195] The transplanting part height adjusting part 197 corrects the difference in the sinking amount between the sensing roller 126 and the covering soil wheel 62. It is also used to correct the deviation of mechanical and electrical initial values. The aim is to prevent the swing frame 164 from deviating greatly above or below the swing range.

[0196] This will be described in detail below. Also, the numerical values described in the following explanations are exemplary and not restrictive.

[0197] The planting body 12 and the covering soil wheel 62 are attached to a swing frame 164 that swings up and down with the front part (planting drive shaft 165) as a fulcrum. If the covering soil wheel 62 (which is in contact with the ground) is raised by, for example, 1 cm with respect to the swing frame 164, the swing frame 164 will lower and the planting body 12 will enter the ground about 1 cm deeper, and the planting depth will become about 1 cm deeper.

[0198] The swing frame 164 has a swing range of about 4 cm at the covering soil wheel 62 part. If the covering soil wheel 62 is at the center of the swing range, the planting depth can be kept constant even if there are ±2 cm undulations in the ridge.

[0199] However, if the height of the transplanting frame 36 (the height of the rotation fulcrum (planting drive shaft 165) of the swing frame 164) is the same, when the covering soil wheel 62 is raised by 1 cm, the swing frame 164 will shift to the lower side of the swing range and the ridge undulation adaptation range will be -1 cm to +3 cm. Therefore, when increasing the planting depth by 1 cm, the covering soil wheel 62 is raised by 1 cm and the transplanting frame 36 is lowered by 1 cm so that the swing frame 164 is at the center of the swing range.

[0200] The planting depth adjustment range is -2 cm to +5 cm, and 0 means that the upper surface of the root pot (the bedding soil of the seedling 7) and the upper surface of the ridge are on the same plane. It doesn't necessarily mean that 0 is exactly on the same plane; it means that more adjustment margin is taken on the deep planting side.

[0201] Incidentally, the ground contact height of the sensing roller 126 and the ground contact height of the covering wheel 62 are not the same. That is, since the covering wheel 62 has a higher compaction load than the sensing roller 126, the covering wheel 62 sinks and becomes lower than the sensing roller 126. In terms of design, it is considered that the covering wheel 62 is 1 cm lower, but the difference in the amount of sinking changes depending on the adjustment of the compaction load of the covering wheel 62, the hardness of the upper surface of the ridge, the presence or absence of a mulch film, etc. In order to correct this difference in the amount of sinking, a transplanting unit height adjustment unit 197 is provided.

[0202] When the lowering switch 199 is pressed, the transplanting unit height adjustment unit 197 sends a correction value (first correction value S5) to the control device 131, and the control device 131 lowers the transplanting frame 36 based on this. Specifically, normally, when the difference in the ground contact surfaces of the sensing roller 126 and the covering wheel 62 is 1 cm, if the ridge is soft and the sinking of the covering wheel 62 is large (the swing frame 164 is shifted downward within the swing range) and the difference in the ground contact surfaces is large, for example, if the difference in the ground contact surfaces is 1.5 cm, the lowering switch 199 ("lower") is pressed to lower the transplanting frame 36 by 0.5 cm (raise the sensing roller by 0.5 cm) to correct so that the swing frame 164 is at the center of the swing range.

[0203] Also, when the raising switch 198 is pressed, the transplanting unit height adjustment unit 197 sends a correction value (second correction value S6) to the control device 131, and the control device 131 raises the transplanting frame 36 based on this. Specifically, when the ridge is hard or there is a mulch film, the difference in the ground contact surface heights of the sensing roller 126 and the covering wheel 62 is small, and since the swing frame 164 is shifted upward within the swing range, the raising switch 198 ("higher") is pressed to raise the transplanting frame 36.

[0204] Incidentally, the raising switch 198 and the lowering switch 199 may be configured to change a numerical value in a predetermined dimensional unit each time they are pressed. Also, in the planting depth adjustment, if the soil covering ring 62 aims at 2 cm, the sensing roller 126 aims at 3 cm which is 1 cm higher than the soil covering ring 62. That is, when the detected value of the sensing roller 126 reaches +1 cm (4 cm), the transplanting frame 36 is raised, and when it reaches -1 cm (2 cm), the transplanting frame 36 is lowered. Also, when the raising switch 198 is pressed to raise the height of the transplanting frame by 0.5 cm, the sensing roller 126 is controlled to target 2.5 cm which is (1 - 0.5 =) 0.5 cm higher than the soil covering ring 62. (Although the target value of the sensing roller height becomes lower, conversely the height of the transplanting frame becomes higher.) That is, when the detected value of the sensing roller 126 reaches +1 cm (3.5 cm), the transplanting frame 36 is raised, and when it reaches -1 cm (1.5 cm), the transplanting frame 36 is lowered. Also, when the lowering switch 199 is pressed to lower the height of the transplanting frame by 0.5 cm, the sensing roller 126 is controlled to target 3.5 cm which is (1 + 0.5 =) 1.5 cm higher than the soil covering ring 62. That is, when the detected value of the sensing roller 126 reaches +1 cm (4.5 cm), the transplanting frame 36 is raised, and when it reaches -1 cm (2.5 cm), the transplanting frame 36 is lowered.

[0205] Now, with reference to FIGS. 33, 34A, etc., the first planting elevating mechanism 167R and the second planting elevating mechanism 167L will be described. Since the first planting elevating mechanism 167R and the second planting elevating mechanism 167L are symmetrically formed with the same structure, the first planting elevating mechanism 167R and the second planting elevating mechanism 167L will be described together.

[0206] As shown in FIGS. 33 and 34, the planting elevating mechanism 167 includes a first rotating case 201, a second rotating case 202, and a support plate 121. The first rotating case 201 is rotatably supported on the first side frame portion 164A via a first support shaft 205. Specifically, a bearing member 204 is provided on a bracket member 169 provided on the first side frame portion 164A, the first support shaft 205 is rotatably supported by this bearing member 204, and the first rotating case 201 is supported on the first support shaft 205. A sprocket 203 is integrally rotatably attached to the first support shaft 205. As shown in FIG. 28, power is transmitted from a sprocket 207 integrally rotatably attached to the planting drive shaft 165 to the sprocket 203.

[0207] As shown in FIGS. 33 and 34, the second rotating case 202 is rotatably supported around a second support shaft 206 on the free end side of the first rotating case 201. The support plate 121 is supported by the second rotating case 202. Specifically, a bearing member 209 is provided on the upper portion of the support plate 121 via a pivot support shaft 208, a bearing member 211 is fixed to the lower end side of a plate member 210 protruding downward from this bearing member 209, and a third support shaft 215 provided on the second rotating case 202 is supported by this bearing member 211. The planting body 12 is supported on the support plate 121. Specifically, the planting body 12 has a front component 12A and a rear component 12B. The upper front side of the front component 12A is rotatably supported around a pivot shaft 212A provided on the support plate 121, and the upper rear side of the rear component 12B is rotatably supported around a pivot shaft 212B provided on the support plate 121.

[0208] The planting elevating mechanism 167 is driven by the power transmitted to the first support shaft 205 to raise and lower the planter 12. Specifically, as shown in Fig. 34, in the first rotating case 201 and the second rotating case 202, when the first rotating case 201 rotates in the direction of arrow Y1 around the first support shaft 205, the second rotating case 202 rotates in the direction opposite to that of the first rotating case 201 (arrow Y2 direction) in conjunction with the rotation of the first rotating case 201. A power transmission device is provided. When the first rotating case 201 and the second rotating case 202 rotate, the support plate 121 moves up and down while moving back and forth, and the planter 12 moves up and down (elevates) along an elliptical locus.

[0209] As shown in Fig. 34, the planter 12 is provided on the side of the planting elevating mechanism 167 (second rotating case 202). Specifically, the planter 12 is provided at a position overlapping the second rotating case 202 in a side view. Thereby, the planting device (planter 12 and planting elevating mechanism 167) can be configured compactly, and as shown in Fig. 33, the planter 12 can be brought closer to the seedling placing table 9 while preventing interference with the seedling placing table 9.

[0210] As shown in Fig. 37, the first seedling placing table 9R and the second seedling placing table 9L are arranged side by side in the machine body width direction K2 and mounted on the main frame 37. The first seedling placing table 9R and the second seedling placing table 9L are movably supported in the machine body width direction K2 by the rail members (first rail 56, second rail 58) of the main frame 37.

[0211] As shown in Fig. 38, the reversing guide 13 is provided at the center, right side, and left side in the machine body width direction K2 at the lower part of the seedling placing table 9, and is attached to the support rod 217 provided at the lower part of the seedling placing table 9. The empty tray guide 14 includes a first rod portion 14A arranged on the outer side of the machine body of the seedling placing table 9, a second rod portion 14B arranged on the inner side of the machine body of the seedling placing table 9, and a connecting rod portion 14C connecting the upper parts of the first rod portion 14A and the second rod portion 14B. The lower part of the seedling placing table 9 has a first accommodating portion 218 provided on the right side and a second accommodating portion 219 provided on the left side.

[0212] As shown in FIG. 38, a seedling shortage sensor 281 for detecting the replenishment timing of the seedling tray 8 is provided at the lower part of the seedling placing table 9. With the seedling shortage sensor 281 in an operating state, two seedling trays 8 can be replenished on the placement plate 10.

[0213] As shown in FIGS. 39 and 40, the first seedling placing table 9R has a first holder member 221R. The first holder member 221R has an upper holder 222R and a lower holder 223R provided below the upper holder 222R. The upper holder 222R has a first stay 224R attached to the first accommodating portion 218, a second stay 225R attached to the second accommodating portion 219, and a connecting stay 226R connecting the first stay 224R and the second stay 225R. A first stay plate 227R is fixed to the inner side (left side) of the machine body of the connecting stay 226R. A connecting bracket 228 is fixed to the connecting stay 226R (see FIG. 46). The connecting bracket 228 is disposed on the outer side of the machine body of the first stay plate 227R and is also fixed to the first stay plate 227R. At the lower part of the first seedling placing table 9R, an operating shaft 229 extending in the machine body width direction K2 is provided so as to be rotatable over the machine body width direction K2. The outer side of the operating shaft 229 on the outer side of the machine body protrudes greatly outward from the first accommodating portion 218. Two followers 230 are attached to the operating shaft 229 at intervals in the machine body width direction K2.

[0214] The lower holder 223R has a first stay 231R attached to the first accommodating portion 218, a second stay 232R attached to the second accommodating portion 219, and a connecting stay 233R connecting the first stay 231R and the second stay 232R.

[0215] A plurality of first rollers 234R are rotatably attached to the connecting stay 226R and the connecting stay 233R. The first roller 234R attached to the connecting stay 226R is supported by the first rail 56 so as to be movable in the machine body width direction K2. The first roller 234R attached to the connecting stay 233R is supported by the second rail 58 so as to be movable in the machine body width direction K2.

[0216] As shown in FIGS. 39 and 40, the second seedling placing table 9L has a second holder member 221L. The second holder member 221L has an upper holder 222L and a lower holder 223L provided below the upper holder 222L. The upper holder 222L has a first stay 224L attached to the first accommodating portion 218, a second stay 225L attached to the second accommodating portion 219, and a connecting stay 226L connecting the first stay 224L and the second stay 225L. A second stay plate 227L is fixed to the inner side (right side) of the machine body of the connecting stay 226L. The lower holder 223L has a first stay 231L attached to the first accommodating portion 218, a second stay 232L attached to the second accommodating portion 219, and a connecting stay 233L connecting the first stay 231L and the second stay 232L.

[0217] A plurality of second rollers 234L are rotatably attached to the connecting stay 226L and the connecting stay 233L. The plurality of second rollers 234L attached to the connecting stay 226L are supported by the first rail 56 so as to be movable in the machine body width direction K2. The plurality of second rollers 234L attached to the connecting stay 233L are supported by the second rail 58 so as to be movable in the machine body width direction K2.

[0218] As shown in FIG. 39, a connecting member 235 extending in the machine body width direction K2 is provided from the left part of the first seedling placing table 9R to the second seedling placing table 9L. The first stay plate 227 is bolt-fixed to the right part of the connecting member 235. The second stay plate 227L is bolt-fixed to the connecting member 235 so that its position can be adjusted in the machine body width direction K2.

[0219] Since the first seedling placing table 9R and the second seedling placing table 9L are connected via the connecting member 235, the first seedling placing table 9R and the second seedling placing table 9L move integrally in the machine body width direction K2 along the first rail 56 and the second rail 58.

[0220] Fig. 39 shows the states of the first seedling mounting table 9R and the second seedling mounting table 9L when the row space W1 is at the narrowest interval. By changing the mounting position of the second stay plate 227L from this state, it is possible to adjust the interval in the machine body width direction K2 between the first seedling mounting table 9R and the second seedling mounting table 9L according to the adjustment of the row space W1.

[0221] Fig. 41 shows a cross-feed mechanism 236 that intermittently cross-feeds the first seedling mounting table 9R and the second seedling mounting table 9L by one pitch in the machine body width direction K2. The cross-feed mechanism 236 has a cross-feed shaft 237 disposed below the first seedling mounting table 9R. The cross-feed shaft 237 extends in the machine body width direction K2 and is supported by a support 238 fixed to the first unit frame 38R. The support 238 is provided on the frame body 64 of the first unit frame 38R. The support 238 includes a first bracket 238A attached to the frame body 64, a second bracket 238B fixed to the first bracket 238A, a third bracket 238C fixed to the right end side of the second bracket 238B, a gear box 238D fixed to the second bracket 238B and the third bracket 238C, and a fourth bracket 238E provided on the side opposite to the gear box 238D of the second bracket 238B. The cross-feed shaft 237 is provided across the gear box 238D and the fourth bracket 238E. A first transmission sprocket 239 that can rotate integrally with the drive main shaft 71 and can move in the axial direction is provided at the lower part of the third bracket 238C. The first transmission sprocket 239 can transmit power to a second transmission sprocket 240 provided on the second bracket 238B. The power transmitted to the second transmission sprocket 240 is transmitted from an input shaft rotatably provided integrally with the second transmission sprocket 240 to the cross-feed shaft 237 through a transmission mechanism in the gear box 238D.

[0222] For the cross-feed shaft 237, a Napier screw having a spiral groove (so-called traverse groove) 237a that reciprocates in the axial direction is formed on the outer peripheral surface. A sliding body 241 having an engaging portion 241a that engages with the traverse groove 237a is fitted to the cross-feed shaft 237. A connecting shaft 242 is provided on the sliding body 241, and the connecting shaft 242 is connected to a connecting bracket 228 provided on the first holder member 221R of the first seedling placing table 9R. Vertical feed cams (operating bodies) 243 are fixed to one end side and the other end side of the cross-feed shaft 237.

[0223] When the cross-feed shaft 237 rotates, the engaging portion 241a is guided along the traverse groove 237a to reciprocate the sliding body 241 in the machine body width direction K2. As a result, the first seedling placing table 9R can be reciprocated in the machine body width direction K2. Further, since the second seedling placing table 9L is connected to the first seedling placing table 9R via a connecting member 235, the first seedling placing table 9R and the second seedling placing table 9L can be integrally reciprocated in the machine body width direction K2.

[0224] When adjusting the row spacing W1, since the first seedling placing table 9R and the first unit frame 38R (first transplanting unit 63R) are connected via a cross-feed mechanism 236 and the first seedling placing table 9R and the second seedling placing table 9L are connected by a connecting member 235, the first seedling placing table 9R, the second seedling placing table 9L, and the first transplanting unit 63R are integrally position-adjusted in the machine body width direction K2. The second transplanting unit 63L is position-adjusted separately from the first transplanting unit 63R. After adjusting the first transplanting unit 63R and the second transplanting unit 63L in the machine body width direction K2, the second seedling placing table 9L is position-adjusted according to the adjusted row spacing W1.

[0225] FIG. 42 shows a vertical feed mechanism 244 that vertically feeds the seedling tray 8 downward by one pitch of the pot portion 8a along the inclined direction, and a seedling take-out device 11. The vertical feed mechanism 244 has a tray feed mechanism 245 provided in each of the first storage portion 218 and the second storage portion 219 of each seedling placing table 9. The tray feed mechanism 245 has a drive sprocket 246, a driven sprocket 247, and an endless conveyor chain 248 wound around the drive sprocket 246 and the driven sprocket 247. The conveyor chain 248 is provided with conveying pins 249 that fit between the pot portions 8a at intervals in the longitudinal direction. By rotating the drive sprocket 246 in the direction of arrow Y3 in FIG. 42, the seedling tray 8 is vertically fed downward (in the direction of arrow Y4 in FIG. 42) along the placement plate 10 via the conveyor chain 248 and the conveying pins 249.

[0226] As shown in FIG. 42, the seedling take-out device 11 is arranged at the lower rear of the seedling placing table 9 and has a seedling take-out claw 250. The seedling take-out claw 250 penetrates into the pot portion 8a from the rear and pierces the root ball of the seedling 7, and by retreating from the pot portion 8a in the state of piercing the root ball, the seedling 7 is taken out from the pot portion 8a. After taking out the seedling 7, the seedling take-out claw 250 changes its posture so that the bedding soil (root ball) of the seedling 7 faces the lower planting body 12, and then releases the seedling 7 and throws it into the planting body 12.

[0227] Now, in the transplanting machine 1 of the present embodiment, in the setting mode for performing the setting before the start of automatic steering, it is possible to set a reference azimuth based on the information received from the mobile terminal 500.

[0228] The communication device 401 receives information regarding automatic steering from the mobile terminal 500. Specifically, the communication device 401 may have a wireless communication module that acquires correction information for the positioning error by communicating via the Internet or a telephone communication network, in addition to acquiring correction information for the positioning error from the wireless signal received by the communication antenna 403. Further, the communication device 401 may have a short-range wireless communication module that receives a wireless signal including correction information for the positioning error from the mobile terminal 500. This short-range wireless communication module is a device that performs wireless communication, for example, by Bluetooth (registered trademark) Low Energy in the Bluetooth (registered trademark) specification of the communication standard IEEE802.15.1 series.

[0229] As shown in FIG. 1D, the control device 131 has a setting unit 131C. The setting unit 131C sets a reference azimuth from the information received by the communication device 401, that is, the information regarding automatic steering from the mobile terminal 500. The control device 131 performs control of automatic steering to cause the traveling body 5 to travel along the reference azimuth.

[0230] Further, the communication device 401 can transmit setting information to the mobile terminal 500. The setting information is various types of information set in the transplanter 1 and includes information regarding automatic steering.

[0231] For example, when the control device 131 is in a setting mode for performing settings before starting automatic steering, the control device 131 causes the communication device 401 to transmit all or a selected one of the reference azimuths stored in the storage device 131B to the mobile terminal 500. Further, when there is an overwrite instruction for a new reference azimuth from the mobile terminal 500, the setting unit 131C overwrites the selected reference azimuth or the stored reference azimuth instructed from the mobile terminal 500 with the new reference azimuth from the mobile terminal 500 and stores it in the storage device 131B.

[0232] As shown in FIG. 1D, the transplanter 1 has a notification device 440. The storage device 131B can store reference orientations up to a predetermined upper limit number (for example, 10). When one of the reference orientations stored in the storage device 131B is selected in the setting mode, the control device 131 causes the segment display unit 361 to display the selected reference orientation and causes the notification device 440 to notify the selected reference orientation.

[0233] When there is an instruction to overwrite the new reference orientation, the setting unit 131C overwrites the selected stored reference orientation with the new reference orientation and stores it in the storage device 131B.

[0234] The notification device 440 includes, for example, a voice output device 402 such as a speaker 402 and headphones 402A. When one of the reference orientations stored in the storage device 131B is selected, the control device 131 causes the voice output device 402A to output the selected reference orientation as voice.

[0235] In addition, in the transplanter 1 of the present embodiment, in the setting mode, various information settings and the like can be performed by manual input by the operator 2. For example, in the transplanter 1 of the present embodiment, the reference orientation can be set by manual input by the operator 2 in the setting mode without performing the operation of running the transplanter 1 in the field 6 to obtain the reference orientation. Also, in the setting mode, information other than the reference orientation can be set by manual input by the operator 2. Therefore, the setting mode is a mode in which, before the start of automatic steering, the operator 2 can input, call, change, etc. the setting values of various setting items by manual input.

[0236] The control device 131 causes the transplanter 1 to shift to the setting mode based on a predetermined operation. The predetermined operation here is, for example, simultaneously long-pressing the third switch 355 and the fourth switch 356 while the main switch 354 is on (for example, the switch key is in the start or operation position). Further, the predetermined operation may be to turn on the main switch 354 (for example, move the switch key to the start or operation position) while the steering changeover switch 351 is pressed when the main switch 354 is off (that is, the switch key is in the stop position), and then release the steering changeover switch 351 within 2 seconds, or it may be other operations. Note that when the transplanter 1 is not in the setting mode, it is a non-setting mode in which various settings cannot be performed. The non-setting mode is a mode that allows operations other than performing various settings, and for example, manual driving or driving by automatic steering can be performed.

[0237] As shown in FIG. 1D, the control device 131 has a setting unit 131C. For example, the above-described processor of the control device 131 functions as the setting unit 131C by executing a setting program stored in the storage device 131B. The setting unit 131C performs settings related to the traveling and work of the transplanter 1 (automatic sensitivity setting, azimuth setting, GPS adjustment, row interval setting, RTK setting, etc. shown in FIG. 43A). Regarding the azimuth setting, the setting unit 131C can set the azimuth input (for example, manually input) by the operator as the reference azimuth. More specifically, when in the setting mode, the setting unit 131C accepts the input of the azimuth (for example, manual input of the azimuth by the operator), and stores the input azimuth in the storage device 131B as the reference azimuth.

[0238] As shown in FIG. 43A, the storage device 131B stores a storage table DT1 that associates a plurality of items (i.e., setting items) with setting values for each of the plurality of items (setting items). The plurality of setting items include items such as automatic sensitivity setting (GS sensitivity setting), azimuth setting, GPS adjustment, stripe interval setting, and RTK setting. Note that the setting items in the storage table DT1 are broadly classified into major items and minor items. The major items are items at the first layer, which is the highest layer. The minor items are items at the second layer, which is lower than the first layer. The items of automatic sensitivity setting, azimuth setting, GPS adjustment, stripe interval setting, and RTK setting are all items at the first layer. Further, the item of azimuth setting includes an item of azimuth input and an item of azimuth call, and these are stored as minor items (items at the second layer). Also, the setting values for each of the plurality of setting items are values at the third layer, which is lower than the second layer. The setting values are hierarchically classified into first, second, third, and fourth positions according to the type of setting item.

[0239] The item of automatic sensitivity setting is an item for setting the sensitivity of straight-ahead steering. The setting value corresponding to it is only associated with the value of the first position and is broadly classified into standard, sensitive, and insensitive. As the setting value of the automatic sensitivity setting, "DEF" indicating standard, "+ numerical value (+1, +2, etc., integers)" indicating sensitive, and "- numerical value (-1, -2, etc., integers)" indicating insensitive can be set. If it is standard, the steering angle of the automatic steering with respect to the position deviation and azimuth deviation is normal. If it is sensitive, the steering angle of the automatic steering is made larger according to the numerical value than normal. If it is insensitive, the steering angle of the automatic steering is made smaller according to the numerical value than normal. In FIG. 43A, the value of "DEF" is stored as the setting value corresponding to the item of automatic sensitivity setting.

[0240] The azimuth setting item is an item related to azimuth setting. The azimuth input item is a sub-item for manually inputting azimuth information (i.e., the reference azimuth), and its setting value is associated with the integer part value of the azimuth (azimuth integer part: the first digit value) and the decimal part value of the azimuth (azimuth decimal part: the second digit value). In Fig. 43A, as the first digit value (azimuth integer part) of the setting value corresponding to the azimuth input item, the value of "H359" indicating the integer part of the azimuth 359.99° is stored, and as the second digit value (azimuth decimal part), the value of "L_99" indicating the decimal part (up to the second digit after the decimal point) of the azimuth 359.99° is stored.

[0241] The azimuth call item is a sub-item for calling the registered azimuth, and its setting value is associated with the azimuth name (the first digit value), the registration date and time (the second digit value), the azimuth integer part (the third digit value), and the azimuth decimal part (the fourth digit value). In Fig. 43A, among the setting values corresponding to the azimuth call item, as the first digit value (azimuth name), "A4" (identification number), as the second digit value (registration date and time), "2022", "0823", and "1658", as the third digit value (azimuth integer part), "H359", and as the fourth digit value (azimuth decimal part), the value of "L_99" is stored.

[0242] The GPS adjustment item is an item for performing GPS position adjustment, and its setting value is only associated with the first digit value and is broadly classified into standard, + correction, and - correction. As the setting value of GPS adjustment, "DEF" indicating the standard, "+ numerical value (+1, +2, etc. integers)" indicating + correction, and "- numerical value (-1, -2, etc. integers)" indicating - correction can be set. In Fig. 43A, as the setting value corresponding to the GPS adjustment item, the value of "DEF" is stored.

[0243] The item of inter-row setting is for setting the distance between adjacent rows used for inter-row assist. The inter-row assist is a function that, when starting straight-ahead keep driving, notifies the operator 2 of the "deviation" between adjacent rows and performs assist by automatic steering to eliminate the "deviation" between adjacent rows. Only the value of the first digit of the setting value of the inter-row setting is associated, and "1200" indicating a distance of 1200 mm between adjacent rows, "1320" indicating 1320 mm, etc. are stored as default values. Other values may also be used as default values. In Fig. 43A, the value of "1200" is stored as the setting value corresponding to the item of inter-row setting.

[0244] The item of RTK setting is for setting RTK, and its setting value is associated with only the value of the first digit and is roughly classified into standard and custom. In Fig. 43A, the value of "DEF" indicating standard is stored as the setting value corresponding to the item of RTK setting.

[0245] As shown in Fig. 43B, the storage device 131B stores a storage table DT2 that associates the item of azimuth call with a plurality of azimuth names and associates azimuth information (that is, reference azimuth) and registration information (that is, registration date, month, day, and time) for each of the plurality of azimuth names. In the storage table DT2 shown in Fig. 43B, the first to fourth azimuth names (for example, "A1" to "A4") are stored as the plurality of azimuth names. For example, for the first azimuth name ("A1"), registration information including the numerical value "2022" indicating the registration year (AD, for example, 2022), the numerical value "0322" indicating the month and day (for example, March 2), and the numerical value "0845" indicating the hour and minute (for example, 8:45) in 24-hour format, and azimuth information including the azimuth integer part (for example, the value of "H302") and the azimuth decimal part (for example, the value of "L_79") are associated.

[0246] When in the setting mode, the control device 131 sequentially displays the selected item among the plurality of items and its setting value on the segment display unit 361, and when there are a plurality of setting values hierarchically divided for the setting value, the plurality of setting values are displayed on the segment display unit 361 in hierarchical order.

[0247] Note that the steering switch 351 was a button for instructing the start and end of automatic steering in the non-setting mode, but functions as a determination button in the setting mode. Also, the first switch 352 and the second switch 353 were buttons for instructing the start and end points of the reference direction in the non-setting mode, but function as selection buttons in the setting mode. For example, in the setting mode, the first switch 352 can change in ascending order or increase the value, and the second switch 353 can change in descending order or decrease the value. That is, the control device 131 makes the functions (instruction contents) of the steering switch 351, the first switch 352, and the second switch 353 different between the non-setting mode and the setting mode.

[0248] Here, the case where the operator 2 sets the reference direction manually will be described. When in the setting mode, the control device 131 switches a plurality of items shown in FIG. 44A based on the operation of at least one of the first switch 352 and the second switch 353, and causes the segment display unit 361 of the display device 360 to display them. That is, each time the first switch 352 is operated, the segment display unit 361 switches and displays the items of automatic sensitivity setting (GS sensitivity setting), direction setting, GPS adjustment, stripe interval setting, and RTK setting in ascending order, and each time the second switch 353 is operated, switches and displays them in descending order. The operator 2 can understand that various segment displays shown in FIG. 44A, that is, "GAIN", "A--B", "I--N", "READ", "ADJ", "JOU", "GPS" are automatic sensitivity setting (GS sensitivity setting), direction setting, direction input, direction call, GPS adjustment, stripe interval setting, and RTK setting.

[0249] When the steering switch 351 is operated while the direction setting item is selected, that is, while the large item (for example, "A--B") shown in FIG. 44B is displayed on the segment display unit 361, the control device 131 determines the direction setting item, and based on the operation of at least one of the first switch 352 and the second switch 353, switches and displays the direction input and the direction call in order.

[0250] When the control device 131 is operated while the azimuth input item is selected, that is, while the small item (for example, "I--N") shown in FIG. 44B is displayed on the segment display unit 361, the azimuth value of the reference azimuth stored in the storage device 131B is displayed on the segment display unit 361. Specifically, the value "H359" of the azimuth integer part (third layer), which is the set value shown in FIG. 44B, is displayed on the segment display unit 361, and after a predetermined number of seconds, the value "L_99" of the azimuth decimal part (fourth layer), which is the set value, is subsequently displayed. The control device 131 changes the azimuth value displayed on the segment display unit 361 based on the operation of at least one of the first switch 352 and the second switch 353. For example, when the first switch 352 is operated while the azimuth integer part is being displayed, the control device 131 increases the value of the displayed azimuth integer part, and when the second switch 353 is operated, the value is decreased. When there is an operation of the steering changeover switch 351, the control device 131 stores the changed azimuth value in the storage device 131B in association with the azimuth input item as the reference azimuth. For example, if the changed azimuth value is 359.97°, this value is stored as the reference azimuth. Note that when the azimuth value remains the original value and there is an operation of the steering changeover switch 351, it may not be stored, or it may be overwritten and stored.

[0251] Next, a case where the operator 2 calls the memorized orientation (registered orientation) manually to change the reference orientation will be described. When the control device 131 is in the setting mode and the steering changeover switch 351 is operated in a state where the orientation call item is selected, that is, in a state where the large item (for example, "READ") shown in FIG. 44A is displayed on the segment display unit 361, the control device 131 determines it as the orientation call item. The control device 131 causes the segment display unit 361 to display the orientation information and registration information of the currently set orientation name among the plurality of orientation names stored in the storage device 131B, and also causes the notification device 440 to notify it. That is, display by the segment display unit 361 and voice output by the speaker 402 are performed. In the storage table DT1 shown in FIG. 43A, the currently set setting item and its setting value (orientation name, registration date and year, integer part of orientation, decimal part of orientation) are stored. Therefore, as shown in FIG. 44C, the control device 131 causes the segment display unit 361 to display the fourth orientation name and its setting value in order, and outputs them as voice by the speaker 402. That is, the segment display unit 361 displays "A4", "2022", "0823", "1658", "H359", "L_99" in that order, and voice is output from the speaker 402.

[0252] Then, when there is a third operation (for example, an operation of pressing the steering changeover switch 351 twice in a short period) indicating an overwrite instruction for the new reference orientation, the setting unit 131C overwrites the new reference orientation with the memorized reference orientation which is the notified orientation information, and stores it in the storage device 131B. The third operation may be an operation of pressing the third switch 355 or the fourth switch 356. For example, if the new reference orientation manually input by the operator 2 or the new reference orientation from the mobile terminal 500 is "359.01°", and the third operation (operation of pressing twice in a short period) of the steering changeover switch 351 is performed, as the orientation information of the fourth orientation name "A4", the integer part of the orientation (for example, the value of "H359") and the decimal part of the orientation (for example, the value of "L_01") are overwritten and stored as registration information together with the numerical values indicating the current registration date and year and hour and minute (for example, the values of "2023", "0523", "0846").

[0253] For example, although the operator 2 has confirmed the azimuth value indicated by the fourth azimuth name, the operator 2 can also set the azimuth value indicated by the second azimuth name. Specifically, in a state where the fourth azimuth name is displayed, the control device 131 can select any azimuth name from among the plurality of azimuth names displayed on the segment display unit 361 based on an operation of at least one of the first switch 352 and the second switch 353. As shown in FIG. 43B, the storage table DT2 stores the first to fourth azimuth names and their azimuth information. When the second azimuth name "A2" in the storage table DT2 is selected, the second azimuth name "A2" and its set value are displayed in order. When the steering changeover switch 351 is operated in a state where the second azimuth name "A2" is displayed, the azimuth indicated by the azimuth information of the selected azimuth name is set as the reference azimuth. For example, the azimuth value indicated by the set value of the selected second azimuth name "A2", that is, the azimuth 358.44° which is the azimuth value of the azimuth name "A2" shown in FIG. 43B, is set as the reference azimuth.

[0254] Next, a case where the operator 2 manually sets the stripe interval will be described. When in the setting mode, when the steering changeover switch 351 is operated in a state where the stripe interval setting item is selected from among a plurality of items, that is, a state where a large item (for example, "JOU") shown in FIG. 44A is displayed on the segment display unit 361, the control device 131 determines the stripe interval setting item. The control device 131 causes the segment display unit 361 to display the stripe interval setting stored in the storage device 131B. The segment display unit 361 displays "1200", which is the set value of the stripe interval setting stored in the storage table DT1 shown in FIG. 43A, that is, the distance between adjacent stripes, which is 1200 mm.

[0255] When the first switch 352 is operated while the set value of the row spacing setting (here, "1200") is being displayed, the control device 131 increases the displayed set value, and when the second switch 353 is operated, it decreases the set value. When there is an operation of the steering changeover switch 351, the control device 131 stores the set value of the row spacing setting displayed on the segment display unit 361 as the set value of the row spacing setting after the change. For example, if the changed set value of the row spacing setting is "1300", this value is stored as the row spacing setting. Note that when the set value of the row spacing setting remains the original value and there is an operation of the steering changeover switch 351, it may not be stored, or it may be overwritten and stored.

[0256] Next, a case where the operator 2 changes the set value of the automatic steering sensitivity by manual input will be described. When in the setting mode, when the steering changeover switch 351 is operated in a state where the item of the automatic steering sensitivity setting is selected from among a plurality of items, that is, in a state where the large item (for example, "GAIN") shown in FIG. 44A is displayed on the segment display unit 361, the control device 131 determines it as the item of the automatic steering sensitivity. The control device 131 causes the set value of the automatic steering sensitivity stored in the storage device 131B to be displayed on the segment display unit 361. The segment display unit 361 changes the set value of the automatic steering sensitivity displayed on the segment display unit 361 based on the operation of at least one of the first switch 352 and the second switch 353. For example, when there is an operation of the steering changeover switch 351 while the set value is being displayed, the control device 131 stores the changed set value of the automatic steering sensitivity in the storage device 131B in association with the item of the automatic steering sensitivity setting.

[0257] When not in the setting mode (non-setting mode), the control device 131 acquires the position of the traveling body 5 when the first switch 352 is operated as the starting point, and causes the traveling body 5 to travel a certain distance or more from the starting point and acquires the position of the traveling body 5 when the second switch 353 is operated as the end point. Then, the control device 131 causes the segment display unit 361 to display an azimuth value (here, it is assumed to be azimuth 290.13°) indicating the azimuth of the line connecting the starting point and the end point.

[0258] When the azimuth value is being displayed on the segment display unit 361, if the second switch 353 is operated for a first operation (e.g., long press), the azimuth name will be displayed on the segment display unit 361. The control device 131 selects an available azimuth name (such as "A5") based on the operation of at least one of the first switch 352 and the second switch 353. Note that the control device 131 may automatically select the azimuth name (such as "A5") that comes after the stored azimuth name (such as "A4"). When the steering switch 351 is operated, the control device 131 uses the azimuth value (azimuth 290.13°) as the reference azimuth and associates it with the selected azimuth name (such as "A5") and stores it in the storage device 131B. Also, the control device 131 is equipped with a real-time clock and stores the date and time indicated by the real-time clock at the time of storage as the registration date and time together.

[0259] Note that in the non-setting mode, the operator 2 can also have the stored reference azimuth displayed (output) on the segment display unit 361 for confirmation before work. When the second switch 353 is operated for a second operation (e.g., short press) in a case where it is not in the setting mode (non-setting mode), if the reference azimuth is stored in the storage device 131B, the control device 131 causes the segment display unit 361 to display the stored reference azimuth and azimuth name in the storage device 131B. Specifically, the control device 131 causes the segment display unit 361 to display the reference azimuth and azimuth name stored in the storage table DT1 shown in FIG. 43A. For example, as shown in FIG. 44D, the control device 131 displays "A4", "2022", "0823", "1658", "H359", "L_99" on the segment display unit 361 in that order. The control device 131 does not start the automatic steering control while the azimuth value (azimuth 359.99°) is being displayed on the segment display unit 361. Also, the control device 131 does not erase the start point and the end point while the azimuth value (azimuth 359.99°) is being displayed on the segment display unit 361.

[0260] Note that the control device 131 may set at least two or more setting items related to the field 6 among a plurality of setting items as related settings.

[0261] The memory table DT3 shown in FIG. 43C stores the related setting items that associate the items related to the field 6, and a plurality of setting values associated with the related setting items. The plurality of setting values include two or more of the reference azimuth, row spacing, and automatic steering sensitivity. In FIG. 43C, the setting values of the azimuth call, row spacing setting, and automatic sensitivity setting (GS sensitivity setting) for the same field 6 are stored in association with each other. That is, the setting values of the reference azimuth, row spacing setting, and automatic sensitivity setting (GS sensitivity setting) are the setting values for the same field 6.

[0262] When in the setting mode, when the steering changeover switch 351 is operated in a state where the related setting item is selected from among the plurality of items based on the operation of at least one of the first switch 352 and the second switch 353, that is, in a state where the related setting item (for example, "RS") shown in FIG. 43C is displayed on the segment display unit 361, the control device 131 determines it as the related setting item. The control device 131 causes the segment display unit 361 to sequentially display the plurality of setting values of the related setting item stored in the storage device 131B. That is, the segment display unit 361 displays "READ", "A4", "2022", "0823", "1658", "H359", "L_99", "JOU", "1200", "GAIN", "DEF" in that order. The operator 2 can check at once the setting values of the reference azimuth, row spacing, and automatic steering sensitivity sequentially displayed on the segment display unit 361.

[0263] Note that the transplanter 1 may use the selected reference azimuth as the portable terminal 500 and overwrite and set a new reference azimuth from the portable terminal 500.

[0264] As shown in FIG. 43D, a plurality of items may include an external communication item. This external communication item is composed of, for example, a major item of "T--R" and minor items of "R--X" indicating reception and "T--X" indicating transmission. The storage device 131B stores a plurality of setting values corresponding to the minor item of external communication transmission. For example, among the setting values corresponding to the minor item of transmission ("T--X"), assume that the value of the first digit (azimuth name) is "A4" (identification number), the values of the second digit (registration date) are "2022", "0823", and "1658", the value of the third digit (azimuth integer part) is "H359", and the value of the fourth digit (azimuth decimal part) is "L_99".

[0265] When in the setting mode, when the steering switch 351 is operated in a state where the external communication item is selected, that is, when the major item shown in FIG. 43D (for example, "T--R") is displayed on the segment display unit 361, the control device 131 determines the external communication item and transmits a plurality of setting values ("A4", "2022", "0823", "1658", "H359", "L_99" values) corresponding to the minor item of external communication transmission from the communication device 401 to the mobile terminal 500. The mobile terminal 500 displays the received plurality of setting values ("A4", "2022", "0823", "1658", "H359", "L_99" values) on the display screen of the mobile terminal 500.

[0266] When the user who holds the mobile terminal 500 inputs a new reference azimuth to the mobile terminal 500 or selects a new reference azimuth already stored in the mobile terminal 500 and then performs a transmission instruction operation on the mobile terminal 500, the mobile terminal 500 transmits the new reference azimuth to the transplanter 1. Here, assume that the new reference azimuth is 358.02°, and the registration date and time of the new reference azimuth on the mobile terminal 500 are 9:22 am on April 10, 2023.

[0267] When there is an overwrite instruction for a new reference orientation from the mobile terminal 500, the setting unit 131C stores the new reference orientation (358.02°), date of year, month, and day, and time of hour and minute from the mobile terminal 500 in the storage device 131B as a plurality of setting values corresponding to the sub-items of external communication reception (the values of "2023", "0410", "0922", "H358", "L_02"). Then, when the third operation (double-press operation in a short period) of the steering switch 351 is performed, the setting unit 131C overwrites and sets the new reference orientation (358.02°) from the mobile terminal 500 as the current reference orientation, and also overwrites a plurality of setting values corresponding to the sub-items of external communication reception with a plurality of setting values corresponding to the sub-items of transmission and stores them in the storage device 131B.

[0268] Here, although the communication device 401 transmits the selected reference orientation to the mobile terminal 500, it may transmit all reference orientations. When all the reference orientations in the storage device 131B are transmitted to the mobile terminal 500 and the user changes at least one or more reference orientations on the mobile terminal 500, it may be that only the changed reference orientation or all the reference orientations including the changed reference orientation are transmitted from the mobile terminal 500 to the transplanter 1 and overwritten and stored.

[0269] Now, the notification device 440 of the transplanter 1 can perform a notification indicating the replenishment of the seedling tray 8. As shown in FIG. 1D, the seedling depletion sensor 281 is connected to the control device 131. When the control device 131 detects the replenishment time of the seedling tray 8 by the seedling depletion sensor 281, it gives a notification instruction to the notification device 440. The notification device 440 performs a notification indicating the replenishment of the seedling tray 8. That is, when the seedling depletion sensor 281 detects the replenishment time of the seedling tray 8, the notification device 440 performs a notification indicating the replenishment of the seedling tray 8. For example, the notification device 440 outputs, from the voice output device 402A (speaker 402), a voice such as "Please replenish the seedling tray" as a notification indicating the replenishment of the seedling tray 8.

[0270] Note that the notification device 440 may include a display lamp 441 that performs display notification for indicating replenishment of the seedling tray 8. That is, the notification device 440 may include the display lamp 441 instead of or together with the voice output device 402A (speaker 402). For example, when the replenishment timing of the seedling tray 8 is detected, the display lamp 441 lights up, for example, in red, and when the replenishment timing of the seedling tray 8 is not detected, it turns off or lights up in green. A label of "seedling shortage warning" is attached to a location near the display lamp 441. Therefore, the operator 2 can know that the display lamp 441 is a lamp that warns of a seedling shortage. The display lamp 441 performs display notification instead of or together with the voice notification from the voice output device 402A (speaker 402). Note that the display lamp 441 is not limited to the configuration of the above display mode and may be in various display modes.

[0271] Further, as shown in FIG. 45A, the storage device 131B stores in advance a field map MP1 including the field 6, the position information (latitude, longitude) of the field 6, and the work end position Pg of the field 6. For example, when the control device 131 receives an ON operation of the steering changeover switch 351 by the operator 2 (such as a driver), the automatic steering is started from the work start position Ps which is the position where the ON operation is performed, and the traveling body 5 is caused to travel along the reference azimuth of the field 6 (for example, along the straight line L1a which is the longitudinal direction of the ridge), and at the same time, the transplantation of the seedlings 7 to the field 6 by the planting work machine 4 is started. When an OFF operation of the steering changeover switch 351 is performed by the operator 2 (such as a driver) at the end of the straight line L1a, that is, at the end of the ridge, the automatic steering of the traveling body 5 is terminated and the transplantation of the seedlings 7 by the planting work machine 4 is terminated. Subsequently, in order to direct the traveling body 5 to the next ridge, the operator 2 manually turns the steering wheel 25 to turn the traveling body 5. Here, the traveling body 5 is turned along the turning route L1b without a switching operation, but it may be turned along a turning route with a switching operation.

[0272] The position detection device 330 detects the position (latitude, longitude) of the vehicle 5 based on satellite positioning information. When the seedling shortage sensor 281 detects the replenishment timing of the seedling tray 8, the control device 131 does not perform the notification by the notification device 440 if the vehicle 5 is located within a predetermined distance PD from the work end position Pg.

[0273] The storage device 131B stores the above-mentioned predetermined distance PD in advance. This predetermined distance PD is a distance smaller than the planting movement distance, which is the distance that the vehicle 5 moves to plant the vegetable seedlings 7 remaining in the seedling tray 8 when the replenishment timing of the seedling tray 8 is detected. As shown in FIG. 10, the seedling tray 8 has, for example, a total of 128 pot portions 8a arranged in 16 in the vertical direction and 8 in the horizontal direction. It is assumed that the number of vegetable seedlings 7 remaining in the seedling tray 8 when the replenishment timing of the seedling tray 8 is detected is 56 in total, 7 in the vertical direction and 8 in the horizontal direction. Further, a plant spacing set value BS (for example, an arbitrary value between 25 cm and 80 cm) is stored in advance in the storage device 131B. The predetermined distance PD can be specified by the formula of predetermined distance PD = 56 × plant spacing set value BS. For example, if the plant spacing set value BS is 25 cm, the predetermined distance PD is 14 m (= 56 × 0.25 cm). Therefore, if the vehicle 5 is located within the predetermined distance PD (= 14 m) from the work end position Pg, the notification device 440 does not perform the above-mentioned notification.

[0274] As shown in FIG. 1A, the planting work machine 4 includes a seedling placing table 9 on which a plurality of seedling trays 8 can be placed side by side in the feeding direction in a state where the seedling tray 8 is inclined downward, a tray feeding mechanism 245 (see FIGS. 38 and 42) that feeds the downstream seedling tray 8 on the seedling placing table 9 to the downstream side, and a seedling taking-out device 11 that is disposed on the downstream side of the seedling placing table 9 and takes out the seedlings 7 from the seedling tray 8. The notification device 440 performs notification during a specified period T1 in which the most downstream seedling tray 8 on the seedling placing table 9 can continuously receive replenishment of a new seedling tray 8 without any interval.

[0275] For example, as shown in FIG. 42, among the four conveying pins 249 that convey the most downstream seedling tray 8 from which the seedlings 7 are taken out by the seedling extraction device 11, the most upstream conveying pin 249 is located above the placement plate 10. Also, the first conveying pin 249 for conveying the next seedling tray 8 is located on the placement surface (boundary) of the placement plate 10. That is, the above-mentioned specified period T1 is the period from the time when the previous conveying pin 249 is located on the placement surface (boundary) of the placement plate 10 to the time when the next conveying pin 249 is located on the placement surface (boundary) of the placement plate 10. If the next conveying pin 249 crosses the placement surface (boundary) of the placement plate 10, the most downstream end of the newly replenished seedling tray 8 comes into contact with this conveying pin 249. For this reason, the newly replenished seedling tray 8 is not continuous with the most downstream seedling tray 8, and there is a gap of the length between the previous conveying pin 249 and the next conveying pin 249, and a shortage of plants occurs due to the conveyance of the newly replenished seedling tray 8. That is, a section where the vegetable seedlings 7 are not planted in the field 6 occurs. Therefore, the operator 2 tries to replenish the new seedling tray 8 while the notification device 440 is notifying, so that the shortage of plants can be reduced.

[0276] Further, when the control device 131 does not detect a change in the seedling shortage sensor 281 within the specified period T1 from the detection of the replenishment timing of the seedling tray 8 by the seedling shortage sensor 281, the control device 131 associates the work report information indicating non-replenishment of the seedling tray 8 with the position information of the traveling body 5 and stores them in the storage device 131B with respect to the field map MP1. That is, when the seedling tray 8 is not in time, as shown in FIG. 45A, the control device 131 stores the seedling shortage position Pe (latitude, longitude) in the field map MP1. The seedling shortage position Pe is the position of the traveling body 5 when the specified period T1 has elapsed, or the position of the traveling body 5 when all the seedlings 7 have disappeared from the seedling tray 8, etc.

[0277] As shown in FIG. 1D, the transplanting machine 1 is provided with a warning device 445 that outputs a warning sound. The warning device 445 is, for example, a buzzer that emits a warning sound. When the seedling shortage sensor 281 detects the replenishment timing of the seedling tray 8, the control device 131 causes the warning device 445 to output a warning sound, and causes the notification device 440 to perform the above-mentioned notification a plurality of times (for example, 2 times) while the warning sound by the warning device 445 is being output.

[0278] When the seedling shortage sensor 281 changes to non-detection within the specified period T1 from the detection of the replenishment timing of the seedling tray 8 by the seedling shortage sensor 281, the control device 131 associates the work report information indicating the replenishment of the seedling tray 8, the position information of the traveling body 5, and the number of notifications with the field map MP1 and stores them in the storage device 131B. When the seedling shortage sensor 281 does not change to non-detection within the specified period T1 from the detection of the replenishment timing of the seedling tray 8 by the seedling shortage sensor 281, the control device 131 associates the work report information indicating non-replenishment of the seedling tray 8, the position information of the traveling body 5, and the number of notifications with the field map MP1 and stores them in the storage device 131B.

[0279] Further, the communication device 401 may communicate with a server 510 that manages work information. When the seedling shortage sensor 281 detects the replenishment timing of the seedling tray 8 and the seedling shortage sensor 281 does not change to non-detection within the specified period T1 from the detection, the control device 131 transmits the work report information indicating non-replenishment of the seedling tray 8 and the position information of the traveling body 5 to the server 510 by the communication device 401.

[0280] Also, as shown in FIG. 45B, when the seedling shortage sensor 281 detects the replenishment timing of the seedling tray 8, the control device 131 causes the warning device 445 to output a warning sound, and causes the notification device 440 to perform the above-mentioned notification while the warning sound by the warning device 445 is being output. The volume of the warning sound by the warning device 445 may be reduced during the voice notification period.

[0281] For example, as shown in FIG. 45B, when the detection of the replenishment timing of the seedling tray 8 is made at time t10, a warning sound (e.g., a sound of "beep") is output at the second volume at time t10. If the detection of the replenishment timing of the seedling tray 8 continues, at times t11 to t12, the warning sound (e.g., a sound of "beep") is output at the first volume smaller than the second volume, and the first voice notification (e.g., a voice message such as "Please replenish a new seedling tray") by the notification device 440 is output from the voice output device 402A at the third volume. The third volume is at least larger than the first volume. If the first volume is not zero, it is possible to know that the warning continues by the warning sound of the first volume.

[0282] Also, the third volume may be larger or smaller than the second volume. When the third volume is larger than the second volume, since the voice notification is set to the largest volume, the voice notification can be emphasized to the maximum. On the other hand, when the third volume is less than the second volume and larger than the first volume, the volume of the voice notification can be set to such an extent that it does not exceed the second volume and does not become too large. Since the volume of the voice notification is set to a value that ensures an appropriate volume difference from the warning sound of the decreased first volume, the voice notification can be appropriately emphasized.

[0283] If the detection of the replenishment timing of the seedling tray 8 continues, at times t12 to t13, the warning sound (e.g., a sound of "beep") is returned to and output at the second volume. At times t12 to t13, since the first voice notification by the notification device 440 has ended, no voice notification is made. If the detection of the replenishment timing of the seedling tray 8 continues, at times t13 to t14, the warning sound (e.g., a sound of "beep") is lowered again to the first volume and output, and the second voice notification (e.g., a voice message such as "Please replenish a new seedling tray before this voice notification ends") by the notification device 440 is output from the voice output device 402A at the third volume. Normally, before reaching time t14, the operator 2 appropriately replenishes a new seedling tray 8, so the occurrence of missing plants can be prevented.

[0284] If the detection of the replenishment timing of the seedling tray 8 continues, after time t14, a warning sound (for example, a sound of "beep") is output after being returned to the second volume. After time t14, even if a new seedling tray 8 is replenished, since the new seedling tray 8 is not continuous with the most downstream seedling tray 8, a missing plant occurs.

[0285] Further, as shown in FIG. 45C, the control device 131 causes the notification device 440 to notify that the traveling body 5 is to be stopped when the seedling shortage sensor 281 does not change to non-detection within a predetermined period T2 shorter than the specified period T1 from the detection of the replenishment timing of the seedling tray 8 by the seedling shortage sensor 281. At time t21 between times t13 and t14, the control device 131 stops the traveling body 5.

[0286] In the above-described embodiment, the communication antenna 403 is housed inside the housing 405. However, instead of the communication antenna 403, an external communication antenna 403A can be retrofitted to a configuration other than the housing 405, for example, the connecting frame 420. For example, as shown in FIG. 35, a fixing portion 435 for fixing the communication antenna 403A can be attached to the reinforcing plate 424R on the right end side of the connecting frame 420.

[0287] As shown in FIGS. 36A and 36B, the fixing portion 435 has a base plate 435a supported on the upper surface, a first extension plate 435b and a second extension plate 435c extending downward from one end of the base plate 435a. A female screw 435b1 is formed on the first extension plate 435b. A through hole is formed in the base plate 435a in alignment with the mounting hole of the communication antenna 403A. A bolt 437 inserted upward into the mounting hole of the communication antenna 403A placed on the upper surface of the base plate 435a protrudes from the through hole of the base plate 435a, and by fastening a nut 438 to this bolt 437, the communication antenna 403A is fixed to the fixing portion 435. As shown in FIG. 1C, a reinforcing plate 424R is attached to the right end side of the connecting frame 420. Specifically, the reinforcing plate 424R is welded in a state of being obliquely passed between a middle portion of the second extension portion 422B on the right end side of the connecting frame 420 and a portion close to the right end side of the rod-shaped body 423. A through hole 424R1 is formed in the reinforcing plate 424R.

[0288] As shown in FIG. 36A, the fixing portion 435 is positioned on the front surface of the reinforcing plate 424R, and with one side portion of the upper surface of the base plate 435a abutted against the connecting frame 420 as shown in FIG. 36B, a bolt 436 is inserted into the through hole 424R1 from the back surface side of the reinforcing plate 424R (that is, the driver's seat 3 side), and the bolt 436 is screwed into the female screw 435b1 of the first extension plate 435b. Thereby, the fixing portion 435 is fixed to the front surface side of the reinforcing plate 424L. That is, the fixing portion 435 to which the communication antenna 403A is attached is fixed to the reinforcing plate 424L. The communication antenna 403A is connected to the communication device 401 inside the housing 405 via a cable CB5.

[0289] As shown in FIG. 35, the communication antenna 403A is located outside the range of the directivity pattern of the antenna unit 400 in a state of being fixed by the fixing portion 435. Since the communication antenna 403A is located outside the range of the directivity pattern of the antenna unit 400 (that is, below the two-dot chain line), the satellite signal is not blocked by the communication antenna 403A.

[0290] The main characteristic items and effects of the transplanter 1 in the embodiment described above are as follows.

[0291] (Item A1) A planting work machine 4 for planting vegetable seedlings 7 in a field 6, a traveling body 5 on which the planting work machine 4 is mounted and travels, a driver's seat 3 provided on the traveling body 5 and on which an operator can sit, an antenna unit 400 for receiving satellite positioning information, a communication antenna 403 for receiving a radio signal including correction information for a positioning error, a communication device 401 for obtaining correction information for the positioning error from the radio signal received by the communication antenna 403, and a control device 131 for controlling automatic steering of the traveling body 5 based on the satellite positioning information and the correction information. The riding vegetable transplanter 1 is provided.

[0292] According to this configuration, in the riding vegetable transplanter 1, the positioning error due to satellite positioning information can be reduced by the correction information, and more accurate automatic steering can be performed. Therefore, the positional deviation due to the positioning error of the riding vegetable transplanter 1 can be reduced, the driving burden on the operator of the riding vegetable transplanter 1 can be reduced, and the planting work can be supported.

[0293] (Item A2) The riding vegetable transplanter 1 according to Item A1, further comprising support columns 28B erected on both the left and right sides of the traveling body 5 and extending to a position higher than the driver's seat 3, a connecting frame 420 connecting the upper portions of both the support columns 28B, and a housing 405 housing the communication device 401, wherein the antenna unit 400 and the housing 405 are attached to the connecting frame 420.

[0294] According to this configuration, both of the columns 28B erected on the left and right sides of the traveling body 5 extend to a position higher than the driver's seat 3. An antenna unit 400 is provided on a connecting frame 420 that connects the upper portions of both of these columns 28B. That is, since the antenna unit 400 is provided at the highest position of the traveling body 5, the reception state of the antenna unit 400 can be optimized. Further, a housing 405 is attached to the connecting frame 420 where the antenna unit 400 is provided, and a communication device 401 is housed in this housing 405. For this reason, the communication device 401 can be positioned in the vicinity of the antenna unit 400.

[0295] (Item A3) The riding type vegetable transplanter 1 according to Item A2, comprising a bracket 410 attached to the connecting frame 420, the antenna unit 400 being attached to the upper portion of the bracket 410, the housing 405 being attached to the lower portion of the bracket 410, and the antenna unit 400 and the housing 405 being arranged at overlapping positions via the bracket 410 in a plan view.

[0296] According to this configuration, the antenna unit 400 is attached to the upper portion of the bracket 410 attached to the connecting frame 420, the housing 405 is attached to the lower portion of the bracket 410, and the antenna unit 400 and the housing 405 are arranged at overlapping positions via the bracket 410 in a plan view. For this reason, the antenna unit 400 and the communication device 401 can be arranged in the vicinity of each other vertically.

[0297] (Item A4) The riding type vegetable transplanter 1 according to Item A2 or A3, wherein the housing 405 has a transmissive portion 405C through which a radio signal can pass, and the communication antenna 403 is provided inside the housing 405.

[0298] According to this configuration, since the housing 405 has a transmission part 405C through which radio signals can pass, the communication antenna 403 can receive radio signals inside the housing 405, and the communication device 401 can obtain correction information for the positioning error from the radio signals. Since the housing 405 includes the communication antenna 403 and the communication device 401, the communication antenna 403 and the communication device 401 can be arranged in the vicinity of each other. Also, the communication antenna 403 and the communication device 401 can be protected from rain, dust, ultraviolet rays, etc. by the housing 405, and the service life of the communication antenna 403 and the communication device 401 can be extended.

[0299] (Item A5) The housing 405 is formed of a radio wave transmissive material through which radio signals can pass, and the communication antenna 403 is provided inside the housing 405. The riding vegetable transplanter 1 according to Item A2 or A3 described above.

[0300] According to this configuration, since the housing 405 is formed of a radio wave transmissive material through which radio signals can pass, the communication antenna 403 can receive radio signals inside the housing 405, and the communication device 401 can obtain correction information for the positioning error from the radio signals. Since the housing 405 includes the communication antenna 403 and the communication device 401, the communication antenna 403 and the communication device 401 can be arranged in the vicinity of each other. Also, the communication antenna 403 and the communication device 401 can be protected from rain, dust, ultraviolet rays, etc. by the housing 405, and the service life of the communication antenna 403 and the communication device 401 can be extended.

[0301] (Item A6) The connecting frame 420 is the riding vegetable transplanter 1 according to Item A2 or A3 to which a fixing part 435 for fixing the communication antenna 403 can be attached.

[0302] According to this configuration, by attaching the fixing part 435 for fixing the communication antenna 403 to the connecting frame 420, the communication antenna 403 can be retrofitted to the connecting frame 420. That is, the communication antenna 403 can be arranged in the vicinity of the antenna unit 400.

[0303] ((Item A7)) The riding vegetable transplanter 1 described in Item A4, wherein the transparent portion 405C is formed of a transparent or translucent material.

[0304] According to this configuration, since the transparent portion 405C is formed of a transparent or translucent material, the transparent portion 405C can be utilized as a viewing window. That is, the user can look inside the housing 405 through the viewing window (transparent portion 405C), and visually confirm the communication device 401, the communication antenna 403, and the like. Therefore, the user can reduce the trouble of opening the housing 405 for confirmation.

[0305] ((Item A8)) The riding vegetable transplanter 1 described in Item A5, wherein at least a part of the housing 405 is formed of a transparent or translucent material.

[0306] According to this configuration, since at least a part of the housing 405 is formed of a transparent or translucent material, the portion formed of the transparent or translucent material can be utilized as a viewing window. That is, the user can look inside the housing 405 through the viewing window, and visually confirm the communication device 401, the communication antenna 403, and the like. Therefore, the user can reduce the trouble of opening the housing 405 for confirmation.

[0307] ((Item A9)) The riding vegetable transplanter 1 according to any one of Items A1 to A8, wherein the communication device 401 has a wireless communication module that acquires correction information for positioning errors by communicating via the Internet or a telephone communication network.

[0308] According to this configuration, the wireless communication module acquires correction information for positioning errors by communicating via the Internet or a telephone communication network. Therefore, correction information can be suitably acquired, and highly accurate automatic steering can be performed.

[0309] ((Item A10)) The riding vegetable transplanter 1 according to Item A9, wherein the communication device 401 has a short-range wireless communication module that receives a wireless signal including correction information for positioning errors from the mobile terminal 500.

[0310] According to this configuration, in addition to receiving a radio signal by the communication antenna 403, correction information for the positioning error can be acquired by short-range wireless communication with the mobile terminal 500. Therefore, the variations in the acquisition of correction information can be extended, and highly accurate automatic steering can be performed corresponding to various reception situations.

[0311] (Item A11) The cab 405 of the riding vegetable transplanter 1 described in Item A3 can be changed between a closed state and an open state in which work can be performed on the communication device 401 inside the cab 405 from the driver's seat 3 side.

[0312] According to this configuration, by setting the cab 405 in the open state, the operator can perform work on the communication device 401 inside the cab 405 from the driver's seat 3 side, and the workability is excellent.

[0313] (Item A12) The cab 405 of the riding vegetable transplanter 1 described in Item A11 houses the speaker 402, and the speaker 402 is attached to the cab 405 in a posture facing the driver's seat 3.

[0314] According to this configuration, since the speaker 402 is attached to the cab 405 in a posture facing the driver's seat 3, voice output can be performed in a state where it is easy to hear for the operator seated in the driver's seat 3, and voice notification can be appropriately performed for the operator.

[0315] (Item A13) The cab 405 of the riding vegetable transplanter 1 described in Item A12 includes a partition wall 406 that partitions a first space 405A housing the communication device 401 and a second space 405B housing the speaker 402.

[0316] According to this configuration, the housing 405 has a first space 405A that houses the communication device 401 and a second space 405B that houses the speaker 402, and the first space 405A and the second space 405B are partitioned by a partition wall 406. Therefore, it is possible to reduce the arrival of electromagnetic waves from the speaker 402 to the communication device 401, and the housing 405 can be effectively utilized.

[0317] (Item A14) The housing 405 has an upper body 408A, a lower body 408B, and an opening / closing axis 408C that is located on the back side far from the driver's seat 3 of the upper body 408A and the lower body 408B and is parallel to the lateral width side on the back side. The speaker 402 is disposed inside the upper body 408A on the side closer to the driver's seat 3 of the partition wall 406, and the communication device 401 is disposed inside the lower body 408B on the side farther from the driver's seat 3 than the partition wall 406. The closed state is a state in which the upper body 408A and the lower body 408B are combined and the first space 405A and the second space 405B partitioned by the partition wall 406 are formed between the upper body 408A and the lower body 408B. The open state is a state in which the lower body 408B is opened downward with respect to the upper body 408A using the opening / closing axis 408C as a rotation axis, and the work from the driver's seat 3 side to the communication device 401 inside the lower body 408B is possible. The riding vegetable transplanter 1 according to Item A13.

[0318] According to this configuration, in the open state of the housing 405, that is, in the state where the lower body 408B is opened downward with respect to the upper body 408A in which the speaker 402 is disposed, the communication device 401 inside the lower body 408B is exposed toward the driver's seat 3 side, and the speaker 402 on the upper body 408A side and the communication device 401 on the lower body 408B side are separated from each other. Therefore, since it is possible to access the speaker 402 on the upper body 408A side and the communication device 401 on the lower body 408B side respectively, the work on the speaker 402 on the upper body 408A and the communication device 401 on the lower body 408B is easy.

[0319] (Item A15) The connecting frame 420 is configured to be switchable between an upright posture SP in which the antenna unit 400 is positioned higher than the upper portions of both of the support columns 28B and can receive the satellite positioning information by rotating around a horizontal axis along the lateral width direction of the traveling body 5, and a storage posture DP in which the antenna unit 400 is lower than the upright posture SP and is positioned below the housing 405. The riding type vegetable transplanter 1 according to Item A3.

[0320] According to this configuration, the connecting frame 420 is switchable between the upright posture SP and the storage posture DP by rotating around a horizontal axis along the lateral width direction of the traveling body 5. When the connecting frame 420 is in the upright posture SP, the antenna unit 400 is positioned higher than the upper portions of both of the support columns 28B and can receive the satellite positioning information. On the other hand, when the connecting frame 420 is in the storage posture DP, the antenna unit 400 is lower than the upright posture SP and is positioned below the housing 405. Therefore, by setting the connecting frame 420 to the storage posture DP, the height of the riding type vegetable transplanter 1 can be reduced, and the riding type vegetable transplanter 1 can be stored in a shed, a warehouse, etc. having a height limit. Further, when the connecting frame 420 is in the storage posture DP, since the antenna unit 400 is positioned below the housing 405, the antenna unit 400 can be protected by the housing 405. For example, the antenna unit 400 can be protected from rain and direct sunlight by the housing 405, and damage to the antenna unit 400 due to contact with an external object can be reduced.

[0321] (Item A16) The control device 131 determines that the connecting frame 420 is in the storage posture DP when the reception level of a signal indicating the satellite positioning information from the antenna unit 400 is equal to or lower than a specified value and correction information for positioning error is acquired by the communication device 401. The riding type vegetable transplanter 1 according to Item A15.

[0322] According to this configuration, when the reception level at the antenna unit 400 is equal to or lower than a specified value and correction information for the positioning error is acquired by the communication device 401, the control device 131 determines that the connection frame 420 is in the stored posture DP. Therefore, it is possible to notify the operator that the connection frame 420 is in the stored posture DP, that is, the antenna unit 400 is in a state where reception is impossible. Further, it is possible to determine that the connection frame 420 is in the stored posture DP without providing a sensor for detecting the posture of the connection frame 420.

[0323] (Item B1) A planting work machine 4 for planting vegetable seedlings 7 in a field 6, a traveling body 5 on which the planting work machine 4 is mounted and travels, a driver's seat 3 provided on the traveling body 5 and on which an operator can sit, an antenna unit 400 for receiving satellite positioning information, and a control device 131 for controlling the automatic steering of the traveling body 5 based on the satellite positioning information. The antenna unit 400 is a riding type vegetable transplanter 1 having a higher positional relationship than components other than the antenna unit 400.

[0324] According to this configuration, the antenna unit 400 has a higher positional relationship than components other than the antenna unit 400 (devices, electrical components, instruments, etc.). For example, the antenna unit 400 is disposed at the highest position. Therefore, radio wave interference by other components can be reduced, and satellite positioning information can be suitably received. Therefore, in the riding type vegetable transplanter 1, automatic steering based on the satellite positioning information received by the antenna unit 400 can be more suitably executed. Therefore, the driving burden on the operator of the riding type vegetable transplanter 1 can be reduced, and the planting work can be supported.

[0325] (Item B2) A strut 28B erected on both the left and right sides of the traveling body 5 and extending to a position higher than the driver's seat 3, a connecting frame 420 connecting the upper parts of both the struts 28B, a housing 405 accommodating a communication device 401 for acquiring correction information of a positioning error, and a rearview mirror 430. The antenna unit 400 is attached to the upper side of the connecting frame 420, and the housing 405 and the rearview mirror 430 are attached to the lower side of the connecting frame 420. The riding vegetable transplanter 1 according to Item B1.

[0326] According to this configuration, both the struts 28B erected on both the left and right sides of the traveling body 5 extend to a position higher than the driver's seat 3. An antenna unit 400 is provided on the connecting frame 420 that connects the upper parts of both the struts 28B. That is, since the antenna unit 400 is provided at the highest position of the traveling body 5 and higher than the housing 405 and the rearview mirror 430, the reception state of the antenna unit 400 can be optimized. Further, the housing 405 is attached to the connecting frame 420 provided with the antenna unit 400, and the communication device 401 is accommodated in the housing 405. Therefore, the communication device 401 can be positioned near the antenna unit 400.

[0327] (Item B3) It includes a bracket 410 attached to the connecting frame 420. The antenna unit 400 is attached to the upper part of the bracket 410, the housing 405 is attached to the lower part of the bracket 410, and the antenna unit 400 and the housing 405 are arranged at overlapping positions via the bracket 410 in a plan view. The riding vegetable transplanter 1 according to Item B2.

[0328] According to this configuration, the antenna unit 400 is attached to the upper part of the bracket 410 attached to the connecting frame 420, the housing 405 is attached to the lower part of the bracket 410, and the antenna unit 400 and the housing 405 are arranged at overlapping positions via the bracket 410 in a plan view. Therefore, the antenna unit 400 and the communication device 401 can be arranged vertically in the vicinity.

[0329] (Item B4) The traveling body 5 includes a bonnet 26 and a prime mover 18 located below the bonnet 26. The column 28B includes a left column 28B erected on the left side of the location where the bonnet 26 of the traveling body 5 exists, and a right column 28B erected on the right side of the location of the traveling body 5. Among one of the left column 28B and the right column 28B, and one-side range from the one column in the connecting frame 420 to the housing 405, cables CB1 to CB4 to the housing 405 are laid out. The rearview mirror 430 is attached to a location of the connecting frame 420 close to the other column among the left column 28B and the right column 28B. The riding type vegetable transplanter 1 described in Item B2.

[0330] According to this configuration, since the cables CB1 to CB4 are laid out from one column over one-side range of the connecting frame 420 and the rearview mirror 430 is attached to the other side of the connecting frame 420, a simple layout can be achieved, and interference between the rearview mirror 430 and the cables CB1 to CB4 can be prevented in advance.

[0331] (Item B5) When one side of the left and right sides of the bonnet 26 has a lower temperature than the other side, the side closer to the one side of the bonnet 26 is the one column, and the side closer to the other side of the bonnet 26 is the other column. The riding type vegetable transplanter 1 described in Item B4.

[0332] According to this configuration, the side closer to the one side with a lower temperature among the left and right sides of the bonnet 26 is used as one column, the cables CB1 to CB4 are laid out on the one column, the side closer to the other side with a higher temperature among the left and right sides of the bonnet 26 is used as the other column, and electrical components such as the cables CB1 to CB4 are not provided on the other column. Therefore, heat transfer to the communication device 401 via the cables CB1 to CB4 can be reduced, and malfunction of the communication device 401 due to heat can be prevented.

[0333] (Item B6) The antenna unit 400 has a directivity pattern that flares upward, and the rearview mirror 430 is located outside the range of the directivity pattern of the antenna unit 400. The riding vegetable transplanter 1 according to Item B2.

[0334] According to this configuration, since the rearview mirror 430 is located outside the range of the directivity pattern of the antenna unit 400, the reception state of the antenna unit 400 can be optimized. For example, in terms of the relative positional relationship, even if the rearview mirror 430 is located higher than the antenna unit 400, since the rearview mirror 430 is located outside the range of the directivity pattern of the antenna unit 400, the reception state of the antenna unit 400 can be optimized. That is, the antenna unit 400 is in a higher positional relationship than the rearview mirror 430 with respect to the directivity pattern standard.

[0335] (Item B7) The rearview mirror 430 is attached to the connecting frame 420 so that its posture can be changed, and the riding vegetable transplanter 1 according to Item B6, wherein the rearview mirror 430 is located outside the range of the directivity pattern in any posture state.

[0336] According to this configuration, the rearview mirror 430 can be adjusted in posture according to the operator's preference. Also, since the rearview mirror 430 is located outside the range of the directivity pattern in any posture state, the reception state of the antenna unit 400 can always be optimized regardless of the posture state of the rearview mirror 430. For example, in terms of the relative positional relationship, depending on the posture state of the rearview mirror 430, the rearview mirror 430 may be located higher than the antenna unit 400. However, even in such a case, since the rearview mirror 430 is located outside the range of the directivity pattern of the antenna unit 400, the reception state of the antenna unit 400 can be optimized.

[0337] (Item B8) The communication device 401 includes a communication antenna 403 that receives a radio signal including correction information for the positioning error. The communication device 401 acquires the correction information for the positioning error from the radio signal received by the communication antenna 403. The connecting frame 420 is attachable with a fixing portion 435 for fixing the communication antenna 403. The communication antenna 403 is located outside the range of the directivity pattern in a state of being fixed by the fixing portion 435. The riding vegetable transplanter 1 described in Item B6.

[0338] According to this configuration, since the communication antenna 403 is located outside the range of the directivity pattern of the antenna unit 400, the reception state of the antenna unit 400 can be optimized. For example, in terms of the relative positional relationship, even if the communication antenna 403 is at a higher position than the antenna unit 400, as long as the communication antenna 403 is located outside the range of the directivity pattern of the antenna unit 400, the reception state of the antenna unit 400 can be optimized.

[0339] (Item B9) The connecting frame 420 is configured to be switchable between an upright posture SP in which the antenna unit 400 is at a position higher than the upper portions of both the support columns 28B and can receive the satellite positioning information, and a storage posture DP in which the antenna unit 400 is lower than the upright posture SP and is located below the housing 405. The riding vegetable transplanter 1 described in Item B3 or B8.

[0340] According to this configuration, the connecting frame 420 can be switched between the upright posture SP and the storage posture DP by rotating around the horizontal axis along the lateral width direction of the traveling body 5. When the connecting frame 420 is in the upright posture SP, the antenna unit 400 is located at a position higher than the upper parts of both the support columns 28B and can receive satellite positioning information. On the other hand, when the connecting frame 420 is in the storage posture DP, the antenna unit 400 becomes lower than the upright posture SP and is located below the housing 405. Therefore, by setting the connecting frame 420 to the storage posture DP, the height of the riding vegetable transplanter 1 can be reduced, and the riding vegetable transplanter 1 can be stored in a shed, warehouse, etc. with a height limit. Also, when the connecting frame 420 is in the storage posture DP, since the antenna unit 400 is located below the housing 405, the housing 405 can protect the antenna unit 400. For example, the housing 405 can protect the antenna unit 400 from rain and direct sunlight, and damage to the antenna unit 400 due to contact with external objects can be reduced. Further, when the communication antenna 403 is fixed to the connecting frame 420, by setting the connecting frame 420 to the storage posture DP, the height of the riding vegetable transplanter 1 can be reduced, and the communication antenna 403 can be protected by positioning it within the range of the pair of support columns 28B and the connecting frame 420, and the riding vegetable transplanter 1 can be stored in a shed, warehouse, etc. with a height limit.

[0341] (Item B10) The control device 131 determines that the connecting frame 420 is in the storage posture DP when the reception level of the signal indicating the satellite positioning information from the antenna unit 400 is equal to or lower than a specified value and correction information for the positioning error is acquired by the communication device 401. The riding vegetable transplanter 1 according to Item B9.

[0342] According to this configuration, when the reception level at the antenna unit 400 is equal to or lower than a specified value and correction information for the positioning error is acquired by the communication device 401, the control device 131 determines that the connection frame 420 is in the stored posture DP. Therefore, it is possible to notify the operator that the connection frame 420 is in the stored posture DP, that is, the antenna unit 400 is in a state where reception is impossible. Further, it is possible to determine that the connection frame 420 is in the stored posture DP without providing a sensor for detecting the posture of the connection frame 420.

[0343] (Item B11) A plurality of spare seedling placement parts 28A on which a spare seedling tray 8 can be placed are arranged at intervals in the vertical direction on the support columns 28B. The base end part 28A1 of the spare seedling placement part 28A is rotatably attached to the support column 28B around the front-rear axis along the front-rear direction of the traveling body 5. The tip part 28A2 on the side opposite to the base end part 28A1 is in a posture located in the width direction of the traveling body 5 and a use posture UP1 in which a spare seedling tray 8 can be placed, and an inclination posture in which the tip part 28A2 is raised so as to approach the support column 28B and a non-use posture UP2 in which a spare seedling tray 8 cannot be placed, and can be switched between them. The connection frame 420 is located at a position higher than the uppermost spare seedling placement part 28A when the uppermost spare seedling placement part 28A among the plurality of spare seedling placement parts 28A is in the non-use posture UP2. The riding type vegetable transplanter 1 according to any one of Items B2 to B4.

[0344] According to this configuration, a plurality of spare seedling placement parts 28A are provided in the vertical direction on both support columns 28B erected on both the left and right sides of the traveling body 5, and these spare seedling placement parts 28A can be switched between a use posture UP1 and a non-use posture UP2. The connection frame 420 connecting both support columns 28B is located at a position higher than the uppermost spare seedling placement part 28A when the uppermost spare seedling placement part 28A among the plurality of spare seedling placement parts 28A is in the non-use posture UP2. Therefore, the antenna unit 400 is located at a position higher than the uppermost spare seedling placement part 28A in the non-use posture UP2. That is, since the antenna unit 400 is arranged at the highest position of the traveling body 5, the reception state of the antenna unit 400 can be optimized.

[0345] (Item B12) The antenna unit 400 has a directivity pattern that flares upward, and the uppermost spare seedling placement part 28A is located outside the range of the directivity pattern in the unused posture UP2. The riding vegetable transplanter 1 according to Item B11.

[0346] According to this configuration, since the uppermost spare seedling placement part 28A is located outside the range of the directivity pattern of the antenna unit 400 in the unused posture UP2, the reception state of the antenna unit 400 can be optimized. For example, in terms of the relative positional relationship, even if the uppermost spare seedling placement part 28A is at a position higher than the antenna unit 400 when the uppermost spare seedling placement part 28A is in the unused posture UP2, since the uppermost spare seedling placement part 28A is located outside the range of the directivity pattern of the antenna unit 400, the reception state of the antenna unit 400 can be optimized. That is, the antenna unit 400 is in a positional relationship higher than the uppermost spare seedling placement part 28A with respect to the directivity pattern standard.

[0347] (Item C1) A planting work machine 4 for planting vegetable seedlings 7 in a field 6, a traveling body 5 on which the planting work machine 4 is mounted and travels, a driver's seat 3 provided on the traveling body 5, a communication device 401 for receiving information regarding automatic steering from a portable terminal 500, a setting unit 131C for setting a reference azimuth from the information received by the communication device 401, and a control device 131 for performing control of automatic steering to cause the traveling body 5 to travel along the reference azimuth. The riding vegetable transplanter 1.

[0348] According to this configuration, the riding vegetable transplanter 1 can set a reference azimuth from the information received from the portable terminal 500. Therefore, it is possible to eliminate the prior work of actually running the riding vegetable transplanter 1 in the field 6, setting the starting point and the ending point of the running, and setting the azimuth of the running line connecting the starting point and the ending point as the reference azimuth (that is, the work by prior running to obtain the reference azimuth). Therefore, the driving burden on the operator of the riding vegetable transplanter 1 can be reduced, and the planting work can be supported.

[0349] (Item C2) The riding vegetable transplanter 1 described in Item C1, in which the communication device 401 transmits setting information to the mobile terminal 500.

[0350] According to this configuration, the setting information of the riding vegetable transplanter 1 can be provided to the mobile terminal 500. Thereby, the setting information of the riding vegetable transplanter 1 can be confirmed on the mobile terminal 500.

[0351] (Item C3) The riding vegetable transplanter 1 described in Item C1 or C2, in which the setting unit 131C sets the direction input by the user as the reference direction.

[0352] According to this configuration, in the riding vegetable transplanter 1, an arbitrary direction input by the user can be set as the reference direction. Therefore, the above-described preliminary work can be made unnecessary. Accordingly, the driving burden on the operator of the riding vegetable transplanter 1 can be reduced, and the planting work can be supported.

[0353] (Item C4) The riding vegetable transplanter 1 according to any one of Items C1 to C3, comprising a segment display unit 361, a notification device 440, and a storage device 131B capable of storing up to a predetermined upper limit number of the reference directions. When the control device 131 is in a setting mode for performing settings before the start of the automatic steering, when one of the reference directions stored in the storage device 131B is selected, the selected reference direction is displayed on the segment display unit 361, and the selected reference direction is notified to the notification device 440.

[0354] According to this configuration, although the segment display unit 361 segment - displays the reference direction, since the expressiveness is low, the operator may not notice that the selected reference direction is being displayed. Therefore, the notification device 440 notifies the selected reference direction in accordance with the segment display of the selected reference direction, so that the reference direction can be more reliably taught to the user, and it becomes easier for the user to confirm whether the selected reference direction may be overwritten and erased.

[0355] (Item C5) In the riding vegetable transplanter 1 described in Item C4, when there is an instruction to overwrite the new reference orientation, the setting unit 131C overwrites the new reference orientation with the selected stored reference orientation and stores it in the storage device 131B.

[0356] According to this configuration, the user can overwrite the new reference orientation after confirming the content of the overwrite destination by the notification of the notification device 440, so that misoperation of overwriting can be reduced, and the certainty of the selection of the reference orientation can be improved.

[0357] (Item C6) The notification device 440 includes a voice output device 402A. In the riding vegetable transplanter 1 described in Item C4, when one of the reference orientations stored in the storage device 131B is selected, the control device 131 causes the voice output device 402A to output the selected reference orientation by voice.

[0358] According to this configuration, since the selected reference orientation is output by voice, the reference orientation can be taught to the user by voice, and the user can confirm by voice output whether the selected reference orientation may be overwritten and deleted.

[0359] (Item C7) The riding vegetable transplanter 1 described in Item C2 is provided with a storage device 131B capable of storing the reference orientation up to a predetermined upper limit number. When in the setting mode for setting before the start of the automatic steering, the control device 131 causes the communication device 401 to transmit all of the reference orientations stored in the storage device 131B or the selected reference orientation among them to the mobile terminal 500.

[0360] According to this configuration, since all or the selected reference orientations stored in the storage device 131B are transmitted to the mobile terminal 500, all or the selected reference orientations of the riding vegetable transplanter 1 can be provided to the mobile terminal 500. Thereby, the reference orientation of the riding vegetable transplanter 1 can be confirmed in the mobile terminal 500. That is, it becomes easier for the user to determine whether or not the selected reference orientation may be overwritten and erased.

[0361] (Item C8) When there is an overwrite instruction of a new reference orientation from the mobile terminal 500, the setting unit 131C overwrites the new reference orientation from the mobile terminal 500 with the selected reference orientation or the stored reference orientation instructed from the mobile terminal 500 and stores it in the storage device 131B. The riding vegetable transplanter 1 described in Item C7.

[0362] According to this configuration, since the new reference orientation is overwritten after the user confirms the content of the overwrite destination in the mobile terminal 500, an incorrect overwrite operation can be reduced, and the certainty of the selection of the reference orientation can be improved.

[0363] (Item C9) A first switch 352 for setting the starting point of the reference orientation, a second switch 353 for setting the ending point of the reference orientation, and a steering changeover switch 351 that can be turned on and off to switch between starting and ending the automatic steering. The storage device 131B stores a plurality of items in association with setting values for each of the plurality of items. The plurality of items includes an item for azimuth call. The storage device 131B stores the item for azimuth call in association with a plurality of azimuth names, and stores azimuth information and registration information in association with each of the plurality of azimuth names. When the steering changeover switch 351 is operated in a state where the item for azimuth call is selected from among the plurality of items based on an operation of at least one of the first switch 352 and the second switch 353, the azimuth information and registration information of the currently set azimuth name among the plurality of azimuth names stored in the storage device 131B are displayed on the segment display unit 361, and the azimuth information and registration information are notified to the notification device 440. When there is an instruction to overwrite the new reference orientation, the setting unit 131C overwrites the new reference orientation with the stored reference orientation which is the notified azimuth information and stores it in the storage device 131B. The riding vegetable transplanter 1 described in Item C5.

[0364] According to this configuration, the azimuth stored in the storage device 131B can be called and confirmed for display, and a new reference azimuth can be overwritten and set instead of the called azimuth. Therefore, without separately providing an input device such as an operation tool dedicated to azimuth call or a communication device 401 for receiving an azimuth value, the first switch 352, the second switch 353, and the steering changeover switch 351 can be utilized to select and confirm the stored azimuth, and a new reference azimuth can be overwritten and set instead of the selected azimuth.

[0365] (Item C10) The memory device 131B stores, in association with each other, a plurality of items including the item of azimuth input and setting values for each of the plurality of items. When the steering changeover switch 351 is operated in a state where the item of azimuth input is selected from among the plurality of items based on an operation of at least one of the first switch 352 and the second switch 353, the control device 131 causes the segment display unit 361 to display the azimuth value of the reference azimuth stored in the memory device 131B. Based on an operation of at least one of the first switch 352 and the second switch 353, the azimuth value displayed on the segment display unit 361 is changed. When there is an operation of the steering changeover switch 351, the setting unit 131C stores the changed azimuth value in the memory device 131B in association with the item of azimuth input as the reference azimuth. The riding type vegetable transplanter 1 described in item C9.

[0366] According to this configuration, the reference azimuth can be changed by utilizing the first switch 352, the second switch 353, and the steering changeover switch 351 (GS switch) without separately providing an input device such as a dedicated operation tool for azimuth input or a communication device 401 for receiving an azimuth value.

[0367] (Item C11) The riding type vegetable transplanter 1 described in item C10, comprising an antenna unit 400 for receiving satellite positioning information, wherein when the steering changeover switch 351 is turned on when not in the setting mode, the control device 131 starts the control of the automatic steering based on the satellite positioning information, and when the steering changeover switch 351 is turned off, the control of the automatic steering is terminated.

[0368] According to this configuration, the control of the automatic steering can be suitably performed.

[0369] (Item C12) A first switch 352 that sets the start point of the reference heading, a second switch 353 that sets the end point of the reference heading, and a steering changeover switch 351 that can be operated to be on or off to switch between starting and ending the automatic steering. The storage device 131B stores a plurality of items and setting values ​​for each of the plurality of items in association with each other, and the plurality of items includes an item for external communication. The control device 131 selects the item for external communication from among the plurality of items based on the operation of at least one of the first switch 352 and the second switch 353. When the steering switch 351 is operated with the external communication item selected, all of the reference orientations stored in the memory device 131B or a selected one of them is transmitted to the mobile terminal 500 by the communication device 401, and when an overwrite instruction for a new reference orientation is received from the mobile terminal 500, the setting unit 131C overwrites the selected reference orientation or the stored reference orientation instructed from the mobile terminal 500 with the new reference orientation from the mobile terminal 500 and stores it in the memory device 131B.

[0370] According to this configuration, communication with the mobile terminal 500 can be suitably performed by utilizing the first switch 352, the second switch 353, and the steering changeover switch 351. For example, by selecting the item of external communication in the setting mode, communication with the mobile terminal 500 is possible, and all of the reference orientations stored in the storage device 131B or a reference orientation selected from among them is transmitted to the mobile terminal 500. This allows the user to check the reference orientation of the riding vegetable transplanter 1 on the mobile terminal 500. In other words, it becomes easier for the user to determine whether or not the selected reference orientation can be overwritten and erased. In addition, since the new reference orientation is overwritten after the user checks the contents of the overwrite destination on the mobile terminal 500, it is possible to reduce erroneous overwriting operations and improve the reliability of the selection of the reference orientation.

[0371] (Item D1) A planting machine 4 that removes vegetable seedlings 7 from a seedling tray 8 and plants them in a field 6, a traveling body 5 that mounts and travels with the planting machine 4, a driver's seat 3 provided on the traveling body 5, an antenna unit 400 that receives satellite positioning information, a control device 131 that controls the automatic steering of the traveling body 5 based on the satellite positioning information, a seedling shortage sensor 281 that detects the replenishment timing of the seedling tray 8, and a notification device 440 that gives a notification indicating the replenishment of the seedling tray 8 when the replenishment timing of the seedling tray 8 is detected by the seedling shortage sensor 281. The riding type vegetable transplanter 1 is provided with these components.

[0372] According to this configuration, the riding type vegetable transplanter 1 can perform automatic steering based on the satellite positioning information received by the antenna unit 400. Therefore, the driving burden on the operator of the riding type vegetable transplanter 1 can be reduced, and the planting work can be supported. Further, when the replenishment timing of the seedling tray 8 is detected, a notification indicating the replenishment of the seedling tray 8 is given, so that the operator can immediately notice that the seedling tray 8 needs to be replenished and can quickly replenish the seedling tray 8. For this reason, the replenishment of the seedling tray 8 is surely and continuously performed, so that the planting work can be further supported.

[0373] For example, the warning may be insufficient with only a warning sound. If the operator does not know the relationship between the warning sound and the warning content, it is not known what the warning is. For this reason, there is a problem that it may take time for the operator to know the warning content and the operator cannot quickly respond to the warning content. However, in the riding type vegetable transplanter 1 of the present embodiment, since the notification device 440 gives a notification indicating the replenishment of the seedling tray, the problem in the case of the above-described warning sound can be solved.

[0374] (Item D2) The riding type vegetable transplanter 1 according to Item D1, wherein the notification device 440 includes a voice output device 402A that gives a voice notification indicating the replenishment of the seedling tray 8.

[0375] According to this configuration, when the replenishment timing of the seedling tray 8 is detected, voice notification indicating the replenishment of the seedling tray 8 is given. Therefore, the operator can immediately notice that the replenishment of the seedling tray 8 is necessary by the voice notification, and can quickly replenish the seedling tray 8.

[0376] (Item D3) The notification device 440 includes a display lamp 441 that performs display notification indicating the replenishment of the seedling tray 8. The riding type vegetable transplanter 1 described in Item D1 or D2.

[0377] According to this configuration, when the replenishment timing of the seedling tray 8 is detected, display notification indicating the replenishment of the seedling tray 8 is given. Therefore, the operator can immediately notice that the replenishment of the seedling tray 8 is necessary by the display notification, and can quickly replenish the seedling tray 8.

[0378] (Item D4) A position detection device 330 that detects the position of the traveling body 5 based on the satellite positioning information, and a storage device 131B that stores in advance a field map MP1 including the field 6, the position information of the field 6, and the work end position Pg of the field 6. The control device 131 is the riding type vegetable transplanter 1 according to any one of Items D1 to D3 that does not perform the notification by the notification device 440 when the replenishment timing of the seedling tray 8 is detected by the seedling shortage sensor 281 and the traveling body 5 is located within a predetermined distance PD from the work end position Pg.

[0379] According to this configuration, even if the replenishment timing of the seedling tray 8 is detected, if the traveling body 5 is located within a predetermined distance PD from the work end position Pg, the traveling body 5 can reach the work end position Pg without replenishing the seedling tray 8. Therefore, it is possible to prevent the notification indicating the replenishment of the seedling tray 8 from being executed unnecessarily, and to prevent the unnecessary replenishment work of the seedling tray 8 in advance.

[0380] (Item D5) The predetermined distance PD is a distance smaller than the planting movement distance, which is the distance that the traveling body 5 moves to plant the vegetable seedlings 7 remaining in the seedling tray 8 when the replenishment timing of the seedling tray 8 is detected. The storage device 131B stores the predetermined distance PD in the riding type vegetable transplanter 1 described in Item D4.

[0381] According to this configuration, since the predetermined distance PD is smaller than the planting movement distance when the vegetable seedlings 7 remaining in the seedling tray 8 are planted by advancing the traveling body 5 with the planting work implement 4, it is certain that the work end position Pg can be reached without replenishing the seedling tray 8, and it is possible to prevent the notification for indicating the replenishment of the seedling tray 8 from being executed unnecessarily, and it is possible to prevent the unnecessary replenishment work of the seedling tray 8 in advance.

[0382] (Item D6) The planting work implement 4 includes a seedling placing table 9 on which a plurality of seedling trays 8 can be placed side by side in the feeding direction in a state of being inclined downward, a tray feeding mechanism 245 that feeds the seedling tray 8 on the downstream side on the seedling placing table 9 to the downstream side, and a seedling taking-out device 11 that is disposed on the downstream side of the seedling placing table 9 and takes out the seedlings 7 from the seedling tray 8. The notification device 440 performs the notification during a specified period T1 in which the seedling tray 8 can continuously receive replenishment of a new seedling tray 8 without leaving a gap with respect to the most downstream seedling tray 8 on the seedling placing table 9. The riding type vegetable transplanter 1 according to any one of Items D1 to D5.

[0383] According to this configuration, since the notification device 440 performs the notification during the specified period T1 in which the replenishment of the seedling tray 8 is in time, the operator can understand that the replenishment of the seedling tray 8 is in time and perform the replenishment work of the seedling tray 8 as long as it is within the period during which the notification is being executed (that is, the specified period T1). Therefore, the replenishment of the seedling tray 8 can be appropriately prompted.

[0384] (Item D7) A position detection device 330 that detects the position of the traveling body 5 based on the satellite positioning information, and a storage device 131B that stores in advance a field map MP1 including the field 6 and the position information of the field 6. The control device 131, when the seedling shortage sensor 281 does not change to non-detection within the specified period T1 from the detection of the replenishment timing of the seedling tray 8 by the seedling shortage sensor 281, associates the work report information indicating non-replenishment of the seedling tray 8 with the position information of the traveling body 5 and stores them in the storage device 131B in association with the field map MP1. The riding type vegetable transplanter 1 according to Item D6.

[0385] According to this configuration, when there is no replenishment of the seedling tray 8, the work report information indicating no replenishment of the seedling tray 8 and the position information of the traveling body 5 are recorded in the field map MP1, so that a field map MP1 including the work information on the replenishment of the seedling tray 8 can be created.

[0386] (Item D8) It is provided with a warning device 445 that outputs a warning sound. When the replenishment timing of the seedling tray 8 is detected by the seedling shortage sensor 281, the control device 131 causes the warning device 445 to output a warning sound, and causes the notification device 440 to execute the notification a plurality of times while the warning sound is being output by the warning device 445. The control device 131, (i) when the seedling shortage sensor 281 changes to non-detection within the specified period T1 from the detection of the replenishment timing of the seedling tray 8 by the seedling shortage sensor 281, associates the work report information indicating replenishment of the seedling tray 8, the position information of the traveling body 5, and the number of notifications with the field map MP1 and stores them in the storage device 131B; (ii) when the seedling shortage sensor 281 does not change to non-detection within the specified period T1 from the detection of the replenishment timing of the seedling tray 8 by the seedling shortage sensor 281, associates the work report information indicating non-replenishment of the seedling tray 8, the position information of the traveling body 5, and the number of notifications with the field map MP1 and stores them in the storage device 131B. The riding type vegetable transplanter 1 according to Item D7.

[0387] Work report information indicating the replenishment of the seedling tray 8, the position information of the traveling body 5, and the number of notifications are recorded on the field map MP1. When there is no replenishment of the seedling tray 8, the work report information indicating the non-replenishment of the seedling tray 8, the position information of the traveling body 5, and the number of notifications are recorded on the field map MP1. Therefore, the field map MP1 including the detailed content of the work information on the replenishment of the seedling tray 8 can be created.

[0388] (Item D9) The riding vegetable transplanter 1 according to item D6, which includes a communication device 401 that communicates with a server 510 for managing work information. The control device 131 detects the replenishment timing of the seedling tray 8 with the seedling shortage sensor 281, and when the seedling shortage sensor 281 does not change to non-detection within the specified period T1 from the detection, the control device 131 transmits, by the communication device 401, work report information indicating the non-replenishment of the seedling tray 8 and the position information of the traveling body 5 to the server 510.

[0389] According to this configuration, when the seedling tray 8 is not replenished within the specified period T1 after the replenishment timing of the seedling tray 8 is detected, the work report information indicating the non-replenishment of the seedling tray 8 and the position information of the traveling body 5 are transmitted to the server 510, so that the server 510 can manage the work information.

[0390] (Item D10) The riding vegetable transplanter 1 according to item D2, which includes a warning device 445 that outputs a warning sound. When the control device 131 detects the replenishment timing of the seedling tray 8 with the seedling shortage sensor 281, the control device 131 causes the warning device 445 to output a warning sound, and executes the notification by the notification device 440 during the output of the warning sound by the warning device 445, and reduces the volume of the warning sound by the warning device 445 during the period of the voice notification.

[0391] According to this configuration, during the period of the voice notification, the volume of the warning sound is reduced, so that it can be prevented that the voice notification becomes difficult to hear due to the warning sound. Also, during the period other than the period of the voice notification, the warning sound is emitted, so that it is possible to continuously warn that the seedling tray 8 needs to be replenished.

[0392] (Item D11) When the control device 131 does not detect a change to non - detection by the seedling shortage sensor 281 within a predetermined period T2 shorter than the specified period T1 from the detection of the replenishment timing of the seedling tray 8, the control device 131 notifies the notification device 440 of a notice to stop running for replenishing the seedling tray 8, and stops the traveling body 5 as described in Item D6 of the riding - type vegetable transplanter 1.

[0393] According to this configuration, when replenishment of the seedling tray 8 is not performed within a predetermined period T2 shorter than the specified period T1 from the detection of the replenishment timing of the seedling tray 8, a notice is given to stop running for replenishing the seedling tray 8, and the traveling body 5 is stopped. In this stopped state of the traveling body 5, replenishment of the seedling tray 8 can be made in time. Therefore, the operator can perform the replenishment work of the seedling tray 8 while the traveling body 5 is stopped. Thus, the operator can replenish the seedling tray 8 safely and surely.

[0394] It is not limited to the configuration of the above - described embodiment. For example, although a server 510 is described in FIG. 1D, if communication with the server 510 is not performed, the server 510 may be omitted. Also, although a mobile terminal 500 is described in FIG. 1D, if communication with the mobile terminal 500 is not performed, the mobile terminal 500 may be omitted.

[0395] As described above, although one embodiment of the present invention has been described, it should be considered that the disclosed embodiments are illustrative in all respects and not restrictive. The scope of the present invention is shown not by the above description but by the claims, and it is intended that all modifications within the meaning and scope equivalent to the claims are included.

Explanation of Reference Numerals

[0396] 1 Riding - type vegetable transplanter 3 Driver's seat 4 Planting work implement 5 Traveling body 8 Seedling tray 9 Seedling placing table 11 Seedling extraction device 28A Spare seedling placement section 28B strut 131 control device 131B memory device 131C setting unit 245 tray feeding mechanism 281 seedling break sensor 330 position detection device 351 steering changeover switch 352 First switch 353 Second switch 360 display device 361 segment display section 400 antenna unit 401 communication device 402 speaker 402A audio output device 403 communication antenna 405 housing 405C transmission part 406 partition wall 408A upper body 408B lower body 408C opening / closing axis 410 bracket 411 First bracket 412 Second bracket 420 connecting frame 430 rearview mirror 435 fixing part 440 notification device 441 display lamp 445 warning device CB1~CB4 cables DP storage posture MP1 field map PD predetermined distance Pg work end position SP standing posture

Claims

1. A planting machine for planting vegetable seedlings in a field, a traveling body that mounts the planting machine and travels, a driver's seat provided on the traveling body, a communication device that receives information related to automatic steering from a mobile terminal, a setting unit that sets a reference azimuth from the information received by the communication device, A riding vegetable transplanter comprising: a control device that controls automatic steering to cause the traveling body to travel along the reference azimuth.

2. The riding vegetable transplanter according to claim 1, wherein the communication device transmits setting information to the mobile terminal.

3. The riding vegetable transplanter according to claim 1, wherein the setting unit sets the azimuth input by the user as the reference azimuth.

4. a segment display unit, a notification device, a storage device capable of storing the reference azimuth up to a predetermined upper limit number, When the control device is in a setting mode for performing settings before the start of the automatic steering, when one of the reference azimuths stored in the storage device is selected, the selected reference azimuth is displayed on the segment display unit and the selected reference azimuth is notified to the notification device. The riding vegetable transplanter according to claim 1 or 3.

5. The riding vegetable transplanter according to claim 4, wherein when there is an instruction to overwrite a new reference azimuth, the setting unit overwrites the selected stored reference azimuth with the new reference azimuth and stores it in the storage device.

6. The notification device includes an audio output device, When one of the reference azimuths stored in the storage device is selected, the control device causes the selected reference azimuth to be output as audio by the audio output device. The riding vegetable transplanter according to claim 4.

7. Comprising a storage device capable of storing the reference azimuth up to a predetermined upper limit number, When the control device is in a setting mode for performing settings before the start of the automatic steering, all or the selected reference azimuths of the reference azimuths stored in the storage device are transmitted to the mobile terminal by the communication device. The riding vegetable transplanter according to claim 2.

8. When there is an instruction to overwrite a new reference azimuth from the mobile terminal, the setting unit overwrites the new reference azimuth from the mobile terminal with the selected reference azimuth or the stored reference azimuth instructed from the mobile terminal and stores it in the storage device. The riding vegetable transplanter according to claim 7.

9. A first switch for setting a starting point of the reference azimuth, A second switch for setting an end point of the reference azimuth, A steering switch that can be turned on and off to switch between starting and ending the automatic steering, The storage device stores a plurality of items in association with setting values for each of the plurality of items, The plurality of items include an azimuth call item, The storage device stores the azimuth call item in association with a plurality of azimuth names, and stores azimuth information and registration information in association with each of the plurality of azimuth names, When the steering switch is operated in a state where the azimuth call item is selected from among the plurality of items based on an operation of at least one of the first switch and the second switch, the control device causes the segment display unit to display the azimuth information and the registration information of the currently set azimuth name among the plurality of azimuth names stored in the storage device, and causes the notification device to notify the azimuth information and the registration information, The setting unit, when there is an instruction to overwrite a new reference azimuth, overwrites the new reference azimuth with the stored reference azimuth that is the notified azimuth information and stores it in the storage device. The riding vegetable transplanter according to claim 5.

10. The storage device stores a plurality of items including an azimuth input item in association with setting values for each of the plurality of items, When the steering switch is operated in a state where the azimuth input item is selected from among the plurality of items based on an operation of at least one of the first switch and the second switch, the control device causes the segment display unit to display the azimuth value of the reference azimuth stored in the storage device, and changes the azimuth value displayed on the segment display unit based on an operation of at least one of the first switch and the second switch, The setting unit stores the changed azimuth value in the storage device in association with the azimuth input item as the reference azimuth when the steering switch is operated. The riding vegetable transplanter according to claim 9.

11. Equipped with an antenna unit for receiving satellite positioning information, When the steering switch is turned on when not in the setting mode, the control device starts the control of the automatic steering based on the satellite positioning information, and ends the control of the automatic steering when the steering switch is turned off. The riding vegetable transplanter according to claim 10.

12. A first switch for setting the starting point of the reference azimuth, A second switch for setting the end point of the reference azimuth, A steering switch that can be turned on and off to switch between starting and ending the automatic steering. The storage device stores a plurality of items in association with setting values for each of the plurality of items. The plurality of items includes an item for external communication. When the steering switch is operated in a state where the item for external communication is selected from among the plurality of items based on an operation of at least one of the first switch and the second switch, the control device causes all of the reference headings stored in the storage device or a selected reference heading among them to be transmitted to the mobile terminal by the communication device. The setting unit, when there is an overwrite instruction for a new reference heading from the mobile terminal, overwrites the selected reference heading or the stored reference heading instructed from the mobile terminal with the new reference heading from the mobile terminal and stores it in the storage device. The riding vegetable transplanter according to claim 8.

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