Work vehicles

Abstract

To make it easier for even inexperienced workers to adjust the work process compared to conventional techniques. [Solution] Question information is generated to confirm the work content set according to the condition of the crop and field determined based on the image captured by the camera (12c) and reference information, and the question information is displayed on the display unit (12b), making it easier for even inexperienced workers to adjust the work content compared to conventional technology.

Description

Technical Field

[0001] The present invention relates to a work vehicle that operates in a field.

Background Art

[0002] In work vehicles such as combines for harvesting crops and management machines for spraying agricultural chemicals and applying fertilizers, the work content (travel speed of the work vehicle and work speed of the work implement) is automatically set based on work information stored in a server. Although it is not a work vehicle, although the information on the current crops imaged by a camera has not been analyzed, a technique for processing image information with AI to determine the state of the photographed object is known (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] (Problems of the Prior Art) Conventional technology determines the state of an object from an image, and it is conceivable that the state of a crop can be determined from an image, and the work content (vehicle speed and machine speed) can be automatically set based on the determination result. However, in situations where it is difficult to determine from an image, such as when light rain has started and the crops are beginning to get wet, or when the field is muddy after rain and has not completely dried, the automatically set work content may be inappropriate, resulting in the vehicle speed or work speed being too fast or too slow, which can lead to driving problems (frequent slipping, etc.) or work problems (crops frequently getting caught or jammed, etc.). Therefore, in such cases, the operator needs to manually adjust the automatically set work content (vehicle speed and work speed). While manual adjustment is possible for skilled operators, it may be difficult for operators who have not worked in a long time or who are inexperienced to adjust the work content.

[0005] The technical objective of this invention is to make it easier for even inexperienced workers to adjust the work procedures compared to conventional techniques. [Means for solving the problem]

[0006] To solve the aforementioned technical problems, the invention described in claim 1 is a work vehicle (1) characterized by comprising: a vehicle body (2); work machines (13, 16) supported by the vehicle body (2) for performing work on a field; a seat (12a) on the vehicle body (2) where an operator sits; a display (12b) on which the operator seated in the seat (12a) displays information; a camera (12c) for photographing the outside of the vehicle body (2); and a control unit (100) that determines the state of the crops and the field based on an image of the field including the crops captured by the camera (12c) and reference information between the image and the state of the crops and the field, generates question information to confirm the work content set according to the determined state of the crops and the field with the operator, and displays the question information on the display (12b).

[0007] The invention described in claim 2 is a work vehicle (1) according to claim 1, characterized in that it comprises a control unit (100) that generates a second question information to confirm the condition of the crops and the field with the worker based on an image of the field including crops captured by the camera (12c) and reference information of the field, displays the second question information on the display unit (12b), and determines the condition of the crops and the field based on the answer input by the worker to the second question information.

[0008] The invention described in claim 3 is a work vehicle (1) according to claim 1, characterized in that it comprises a remote terminal (46) positioned at a location separate from the vehicle body (2) and capable of communicating with the vehicle body (2), the remote terminal (46) having a second display (46b) capable of displaying the question information generated by the control unit (100), and an input unit (46b) into which an operator of the remote terminal (46) can input an answer to the question information, and the control unit (100) that controls the vehicle body (2) and the work machines (13, 16) based on information transmitted from the remote terminal (46). [Effects of the Invention]

[0009] According to the invention described in claim 1, question information is generated to confirm the work content set according to the condition of the crop and field determined based on the image captured by the camera (12c) and reference information, and the question information is displayed on the display unit (12b), making it easier for even inexperienced workers to adjust the work content compared to the conventional technology.

[0010] According to the invention described in claim 2, in addition to the effects described in claim 1, a second set of question information is generated based on the image captured by the camera (12c) and reference information to allow the worker to confirm the condition of the crops and field. This second set of question information is displayed on the display unit (12b), and the worker's answers to the second set of question information are input. This allows the worker to actually visually confirm and answer questions about the condition of the crops and field, improving the accuracy of the condition of the crops and field, and making it easier to set appropriate work procedures.

[0011] According to the invention described in claim 3, in addition to the effects described in claim 1, a remote worker can perform verification from a remote location using a remote terminal (46), thereby improving work efficiency. [Brief explanation of the drawing]

[0012] [Figure 1] Figure 1 is a side view of a combine harvester, which is an example of a work vehicle according to an embodiment of the present invention. [Figure 2] Figure 2 is a front view of the work vehicle shown in Figure 1. [Figure 3] Figure 3 is a plan view of the work vehicle shown in Figure 1. [Figure 4] Figure 4 is a rear view of the work vehicle shown in Figure 1. [Figure 5] Figure 5 is an explanatory diagram of the main internal components of the threshing apparatus according to the embodiment. [Figure 6] Figure 6 is a functional block diagram of the control means of the embodiment. [Figure 7] Figure 7 is a schematic diagram illustrating the processing flow in the control means of the embodiment. [Modes for carrying out the invention]

[0013] Next, with reference to the drawings, specific examples of embodiments of the present invention will be described, but the present invention is not limited to the following embodiments. In describing the embodiments, the left and right directions relative to the forward direction of the aircraft will be referred to as left and right, respectively, the forward direction will be referred to as forward, and the reverse direction as backward. In the following explanation using diagrams, diagrams of components other than those necessary for the explanation have been omitted as appropriate for ease of understanding.

[0014] Embodiments of the present invention will be described below with reference to the drawings. Figure 1 is a side view of a combine harvester, which is an example of a work vehicle according to an embodiment of the present invention. Figure 2 is a front view of the work vehicle shown in Figure 1. Figure 3 is a plan view of the work vehicle shown in Figure 1. FIG. 4 is a rear view of the work vehicle shown in FIG. 1.

[0015] In FIGS. 1 to 4, as an example of the work vehicle according to the embodiment of the present invention, a combine 1 has a vehicle body 2. A pair of left and right traveling devices 11 are arranged below the vehicle body 2. The traveling device 11 of the embodiment is configured by, for example, a so-called crawler of an endless track. In the right front of the vehicle body 2, a cabin 12 is installed as an example of a boarding section where an operator can board. Inside the cabin 12, a seat 12a, a display monitor (an example of a display) 12b, input buttons, an operation lever (an example of an input member), and the like are installed. Further, above the cabin 12, a camera 12c capable of imaging a field or crops outside the vehicle body 2 is arranged.

[0016] In the front of the vehicle body 2, a harvesting device 13 (an example of a working machine, an example of a cutting device) for harvesting crops in the field is arranged. Behind the harvesting device 13, a conveying device 14 for conveying the harvested grains is arranged. Behind the conveying device 14, a threshing device (an example of a working machine, an example of a thresher) 16 for threshing the grains conveyed by the conveying device 14 is arranged. On the right side of the threshing device 16, a grain tank 17 (an example of a container) for storing the grains processed by the threshing device 16 is arranged. At the rear of the grain tank 17, a discharging device 18 for discharging the grains from the grain tank 17 to a container (not shown) of a truck outside the field is connected.

[0017] In the rear of the vehicle body 2, a straw discharging device 19 for discharging straw is arranged. The straw discharging device 19 of the embodiment is configured by a so-called dropper, which is a device capable of discharging the straw in a bundled state by temporarily storing the straw. That is, when the dropper function is operating, the straw can be discharged in a bundled state, and when the dropper function is stopped, the straw after harvesting is discharged as it is without being bundled.

[0018] In addition, in the combine 1 of the embodiment, a positioning unit 41 as an example of a positioning device is installed on the upper surface of the cabin 12. The positioning unit 41 incorporates a GNSS (Global Navigation Satellite System) receiver and an IMU (Inertial Measurement Unit). The GNSS receiver can receive positioning signals from the artificial satellite 42 and measure the current position of the combine 1. The IMU can measure acceleration and angular velocity and measure the attitude of the combine 1 (left - right inclination and front - back inclination). Therefore, by correcting the measurement result of the GNSS receiver with the IMU, the current position can be measured more accurately compared to the case of measuring the current position only by the GNSS method.

[0019] Therefore, the combine 1 of the embodiment can perform autonomous driving (automatic driving, unmanned driving) using GNSS, and it is also possible for an operator to board the cabin 12 and drive according to the operation (manual driving, manned driving). During autonomous driving, the operator who operates a tablet terminal 46, which is an example of a remote terminal capable of wireless communication with the combine 1, can be outside the combine 1 (outside or inside the field), or can board the cabin 12 while carrying the tablet terminal 46. The combine 1 and the tablet terminal 46 are configured to be able to communicate via a communication line 47. The communication line 47 can utilize any wireless line such as a telephone line, an Internet line, a LAN line, Bluetooth (registered trademark), or a wired line. A server 48, which is an example of an information processing device, is connected to the communication line 47. The server 48 can transmit and receive (communicate) information with the combine 1 and the tablet terminal 46.

[0020] FIG. 5 is an explanatory diagram of the main part inside the threshing device of the embodiment. In Figure 5, the threshing apparatus 16 of this embodiment has a threshing drum 52 rotatably supported in an upper threshing chamber 51. The grain stalks brought into the threshing chamber 51 are threshed by the threshing teeth 53 of the threshing drum 52, the threshed grains fall into a lower sorting chamber 54, and the threshed rice straw is sent to a straw discharge device 19 at the rear. Between the handling chamber 51 and the sorting chamber 54, multiple sieves 55 are arranged to sort the grains and straw by size as they pass from the handling chamber 51 to the sorting chamber 54. The sieves 55 can be rotated to adjust the width of the gap through which the grains and other materials pass (sieve opening).

[0021] A fan F, an example of a blower, is positioned at one horizontal end of the sorting chamber 54. The fan F separates the grain from the straw and other materials by blowing away lightweight straw, sand, and immature grains from the grain and straw that have passed through the sieve 55. In other words, the fan F performs wind separation, similar to a winnowing machine. At the bottom of the sorting chamber 54, a rocking sorting shelf 56 is positioned as an example of a sorting component. Above the rocking sorting shelf 56, a layer thickness sensor 58 is positioned to detect the amount of grain on the transfer shelf 57 of the rocking sorting shelf 56 as layer thickness. The grain that falls onto the rocking sorting shelf 56 is sorted and pebbles, straw, etc. are removed. Note that the threshing apparatus 16 shown in Figure 5 is conventionally known and is described in, for example, Japanese Patent Publication No. 2020-080750, so a detailed explanation is omitted.

[0022] (Description of the control unit) Figure 6 is a functional block diagram of the control means of the embodiment. In the block diagram of Figure 6, elements unrelated to the description of the embodiments of the present invention are omitted from the illustration and description. In Figure 6, the control unit (an example of a control means) 100 of the embodiment is composed of a small information processing device, a so-called microcomputer. Therefore, the control unit 100 can realize various functions by executing a program stored in ROM or the like.

[0023] The control unit 100 in this embodiment receives signals from the positioning unit 41, the camera 12c, the microphone (an example of an input component) B1 and the display monitor (an example of an input component) 12b inside the cabin 12, and signal output elements such as an operation panel (not shown) and various switches and buttons. The positioning unit 41 receives signals from a GNSS (Global Navigation Satellite System) satellite 42 to measure the vehicle's current position, and corrects this position using the vehicle's attitude measured by an inertial measuring device to determine the vehicle's current position. Camera 12c photographs the field, including the crops, outside the vehicle body 2. Microphone B1 collects sounds from inside cabin 12 (such as the worker's speech). The display monitor 12b is a so-called touch panel, allowing input based on the position of the finger touch.

[0024] The control unit 100 in this embodiment outputs control signals to controlled elements such as the traveling device 11, harvesting device 13, conveying device 14, threshing device 16, discharge device 18, straw discharge device 19, and display monitor 12b inside the cabin 12.

[0025] Figure 7 is a schematic diagram illustrating the processing flow in the control means of the embodiment. The control unit 100 of this embodiment has the following functional modules (program modules). The image information acquisition means 101 acquires the image captured by the camera 12c. The reference information acquisition means 102 acquires reference information stored in the image reference information storage means 201 of the server 48. In this embodiment, numerous images taken in various conditions, such as the amount of weeds, the degree of wetness of the field (whether the soil is dry or muddy, etc.), the type of crop (rice or wheat), the moisture level of the crop, the degree of maturity (color, grain size), and the degree of lodging, are pre-registered in the server 48 as reference information, associated with information that identifies the condition. For example, an image of a field with many weeds is registered in association with information that identifies the condition "many weeds," and images of immature and fully ripened crops are registered in association with information that identifies the crop conditions "immature" and "fully ripened," respectively. The reference information acquisition means 102 acquires the reference information through communication with the server 48.

[0026] The state determination means 103 determines the state of the crops and the field based on the image captured by the camera 12c and the reference information acquired by the reference information acquisition means 102. Therefore, the state determination means 103 determines (estimates) the state of the crops, such as the variety of the crops, the degree of moisture, the degree of maturity, and the degree of lodging, as well as the state of the field, such as the amount of weeds in the field and the degree of wetness.

[0027] The environmental information acquisition means 104 acquires environmental information stored in the environmental information storage means 202 of the server 48. In this embodiment, the environmental information pre-registered in the server 48 includes, for example, information such as the location of the field (latitude, longitude, etc.), the quality of the soil in the field (fertility, etc.), weather information such as the amount of sunshine and rainfall prior to the day of work, the history of temperature, the variety of crop transplanted to the field ("Koshihikari" or "Akitakomachi," etc.), and the type and amount of pesticides and fertilizers used. In other words, information that cannot be identified or is difficult to identify from the image of the camera 12c is registered in the server 48 as environmental information.

[0028] As an example of a means for generating second question information, the status confirmation question generation means 105 generates status confirmation questions (an example of second question information) to confirm the status of the crops and fields determined by the status determination means 103 with the worker. The status confirmation question generation means 105 of the embodiment generates status confirmation questions that can be answered with "yes" or "no". Furthermore, the status confirmation question generation means 105 of the embodiment generates status confirmation questions based on the determination result of the status determination means 103 and environmental information.

[0029] In this embodiment, status confirmation questions are generated for matters that need to be confirmed when setting work content regarding the condition of the field and the condition of the crops. For example, questions such as "The field has been determined to be dry. Is the field dry?", "The weather has been determined to be sunny. Is it currently raining?", "The crops have been determined to be dry. Are the crops dry?", and "The crops have been determined to be immature. Are the crops ripe?" are generated. It is also possible to generate status confirmation questions for all predetermined confirmation items, or to not generate questions for items where the determination result of the status determination means 103 matches the environmental information, that is, to make some or all confirmation items unnecessary to confirm. Therefore, it is also possible to have an embodiment in which no status confirmation questions are generated as a result.

[0030] The status confirmation question generation means 105 of the embodiment then displays the generated status confirmation questions on the display monitor 12b. In the embodiment, if status confirmation questions are generated for multiple confirmation items, the status confirmation question for each confirmation item is displayed on the display monitor 12b. Therefore, the first status confirmation question is displayed on the display monitor 12b, and once an answer is given to that status confirmation question, the status confirmation question for the next confirmation item is displayed on the display monitor 12b. Furthermore, the notification method is not limited to displaying information on the display monitor 12b; it is also possible to notify the worker via voice guidance.

[0031] Furthermore, in this embodiment, if the tablet terminal 46 is in a mode (guidance mode) that allows remote operation and remote monitoring (remote confirmation) of the combine harvester 1, the control unit 100 transmits information to the tablet terminal 46 so that a status confirmation question is also displayed on the tablet terminal 46's touch panel (an example of a second display and an example of an input unit) 46b.

[0032] The status confirmation response acquisition means 106 acquires the input results of the worker's response to the status confirmation question displayed on the display monitor 12b. In this embodiment, the response content ("yes" or "no") is acquired based on the input to the display monitor 12b in response to the status confirmation question. It is not limited to input to the display monitor 12b, but it is also possible to acquire the response content ("yes" or "no") by speaking into the microphone B1. Furthermore, if the guidance mode is on, the response content transmitted from the tablet terminal 46 is also acquired as a response. Therefore, the worker can actually see and confirm the condition of the field and crops, or see the image from the camera 12c and then answer. In this embodiment, the response content acquired by the status confirmation response acquisition means 106 is used as the determination result of the condition of the crops and field.

[0033] The work information acquisition means 107 acquires work information stored in the work information storage means 203 of the server 48. In this embodiment, the work content includes, for example, the travel speed of the vehicle body 2 during work, the operating speed of the harvesting device 13, the conveying device 14, the threshing device 16, the straw discharge device 19, the pulling speed at which the harvesting device 13 pulls up the crops, the cutting height at which the crops are cut, the threshing depth which is the position of the grain stalks brought into the threshing chamber 51 of the threshing device 16, the response speed of the threshing depth which finely adjusts the threshing depth according to individual differences in grain stalks, the rotation speed of the threshing drum 52, the front-to-back position of the threshing drum 52, the airflow of the fan F, the sieve opening, etc. Optimal work content (such as setting the travel speed) is pre-registered and associated with various conditions of the crops and fields.

[0034] The work content generation means 108 generates the work content to be performed by the combine harvester 1 based on the work content information acquired by the work information acquisition means 107 and the results of the determination of the crop and field conditions identified by the answers to the condition confirmation questions. The work content generation means 108 generates the work content (setting of travel speed, etc.) by selecting the recommended (optimal) work content, such as setting the travel speed, according to the crop and field conditions.

[0035] As an example of the first question information generation means, the work confirmation question generation means 109 generates work confirmation questions (examples of question information) that confirm the work content set according to the state of the crop and field determined by the state determination means 103. The work confirmation question generation means 109 of the embodiment generates work confirmation questions that can be answered with "yes" or "no," similar to the state confirmation question generation means 105.

[0036] In this embodiment, the work confirmation questions are generated to confirm the work content according to the results of the determination of the condition of the crop and the field. For example, questions such as "The optimal driving speed is determined to be '3rd gear'. Shall we set the driving speed to '3rd gear'?" or "The optimal lifting speed is determined to be 'standard'. Shall we set the lifting speed to 'standard'?" are generated. In addition, it is possible to generate work confirmation questions for all predetermined confirmation items, similar to the condition confirmation questions, or to not generate questions for items that match the history of past work content in the field, that is, to make some or all confirmation items unnecessary to confirm. Therefore, it is also possible to have an embodiment in which no work confirmation questions are generated as a result.

[0037] The work confirmation information notification means 110 notifies by displaying the work confirmation questions generated by the work confirmation question generation means 109 on the display monitor 12b. However, the method is not limited to displaying on the display monitor 12b; it is also possible to notify the worker by voice guidance. In this embodiment, if the guidance mode is turned on in the tablet terminal 46, the control unit 100 transmits information to the tablet terminal 46 so that the work confirmation questions are also displayed on the tablet terminal 46's touch panel (an example of a second display) 46b.

[0038] The work confirmation response acquisition means 111 acquires the input results of the worker's response to the work confirmation question displayed on the display monitor 12b. In this embodiment, the response content ("yes" or "no") is acquired based on the input to the display monitor 12b in response to the work confirmation question. It is not limited to input to the display monitor 12b, but it is also possible to acquire the response content ("yes" or "no") by speaking into the microphone B1. Furthermore, if the guidance mode is on, the response content transmitted from the tablet terminal 46 is also acquired as a response. Therefore, the worker can answer while confirming the work content in question format.

[0039] The work content setting means 112 sets the work content generated by the work content generation means 108 and confirmed by the work confirmation response acquisition means 111 as the work content to be performed by the combine harvester 1. In this embodiment, if the worker answers "No" to a work content, the work content adjustment means 112a displays an image for adjusting the work content. For example, if the worker answers "No" when confirming the travel speed, the work content adjustment means 112a displays an image for adjusting the travel speed and adjusts and sets the input content to the travel speed during the work. For other work content (such as operating speed and lifting speed), if the worker answers "No" when confirming each item, an adjustment image is displayed and the input content is set to the adjusted setting for each item.

[0040] The work control means 113 includes a travel control means 113a and a work implement control means 113b, and controls the combine harvester 1 during operation according to the work content set by the work content setting means 112. Therefore, the travel control means 113a controls the engine rotation speed and gear changes according to the travel speed set by the work content setting means 112. In addition, it controls the harvesting device 13, etc., according to the lifting speed, etc., set by the work content setting means 112. Note that depending on the model and configuration of the combine harvester 1, the lifting speed may be linked to the engine's rotational speed, and once the travel speed is set, it may not be possible to adjust the lifting speed. In this configuration, the lifting speed cannot be adjusted, but in models equipped with a variable gear unit or a dedicated motor (drive source) for adjusting the lifting speed, it is possible to adjust the lifting speed.

[0041] (Operation of the embodiment) In the combine harvester 1 of the embodiment having the above configuration, the state of the crops and the field is determined from the image captured by the camera 12c and the reference information registered in the server 48, and the work content is set according to the determined state. Then, work confirmation questions are generated for the worker to confirm the work content, and the worker can confirm and adjust the work content by answering them while confirming.Therefore, even an inexperienced worker can confirm and adjust the work content by answering each item of the work content that needs confirmation in order.

[0042] Therefore, even inexperienced workers can perform tasks with appropriate settings tailored to the field and crop conditions on the day of work simply by answering multiple-choice questions. Furthermore, adjustments can be made as they are displayed, and adjustments that do not require adjustment can also be reliably confirmed. Inexperienced workers, or even experienced workers who haven't worked in a year, may forget to adjust some tasks, but in this embodiment, tasks that need to be checked are displayed sequentially, thus reducing the likelihood of forgetting to check or adjust. Thus, with the combine harvester 1 of this embodiment, even inexperienced workers can easily adjust tasks compared to conventional technology.

[0043] Furthermore, in the combine harvester 1 of this embodiment, when determining the condition of crops and fields from images captured by camera 12c and reference information, condition confirmation questions are generated and can be confirmed by the operator. Therefore, the operator can determine the condition of crops and fields simply by answering multiple-choice questions while checking the condition of the crops and fields. In configurations where the operator does not confirm the condition, there was a risk of setting inappropriate work procedures when it was difficult to determine the condition from images captured by camera 12c alone. However, in this embodiment, the operator can actually check the condition of the fields and crops while answering, improving the accuracy of the determination.

[0044] Furthermore, in the combine harvester 1 of this embodiment, even if there is no worker in the cabin 12, it can be remotely monitored using the tablet terminal 46. Therefore, with the autonomous combine harvester 1, it is possible to remotely monitor the work content using the tablet terminal 46 and perform the work automatically. Consequently, monitoring is possible without the worker having to go directly to the site, and multiple fields can be monitored remotely, improving work efficiency. In the embodiment of the combine harvester 1, information is acquired from the server 48, and all processing, such as determining the condition of crops and fields, generating condition confirmation questions, generating work content, and generating work confirmation questions, is centrally handled by the control unit of the vehicle body 2. However, the system is not limited to this configuration. It is also possible to use a distributed processing configuration that utilizes multiple information processing devices connected via a network.

[0045] Furthermore, in this embodiment, a combine harvester 1 is used as an example of a work vehicle, and an image of the field including the crop to be harvested is captured to determine the condition of the crop and the field, but the invention is not limited to this. It can also be applied to a cultivator that sprays pesticides and fertilizers while crops are in the field, as a work vehicle. In addition, it can be applied to tractors, rice transplanters, seedling transplanters, sowing machines, etc., by capturing an image of the field before the crops are planted and determining the condition of the field. In other words, it can also be applied to capturing an image of the crop and the field, including when there are no crops, and determining their condition. [Explanation of symbols]

[0046] 1. Work vehicles, 2 car bodies, Seat 12a, 12b indicator, 12c camera, 13,16 Work equipment, 46 Remote terminals, 46b Second display unit, 100 Control unit.

Claims

1. Vehicle body (2) and Supported by the vehicle body (2), the implements (13, 16) perform work on the field, The vehicle body (2) includes a seat (12a) on which an operator sits, A display unit (12b) on which an employee seated in the aforementioned seat (12a) displays information, A camera (12c) that photographs the outside of the vehicle body (2), A control unit (100) determines the state of the crops and field based on an image of the field including the crops captured by the camera (12c) and reference information between the image and the state of the crops and field that has been registered in advance, generates question information to confirm the work content set according to the determined state of the crops and field with the worker, and displays the question information on the display unit (12b). A work vehicle (1) characterized by being equipped with the following.

2. Based on the image of the field including the crops captured by the camera (12c) and the reference information of the field, the control unit (100) generates a second question to confirm the condition of the crops and the field with the worker, displays the second question on the display (12b), and, in response to the worker's answer to the second question, determines the condition of the crops and the field based on the answer. A work vehicle (1) according to claim 1, characterized by being equipped with the following:

3. A remote terminal (46) is located at a distance from the vehicle body (2) and is capable of communicating with the vehicle body (2), and the remote terminal (46) has a second display (46b) capable of displaying the question information generated by the control unit (100), and an input unit (46b) into which the operator of the remote terminal (46) can input answers to the question information, The control unit (100) controls the vehicle body (2) and the work equipment (13, 16) based on information transmitted from the remote terminal (46), A work vehicle (1) according to claim 1, characterized by being equipped with the following:

Images