Work vehicles

Abstract

To provide a work vehicle which executes automatic travelling suited to a field.SOLUTION: A work vehicle includes: a travelling vehicle body; a work machine provided at the travelling vehicle body; a steering wheel provided at the travelling vehicle body; a position detection device for detecting information regarding a position of the travelling vehicle body and azimuth of the travelling vehicle body; a motor for driving the steering wheel in the case where a travelling mode of the travelling vehicle body is an automatic travelling mode; and a control device which controls the motor on the basis of the information detected by the position detection device in the case where the travelling mode is the automatic travelling mode. In the case where the travelling mode is the automatic travelling mode, the control device can set a travelling level of the travelling vehicle body out of a plurality of levels. With the plurality of levels, a plurality of parameters is associated respectively, and the plurality of parameters includes sensitivity regarding an operation amount of the steering wheel and azimuth deviation of the travelling vehicle body, and sensitivity regarding a positional deviation of the travelling vehicle body.SELECTED DRAWING: Figure 6

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 work machine provided on the traveling body, a steering wheel provided on the traveling body, a position detection device that detects information related to the position and orientation of the traveling body, a motor that drives the steering wheel when the traveling mode of the traveling body is an automatic traveling mode, and a control device that controls the motor based on the information detected by the position detection device when the traveling mode is the automatic traveling mode. When the traveling mode is the automatic traveling mode, the control device can set the traveling level of the traveling body from among a plurality of levels, and a plurality of parameters are respectively linked to the plurality of levels, and the plurality of parameters include the amount of steering wheel operation, the sensitivity to the orientation deviation of the traveling body, and the sensitivity to the position deviation of the traveling body. 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 an example of an image showing the driving level. [Figure 6] FIG. 6 is a diagram showing the relationship between each level and a plurality of parameters. [Figure 7] FIG. 7 is a flowchart illustrating the driving level setting process according to the embodiment. [Figure 8] FIG. 8 is a diagram showing a partial configuration of the seedling transplanter. [Figure 9]FIG. 9 is a diagram showing the arrangement of three soil preparation rotors of the seedling transplanter. [Figure 10] FIG. 10 is a diagram showing an example of an image displayed on a remote control or a tablet. [Figure 11] FIG. 11 is a rear perspective view of a seedling transplanter according to a modified example. [Figure 12] FIG. 12 is a schematic diagram illustrating a configuration for pulling out a sheet. [Figure 13] FIG. 13 is a perspective view showing a transport unit and a laying unit of a seedling transplanter according to a modified example. [Figure 14] FIG. 14 is a cross-sectional view showing a configuration of a planting rod of a seedling transplanter according to a modified example. [Figure 15] FIG. 15 is a diagram showing a configuration of a bush of an implant rod according to a modified example. [Figure 16] FIG. 16 is a perspective view of a drone according to a modified example. [Figure 17] FIG. 17 is a diagram showing the configuration of the front wheel side of the seedling transplanter according to the modified example. [Figure 18] FIG. 18 is an exploded view illustrating a free wheel mechanism of a seedling transplanter according to a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] 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 will be described as a riding seedling transplanter 1 that is equipped with a seedling planting unit 4 as a working machine and receives seedlings in a field. As shown in Figures 1 and 2, the seedling transplanter 1 is equipped with a seedling planting unit 4 that can be raised and lowered via a lifting link mechanism 3 on the rear side of a traveling body 2 to plant seedlings in a 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 skeleton 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 and right sides 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. That is, the position detection device 150 detects information about the position of the traveling body 2 and the orientation of the traveling body 2. The position detection device 150 includes, for example, an orientation sensor, 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 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] 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 power steering mechanism 88 changes the direction of the front wheels 10 that are the steering wheels of the traveling body 2. 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 operation position 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 a value when the steering wheel 35 is in a preset straight-ahead position being used as a reference value.

[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, and the automatic turning changeover switch 48, 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 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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 automatically without the operation of the driver. 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.

[0072] When the driving mode is the autonomous driving mode, the controller 100 starts changing the operation position of the handle 35 based on the sensitivity to the directional deviation of the traveling vehicle body 2 and the sensitivity to the position deviation of the traveling vehicle body 2.

[0073] When the driving mode is the autonomous driving mode, the controller 100 determines whether or not the orientation of the traveling vehicle body 2 deviates from the set orientation based on the sensitivity to the orientation deviation of the traveling vehicle body 2. Then, when the controller 100 determines that the orientation of the traveling vehicle body 2 deviates from the set orientation, it starts changing the operation position of the steering wheel 35. The controller 100 controls the steering motor 95 and operates the steering wheel 35 so that the orientation of the traveling vehicle body 2 becomes the set orientation.

[0074] Specifically, when the driving mode is the autonomous driving mode, if the orientation of the driving body 2 deviates from the set orientation by a predetermined orientation or more, the controller 100 determines that the orientation of the driving body 2 deviates from the set orientation, and starts changing the operating position of the handle 35.

[0075] The set orientation is an orientation in a preset straight route or an orientation in a preset turning route. For example, when the driving mode is an automatic straight mode, the set orientation is an orientation in a preset straight route. When the driving mode is an automatic turning mode, the set orientation is an orientation in a preset turning route. The predetermined orientation is set for a driving level described later.

[0076] Furthermore, when the driving mode is the autonomous driving mode, the controller 100 determines whether or not the position of the traveling body 2 in the width direction is deviated from the set position based on the sensitivity to the positional deviation of the traveling body 2. Then, when the controller 100 determines that the position of the traveling body 2 in the width direction is deviated from the set position, it starts changing the operation position of the handlebars 35. The controller 100 controls the steering motor 95 and operates the handlebars 35 so that the position of the traveling body 2 becomes the set position.

[0077] Specifically, when the driving mode is the autonomous driving mode, if the widthwise position of the driving body 2 deviates from the set position by a predetermined amount or more, the controller 100 determines that the position of the driving body 2 has deviated from the set position, and starts changing the operating position of the handle 35.

[0078] The set position is a position on a predetermined straight route or a position on a predetermined turning route. For example, when the driving mode is an automatic straight mode, the set position is a position on a predetermined straight route. When the driving mode is an automatic turning mode, the set position is a position on a predetermined turning route. The predetermined amount is set for a driving level described later.

[0079] 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.

[0080] 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.

[0081] Furthermore, when the steering wheel 35 is rotated by the driver by a predetermined turning 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

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

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

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

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

[0091] The operation amount of the handle 35 increases as the level increases. The operation amount of the handle 35 is the amount of rotation of the handle 35 in one operation of the handle 35. In other words, the higher the level, the greater the amount of rotation of the handle 35 in one operation of the handle 35. For example, the amount of rotation of the handle 35 at level "4" is greater than the amount of rotation of the handle 35 at standard level "3". The operation amount of the handle 35 at the standard level is a preset value. The operation amount of the handle 35 at a level other than the standard level is set based on a preset value. Note that the values ​​of the operation amount of the handle 35 at a level other than the standard level in FIG. 6 are merely examples and are not limited to these.

[0092] The sensitivity of the traveling vehicle body 2 to the azimuth deviation increases as the level increases, that is, as the amount of steering wheel 35 operation increases. The sensitivity of the traveling vehicle body 2 to the azimuth deviation increases as the level increases. The sensitivity of the traveling vehicle body 2 to the azimuth deviation is sensitive, meaning that the azimuth deviation is determined earlier. Specifically, the more sensitive the sensitivity of the traveling vehicle body 2 to the azimuth deviation, the smaller the above-mentioned predetermined direction becomes. For example, the predetermined direction of level "4" is smaller than the predetermined direction of standard level "3". For example, the predetermined direction of level "4" is set by multiplying the predetermined direction of standard level "3" by the reciprocal of the value of the sensitivity of the azimuth deviation of the traveling vehicle body 2 of level "4" in FIG. 6.

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

[0094] The sensitivity to the positional deviation of the traveling vehicle body 2 is greatest at the standard level. That is, the sensitivity to the positional deviation of the traveling vehicle body 2 is greatest at the standard level. High sensitivity to the positional deviation of the traveling vehicle body 2 means that the positional deviation is determined early. The sensitivity to the positional deviation of the traveling vehicle body 2 at a level adjacent to the standard level among the multiple levels is smaller than the sensitivity to the positional deviation of the traveling vehicle body 2 at the standard level. That is, the sensitivity to the positional deviation of the traveling vehicle body 2 at a level adjacent to the standard level among the multiple levels is less sensitive than the sensitivity to the positional deviation of the traveling vehicle body 2 at the standard level.

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

[0096] In addition, the sensitivity to the positional deviation of the traveling vehicle body 2 at level "1" is less sensitive than the sensitivity to the positional deviation of the traveling vehicle body 2 at level "2." Furthermore, the sensitivity to the positional deviation of the traveling vehicle body 2 at level "5" is more sensitive than the sensitivity to the positional deviation of the vehicle body at level "4."

[0097] The above-mentioned predetermined amount increases as the sensitivity to the positional deviation of the traveling vehicle body 2 decreases. For example, the predetermined amount for levels "2" and "4" is greater than the predetermined amount for the standard level "3." The predetermined amount for levels "2" and "4" is set by multiplying the predetermined amount for the standard level "3" by the reciprocal of the value of the sensitivity to the positional deviation of the traveling vehicle body 2 for levels "2" and "4" in FIG. 6.

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

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

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

[0101] As a result, when the driving mode becomes an autonomous driving mode and the traveling vehicle body 2 automatically travels straight or turns, the automatic straight-line driving or automatic turning is performed based on a plurality of parameters linked to the set driving level.

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

[0103] This allows the driving level suited to the field conditions to be set from among a plurality of levels, so that the seedling transplanter 1 can perform automatic driving suited to the field when driving in the autonomous driving mode. In other words, the seedling transplanter 1 can perform planting work with high accuracy when driving in the autonomous driving mode.

[0104] The sensitivity to the deviation in the direction of the traveling vehicle body 2 increases as the operation amount of the steering wheel 35 increases.

[0105] As a result, the seedling transplanter 1 travels in the autonomous travel mode, and when the orientation of the traveling body 2 deviates from a predetermined orientation, the deviation in orientation can be quickly corrected.

[0106] Of the multiple levels, the sensitivity of a level adjacent to the standard level to a positional deviation of the traveling vehicle body 2 is smaller than the sensitivity of the standard level to a positional deviation of the traveling vehicle body 2.

[0107] As a result, the seedling transplanter 1 is set to a driving level different from the standard level, and drives in an autonomous driving mode. If the seedling transplanter deviates from the planned driving route, for example a straight driving route, excessive correction of the deviation is suppressed, and the deviation from the planned driving route can be converged early.

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

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

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

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

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

[0113] As a result, when the seedling transplanter 1 travels in the autonomous travel mode, at least a part of the parameters associated with each level can be changed according to the type of tire. Therefore, the seedling transplanter 1 can perform autonomous travel suited to the field. The seedling transplanter 1 can achieve stable autonomous travel.

[0114] Furthermore, in the seedling transplanter 1, the controller 100 may change at least a part of the multiple parameters depending on the presence or absence of a tire cover on the tire of the traveling body 2, for example, the front wheel 10. The presence or absence of a tire cover is set by the operator operating the operation panel 38 or the remote control 170. For example, the controller 100 changes the operation amount of the handle 35 depending on the presence or absence of a tire cover. The controller 100 may change the sensitivity regarding the azimuth deviation of the traveling body 2 depending on the presence or absence of a tire cover. The controller 100 may change the sensitivity regarding the position deviation of the traveling body 2 depending on the presence or absence of a tire cover.

[0115] When a tire cover is attached to the front wheel 10, mud shedding is reduced, and the change in the steering amount of the front wheel 10 in response to the operation of the steering wheel 35 becomes too sensitive. Therefore, when a tire cover is attached to the front wheel 10, the controller 100 reduces the operation amount of the steering wheel 35 compared to when a tire cover is not attached to the front wheel 10. For example, when a tire cover is attached to the front wheel 10, the controller 100 may be less sensitive to the directional deviation of the traveling vehicle body 2 compared to when a tire cover is not attached to the front wheel 10.

[0116] As a result, when the seedling transplanter 1 travels in the autonomous travel mode, at least a part of the parameters associated with each level can be changed depending on the presence or absence of the tire cover. Therefore, the seedling transplanter 1 can perform autonomous travel suited to the field.

[0117] In addition, in the seedling transplanter 1, when the traveling mode is the automatic turning mode, the traveling body 2 is automatically turning, and the actual steering wheel angular velocity is smaller than the target steering wheel angular velocity, the controller 100 increases the rotation speed of the engine 30. The controller 100 calculates the actual hand angular velocity based on the change in the operation position of the steering wheel 35 detected by the steering amount sensor 91. The target steering wheel angular velocity is set in advance. The target steering wheel angular velocity may be set by the operator operating the operation panel 38 or the remote control 170. As the rotation speed of the engine 30 increases, the hydraulic pressure supplied to the power steering mechanism 88 (adjustment mechanism) increases.

[0118] This enables the seedling transplanter 1 to perform automatic turning with high accuracy.

[0119] As shown in Fig. 8, the seedling transplanter 1 may be configured to urge the seedling tank 53 upward by a spring 200. Fig. 8 is a diagram showing a partial configuration of the seedling transplanter 1.

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

[0121] As shown in FIG. 9, the seedling transplanter 1 may be provided with three soil leveling rotors 63A-63C, and a motor may be provided to rotate each of the soil leveling rotors 63A-63C. FIG. 9 is a diagram showing the arrangement of the three soil leveling rotors 63A-63C of the seedling transplanter 1. The three soil leveling rotors 63A-63C are arranged in front of the center float 62C and the two side floats 62L and 62R on the left and right. When planting seedlings in the headland, the seedling transplanter 1 increases the rotation speed of the outer soil leveling rotor 63B or the soil leveling rotor 63C. For example, the seedling transplanter 1 makes the rotation speed of the outer soil leveling rotor 63B or the soil leveling rotor 63C higher than the rotation speed of the inner soil leveling rotor 63A.

[0122] This allows the seedling transplanter 1 to lower the height of the outer headland and make the headland heights uniform.

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

[0124] Thereby, the seedling transplanter 1 can prevent the seedlings in the adjacent rows from falling over due to the water flow generated by the soil leveling rotor 63B or the soil leveling rotor 63C.

[0125] When the button combination for the "seedling transfer" operation on the remote control 170 is pressed, the seedling transplanter 1 may raise the seedling planting part 4 after the forward movement is completed. This allows the seedling transplanter 1 to reduce the number of operations.

[0126] When the button combination for the "seedling rail extension" operation on the remote control 170 is pressed, the seedling transplanter 1 may extend the seedling rail and then raise the seedling planting unit 4. This allows the seedling transplanter 1 to reduce the number of operations.

[0127] When the button combination for the operation of "extending seedling rail" on the remote control 170 is pressed, the seedling transplanter 1 may extend the seedling rail and simultaneously raise the seedling planting part 4. This allows the seedling transplanter 1 to perform multiple operations simultaneously with one command, thereby shortening the operating time.

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

[0129] As a result, when the seedling transplanter 1 is stopped during autonomous traveling and then resumes autonomous traveling, it can continue the autonomous traveling before it was stopped.

[0130] When the driving mode of the seedling transplanter 1 is changed from the autonomous driving mode to the manual driving mode and the orientation of the traveling body 2 deviates by more than a preset release orientation, the seedling transplanter 1 discards the path number that it has retained.

[0131] As a result, when the seedling transplanter 1 is traveling in autonomous driving mode, for example, it stops, and after moving in manual driving mode, when the autonomous driving mode is resumed, it can start an autonomous driving mode appropriate for the location after the movement from the location after the movement.

[0132] When the seedling transplanter 1 travels in the autonomous travel mode and is temporarily stopped, the start path (travel route) along which the seedling transplanter 1 will travel when it receives a command to resume the autonomous travel may be selectable by the remote control 170 or a tablet.

[0133] As a result, when the seedling transplanter 1 is traveling in autonomous driving mode, for example, it stops, and after moving in manual driving mode, when the autonomous driving mode is resumed, it can start an autonomous driving mode appropriate for the location after the movement from the location after the movement.

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

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

[0136] Furthermore, when the start path confirmation button S1 is tapped and the current start path is held, or when the optimum path is searched for and the start path is set, the start path is highlighted.

[0137] Furthermore, when one of the paths displayed on the screen is selected and tapped by the worker, the tapped path is highlighted in a color different from the highlighting of the start path. The start path may be changed to the tapped path. In this case, by tapping the start path change button S2, a dialogue box is popped up to ask whether or not to change the start path to the tapped path.

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

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

[0140] When the seedling transplanter 1 is traveling in the autonomous traveling mode, if a specific operation is performed by the remote control 170, a normal path search is not performed, but a path search for turning is performed. Also, if a valid path is not found by the path search for turning, the operator is notified that turning is impossible.

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

[0142] The sheet 210 is a biodegradable sheet into which rice seeds are planted. The rice seeds are placed on the sheet at a predetermined planting interval. The sheet 210 contains an oxygen supplying material, a fertilizer, and a herbicide. The rice seeds and the oxygen supplying material are supplied to the field as the sheet decomposes. The sheet 210 may have a plurality of holes formed therein. By forming holes in the sheet 210, when the sheet 210 is laid in the field, mud that passes through the holes sits on the top of the sheet 210 and functions as an anchor.

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

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

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

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

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

[0148] In the seedling transplanter 1, as shown in Fig. 15, the bush 231 in the planting rod 58 may have a curved surface 231b at the portion adjacent to the rod 232. Fig. 15 is a diagram showing the configuration of the bush 231 of the planting rod 58 according to a modified example. This allows the seedling transplanter 1 to promote convection of grease in the planting rod 58.

[0149] The seedling transplanter 1 may quickly move the planting rod 58 by using a variable velocity joint.

[0150] The planting of seedlings may be performed by a drone 240 as shown in Fig. 16. The drone 240 is provided with a planting unit 241 extending downward. Fig. 16 is a perspective view of the drone 240 according to a modified example. The drone 240 performs planting as the planting unit 241 lands. The drone 240 can plant seedlings in areas of the field where saplings are missing.

[0151] The seedling transplanter 1 may photograph the seedling picking position where the seedlings are picked from the seedling tank 53 with a camera. The camera is provided above the seedling picking position. If the seedling transplanter 1 detects poor seedling picking based on the image taken by the camera, the seedling transplanter 1 stops traveling and performs planting. For example, if a missing seedling is detected, the seedling transplanter 1 stops traveling and performs planting at the location where the missing seedling occurs. The camera is, for example, an infrared camera.

[0152] In addition, in the seedling transplanter 1 that transplants pot seedlings into a field, the camera is installed above the protruding position. The camera photographs the protruding position. This allows the seedling transplanter 1 to suppress poor photography caused by splashing mud, etc.

[0153] When a seedling transplanter 1 is missing, the traveling body 2 is switched between a stopped state and a traveling state by a dog clutch.

[0154] The seedling transplanter 1 may detect a missing seedling based on the electrical continuity between the prongs of the planting rod 58. The seedling transplanter 1 may detect a missing seedling based on the electrical continuity between the guides of the planting rod 58 after the seedlings are scraped out of the seedling tank 53.

[0155] The seedling transplanter 1 that transplants potted seedlings into a field may detect missing seedlings based on the electrical continuity between the metal plate of the base and the seedling presser. The seedling transplanter 1 that transplants potted seedlings into a field may detect missing seedlings based on the electrical continuity between the seedling presser of the metal plate.

[0156] For example, when a missing seedling is detected, the seedling transplanter 1 calculates the number of drive pulses for the rear wheels 11 that corresponds to the distance from the missing seedling to the planting position, switches the sub-transmission mechanism 16 to drive the rear wheels 11 in accordance with the calculated number of drive pulses, and then stops traveling. Then, the seedling transplanter 1 performs planting.

[0157] The seedling transplanter 1 may be provided with a free wheel mechanism 250 at the middle of the drive shaft of the front wheel 10, as shown in FIG. 17 and FIG. 18. FIG. 17 is a diagram showing the configuration of the front wheel 10 side of the seedling transplanter 1 according to the modified example. FIG. 18 is an exploded view explaining the free wheel mechanism 250 of the seedling transplanter 1 according to the modified example. The seedling transplanter 1 enables the free wheel mechanism 250 at the front wheel 10 on the side where slippage is detected, and makes the front wheel 10 on the side where slippage is detected free. The seedling transplanter 1 switches the free wheel mechanism 250 depending on whether or not slippage occurs. As a result, for example, when the field is muddy, the seedling transplanter 1 can function like a pumping brake by switching the free wheel mechanism 250 between enabled and disabled.

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

[0159] The seedling transplanter 1 may have a front wheel axle that can be rotated backward. The front wheel axle is biased forward by a spring. This allows the seedling transplanter 1 to shorten the wheel base on the inner wheel side of the turning, and improves turning performance by sinking.

[0160] In the seedling transplanter 1, the mounting flange portion of the transmission on the front axle may be formed as an elongated hole.

[0161] The seedling transplanter 1 may read the cam positions engaged with the speed change lever 36 and the sub-speed change lever 37 by means of a potentiometer, and obtain the corresponding spacing information.

[0162] The seedling transplanter 1 may determine whether the input number of seedlings is within the selectable range. If the input number of seedlings is not within the selectable range, the seedling transplanter 1 notifies an error. If the seedlings are not consumed as set, the seedling transplanter 1 adjusts the amount of seedlings to be taken so that the number of seedlings to be used minus the number of seedlings consumed is planted in the field.

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

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

[0165] 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]

[0166] 1. Seedling transplanter (work vehicle) 2 Running vehicle 4 Seedling planting section (work machine) 10 Front wheel 11 Rear wheel 35 Handle 88 Power steering mechanism (adjustment mechanism) 95 Steering motor (motor) 100 Controller (control device) 150 Position detection device

Claims

1. A running vehicle body, A working machine provided on the traveling vehicle body; A handle provided on the traveling vehicle body; A position detection device that detects information regarding the position and orientation of the traveling vehicle body; a motor that drives the steering wheel when the driving mode of the traveling vehicle body is an automatic driving mode; a control device that controls the motor based on information detected by the position detection device when the driving mode is the automatic driving mode; Equipped with The control device includes: When the driving mode is the automatic driving mode, a driving level of the traveling vehicle body can be set from among a plurality of levels, A plurality of parameters are associated with each of the plurality of levels, The plurality of parameters include an operation amount of the steering wheel, a sensitivity to a deviation in the direction of the traveling vehicle body, and a sensitivity to a deviation in the position of the traveling vehicle body.

2. The work vehicle according to claim 1 , wherein the sensitivity to a deviation in the direction of the traveling vehicle body increases as the operation amount of the steering wheel increases.

3. The work vehicle according to claim 1 , wherein a sensitivity of a level adjacent to a standard level among the plurality of levels to a positional deviation of the traveling vehicle body is smaller than a sensitivity of the standard level to a positional deviation of the traveling vehicle body.

4. 4. The work vehicle according to claim 1, wherein the control device changes at least a part of the plurality of parameters in accordance with a type of tires of the traveling vehicle body that is set by an operator.

5. The work vehicle according to any one of claims 1 to 3, wherein the control device changes at least a portion of the plurality of parameters depending on the presence or absence of tire covers for tires of the traveling body, which is set by an operator.

6. The engine, an adjustment mechanism that changes the direction of the steering wheel of the traveling vehicle body by hydraulic pressure generated by the rotation generated by the engine; Equipped with The work vehicle according to any one of claims 1 to 3, wherein the control device increases a rotation speed of the engine when the traveling mode is an automatic turning mode, the traveling vehicle body is turning, and an actual steering wheel angular velocity is smaller than a target steering wheel angular velocity.

Images