Work vehicle

Abstract

To provide a work vehicle which executes an automatic drive that matches the field.SOLUTION: A work vehicle includes: a work machine provided to a vehicle body; a handle provided to the vehicle body; an operation part for operating each part; a position detection device for detecting information related to a position and direction of the vehicle body; a motor for driving the handle when the drive mode of the vehicle body is an automatic drive mode; and a control device for controlling the motor on the basis of the information detected by the position detection device when the drive mode is the automatic drive mode. The control device can set the drive level of the vehicle body from a plurality of levels by an operator, and a plurality of parameters are associated to the plurality of levels, respectively. The plurality of parameters is an operation amount of the handle and a sensitivity related to a directional deviation of the vehicle body and a sensitivity related to a positional deviation of the vehicle body. The drive level is set on the basis of an operation of the operation part by the operator.SELECTED DRAWING: Figure 6

Description

Technical Field

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

Background Art

[0002] Conventionally, a seedling transplanter capable of performing automatic driving that travels regardless of the operator's operation is known (see, for example, Patent Document 1).

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the state of the field may vary depending on the field, and when traveling by automatic driving, there is a possibility that automatic driving suitable for the field cannot be executed, and there is room for improvement.

[0005] The present invention has been made in view of the above, and an object thereof is to provide a work vehicle that performs automatic driving suitable for the field.

Means for Solving the Problems

[0006] In order to solve the above-described problems and achieve the object, a work vehicle according to one aspect of the embodiment includes a traveling vehicle body, a work implement provided on the traveling vehicle body, a steering wheel provided on the traveling vehicle body, an operation unit that performs operations of each part, a position detection device that detects information regarding the position and orientation of the traveling vehicle body, a motor that drives the steering wheel when the traveling mode of the traveling vehicle body is an autonomous driving mode, and a control device that controls the motor based on the information detected by the position detection device when the traveling mode is the autonomous driving mode. The control device enables an operator to set a traveling level of the traveling vehicle body from among a plurality of levels, and a plurality of parameters are respectively associated with the plurality of levels. The plurality of parameters are an operation amount of the steering wheel and a sensitivity regarding an orientation deviation of the traveling vehicle body or a sensitivity regarding a position deviation of the traveling vehicle body, and the traveling level is set based on an operation of the operation unit by the operator.

Effect of the Invention

[0007] According to one aspect of the embodiment, the work vehicle can perform autonomous driving suitable for the field.

Brief Description of the Drawings

[0008]

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BEST MODE FOR CARRYING OUT THE INVENTION

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

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

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

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

[0013] In the embodiment, the work vehicle 1 will be described as a riding - type seedling transplanter 1 that includes a seedling planting section 4 as a working device and receives seedlings in a field. As shown in FIGS. 1 and 2, the seedling transplanter 1 includes an elevating seedling planting section 4 that can be elevated via a lift link mechanism 3 on the rear side of the traveling vehicle body 2 for planting seedlings in the field.

[0014] The main body portion of the fertilizer applicator 5 is arranged on the upper rear part of the traveling vehicle body 2. When the work vehicle 1 is not the seedling transplanter 1, it may be equipped with a seeding device for supplying seeds as a working device.

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

[0016] The continuously variable transmission 14 is a hydrostatic continuously variable transmission called a so - called HST (Hydro Static Transmission). Hereinafter, the case where the continuously variable transmission is the HST14 will be described.

[0017] Inside the transmission case 13, a sub-shifting mechanism 16 is provided for switching the driving mode of the traveling vehicle body 2 when traveling on the road in high speed mode or when planting seedlings in low speed mode. On the left and right sides of the transmission case 13, front wheel final cases 10a are provided, and front wheels 10 are attached to the left and right front axles 10b that project outward from the front wheel support parts capable of changing the steering direction of the left and right front wheel final cases 10a.

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

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

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

[0021] Also, an engine 30 is mounted on the main frame 15. The rotational power of the engine 30 is transmitted to the transmission case 13 via a belt transmission device 21 and an HST 14. The rotational power transmitted to the transmission case 13 is shifted by the sub-shifting mechanism 16 in the transmission case 13 and then divided into traveling power and externally extracted power.

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

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

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

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

[0026] When the side clutch pedal 43a on the inner side of the turn is depressed to disengage the side clutch 44 and then the handle 35 is operated to perform a turning operation, the driving rotation of the rear wheel 11 on the inner side of the turn can be completely blocked.

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

[0028] In addition, the bonnet 39 is provided with a handle 35 for steering the traveling vehicle body 2, a shift operation lever 36 for operating the HST 14 and the seedling planting unit 4, a sub-shift operation lever 37 for operating the sub-shift mechanism 16, and the like.

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

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

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

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

[0033] In addition, a rear step 330 is connected to the rear of the floor step 33 as shown in FIG. 2. It is preferable that the surface of the rear step 330 is subjected to an anti-slip process in which, for example, a plurality of protrusion patterns are formed so that the feet are less likely to slip during work.

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

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

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

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

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

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

[0040] Also, below the seedling planting part 4 and in front of the float 62, a leveling rotor 63 for leveling the unevenness of the field surface is provided. For example, the driving force is transmitted to the leveling rotor 63 via a rotor transmission shaft 63a from the rear wheel gear case 11a on the left and right other sides.

[0041] Also, as shown in FIG. 1, on both the left and right sides of the seedling planting part 4, line markers 65 are respectively provided, with either the left or right side in contact with the field surface to form a groove as a guide for traveling in the next working row (next process). When either the left or right side of the left and right line markers 65 touches the ground, the other side is separated upward. When the seedling planting part 4 is lifted during turning, both the left and right sides are separated upward. When the seedling planting part 4 descends after turning, one side is separated upward and the other side touches the ground.

[0042] Also, as shown in FIGS. 1 and 2, at the left and right central part of the traveling vehicle body 2 and in front of the bonnet 39, a center mascot 66 that is long in the vertical direction is provided. By aligning the center mascot 66 with the groove formed in the field by the left and right line markers 65, it becomes possible to travel in accordance with the working position of the immediately preceding working row, improving the working accuracy and preventing the occurrence of non-working.

[0043] Note that depending on the soil quality of the field, the guide line formed by the left and right line markers 65 may be buried immediately, and the straight-ahead reference may disappear. In such a case, it is advisable to use the left and right side markers 19 provided in front of the left and right line markers 65. That is, by moving the left and right side markers 19 outward and positioning the side markers 19 above the planted seedlings, it becomes possible to perform the planting work in accordance with the planting of the seedlings in the previous working row.

[0044] Also, as shown in FIG. 1, the seedling transplanter 1 is provided with a position detection device 150. The position detection device 150 detects the current position and orientation of the seedling transplanter 1. That is, the position detection device 150 detects information regarding the position and orientation of the traveling vehicle body 2. The position detection device 150 includes, for example, a direction sensor and positioning means such as GPS (Global Positioning System) or GNSS (Global Navigation Satellite System). The position detection device 150 may be constituted by a plurality of devices. The position detection device 150 may include a camera and an ultrasonic sensor, and may acquire the turning position in the field and detect the distance to the turning position.

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

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

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

[0048] The controller 100 is provided with a processing unit having a CPU (Central Processing Unit) etc., a storage unit such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and further an input / output unit, and these are connected to each other and can transfer signals to each other. A computer program for controlling the seedling transplanter 1 etc. is stored in the storage unit. The controller 100 exhibits each function by reading out a computer program etc. stored in the storage unit.

[0049] To the controller 100, for example, as actuators, a throttle motor 80, hydraulic control valves 81, 82, a planting clutch operating solenoid 83, a side clutch operating solenoid 84, an HST motor 85, a wire drawing marker lifting motor 87, a steering motor 95, a differential lock switching motor 96 etc. are connected.

[0050] The throttle motor 80 increases or decreases the rotational speed of the output shaft of the engine 30 by operating a throttle that adjusts the intake air amount of the engine 30. The hydraulic control valve 81 controls the telescopic operation of the lifting cylinder 25. The hydraulic control valve 82 controls the power steering mechanism 88. The power steering mechanism 88 changes the direction of the front wheels 10 which are the steering wheels of the traveling vehicle body 2. The planting clutch operating solenoid 83 operates the planting clutch 27a.

[0051] The side clutch operating solenoid 84 operates a side clutch 44 that switches the power transmission state to the rear wheels 11 (see FIG. 1). Note that the side clutch 44 is provided for each of the left and right rear wheels 11, and two side clutch operating solenoids 84 are provided corresponding to each side clutch 44.

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

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

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

[0055] The steering amount sensor 91 detects the operation position of the steering wheel 35, which is a steering device, that is, the steering amount (steering angle) of the front wheels 10. The steering amount sensor 91 is provided, for example, on the shaft connected to the pitman arm. Note that the steering amount is detected in each of the left and right directions with the value when the steering wheel 35 is in the preset straight-ahead position as a reference value.

[0056] Also, signals are input to the controller 100 as operation signals from a shift operation lever 36, a sub-shift operation lever 37, an autonomous driving changeover switch 46, a planting part lifting switch 47, an automatic straight-ahead changeover switch 45, and an automatic turning changeover switch 48, etc.

[0057] The self-driving mode switch 46 is a switch for switching whether or not to execute self-driving. Specifically, the self-driving mode switch 46 is a switch for switching the driving mode to a manual driving mode or a self-driving mode (automatic driving mode). The manual driving mode is a mode in which the vehicle is driven by manual operation of the operator. The self-driving mode is a mode in which the vehicle drives automatically without manual operation of the operator.

[0058] For example, when the self-driving mode switch 46 is "ON", the driving mode is set to the self-driving mode. When the self-driving mode switch 46 is "OFF", the driving mode is set to the manual driving mode. When the self-driving mode switch 46 is turned "ON", the automatic straight-ahead switch 45 and the automatic turning switch 48 are turned "ON". That is, when the driving mode becomes the self-driving mode, the automatic straight-ahead switch 45 and the automatic turning switch 48 can be changed to "OFF" by the operation of the operator even if they have once been turned "ON".

[0059] The planting unit lift switch 47 is a switch for switching whether or not to lift the seedling planting unit 4. The planting unit lift switch 47 is changed to the "raise" and "lower" positions.

[0060] When the planting unit lift switch 47 is in the "raise" position, the seedling planting unit 4 rises to a predetermined non-working position, and the seedling planting device 55 stops in a non-working state. When the planting unit lift switch 47 is in the "lower" position, the seedling planting unit 4 descends to a predetermined working position, and the seedling planting device 55 operates in a working state. That is, the planting unit lift switch 47 is a switch for detecting the working state of the seedling planting unit 4. Note that a switch for detecting the working state of the seedling planting unit 4 may be provided separately.

[0061] The automatic straight-ahead switching switch 45 is a switch that switches whether or not to enable the execution of automatic straight-ahead. When the automatic straight-ahead switching switch 45 is "ON", the driving assist function described later becomes effective and automatic straight-ahead can be executed. When the automatic straight-ahead switching switch 45 is "OFF", the driving assist function becomes invalid and automatic straight-ahead cannot be executed.

[0062] The automatic turning switching switch 48 is a switch that switches whether or not to enable the execution of automatic turning. When the automatic turning switching switch 48 is "ON", the turning assist function described later becomes effective and automatic turning can be executed. When the automatic turning switching switch 48 is "OFF", the turning assist function becomes invalid and automatic turning cannot be executed. When the automatic turning switching switch 48 is "OFF", even if the conditions for executing automatic turning are satisfied, automatic turning is not executed.

[0063] The controller 100 switches the driving mode between the manual driving mode and the autonomous driving mode according to the operations of the autonomous driving switching switch 46, the automatic straight-ahead switching switch 45, and the automatic turning switching switch 48.

[0064] In addition, current position information of the traveling vehicle body 2 and the like are input to the controller 100 from the position detection device 150. The controller 100 executes an autonomous driving mode in which the traveling vehicle body 2 automatically travels while performing work.

[0065] In addition, various information is input to the controller 100 from the remote operation device 170 (hereinafter referred to as "remote controller"). For example, the controller 100 receives various information from the remote controller 170 via the receiver 180 (see FIG. 1). The receiver 180 is attached to, for example, the mounting base 59 (see FIG. 1) and is disposed above the front side of the traveling vehicle body 2. Note that a plurality of receivers 180 may be provided. The mounting base 59 is attached to the traveling vehicle body 2.

[0066] The remote controller 170 can remotely operate the seedling transplanter 1. The remote controller 170 may be a terminal device such as a smartphone. The remote controller 170 transmits a control signal according to the operator's operation. The remote controller 170 is communicably connected to the controller 100 by short-range wireless communication such as Wi-fi (registered trademark) or BLE (Bluetooth (registered trademark) Low Energy), but is not limited thereto. In addition to short-range wireless communication, or instead of it, it may be communicably connected via a communication network or the like.

[0067] A plurality of remote controllers 170 may be provided. That is, the controller 100 may be able to acquire the position information of each remote controller 170 from a plurality of remote controllers 170.

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

[0069] The automatic straight-ahead mode is a mode in which the steering motor 95 is controlled so that the traveling vehicle body 2 travels along a preset straight-ahead path and travels straight. In the automatic straight-ahead mode, while the seedlings are being planted in the field by the seedling planting unit 4, the traveling vehicle body 2 travels straight without depending on the operator's operation. That is, a traveling assist function for transplanting seedlings in the field while automatically driving the traveling vehicle body 2 becomes effective, and the traveling assist function is executed.

[0070] In the automatic turning mode, when the traveling vehicle body 2 reaches a predetermined planting end position, the planting of the seedlings by the seedling planting unit 4 is stopped, and the steering motor 95 is controlled so that the traveling vehicle body 2 travels along a preset turning path and turns. The predetermined planting end position is set, for example, by the traveling distance of the process in which the work is performed or the position information related to the process in which the work is performed.

[0071] In the automatic turning mode, for example, the seedling planting unit 4 rises to a non-operating state, and the traveling vehicle body 2 automatically turns without depending on the operator's operation. That is, a turning assist function that turns the traveling vehicle body 2 without performing seedling planting by the seedling planting unit 4 becomes effective, and the turning assist function is executed.

[0072] When the traveling mode is the autonomous driving mode, the controller 100 starts to change the operation position of the steering wheel 35 based on the sensitivity regarding the azimuth deviation of the traveling vehicle body 2 and the sensitivity regarding the position deviation of the traveling vehicle body 2.

[0073] When the traveling mode is the autonomous driving mode, the controller 100 determines whether the azimuth of the traveling vehicle body 2 is deviated from the set azimuth based on the sensitivity regarding the azimuth deviation of the traveling vehicle body 2. Then, when the controller 100 determines that the azimuth of the traveling vehicle body 2 is deviated from the set azimuth, the controller 100 starts to change the operation position of the steering wheel 35. The controller 100 controls the steering motor 95 so that the azimuth of the traveling vehicle body 2 becomes the set azimuth and operates the steering wheel 35.

[0074] Specifically, when the traveling mode is the autonomous driving mode, the controller 100 determines that the azimuth of the traveling vehicle body 2 is deviated from the set azimuth when the azimuth of the traveling vehicle body 2 is deviated from the set azimuth by a predetermined azimuth or more, and starts to change the operation position of the steering wheel 35.

[0075] The set azimuth is the azimuth in a preset straight traveling route or the azimuth in a preset turning route. For example, when the traveling mode is the automatic straight traveling mode, the set azimuth is the azimuth in a preset straight traveling route. When the traveling mode is the automatic turning mode, the set azimuth is the azimuth in a preset turning route. Note that the predetermined azimuth is set for the traveling level described later.

[0076] Further, when the driving mode is the autonomous driving mode, the controller 100 determines whether the position of the driving vehicle body 2 in the width direction is deviated from the set position based on the sensitivity regarding the position deviation of the driving vehicle body 2. Then, when the controller 100 determines that the position of the driving vehicle body 2 in the width direction is deviated from the set position, the controller 100 starts to change the operation position of the steering wheel 35. The controller 100 controls the steering motor 95 so that the position of the driving vehicle body 2 becomes the set position, and operates the steering wheel 35.

[0077] Specifically, when the driving mode is the autonomous driving mode, the controller 100 determines that the position of the driving vehicle body 2 is deviated from the set position when the position of the driving vehicle body 2 in the width direction is deviated from the set position by a predetermined amount or more, and starts to change the operation position of the steering wheel 35.

[0078] The set position is a position on a preset straight driving path or a position on a preset turning path. For example, when the driving mode is the automatic straight driving mode, the set position is a position on a preset straight driving path. When the driving mode is the automatic turning mode, the set position is a position on a preset turning path. Note that the predetermined amount is set according to the driving level described later.

[0079] As shown in FIG. 4, by performing teaching driving in which the three sides La to Lc of the field are driven by the operation of the operator, a work area in which the autonomous driving mode is executed is set. FIG. 4 is a diagram showing a method for setting a work area by teaching driving according to the embodiment.

[0080] For example, when a work area setting button (not shown) is operated to start driving, the position information of the driving vehicle body 2 is recorded as the starting point of side La, and the position information of the driving vehicle body 2 during driving is recorded. Then, when the steering wheel 35 is rotated by the operator by a predetermined turning angle or more, the end point of side La is recorded, and side La is set. Also, the position information of the driving vehicle body 2 at the starting point of side Lb is recorded. The predetermined turning angle is a preset value and is an angle at which it can be determined that the driving vehicle body 2 has turned along the ridge.

[0081] Furthermore, after the traveling vehicle body 2 travels straight, when the steering wheel 35 is rotated by the operator by a predetermined turning angle or more, the end point of the side Lb is recorded and the side Lb is set. Also, the position information of the traveling vehicle body 2 at the start point of the side Lc is recorded.

[0082] After the traveling vehicle body 2 travels straight, when the work area setting button is operated, the position information of the traveling vehicle body 2 is recorded as the end point of the side Lc and the side Lc is set. When the three sides La to Lc are set, the work area is set. In the teaching run, when the traveling vehicle body 2 travels straight, seedlings are planted in the field by the seedling planting unit 4. The teaching run is a peripheral process in which the planting work is performed along the outer periphery of the field. The work area is an area where seedlings are planted in the field by a reciprocating process in which the traveling vehicle body 2 reciprocates.

[0083] In the field where the work area is set, the autonomous driving mode can be executed. For example, in the field, automatic straight running is possible along a straight running path parallel to the side La or the side Lc. Also, automatic turning is possible when turning near the ridge on the side Lb. When turning near the ridge on the side of the field that was not traveled during the teaching run, that is, on the side opposite to the side Lb, turning can be performed by remote control operation. Note that automatic turning may be executed when turning near the ridge on the side of the field that was not traveled during the teaching run.

[0084] Also, even when the teaching run is completed and the work area is set, when the traveling mode is the manual traveling mode, the seedling transplanter 1 can travel by the operation of the operator and transplant seedlings in the field.

[0085] When the traveling mode is the manual traveling mode and the seedling transplanter 1 is traveling by the operation of the operator, when the automatic straight running switch 45 is turned "ON", the seedling transplanter 1 executes automatic straight running. That is, the seedling transplanter 1 can execute the traveling assist function even when the traveling mode is the manual traveling mode.

[0086] Further, when the traveling mode is the manual traveling mode and the transplanter 1 is traveling by the operator's operation, if the automatic turning switch 48 is turned "ON", the transplanter 1 can execute an automatic turn. That is, even when the traveling mode of the transplanter 1 is the manual traveling mode, it can execute a turning assist function.

[0087] When the traveling mode is the autonomous traveling mode, the controller 100 can set the traveling level of the traveling vehicle body 2 from among a plurality of levels. The controller 100 sets the traveling level of the traveling vehicle body 2 based on operations of the operation panel 38 by the operator and the remote controller 170 and the like. The traveling level is the traveling state of the traveling vehicle body 2 during the execution of the autonomous traveling mode, specifically, the control level of the steering wheel 35.

[0088] For example, as shown in FIG. 5, the traveling level is displayed as an image P1 on the monitor 86. FIG. 5 is an example of an image P1 showing the traveling level. For example, on the image P1, a plurality of gauges Q1 indicating the traveling level and the current traveling level Q2 are displayed. The traveling level is set from among a plurality of levels. The traveling level is set from, for example, five levels.

[0089] A plurality of parameters are respectively associated with each level. The plurality of parameters include the operation amount of the steering wheel 35, the sensitivity regarding the azimuth deviation of the traveling vehicle body 2, and the sensitivity regarding the position deviation of the traveling vehicle body 2. The plurality of parameters may be the operation amount of the steering wheel 35 and the sensitivity regarding the azimuth deviation of the traveling vehicle body 2. The plurality of parameters may be the operation amount of the steering wheel 35 and the sensitivity regarding the position deviation of the traveling vehicle body 2.

[0090] The relationship between each level and a plurality of parameters is set, for example, as shown in FIG. 6. FIG. 6 is a diagram showing the relationship between each level and a plurality of parameters. Among the plurality of levels, level "3" is set as the standard level. That is, the plurality of parameters are set based on the values at the standard level. Note that each level and the plurality of parameters are stored as data in the storage unit of the controller 100.

[0091] The operation amount of the handle 35 increases as the level increases. The operation amount of the handle 35 is the amount of rotation of the handle 35 in one operation of the handle 35. That is, as the level increases, the amount of rotation of the handle 35 in one operation of the handle 35 increases. For example, the amount of rotation of the handle 35 at level "4" is larger than the amount of rotation of the handle 35 at the standard level "3". The operation amount of the handle 35 at the standard level is a preset value. The operation amount of the handle 35 at levels other than the standard level is set based on the preset value. Note that the values of the operation amount of the handle 35 at levels other than the standard level in FIG. 6 are examples and are not limited thereto.

[0092] The sensitivity regarding the misalignment of the traveling vehicle body 2 increases as the level increases, that is, as the operation amount of the handle 35 increases. The sensitivity regarding the misalignment of the traveling vehicle body 2 becomes more sensitive as the level increases. That the sensitivity regarding the misalignment of the traveling vehicle body 2 is sensitive means that the misalignment is determined earlier. Specifically, as the sensitivity regarding the misalignment of the traveling vehicle body 2 becomes more sensitive, the above-described predetermined direction becomes smaller. For example, the predetermined direction at level "4" is smaller than the predetermined direction at the standard level "3". For example, the predetermined direction at level "4" is set by multiplying the predetermined direction at the standard level "3" by the reciprocal of the value of the sensitivity regarding the misalignment of the traveling vehicle body 2 at level "4" in FIG. 6.

[0093] Note that the sensitivity regarding the misalignment of the traveling vehicle body 2 may be set to the same sensitivity at different levels. For example, the sensitivity regarding the misalignment of the traveling vehicle body 2 at level "2" and level "3" is the same sensitivity. Also, the sensitivity regarding the misalignment of the traveling vehicle body 2 at level "4" and level "5" is the same sensitivity.

[0094] The sensitivity regarding the displacement of the traveling vehicle body 2 is the greatest at the standard level. That is, the sensitivity regarding the displacement of the traveling vehicle body 2 is the most sensitive at the standard level. That the sensitivity regarding the displacement of the traveling vehicle body 2 is sensitive means that the displacement is determined early. Among the plurality of levels, the sensitivity regarding the displacement of the traveling vehicle body 2 at the level adjacent to the standard level is smaller than the sensitivity regarding the displacement of the traveling vehicle body 2 at the standard level. That is, among the plurality of levels, the sensitivity regarding the displacement of the traveling vehicle body 2 at the level adjacent to the standard level is less sensitive than the sensitivity regarding the displacement of the traveling vehicle body 2 at the standard level.

[0095] Specifically, the sensitivity regarding the displacement of the traveling vehicle body 2 at level "2" and level "4" is less sensitive than the sensitivity regarding the displacement of the traveling vehicle body 2 at the standard level. The sensitivity regarding the displacement of the traveling vehicle body 2 at level "2" and level "4" is equal. Note that the sensitivity regarding the displacement of the traveling vehicle body 2 at level "2" and level "4" may be different sensitivities.

[0096] Also, the sensitivity regarding the displacement of the traveling vehicle body 2 at level "1" is less sensitive than the sensitivity regarding the displacement of the traveling vehicle body 2 at level "2". Furthermore, the sensitivity regarding the displacement of the traveling vehicle body 2 at level "5" is more sensitive than the sensitivity regarding the displacement of the vehicle body at level "4".

[0097] The sensitivity regarding the displacement of the traveling body 2 increases as the sensitivity becomes less sensitive. For example, the predetermined amounts at level "2" and level "4" are larger than the predetermined amount at the standard level "3". The predetermined amounts at level "2" and level "4" are set by multiplying the predetermined amount at the standard level "3" by the reciprocal of the value of the sensitivity regarding the displacement of the traveling body 2 at level "2" and level "4" in FIG. 6.

[0098] Next, the setting process of the traveling level in the autonomous driving mode according to the embodiment will be described with reference to the flowchart of FIG. 7. FIG. 7 is a flowchart for explaining the setting process of the traveling level according to the embodiment.

[0099] The controller 100 receives an operation regarding the traveling level of the traveling body 2 (S100). The controller 100 receives an operation regarding the traveling level of the traveling body 2 by operating the operation panel 38 by the operator or the remote controller 170.

[0100] The controller 100 sets the traveling level based on the received operation (S101). The controller 100 sets the traveling level of the traveling body 2 based on the received operation from among a plurality of levels.

[0101] As a result, when the traveling mode becomes the autonomous driving mode and the traveling body 2 automatically goes straight or automatically turns, the automatic straight movement or the automatic turning is executed based on a plurality of parameters associated with the set traveling level.

[0102] The seedling transplanter includes a traveling vehicle body 2, a seedling planting unit 4, a handle 35, a position detection device 150, a steering motor 95, and a controller 100. The seedling planting unit 4 is provided on the traveling vehicle body 2. The handle 35 is provided on the traveling vehicle body 2. The position detection device 150 detects information regarding the position and orientation of the traveling vehicle body 2. The steering motor 95 drives the handle 35 when the traveling mode of the traveling vehicle body 2 is the automatic traveling mode. The controller 100 controls the steering motor 95 based on the information detected by the position detection device 150 when the traveling mode is the autonomous traveling mode. The controller 100 can set the traveling level of the traveling vehicle body 2 from among a plurality of levels when the traveling mode is the autonomous traveling mode. A plurality of parameters are respectively associated with the plurality of levels. The plurality of parameters include the operation amount of the handle 35, the sensitivity regarding the azimuth deviation of the traveling vehicle body 2, and the sensitivity regarding the position deviation of the traveling vehicle body 2.

[0103] Thereby, by setting a traveling level suitable for the field conditions from among the plurality of levels, the seedling transplanter 1 can perform automatic traveling suitable for the field when traveling in the autonomous traveling mode. That is, the seedling transplanter 1 can accurately perform the planting work when traveling in the autonomous traveling mode.

[0104] The sensitivity regarding the azimuth deviation of the traveling vehicle body 2 increases as the level at which the operation amount of the handle 35 increases.

[0105] Thereby, when the seedling transplanter 1 travels in the autonomous traveling mode and the azimuth of the traveling vehicle body 2 deviates from a predetermined azimuth, the azimuth deviation can be quickly converged.

[0106] Among the plurality of levels, the sensitivity regarding the position deviation of the traveling vehicle body 2 of the level adjacent to the standard level is smaller than the sensitivity regarding the position deviation of the traveling vehicle body 2 at the standard level.

[0107] As a result, the seedling transplanter 1 has its traveling level set to a level different from the standard level, travels in the autonomous driving mode, and suppresses excessive correction of deviation when deviating from a planned travel route, for example, a straight-ahead travel route, and can quickly converge the deviation with respect to the planned travel route.

[0108] The seedling transplanter 1 may have the following configuration or the like.

[0109] In the seedling transplanter 1, the controller 100 may change at least a part of a plurality of parameters according to the type of the tires of the traveling vehicle body 2. The type of the tires of the traveling vehicle body 2 is set by an operator's operation of the operation panel 38 or the remote controller 170. The type of the tires includes the type of the front wheels 10 and the type of the rear wheels 11. For example, the controller 100 changes the operation amount of the steering wheel 35 according to the type of the tires of the traveling vehicle body 2. The controller 100 may change the sensitivity regarding the azimuth deviation of the traveling vehicle body 2 according to the type of the tires of the traveling vehicle body 2. The controller 100 may change the sensitivity regarding the position deviation of the traveling vehicle body 2 according to the type of the tires of the traveling vehicle body 2.

[0110] For example, the controller 100 changes the operation amount of the steering wheel 35 in consideration of the grip force of the front wheels 10 (steering wheels). The greater the grip force of the front wheels 10, that is, the greater the ground pressure, the more sensitive the change in the steering amount (steering angle) of the front wheels 10 with respect to the operation of the steering wheel 35 becomes. Therefore, when the front wheels 10 with a large grip force are attached to the traveling vehicle body 2, the controller 100 changes the operation amount of the steering wheel 35 so that the operation amount of the steering wheel 35 becomes smaller. Further, when the front wheels 10 with a small grip force are attached to the traveling vehicle body 2, the controller 100 changes the operation amount of the steering wheel 35 so that the operation amount of the steering wheel 35 becomes larger.

[0111] Further, for example, the controller 100 changes the operation amount of the steering wheel 35 in consideration of the ground contact area of the rear wheels 11. The larger the ground contact area of the rear wheels 11, the more sensitive the change in the traveling direction of the traveling vehicle body 2 becomes with respect to the operation of the steering wheel 35. Therefore, for example, when the rear wheels 11 with a large number of lugs or the rear wheels 11 with a thick rim are attached to the traveling vehicle body 2, the controller 100 changes the operation amount of the steering wheel 35 so that the operation amount of the steering wheel 35 becomes smaller. Note that the controller 100 may change the operation amount of the steering wheel 35 in consideration of the ground contact area of the front wheels 10.

[0112] For example, the controller 100 multiplies the operation amount of the steering wheel 35 associated with each level by a correction coefficient according to the type of tire. The controller 100 may store the operation amount of the steering wheel 35 according to the type of tire, associated with each level.

[0113] Thereby, when the traveling mode of the transplanter 1 is traveling in the autonomous traveling mode, at least a part of a plurality of parameters associated with each level can be changed according to the type of tire. Therefore, the transplanter 1 can perform autonomous traveling suitable for the field. The transplanter 1 can achieve stable autonomous traveling.

[0114] Further, in the transplanter 1, the controller 100 may change at least a part of a plurality of parameters according to the presence or absence of a tire cover for the tires of the traveling vehicle body 2, for example, the front wheels 10. The presence or absence of the tire cover is set by the operator's operation of the operation panel 38 or the remote controller 170. For example, the controller 100 changes the operation amount of the steering wheel 35 according to the presence or absence of the tire cover. The controller 100 may change the sensitivity regarding the deviation of the azimuth of the traveling vehicle body 2 according to the presence or absence of the tire cover. The controller 100 may change the sensitivity regarding the deviation of the position of the traveling vehicle body 2 according to the presence or absence of the tire cover.

[0115] When a tire cover is attached to the front wheel 10, the drainage performance deteriorates, so the change in the steering amount of the front wheel 10 with respect to the operation of the steering wheel 35 becomes overly sensitive. Therefore, when the tire cover is attached to the front wheel 10, the controller 100 reduces the operation amount of the steering wheel 35 compared to when the tire cover is not attached to the front wheel 10. For example, when the tire cover is attached to the front wheel 10, the controller 100 may make the sensitivity regarding the deviation in the orientation of the traveling vehicle body 2 less sensitive than when the tire cover is not attached to the front wheel 10.

[0116] As a result, when the traveling mode of the transplanter 1 is traveling in the autonomous traveling mode, the transplanter 1 can change at least a part of a plurality of parameters associated with each level according to the presence or absence of the tire cover. Therefore, the transplanter 1 can perform autonomous traveling suitable for the field.

[0117] Also, in the transplanter 1, when the traveling vehicle body 2 is automatically turning in a state where the traveling mode is the automatic turning mode and the actual steering wheel angular velocity is smaller than the target steering wheel angular velocity, the controller 100 increases the rotational speed of the engine 30. The controller 100 calculates the actual steering wheel angular velocity based on the change in the operation position of the steering wheel 35 detected by the steering amount sensor 91. The target steering wheel angular velocity is preset. The target steering wheel angular velocity may be set by an operator operating the operation panel 38 or the remote controller 170. By increasing the rotational speed of the engine 30, the hydraulic pressure supplied to the power steering mechanism 88 (adjusting mechanism) increases.

[0118] As a result, the transplanter 1 can accurately perform automatic turning.

[0119] As shown in FIG. 8, the transplanter 1 may be biased to lift the seedling tank 53 by the spring 200. FIG. 8 is a diagram showing a part of the configuration of the transplanter 1.

[0120] As a result, when the seedling tank 53 of the seedling transplanter 1 is fully loaded with seedlings, the deflection of the components can be reduced, and the accuracy of the seedling picking amount by the seedling planting device 55 can be improved.

[0121] As shown in FIG. 9, the seedling transplanter 1 may be provided with three soil preparation rotors 63A to 63C, and motors for rotating the respective soil preparation rotors 63A to 63C. FIG. 9 is a diagram showing the arrangement of the three soil preparation rotors 63A to 63C of the seedling transplanter 1. The three soil preparation rotors 63A to 63C are arranged in front of the center float 62C and the two side floats 62L and 62R on the left and right. When the seedling transplanter 1 plants seedlings on the pillow ground, the rotation speed of the outer soil preparation rotor 63B or the soil preparation rotor 63C is increased. For example, the seedling transplanter 1 makes the rotation speed of the outer soil preparation rotor 63B or the soil preparation rotor 63C greater than the rotation speed of the inner soil preparation rotor 63A.

[0122] As a result, the seedling transplanter 1 can lower the height of the outer pillow ground and make the heights of the pillow grounds uniform.

[0123] The seedling transplanter 1 may reduce the rotation speed of the soil preparation rotor 63B or the soil preparation rotor 63C on the adjacent row side where planting has been performed.

[0124] As a result, the seedling transplanter 1 can prevent the seedlings in the adjacent row from being toppled by the water flow generated by the soil preparation rotor 63B or the soil preparation rotor 63C.

[0125] When a button is pressed in the combination for the "seedling following" operation of the remote control 170, the seedling transplanter 1 may raise the seedling planting unit 4 after the forward movement is completed. As a result, the seedling transplanter 1 can reduce the number of operations.

[0126] When a button is pressed in the combination for the "seedling rail extending" operation of the remote control 170, the seedling transplanter 1 may raise the seedling planting unit 4 after extending the seedling rail. As a result, the seedling transplanter 1 can reduce the number of operations.

[0127] When the button is pressed in the combination for the operation of "extending the seedling rail" of the remote controller 170, the seedling transplanter 1 may raise the seedling planting unit 4 while extending the seedling rail. Thereby, the seedling transplanter 1 can perform a plurality of simultaneous operations with one instruction, and the operation time can be shortened.

[0128] When the seedling transplanter 1 is running in the autonomous driving mode, it holds the current path number. And when the seedling transplanter 1 is running in the autonomous driving mode, stops, and then resumes autonomous driving, it performs control based on the held path number. The path number indicates the traveling route of the seedling transplanter 1.

[0129] Thereby, when the seedling transplanter 1 resumes autonomous driving after stopping during autonomous driving, it can continue the autonomous driving before the stop.

[0130] When the traveling mode of the seedling transplanter 1 is changed from the autonomous driving mode to the manual driving mode and the orientation of the traveling vehicle body 2 deviates by more than the preset release orientation, the held path number is discarded.

[0131] Thereby, for example, when the seedling transplanter 1 stops while running in the autonomous driving mode, moves in the manual driving mode, and then the autonomous driving mode is resumed, it can start an autonomous driving mode suitable for the location after movement from the location after movement.

[0132] When the seedling transplanter 1 is running in the autonomous driving mode and temporarily stops, the start path (traveling route) for traveling when receiving the resume of autonomous driving may be selectable by the remote controller 170 or a tablet.

[0133] Thereby, for example, when the seedling transplanter 1 stops while running in the autonomous driving mode, moves in the manual driving mode, and then the autonomous driving mode is resumed, it can start an autonomous driving mode suitable for the location after movement from the location after movement.

[0134] As shown in FIG. 10, for example, the seedling transplanter 1 displays a start path confirmation button S1 for displaying a start path on a remote controller 170 or an image P2 on a tablet. FIG. 10 is a diagram showing an example of an image P2 displayed on the remote controller 170 or the tablet. The start path confirmation button S1 is operable only when the traveling mode is the autonomous traveling mode and the traveling vehicle body 2 is temporarily stopped.

[0135] Further, when the start path confirmation button S1 is tapped and the current start path is not held, an optimal path is searched from the position of the traveling vehicle body 2 and the orientation of the traveling vehicle body 2, and the searched path is set as the start path.

[0136] Further, when the start path confirmation button S1 is tapped and the current start path is held, or when an optimal path is searched and the start path is set, the start path is highlighted.

[0137] Also, when one of the paths displayed on the screen is selected and tapped by the operator, the tapped path is highlighted in a color different from the highlighting color of the start path. Also, the start path may be changed to the tapped path. In this case, when the start path change button S2 is tapped, a dialog asking whether to change the start path to the tapped path is popped up.

[0138] Further, when the start path is not held, an optimal path may be searched based on the orientation of the traveling vehicle body 2 and the position of the traveling vehicle body 2, and autonomous traveling may be executed following the searched path. When the start path is held, autonomous traveling may be executed following the start path.

[0139] When the traveling mode is changed from the manual traveling mode or the like to the autonomous traveling mode, an optimal path may be searched when the start path confirmation button S1 is tapped.

[0140] When the seedling transplanter 1 is running in the autonomous driving mode and a specific operation is performed by the remote controller 170, normal path search is not performed, and path search for turning is performed. Further, when an effective path is not found by the path search for turning, the operator is notified that turning is impossible.

[0141] As shown in FIGS. 11 and 12, the seedling transplanter 1 may plant crops by laying the sheet 210 on the field. FIG. 11 is a rear perspective view of the seedling transplanter 1 according to a modified example. FIG. 12 is a schematic diagram for explaining a configuration for pulling out the sheet 210.

[0142] The sheet 210 is a biodegradable sheet, and seeds are planted therein. The seeds are provided on the sheet at a predetermined planting interval. The sheet 210 contains an oxygen supply material, fertilizer, and a herbicide. When the sheet is decomposed, the seeds and the oxygen supply material are supplied to the field. The sheet 210 may have a plurality of holes formed therein. When the sheet 210 is laid on the field with holes formed therein, mud passing through the holes rides on top of the sheet 210 and functions as an anchor.

[0143] The seedling transplanter 1 pulls out the sheet 210 from the holder portion 212 around which the sheet 210 is wound by the rotation of the roller of the conveying portion 211. The conveying portion 211 includes a driving roller 211A and a free roller 211B. The driving roller 211A is rotated, for example, by a motor. The free roller 211B is biased toward the driving roller 211A side by, for example, a spring or the like. Note that the driving roller 211A may be biased toward the sheet 210 side by, for example, a spring or the like. Note that the sheet 210 can be cut by a cutting portion 211C such as a cutter provided in the conveying portion 211. The cutting portion 211C operates to cut the sheet 210 when the driving of the seedling planting portion 4 stops and when the seedling planting portion 4 is in the non-operating position.

[0144] The seedling transplanter 1 lays the sheet 210 pulled out from the holder unit 212 in the field by the laying unit 213. The laying unit 213 includes a laying roller 213A. The laying roller 213A is provided with, for example, a gear unit 213B. The gear unit 213B is a plurality of protrusions protruding outward from the laying roller 213A. The gear unit 213B presses a part of the sheet 210 into the field, stabilizing the sheet 210. In addition, a plurality of holes may be formed on the side of the laying roller 213A. By forming a plurality of holes, the sheet 210 is improved in separation from the laying roller 213A. The seedling transplanter 1 may pull out the sheet 210 from the holder unit 212 by rotating the laying unit 213. In addition, the seedling transplanter 1 may have a crank-type driving unit that drives the sheet 210 into the field.

[0145] As shown in Fig. 13, the seedling transplanter 1 may have a conveying section 211 and a laying section 213 connected by a chain case 214, and a driving roller 211A and a laying roller 213A may be synchronized by a chain. The laying section 213 is biased downward. Fig. 13 is a perspective view showing the conveying section 211 and the laying section 213 of the seedling transplanter 1 according to a modified example.

[0146] The seedling transplanter 1 may be provided with a microphone and a speaker around the monitor 86 so that it can communicate with people on the ridges of the field. The seedling transplanter 1 is configured to be able to communicate with, for example, a remote control 170 and a mobile terminal by the microphone and the speaker.

[0147] As shown in Fig. 14, the seedling transplanter 1 may have a notch 231a in the seat of the bush 231 so as not to block the ventilation groove 230 provided to reduce the pressure inside the planting rod 58. Fig. 14 is a cross-sectional view showing the configuration of the planting rod 58 of the seedling transplanter 1 according to a modified example. This allows the seedling transplanter 1 to reduce grease carry-out and improve durability.

[0148] As shown in Fig. 15, in the bush 231 within the planting rod 58 of the seedling transplanter 1, the shape of the proximity portion with the rod 232 may be a curved surface 231b. Fig. 15 is a diagram showing the configuration of the bush 231 of the planting rod 58 according to a modified example. Thereby, the seedling transplanter 1 can promote the convection of grease within the planting rod 58.

[0149] The seedling transplanter 1 may quickly operate the planting rod 58 by using the speed change of an unequal velocity joint.

[0150] As shown in Fig. 16, the planting of seedlings may be performed by a drone 240. The drone 240 is provided with a planting portion 241 extending downward. Fig. 16 is a perspective view of the drone 240 according to a modified example. The drone 240 performs planting when the planting portion 241 touches the ground. The drone 240 can plant seedlings at locations where there are missing plants in the field.

[0151] The seedling transplanter 1 may photograph the seedling-taking position where seedlings are taken from the seedling tank 53 by a camera. The camera is provided above the seedling-taking position. When a defective seedling-taking is detected based on the image photographed by the camera, the seedling transplanter 1 stops traveling and performs planting. For example, when a missing plant is detected, the seedling transplanter 1 stops traveling and performs planting at the location where the missing plant occurred. The camera is, for example, an infrared camera.

[0152] In the seedling transplanter 1 for transplanting pot seedlings to the field, the camera is provided above the protruding position. The camera photographs the protruding position. Thereby, the seedling transplanter 1 can suppress defective photographing due to splashing of mud or the like.

[0153] When a missing plant occurs, the seedling transplanter 1 switches between the stopped state and the traveling state of the traveling vehicle body 2 by a dog clutch.

[0154] The seedling transplanter 1 may detect missing plants based on the conduction state between the claws of the planting rod 58. The seedling transplanter 1 may detect missing plants based on the energization state between the guides of the planting rod 58 after scraping the seedlings from the seedling tank 53.

[0155] The seedling transplanter 1 for transplanting potted seedlings to the field may detect missing plants based on the conduction state between the metal plate of the base part and the seedling retainer. The seedling transplanter 1 for transplanting potted seedlings to the field may detect missing plants based on the conduction state of the seedling thumping of the metal plate.

[0156] For example, when a missing plant is detected, the seedling transplanter 1 calculates the number of drive pulses of the rear wheel 11 corresponding to the distance from the missing plant position to the planting, switches and drives the sub-transmission mechanism 16 according to the calculated number of drive pulses, and then stops running. Then, the seedling transplanter 1 performs the planting.

[0157] As shown in FIGS. 17 and 18, the seedling transplanter 1 may be provided with a freewheel mechanism 250 in the middle of the drive shaft of the front wheel 10. FIG. 17 is a diagram showing the configuration on the front wheel 10 side of the seedling transplanter 1 according to a modified example. FIG. 18 is an exploded view for explaining the freewheel mechanism 250 of the seedling transplanter 1 according to a modified example. The seedling transplanter 1 enables the freewheel mechanism 250 on the front wheel 10 on the side where slip is detected and makes the front wheel 10 on the side where slip is detected free. The seedling transplanter 1 switches the freewheel mechanism 250 according to the presence or absence of slip. Thereby, for example, when the field is muddy, the seedling transplanter 1 can function like a pumping brake by switching the freewheel mechanism 250 between effective and ineffective.

[0158] Note that the seedling transplanter 1 may be provided with a freewheel mechanism on the drive shaft portion of the rear wheel 11. The freewheel mechanism is provided in the transmission case 13. The freewheel mechanism may be provided in the rear wheel gear case 11a.

[0159] The seedling transplanter 1 may be configured such that the front wheel axle can rotate rearward. The front wheel axle is biased forward by a spring. As a result, the seedling transplanter 1 can shorten the wheelbase on the inner side of turning, and can improve the turning performance by sinking in.

[0160] The seedling transplanter 1 may have an elongated hole for the attachment flange portion of the transmission at the front wheel axle.

[0161] The seedling transplanter 1 may read the cam positions engaged with the shift operation lever 36 and the sub-shift operation lever 37 by a potentiometer, and acquire the corresponding plant spacing information.

[0162] The seedling transplanter 1 may determine whether the input number of seedlings is within the selectable range. When the input number of seedlings is not within the selectable range, the seedling transplanter 1 gives an error notification. When the seedlings are not consumed as set, the seedling transplanter 1 adjusts the seedling picking amount so that the value obtained by subtracting the consumed seedlings from the number of seedlings to be used is planted in the field.

[0163] When the seedling picking amount is input, the seedling transplanter 1 may calculate the required number of seedlings and display it on, for example, the monitor 86.

[0164] When the number of seedlings is input, the seedling transplanter 1 may adjust the plant spacing according to the input number of seedlings.

[0165] Further effects and modifications can be easily derived by those skilled in the art. Therefore, the broader aspects of the present invention are not limited to the specific details and representative embodiments represented and described as above. Accordingly, various changes can be made without departing from the spirit or scope of the general inventive concept defined by the appended claims and their equivalents.

Explanation of Signs

[0166] 1 Seedling transplanter (work vehicle) 2 Traveling vehicle body 4 Seed planting part (working machine) 10 Front wheel 11 Rear wheel 35 Steering wheel 88 Power steering mechanism (adjustment mechanism) 95 Steering motor (motor) 100 Controller (control device) 150 Position detection device

Claims

1. A traveling vehicle body, a working machine provided on the traveling vehicle body, a steering wheel provided on the traveling vehicle body, an operation unit for performing operations of each part, a position detection device for detecting information regarding the position and orientation of the traveling vehicle body, a motor for driving the steering wheel when the traveling mode of the traveling vehicle body is an automatic traveling mode, a control device for controlling the motor based on the information detected by the position detection device when the traveling mode is the automatic traveling mode and comprising, the control device, the traveling level of the traveling vehicle body can be set by an operator from among a plurality of levels, a plurality of parameters are respectively associated with the plurality of levels, the plurality of parameters are the amount of operation of the steering wheel and the sensitivity regarding the orientation deviation of the traveling vehicle body or the sensitivity regarding the position deviation of the traveling vehicle body, a work vehicle for setting the traveling level based on the operation of the operation unit by an operator.

2. The work vehicle according to claim 1, wherein the control device changes at least a part of the plurality of parameters according to the type of tire of the traveling vehicle body set based on the operation of the operation unit by an operator.

3. An engine, an adjustment mechanism for changing the direction of the steering wheels of the traveling vehicle body by the hydraulic pressure generated by transmitting the rotation generated by the engine and comprising, the control device increases the rotational speed of the engine when the traveling vehicle body is turning and the actual steering wheel angular velocity is smaller than the target steering wheel angular velocity in a state where the traveling mode is an automatic turning mode, according to any one of claims 1 to 3. ​

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