Work vehicles

Abstract

To reduce waste of time and labor, in comparison with the case where autonomous travel is started in the incomplete state of attachment of an implement.SOLUTION: A work vehicle (1) includes a vehicle body (4) to which an implement (10, 150, 160, 170, 180) for performing work on the field is detachably attached, and control means (300) for regulating transfer to a standard data acquisition mode, an autonomous travel mode and a remote operation mode, when the implement (10, 150, 160, 170, 180) is detached.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a work vehicle such as a rice transplanter or a tractor. [Background technology]

[0002] In working vehicles such as rice transplanters and tractors, in riding rice transplanters that can be selectively equipped with a seedling planting device (20) or a weeding device (40) as a working implement, a technique is known in which, in order to regulate the maximum speed when a lightweight working implement is attached, the engine speed is detected when the working implement is not attached or when the weeding device (40) is attached, and an alarm is sounded when the engine speed exceeds an allowable value, but the engine speed is not detected when the seedling planting device (20) is attached (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2008-79515 A Summary of the Invention [Problem to be solved by the invention]

[0004] In a work vehicle in which the work equipment can be attached, detached, and replaced, as in the technology described in Patent Document 1, there are cases where the connector connecting the work equipment to the vehicle body is forgotten to be connected or is not connected completely, and the vehicle is mistakenly driven with the work equipment in an incompletely attached state, or with the work equipment detached. If autonomous driving (automated driving, unmanned driving) is performed with the work implement incompletely attached or detached, the work implement may descend into the field but not rotate or drive, resulting in no work being performed or damage to the work implement. In particular, in autonomous driving technology, before creating an autonomous driving path, a general operation is performed in which the work vehicle is driven along the perimeter of the field to obtain the range of the field that serves as a reference for autonomous driving (reference data acquisition mode, teaching mode). However, even if it is discovered that the work implement is not fully attached after the teaching mode is executed with the work implement incompletely connected, the teaching mode must be executed again after the incomplete attachment of the work implement is resolved, resulting in a waste of time and effort.

[0005] The present invention has a technical objective of reducing wasted time and effort compared to when autonomous traveling is started with the work equipment not fully attached. [Means for solving the problem]

[0006] The above-mentioned problems of the present invention are solved by the following means. The invention described in claim 1 includes a vehicle body (4) to which a work machine (10, 150, 160, 170, 180) that performs work on a farm field can be detached, and a control means (300) that switches between a reference data acquisition mode in which the vehicle body (4) travels along a reference point on the periphery of the farm field to acquire reference data, an automatic travel mode in which the vehicle body (4) is automatically traveled based on the reference data, and a remote operation mode in which the vehicle body (4) is traveled based on an input from a remote operation device (102) that can remotely control the travel of the vehicle body (4), and the control means (300) that restricts transition to the reference data acquisition mode, the automatic travel mode, and the remote operation mode when the work machine (10, 150, 160, 170, 180) is detached. The vehicle body (4) can be fitted with any one of the following working machines: a direct sowing device (150) for sowing seeds in a field, a planting device (10) for planting seedlings in a field from a mat-like seedling, a weeder (160) for removing weeds in the field, a furrow cutter (170) for forming a water flow path in the field, and a cultivator (180) for spraying a chemical; and when any one of the weeder (160), the furrow cutter (170) and the cultivator (180) is fitted, the control means (300) regulates the transition of modes among the reference data acquisition mode, the automatic travel mode and the remote control mode. It is a work vehicle characterized by the above.

[0008] Claim 2The invention described in the above is characterized in that the vehicle body (4) has a seat (28) on which an operator can sit and a travel operation tool (32) with which the operator sitting on the seat (28) operates the travel, and the control means (300) switches and controls the reference data acquisition mode, the automatic travel mode, the remote operation mode, and a manual travel mode in which the vehicle body (4) is traveled based on the operation of the travel operation tool (32), and when the direct seeding device (150) or the planting device (10) is attached as the working machine (10, 150, 160, 170, 180) and the working machine (10, 150) is detached while any of the reference data acquisition mode, the automatic travel mode, and the remote operation mode is being executed, the control means (300) forcibly transitions to the manual travel mode. Claim 1 It is a work vehicle described in.

[0009] Claim 3 The invention described in the above is characterized in that the control means (300) is configured to notify the remote control device (102) of a decrease in seeds when a decrease in the number of seeds to be sown is detected during operation with the direct sowing device (150) attached. Claim 1 It is a work vehicle described in.

[0010] Claim 4 The invention described in is characterized in that the control means (300) is provided for notifying the remote control device (102) of an abnormality when an abnormality is detected in the member (151) for sending out seeds while the direct sowing device (150) is in operation. Claim 1 It is a work vehicle described in.

[0011] Claim 5The invention described in the above is characterized in that the control means (300) controls the on / off of a clutch (152) to which the direct seeding device (150) is attached and which operates the direct seeding device (150), and when the clutch (152) is disengaged for a predetermined period during work, the control means (300) notifies the remote control device (102) that the clutch (152) has been forgotten to be engaged in the manual travel mode, and does not notify the remote control device (102) in the automatic travel mode and the remote control mode even if the clutch (152) is disengaged for a predetermined period during work. Claim 2 It is a work vehicle described in.

[0012] Claim 6 The invention described in is characterized in that the planting device (10) has an electric herbicide spraying device (61) for spraying a herbicide on a field and an electric insecticide spraying device (66) for spraying an insecticide and a fungicide on seedlings, and the control means (300) for displaying the power on / off state of the herbicide spraying device (61) and the insecticide spraying device (66) on a display unit (31a) provided on the vehicle body (4). Claim 1 It is a work vehicle described in. Effect of the Invention

[0013] According to the invention described in claim 1, by restricting the transition to the reference data acquisition mode, the automatic driving mode, and the remote operation mode when the work machine (10, 150, 160, 170, 180) is detached, it is possible to reduce waste of time and effort compared to when autonomous driving is started with the work machine (10, 150, 160, 170, 180) not fully attached.

[0014] Also, claim 1 According to the described invention 、 When a work machine other than the direct seeding device (150) and the planting device (10) is attached, autonomous traveling can be restricted. Claim 2 According to the described invention, Claim 1In addition to the effects of the invention described above, when the work machine (10, 150) is removed while the reference data acquisition mode, the automatic driving mode, or the remote operation mode is being executed, the manual driving mode is forcibly switched to, thereby preventing the occurrence of work defects or accidents. Claim 3 According to the described invention, Claim 1 In addition to the effects of the invention described above, the operator can be notified of a decrease in seeds.

[0015] Claim 4 According to the described invention, Claim 1 In addition to the effects of the invention described above, an operator can be notified of any abnormality in the seed delivery member (151). Claim 5 According to the described invention, Claim 2 In addition to the effects of the invention described above, in the automatic travel mode and remote control mode, the remote control device (102) does not notify the operator even if the clutch (152) remains disengaged, thereby reducing unnecessary notifications to the operator. Claim 6 According to the described invention, Claim 1 In addition to the effects of the invention described above, the power on / off status of the herbicide spraying device (61) and the insecticide spraying device (66) can be displayed to inform the operator of the status. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a side view of a seedling transplanter according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a front view of the seedling transplanter. [Diagram 3] FIG. 3 is a plan view of the seedling transplanter. [Figure 4] FIG. 4 is a functional block diagram of the control unit according to the embodiment. [Diagram 5] FIG. 5 is an explanatory diagram of an example of a display panel according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] An embodiment of the present invention will be described below. FIG. 1 is a side view of a seedling transplanter according to an embodiment of the present invention. FIG. 2 is a front view of the seedling transplanter. FIG. 3 is a plan view of the seedling transplanter.

[0018] The seedling transplanter 1, which is an example of a work vehicle according to an embodiment of the present invention, is attached to the rear of a vehicle body 4 in a high-floor riding mode via a parallel link-type lift link mechanism 11 that is raised, lowered, and rotated by hydraulic expansion and contraction of a lift cylinder (not shown). A seedling planting unit 10, which is an example of a work machine and an example of a planting device, is attached to the rear of the vehicle body 4 in a high-floor riding mode via a parallel link-type lift link mechanism 11 that is raised, lowered, and rotated by hydraulic expansion and contraction of a lift cylinder (not shown). This seedling planting unit 10 has multiple floats 6, such as a center float that glides and levels the soil surface, and side floats, arranged on the lower part of the seedling transplanter body 5 connected to the lift link mechanism 11. The seedling transplanting machine 5 has a transmission case as its main component, and is equipped with a seedling tank 8 which lays out a number of mat-like seedlings (mat seedlings) on top of it and guides them along the downward sloping surface at the rear end before dispensing them to the seedling outlet 7 formed at the lower end, and a planting device 9 which separates and holds the mat seedlings dispensed at the seedling outlet 7 and inserts them into the leveled soil surface below, operating the planting claws along a planting trajectory that is elliptical when viewed from the side, thereby allowing seedlings to be planted in multiple rows.

[0019] An engine (internal combustion engine) 30 is mounted under an engine cover 29 below the driver's seat 28 of the vehicle body 4, and a steering board 31, a steering handle 32 as an example of a travel operating tool, and other operating mechanisms 33 for operating the seedling transplanter 1 are arranged in front of the driver's seat 28. A display panel as an example of a display unit and various buttons and knobs as examples of an input unit are arranged on the steering board 31. A long and wide side floor 2 is formed continuously from the front end of the vehicle body 4 to the rear fender 24 on the rear end on both the left and right sides of the driver's seat 28, steering board 31, and center floor 34 between them. The driver and assistant workers can move back and forth on the top surface of this side floor 2 to easily perform tasks such as supplying mat seedlings and supplying fertilizer.

[0020] In the seedling transplanter 1 shown in Figs. 1 to 3, the number of seedling rows is eight and the width is set to a wide standard, so a sub-floor 35 of an appropriate width is added along the outside of the side floor 2 to correspond to the width of the seedling planting section 10. It is also possible to configure the machine without the sub-floor 35. On the front end of the sub-floor 35, a support frame 36 erected from the side of the vehicle body 4 is provided with multiple auxiliary seedling shelves 26, which can be used to load and store mat seedlings to be replenished to the seedling tank 8 at the rear. A step 37 for the driver to get on and off is provided on the outer side of the sub-floor 35. A pair of left and right line drawing markers 41 are arranged on the sides of the subfloor 35. The line drawing marker 41 on the left and right side where seedlings have not yet been planted is deployed to draw a line on the surface of the field as a reference for traveling.

[0021] A rear floor 3 having a stepped shape is formed behind the driver's seat 28 and extends to the rear end of the side floor 2, and the front end edge of the rear floor 3 is connected to the rear end edge of the side floor 2 by an inclined plate 38 that slopes downwards to the front, making it easy for the driver to move to the foot area. A short operating lever mechanism 39 is disposed at the lower end of the inclined plate 38, making it easy to operate from the driver's seat 28. A U-shaped guard rail 52 is formed at an upper position of the rear floor 3 by a rear edge portion 50 along the rear edge and side edges 51 along the left and right edges, allowing the driver to safely maintain a working posture when performing refueling work on the rear floor 3.

[0022] A rear fender 24 is configured above the rear wheels 27 of the vehicle body 4, and the left and right end portions of the rear floor 3 are configured above this rear fender 24. The front wheels 40 and the rear wheels 27 are arranged within the lateral width of the side floor 2 and the rear floor 3, but depending on the shape of the tread of the rear wheels 27 in particular, they may protrude outward from the width of the rear floor 3. For this reason, the rear fender 24 can be configured to protrude outward wider than the outer end of the rear floor 3, and it is also possible to use the underside of the rear floor 3 itself as the rear fender 24.

[0023] A seedling planting section 10 is attached to the rear side of the vehicle body 4 via a lift link mechanism 11 that can be raised and lowered. The seedling planting section 10 is made up of a float 6 that slides on the soil surface to support the seedling transplanting machine body 5, a seedling tank 8 that receives mat seedlings and delivers them to a seedling outlet 7 at the bottom of the rear side, and a planting device 9 that separates and holds the mat seedlings delivered to the seedling outlet 7 and plants them on the soil surface leveled by the float 6. A plurality of fertilizer applicators 12 are arranged along the outer side of the rear floor 3 in the front-to-rear direction.

[0024] When the seedling transplanter 1 is used for planting seedlings, the seedling planting section 10 is lowered and the planting device 9 operates on the soil surface leveled by each float 6, separating and holding the appropriate number of mat seedlings fed to the seedling outlet 7 of the seedling tank 8, and planting them at a certain depth on the leveled soil surface. When fertilizing the planting section with each planting device 9, granular fertilizer previously supplied to the fertilizer hopper 19 is fed to the feed outlet section by the feed device 15, and fertilizer is applied to the planting soil surface leveled by each float 6 near the planting area by the force of air blown from the blower 13 through the duct 14 under the rear floor 3 through the fertilizer hose 25 for each fertilizer row.

[0025] When the seedling planting section 10 is raised, the upper end of the seedling tank 8 is placed at a position above the rear floor 3. The mats can be raised so that they can be brought closer to each other, making it easier for workers to replenish mat seedlings from the three sides of the rear floor, and allowing for quick and accurate seedling replenishment.

[0026] In addition, both left and right end portions of the rear floor 3 are configured as a rear fender 24 or are configured as the upper portion of the rear fender 24, and the multiple fertilizer application devices 12 are arranged above this rear fender 24.

[0027] The left and right side ends of the rear floor 3 formed at the rear end of the side floor 2 next to the driver's seat 28 are positioned above the rear fender 24 which covers the upper part of the rear wheels 27 of the raised-floor body 4, so that they are unlikely to interfere with stepping on and moving about when supplying mat seedlings to the seedling tank 8 as described above, and the foot area at the lateral end of the rear floor 3 at the rear position of the side floor 2 is formed wide, making it easy to supply seedlings to the rear seedling tank 8 and to supply fertilizer to the fertilizer hopper 19 on the side.

[0028] In the seedling planting section 10 of the embodiment, a herbicide spraying device 61 is installed below the seedling tank 8. In the embodiment, a plurality of herbicide spraying devices 61 are arranged at intervals in the left-right direction. The herbicide spraying device 61 has a herbicide hopper 62 in which herbicide is stored. At the outlet portion of the herbicide hopper 62, a delivery member 63 is arranged which rotates when activated to deliver and spray the herbicide to the field. The delivery member 63 in the embodiment is electrically driven, and the operation / non-operation and delivery speed of the delivery member 63 can be controlled by controlling the supply of electricity.

[0029] In addition, an insecticide spraying device 66 is installed on the outside (upper rear) of the seedling tank 8. The insecticide spraying device 66 has an insecticide hopper 68 that can move in the left-right direction along a guide member 67 extending in the left-right direction. The insecticide hopper 68 contains an insecticide and fungicide to be sprayed on the seedlings (mat seedlings) loaded in the seedling tank 8. An insecticide delivery member 69 is disposed at the outlet of the insecticide hopper 68. The insecticide delivery member 69 in the embodiment has the same configuration as the delivery member 63, is electrically driven, and when activated, the insecticide and fungicide in the insecticide hopper 68 is sprayed on the mat seedlings. In addition, an electric motor for movement (not shown) is mounted on the insecticide hopper 68, and the insecticide hopper 68 moves back and forth along the guide member 67 by the operation of the motor for movement. Therefore, by reciprocating the insecticide hopper 68 while the insecticide delivery member 69 is operating, the insecticide and fungicide can be sprayed over the entire area of ​​the mat seedlings on the seedling tank 8.

[0030] In the seedling planting section 10 of the embodiment, a herbicide spraying device 61 and an insecticide spraying device 66 are installed, but the herbicide spraying device 61 and the insecticide spraying device 66 are detachable from the seedling planting section 10. In other words, the herbicide spraying device 61 and the insecticide spraying device 66 are so-called optional units, and it is possible to install only one of them or neither of them according to the operator's request.

[0031] In the embodiment, the seedling planting unit 10 is illustrated as an example of a planting device that plants seedlings in a field from a mat seedling with a planting claw, but is not limited to this. As the working machine that can be attached to and detached from the lift link mechanism 11, various conventionally known working machines can be used, such as a direct seeding device that sows seeds in a field, a weeder that removes weeds in the field, a furrow cutter that forms a water flow path in the field, and a cultivator that sprays chemicals.

[0032] The seedling transplanter 1 of the embodiment can transmit and receive information to and from a tablet terminal 102 as an example of a remote control device via a wireless communication line 101. The tablet terminal 102 has a touch panel 102a as an example of a display unit and an example of an input unit, and a plurality of input buttons 102b such as a power button. The seedling transplanter 1 can be remotely controlled by an operator inputting data into the tablet terminal 102. Therefore, the operator can remotely control the seedling transplanter 1 from a position away from the seedling transplanter 1 (for example, outside the field), or the operator can operate the tablet terminal 102 while sitting in the driver's seat 28 to drive the seedling transplanter 1 or perform planting work without operating the steering wheel 32 or the like.

[0033] (Explanation of the control unit) FIG. 4 is a functional block diagram of the control unit according to the embodiment. (Explanation of the control unit of the seedling transplanter) The seedling transplanter 1 of the embodiment has a control unit 300 as an example of a control means for controlling each function. The control unit 300 has an input / output interface I / O for inputting and outputting signals with the outside. The control unit 300 also has a read-only memory (ROM) in which programs and information for performing necessary processing are stored. The control unit 300 also has a random access memory (RAM) for temporarily storing necessary data. The control unit 300 also has a central processing unit (CPU) for performing processing according to the programs stored in the ROM or the like. Therefore, the control unit 300 of the embodiment is composed of a small information processing device, a so-called microcomputer. Therefore, the control unit 300 can realize various functions by executing the programs stored in the ROM or the like.

[0034] The control unit 300 receives signals from signal input elements such as various buttons and knobs on the steering board 31, the operating mechanism 33, the steering angle sensor SN1, the right rear wheel rotation sensor SN2a, the left rear wheel rotation sensor SN2b, the work implement connection sensor SN3, the remaining amount sensor SN4, the abnormality detection sensor SN5, the GNSS, the differential switch SW1, and various other sensors not shown (for example, the remaining amount sensor in the herbicide hopper 62).

[0035] The turning angle sensor SN1 detects the amount of operation of the steering wheel 32 (turning angle). The right rear wheel rotation sensor SN2a detects the rotation speed of the right rear wheel 27R. The left rear wheel rotation sensor SN2b detects the rotation speed of the left rear wheel 27L. The work machine connection sensor SN3 detects the connection and detachment of the work machine (seedling planting unit 10, etc.). The remaining amount sensor SN4 detects the remaining amount of seeds sown from the direct seeding device 150 when the working machine is the direct seeding device 150. The remaining amount sensor SN4 in the embodiment detects the weight in the hopper of the direct seeding device 150 to detect the remaining amount of seeds. When the working machine is the direct seeding device 150, the abnormality detection sensor SN5 detects an abnormality in the direct seeding device 150. In the embodiment, the abnormality detection sensor SN5 is disposed downstream of a member (delivery roll 151) that delivers seeds from the direct seeding device 150, and detects the amount of seeds delivered from the delivery roll 151 and passing through. A GNSS (Global Navigation Satellite System) acquires the current position of the vehicle body 4 . The differential switch SW1 is a switch for inputting whether or not to perform a differential lock, which automatically creates a difference between the inner and outer wheels when turning, in the differential (operating device) of the seedling transplanter 1. Furthermore, information transmitted from the tablet terminal 102 is input to the control unit 300.

[0036] The control unit 300 can send control signals to a lift cylinder, a planting clutch, and the like, as examples of controlled elements, to control the lifting and lowering of the work machine (seedling planting unit 10) and the operation / stopping of the work machine (seedling planting unit 10). In addition, when the seedling planting unit 10 is attached as a working machine, the control unit 300 sends control signals to and controls the delivery member 63 of the electric herbicide spraying device 61, the insecticide delivery member 69 of the electric insecticide spraying device 66, and the movement motor 70. Furthermore, when a direct seeding device 150 is attached as a working machine, the control unit 300 controls by sending control signals to the payout roll 151 (having the same configuration as the payout member 63) of the direct seeding device 150 and the clutch 152 which switches the payout roll 151 on and off. In addition, the control unit 300 outputs a control signal to a monitor 31a of a steering board 31, which is an example of a display unit. Furthermore, the control unit 300 outputs information to the tablet terminal 102.

[0037] The control unit 300 according to the embodiment has the following functional means (program modules). The work machine discrimination means 301 discriminates the type of connected work machine (seedling planting unit 10, direct seeding device 150, weeder 160, furrow cutter 170, cultivator 180, etc.) via the work machine connection sensor SN3.

[0038] The teaching mode control means 302 executes a teaching mode as an example of a reference data acquisition mode in which reference data (teaching data, teacher data) is acquired by driving the vehicle body 4 along a reference point on the periphery of the field (in the embodiment, the outer edge of the field). In the teaching mode control means 302 of the embodiment, after the start of the teaching mode is input from the steering board 31 or the tablet terminal 102, the operator manually operates the steering handle 32 or the like or remotely operates the tablet terminal 102 to drive the seedling transplanter 1, and acquires, as reference data, the travel trajectory until the end of the teaching mode is input from the steering board 31 or the like, that is, the temporal history data of the GNSS position information along the travel route.

[0039] The automatic travel mode control means 303 automatically travels the vehicle body 4 based on the reference data. The automatic travel mode control means 303 of the embodiment automatically calculates a travel route of the vehicle body 4 from the reference data obtained in the teaching mode, and after an input to start the automatic travel mode is input from the steering board 31 or the tablet terminal 102, controls the travel of the vehicle body 4 and the operation of the work machine (seedling planting unit 10, etc.) to travel the vehicle body 4 along the travel route and cause the work machine to work.

[0040] The remote operation mode control means 304 controls the vehicle body 4 based on the input from the tablet terminal 102 to drive the vehicle body 4. When a remote operation mode is input from the steering board 31 or the tablet terminal 102, the remote operation mode control means 304 in the embodiment controls the driving of the vehicle body 4 and the operation of the work machine in response to the input from the tablet terminal 102.

[0041] The manual operation mode control means 305 drives the vehicle body 4 based on the operation of the steering wheel 32. When an input to start the manual operation mode is input from the steering board 31 or the tablet terminal 102, the manual operation mode control means 305 in the embodiment controls the driving of the vehicle body 4 in response to the operation of the driving operation tools such as the steering wheel 32, the accelerator pedal, and the brake pedal, and also controls the operation of the work equipment in response to input from various buttons on the steering board, etc. In the seedling transplanter 1 of the embodiment, the seedling transplanter 1 is set to enter manual operation mode when the power is turned on (at startup, initial state, default state), but this can be changed depending on the design, specifications, etc.

[0042] The mode transition means 306 switches between teaching mode, automatic driving mode, remote operation mode, and manual operation mode in response to input from the steering board 31 or the tablet terminal 102. The mode transition means 306 in the embodiment restricts transition to the teaching mode, automatic driving mode, and remote operation mode when the work machine is detached based on the detection result of the work machine connection sensor SN3. In other words, when the work machine is detached, mode transition is restricted so that only control in the manual operation mode or stopping of the vehicle body 4 is possible (transition to the teaching mode, etc. is not possible).

[0043] Furthermore, the mode transition means 306 of the embodiment restricts transition to the teaching mode, the automatic travel mode, and the remote operation mode when the attached working machine is any of the weeder 160, the furrow cutter 170, and the cultivator 180 based on the discrimination result of the working machine discrimination means 301. That is, in the embodiment, the teaching mode, the automatic travel mode, and the remote operation mode can be executed only when the attached working machine is the seedling planting unit 10 or the direct seeding device 150, and when a working machine other than the seedling planting unit 10 and the direct seeding device 150 is attached, it is configured not to be possible to transition to the teaching mode, etc.

[0044] Furthermore, in the embodiment, when the seedling planting unit 10 or the direct sowing device 150 is attached and either the teaching mode, the automatic driving mode or the remote operation mode is being executed, the mode transition means 306 forcibly terminates the teaching mode, etc. and forcibly transitions to the manual driving mode when it is determined from the detection result of the working machine connection sensor SN3 that the working machine has been removed.

[0045] The remaining amount detection means 307 detects the remaining amount of seeds in the direct seeding device 150 by the working machine. The remaining amount detection means 307 in the embodiment determines whether the remaining amount of seeds in the direct seeding device 150 is equal to or greater than a predetermined amount based on the detection result of the remaining amount sensor SN4. The working machine abnormality detection means 308 detects an abnormality in the working machine. In the embodiment, when the working machine is the direct seeding device 150, the working machine abnormality detection means 308 determines that an abnormality has occurred in the delivery roll 151 when a control signal for operating the delivery roll 151 is sent to the delivery roll 151 but the delivery of seeds is not detected by the abnormality detection sensor SN5.

[0046] The clutch engagement failure detection means 309 detects the clutch engagement failure, which switches the working machine between operation and non-operation. In the embodiment, the clutch engagement failure detection means 309 detects the clutch engagement failure when the working machine is the direct seeding device 150, the direct seeding device 150 descends, the float 6 touches the ground, and the clutch 152 is in the disengaged state and the machine travels a predetermined distance. The power on / off detection means 310 detects whether the electrically-driven members and devices of the work machine are on or off. In the seedling planting unit 10 of the embodiment, when the electrically-driven herbicide spraying device 61 or insecticide spraying device 66 is operating, the power is determined to be "on", and when the device is stopped, the power is determined to be "off".

[0047] The notification control means 311 controls to notify the operator of the operating status of the seedling transplanter 1. The notification control means 311 of the embodiment controls the notification by controlling the image display on the display panel of the steering board 31 and controlling the transmission and reception of information to be displayed on the tablet terminal 102. The notification is not limited to image display, and any notification method such as voice guidance, lighting of a lamp, activation of an alarm buzzer, etc. can be adopted. The notification control means 311 displays the active mode when the mode is switched to each mode such as the teaching mode, and displays the fact when the remaining amount of seeds in the direct sowing device 150 becomes low, when an abnormality occurs in the working machine, or when it is determined that the clutch 152 has been left on.

[0048] Here, in the embodiment, when the automatic travel mode or the remote operation mode is being executed, no notification is given even if it is determined that the clutch 152 has been left on. In the automatic travel mode or the remote operation mode, if the number of threads is adjusted during the mode, the conditions for determining that the clutch 152 has been left on are often met. Therefore, if the operator is notified every time the clutch 152 has been left on, unnecessary notifications and warnings will be issued. Therefore, in the embodiment, when it is determined that the clutch 152 has been left on, no notification is given in the automatic travel mode or the remote operation mode. On the other hand, when the conditions for the clutch 152 having been left on are met during execution of the manual operation mode, a notification is given.

[0049] FIG. 5 is an explanatory diagram of an example of a display panel according to the embodiment. The panel display control means 311a controls image display on the display panel of the steering board 31. In Fig. 5, as an example, an option power display screen 401 of the display panel of the embodiment has a weeding on / off display section 401a that displays the on / off state of the power of the herbicide spraying device 61, an insecticide on / off display section 401b that displays the on / off state of the power of the insecticide spraying device 66, a weeding on / off input button 401c for inputting on / off of the power of the herbicide spraying device 61, an insecticide on / off input button 401d for inputting on / off of the power of the insecticide spraying device 66, a fuel display section 401e that displays the remaining amount of fuel in the vehicle body 4, and a GNSS display section 401f that displays the reception level of the GNSS. The weeding on / off input button 401c and the insecticide on / off input button 401d can be switched between "on" and "off" each time the display panel is touched with a finger or the like, and the display on the weeding on / off display section 401a and the insecticide on / off display section 401b is also changed to "on" and "off" according to the input with the weeding on / off input button 401c and the insecticide on / off input button 401d. Note that the input is not limited to the operation of touching the display panel with a finger, and it is also possible to provide input buttons on the steering board 31.

[0050] Also, the option power supply display screen 401 can be a screen that is constantly displayed, or can be configured to be displayed when a specific button is pressed, a knob is rotated, a flick input is performed, etc. Furthermore, the option power supply display screen 401 can be configured to be displayed even if one or both of the herbicide spraying device 61 and the insecticide spraying device 66 are not attached, but it is also possible to omit unnecessary image display by displaying it only when they are attached.

[0051] The terminal display control means 311b transmits a control signal for displaying a notification image to the tablet terminal 102. A control signal is transmitted to the touch panel 102a of the tablet terminal 102 so as to display the currently running mode, notify that the remaining amount of seeds is low, notify that an abnormality has occurred in the work machine, notify that the clutch 152 has been left on, display the option power supply display screen 401, and the like.

[0052] The wheel rotation detection means 312 detects the rotation speeds of the right rear wheel 27R and the left rear wheel 27L based on the detection results of the right rear wheel rotation sensor SN2a and the left rear wheel rotation sensor SN2b, respectively. The steering angle detection means 313 detects the steering angle (traveling direction, orientation) of the vehicle body 4 according to the turning angle of the steering wheel 32 based on the detection result of the turning angle sensor SN1. The diff switch input discrimination means 314 discriminates whether the input of the diff switch SW1 is "on" or "off."

[0053] When the differential switch SW1 is "on", the auto-differential control means 315 performs auto-differential control to create a difference between the inner and outer wheels using the differential when turning. That is, when the steering wheel 32 is operated to turn, the auto-differential control means 315 controls the rotation speed of the inner wheel to be less than the rotation speed of the outer wheel according to the steering angle when turning. When the differential switch SW1 is "off", the auto-differential control means 315 of the embodiment does not perform auto-differential control.

[0054] The slip monitoring means 316 monitors slip (free rotation of the wheels) of the vehicle body 4. When the differential switch SW1 is "off," the slip monitoring means 316 of the embodiment monitors slip by setting the vehicle speed of the seedling transplanter 1 to a certain level or higher if the sum of the detection numbers of the right rear wheel 27R and the left rear wheel 27L at a slip sampling interval (for example, every second) is equal to or greater than a certain value (for example, 30 counts). Slip during turning can be determined to have occurred when, for example, the difference between the detection number of the right rear wheel 27R and the detection number of the left rear wheel 27L reaches a predetermined slip determination value (for example, 450 counts).

[0055] In the embodiment, when a slip is detected, the slip monitoring means 316 stops the movement of the vehicle body 4 and notifies the tablet terminal 102, but is not limited to this, and it is also possible to notify the tablet terminal 102 or the like of the occurrence of a slip without stopping the movement. The slip monitoring means 316 starts monitoring slip when the steering angle of the steering wheel 32 becomes constant, and ends (resets, initializes) the slip monitoring when the vehicle moves straight ahead. The slip monitoring also ends when the differential switch SW1 is turned "ON."

[0056] When the slippage is detected by the slippage monitoring means 316, the slippage monitoring means 316 of the embodiment forcibly turns on the differential switch SW1 to perform auto-differential control in order to suppress the slippage. When the auto-differential control is forcibly started, after a certain time has elapsed (for example, after 1 second), if the sum of the detection numbers of the right rear wheel 27R and the left rear wheel 27L at the effect confirmation sampling interval (for example, every 2 seconds) is equal to or greater than a certain value (142 counts as an example), it is preferable to set the vehicle speed of the seedling transplanter 1 to a certain value or more and check whether the slippage has been eliminated, that is, whether the auto-differential has been effective. For example, when the detection number of the left rear wheel 27L reaches 500 counts during a right turn, if the detection number of the right rear wheel 27R is less than 50 counts, it is possible to determine that there is a slippage (the slippage has not been eliminated), and if it reaches 50 counts, it is possible to determine that there is no slippage (the slippage has been eliminated). The confirmation of the effect of the auto-differential can be ended when the steering angle becomes straight (the auto-differential control ends).

[0057] In the embodiment, the slip monitoring means 316 is configured to monitor slip only when turning, but is not limited thereto. When the rear right wheel 27R and the rear left wheel 27L reach a predetermined value (e.g., a count value equivalent to 1 m) while traveling straight, if the GNSS detection result indicates that the vehicle body has moved less than a predetermined distance (e.g., 1 m), it is possible to determine that the slip has not been resolved and to stop the traveling of the vehicle body 4. When the slip has been resolved, it is possible to suspend the monitoring of the slip until the next turn is detected, or to configure the monitoring of the slip to continue while traveling straight.

[0058] In addition, in the embodiment, the automatic differential control is forcibly turned on when slippage is detected, but the present invention is not limited to this. For example, in the case of a work vehicle that can switch between four-wheel drive and two-wheel drive, it is also possible to configure the vehicle to forcibly switch to four-wheel drive.

[0059] In the seedling transplanter 1 of the embodiment having the above configuration, when the working machine is not attached, the transition to the teaching mode, automatic travel mode, and remote operation mode is restricted. When the working machine is not attached, the control unit 300 of the vehicle body 4 does not recognize the working machine, and the working machine is incompletely attached or detached. In this state, if the automatic travel mode or remote operation mode is executed, the working machine may descend to the field but not rotate or be driven, and work may not be performed or the working machine may be damaged. In addition, even if the teaching mode, which is a prerequisite for the automatic travel mode, is executed, even if it is found that the working machine is incompletely attached after the teaching mode, the teaching mode will be executed again after the incomplete attachment of the working machine is resolved, which wastes time and effort. In contrast, in the embodiment, when the working machine is not attached, the transition to the teaching mode, automatic travel mode, and remote operation mode is restricted, and compared to the case where autonomous traveling is started with the working machine incompletely attached, the work may not be performed, the working machine may be damaged, and waste of time and effort is reduced.

[0060] In the embodiment, the working machine is not shifted to the automatic driving mode, etc., when it is other than the seedling planting unit 10 or the direct seeding device 150. Therefore, only in the case of the seedling planting unit 10 or the direct seeding device 150, autonomous driving or remote control without the need for an operator to ride is possible. In the embodiment, when the working machine is removed during work in the automatic driving mode or the like, the mode is forcibly switched to the manual driving mode. As a practical matter, situations in which the working machine is recognized as being removed during work include a state in which the working machine is not fully attached and is removed midway, a state in which the cable connecting the working machine and the vehicle body 4 is broken, or a state in which the connector connecting the cable is disconnected. If the work is continued in a state in which it is determined that the working machine has been removed during work, the work may be incomplete or an accident may occur. Therefore, in the embodiment, in such a case, the mode is forcibly switched to the manual driving mode, thereby restricting further automatic driving and suppressing the occurrence of accidents.

[0061] In the embodiment, when the remaining amount of seeds in the direct sowing device 150 becomes low or an abnormality is detected in the delivery roll 151, the information is displayed on the tablet terminal 102. Therefore, the worker can be notified of a decrease in the remaining amount of seeds, etc. Furthermore, in this embodiment, in the automatic driving mode or the remote control mode, the driver is not notified that the clutch 152 has been left engaged. Therefore, unnecessary notifications are reduced. In addition, in this embodiment, the option power supply display screen 401 displays the power on / off status of the herbicide spraying device 61 and the insecticide spraying device 66, allowing the operator to easily check the status. [Industrial Applicability]

[0062] The working vehicle of the present invention is not limited to a seedling transplanter, but can also be applied to various types of working vehicles such as tractors, chemical spraying vehicles, snowplows, lawnmowers, etc. The working machine is also not limited to the example, but can be applied to any working machine such as a soil leveler, a harvester, etc. [Explanation of symbols]

[0063] 1...Work vehicle, 4…Car body, 10...planting device, 10, 150, 160, 170, 180...Work equipment, 28…seats, 31a...Display section, 32...Travel control device, 61...herbicide spraying equipment, 66...insecticide spraying device, 102...Remote control device, 150...Direct seeding device, 151...Seed delivery member, 152…Clutch, 160...Weeding machine, 170...Grooving machine, 180...Management machine, 300...Control means.

Claims

1. a vehicle body (4) to which a work machine (10, 150, 160, 170, 180) for performing work on a farm field can be detachably attached; a control means (300) for switching and controlling a reference data acquisition mode in which reference data is acquired by driving the vehicle body (4) along reference points on the periphery of a farm field, an automatic driving mode in which the vehicle body (4) is automatically driven based on the reference data, and a remote operation mode in which the vehicle body (4) is driven based on an input from a remote operation device (102) capable of remotely controlling the driving of the vehicle body (4), the control means (300) restricting a transition to the reference data acquisition mode, the automatic driving mode, and the remote operation mode when the working machine (10, 150, 160, 170, 180) is detached; Equipped with The vehicle body (4) can be equipped with any one of the following working machines: a direct sowing device (150) for sowing seeds in a field, a planting device (10) for planting seedlings in a field from a mat-like seedling, a weeder (160) for removing weeds in the field, a furrow cutter (170) for forming water flow paths in the field, and a cultivator (180) for spraying pesticides; The control means (300) regulates the transition of modes among the reference data acquisition mode, the automatic travel mode, and the remote control mode when any one of the weeder (160), the furrow cutter (170), and the cultivator (180) is attached. A work vehicle characterized by:

2. The vehicle body (4) has a seat (28) on which an operator can sit, and a travel operation tool (32) with which the operator sitting on the seat (28) operates the travel; the control means (300) for switching and controlling the reference data acquisition mode, the automatic travel mode, the remote operation mode, and a manual travel mode for traveling the vehicle body (4) based on the operation of the travel operation tool (32), wherein when the direct seeding device (150) or the planting device (10) is attached as the working machine (10, 150, 160, 170, 180) and the working machine (10, 150) is detached while the reference data acquisition mode, the automatic travel mode, or the remote operation mode is being executed, the control means (300) forcibly transitions to the manual travel mode; The work vehicle according to claim 1, further comprising:

3. the control means (300) for informing the remote control device (102) of a decrease in seeds when a decrease in the number of seeds to be sown is detected during operation with the direct sowing device (150) attached; The work vehicle according to claim 1, further comprising:

4. the control means (300) for informing the remote control device (102) of an abnormality when an abnormality is detected in the member (151) for sending out seeds while the direct seeding device (150) is in operation with the device attached; The work vehicle according to claim 1, further comprising:

5. the control means (300) for controlling the on / off of a clutch (152) to which the direct seeding device (150) is attached and which operates the direct seeding device (150), the control means (300) notifying the remote control device (102) that the clutch (152) has been forgotten to be engaged in the manual travel mode when the clutch (152) is disengaged for a predetermined period during work, and not notifying the remote control device (102) that the clutch (152) has been disengaged for a predetermined period during work in the automatic travel mode and the remote control mode; The work vehicle according to claim 2, further comprising:

6. The planting device (10) has an electric herbicide spraying device (61) for spraying a herbicide on a field, and an electric insecticide spraying device (66) for spraying an insecticide and a fungicide on seedlings; the control means (300) for displaying the power on / off state of the herbicide spraying device (61) and the insecticide spraying device (66) on a display unit (31a) provided on the vehicle body (4); The work vehicle according to claim 1, further comprising:

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