Work vehicles

Abstract

To provide a work vehicle that executes automatic running suitable for a field.SOLUTION: A work vehicle according to one aspect of an embodiment includes: a running vehicle body; a seedling planting unit provided on the running vehicle body; and a control device for switching a running mode between a manual running mode in which the vehicle runs via manual operation of an operator and an automatic running mode in which the vehicle automatically runs without relying on manual operation. The control device can adjust automatic running control in the automatic running mode according to an input operation indicating a field state.SELECTED DRAWING: Figure 3

Description

[Technical field]

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

[0002] 2. Description of the Related Art There is known a seedling transplanter capable of performing automatic traveling without the operation of an operator (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-76056 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the condition of a field may differ depending on the field, and when traveling by automatic driving, there is a risk that automatic driving suitable for the field may not be performed, so there is room for improvement.

[0005] The present invention has been made in consideration of the above, and has an object to provide a work vehicle that can perform automatic driving suited to farm fields. [Means for solving the problem]

[0006] In order to solve the above problems and achieve the object, a work vehicle according to one aspect of the embodiment includes a traveling body, a seedling planting unit provided on the traveling body, and a control device that switches the traveling mode between a manual traveling mode in which the vehicle travels by manual operation of an operator and an automatic traveling mode in which the vehicle travels automatically without manual operation. The control device is capable of changing a predetermined reverse distance from when the traveling body starts to reverse until when the traveling body stops when performing a back turn in which the vehicle starts to turn after reversing the traveling body during a turn in response to an input operation of a field condition input unit in which a parameter indicating the field condition determined by the operator is input by the operator, and the field condition includes at least the shape of the field, and the control device is Installed on a work vehicle From the images captured by the camera, the shape of the field is such that the ridges are farther away in the turning direction of the traveling vehicle body. It was detected that In this case, the vehicle body is stopped after turning without changing the predetermined reverse distance during the back turn. Effect of the Invention

[0007] According to one aspect of the embodiment, the work vehicle can perform autonomous driving suited to the field. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a side view showing a work vehicle. [Diagram 2] FIG. 2 is a plan view showing the work vehicle. [Diagram 3] FIG. 3 is a block diagram showing a control system centered on the control device of the seedling transplanter. [Figure 4] FIG. 4 is a diagram showing a method for setting a working area by teaching running according to the embodiment. [Diagram 5] FIG. 5 is a flowchart illustrating a back-turn process in automatic turning according to this embodiment. [Figure 6] FIG. 6 is a diagram showing an example of mounting the display device in the seedling transplanter according to the modified example. [Figure 7] FIG. 7 is a diagram illustrating an electric seedling harvesting amount adjusting mechanism of a seedling transplanter according to a modified example. [Figure 8] FIG. 8 is a view for explaining a holding mechanism of the seedling transplanter according to the modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] (Overview of work vehicles) First, an overview of a work vehicle 1 according to an embodiment will be described with reference to Figures 1 and 2. Figure 1 is a side view showing the work vehicle 1. Figure 2 is a plan view showing the work vehicle 1.

[0010] In the following description, the forward / rearward direction is the direction of travel of the work vehicle 1 when traveling straight, with the forward side in the direction of travel being defined as "front" and the rear side being defined as "rear." The forward direction of the work vehicle 1 is the direction from the driver's seat 41 toward the handle 35 (steering device) when traveling straight (see Figures 1 and 2).

[0011] The left-right direction is a direction that is horizontally perpendicular to the front-rear direction and defines left and right facing the "front." In other words, when a pilot (also called an operator) is seated in the pilot's seat 41 and facing forward, the left hand side is the "left" and the right hand side is the "right."

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

[0013] In the embodiment, the work vehicle 1 is described as a riding seedling transplanter 1 that is equipped with a seedling planting unit 4 as a field work device and receives seedlings in a field. As shown in Figures 1 and 2, the seedling transplanter 1 is equipped with the seedling planting unit 4 that can be raised and lowered via a lifting link mechanism 3 on the rear side of the traveling body 2 to plant seedlings in the field.

[0014] A main body of the fertilizer applicator 5 is disposed on the upper rear side of the traveling body 2. When the work vehicle 1 is not a seedling transplanter 1, it may be equipped with a sowing device for supplying seeds as a work device.

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

[0016] The continuously variable transmission 14 is a hydrostatic continuously variable transmission known as HST (Hydro Static Transmission). In the following, a case where the continuously variable transmission is the HST 14 will be described.

[0017] An auxiliary transmission mechanism 16 is provided in the transmission case 13 for switching the driving mode of the traveling vehicle body 2 between high-speed mode for road driving and low-speed mode for planting seedlings. Front wheel final cases 10a are provided on the left and right sides of the transmission case 13, and front wheels 10 are attached to left and right front axles 10b that protrude outward from front wheel support parts that can change the steering direction of the left and right front wheel final cases 10a.

[0018] In addition, rear wheel gear cases 11a are attached to both the left and right sides of a rear frame 22 (see Figure 2) that is provided laterally on the rear side of the main frame 15, and rear wheels 11 are respectively attached to left and right rear axles 11b that protrude outward from the rear wheel gear case 11a.

[0019] Left and right link support frames 23 that support the lifting link mechanism 3 protrude upward from the upper part of the rear frame 22. A pair of left and right lower link arms 24 are provided below and between the left and right link support frames 23. A hydraulically operated lifting cylinder 25 is provided between the left and right lower link arms 24.

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

[0021] In addition, an engine 30 is mounted on the main frame 15. Rotational power of the engine 30 is transmitted to the transmission case 13 via the belt transmission device 21 and the HST 14. The rotational power transmitted to the transmission case 13 is changed in speed by the sub-transmission mechanism 16 in the transmission case 13, and then separated into traveling power and externally extracted power.

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

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

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

[0025] A side clutch 44 (see FIG. 3) that switches on and off the power transmission to the left and right drive shafts 42 is disposed upstream in the transmission direction from the left and right drive shafts 42. As shown in FIG. 1, a side clutch pedal 43a that switches on and off the left and right side clutches 44 is provided at the lower front side of the cockpit 41 and on one of the left and right sides.

[0026] Of the left and right side clutch pedals 43a, when the side clutch pedal 43a on the inside of the turn is depressed to disengage the side clutch 44, and then the steering wheel 35 is operated to make a turn, the drive rotation of the rear wheel 11 on the inside of the turn can be completely cut off.

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

[0028] The bonnet 39 is also provided with a handlebar 35 for steering the traveling body 2, a speed change operation lever 36 for operating the HST 14 and the seedling planting section 4, an auxiliary speed change operation lever 37 for operating the auxiliary speed change mechanism 16, and the like.

[0029] In addition, an openable and closable front cover 40 is provided in front of the bonnet 39. A fuel tank, a battery, and an interlocking mechanism for rotating the left and right front wheels 10 and the lower sides of the left and right front wheel final cases 10a in response to steering of the handlebars 35 are provided inside the front cover 40. The front wheels 10 are, for example, steered wheels that are turned in response to steering of the handlebars 35.

[0030] An engine cover 30a that covers the top and sides of the engine 30 is provided behind the bonnet 39 and above the engine 30, and a pilot's seat 41 where the pilot is seated is provided above the engine cover 30a.

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

[0032] A substantially horizontal floor step 33 is formed on both the left and right sides of the lower portion of the engine cover 30a and the bonnet 39. As shown in Fig. 2, the floor step 33 is partially lattice-shaped, so that even if mud on the shoes of an operator walking on the floor step 33 falls, the fallen mud falls into the field.

[0033] 2, a rear step 330 is connected to the rear of the floor step 33. It is preferable that the surface of the rear step 330 is subjected to an anti-slip treatment, for example, a pattern of multiple projections, so that the feet do not easily slip during work.

[0034] In addition, at the front of the traveling body 2, on both the left and right sides, spare seedling frames 50 are provided, in which multiple spare seedling carrying platforms 52 are arranged at intervals in the vertical direction on seedling frame supports 51, so that work materials such as seedlings and fertilizer bags to be replenished in the seedling planting section 4 can be placed on them.

[0035] A seedling tank 53 for loading seedlings to be planted in the field is attached to the rear end of the lifting link mechanism 3 together with a sliding mechanism for sliding it left and right. Seedling partition fences 54 that are long in the vertical direction are arranged at predetermined intervals in the horizontal direction on the seedling tank 53. A seedling planting device 55 is arranged below the seedling tank 53 to pick up the loaded seedlings and plant them in the field.

[0036] The seedling planting device 55 plants the same number of seedling rows as those separated by the seedling partition fence 54, i.e., eight rows at a time. Four planting transmission cases 56 are arranged at intervals below the seedling tank 53, and planting rotaries 57 are attached to both the left and right sides of the planting transmission cases 56, which rotate to pick up seedlings using planting rods 58 and plant them in the field.

[0037] In the fertilizer applicator 5, the fertilizer hopper 70 in which the fertilizer is stored is divided into the same number of sections as the number of working rows in the seedling planting section 4 (8 rows in the example shown in FIG. 2). Since the fertilizer hopper 70 with 8 rows is long in the left-right direction and therefore the convenience of adding fertilizer and attaching and detaching it is reduced, the fertilizer hopper 70 may have a so-called side fertilizer application structure in which sections divided into 4 rows are arranged on each side.

[0038] A payout device 71 that supplies a set amount of fertilizer at each row is provided below the fertilizer hopper 70. A ventilation duct 72 through which conveying air that moves the fertilizer passes is provided in the left-right direction below the payout device 71. A fertilizer hose 73 that guides fertilizer to the vicinity of the seedling planting position in the seedling planting section 4 is provided below the payout device 71. In addition, a blower 74 that is operated by an electric blower motor 76 to generate conveying air is provided at one end of the ventilation duct 72.

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

[0040] In addition, below the seedling planting section 4, a ground leveling rotor 63 for leveling unevenness in the field is provided ahead of the float 62. Driving force is transmitted to the ground leveling rotor 63 from the rear wheel gear case 11a on the other left or right side via a rotor transmission shaft 63a.

[0041] 1, line drawing markers 65 are provided on both the left and right sides of the seedling planting section 4, one of which comes into contact with the field surface to form a groove that serves as a guide for traveling in the next work row (next process). When one of the left and right line drawing markers 65 comes into contact with the field surface, the other moves upward, and when the seedling planting section 4 is raised during a turn, both the left and right sides move upward, and when the seedling planting section 4 is lowered after the turn, one of the left and right sides moves upward and the other side comes into contact with the field.

[0042] 1 and 2, a center mascot 66 that is long in the vertical direction is provided in the left-right center of the traveling body 2 and in front of the bonnet 39. By aligning the center mascot 66 with the grooves formed in the field by the left and right line markers 65, it becomes possible to travel in accordance with the work position of the previous work row, improving work accuracy and preventing non-working.

[0043] Depending on the soil quality of the field, the guide lines formed by the left and right line-drawing markers 65 may quickly become buried, and the indication for going straight may disappear. In such a case, it is better to use the left and right side markers 19 provided forward of the left and right line-drawing markers 65. That is, by moving the left and right side markers 19 outward and positioning the side markers 19 above the planted seedlings, it becomes possible to perform planting work in accordance with the planting of the seedlings in the previous work row.

[0044] As shown in FIG. 1, the seedling transplanter 1 includes a position detection device 150. The position detection device 150 detects the current position and orientation of the seedling transplanter 1. The position detection device 150 includes, for example, an orientation sensor and a positioning means such as a Global Positioning System (GPS) or a Global Navigation Satellite System (GNSS). The position detection device 150 may be composed of multiple devices. The position detection device 150 may include a camera or an ultrasonic sensor, and may obtain a turning position in a farm field and detect a distance to the turning position.

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

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

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

[0048] The controller 100 is provided with a processing section having a CPU (Central Processing Unit) and the like, a storage section such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input / output section, which are connected to each other and can exchange signals with each other. The storage section stores computer programs and the like for controlling the seedling transplanter 1. The controller 100 performs each function by reading out the computer programs and the like stored in the storage section.

[0049] The controller 100 is connected to, for example, actuators such as a throttle motor 80, hydraulic control valves 81, 82, a planting clutch actuation solenoid 83, a side clutch actuation solenoid 84, an HST motor 85, a line drawing marker lifting motor 87, a steering motor 95, and a differential lock switching motor 96.

[0050] The throttle motor 80 increases or decreases the rotation speed of the output shaft of the engine 30 by operating a throttle that adjusts the amount of intake air of the engine 30. The hydraulic control valve 81 controls the extension and contraction operation of the lift cylinder 25. The hydraulic control valve 82 controls the power steering mechanism 88. The planting clutch operating solenoid 83 operates the planting clutch 27a.

[0051] The side clutch actuation solenoid 84 actuates the side clutch 44 which switches the state of power transmission to the rear wheels 11 (see FIG. 1). The side clutch 44 is provided on each of the left and right rear wheels 11, and two side clutch actuation solenoids 84 are provided corresponding to each side clutch 44.

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

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

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

[0055] The steering amount sensor 91 detects the amount of operation of the steering wheel 35, which is a steering device, i.e., the steering amount (steering angle) of the front wheels 10. The steering amount sensor 91 is provided, for example, on a shaft connected to a pitman arm. The steering amount is detected in both the left and right directions, with the value when the steering wheel 35 is in a preset straight-ahead position being used as a reference value. The inclination sensor 92 detects the inclination angle, which is the inclination of the traveling vehicle body 2.

[0056] In addition, signals are input to the controller 100 as operation signals from the speed change operation lever 36, the sub-speed change operation lever 37, the autonomous driving changeover switch 46, the planting unit lifting / lowering switch 47, the automatic straight-line changeover switch 45, the automatic turning changeover switch 48, the field condition input unit 49, etc.

[0057] The autonomous driving changeover switch 46 is a switch for switching whether or not to execute autonomous driving. Specifically, the autonomous driving changeover switch 46 is a switch for switching the driving mode between a manual driving mode and an autonomous driving mode (automatic driving mode). The manual driving mode is a mode in which the vehicle travels by manual operation of an operator. The autonomous driving mode is a mode in which the vehicle travels automatically without manual operation of an operator.

[0058] For example, when the autonomous driving changeover switch 46 is "ON", the driving mode is set to the autonomous driving mode. When the autonomous driving changeover switch 46 is "OFF", the driving mode is set to the manual driving mode. When the autonomous driving changeover switch 46 is turned "ON", the automatic straight-line driving changeover switch 45 and the automatic turning changeover switch 48 are turned "ON". In other words, when the driving mode is the autonomous driving mode, the automatic straight-line driving changeover switch 45 and the automatic turning changeover switch 48 can be changed to "OFF" by the driver's operation even if they have been turned "ON" once.

[0059] The planting section lifting switch 47 is a switch for switching whether to lift or lower the seedling planting section 4. The planting section lifting switch 47 is changed to the "up" and "down" positions.

[0060] When the planting unit lift switch 47 is in the "up" position, the seedling planting unit 4 rises to a predetermined non-working position and the seedling planting device 55 stops, resulting in a non-working state. When the planting unit lift switch 47 is in the "down" position, the seedling planting unit 4 descends to a predetermined working position and the seedling planting device 55 operates, resulting in a working state. In other words, the planting unit lift switch 47 is a switch that detects the working state of the seedling planting unit 4. Note that a separate switch that detects the working state of the seedling planting unit 4 may be provided.

[0061] The field condition input unit 49 includes a plurality of dials, a plurality of switches, a plurality of buttons, and the like. The field condition input unit 49 receives the field condition. The field condition input unit 49 accepts an input operation indicating the field condition. The field condition includes at least one of the following conditions: muddyness of the field, field depth, and field shape. The field condition is input by an operator or the like via the field condition input unit 49. The field condition input unit 49 is provided, for example, on the operation panel 38.

[0062] The automatic straight-line driving changeover switch 45 is a switch that switches whether or not automatic straight-line driving is enabled. When the automatic straight-line driving changeover switch 45 is set to "ON," a driving assist function, which will be described later, is enabled, and automatic straight-line driving can be executed. When the automatic straight-line driving changeover switch 45 is set to "OFF," the driving assist function is disabled, and automatic straight-line driving cannot be executed.

[0063] The automatic turning changeover switch 48 is a switch that switches whether or not automatic turning is enabled. When the automatic turning changeover switch 48 is set to "ON", a turning assist function, which will be described later, is enabled, and automatic turning can be performed. When the automatic turning changeover switch 48 is set to "OFF", the turning assist function is disabled, and automatic turning cannot be performed. When the automatic turning changeover switch 48 is set to "OFF", automatic turning is not performed even if the conditions for performing automatic turning are met.

[0064] The controller 100 switches the driving mode between a manual driving mode and an autonomous driving mode in response to the operation of the autonomous driving changeover switch 46, the automatic straight-line driving changeover switch 45, and the automatic turning changeover switch 48.

[0065] Further, the controller 100 receives current position information of the traveling vehicle body 2 from the position detection device 150. The controller 100 executes an autonomous traveling mode in which the traveling vehicle body 2 performs work while traveling automatically.

[0066] Moreover, various information is input to the controller 100 from a remote control device 170 (hereinafter referred to as the "remote control"). For example, various information is input to the controller 100 from the remote control 170 via a receiver 180 (see FIG. 1). The receiver 180 is attached, for example, to a mounting stay 59 (see FIG. 1) and disposed above the front side of the traveling vehicle body 2. Note that a plurality of receivers 180 may be provided. The mounting stay 59 is attached to the traveling vehicle body 2.

[0067] The remote control 170 can remotely control the seedling transplanter 1. The remote control 170 may be a terminal device such as a smartphone. The remote control 170 transmits a control signal according to an operation by an operator. The remote control 170 is communicably connected to the controller 100 by short-range wireless communication such as Wi-fi (registered trademark) or BLE (Bluetooth (registered trademark) Low Energy), but is not limited thereto, and may be communicatively connected via a communication network or the like in addition to or instead of the short-range wireless communication.

[0068] There may be provided a plurality of remote controls 170. That is, the controller 100 may be capable of acquiring position information of each remote control 170 from the plurality of remote controls 170.

[0069] (Autonomous driving mode) Here, the autonomous driving (automatic driving) in the field by the seedling transplanter 1 will be described. The controller 100 has an autonomous driving mode (automatic driving mode) in which the steering motor 95 (see FIG. 3) is controlled to operate the handlebars 35 (see FIG. 3) while feeding back the steering amount of the front wheels 10 (see FIG. 1). The autonomous driving mode includes an automatic straight-line mode and an automatic turning mode.

[0070] The automatic straight-line mode is a mode in which the steering motor 95 is controlled so that the traveling body 2 travels straight along a preset straight-line route. In the automatic straight-line mode, the traveling body 2 travels straight without the operation of the driver while the seedling planting unit 4 plants seedlings in the field. In other words, the traveling assist function for transplanting seedlings in the field while automatically moving the traveling body 2 straight is enabled, and the traveling assist function is executed.

[0071] In the automatic turning mode, when the traveling body 2 reaches a predetermined planting end position, the seedling planting unit 4 stops planting the seedlings, and the steering motor 95 is controlled to turn the traveling body 2 along a preset turning path. The predetermined planting end position is set, for example, based on the travel distance of the process where the work was performed, position information related to the process where the work was performed, etc.

[0072] In the automatic turning mode, for example, the seedling planting unit 4 is raised and put into a non-working state, and the traveling body 2 turns without the operation of the operator. In other words, the turning assist function for turning the traveling body 2 is enabled without the seedling planting unit 4 planting seedlings, and the turning assist function is executed.

[0073] As shown in Fig. 4, a working area in which the autonomous driving mode is executed is set by performing teaching traveling along three sides La to Lc of the field by operation of a driver. Fig. 4 is a diagram showing a method for setting a working area by teaching traveling according to the embodiment.

[0074] For example, when a working area setting button (not shown) is operated to start traveling, position information of the traveling body 2 is recorded as the start point of side La, and the position information of the traveling body 2 while traveling is recorded. Then, when the handlebars 35 are turned by the operator by a predetermined turning angle or more, the end point of side La is recorded and side La is set. In addition, position information of the traveling body 2 at the start point of side Lb is recorded. The predetermined turning angle is a preset value, and is an angle at which it can be determined that the traveling body 2 has turned along the bank.

[0075] Furthermore, when the driver rotates the handlebars 35 by a predetermined angle or more after the traveling vehicle body 2 has traveled straight, the end point of the side Lb is recorded and the side Lb is set. In addition, the position information of the traveling vehicle body 2 at the start point of the side Lc is recorded.

[0076] When the working area setting button is operated after the traveling body 2 has traveled straight, the position information of the traveling body 2 is recorded as the end point of side Lc, and side Lc is set. The working area is set by setting the three sides La to Lc. In teaching traveling, seedlings are planted in the field by the seedling planting unit 4 while the traveling body 2 is traveling straight. Teaching traveling is a perimeter process in which planting work is performed along the perimeter of the field. The working area is an area in which seedlings are planted in the field by the reciprocating process in which the traveling body 2 travels back and forth.

[0077] In a field in which a work area is set, an autonomous driving mode can be executed. For example, in a field, automatic straight travel is possible along a straight travel path parallel to side La or side Lc. In addition, automatic turning is possible when turning near the ridge on the side Lb side. When turning near the side of the field that was not traveled in the teaching travel, i.e., the ridge on the side opposite side Lb, turning by remote control is possible. Note that automatic turning may be executed when turning near the ridge of the side of the field that was not traveled in the teaching travel.

[0078] Furthermore, even when the teaching drive is completed and the working area is set, if the drive mode is the manual drive mode, the seedling transplanter 1 can drive by the operator's operation and transplant seedlings into the field.

[0079] When the driving mode is the manual driving mode and the seedling transplanter 1 is driven by the operator, if the automatic straight driving changeover switch 45 is turned "ON", the seedling transplanter 1 performs automatic straight driving. In other words, the seedling transplanter 1 can perform the driving assist function even if the driving mode is the manual driving mode.

[0080] In addition, when the driving mode is the manual driving mode and the seedling transplanter 1 is driven by the operator, if the automatic turning changeover switch 48 is turned "ON", the seedling transplanter 1 can perform automatic turning. In other words, the seedling transplanter 1 can perform the turning assist function even if the driving mode is the manual driving mode.

[0081] When the controller 100 executes the turning assist function and automatically turns the traveling vehicle body 2, the controller 100 executes the automatic turning in the following procedure. For example, the controller 100 executes a back turn in the automatic turning. A back turn is a turn in which the traveling vehicle body 2 is made to move backward once and then the turning is started.

[0082] When the traveling body 2 travels to the end of the working area, that is, the end of the reciprocating process, the controller 100 stops the traveling body 2.

[0083] For example, when the vehicle travels along a reciprocating process by automatic straight-line driving and planting seedlings in a field, the controller 100 stops the traveling vehicle body 2 when the vehicle travels to the end of the reciprocating process, which is a predetermined planting end position.

[0084] The controller 100 reverses the traveling vehicle body 2 from the stopped position. Specifically, the controller 100 controls the amount of operation of the handle 35 so that the traveling vehicle body 2 is in a straight-ahead state, and reverses the traveling vehicle body 2. The controller 100 reverses the traveling vehicle body 2 based on the orientation of the traveling vehicle body 2 detected by the position detection device 150. The controller 100 controls the amount of operation of the handle 35 so that the orientation of the traveling vehicle body 2 in the reciprocating process coincides with the orientation of the traveling vehicle body 2 when reversed, and reverses the traveling vehicle body 2.

[0085] Then, when the traveling body 2 moves backward a first predetermined distance (predetermined backward distance) from the stop position, the traveling body 2 is stopped. The controller 100 detects the backward distance of the traveling body 2 based on the rotation speed of the rear wheels 11 detected by the rotation speed sensor 90. The first predetermined distance is set according to the seedling transplanter 1. For example, the first predetermined distance is set according to the number of planting rows of the seedling transplanter 1. The controller 100 stops the traveling body 2 when the backward distance reaches the first predetermined distance. That is, the controller 100 detects the backward distance from when reverse travel starts to when the traveling body stops based on the rotation speed of the rear wheels 11 detected by the rotation speed sensor 90.

[0086] The first predetermined distance can be changed depending on the state of the field. Specifically, the first predetermined distance can be changed by operating the field condition input unit 49. The first predetermined distance is set to a reference distance as an initial state. For example, the field condition input unit 49 can be set to "-10" to "+10" depending on the state of the field. When the field condition input unit 49 is set to "-10" to "-1", the first predetermined distance is longer than the reference distance. The first predetermined distance is longer toward the "-10" side. When the field condition input unit 49 is set to "+1" to "+10", the first predetermined distance is shorter than the reference distance. The first predetermined distance is shorter toward the "+10" side.

[0087] For example, if the shape of the field is inclined with respect to the direction of travel in the reciprocating process and the ridge is closer in the turning direction of the traveling vehicle body 2, the field state input unit 49 is set to make the first predetermined distance longer. far away If so, the field condition input unit 49 is set so that the first predetermined distance is shortened.

[0088] Moreover, when the field is muddy, the field condition input unit 49 sets the first predetermined distance to be longer. Moreover, when the field is deep, the field condition input unit 49 sets the first predetermined distance to be longer.

[0089] In this way, the controller 100 can adjust the autonomous driving control (automatic driving control) during automatic turning in response to an input operation indicating the state of the farm field.

[0090] The controller 100 moves the traveling body 2 backward a first predetermined distance, stops the traveling body 2, and then moves the traveling body 2 forward to start turning. When moving the traveling body 2 forward after moving backward in a back turn, the controller 100 moves the traveling body 2 forward a second predetermined distance and then starts turning. The second predetermined distance is shorter than the first predetermined distance. The second predetermined distance is a distance set relative to the first predetermined distance. When moving the traveling body 2 forward a second predetermined distance, the controller 100 controls the amount of operation of the handle 35 based on the position of the traveling body 2 detected by the position detection device 150 and the orientation of the traveling body 2 so that the traveling body 2 moves forward along a straight traveling path (predetermined traveling path).

[0091] After the traveling vehicle body 2 has traveled a distance corresponding to the second predetermined distance, the controller 100 starts turning the traveling vehicle body 2 by operating the handlebars 35 by a predetermined amount (predetermined steering angle). The predetermined amount is a value set in advance.

[0092] The controller 100 turns the traveling vehicle body 2 based on the direction detected by the position detection device 150.

[0093] (Backturn processing) Next, the back-turn process in the automatic turning according to the embodiment will be described with reference to Fig. 5. Fig. 5 is a flowchart for explaining the back-turn process in the automatic turning according to the embodiment. Here, it is assumed that the traveling vehicle body 2 is traveling in the automatic straight-ahead mode.

[0094] The controller 100 determines whether the traveling body 2 has traveled to the planting end position (S100). If the traveling body 2 has not traveled to the planting end position (S100: No), the controller 100 ends this processing.

[0095] When the traveling body 2 has traveled to the planting end position (S100: Yes), the controller 100 stops the traveling body 2 (S101).

[0096] The controller 100 reverses the traveling vehicle body 2 (S102). The controller 100 controls the steering amount of the handle 35 based on the direction of the traveling vehicle body 2 detected by the position detection device 150, and causes the traveling vehicle body 2 to reverse.

[0097] The controller 100 determines whether the reverse distance of the traveling body 2 has reached a first predetermined distance (S103). The first predetermined distance is set by an operator or the like through the field condition input unit 49. If the reverse distance of the traveling body 2 has not reached the first predetermined distance (S103: No), the controller 100 continues reverse movement until the reverse distance of the traveling body 2 reaches the first predetermined distance (S102).

[0098] When the reverse distance of the traveling body 2 reaches the first predetermined distance (S103: Yes), the controller 100 stops the traveling body 2 (S104).

[0099] The controller 100 moves the traveling vehicle body 2 forward (S105). The controller 100 controls the amount of operation of the handle 35 based on the position of the traveling vehicle body 2 detected by the position detection device 150 and the orientation of the traveling vehicle body 2 so as to move the traveling vehicle body 2 forward along a predetermined travel route.

[0100] The controller 100 determines whether the forward distance of the traveling body 2 has reached the second predetermined distance (S106). If the forward distance of the traveling body 2 has not reached the second predetermined distance (S106: No), the controller 100 continues the forward movement of the traveling body 2 until the forward distance of the traveling body 2 reaches the second predetermined distance (S105).

[0101] When the forward distance of the traveling body 2 reaches the second predetermined distance (S105: Yes), the controller 100 starts turning (S106). The controller controls the amount of operation of the steering wheel 35 based on, for example, the direction of the traveling body 2 and the angular velocity of the traveling body 2, to turn the traveling body 2.

[0102] The seedling transplanter 1 includes a traveling body 2, a seedling planting unit 4, and a controller 100. The seedling planting unit 4 is provided on the traveling body 2. The controller 100 switches the traveling mode between a manual traveling mode in which the machine travels by manual operation of an operator, and an autonomous traveling mode in which the machine travels autonomously without manual operation. The controller 100 can adjust the automatic traveling control in the autonomous traveling mode in response to an input operation indicating the state of the field.

[0103] This allows the seedling transplanter 1 to travel in an autonomous travel mode suited to the field.

[0104] When turning, the controller 100 can execute a back turn in which the turning starts after the traveling body 2 moves backward. When executing a back turn in the autonomous traveling mode, the controller 100 can change a first predetermined distance from when the traveling body 2 starts moving backward until when it stops, in response to an input operation indicating the state of the field.

[0105] As a result, when performing a backturn by automatic turning, the seedling transplanter 1 can perform a backturn that suits the field. The seedling transplanter 1 can perform a backturn that suits, for example, the muddyness, depth, and shape of the field. When performing a backturn in automatic turning, the seedling transplanter 1 can prevent the seedling transplanter 1 from hitting the ridge. When performing a backturn in automatic turning, the seedling transplanter 1 can prevent the seedling transplanter 1 from moving too far away from the ridge. When performing a backturn in automatic turning, the seedling transplanter 1 can prevent deviation from the planting start position in the next process after turning.

[0106] The seedling transplanter 1 includes a position detector 150. The position detector 150 detects the position and orientation of the traveling body 2. When the controller 100 moves the traveling body 2 forward in the autonomous traveling mode, the controller 100 executes autonomous traveling based on the position of the traveling body 2 detected by the position detector 150. When the controller 100 executes a back turn in the autonomous traveling mode, the controller 100 moves the traveling body 2 backward based on the orientation of the traveling body 2 detected by the position detector 150 during backward traveling, and detects the backward traveling distance of the traveling body 2 based on the rotation speed of the rear wheel 11.

[0107] As a result, when the seedling transplanter 1 plants seedlings in a field in the autonomous driving mode, it is possible to prevent the seedlings from being spaced closely together and to prevent excessive fertilizer application, taking into consideration slippage and the like. In a back turn during automatic turning, the traveling body 2 is moving at a low speed, so the position detection accuracy of the position detection device 150 may be reduced. In a back turn during automatic turning, the seedling transplanter 1 reverses the traveling body 2 based on the direction detected by the position detection device 150, and detects the reverse distance of the traveling body 2 based on the number of revolutions of the rear wheels 11. In addition, a first predetermined distance, which is the distance when moving backward during a back turn, is set according to the state of the field. As a result, the seedling transplanter 1 can accurately perform the reverse back turn during automatic turning in accordance with the field. Therefore, the seedling transplanter 1 can accurately perform the back turn during automatic turning. In addition, the seedling transplanter 1 can accurately perform the back turn during automatic turning by an inexpensive method.

[0108] When the controller 100 moves the traveling vehicle body 2 forward after reversing due to a back turn during automatic turning, the controller 100 controls the steering amount of the handle 35 so that the traveling vehicle body 2 moves forward along a straight traveling path based on the position of the traveling vehicle body 2 detected by the position detection device 150 and the orientation of the traveling vehicle body 2.

[0109] As a result, when the seedling transplanter 1 performs a back turn during automatic turning and moves the traveling body 2 forward, deviation of the traveling body 2 from the straight traveling path can be suppressed. Therefore, the seedling transplanter 1 can accurately perform a back turn during automatic turning.

[0110] The seedling transplanter 1 according to the modified example may perform a back turn in the automatic turning mode and fix the steering amount of the handlebars 35 to the steering amount of the handlebars 35 for moving the traveling body 2 straight when moving backward. This allows the seedling transplanter 1 according to the modified example to prevent the field from being damaged when the traveling body 2 moves backward.

[0111] The seedling transplanter 1 according to the modified example may detect the state of the field. For example, the shape of the field is detected from a topographical map such as a map. The shape of the field may be detected from an image captured by a camera. When the state of the field is a field shape in which the ridges become farther in the turning direction of the traveling body 2 and a back turn is performed in the automatic traveling mode, the controller 100 stops the traveling body 2 after turning without changing the first predetermined distance from the reference distance. In addition, the controller 100 may stop the traveling body 2 by moving the traveling body 2 backward after stopping the traveling body 2 after turning. The distance by which the traveling body 2 moves backward after stopping the traveling body 2 after turning is set, for example, based on the setting value (for example, "+1" to "+10") of the field state input unit 49.

[0112] In the seedling transplanter 1 according to the modified example, the controller 100 performs a back turn in the automatic travel mode, and when the traveling body 2 is moved forward a second predetermined distance, stops the traveling body 2 if the traveling body 2 deviates from the straight traveling path by a predetermined amount or more. The controller 100 determines whether the traveling body 2 deviates from the straight traveling path by a predetermined amount or more based on at least one of the position of the traveling body 2 detected by the position detection device 150 and the orientation of the traveling body 2. Then, the controller 100 reverses the traveling body 2 again based on the orientation of the traveling body 2 detected by the position detection device 150. The controller 100 controls the amount of operation of the handle 35 so that the orientation of the traveling body 2 on the straight traveling path and the orientation of the traveling body 2 when moving backward match, and moves the traveling body 2 backward. The controller 100, for example, moves the traveling body 2 backward by the distance that the traveling body 2 has moved forward. The travel distance of the traveling vehicle body 2 is detected, for example, based on the number of revolutions of the rear wheel 11 detected by the revolution speed sensor 90. After moving the traveling vehicle body 2 backward, the controller 100 stops the traveling vehicle body 2 and moves the traveling vehicle body 2 forward again. Based on the position of the traveling vehicle body 2 detected by the position detection device 150 and the orientation of the traveling vehicle body 2, the controller 100 controls the operation amount of the handle 35 so that the traveling vehicle body 2 moves forward again along the straight traveling path. That is, if the traveling vehicle body 2 deviates from the straight traveling path by a predetermined amount or more when moving the traveling vehicle body 2 forward a second predetermined distance, the controller 100 performs a back turn again.

[0113] As a result, the seedling transplanter 1 according to the modified example can prevent the traveling body 2 from turning off the straight traveling path during a back turn. Therefore, the seedling transplanter 1 according to the modified example can accurately perform automatic turning.

[0114] In the seedling transplanter 1 according to the modified example, if the traveling body 2 deviates from the straight traveling path by a predetermined amount or more even after redoing the back turn as described above, the controller 100 stops the traveling body 2 and stops the automatic turning. For example, if the traveling body 2 deviates from the straight traveling path by a predetermined amount or more even after redoing the back turn a predetermined number of times (for example, twice), the controller 100 stops the traveling body 2 and stops the automatic turning.

[0115] As a result, when the seedling transplanter 1 in the modified example is unable to perform automatic turning while moving straight along the straight-line travel path, for example due to a muddy field, the seedling transplanter 1 can stop automatic turning and prompt the operator to turn manually.

[0116] In the seedling transplanter 1 according to the modified example, when the traveling body 2 deviates from the straight traveling path by a predetermined amount or more, the controller 100 displays the suspension of the automatic turning on the display device 110 shown in FIG. 6. FIG. 6 is a diagram showing an example of mounting the display device 110 in the seedling transplanter 1 according to the modified example. The display device 110 is mounted on a mounting stay 59 (frame) connected to the traveling body 2. The display device 110 is mounted on the mounting stay 59 in an inclined position so that the front side of the display device 110 is located upward. A space communicating in the front-rear direction is formed below the display device 110. The hood 39 is disposed in the space. The mounting stay 59 is provided so that the hood 39 can be opened and closed. The controller 100 may notify the operator of the suspension of the automatic turning by a buzzer or the like.

[0117] Thereby, the seedling transplanter 1 according to the modified example can inform the operator that automatic turning cannot be performed while traveling straight along the straight traveling path.

[0118] When the driving mode is the automatic driving mode, the display device 110 may display the deviation of the traveling vehicle body 2 with respect to the traveling direction.

[0119] The seedling transplanter 1 according to the modified example may store the vehicle speed set in the automatic straight-line mode, and gradually increase the vehicle speed to the stored vehicle speed after the traveling body 2 turns. For example, the controller 100 gradually increases the vehicle speed at 5 m intervals after starting planting.

[0120] As a result, the seedling transplanter 1 according to the modified example can suppress sudden acceleration of the traveling body 2 and stabilize planting.

[0121] When materials are replenished, the seedling transplanter 1 according to the modified example displays the required amount of materials calculated based on the length of the route to the next process (to the next replenishment point) at the timing when the work of the previous process is completed on the display device 110. This makes it possible for the seedling transplanter 1 according to the modified example to prevent over-feeding of materials.

[0122] Furthermore, when the amount of materials is less than the loadable amount, the seedling transplanter 1 according to the modified example displays a warning on the display device 110. Furthermore, when the amount of materials is more than the required amount, the seedling transplanter 1 according to the modified example displays on the display device 110 that continuous work is possible.

[0123] Furthermore, when the material is fertilizer, the seedling transplanter 1 according to the modified example performs calculations based on the input target value, not on the feed opening of the fertilizer applicator 5. The seedling transplanter 1 according to the modified example performs calculations taking into account the specific gravity of the fertilizer, which is calculated at the same time as the target value is input, on the premise that a trial feed is to be performed.

[0124] The seedling transplanter 1 according to the modified example judges whether or not to replenish materials in the process, assuming that the load is full. The seedling transplanter 1 according to the modified example detects a decrease in materials when the detection sensor reacts. The seedling transplanter 1 according to the modified example regards the amount of materials up to the point where the sensor reacts as the loadable amount.

[0125] As a result, the seedling transplanter 1 according to the modified example can calculate the amount of materials required depending on whether a decrease in materials is detected. If no warning is issued at the stage of replenishing materials, a decrease in materials during the process is not reported. Even if a decrease in materials is detected due to a calculation error or slippage, or if a report is issued near the ridge, the seedling transplanter 1 according to the modified example can continue work without stopping.

[0126] The seedling transplanter 1 in the modified example continues automatic operation when the amount of materials required is equal to or less than the detected amount of materials, and stops autonomous driving and prompts the user to perform replenishment operations after row-nearing if the amount of materials required is greater than the detected amount.

[0127] In the automatic straight-line mode, when the seedling planting unit 4 passes over the travel route multiple times, except for the final time, the seedling transplanter 1 according to the modified example disengages the planting clutch 27a and the fertilizing clutch according to the area through which the seedling planting unit 4 passes. When switching each clutch between the on state and the off state, the traveling body 2 temporarily stops. This allows the seedling transplanter 1 according to the modified example to perform accurate planting.

[0128] The seedling transplanter 1 according to the modified example disengages the fertilizer clutch corresponding to the row that would crush the planted seedlings even when the planting clutch 27a is engaged. The seedling transplanter 1 according to the modified example automatically switches the fertilizer clutch. The seedling transplanter 1 according to the modified example also switches the row cutting clutch between engaged and disengaged in herbicide and insecticide sprayers. This allows the seedling transplanter 1 according to the modified example to reduce waste of materials.

[0129] The seedling transplanter 1 according to the modified example may be capable of electrically adjusting the amount of seedlings to be taken by the planting rod 58 in the seedling planting device 55. The seedling transplanter 1 according to the modified example is equipped with an electric seedling amount adjustment mechanism 200 as shown in FIG. 7. FIG. 7 is a diagram for explaining the electric seedling amount adjustment mechanism 200 of the seedling transplanter 1 according to the modified example. The electric seedling amount adjustment mechanism 200 transmits the driving force of the actuator to the front plate 201 and adjusts the seedling amount by changing the relative position between the planting frame 202 and the front plate 201. The electric seedling amount adjustment mechanism 200 includes a drive unit 203, a transmission unit 204, a drive detection unit 205, and an operation detection unit 206.

[0130] The driving unit 203 includes a motor 208 and a gear 209. The gear 209 meshes with the driving shaft of the motor 208 and rotates when the driving shaft rotates.

[0131] The transmission unit 204 includes a transmission arm 210 and a rotating shaft 211. One end of the transmission arm 210 is attached to a gear 209 of the drive unit 203, and rotates around the rotating shaft 211 by the rotation of the gear 209. The rotating shaft 211 is supported rotatably by the planting frame 202. The other end of the transmission arm 210 is connected to the front plate 201. The position of the front plate 201 is changed by the rotation of the transmission arm 210.

[0132] The transmission unit 204 may have an overload prevention function. The transmission unit 204 is configured by forming a part of the transmission arm 210 using a spring material. The transmission unit 204 has a bent part provided in the middle part of the transmission arm 210. The bent part is formed, for example, by bending a part of the transmission arm 210 in the left-right direction, and is attached to a member on the rotating shaft 211 side by a bolt and a nut. This allows the transmission arm 210 to protect the mechanism when overloaded and to return to its original state.

[0133] The drive detection unit 205 detects the position of the gear 209 of the drive unit 203 to ensure operation errors and protect the electric seedling harvesting amount adjustment mechanism 200. The drive detection unit 205 is, for example, a potentiometer. The drive detection unit 205 may also be a limit sensor.

[0134] The operation detection unit 206 detects the relative position between the planting frame 202 and the front plate 201. The operation detection unit 206 has a link mechanism. The link mechanism is provided to magnify small changes in the relative position between the planting frame 202 and the front plate 201.

[0135] The controller 100 detects the seedling harvesting amount by the operation detection unit 206 and operates the motor 208 until the amount reaches the target value. When the seedling harvesting amount increases, the controller 100 judges whether the target value has been reached more strictly. When the seedling harvesting amount increases, the seedling tank 53 may not descend completely, resulting in unstable adjustment of the seedling harvesting amount. The seedling transplanter 1 according to the modified example can perform accurate seedling harvesting adjustment when the seedling harvesting amount increases.

[0136] When the amount of operation is small, the controller 100 judges whether the target value has been reached more strictly than in the standard state. When the amount of operation is small, the front plate 201 is difficult to move, so it may be difficult to reach the target value. In addition, after the target value is reached, the state before operation may return due to rattling. The seedling transplanter 1 according to the modified example can perform accurate seedling adjustment even when the amount of operation is small.

[0137] When the target value is not reached, the controller 100 replaces the position (step number) of the front panel 201 at the time when the target value is not reached with the set value and displays it.

[0138] A limit sensor is provided as the drive detection unit 205, and when the limit sensor is pressed, the controller 100 returns the seedling picking amount by 0.5 steps.

[0139] In the drive detection unit 205, the output amount is set to be larger than the set value in consideration of the overstroke. This allows the seedling transplanter 1 according to the modified example to perform accurate control in consideration of the overstroke.

[0140] The controller 100 limits the output of the motor 208 by controlling the amount of operation, the amount of output, and the amount of operation at the limit position. The amount of output is set to be proportional to the amount of operation (the difference between the target value and the current value). As a result, the seedling transplanter 1 according to the modified example can control the amount of output by using only a potentiometer, for example, for controlling the amount of operation, thereby reducing the load on the system.

[0141] The controller 100 may separately limit the output of the motor 208 by controlling the operating amount, the output amount, and the operating limit position. This allows the seedling transplanter 1 according to the modified example to reliably protect the mechanism and prevent loss of function.

[0142] The controller 100 may limit the output of the motor 208 by managing the amount of operation, the amount of output, and the amount of operation at the limit position. This allows the seedling transplanter 1 according to the modified example to perform accurate control of the amount of operation by a plurality of management items without placing a burden on the mechanism.

[0143] The seedling transplanter 1 according to the modified example may use a motor 230 to drive the seedling planting section 4 and the soil leveling rotor 63. In this case, as shown in FIG. 8, a holding mechanism 233 is provided for holding the transmission shaft 232 at the motor stay section 231 to which the motor 230 is attached, thereby preventing the motor 230 from being damaged by axial thrust. FIG. 8 is a diagram for explaining the holding mechanism 233 of the seedling transplanter 1 according to the modified example. The holding mechanism 233 includes, for example, a holder 234 and holds the shaft with a bearing 235. The transmission shaft 232 may be configured as a slider. The slider is made of a resin part. The transmission shaft 232 may have a key or a shear pin. The key or the shear pin is made of resin.

[0144] The seedling transplanter 1 according to the modified example uses a motor to drive the seedling planting unit 4, detects the output current of the motor, and stops supplying power to the motor when the output current exceeds an upper limit current. This allows the seedling transplanter 1 according to the modified example to eliminate, for example, a safety clutch, making it possible to reduce the weight.

[0145] In the seedling transplanter 1 according to the modified example, a motor is used to drive the seedling planting section 4, and when seedlings are planted in the field before traveling for planting, the planting rotary 57 rotates only once and then planting is stopped.

[0146] In the seedling transplanter 1 according to the modified example, when a motor is used to drive the seedling planting section 4, the spacing between the plants on the ridge side is set to a predetermined width (for example, 30 cm).

[0147] When a motor is used to drive the seedling planting unit 4, the seedling transplanter 1 according to the modified example performs spacing control in accordance with the vehicle speed of the traveling vehicle body 2. The controller 100 corrects the rotation of the motor using a correction value obtained from the difference between the set vehicle speed and the actual vehicle speed of the traveling vehicle body 2. The controller 100 may detect the vehicle speed of the traveling vehicle body 2 without using the position information detected by the position detection device 150. When the difference between the set vehicle speed and the actual vehicle speed is equal to or greater than a predetermined difference, the controller 100 corrects the rotation of the motor using a slip ratio. When the difference between the set vehicle speed and the actual vehicle speed is less than the predetermined difference, the controller 100 controls the rotation of the motor to the default.

[0148] In the seedling transplanter 1 according to the modified example, when a motor is used to drive the seedling planting unit 4, the motor is provided on the side of the link. This allows the seedling transplanter 1 according to the modified example to have smaller transmission parts without adversely affecting planting performance.

[0149] Further advantages and modifications may readily occur to those skilled in the art. Thus, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof. [Explanation of symbols]

[0150] 1. Seedling transplanter (work vehicle) 2 Running vehicle 4 Seedling planting department 35 Handle 59 Mounting stay (frame) 91 Steering amount sensor 100 Controller (control device) 110 Display device 150 Position detection device

Claims

1. A running vehicle body, A seedling planting unit provided on the traveling vehicle body; a control device that switches a driving mode between a manual driving mode in which the vehicle is driven by a manual operation of an operator and an automatic driving mode in which the vehicle is driven automatically without the manual operation; Equipped with the control device is capable of changing, in the automatic traveling mode, a predetermined reverse distance from when the traveling vehicle body starts to reverse until when the traveling vehicle body stops, when performing a back turn in which the turning is started after the traveling vehicle body is caused to reverse, in response to an input operation of a field condition input unit in which a parameter indicating the field condition determined by the operator is input by the operator, The state of the field includes at least a shape of the field, The control device includes: When an image captured by a camera mounted on the work vehicle detects that the shape of the field is such that the ridges become farther away in the turning direction of the traveling body, the work vehicle stops the traveling body after turning without changing the specified reverse distance during the back turn.

2. A position detection device for detecting the position and orientation of the traveling vehicle body Equipped with The control device includes: When the traveling vehicle body is moved forward in the automatic traveling mode, automatic traveling control is executed based on the position of the traveling vehicle body detected by the position detection device; 2. The work vehicle according to claim 1, wherein, when performing the back turn in the automatic driving mode, the traveling body is caused to move backward based on the orientation of the traveling body detected by the position detection device when reversing, and the reversing distance of the traveling body is detected based on the rotation speed of the traveling wheels of the traveling body.

3. The work vehicle of claim 2, wherein when the control device causes the traveling body to move forward after reversing by performing the back turn in the automatic driving mode, the control device controls the steering angle of the traveling body so that the traveling body moves forward along a predetermined driving path based on the position of the traveling body detected by the position detection device and the orientation of the traveling body.

4. The control device includes: moving the traveling vehicle body forward after moving backward by the back turn in the automatic traveling mode, and stopping the traveling vehicle body when the traveling vehicle body deviates from the predetermined traveling route by a predetermined amount or more; The vehicle body is caused to move backward again based on the orientation of the vehicle body detected by the position detection device. The work vehicle according to claim 3, further comprising: a steering angle of the traveling vehicle body being controlled based on position information of the traveling vehicle body detected by the position detection device and an orientation of the traveling vehicle body so that the traveling vehicle body moves forward again along the specified travel path.

5. A display device attached to a frame connected to the traveling vehicle body Equipped with the display device is attached to the frame in an inclined position such that an upper side of the display device is positioned further forward than a lower side of the display device; A space communicating in the front-rear direction is formed below the display device, The display device includes: Displaying information regarding the driving mode; When the driving mode is the automatic driving mode, a deviation of the traveling vehicle body from a traveling direction is displayed; 3. The work vehicle according to claim 2, wherein when the vehicle body cannot travel along a predetermined travel route during the back turn in the automatic driving mode and the turning in the automatic driving mode is stopped, a stop of the turning in the automatic driving mode is displayed.

Images