Operation device, work machine, operation method, and operation program

Abstract

To provide an operation device, a work machine, an operation method, and an operation program capable of improving operability of an operation device that operates the work machine.SOLUTION: When an operation device 20 receives a simultaneous depression operation of bringing both a speed increase button 232 and a speed decrease button 233 among a plurality of operation parts 23 into an ON state, the operation device 20 outputs an advancement travel instruction to a rice transplanter 10. After the simultaneous depression operation, while maintaining the operation part 23 of one of the speed increase button 232 and the speed decrease button 233 in an ON state, the operation device 20 brings the operation part 23 of the other into an OFF state from the ON state. Thereafter, when receiving an operation of bringing the operation part 23 of the other into the ON state from the OFF state, the operation device 20 outputs a vehicle speed change instruction to the rice transplanter 10.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to an operating device for operating a work machine, a work machine, an operating method, and an operating program. [Background technology]

[0002] Conventionally, there are known work vehicles that can automatically travel within a field according to a predetermined target route. Also, there are known operating devices (remote controls) that allow a user to start or stop the automatic travel of the work vehicle from a location remote from the work vehicle (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-96512 Summary of the Invention [Problem to be solved by the invention]

[0004] The operating device is provided with a plurality of operating units (operation buttons) that accept user operations, and each operating unit is assigned a function for operating the work vehicle. Furthermore, conventional operating devices are configured so that when two operating units are pressed simultaneously, the work vehicle can execute a function different from the function assigned to each operating unit. However, with conventional operating devices, the functions that can be executed on the work vehicle by simultaneously operating two operating units are limited, resulting in a problem of low operability of the operating device.

[0005] An object of the present invention is to provide an operating device, a working machine, an operating method, and an operating program that can improve the operability of an operating device that operates a working machine. [Means for solving the problem]

[0006] An operating device according to the present invention includes a plurality of operating units that receive instructions from a user to cause a work machine to perform a predetermined operation. When the operating device receives a first operation that turns both a first operating unit and a second operating unit of the plurality of operating units to the ON state, the operating device outputs a first operation instruction to the work machine, and when the operating device receives a second operation that turns one of the first operating unit and the second operating unit from the ON state to the OFF state while maintaining the other operating unit in the ON state after the first operation, the operating device outputs a second operation instruction different from the first operation instruction to the work machine.

[0007] Furthermore, the work machine according to the present invention executes an operation in accordance with an operation instruction output from the operating device.

[0008] An operating method according to the present invention is an operating method for an operating device having a plurality of operating units that receive instructions from a user to cause a work machine to perform a predetermined operation. The operating method includes the steps of: receiving operations from a user to the plurality of operating units; outputting a first operation instruction to the work machine when a first operation that turns both a first operating unit and a second operating unit of the plurality of operating units to an ON state is received; and outputting a second operation instruction different from the first operation instruction to the work machine when a second operation that turns one of the first operating unit and the second operating unit from an ON state to an OFF state while maintaining the other operating unit in an ON state after the first operation is received.

[0009] An operation program according to the present invention is an operation program for an operation device having a plurality of operation units that receive instructions from a user to cause a work machine to perform a predetermined operation. The operation program includes: receiving operations from a user on the plurality of operation units; The operating program causes one or more processors to execute the following operations: when a first operation is received that switches both a first operating unit and a second operating unit of the plurality of operating units to the ON state, outputting a first operation instruction to the work machine; and when a second operation is received that switches one of the first operating unit and the second operating unit from the ON state to the OFF state while maintaining the other operating unit in the ON state after the first operation, outputting a second operation instruction that is different from the first operation instruction to the work machine. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide an operating device, a working machine, an operating method, and an operating program that are capable of improving the operability of an operating device that operates a working machine. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing the configuration of an automatic driving system according to an embodiment of the present invention. [Figure 2A] FIG. 2A is a side view showing an example of a work vehicle (rice transplanter) according to an embodiment of the present invention. [Figure 2B] FIG. 2B is a top view showing an example of the work vehicle (rice transplanter) according to an embodiment of the present invention. [Figure 3] FIG. 3 is a diagram showing an example of a farm field and a target route according to the embodiment of the present invention. [Figure 4] FIG. 4 is a plan view showing the overall configuration of the operating device according to the embodiment of the present invention. [Figure 5] FIG. 5 is a diagram showing the configuration of a storage section that stores the operating device according to the embodiment of the present invention. [Figure 6] FIG. 6 is a diagram showing the stored state of the operating device according to the embodiment of the present invention. [Figure 7A] FIG. 7A is a timing chart showing an example of ON / OFF timing of the operation unit of the operating device according to the embodiment of the present invention. [Figure 7B]FIG. 7B is a timing chart showing an example of ON / OFF timing of the operation unit of the operating device according to the embodiment of the present invention. [Figure 8A] FIG. 8A is a timing chart showing an example of ON / OFF timing of the operation unit of the operating device according to the embodiment of the present invention. [Figure 8B] FIG. 8B is a timing chart showing an example of ON / OFF timing of the operation unit of the operation device according to the embodiment of the present invention. [Figure 9A] FIG. 9A is a timing chart showing an example of ON / OFF timing of the operation unit of the operation device according to the embodiment of the present invention. [Figure 9B] FIG. 9B is a timing chart showing an example of ON / OFF timing of the operation unit of the operation device according to the embodiment of the present invention. [Figure 10] FIG. 10 is a flowchart showing an example of the procedure of the operation control process executed by the operation device according to the embodiment of the present invention. [Figure 11] FIG. 11 is a schematic diagram showing the configuration of an operating device according to an embodiment of the present invention. [Figure 12] FIG. 12 is a diagram showing an example of a function pattern in the operating device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0012] The following embodiment is an example of the present invention and does not limit the technical scope of the present invention.

[0013] 1, an automated driving system 1 according to an embodiment of the present invention includes a rice transplanter 10 and an operation device 20. The rice transplanter 10 and the operation device 20 can communicate with each other via a communication network N1. For example, the rice transplanter 10 and the operation device 20 can communicate with each other via Bluetooth (registered trademark), wireless LAN (Wi-Fi (registered trademark)), infrared communication, or the like.

[0014] In this embodiment, a rice transplanter 10 will be described as an example of a work machine of the present invention. In other embodiments, the work machine may be a work vehicle such as a tractor, combine harvester, construction machine, or snowplow, or an aerial vehicle such as a drone for spraying work. The rice transplanter 10 is an autonomous vehicle configured to be able to automatically travel (autonomously travel) within a pre-registered field. For example, an operator (user) registers a field to be worked on and sets a travel route (target route) for the rice transplanter 10 to automatically travel through the field. The rice transplanter 10 automatically travels along the target route based on position information of the current position of the rice transplanter 10 calculated by the positioning unit 16. The rice transplanter 10 also performs planting work while automatically traveling within the field.

[0015] For example, the rice transplanter 10 automatically travels along a target route R in a field F shown in Fig. 3. The field F shown in Fig. 3 includes an inner area Fa and a headland area Fb (outer area). A target route R including a plurality of work routes is set in advance in the field F. For example, a work route Ra that travels back and forth in parallel from a travel start position S is set in the inner area Fa, and a work route Rb that travels in a spiral shape (circular travel) around the outer periphery toward a travel end position G is set in the headland area Fb.

[0016] The rice transplanter 10 starts automatic travel from a travel start position S and performs work while traveling back and forth along a work path Ra in the inner area Fa. The rice transplanter 10 also performs work while traveling in a circle along a work path Rb to a travel end position G in the headland area Fb.

[0017] Here, the work path Rb in the headland area Fb is set based on the number of work strokes. Fig. 3 shows the work path Rb when the number of work strokes is two, but the number of work strokes on the work path Rb may also be one. On the work path Rb shown in Fig. 3, the rice transplanter 10 performs work while traveling around the headland area Fb only two times. The width of the headland area Fb is set to a width according to the number of work strokes. Therefore, when the number of work strokes is two, the width of the headland area Fb is approximately twice the working width of the rice transplanter 10.

[0018] The target route R is not limited to the route shown in Fig. 3, but is set appropriately depending on the shape of the field F, the work content, etc. For example, the target route R is set appropriately depending on the number of work strokes in the headland area Fb or the width of the headland area Fb.

[0019] The operation device 20 is an operation remote control that is operated by an operator to operate the rice transplanter 10. For example, the operator can operate the operation device 20 from a location remote from the rice transplanter 10 to give instructions to the rice transplanter 10, such as to start and stop automatic travel, perform manual operation (forward and reverse), start and stop planting operations, change the vehicle speed, and raise and lower the work implement 14 (planting unit). The operation device 20 can give operation instructions to the rice transplanter 10 when it is located within a range where it can communicate with the rice transplanter 10. For example, the rice transplanter 10 starts and stops automatic travel in accordance with instructions output from the operation device 20.

[0020] The operation device 20 is provided with a plurality of operation units (operation buttons) that accept operations from the operator, and each operation unit is assigned one of the functions described above for operating the rice transplanter 10. Conventional operation devices are configured so that when two operation units are pressed simultaneously, a function different from the function assigned to each operation unit can be executed on the work vehicle (e.g., the rice transplanter). However, conventional operation devices have a problem in that the functions that can be executed on the work vehicle by simultaneously operating two operation units are limited, resulting in low operability of the operation device. In contrast, the operation device 20 according to this embodiment is configured so that its operability can be improved, as described below. The specific configurations of the rice transplanter 10 and the operation device 20 will be described below.

[0021] [Rice transplanter 10] 1, 2A, and 2B, the rice transplanter 10 includes a vehicle control device 11, a memory unit 12, a vehicle body unit 13, a work implement 14, a communication unit 15, a positioning unit 16, an obstacle detection unit 17, etc. The vehicle control device 11 is electrically connected to the memory unit 12, the vehicle body unit 13, the work implement 14, the positioning unit 16, the obstacle detection unit 17, etc. The vehicle control device 11 and the positioning unit 16 may be capable of wireless communication.

[0022] Fig. 2A is a side view of the rice transplanter 10, and Fig. 2B is a plan view of the rice transplanter 10. The rice transplanter 10 includes a vehicle body 13, a pair of left and right front wheels 132, a pair of left and right rear wheels 133, a work implement 14 (planting unit), and the like.

[0023] An engine (drive unit) 131 is disposed inside a hood 134 disposed at the front of the vehicle body 13. Power generated by the engine 131 is transmitted to front wheels 132 and rear wheels 133 via a transmission case 135. The power transmitted via the transmission case 135 is also transmitted to the work implement 14 via a PTO shaft 37 disposed at the rear of the vehicle body 13. The PTO shaft 37 is configured to transmit power via a planting clutch (work clutch, PTO clutch) (not shown). A driver's seat 138 for an operator to sit in is provided between the front wheels 132 and rear wheels 133 in the fore-and-aft direction of the vehicle body 13.

[0024] In front of the driver's seat 138, operating tools such as a steering wheel 137, a main speed change lever (not shown), and a planting clutch lever (not shown) are arranged. The steering wheel 137 is an operating tool for changing the steering angle of the rice transplanter 10. The main speed change lever is configured to be able to select at least the positions of "forward," "reverse," "neutral," and "seedling transplant." When the main speed change lever is operated to the "forward" position, power is transmitted so that the front wheels 132 and rear wheels 133 rotate in a direction that moves the rice transplanter 10 forward. When the main speed change lever is operated to the "reverse" position, power is transmitted so that the front wheels 132 and rear wheels 133 rotate in a direction that moves the rice transplanter 10 backward. When the main speed change lever is operated to the "neutral" position, power transmission to the front wheels 132 and rear wheels 133 is cut off. When the main speed change lever is operated to the "seedling transfer" position, power transmission to the front wheels 132, rear wheels 133, and PTO shaft 37 is interrupted. When the planting clutch lever is operated to the "on" position, the planting clutch enters a transmission state in which it transmits power to the PTO shaft 37 (i.e., the work implement 14), and when the planting clutch lever is operated to the "off" position, the planting clutch enters a disconnection state in which it does not transmit power to the PTO shaft 37. In other words, when the planting clutch lever is set to the "on" position, the work implement 14 starts to drive and the planting operation begins. When the planting clutch lever is set to the "off" position, the work implement 14 stops to drive and the planting operation stops.

[0025] In this embodiment, the vehicle control device 11 switches the planting clutch between "ON" and "OFF." When the vehicle control device 11 sets the planting clutch to "ON," the drive of the work implement 14 begins, and the planting operation begins. When the vehicle control device 11 sets the planting clutch to "OFF," the drive of the work implement 14 stops, and the planting operation stops. The vehicle control device 11 only needs to switch the planting clutch between "ON" and "OFF" as an internal process, and does not need to move the position of the planting clutch lever. The vehicle control device 11 can also switch the planting clutch between "ON" and "OFF" in response to user operation of the operating device 20 (the "ON" and "OFF" positions of the PTO off button 234 in Figure 4).

[0026] The work implement 14 is connected to the rear of the vehicle body 13 via a lifting link mechanism 31. The lifting link mechanism 31 is configured with a parallel link structure including a top link 39 and a lower link 38. A lifting cylinder (lifting device) 32 is connected to the lower link 38. By extending and contracting the lifting cylinder 32, the entire work implement 14 can be raised and lowered. This allows the height of the work implement 14 to be changed between a working position (working height) where the work implement 14 is lowered to perform planting work and a non-working position (non-working height) where the work implement 14 is not performed to perform planting work. Note that the lifting cylinder 32 is a hydraulic cylinder, but an electric cylinder may also be used. Furthermore, the work implement 14 may be raised and lowered by an actuator other than a cylinder. The vehicle control device 11 is also capable of raising and lowering the work implement 14 in response to user operation of the operating device 20.

[0027] The work machine 14 (planting section) includes a planting input case 33, a plurality of planting units 34, a seedling carrier 35, a plurality of floats 36, and the like.

[0028] Each planting unit 34 is equipped with a planting transmission case 41 and a rotating case 42. Power is transmitted to the planting transmission case 41 via the PTO shaft 37 and the planting input case 33. Each planting transmission case 41 has a rotating case 42 attached to both sides in the vehicle width direction. Two planting tines 43 are attached to each rotating case 42, lined up in the traveling direction of the rice transplanter 10. These two planting tines 43 plant one row.

[0029] As shown in FIG. 2A, the seedling carrier 35 is positioned above and in front of the planting unit 34 and is configured to be able to place a seedling mat on it. The seedling carrier 35 is configured to be able to move back and forth laterally (slide laterally). The seedling carrier 35 is also configured to be able to intermittently transport the seedling mat vertically downward at the end of the seedling carrier 35's reciprocating movement. This configuration allows the seedling carrier 35 to supply seedlings from the seedling mat to each planting unit 34. In this way, the rice transplanter 10 can sequentially supply seedlings to each planting unit 34, allowing for continuous seedling planting.

[0030] The float 36 shown in FIG. 2A is provided below the working implement 14 and is positioned so that its underside can come into contact with the ground. When the float 36 comes into contact with the ground, the rice field surface is leveled before seedlings are planted. The float 36 is also provided with a float sensor (not shown) that detects the swing angle of the float 36. The swing angle of the float 36 corresponds to the distance between the rice field surface and the working implement 14. The rice transplanter 10 can maintain a constant height of the working implement 14 above the ground by operating the lifting cylinder 32 based on the swing angle of the float 36 to raise and lower the working implement 14.

[0031] The spare seedling trays 19 are positioned outside the hood 134 in the vehicle width direction, and can carry seedling boxes containing spare mat seedlings. The spare seedling trays 19 are fixed to connecting frames 18b that extend in the up-down and front-to-rear directions on each side of the hood 134. The tops of the pair of left and right spare seedling trays 19 are connected to each other by connecting frames 18a that extend in the up-down and front-to-rear directions. A positioning unit 16 is positioned in the center of the connecting frames 18a in the vehicle width direction.

[0032] A storage section 50 for storing the operating device 20 is disposed on the right-side connecting frame 18b. For example, when an operator gets on the rice transplanter 10, the operator can store the operating device 20 in the storage section 50. Details of the storage section 50 will be described later.

[0033] The positioning unit 16 is a communication device including a positioning control unit 161, a memory unit 162, a communication unit 163, and a positioning antenna 164 (see FIG. 1). For example, the positioning unit 16 is provided at the upper center of the front of the rice transplanter 10, as shown in FIGS. 2A and 2B. The installation location of the positioning unit 16 is not limited. The positioning control unit 161, the memory unit 162, the communication unit 163, and the positioning antenna 164 of the positioning unit 16 may be disposed in different locations in the rice transplanter 10. A battery is connected to the positioning unit 16, and the positioning unit 16 can operate even when the engine 131 is stopped. The positioning unit 16 may be substituted by, for example, a mobile phone terminal, a smartphone, a tablet terminal, a quantum compass, or the like.

[0034] The positioning control unit 161 is a computer system including one or more processors and storage memories such as nonvolatile memory and RAM. The storage unit 162 is a nonvolatile memory that stores a program for causing the positioning control unit 161 to execute the positioning process, and data such as positioning information and movement information. For example, the program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 162. Note that the program may be downloaded to the positioning unit 16 from a server (not shown) via a communication network N1 and stored in the storage unit 162.

[0035] The communication unit 163 is a communication interface that connects the positioning unit 16 to a communication network by wire or wirelessly, and executes data communication with an external device such as a base station server via the communication network in accordance with a predetermined communication protocol.

[0036] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0037] The positioning control unit 161 calculates the current position of the rice transplanter 10 based on the GNSS signals received from satellites by the positioning antenna 164. For example, when the rice transplanter 10 automatically travels within a field F, the positioning antenna 164 receives radio waves (such as transmission time and orbit information) transmitted from each of a plurality of satellites. The positioning control unit 161 calculates the distance between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the rice transplanter 10 based on the calculated distance. The positioning control unit 161 may also perform positioning using a real-time kinematic method (RTK-GNSS positioning method (RTK method)), which calculates the current position of the rice transplanter 10 using correction information corresponding to a base station (reference station) close to the rice transplanter 10. In this way, the rice transplanter 10 automatically travels using positioning information obtained by the RTK method. The current position of the rice transplanter 10 may be the same as the positioning position (for example, the position of the positioning antenna 164), or may be a position displaced from the positioning position (for example, the planting operation position of the planting unit 34). The positioning control unit 161 may calculate (position) the current position of the rice transplanter 10 using a quantum compass.

[0038] An obstacle detection unit 17 is provided in front of the vehicle body 13. The obstacle detection unit 17 is composed of a sensor that detects obstacles in a predetermined detection area using, for example, infrared rays, ultrasonic waves, or millimeter waves. For example, the obstacle detection unit 17 may be a lidar sensor (distance sensor) that can measure the distance to a measurement object (obstacle) in three dimensions using a laser, or a sonar sensor with multiple sonars that can measure the distance to a measurement object using ultrasonic waves. The obstacle may be, for example, a ridge, a water intake, a utility pole, materials temporarily placed in the field F, or a person. When the obstacle detection unit 17 detects the obstacle, it transmits the detection result (measurement information) to the vehicle control device 11. When the obstacle detection unit 17 detects an obstacle in the detection area, the vehicle control device 11 slows down or stops the rice transplanter 10. The obstacle detection unit 17 may be provided at the front, rear, left side, and right side of the rice transplanter. In this case, the vehicle control device 11 controls the traveling of the rice transplanter 10 based on the detection results of each obstacle detection unit 17.

[0039] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), or a flash memory that stores various types of information. The storage unit 12 stores control programs, such as an automatic driving program for causing the vehicle control device 11 to execute automatic driving processing. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, an EEPROM, a CD, or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The automatic driving program may be downloaded from a server (not shown) to the rice transplanter 10 via a communication network N1 and stored in the storage unit 12. The storage unit 12 may also store route data of a target route R generated by the operation device 20.

[0040] The vehicle control device 11 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS that cause the CPU to execute various arithmetic processes are pre-stored. The RAM is a volatile or non-volatile storage unit that stores various information and is used as a temporary storage memory (work area) for the various processes executed by the CPU. The vehicle control device 11 controls the rice transplanter 10 by having the CPU execute various control programs pre-stored in the ROM or the storage unit 12.

[0041] The vehicle control device 11 controls the operation of the rice transplanter 10 in response to various user operations on the rice transplanter 10. In addition, the vehicle control device 11 executes automatic driving processing of the rice transplanter 10 based on the current position of the rice transplanter 10 calculated by the positioning unit 16 and a target route R set in advance.

[0042] As shown in Fig. 1, the vehicle control device 11 includes various processing units such as a driving processing unit 111, an elevation processing unit 112, a vehicle speed control processing unit 113, and a drive processing unit 114. The vehicle control device 11 functions as the various processing units by executing various processes in accordance with the automatic driving program using the CPU. Some or all of the processing units may be configured with electronic circuits. The automatic driving program may be a program for causing multiple processors to function as the processing units.

[0043] The travel processing unit 111 controls the travel of the rice transplanter 10. Specifically, the travel processing unit 111 causes the rice transplanter 10 to automatically travel according to a target route R set in the field F. For example, the travel processing unit 111 causes the rice transplanter 10 to start automatic travel when it receives a travel start instruction from the operation device 20. For example, when the rice transplanter 10 satisfies the conditions for starting automatic travel (work start conditions), and the operator presses (e.g., presses and holds) the pause button 235 (see FIG. 4 ) on the operation device 20, the operation device 20 outputs a travel start instruction to the rice transplanter 10. When the travel start instruction is received from the operation device 20, the travel processing unit 111 causes the rice transplanter 10 to start automatic travel according to the target route R. For example, the travel processing unit 111 causes the rice transplanter 10 to travel straight from the start end to the end end of each work route and to travel in a circular motion from the start end to the end end of each circular motion route.

[0044] Furthermore, the travel processing unit 111 stops the travel of the rice transplanter 10 when it receives a stop instruction from the operation device 20. For example, when the operator presses (e.g., briefly presses) the pause button 235 (see FIG. 4) on the operation device 20, the operation device 20 outputs a pause instruction to the rice transplanter 10. Also, for example, when the operator presses the emergency stop button 236 (see FIG. 4) on the operation device 20, the operation device 20 outputs an automatic travel stop instruction to the rice transplanter 10.

[0045] When the driving processing unit 111 receives a pause instruction, it temporarily stops the automatic driving while maintaining the automatic driving mode. In this case, when the driving processing unit 111 receives the driving start instruction in the paused state, it resumes the automatic driving. Furthermore, when the driving processing unit 111 receives an automatic driving stop instruction, it stops the engine 131. In this case, the resumption of automatic driving by the operation device 20 is prohibited, and the driving processing unit 111 resumes automatic driving when the operator on board the rice transplanter 10 starts the engine and performs the automatic driving start operation again.

[0046] Furthermore, the travel processing unit 111 controls the travel of the rice transplanter 10 based on the detection result by the obstacle detection unit 17. Specifically, when the obstacle detection unit 17 detects an obstacle, the travel processing unit 111 slows down or stops the rice transplanter 10. Furthermore, the travel processing unit 111 may cause the rice transplanter 10 to perform avoidance travel to avoid the obstacle.

[0047] Furthermore, in a situation where manual operation is possible in the automatic traveling mode, the traveling processing unit 111 causes the rice transplanter 10 to travel in accordance with a traveling instruction acquired from the operation device 20. For example, when the traveling processing unit 111 acquires a forward traveling instruction from the operation device 20 while the automatic traveling is temporarily stopped, the traveling processing unit 111 causes the rice transplanter 10 to travel forward. For example, when the operator simultaneously presses the speed increase button 232 and the speed decrease button 233 (see FIG. 4 ) on the operation device 20 (simultaneous pressing operation), the operation device 20 outputs a forward traveling instruction to the rice transplanter 10, and the traveling processing unit 111 causes the rice transplanter 10 to travel forward in accordance with the forward traveling instruction. Furthermore, when the traveling processing unit 111 acquires a backward traveling instruction from the operation device 20 while the automatic traveling is temporarily stopped, the rice transplanter 10 travels backward. For example, when the operator simultaneously presses the pause button 235 and the PTO off button 234 (see Figure 4) on the operating device 20, the operating device 20 outputs a reverse travel instruction to the rice transplanter 10, and the travel processing unit 111 causes the rice transplanter 10 to travel backward in accordance with the reverse travel instruction.

[0048] Note that the "simultaneous pressing operation" of two operation units 23 is not limited to an operation in which two operation units 23 are turned on at the same time, but also includes an operation in which one operation unit 23 is turned on and then the other operation unit 23 is turned on within a predetermined time. Also, the simultaneous pressing operation is not limited to an operation using two operation units 23, but may be an operation using three or more operation units 23.

[0049] The lifting / lowering processing unit 112 controls the position (posture) of the working implement 14. Specifically, the lifting / lowering processing unit 112 changes the height of the working implement 14 between a working position (working height) where planting work is performed by lowering the working implement 14, and a non-working position (non-working height) where planting work is not performed by raising the working implement 14. The lifting / lowering processing unit 112 also lowers the working implement 14 to the working position when leveling the rice field surface with a float 36 (see FIG. 2A). The lifting / lowering processing unit 112 inputs a control signal to the lifting / lowering cylinder 32 to extend and retract the lifting / lowering cylinder 32, thereby lifting and lowering the working implement 14.

[0050] The lifting / lowering processing unit 112 also controls the lifting / lowering of the work implement 14 based on the position information of the rice transplanter 10. Specifically, the lifting / lowering processing unit 112 lowers the work implement 14 from a non-working position to a working position based on the work start position on the target route R.

[0051] Furthermore, the lifting / lowering processing unit 112 raises the working implement 14 when it receives an instruction to raise the working implement 14 from the operation device 20. For example, when the operator simultaneously presses the deceleration button 233 and the PTO off button 234 (see FIG. 4) on the operation device 20, the operation device 20 outputs an instruction to raise the rice transplanter 10, and the lifting / lowering processing unit 112 raises the working implement 14 in accordance with the instruction to raise. Furthermore, when it receives an instruction to lower the working implement 14 from the operation device 20, the lifting / lowering processing unit 112 lowers the working implement 14. For example, when the operator simultaneously presses the increase speed button 232 and the pause button 235 (see FIG. 4) on the operation device 20, the operation device 20 outputs a lowering instruction to the rice transplanter 10, and the lifting / lowering processing unit 112 lowers the working implement 14 in accordance with the instruction to lower.

[0052] The vehicle speed control processing unit 113 controls the vehicle speed of the rice transplanter 10 during automatic traveling. Specifically, the vehicle speed control processing unit 113 switches the vehicle speed of the rice transplanter 10 based on preset setting information. For example, when an operator sets the vehicle speed for straight traveling and the vehicle speed for turning traveling on an operation terminal (not shown), the vehicle speed control processing unit 113 switches the vehicle speed (set vehicle speed) of the rice transplanter 10 according to the traveling route (straight route, turning route, etc.). For example, the vehicle speed control processing unit 113 switches to the set vehicle speed for straight traveling when the rice transplanter 10 is traveling on a straight route, and switches to the set vehicle speed for turning traveling when the rice transplanter 10 is traveling on a turning route.

[0053] Furthermore, the vehicle speed control processing unit 113 changes the vehicle speed of the rice transplanter 10 when it receives a vehicle speed change instruction from the operation device 20. For example, when the operator presses the speed increase button 232 (see FIG. 4) on the operation device 20 while the rice transplanter 10 is automatically traveling, the operation device 20 outputs a speed increase instruction to the rice transplanter 10. Furthermore, for example, when the operator presses the deceleration button 233 (see FIG. 4) on the operation device 20 while the rice transplanter 10 is automatically traveling, the operation device 20 outputs a deceleration instruction to the rice transplanter 10.

[0054] The drive processing unit 114 controls the drive of the work implement 14. Specifically, the drive processing unit 114 starts the drive of the work implement 14 to start the planting operation (the operation of the planting unit 34 planting seedlings in the rice field surface). Specifically, the drive processing unit 114 switches the planting clutch between "on" and "off" to switch between driving and stopping the work implement 14. For example, the drive processing unit 114 sets the planting clutch to "on" to start driving the work implement 14 and cause the planting unit 34 to start the planting operation. The drive processing unit 114 also sets the planting clutch to "off" to stop the drive of the work implement 14 and cause the planting unit 34 to stop the planting operation.

[0055] The drive processing unit 114 starts driving the work implement 14 at the work start position. Specifically, the drive processing unit 114 controls the timing of engaging the planting clutch so that the planting operation of the planting unit 34 starts when the rice transplanter 10 reaches the work start position, i.e., when the planting unit 34 reaches the work start position.

[0056] Furthermore, when the drive processing unit 114 receives a drive instruction for the planting unit 34 from the operation device 20, it sets the planting clutch to "ON" and causes the planting unit 34 to start planting operation. For example, when the operator presses the PTO OFF button 234 (see FIG. 4) on the operation device 20 (turns the PTO ON), the operation device 20 outputs a drive instruction to the rice transplanter 10. Furthermore, when the drive processing unit 114 receives a drive stop instruction from the operation device 20, it sets the planting clutch to "OFF" and causes the planting unit 34 to stop planting operation. For example, when the operator presses the PTO OFF button 234 (see FIG. 4) on the operation device 20 (turns the PTO OFF), the operation device 20 outputs a drive stop instruction to the rice transplanter 10.

[0057] [Operation device 20] As shown in Fig. 1, the operation device 20 is a device including an operation control unit 21, a memory unit 22, an operation unit 23, a vibration unit 24, and a communication unit 25. The operation device 20 is a device (remote controller) that can remotely operate the rice transplanter 10. The operation device 20 may also be a mobile information terminal such as a smartphone or a tablet terminal. Fig. 4 shows a remote control as an example of the operation device 20.

[0058] The communication unit 25 is a communication interface that connects the operating device 20 to the communication network N1 wirelessly or wired, and performs data communication with external devices such as the rice transplanter 10 via the communication network N1 in accordance with a predetermined communication protocol.

[0059] The vibration unit 24 is a vibrator that vibrates the main body of the operating device 20. The vibration unit 24 vibrates the main body of the operating device 20 by driving an internal motor to rotate a weight (not shown) in accordance with an instruction from the operation control unit 21. Note that the operating device 20 may be capable of switching between enabling and disabling a vibration function in response to a setting operation by the operator.

[0060] The operation unit 23 is an operation button that accepts operations by the operator. The operation unit 23 is arranged on the front surface of the main body of the operation device 20. The operation unit 23 is, for example, a physical switch that the operator can press with his / her finger. In another embodiment, the operation unit 23 may be an image icon displayed on a touch panel.

[0061] As shown in Fig. 4, a plurality of operation units 23 are arranged on the front of the main body of the operating device 20. The plurality of operation units 23 include a power button 231, an increase speed button 232, a decrease speed button 233, a PTO off button 234, a pause button 235, and an emergency stop button 236. Each operation unit 23 is assigned a function to operate the rice transplanter 10. The specific functions of each operation unit 23 will be described later.

[0062] The storage unit 22 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. The storage unit 22 stores control programs such as an operation control program that causes the operation control unit 21 to execute an operation control process (see FIG. 10 ), which will be described later. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 22. Note that the control program may be downloaded to the operation device 20 from a server (not shown) via a communication network N1 and stored in the storage unit 22.

[0063] The operation control unit 21 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as temporary storage memory for the various types of processing executed by the CPU. The operation control unit 21 controls the operation device 20 by having the CPU execute various control programs that are stored in advance in the ROM or the storage unit 22.

[0064] 1, the operation control unit 21 includes various processing units such as a reception processing unit 211, an output processing unit 212, and a notification processing unit 213. The operation control unit 21 functions as the various processing units by executing various processes in accordance with the control program using the CPU. Some or all of the processing units may be configured with electronic circuits. The control program may be a program for causing multiple processors to function as the processing units.

[0065] The reception processing unit 211 receives an operator's operation on the operation unit 23. Specifically, the reception processing unit 211 receives a pressing operation by the operator on each of the multiple operation units 23. For example, the reception processing unit 211 receives a short press operation, a long press operation, and a simultaneous press operation for each operation unit 23. Note that a "long press operation" is an operation in which the operation unit 23 remains in the ON state for more than a predetermined time after it has been turned on (an operation in which the operator continues to press the operation unit 23 for more than a predetermined time), and a "short press operation" is an operation in which the operation unit 23 changes from the ON state to the OFF state within the predetermined time after it has been turned on (an operation in which the operator presses the operation unit 23 and then releases the operation unit 23 within a predetermined time).

[0066] Furthermore, the reception processing unit 211 can accept a combination of a simultaneous press operation and a short press operation, and a combination of a simultaneous press operation and a long press operation. For example, after accepting a simultaneous press operation of two operation units 23, the reception processing unit 211 can accept a short press operation or a long press operation of one operation unit 23 while keeping the other operation unit 23 in the ON state. A specific operation method will be described later.

[0067] The output processing unit 212 outputs operation information (operation instructions) corresponding to the operator's operation received by the reception processing unit 211 to the rice transplanter 10. The rice transplanter 10 executes a predetermined operation in accordance with the operation information (operation instructions) acquired from the operation device 20. For example, when the operator presses a specific operation unit 23 of the operation device 20, the reception processing unit 211 accepts the pressing operation of the operation unit 23, and the output processing unit 212 outputs operation information (operation instructions) corresponding to the function assigned to the operation unit 23 to the rice transplanter 10. Upon acquiring the operation information (operation instructions), the rice transplanter 10 executes the operation corresponding to the operation information. Furthermore, upon acquiring the operation information (operation instructions), the rice transplanter 10 notifies (feeds back) the operation device 20 that the operation information has been acquired.

[0068] When the operation unit 23 receives an instruction from the operator, the notification processing unit 213 causes at least one of the operation device 20 and the rice transplanter 10 to notify information indicating that the instruction has been received. Specifically, when the operator presses the operation unit 23, the output processing unit 212 outputs the operation information to the rice transplanter 10. When the rice transplanter 10 acquires the operation information, it notifies (feeds back) the operation device 20 that the operation information has been acquired. When the notification is acquired, the notification processing unit 213 vibrates the vibration unit 24. This allows the operator to know that the rice transplanter 10 has accepted his / her operation instruction and that an action corresponding to the operation instruction has been executed.

[0069] In another embodiment, when the operation device 20 includes a display unit, the notification processing unit 213 may cause the display unit to display information indicating that the instruction has been received. In another embodiment, when the operation device 20 includes a speaker, the notification processing unit 213 may cause the speaker to emit a sound (buzzer sound, voice, etc.) indicating that the instruction has been received.

[0070] In this way, the notification processing unit 213 may notify the information by at least one of the following methods: displaying the information on the display unit, emitting sound from the speaker, and vibrating the vibration unit 24.

[0071] The notification processing unit 213 may output a notification instruction to the rice transplanter 10. When the rice transplanter 10 acquires the notification instruction from the operation device 20, the rice transplanter 10 emits a sound (buzzer sound, voice, etc.) from a speaker provided in the rice transplanter 10 indicating that the instruction has been acquired, or displays information indicating that the instruction has been acquired on a display unit provided in the rice transplanter 10.

[0072] [Functions of operation unit 23] The specific functions of each operation unit 23 will be described below.

[0073] The power button 231 is an operation unit that turns on / off the power of the controller device 20. In Fig. 4, the power button 231 is located at the top end of the front surface of the main body of the controller device 20, but the position of the power button 231 is not limited to this and may be located, for example, on the lower side of the main body. When the power is turned on, the LED of the power button 231 lights up, and when the power is turned off, the LED of the power button 231 goes out.

[0074] The pause button 235 is an operation unit that starts the automatic traveling of the rice transplanter 10 or pauses the rice transplanter 10 during automatic traveling.

[0075] For example, the operator gets on the rice transplanter 10, moves the rice transplanter 10 to the work start position (manual driving), performs operations related to the work start conditions, and switches to automatic driving mode. This allows the operator to start automatic driving using the operation device 20 at a location away from the rice transplanter 10. For example, when the operator presses and holds the pause button 235, the output processing unit 212 outputs a driving start instruction to the rice transplanter 10. Upon receiving the driving start instruction, the rice transplanter 10 starts automatic driving and work (planting work) according to the target route R.

[0076] Furthermore, when the operator presses (short press) the pause button 235 while the rice transplanter 10 is automatically traveling, the output processing unit 212 outputs a travel stop instruction to the rice transplanter 10. When the rice transplanter 10 receives the travel stop instruction, it temporarily suspends the automatic traveling and stops the PTO drive (work). Furthermore, when the operator presses and holds the pause button 235 while the rice transplanter 10 is temporarily suspended, the rice transplanter 10 resumes the automatic traveling and the PTO drive (work). The operator can start or pause the automatic traveling by operating the pause button 235 at a location away from the rice transplanter 10.

[0077] The PTO off button 234 is an operation unit that turns the PTO drive ON / OFF. For example, when the rice transplanter 10 pauses during automatic travel, the drive processing unit 114 switches the planting clutch to "off" to stop the drive of the work implement 14. When the automatic travel of the rice transplanter 10 pauses and the planting clutch is "off" (PTO OFF), the operator can operate the PTO off button 234 to turn ON / OFF. For example, when the operator presses the PTO off button 234 to turn it ON, the output processing unit 212 outputs a PTO drive instruction to the rice transplanter 10. When the rice transplanter 10 acquires the PTO drive instruction, it switches the planting clutch to "on" to enable planting operation by the planting unit 34. When the operator presses the PTO off button 234 to turn it OFF, the output processing unit 212 outputs a PTO stop instruction to the rice transplanter 10. When the rice transplanter 10 receives the PTO stop command, it switches the planting clutch to "off" and stops the planting operation by the planting unit 34.

[0078] The speed increase button 232 is an operation unit that increases the vehicle speed of the rice transplanter 10 while it is automatically traveling. When the operator presses the speed increase button 232 while the rice transplanter 10 is automatically traveling, the output processing unit 212 outputs a speed increase instruction to the rice transplanter 10. When the rice transplanter 10 acquires the speed increase instruction, it increases the vehicle speed. Each time the speed increase button 232 is pressed, the rice transplanter 10 increases the vehicle speed in stages. Furthermore, when the speed increase button 232 is pressed and held down, the rice transplanter 10 continuously increases the vehicle speed while the button is being pressed and held down (long press period).

[0079] The deceleration button 233 is an operation unit that slows down the vehicle speed of the rice transplanter 10 while it is automatically traveling. When the operator presses the deceleration button 233 while the rice transplanter 10 is automatically traveling, the output processing unit 212 outputs a deceleration instruction to the rice transplanter 10. When the rice transplanter 10 acquires the deceleration instruction, it slows down the vehicle speed. Each time the deceleration button 233 is pressed, the rice transplanter 10 gradually slows down the vehicle speed. Furthermore, when the deceleration button 233 is pressed and held down, the rice transplanter 10 continuously slows down the vehicle speed while the button is being pressed and held down (long press period).

[0080] The four operation units 23, namely, the increase speed button 232, the decrease speed button 233, the PTO off button 234, and the pause button 235, are arranged in two vertical rows and two horizontal rows on the upper side of the front surface of the main body of the operation device 20, and are located at the four vertices of a rectangle. The increase speed button 232 is located at the top right, the decrease speed button 233 is located at the top left, the PTO off button 234 is located at the bottom right, and the pause button 235 is located at the bottom left. In the 2x2 arrangement, the positions of the increase speed button 232, the decrease speed button 233, the PTO off button 234, and the pause button 235 are not limited to those shown in FIG. 4.

[0081] Furthermore, the functions assigned to the four operation units 23 are not limited to the functions shown in Fig. 4, and other functions may be assigned to each of them. Examples of other functions include raising and lowering the work machine, increasing and decreasing the engine speed, offsetting the traveling position during automatic traveling, and registering a reference point when generating a target route.

[0082] The emergency stop button 236 is an operation unit that stops the rice transplanter 10 during automatic travel. The emergency stop button 236 is disposed on the lower side (below the four operation units 23) on the front side of the main body of the operation device 20. The emergency stop button 236 may also be disposed on the upper side of the main body.

[0083] When the operator presses the emergency stop button 236 while the rice transplanter 10 is automatically traveling, the output processing unit 212 outputs an instruction to stop automatic traveling to the rice transplanter 10. When the rice transplanter 10 receives the instruction to stop automatic traveling, it stops the engine 131 and stops automatic traveling and operation. As described above, the emergency stop button 236 is assigned an emergency stop function, unlike the pause function of the pause button 235. Therefore, when the emergency stop button 236 is pressed, the engine of the rice transplanter 10 is stopped. Therefore, to resume automatic traveling and operation, the operator must get into the rice transplanter 10, start the engine 131, and perform the operation to start automatic traveling again. As described above, when the emergency stop button 236 is pressed, the operation device 20 prohibits the operator from resuming automatic traveling from a remote location. Therefore, the operator must go to the location of the rice transplanter 10, confirm that the area around the rice transplanter 10 is safe, and then perform the operation to resume automatic traveling.

[0084] Here, a function different from the functions assigned to each operation unit 23 is assigned to a combination of two of the four operation units 23. For example, a forward travel function is assigned to a combination of the speed increase button 232 and the speed decrease button 233, a reverse travel function is assigned to a combination of the PTO off button 234 and the pause button 235, a right turn (right steering) function is assigned to a combination of the speed increase button 232 and the PTO off button 234, and a left turn (left steering) function is assigned to a combination of the speed decrease button 233 and the pause button 235.

[0085] The functions assigned to the combination of these two operation units 23 are executed, for example, when the two operation units 23 are pressed simultaneously. Specifically, when the operator presses the speed increase button 232 and the speed decrease button 233 simultaneously while the automatic travel of the rice transplanter 10 is paused, the output processing unit 212 outputs a forward travel instruction to the rice transplanter 10. The travel processing unit 111 causes the rice transplanter 10 to travel forward in accordance with the forward travel instruction. Furthermore, when the operator presses the PTO off button 234 and the pause button 235 simultaneously while the automatic travel of the rice transplanter 10 is paused, the output processing unit 212 outputs a reverse travel instruction to the rice transplanter 10. The travel processing unit 111 causes the rice transplanter 10 to travel backward in accordance with the reverse travel instruction.

[0086] Furthermore, when the operator simultaneously presses the speed increase button 232 and the PTO off button 234 while the automatic travel of the rice transplanter 10 is temporarily stopped, the output processing unit 212 outputs a travel start instruction and a right turn instruction to the rice transplanter 10. The travel processing unit 111 causes the rice transplanter 10 to start traveling in a right turn in accordance with the right turn instruction. Furthermore, when the operator simultaneously presses the deceleration button 233 and the pause button 235 while the automatic travel of the rice transplanter 10 is temporarily stopped, the output processing unit 212 outputs a travel start instruction and a left turn instruction to the rice transplanter 10. The travel processing unit 111 causes the rice transplanter 10 to start traveling in a left turn in accordance with the left turn instruction.

[0087] In order to make it easier for the operator to understand the functions that are executed by simultaneously pressing two operating units 23, identification frames A1 to A4 (see Figure 4) that surround the two operating units 23 that correspond to the combination, and the names of the functions that correspond to the combination ("forward", "backward", "right turn", and "left turn" in Figure 4) may be displayed on the front of the main body of the operating device 20.

[0088] As described above, the operating device 20 can accept operations of each operating unit 23 by an operator at a location away from the rice transplanter 10, output operation instructions corresponding to the operations to the rice transplanter 10, and operate the rice transplanter 10.

[0089] The operating device 20 may also be equipped with a communication display unit that shows the communication status with the rice transplanter 10, an abnormality display unit (LED) that lights up when the rice transplanter 10 detects an obstacle or when some kind of malfunction occurs in the rice transplanter 10, and the like.

[0090] Furthermore, a charging terminal 260 (see FIG. 6) may be provided on the bottom surface of the operation device 20. For example, as shown in FIG. 5, the operation device 20 can be stored in a storage section 50 attached to the connecting frame 18b of the rice transplanter 10. As shown in FIG. 6, the storage section 50 has a power supply terminal 51 on the inner bottom surface, and a cable 52 that supplies power to the battery of the rice transplanter 10 is connected to the power supply terminal 51. Therefore, when the operation device 20 is stored in the storage section 50, the battery of the operation device 20 can be charged by connecting the charging terminal 260 and the power supply terminal 51, as shown in FIG. 6. By storing the operation device 20 in the storage section 50 while riding on the rice transplanter 10, the operator can charge the operation device 20 and prevent the operation device 20 from being lost.

[0091] [Adjustment function by pressing simultaneously] As described above, when the operator simultaneously presses multiple operation units 23 (two operation units 23 in this embodiment), the operation device 20 can cause the rice transplanter 10 to execute a function different from the function assigned to each operation unit 23. Furthermore, the operation device 20 is equipped with a configuration (adjustment function) that can cause the rice transplanter 10 to execute a specific operation (adjustment operation) by performing a specific operation on the multiple operation units 23 that have been simultaneously pressed. For example, the operation device 20 can adjust the vehicle speed of the rice transplanter 10, adjust the travel distance when traveling, and adjust the steering amount when steering. Specific examples of the adjustment function will be described below.

[0092] 7A and 7B are timing charts showing an example of an operation method for adjusting the vehicle speed. 7A and 7B show a deceleration button 233 and an acceleration button 232 as an example of a combination of two operation units 23, and show the ON / OFF timing of each operation button.

[0093] For example, as shown in FIG. 7A, if the operator simultaneously presses the speed increase button 232 and the speed decrease button 233 while the rice transplanter 10 is temporarily halting automatic travel (for example, if the operator presses the speed increase button 232 within a predetermined time (time t2) after pressing the speed decrease button 233 (time t1)), the operation control unit 21 accepts the simultaneous pressing operation and outputs a forward travel instruction to the rice transplanter 10. As a result, the rice transplanter 10 starts traveling forward. While the simultaneous pressing operation continues, that is, while both the speed increase button 232 and the speed decrease button 233 are in the ON state (times t2 to t3), the operation control unit 21 continues to output the forward travel instruction to the rice transplanter 10. As a result, the rice transplanter 10 continues traveling forward.

[0094] Here, when the operator releases the speed increase button 232 at time t3, that is, when the speed increase button 232 changes from the ON state to the OFF state, the operation control unit 21 starts measuring time. Then, when the speed increase button 232 changes to the ON state again within a set time after the speed increase button 232 changes to the OFF state (time t4), the operation control unit 21 increases the vehicle speed of the rice transplanter 10 traveling forward.

[0095] In addition, if the speed-up button 232 is not turned ON again within the set time after the speed-up button 232 is turned OFF, that is, if only the speed-down button 233 remains pressed for a predetermined time, the operation control unit 21 stops the rice transplanter 10 from moving forward.

[0096] 7B, when the operator releases the deceleration button 233 at time t3, that is, when the deceleration button 233 changes from the ON state to the OFF state, the operation control unit 21 starts measuring time. Then, when the deceleration button 233 changes to the ON state again within a set time after the OFF state (time t4), the operation control unit 21 decelerates the vehicle speed of the rice transplanter 10 traveling forward.

[0097] In addition, if the deceleration button 233 is not turned ON again within the set time after it is turned OFF, that is, if only the acceleration button 232 is pressed for a predetermined time, the operation control unit 21 stops the rice transplanter 10 from moving forward.

[0098] In this way, when the speed increase button 232 and the speed decrease button 233 are pressed simultaneously, the operation control unit 21 outputs a forward travel instruction to the rice transplanter 10, and when the speed increase button 232 or the speed decrease button 233 is turned OFF or ON, the operation control unit 21 outputs a vehicle speed adjustment instruction (speed increase instruction or speed decrease instruction) to the rice transplanter 10. This allows the operator to use the two operation units 23 to adjust the vehicle speed while driving the rice transplanter 10 forward.

[0099] In another embodiment, the operation control unit 21 may continue forward travel when the operator turns off one of the speed increase button 232 and the speed decrease button 233 after the rice transplanter 10 has started forward travel by simultaneously pressing the speed increase button 232 and the speed decrease button 233. For example, after the operator simultaneously presses the speed increase button 232 and the speed decrease button 233 to start forward travel of the rice transplanter 10, if the operator turns off the speed increase button 232, the operation control unit 21 continues to output a forward travel instruction to the rice transplanter 10. This allows the operator to continue forward travel even if he or she releases (turns off) one of the operation units 23 after forward travel has been started by the simultaneous pressing operation. Note that if the operator further turns off the speed decrease button 233 so that both the speed increase button 232 and the speed decrease button 233 are in the OFF state, the operation control unit 21 outputs a stop instruction to the rice transplanter 10.

[0100] The operation control unit 21 may be capable of switching whether to continue forward travel when one of the operation units 23 is released. Specifically, the operation control unit 21 may be capable of switching the method of outputting an operational instruction between a first output mode and a second output mode. In the first output mode, when an operation to change one of the operation units 23 from the ON state to the OFF state is received after a simultaneous pressing operation is received, the operation control unit 21 continues to output a forward travel instruction to the rice transplanter 10. In the second output mode, when an operation to change one of the operation units 23 from the ON state to the OFF state is received after a simultaneous pressing operation is received, the operation control unit 21 stops outputting a forward travel instruction to the rice transplanter 10. As a result, when the first output mode is set, the operator can continue forward travel by continuing to press one of the operation units 23, thereby improving operability. On the other hand, when the second output mode is set, the operator can stop forward travel by releasing one of the operation units 23, thereby improving safety.

[0101] Here, we will explain specific examples of methods for adjusting the operation of the rice transplanter 10. The adjustment methods include a method for adjusting the operation of the rice transplanter 10 by a short press operation (adjustment method 1) and a method for adjusting the operation of the rice transplanter 10 by a long press operation (adjustment method 2).

[0102] [Adjustment method 1] 8A and 8B show a specific example of vehicle speed adjustment method 1. As shown in FIG. 8A, the operation control unit 21 increases the vehicle speed with each short press operation. The amount of speed increase (speed increase width) is preset, and the operation control unit 21 outputs a speed increase instruction to the rice transplanter 10 to increase the vehicle speed by the preset speed increase amount with each short press operation received from the operator after a simultaneous press operation. In the example shown in FIG. 8A, the operator performs a simultaneous press operation (times t2 to t3) followed by three short press operations (an operation from times t4 to t5, an operation from times t6 to t7, and an operation from times t8 to t9). The operation control unit 21 outputs a speed increase instruction to the rice transplanter 10 with each short press operation, and the rice transplanter 10 increases the vehicle speed by the speed increase amount each time. Note that from time t9 onwards, the rice transplanter 10 continues forward travelling while maintaining the vehicle speed after the three speed increases.

[0103] As shown in FIG. 8B, the operation control unit 21 decelerates the vehicle speed with each short press operation. The deceleration amount (deceleration width) is set in advance, and the operation control unit 21 outputs a deceleration instruction to the rice transplanter 10 to decelerate the vehicle speed by the preset deceleration amount for each short press operation received from the operator after a simultaneous press operation. In the example shown in FIG. 8B, the operator performs two short press operations (an operation from times t4 to t5 and an operation from times t6 to t7) after the simultaneous press operation (times t2 to t3). The operation control unit 21 outputs a deceleration instruction to the rice transplanter 10 with each short press operation, and the rice transplanter 10 decelerates the vehicle speed by the deceleration amount each time. Note that from time t7 onwards, the rice transplanter 10 continues forward travelling while maintaining the vehicle speed after the two decelerations.

[0104] 8B, for example, when the operator briefly presses the speed increase button 232 between times t8 and t9, the operation control unit 21 outputs a speed increase instruction to the rice transplanter 10. In this case, the rice transplanter 10 decelerates twice and then increases its speed once, and continues traveling forward while maintaining the vehicle speed after the increase.

[0105] As described above, in the adjustment method 1, the operation control unit 21 outputs a vehicle speed change instruction to the rice transplanter 10 in response to the short press operation. The rice transplanter 10 changes the vehicle speed during forward travel in stages in response to the number of short press operations.

[0106] [Adjustment method 2] 9A and 9B show a specific example of vehicle speed adjustment method 2. As shown in Fig. 9A, the operation control unit 21 increases the vehicle speed in response to a long press operation. When the operation control unit 21 receives a long press operation after a simultaneous press operation from the operator, it outputs to the rice transplanter 10 an increase instruction to increase the vehicle speed by an amount of increase corresponding to the operation time (long press duration) of the long press operation.

[0107] In the example shown in FIG. 9A, the operator performs a simultaneous pressing operation (from time t2 to t3) and then a long pressing operation of the speed increase button 232 (from time t4 to t5). Therefore, the operation control unit 21 starts outputting a speed increase instruction to the rice transplanter 10, for example, at the time when it determines that a long pressing operation has occurred (a predetermined time has elapsed since time t4), and continues outputting the speed increase instruction until time t5. The rice transplanter 10 continuously (proportionally) increases its vehicle speed while acquiring the speed increase instruction. When the operator releases the speed increase button 232 at time t5, the operation control unit 21 stops outputting the speed increase instruction. As a result, the rice transplanter 10 continues traveling forward at the vehicle speed at time t5.

[0108] Thereafter, at time t6, when the operator again performs a long press operation on the increase speed button 232 (operation from times t6 to t7), the operation control unit 21 outputs an increase speed instruction to the rice transplanter 10. The rice transplanter 10 continuously increases the vehicle speed while acquiring the increase speed instruction. When the operator releases the increase speed button 232 at time t7, the operation control unit 21 stops outputting the increase speed instruction. As a result, the rice transplanter 10 continues traveling forward at the vehicle speed at time t7.

[0109] In the example shown in FIG. 9B, the operator performs a simultaneous pressing operation (from time t2 to t3) and then a long pressing operation of the deceleration button 233 (from time t4 to t5). Therefore, the operation control unit 21 starts outputting a deceleration instruction to the rice transplanter 10, for example, at the time when it determines that a long pressing operation has occurred (a predetermined time has elapsed since time t4), and continues outputting the deceleration instruction until time t5. The rice transplanter 10 continuously (proportionally) decelerates its vehicle speed while acquiring the deceleration instruction. When the operator releases the deceleration button 233 at time t5, the operation control unit 21 stops outputting the deceleration instruction. As a result, the rice transplanter 10 continues traveling forward at the vehicle speed at time t5.

[0110] 9B, for example, when the operator presses and holds the speed increase button 232 from time t6 to time t7, the operation control unit 21 outputs a speed increase instruction to the rice transplanter 10. In this case, the rice transplanter 10 decelerates the vehicle speed in accordance with the time the deceleration button 233 is pressed and held, and then increases the vehicle speed in accordance with the time the speed increase button 232 is pressed and held, and continues forward traveling while maintaining the vehicle speed after the increase.

[0111] As described above, in the adjustment method 2, the operation control unit 21 outputs a vehicle speed change instruction to the rice transplanter 10 in response to the long press operation. The rice transplanter 10 continuously changes the vehicle speed during forward travel in response to the duration of the long press operation (long press time).

[0112] The adjustment methods 1 and 2 can be combined, and the operation control unit 21 outputs a speed change instruction to the rice transplanter 10 based on the short press operation and the long press operation performed by the operator after the simultaneous press operation. This allows the operator to adjust the vehicle speed with a small amount of movement (fine adjustment) or a large amount of movement while driving the rice transplanter 10 forward.

[0113] In the above example, the process of changing the vehicle speed during forward travel was shown, but the process of changing the vehicle speed during reverse travel can also be achieved in a similar manner. For example, when the operator simultaneously presses the PTO off button 234 and the pause button 235 (see FIG. 4), the operation control unit 21 outputs a reverse travel instruction to the rice transplanter 10. When the operator then performs a short press (adjustment method 1) or a long press (adjustment method 2) on the PTO off button 234, the operation control unit 21 outputs an increase in speed instruction to the rice transplanter 10. When the operator then performs a short press (adjustment method 1) or a long press (adjustment method 2) on the pause button 235, the operation control unit 21 outputs a deceleration instruction to the rice transplanter 10.

[0114] In another embodiment, the operation control unit 21 may execute a process for changing the vehicle speed during turning. For example, when the operator simultaneously presses the speed increase button 232 and the PTO off button 234, the operation control unit 21 outputs a right turn instruction to the rice transplanter 10. Thereafter, when the operator performs a short press (adjustment method 1) or a long press (adjustment method 2) on the speed increase button 232, the operation control unit 21 outputs a speed increase instruction to the rice transplanter 10. When the operator performs a short press (adjustment method 1) or a long press (adjustment method 2) on the PTO off button 234, the operation control unit 21 outputs a deceleration instruction to the rice transplanter 10.

[0115] For example, when the operator simultaneously presses the deceleration button 233 and the pause button 235, the operation control unit 21 outputs a left turn instruction to the rice transplanter 10, and then, when the operator briefly presses (adjustment method 1) or long presses (adjustment method 2) the deceleration button 233, the operation control unit 21 outputs an increase in speed instruction to the rice transplanter 10, and when the operator briefly presses (adjustment method 1) or long presses (adjustment method 2) the pause button 235, the operation control unit 21 outputs a deceleration instruction to the rice transplanter 10.

[0116] In another embodiment, the operation control unit 21 may execute a process for changing the steering amount during turning. For example, when the operator simultaneously presses the speed increase button 232 and the PTO off button 234, the operation control unit 21 outputs a right turn instruction to the rice transplanter 10. Thereafter, when the operator performs a short press (adjustment method 1) or a long press (adjustment method 2) on the speed increase button 232, the operation control unit 21 outputs an instruction to increase the steering amount to the rice transplanter 10. When the operator performs a short press (adjustment method 1) or a long press (adjustment method 2) on the PTO off button 234, the operation control unit 21 outputs an instruction to decrease the steering amount to the rice transplanter 10.

[0117] For example, when the operator simultaneously presses the deceleration button 233 and the pause button 235, the operation control unit 21 outputs a left turn instruction to the rice transplanter 10, and then, when the operator briefly presses (adjustment method 1) or long presses (adjustment method 2) the deceleration button 233, the operation control unit 21 outputs an instruction to increase the steering amount to the rice transplanter 10, and when the operator briefly presses (adjustment method 1) or long presses (adjustment method 2) the pause button 235, the operation control unit 21 outputs an instruction to decrease the steering amount to the rice transplanter 10.

[0118] [Operation Control Processing] An example of the operation control process executed by the operation device 20 will be described below with reference to FIG.

[0119] The present invention can be understood as an invention of an operation control method (one example of the operation method of the present invention) that executes one or more steps included in the operation control process. Furthermore, one or more steps included in the operation control process described here may be omitted as appropriate. The steps in the operation control process may be executed in a different order as long as the same effects are achieved. Furthermore, while the description here takes as an example a case where the operation control unit 21 executes each step in the operation control process, another embodiment of the operation control method can also be considered, in which one or more processors execute each step in the operation control process in a distributed manner.

[0120] In step S1, the operation control unit 21 determines whether or not it has received an operation to simultaneously press multiple operation units 23 from the operator. If the operation control unit 21 receives the simultaneous press operation (S1: Yes), it shifts the process to step S2. The operation control unit 21 waits until it receives the simultaneous press operation (S1: No). For example, if the operator simultaneously presses two of the four operation units 23 (see FIG. 4), that is, if both of the two operation units 23 are turned on within a predetermined time, the operation control unit 21 determines that it has received the simultaneous press operation.

[0121] Furthermore, when the operation control unit 21 does not accept the simultaneous pressing operation but accepts a pressing operation of one operation unit 23, it outputs operation information (operation instructions) corresponding to the function assigned to that operation unit 23 to the rice transplanter 10. For example, when the operator presses the speed increase button 232 while the rice transplanter 10 is automatically traveling, the operation control unit 21 outputs an instruction to increase speed to the rice transplanter 10, and when the operator presses the speed decrease button 233 while the rice transplanter 10 is automatically traveling, the operation control unit 21 outputs an instruction to decelerate to the rice transplanter 10.

[0122] In the following, as an example, a case will be described in which the operator simultaneously presses the speed increase button 232 and the speed decrease button 233 while the rice transplanter 10 is stopped.

[0123] In step S2, the operation control unit 21 outputs a forward travel instruction to the rice transplanter 10. As a result, the rice transplanter 10 starts traveling forward. Note that while the operator continues to press the speed increase button 232 and the speed decrease button 233, the operation control unit 21 continues to output the forward travel instruction to the rice transplanter 10, and the rice transplanter 10 continues traveling forward in accordance with the forward travel instruction.

[0124] Next, in step S3, the operation control unit 21 determines whether the increase speed button 232 has been turned off. For example, when the operator releases his / her hand from the increase speed button 232 out of the increase speed button 232 and deceleration button 233 that are in the ON state, the operation control unit 21 determines that the increase speed button 232 has been turned off. If the operation control unit 21 determines that the increase speed button 232 has been turned off (S3: Yes), the operation control unit 21 shifts the processing to step S4. On the other hand, if the operation control unit 21 determines that the increase speed button 232 has not been turned off (S3: No), the operation control unit 21 shifts the processing to step S31.

[0125] In step S31, the operation control unit 21 determines whether the deceleration button 233 has been turned OFF. For example, when the operator releases his / her hand from the deceleration button 233 of the increase speed button 232 and the deceleration button 233 that are in the ON state, the operation control unit 21 determines that the deceleration button 233 has been turned OFF. If the operation control unit 21 determines that the deceleration button 233 has been turned OFF (S31: Yes), the operation control unit 21 shifts the processing to step S32. On the other hand, if the operation control unit 21 determines that the deceleration button 233 has not been turned OFF (S31: No), the operation control unit 21 shifts the processing to step S3.

[0126] In this way, after accepting the simultaneous pressing operation, the operation control unit 21 determines whether the increase speed button 232 or the decrease speed button 233 has entered the OFF state (S3 and S31). If the operation control unit 21 determines that the increase speed button 232 has entered the OFF state after accepting the simultaneous pressing operation (S3: Yes), it executes the following processes of steps S4 to S6, and if the operation control unit 21 determines that the decrease speed button 233 has entered the OFF state after accepting the simultaneous pressing operation (S31: Yes), it executes the following processes of steps S32 to S34.

[0127] In step S4, the operation control unit 21 determines whether or not the increase speed button 232 has entered the ON state. For example, as shown in Fig. 7A, if the operator turns the increase speed button 232 OFF at time t3 and then turns the increase speed button 232 ON again at time t4, the operation control unit 21 determines that the increase speed button 232 has entered the ON state (S4: Yes), and proceeds to step S5.

[0128] On the other hand, when the operation control unit 21 determines that the speed-up button 232 is not in the ON state (S4: No), the operation control unit 21 shifts the processing to step S6.

[0129] In step S5, the operation control unit 21 outputs a speed increase instruction to the rice transplanter 10. When the rice transplanter 10 receives the speed increase instruction, it increases the vehicle speed. Here, the operation control unit 21 outputs the speed increase instruction to the rice transplanter 10 according to the operation method by the operator. For example, when the operator briefly presses the speed increase button 232 (see FIG. 8A), the operation control unit 21 outputs a speed increase instruction to the rice transplanter 10 to increase the vehicle speed by a predetermined speed increase amount (speed increase width) (see [Adjustment method 1]). As a result, the rice transplanter 10 slightly increases the vehicle speed of forward travel.

[0130] Furthermore, for example, when the operator presses and holds the speed increase button 232 (see FIG. 9A), the operation control unit 21 outputs to the rice transplanter 10 a speed increase instruction to increase the vehicle speed by an amount of increase (speed increase width) corresponding to the time of the long press operation (long press period) (see [Adjustment method 2]). As a result, the rice transplanter 10 continuously increases the forward traveling vehicle speed during the long press operation.

[0131] After step S5, the operation control unit 21 shifts the process to step S3. The operation control unit 21 increases the forward vehicle speed every time it receives a short press or a long press of the speed increase button 232 (S3 to S5).

[0132] In step S6, the operation control unit 21 determines whether the deceleration button 233 has been turned OFF. For example, when the operator releases the speed increase button 232 and then the speed decrease button 233, the operation control unit 21 determines that both the speed increase button 232 and the speed decrease button 233 have been turned OFF. When the operation control unit 21 determines that the speed decrease button 233 has been turned OFF (S6: Yes), the operation control unit 21 shifts the processing to step S7.

[0133] On the other hand, when the operation control unit 21 determines that the deceleration button 233 is not in the OFF state (S6: No), it shifts the processing to step S4. In this case, since the deceleration button 233 remains in the ON state, the operation control unit 21 continues to output a forward travel instruction to the rice transplanter 10, and the rice transplanter 10 continues to travel forward.

[0134] In step S7, the operation control unit 21 outputs a stop instruction to the rice transplanter 10. That is, when the operator releases both the speed increase button 232 and the speed decrease button 233, the operation control unit 21 determines that both the speed increase button 232 and the speed decrease button 233 have become OFF, and outputs a stop instruction to the rice transplanter 10. When the stop instruction is output, the rice transplanter 10 stops forward travel.

[0135] On the other hand, if the deceleration button 233 is turned OFF after accepting the simultaneous pressing operation (S31: Yes), in step S32, the operation control unit 21 determines whether or not the deceleration button 233 is turned ON. For example, as shown in Fig. 7B, if the operator turns the deceleration button 233 OFF at time t3 and then turns the deceleration button 233 ON again at time t4, the operation control unit 21 determines that the deceleration button 233 is turned ON (S32: Yes), and shifts the process to step S33.

[0136] On the other hand, when the operation control unit 21 determines that the deceleration button 233 is not in the ON state (S32: No), the operation control unit 21 shifts the processing to step S34.

[0137] In step S33, the operation control unit 21 outputs a deceleration instruction to the rice transplanter 10. When the rice transplanter 10 receives the deceleration instruction, it decelerates the vehicle speed. Here, the operation control unit 21 outputs the deceleration instruction to the rice transplanter 10 in accordance with the operation method performed by the operator. For example, when the operator briefly presses the deceleration button 233 (see FIG. 8B), the operation control unit 21 outputs a deceleration instruction to the rice transplanter 10 to decelerate the vehicle speed by a predetermined deceleration amount (deceleration width) (see [Adjustment method 1]). As a result, the rice transplanter 10 slightly reduces the vehicle speed during forward travel.

[0138] Furthermore, for example, when the operator presses and holds the deceleration button 233 (see FIG. 9B), the operation control unit 21 outputs a deceleration instruction to the rice transplanter 10 to decelerate the vehicle speed by a deceleration amount (deceleration width) corresponding to the time of the long press operation (long press period) (see [Adjustment method 2]). As a result, the rice transplanter 10 continuously decelerates the forward traveling vehicle speed during the long press operation.

[0139] After step S33, the operation control unit 21 shifts the process to step S3. The operation control unit 21 decelerates the forward vehicle speed every time it receives a short press or a long press of the deceleration button 233 (S31 to S33).

[0140] In step S34, the operation control unit 21 determines whether the increase speed button 232 has been turned off. For example, if the operator releases his / her hand from the deceleration button 233 and then from the increase speed button 232, the operation control unit 21 determines that both the increase speed button 232 and the deceleration button 233 have been turned off. When the operation control unit 21 determines that the increase speed button 232 has been turned off (S34: Yes), the operation control unit 21 shifts the processing to the above-mentioned step S7.

[0141] On the other hand, when the operation control unit 21 determines that the speed increase button 232 is not in the OFF state (S34: No), it shifts the processing to step S32. In this case, since the speed increase button 232 remains in the ON state, the operation control unit 21 continues to output a forward travel instruction to the rice transplanter 10, and the rice transplanter 10 continues to travel forward.

[0142] As described above, after the simultaneous pressing operation, when the operation control unit 21 changes the speed increase button 232 from the ON state to the OFF state while keeping the speed decrease button 233 in the ON state, and then receives an operation to change the speed increase button 232 from the OFF state to the ON state, the operation control unit 21 outputs an increase in speed instruction to the rice transplanter 10 to increase the vehicle speed, and when the operation control unit 21 changes the speed increase button 233 from the ON state to the OFF state while keeping the speed increase button 232 in the ON state after the simultaneous pressing operation, and then receives an operation to change the speed decrease button 233 from the OFF state to the ON state, the operation control unit 21 outputs a deceleration instruction to the rice transplanter 10 to decelerate the vehicle speed.

[0143] In addition, the operation control unit 21 executes a process (operation control process) of outputting to the rice transplanter 10 an operation instruction corresponding to the simultaneous press operation and an operation instruction corresponding to the operation after the operation instruction (short press operation, long press operation).

[0144] As described above, the operation device 20 according to this embodiment is a device (e.g., a remote control) that includes multiple operation units 23 that receive instructions from a user (operator) to cause a work machine (e.g., rice transplanter 10) to perform a predetermined operation. Furthermore, when the operation device 20 receives a simultaneous press operation (an example of a first operation of the present invention) that turns both a first operation unit 23 and a second operation unit 23 of the multiple operation units 23 to the ON state, the operation device 20 outputs a first operation instruction to the work machine. Furthermore, when the operation device 20 receives, after the first operation, a second operation (short press operation, long press operation) that turns one of the first operation unit 23 and the second operation unit 23 from the ON state to the OFF state while keeping the other operation unit 23 in the ON state, and then turns the other operation unit 23 from the OFF state to the ON state, the operation device 20 outputs a second operation instruction, different from the first operation instruction, to the work machine.

[0145] According to the above configuration, the operation device 20 can change (adjust) the traveling speed by, for example, starting the work machine by pressing two operation units 23 simultaneously, and then performing a short press or long press on one of the operation units 23. In this way, an operation instruction issued by the simultaneous press operation and an operation instruction different from the operation instruction can be output to the work machine using the same operation unit 23, and the amount of operation can be adjusted by a predetermined operation method for the operation units 23, making it possible to improve the operability of the operation device 20 that operates the work machine.

[0146] [Other embodiments] In the above-described embodiment, the operation instruction (first operation instruction) given to the rice transplanter 10 when a simultaneous press operation is received and the operation instruction (second operation instruction) given to the rice transplanter 10 when a short press operation or a long press operation is received after the simultaneous press operation are instructions for different operation targets. For example, in the above example, when the first operation instruction is a travel instruction for the rice transplanter 10 (operation target), the second operation instruction is a vehicle speed change instruction for the vehicle speed (operation target). Also, when the first operation instruction is a turning instruction for the turning (operation target), the second operation instruction is a vehicle speed change instruction for the vehicle speed (operation target) or an instruction to increase or decrease the steering amount (operation target). As another example, when the first operation instruction is a travel instruction, the second operation instruction may be an instruction to lift or lower a work implement. Also, when the first operation instruction is a travel instruction, the second operation instruction may be an instruction to offset the travel position to the left or right. Also, when the first operation instruction is a travel instruction, the second operation instruction may be an instruction to change the engine rotation speed.

[0147] In contrast, in another embodiment of the present invention, the first operation instruction and the second operation instruction may be instructions for the same operation target. Furthermore, the second operation instruction may be an instruction to operate the operation target by an amount of operation that is smaller than the amount of operation corresponding to the first operation instruction. For example, the first operation instruction and the second operation instruction may both be travel instructions for the rice transplanter 10 (operation target). In this case, for example, when the operation control unit 21 receives a simultaneous press of the increase speed button 232 and the decrease speed button 233 from the operator, it outputs a forward travel instruction to the rice transplanter 10, and when the increase speed button 232 is subsequently released and turned OFF, it outputs a stop instruction to the rice transplanter 10, and when the operation control unit 21 subsequently receives a short press of the increase speed button 232, it outputs a forward travel instruction to the rice transplanter 10 to travel forward a preset distance. This allows the operator to make fine positioning adjustments, for example, by pressing the buttons simultaneously to move the rice transplanter 10 forward to the vicinity of the ridge, and then by repeating short presses, move the rice transplanter 10 forward little by little to a predetermined position at the edge of the ridge.

[0148] As another example, the first operation instruction and the second operation instruction may both be instructions to raise and lower the working implement 14 (the operation target). In this case, for example, when the operation control unit 21 receives a simultaneous press of the speed increase button 232 and the speed decrease button 233 from the operator, it outputs an instruction to lower the working implement 14 to the rice transplanter 10, and when the operator subsequently releases the speed increase button 232 to turn it OFF, it outputs an instruction to stop the raising and lowering of the working implement 14 to the rice transplanter 10, and when the operation control unit 21 subsequently receives a short press of the speed increase button 232, it outputs a lowering instruction to the rice transplanter 10 to lower the working implement 14 by a preset movement amount. This allows the operator to make fine position adjustments, for example, by simultaneously pressing the buttons to lower the working implement 14 to near the surface of the rice field, and then by repeatedly performing the short presses to gradually lower the working implement 14 and move it to a predetermined position on the surface of the rice field.

[0149] [Other examples of functions of operation unit 23] The functions of each operation unit 23 are not limited to those of the above-described embodiment. As shown in Fig. 11, the operation device 20 of the present invention can be represented as a device including operation units 61 to 64 to which different functions A to D are assigned. The functions A to D may be the functions shown in Fig. 4 or other functions.

[0150] Furthermore, the function that can be operated to operate the work machine (rice transplanter 10) by simultaneously pressing two of the operation units 61 to 64 may be any of a plurality of patterns shown in FIG.

[0151] For example, the first pattern shown in Fig. 12 corresponds to the above-described embodiment (see Fig. 4). Specifically, when the operator simultaneously presses the operation unit 61 (button A) and the operation unit 62 (button B), the operation control unit 21 outputs a forward travel instruction to the rice transplanter 10. When the operator simultaneously presses the operation unit 63 (button C) and the operation unit 64 (button D), the operation control unit 21 outputs a backward travel instruction to the rice transplanter 10. When the operator simultaneously presses the operation unit 62 (button B) and the operation unit 64 (button D), the operation control unit 21 outputs a right turn instruction to the rice transplanter 10. When the operator simultaneously presses the operation unit 61 (button A) and the operation unit 63 (button C), the operation control unit 21 outputs a left turn instruction to the rice transplanter 10. In addition, when the operator presses operation unit 61 (button A) and operation unit 64 (button D) simultaneously, the operation control unit 21 outputs an instruction to raise the work implement 14 to the rice transplanter 10, and when the operator presses operation unit 62 (button B) and operation unit 63 (button C) simultaneously, the operation control unit 21 outputs an instruction to lower the work implement 14 to the rice transplanter 10.

[0152] As another example, functions shown in patterns 2, 3, and 4 may be assigned to combinations of simultaneous pressing of the operation units. Furthermore, in addition to the patterns shown in Fig. 12, patterns of functions required in transplantation work may be assigned to combinations of simultaneous pressing of the operation units.

[0153] The operation control unit 21 may accept an operation from the operator to select one of the first to fourth patterns as a function corresponding to a combination of simultaneous pressing operations, and set the selected pattern. The operator may be able to switch between the first to fourth patterns as appropriate.

[0154] The automatic driving system 1 may also include an operation terminal (for example, a tablet terminal) for performing various setting operations. The operation terminal performs, for example, registration processing of the field F, registration processing of the work vehicle, registration processing of the work implement, generation processing of the target route, setting processing of the driving information, etc. in response to operations by the operator. The operation terminal can also remotely control the operation of the rice transplanter 10 by accepting various operations that can be performed by the operation device 20, such as starting and stopping automatic driving. The operation terminal can also display the status during automatic driving on a display unit.

[0155] [Notes on the Invention] The following is a summary of the invention extracted from the embodiments. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0156] <Appendix 1> An operation device having a plurality of operation units that receive instructions from a user to cause a work machine to perform a predetermined operation, outputting a first operation instruction to the work machine when a first operation that turns both a first operation unit and a second operation unit of the plurality of operation units to an ON state is received; after the first operation, one of the first operation unit and the second operation unit is changed from an ON state to an OFF state while the other operation unit is maintained in an ON state, and then, when a second operation is received that changes the other operation unit from an OFF state to an ON state, a second operation instruction different from the first operation instruction is output to the work machine. Operating device.

[0157] <Appendix 2> The second operation is an operation of, after the first operation, changing one of the operation units from an ON state to an OFF state while maintaining the other operation unit in an ON state, and then changing the other operation unit from an ON state to an OFF state within a predetermined time after changing the other operation unit from an OFF state to an ON state. 10. The operating device of claim 1.

[0158] <Appendix 3> the first operation instruction and the second operation instruction are instructions to the same operation target, the second operation instruction is an instruction to operate the operation target by an amount of operation that is smaller than an amount of operation corresponding to the first operation instruction; 10. The operating device according to claim 2.

[0159] <Appendix 4> the first operation instruction and the second operation instruction are instructions for different operation targets, The second operation instruction is an instruction to operate the corresponding operation target by a predetermined operation amount. 10. The operating device according to claim 2.

[0160] <Appendix 5> The second operation is an operation of, after the first operation, changing the one operation unit from an ON state to an OFF state while maintaining the other operation unit in an ON state, and then changing the other operation unit from an OFF state to an ON state and maintaining the other operation unit in an ON state for more than a predetermined time. 5. The operating device according to any one of Supplementary Notes 1 to 4.

[0161] <Appendix 6> the first operation instruction and the second operation instruction are instructions for different operation targets, the second operation instruction is an instruction to operate the corresponding operation target by an amount of operation corresponding to a period of time during which the other operation unit is in an ON state exceeding the predetermined time. 6. The operating device according to claim 5.

[0162] <Appendix 7> When an operation to change the other operation unit from an ON state to an OFF state is received after the operation target has been operated by the operation amount, the operation target is maintained after the operation by the operation amount. 7. The operating device according to claim 6.

[0163] <Appendix 8> When the first operation is received, a travel instruction is output to the work machine, and when the second operation is received, a vehicle speed change instruction is output to the work machine. An operating device according to any one of Supplementary Notes 1 to 7.

[0164] <Appendix 9> outputting to the work machine a command to change the vehicle speed according to the period of time during which the second operation is in the ON state; 9. The operating device according to claim 8.

[0165] <Appendix 10> after the first operation, when the second operation is received, which changes the second operation unit from the ON state to the OFF state while maintaining the first operation unit in the ON state, and then changes the second operation unit from the OFF state to the ON state, an increase in speed instruction is output to the work machine to increase vehicle speed; after the first operation, the first operation unit is changed from an ON state to an OFF state while the second operation unit is maintained in an ON state, and thereafter, when the second operation that changes the first operation unit from an OFF state to an ON state is received, a deceleration command to decelerate the vehicle speed is output to the work machine. 10. The operating device according to claim 8 or 9.

[0166] <Appendix 11> an output method of the first operation instruction is switchable between a first output mode and a second output mode; In the first output mode, when an operation to change the other operation unit from an ON state to an OFF state is accepted after the second operation is accepted, the first operation instruction is continuously output to the work machine, In the second output mode, when an operation to change the other operation unit from an ON state to an OFF state is accepted after the second operation is accepted, output of the first operation instruction to the work machine is stopped. An operating device according to any one of Supplementary Notes 1 to 10.

[0167] <Appendix 12> A work machine that performs an operation in accordance with an operation instruction output from an operation device according to any one of Supplementary Notes 1 to 11. [Explanation of symbols]

[0168] 1:Automated driving system 10: Rice transplanter (working machine) 11: Vehicle control device 14: Work equipment 111: Driving processing unit 112: Lifting processing section 113: Vehicle speed control processing unit 114: Drive processing unit 20: Operating device 21: Operation control section 22: Storage section 23:Operation unit 211: Reception processing unit 212: Output processing section 213: Notification processing unit 231: Power button 232: Acceleration button (operation part) 233: Deceleration button (operation part) 234: PTO off button (operation part) 235: Pause button (operation part) 236: Emergency stop button

Claims

1. An operation device having a plurality of operation units that receive instructions from a user to cause a work machine to perform a predetermined operation, outputting a first operation instruction to the work machine when a first operation that turns both a first operation unit and a second operation unit of the plurality of operation units to an ON state is received; after the first operation, one of the first operation unit and the second operation unit is changed from an ON state to an OFF state while the other operation unit is maintained in an ON state, and then, when a second operation is received that changes the other operation unit from an OFF state to an ON state, a second operation instruction different from the first operation instruction is output to the work machine. Operating device.

2. The second operation is an operation of, after the first operation, changing one of the operation units from an ON state to an OFF state while maintaining the other operation unit in an ON state, and then changing the other operation unit from an ON state to an OFF state within a predetermined time after changing the other operation unit from an OFF state to an ON state. The operating device according to claim 1 .

3. the first operation instruction and the second operation instruction are instructions to the same operation target, the second operation instruction is an instruction to move the operation target by an amount of movement that is smaller than an amount of movement corresponding to the first operation instruction; The operating device according to claim 2 .

4. the first operation instruction and the second operation instruction are instructions for different operation targets, The second operation instruction is an instruction to operate the corresponding operation target by a predetermined operation amount. The operating device according to claim 2 .

5. The second operation is an operation of, after the first operation, changing the other operation unit from an ON state to an OFF state while maintaining the one operation unit in an ON state, and then changing the other operation unit from an OFF state to an ON state and maintaining the other operation unit in an ON state for more than a predetermined time. The operating device according to claim 1 .

6. the first operation instruction and the second operation instruction are instructions for different operation targets, the second operation instruction is an instruction to operate the corresponding operation target by an amount of operation corresponding to a period of time during which the other operation unit is in an ON state exceeding the predetermined time; The operating device according to claim 5 .

7. When an operation of changing the other operation unit from an ON state to an OFF state is accepted after the operation target has been operated by the operation amount, the operation target is maintained after the operation by the operation amount. The operating device according to claim 6.

8. when the first operation is received, a travel instruction is output to the work machine, and when the second operation is received, a vehicle speed change instruction is output to the work machine. The operating device according to claim 1 .

9. outputting, to the work machine, an instruction to change the vehicle speed in accordance with the period of the ON state in the second operation; The operating device according to claim 8.

10. after the first operation, the second operating unit is changed from an ON state to an OFF state while the first operating unit is maintained in an ON state, and thereafter, when the second operation of changing the second operating unit from an OFF state to an ON state is received, an increase in speed instruction to increase the vehicle speed is output to the work machine; after the first operation, the first operation unit is changed from an ON state to an OFF state while the second operation unit is maintained in an ON state, and thereafter, when the second operation of changing the first operation unit from an OFF state to an ON state is received, a deceleration command to decelerate the vehicle speed is output to the work machine. The operating device according to claim 8 or 9.

11. an output method of the first operation instruction is switchable between a first output mode and a second output mode; In the first output mode, when an operation to change the other operation unit from an ON state to an OFF state is accepted after the second operation is accepted, the first operation instruction is continuously output to the work machine, In the second output mode, when an operation to change the other operation unit from an ON state to an OFF state is accepted after the second operation is accepted, output of the first operation instruction to the work machine is stopped. The operating device according to claim 1 .

12. A work machine that performs an operation in accordance with an operation instruction output from an operation device according to any one of claims 1 to 11.

13. 1. An operation method for an operation device having a plurality of operation units that receive instructions from a user to cause a work machine to perform a predetermined operation, receiving operations from a user on the plurality of operation units; outputting a first operation instruction to the work machine when a first operation that turns both a first operation unit and a second operation unit of the plurality of operation units to an ON state is received; after the first operation, when a second operation is received in which one of the first operation unit and the second operation unit is changed from an ON state to an OFF state while the other operation unit is maintained in an ON state, and then the other operation unit is changed from an OFF state to an ON state, a second operation instruction different from the first operation instruction is output to the work machine; How to perform the operation.

14. An operation program for an operation device having a plurality of operation units that accepts instructions from a user to cause a work machine to perform a predetermined operation, receiving operations from a user on the plurality of operation units; outputting a first operation instruction to the work machine when a first operation that turns both a first operation unit and a second operation unit of the plurality of operation units to an ON state is received; after the first operation, when a second operation is received in which one of the first operation unit and the second operation unit is changed from an ON state to an OFF state while the other operation unit is maintained in an ON state, and then the other operation unit is changed from an OFF state to an ON state, a second operation instruction different from the first operation instruction is output to the work machine; An operating program for causing one or more processors to execute the above.

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