Work vehicles

Abstract

To provide a work vehicle that is convenient in use compared to a remote operation tool with a liquid crystal while suppressing consumption of a battery of the remote operation tool.SOLUTION: A work vehicle according to one aspect of an embodiment can travel autonomously and performs a field work while autonomously traveling in a field (F), including: a control unit for implementing a straight travel process for a work on the ground while traveling straightforward based on the predefined path information, and a rotation process for transferring from the straight travel process to the next straight travel process; and a remote operation tool (90) for operating the work vehicle remotely. The remote operation tool (90) includes a short range wireless communication function, and communicates with the work vehicle via a relay antenna (150) installed near the field (F), the installation position of which can be changed.SELECTED DRAWING: Figure 8

Description

[Technical field]

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

[0002] Conventionally, in a work vehicle that performs seedling planting work while traveling autonomously based on predetermined route information, it is known that the work is carried out by repeating a straight-line process in which the seedlings are planted while traveling in a straight line, and a turning process in which the vehicle transitions from the straight-line process to the next straight-line process (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-31596 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conventional work vehicles described above, for example, the remote control device has a problem of rapid battery consumption. Increasing the battery capacity leads to an increase in size, which reduces portability and operability. Thus, there is room for improvement in the conventional work vehicles in terms of reducing battery consumption in the remote control device.

[0005] The present invention has been made in consideration of the above, and aims to provide a work vehicle that can reduce battery consumption of a remote control device and is easier to use than a remote control device with a liquid crystal display, etc. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, the work vehicle of the present invention is a work machine capable of autonomous driving and performing field work while autonomously driving within a field (F), and further comprises a control unit (100) that executes a straight-line process in which ground work is performed while moving straight based on predetermined route information, and a turning process for transitioning from the straight-line process to the next straight-line process, and a remote control device (90) for remotely controlling the work machine, the remote control device (90) having a short-range wireless communication function, being capable of changing its installation position, and communicating with the work machine via a relay antenna (150) installed in the periphery of the field (F). Effect of the Invention

[0007] According to the work vehicle of the present invention, by using a relay antenna, battery consumption can be reduced, making it easy to use. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic side view showing an example of a seedling transplanter according to an embodiment. [Diagram 2] FIG. 2 is a block diagram showing an example of a control system centered around a control unit. [Diagram 3] FIG. 3 is an explanatory diagram of autonomous driving in a farm field. [Figure 4] FIG. 4 is an explanatory diagram of the arrangement of the course adjustment operation tools (part 1). [Diagram 5] FIG. 5 is an explanatory diagram of the operation of the course adjustment operation device. [Figure 6] FIG. 6 is an explanatory diagram of course adjustment by operating the course adjustment operating tool. [Figure 7] FIG. 7 is an explanatory diagram of the arrangement of the course adjustment operation tools (part 2). [Figure 8] FIG. 8 is an explanatory diagram of remote control (part 1) using a remote control tool. [Figure 9] FIG. 9 is an explanatory diagram of remote control (part 2) using a remote control tool. [Figure 10] FIG. 10 is an explanatory diagram of a relay antenna. [Figure 11] FIG. 11 is a flowchart showing a process (part 1) of control for preventing a worker on board the machine from falling. [Figure 12] FIG. 12 is a flowchart showing a process (part 2) of control for preventing a fall of a worker on board the machine. [Figure 13] FIG. 13 is an explanatory diagram (part 1) of the engine downsizing structure. [Figure 14] FIG. 14 is an explanatory diagram (part 2) of the engine downsizing structure. [Figure 15] FIG. 15 is an explanatory diagram of fertilizer clogging in the dispensing device. [Figure 16] FIG. 16 is a flowchart showing a fertilizer clogging removal control process (part 1). [Figure 17] FIG. 17 is a flowchart showing a second process of the fertilizer clogging removal control. [Figure 18] FIG. 18 is a flowchart showing a third process of the fertilizer clogging removal control. [Figure 19] FIG. 19 is an explanatory diagram (part 1) of the front sensor cover. [Figure 20] FIG. 20 is an explanatory diagram (part 2) of the front sensor cover. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the seedling transplanter disclosed in the present application will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the embodiment described below.

[0010] <Overall configuration of seedling transplanter> First, the overall configuration of a seedling transplanter 1 according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a schematic side view showing an example of a seedling transplanter 1 according to an embodiment.

[0011] 1 shows a three-dimensional Cartesian coordinate system including a Z-axis whose positive direction is vertically upward (upward). For ease of explanation, the positive direction of the X-axis is defined as the left, the negative direction of the X-axis as the right, the positive direction of the Y-axis as the front, and the negative direction of the Y-axis as the rear, and the X-axis direction is referred to as the left-right direction, the Y-axis direction as the front-back direction, and the Z-axis direction as the up-down direction.

[0012] In the following description, the seedling transplanter 1 or the traveling vehicle body 2 described below may be referred to as the "machine body".

[0013] As shown in Fig. 1, the seedling transplanter 1 includes a traveling vehicle body 2 capable of traveling within a field F (see Fig. 3), and a seedling planting unit 3 that plants seedlings on the soil surface of the field F. The seedling transplanter 1 is a riding seedling transplanter operated by an operator (also called an operator), but is also a seedling transplanter that can automatically perform seedling planting work while traveling autonomously along a preset planned traveling route R (see Fig. 3).

[0014] The traveling body 2 includes a pair of left and right front wheels 11 and a pair of left and right rear wheels 12. In the traveling body 2, the pair of left and right front wheels 11 are steered wheels. In addition, in the traveling body 2, the pair of left and right rear wheels 12 are driven wheels. For example, in the case of a forced four-wheel drive mode described later, the pair of left and right front wheels 11 and the pair of left and right rear wheels 12 are driven wheels.

[0015] In addition, at the front of the main frame 13, which forms the body skeleton of the running body 2, there are provided a transmission case 14 that transmits driving force to the seedling planting section 3, etc., described later, and a hydraulic continuously variable transmission (not shown) that outputs the driving force supplied from the engine E, i.e., the rotation of the engine E, to the transmission case 14.

[0016] The continuously variable transmission is a hydrostatic continuously variable transmission called HST (Hydro Static Transmission). In the following, the continuously variable transmission will be referred to as "HST."

[0017] An auxiliary transmission mechanism (not shown) for switching the driving mode when driving on the road, planting seedlings, etc. is provided inside the transmission case 14. In the traveling vehicle body 2, front wheel final cases 15 are provided on the left and right sides of the transmission case 14, and the front wheels 11 are attached to left and right front axles that protrude outward from support parts that can change the steering direction of the left and right front wheel final cases 15, respectively.

[0018] In addition, rear wheel gear cases 16 are provided on the left and right sides of a rear frame extending in the left-right direction at the rear of the main frame 13, and rear wheels 12 are attached to the left and right rear axles that protrude outward from the rear wheel gear case 16, respectively.

[0019] Additionally, left and right link support frames 18 that support lift links 17 (described later) are provided extending upward from the upper portion of the rear frame. Left and right upper links 19 and left and right lower link arms 20 are provided between the left and right link support frames 18. A hydraulically driven lift cylinder 21 is provided between the left and right upper links 19 and the left and right lower link arms 20 in the left-right direction.

[0020] The left and right upper links 19 and the left and right lower link arms 20 form a parallel link mechanism, the lifting link 17. The left and right upper links 19, the left and right lower link arms 20 and the lifting cylinder 21 each have one end connected to the traveling vehicle body 2 and the other end connected to the seedling planting unit 3.

[0021] In addition, an engine E is mounted on the main frame 13. The rotational power of the engine E is transmitted to a transmission case 14 via a belt transmission device (not shown) and the HST. The rotational power transmitted to the transmission case 14 is changed in speed by an auxiliary transmission mechanism in the transmission case 14, and then separated into traveling power and externally extracted power.

[0022] In addition, the rotational power of the engine E is transmitted to a hydraulic pump (not shown). The hydraulic pressure generated by the hydraulic pump is supplied to the HST, a power steering mechanism 23 (see FIG. 2) of the steering wheel 22, the lift cylinder 21, etc.

[0023] The external extraction power extracted from the rotational power transmitted to the transmission case 14 is transmitted to a planting clutch 24 (see Figure 2) provided at the rear of the running body 2, and is transmitted from the planting clutch 24 to the seedling planting section 3 via a planting transmission shaft (not shown).

[0024] Meanwhile, left and right drive shafts (not shown) are provided at the rear of the transmission case 14. Rotational power from the engine E is transmitted to left and right rear wheel gear cases 16 via the transmission case 14 and the drive shafts.

[0025] In addition, a side clutch 25 (see FIG. 2) that turns on and off the power transmission to the left and right drive shafts is disposed upstream of the left and right drive shafts in the power transmission direction. As shown in FIG. 1, for example, a side clutch pedal (not shown) that turns on and off the left and right side clutches 25 is provided at the front lower part of the cockpit 26 and on the left and right sides.

[0026] Of the left and right side clutch pedals, when the side clutch pedal on the inside of the turn is depressed to disengage the side clutch 25, and then the steering wheel 22 is operated to make a turn, the drive rotation of the rear wheel 12 on the inside of the turn can be completely cut off.

[0027] A bonnet 28 that houses the engine E is provided in front of the floor step 27 of the traveling vehicle body 2. A control panel 29 is provided at the rear of the bonnet 28. The control panel 29 is provided with a meter panel, a display unit that displays various information, various operating tools such as switches, and the like. In addition, a steering wheel 22 is provided at the rear of the bonnet 28.

[0028] The bonnet 28 is also provided with a steering handle 22 for steering the traveling body 2, a main speed change lever 30 for operating the HST and the seedling planting unit 3, and an auxiliary speed change lever 31 for operating the auxiliary speed change mechanism (see FIG. 2).

[0029] In addition, an openable and closable front cover 28a is provided in front of the bonnet 28. A fuel tank, a battery, and an interlocking mechanism for rotating the left and right front wheels 11 and the lower sides of the left and right front wheel final cases 15 in response to the steering of the steering handle 22 are provided inside the front cover 28a.

[0030] A fertilizer applicator 40, which will be described later, is provided behind the driver's seat 26 and at the rear of the main frame 13. The driving force of the fertilizer applicator 40 is transmitted by a fertilizer transmission mechanism provided to face the fertilizer applicator 40 from one of the left and right sides of the left and right rear wheel gear cases 16.

[0031] The above-mentioned floor steps 27 are formed on the left and right sides of the lower part of the bonnet 28. The floor steps 27 are substantially horizontal and partially lattice-shaped, so that even if mud on the shoes of an operator (worker) walking on the floor steps 27 falls onto the floor steps 27, the fallen mud falls into the field F.

[0032] In addition, a spare seedling frame 34 is provided at the front and on the left and right sides of the traveling body 2, in which a plurality of spare seedling carrying tables 33 are arranged at intervals in the vertical direction on seedling frame supports 32. The spare seedling frame 34 can hold work materials such as seedlings (seedling mats) and fertilizer bags to be replenished in the seedling planting section 3.

[0033] A seedling tank 35 for carrying seedlings (seedling mats) to be planted in the field is connected to the rear end of the lifting link 17 together with a sliding mechanism for sliding it in the left-right direction. A fence is provided on the seedling tank 35 for dividing the upper surface (the surface on which the seedling mats are placed) of the seedling tank 35 into multiple sections in the left-right direction. A planting device 36 is provided below the seedling tank 35 for scraping seedlings from the loaded seedling mats and planting them in the field F.

[0034] The planting device 36 simultaneously plants the same number of seedlings as the number of planting rows separated by the fence. The planting device 36 is equipped with a planting transmission case 37, a planting rod 38, and a planting rotary 39. In the planting device 36, the planting transmission case 37 is provided below the seedling tank 35 with a gap therebetween, and the planting rotary 39 for rotating the planting rod 38 is provided on the left and right sides of the planting transmission case 37. In the planting device 36, the planting rod 38 picks up seedlings while rotating, and plants the picked seedlings in the field F.

[0035] The fertilizer application device 40 includes a fertilizer application hopper 41, a delivery device 42, a duct 43, a fertilizer application hose (not shown), and a blower (not shown). The fertilizer application hopper 41 stores fertilizer. The fertilizer application hopper 41 is divided into the same number of sections as the number of working rows of the seedling planting section 3. Note that, for example, if the fertilizer application hopper 41 is long in the left-right direction, convenience in adding fertilizer and attaching and detaching the fertilizer may decrease. Therefore, the fertilizer application hopper 41 may have a so-called side fertilization structure in which half of the total rows (for example, four rows in the case of eight rows) are partitioned and arranged on the left and right sides.

[0036] The payout devices 42 are provided for each row at the bottom of the fertilizer hopper 41, and supply a set amount of fertilizer at a time. The duct 43 is provided below the payout devices 42, and allows conveying air to pass through to move the fertilizer. The fertilizer hose is provided below the payout devices 42, and guides the fertilizer to the vicinity of the seedling planting position in the seedling planting section 3. The blower is provided at one end of the duct 43, and generates conveying air by the driving force of an electric blower motor (not shown).

[0037] A float 44 is provided below the seedling planting section 3. The float 44 has a center float 44a in the middle and left and right side floats 44b. The center float 44a and the left and right side floats 44b come into contact with the soil surface of the field F and slide on the soil surface as the traveling body 2 advances (forwards).

[0038] The seedling planting section 3 is provided with a soil leveling rotor 45 that is disposed forward of the float 44 and that levels out unevenness in the soil surface. The soil leveling rotor 45 is disposed forward of the center float 44a and in front of the left and right side floats 44b. The seedling planting section 3 plants seedlings in the soil surface leveled by the soil leveling rotor 45. Driving force is transmitted to the soil leveling rotor 45 via a rotor transmission shaft (not shown).

[0039] Furthermore, line drawing markers (not shown) are provided on the left and right sides of the seedling planting section 3, one of which comes into contact with the soil surface of the field F to form a furrow (guide line) as a guide for traveling in the next work row (next process). When one of the left and right line drawing markers descends and touches the ground, the other rises. Furthermore, when the seedling planting section 3 is raised during machine body rotation, both the left and right line drawing markers rise, and when the seedling planting section 3 descends after the machine body has rotated, one of the left and right line drawing markers rises and the other descends (touches the ground).

[0040] A center mascot 46 is erected to extend vertically at the left-right center of the traveling body 2 and in front of the bonnet 28. By aligning the center mascot 46 with the guide lines formed on the soil surface of the field F by the left and right line markers, it becomes possible to travel in accordance with the work position of the previous work row, improving work accuracy and preventing non-working.

[0041] Depending on the soil quality of the field F, the guide lines formed by the left and right line-drawing markers may quickly become buried, and the indication for going straight may disappear. In such a case, it is better to use left and right side markers (not shown) that are provided forward of the left and right line-drawing markers. In other words, by moving the left and right side markers outward and positioning the side markers above the planted seedlings, it becomes possible to perform planting work in accordance with the planting of the seedlings in the previous work row.

[0042] As shown in Fig. 1, the seedling transplanter 1 includes a position information acquisition device 50. The position information acquisition device 50 acquires the current position (or orientation) of the seedling transplanter 1. The position information acquisition device 50 acquires the current position (or orientation) of the seedling transplanter 1 by using a satellite positioning system such as a Global Positioning System (GPS) or a Global Navigation Satellite System (GNSS). The position information acquisition device 50 may be composed of multiple devices.

[0043] The position information acquisition device 50 receives positioning information from, for example, a satellite positioning system, and creates current position information (or orientation information) of the traveling vehicle body 2 based on the received positioning information. The position information acquisition device 50 is, for example, supported by an antenna frame 51 and disposed above the traveling vehicle body 2.

[0044] Further, the straight running control program and the turning control program, which are created based on the position information from the position information acquisition device 50, are stored in different locations. The straight running control program is stored, for example, in a straight running control ECU (Electronic Control Unit) in the position information acquisition device 50, and the turning control program is stored, for example, in a turning control ECU housed in the bonnet 28. The straight running control ECU and the turning control ECU are included in the control unit 100 (see FIG. 2), which will be described later. Note that the straight running control ECU and the turning control ECU may be the same ECU.

[0045] <Seedling transplanter control system> Next, the control system of the seedling transplanter 1 (see FIG. 1) will be described with reference to Fig. 2. Fig. 2 is a block diagram showing an example of a control system centered around a control unit 100. The seedling transplanter 1 is capable of controlling each part by electronic control, and is equipped with a control unit 100 that controls each part.

[0046] The control unit 100 has, for example, a processing unit having a CPU (Central Processing Unit) and the like, a storage unit such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and further an input / output unit, which are interconnected to enable the exchange of signals. The storage unit stores computer programs and the like for controlling the seedling transplanter 1. The control unit 100 performs each function by reading out the computer programs and the like stored in the storage unit and the like.

[0047] The control unit 100 is connected to, for example, actuators such as a throttle motor 60, hydraulic control valves 61, 62, a planting clutch actuation solenoid 63, a side clutch actuation solenoid 64, an HST motor 65, a steering motor 66, a line drawing marker lifting motor 67, and a differential lock switching motor 68.

[0048] The throttle motor 60 increases or decreases the rotation speed of the output shaft of the engine E by operating a throttle that adjusts the amount of intake air of the engine E. The hydraulic control valve 61 controls the extension and retraction operation of the lift cylinder 21. The hydraulic control valve 62 controls the power steering mechanism 23. The planting clutch operating solenoid 63 operates the planting clutch 24.

[0049] A side clutch actuation solenoid 64 actuates a side clutch 25 that switches the state of power transmission to the rear wheels 12 (see FIG. 1). The HST motor 65 changes the rotation angle of the HST trunnion, thereby changing the inclination angle of the HST swash plate. The steering motor 66 steers and drives the front wheels 11 (see FIG. 1), which are steered wheels. The steering motor 66 is a motor that drives a steering wheel 22 that adjusts the steering amount (also called the steering angle or turning angle) of the front wheels 11 when automatic turning control is performed. The line drawing marker lifting motor 67 lifts and lowers the line drawing marker.

[0050] The differential lock switching motor 68 is a motor that switches between operating and deactivating a differential lock mechanism (hereinafter referred to as the diff-lock mechanism) 69, which rotates the left and right running wheels (for example, the front wheels 11) at the same rotation speed. When the diff-lock mechanism 69 is turned on, the vehicle can be forcibly put into four-wheel drive (forced four-wheel drive mode), and the left and right running wheels rotate at the same rotation speed. A diff-lock pedal (not shown) for operating the diff-lock mechanism 69 is provided with a rotating part to prevent the pedal from sagging and to ensure stable operation.

[0051] In addition, a rotation speed sensor 70, a steering amount sensor 71, an inclination sensor 72, etc. are connected to the control unit 100. Two rotation speed sensors 70 are provided corresponding to the left and right rear wheels 12, and detect the rotation speeds of the left and right rear wheels 12, respectively. Note that the rotation speed sensors 70 may detect the rotation speeds of the left and right front wheels 11.

[0052] The steering amount sensor 71 detects the steering amount of the steering wheel 22, i.e., the steering amount (steering angle, turning angle) of the front wheels 11. The steering amount sensor 71 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 22 is in a preset straight ahead position being used as a reference value.

[0053] Moreover, a plurality of steering amount sensors 71 may be provided. Also, the steering amount sensors 71 may be provided at a plurality of locations. By detecting the steering amount of the front wheels 11 by a plurality of steering amount sensors 71, the detection accuracy can be improved. The tilt sensor 72 detects the tilt angle, which is the tilt of the seedling transplanter 1.

[0054] In addition, signals are input to the control unit 100 as operation signals from the main speed change lever 30, the sub speed change lever 31, the mode change switch 73, the seedling planting unit lift switch 74, the automatic turning change switch 75, the line drawing marker automatic lift switch 76, etc. The mode change switch 73 is a switch for switching whether or not to execute autonomous traveling.

[0055] The seedling planting section lifting switch 74 is a switch for switching between lifting and lowering the seedling planting section 3. The seedling planting section lifting switch 74 can be changed between the "up" and "down" positions. When the seedling planting section lifting switch 74 is in the "up" position, the seedling planting section 3 is lifted to a predetermined non-working position, and the planting device 36 (see FIG. 1) is stopped in a non-working state (seedling planting section 3 is off). When the seedling planting section lifting switch 74 is in the "down" position, the seedling planting section 3 is lowered to a predetermined working position, and the planting device 36 is activated in a working state (seedling planting section 3 is on). In other words, the seedling planting section lifting switch 74 is a switch that can detect the working state of the seedling planting section 3.

[0056] The automatic turning changeover switch 75 is a switch for changing whether automatic turning is enabled or disabled when the seedling transplanter 1 is manually operated. When the automatic turning changeover switch 75 is "ON", automatic turning is enabled. When the automatic turning changeover switch 75 is "OFF", automatic turning is disabled.

[0057] The automatic line drawing marker raising / lowering switch 76 is a switch that switches whether or not the line drawing marker is automatically raised / lowered in conjunction with the steering amount of the steering wheel 22 (i.e., the steering amount of the front wheels 11). When the automatic line drawing marker raising / lowering switch 76 is "ON", control is executed to automatically raise / lower the line drawing marker in conjunction with the steering amount. On the other hand, when the automatic line drawing marker raising / lowering switch 76 is "OFF", control is not executed to automatically raise / lower the line drawing marker in conjunction with the steering amount.

[0058] In addition, an orientation sensor (not shown) and the like are connected to the control unit 100. The orientation sensor detects, for example, the absolute azimuth angle of the traveling direction of the seedling transplanter 1 (for example, "north" is 0° (360°), "east" is 90°, "south" is 180°, and "west" is 270°). The orientation sensor detects the absolute azimuth angle at regular intervals and transmits the detected absolute azimuth angle to the control unit 100.

[0059] Here, the control unit 100 causes the seedling transplanter 1 (the traveling vehicle body 2 and the seedling planting unit 3) to execute a straight-line process, a turning process, and a headland process, which will be described later, based on predetermined course information that has been set in advance. The control unit 100 is also capable of adjusting the course TR (see FIG. 6) of the seedling transplanter 1 in the left-right direction while the seedling transplanter 1 is executing a process of planting seedlings (for example, a straight-line process). In this case, a signal is input to the control unit 100 as an operation signal from a course adjustment operating device 80, which will be described later.

[0060] The course adjustment operation tool 80 is operated when the course TR of the autonomously traveling seedling transplanter 1 deviates left or right, etc., and the seedling transplanter 1 is to be moved a predetermined amount to the left or right with respect to the traveling direction of the current course TR. The course adjustment operation tool 80 is provided around the steering handle 22, for example, on the operation panel 29 (see FIG. 1) or an operation tool (for example, the main shift lever 30) provided on the operation panel 29.

[0061] When the seedling transplanter 1 is traveling autonomously with the operator (worker) seated in the operator's seat 26 (see FIG. 1), the operator (worker) can operate the course adjustment tool 80 to move the seedling transplanter 1 to the left or right relative to the traveling direction of the current course TR, as described above, when the operator (worker) operates the course adjustment tool 80. The course adjustment tool 80 will be described later with reference to FIGS. 4 to 7.

[0062] A remote control device 90 is also connected to the control unit 100 so as to be capable of communicating with each other, and various signals and information are input from the remote control device 90. Note that various signals and information are input from the remote control device 90 to the control unit 100, for example, via a receiver (not shown) provided on the traveling body 2 (see FIG. 1). The remote control device 90 is operated by an operator when a remote operation mode that accepts remote operation of the seedling transplanter 1 is executed. In the remote operation mode, the operator operates the remote control device 90, enabling remote operation of the seedling transplanter 1.

[0063] The remote control device 90 transmits a control signal corresponding to the operation of the operator to the control unit 100. The remote control device 90 is communicatively connected to the control unit 100 by short-range wireless communication such as Wi-fi (registered trademark) or Bluetooth (registered trademark). It is preferable that the remote control device 90 is communicatively connected to the control unit 100 by Bluetooth (registered trademark). Note that the remote control device 90 may be communicatively connected via a communication network or the like in addition to (or instead of) short-range wireless communication.

[0064] The remote control device 90 is a mobile terminal device having a display unit 91 such as a liquid crystal screen. The remote control device 90 is preferably a tablet terminal device such as a smartphone. The remote control device 90 may be a remote control device. In the case of a remote control device, the remote control device 90 is a remote control device having a display unit 91 such as a liquid crystal screen (a remote control with liquid crystal). The remote control device 90 may communicate with the seedling transplanter 1 directly or via a relay antenna 150. The remote control device 90 may be a single-function remote control provided with only an emergency stop switch, which allows immediate operation to stop the seedling transplanter 1 in an emergency.

[0065] <Autonomous Driving> Next, referring to Fig. 3, the autonomous travel of the seedling transplanter 1 in the field F will be described. Fig. 3 is an explanatory diagram of the autonomous travel in the field F. Fig. 3 also shows a schematic diagram of the seedling transplanter 1 autonomously traveling in the field F.

[0066] The control unit 100 (see FIG. 2) has an autonomous driving mode in which the seedling transplanter 1 autonomously drives by controlling the steering handle 22 (see FIGS. 1 and 2) while feeding back the steering amount of the front wheels 11 (see FIG. 1).

[0067] In the autonomous driving mode, as described above, the control unit 100 controls the steering wheel 22 to control the traveling direction of the seedling transplanter 1. In the autonomous driving mode, the control unit 100 controls the number of revolutions of the engine E (see Figs. 1 and 2) to control the vehicle traveling speed (vehicle speed). In the autonomous driving mode, the control unit 100 may also control the vehicle speed by performing a brake operation.

[0068] As shown in Fig. 3, in the autonomous driving mode, the seedling transplanter 1 automatically performs seedling planting work by, for example, repeating straight ahead and turning along a planned driving route R set as course information in the field F. As described above, the control unit 100 acquires information on the current position (self-position P) and turning position of the seedling transplanter 1 by the position information acquisition device 50 (see Fig. 1) provided on the upper part of the machine body.

[0069] When the control unit 100 causes the seedling transplanter 1 to travel autonomously, it creates a planned travel route R (R1, R2) as route information that specifies appropriate turning positions, etc., based on information including, for example, the working width of the seedling planting unit 3 (see Figure 1) and the shape and area of ​​the field F.

[0070] In this case, the seedling transplanter 1 performs seedling planting work by repeatedly moving straight and turning along a planned travel route R from a pre-set work start point PS to a pre-set work end point PE, for example, within a set work area within a farm field F.

[0071] The planned travel path R1 has a straight path RS and a turning path RT. On the straight path RS, the control unit 100 causes the seedling transplanter 1 to execute a straight path process in which the seedling transplanter 1 plants seedlings while moving straight. On the turning path RT, the control unit 100 causes the seedling transplanter 1 to execute a turning process in which the seedling transplanter 1 turns 180 degrees to move from the straight path process to the next straight path process (next process).

[0072] The planned travel route R2 is, for example, a route (called a headland route) that combines a straight route in the headland area of ​​the field F (meaning the inner peripheral area including the headland of the field F) and a turning route that turns 90 degrees. On the headland route, the control unit 100 causes the seedling transplanter 1 to execute a headland process of planting seedlings in the headland area of ​​the field F. Note that in FIG. 3, the work end point PE on the planned travel route R2 is not shown.

[0073] <Route adjustment device> Next, the course adjustment operation device 80 (80A, 80B) will be described with reference to Figs. 4 to 7. Fig. 4 is an explanatory diagram of the arrangement of the course adjustment operation device 80 (80A). Fig. 4 shows the arrangement of the course adjustment operation device 80A when the course adjustment operation device 80 (80A) is provided on the upper surface of the operation panel 29. Fig. 5 is an explanatory diagram of the operation of the course adjustment operation device 80A. Fig. 6 is an explanatory diagram of course adjustment by operating the course adjustment operation device 80A.

[0074] As described above, the control unit 100 (see FIG. 2) causes the seedling transplanter 1 to execute the straight-line process, the turning process, and the headland process based on the predetermined course information preset by the control unit 100. Here, for example, the course TR (see FIG. 6) of the seedling transplanter 1 after the machine body turns may deviate from the course information (the straight-line route RS of the planned travel route R). In this case, in order to correct the course TR of the seedling transplanter 1, it is necessary to turn the autonomous travel mode (automatic turning) "OFF" once and then redo the machine body turning by manual operation.

[0075] The course adjustment operation device 80 (80A, 80B) is operated by the operator (worker) when the seedling transplanter 1 is moving autonomously while the operator (worker) is seated in the operator's seat 26 (see FIG. 1) and the seedling transplanter 1 is to be moved a predetermined amount to the left or right of the current traveling direction of the vehicle, as described above. The movement amount of the seedling transplanter 1 when the course adjustment operation device 80 (80A, 80B) is operated is preset by the control unit 100. The movement amount of the seedling transplanter 1 may be changed depending on the operation amount and operation time of the course adjustment operation device 80 (80A, 80B).

[0076] Such a course adjustment operation tool 80 (80A, 80B) is provided around the steering handle 22 (see FIG. 1) so that the operator (operator) can easily operate it.

[0077] As shown in Fig. 4, the course adjustment operation tool 80A is provided on the upper surface of the operation panel 29. As shown in Fig. 4, the course adjustment operation tool 80A is preferably arranged in area A1, which is the left side as seen from the driver (operator). By arranging the course adjustment operation tool 80A in area A1, which is the left side of the upper surface of the operation panel 29 in this way, the arrangement makes it easy for the driver (operator) to operate the steering handle 22 (see Fig. 1) while operating the main shift lever 30 with his / her right hand. The course adjustment operation tool 80A may also be arranged in area A2, which is the right side as seen from the driver (operator).

[0078] The course adjustment operation tool 80A may be disposed in an area A3 on the left side as seen by the operator (worker) or in an area A4 on the right side as seen by the operator (worker) on the rear side of the steering column 22a that supports the steering wheel 22. The course adjustment operation tool 80A may be disposed in an area A5 on the front (center) as seen by the operator (worker) on the rear side of the steering column 22a.

[0079] In this way, by disposing the course adjustment operation tool 80A on the upper surface of the operation panel 29, the operator can adjust the course TR at his / her own timing. Also, since the course adjustment operation tool 80A is provided at a position that is easy for the operator to operate, operability can be improved.

[0080] Furthermore, when the course adjustment operating device 80 (80A) is provided on the upper surface of the operation panel 29, it is preferable that the course adjustment operating device 80 (80A) is, for example, a toggle switch. As shown in FIG. 5, when the course adjustment operating device 80A is a toggle switch, there are three positions, "left", "right" and "center". Of these, the "left" position is a position where the seedling transplanter 1 is adjusted to the left, and the "right" position is a position where the seedling transplanter 1 is adjusted to the right. Furthermore, the "center" position is a position where no adjustment of the course TR of the seedling transplanter 1 is performed.

[0081] In this way, when the course adjustment operating tool 80 (80A) is a toggle switch, it is preferable that the tilt direction of the toggle switch corresponds to the movement (adjustment) direction of the seedling transplanter 1. Also, when the course adjustment operating tool 80 (80A) is a toggle switch, it is preferable that the toggle switch automatically returns to the "center" position when the operator (worker) releases his / her hand from the toggle switch that has been tilted to the "left" or "right" position.

[0082] As shown in Fig. 6, in the seedling transplanter 1, when adjusting the course TR to the left, the course adjustment tool 80 (80A) is tilted to the "left" position, thereby adjusting (correcting) the course from the actual course TR to the left course TRL. In addition, in the seedling transplanter 1, when adjusting the course TR to the right, the course adjustment tool 80 (80A) is tilted to the "right" position, thereby adjusting (correcting) the course TR from the actual course TR to the right course TRR. Note that the control unit 100 will not adjust (correct) the course TR unless it detects that the course adjustment tool 80 (80A) has been tilted for a certain period of time or more.

[0083] In this way, the control unit 100 (see FIG. 2) can adjust the course TR of the seedling transplanter 1 in the left-right direction during a process of planting seedlings such as the straight-line process. The control unit 100 may also adjust the course TR of the seedling transplanter 1 in the left-right direction during a headland process (a process of planting seedlings while moving straight in the headland process), which is a process of planting seedlings similar to the straight-line process. This makes it possible to adjust the course TR in the left-right direction when the course TR of the seedling transplanter 1 deviates left-right during the straight-line process, for example, and thus prevents the occurrence of a situation in which the spacing between seedling planting rows is not kept constant due to the seedling transplanter 1 deviating left-right, thereby improving seedling planting performance.

[0084] Furthermore, when the control unit 100 adjusts the course TR of the seedling transplanter 1 during the straight-line process, it creates a planned travel path R (see FIG. 3) as new course information that reflects the adjustment of the course TR during the next straight-line process. In this way, the left-right direction is adjusted (corrected) during the next process (the straight-line process following the straight-line process in which the course TR was adjusted left-right), so the spacing between seedling planting rows can be kept constant. In addition, the accuracy of row alignment after the machine body turns is improved, stabilizing the seedling planting start position, making this effective for the seedling transplanter 1 in which the seedling planting start position is important.

[0085] The control unit 100 adjusts the course TR of the seedling transplanter 1 relative to a reference course that serves as a reference for the seedling transplanter 1 to travel autonomously. This allows the autonomously traveling seedling transplanter 1 to adjust in the left-right direction relative to the reference course. In addition, the control unit 100 creates course information (planned travel course R) before the seedling transplanter 1 travels autonomously. Therefore, when adjusting the course TR relative to the reference course, the control unit 100 creates course information (planned travel course R) by acquiring the reference course from the position information acquisition device 50 (see FIG. 2) before the seedling transplanter 1 starts traveling autonomously.

[0086] The control unit 100 may also adjust the course TR of the seedling transplanter 1 relative to a reference orientation that serves as a reference for the seedling transplanter 1 to travel autonomously. This allows the autonomously traveling seedling transplanter 1 to adjust in the left-right direction relative to the reference orientation. The control unit 100 also creates course information (planned travel route R) before the seedling transplanter 1 travels autonomously. For this reason, when adjusting the course TR relative to the reference orientation, the control unit 100 creates course information (planned travel route R) by acquiring the reference orientation from the position information acquisition device 50, for example, before the seedling transplanter 1 starts traveling autonomously.

[0087] The control unit 100 may also adjust the course TR of the seedling transplanter 1 relative to a reference position (coordinates indicating the current position of the machine) that serves as a reference for the seedling transplanter 1 to travel autonomously. This allows the autonomously traveling seedling transplanter 1 to be adjusted in the left-right direction relative to the reference position (coordinates). The control unit 100 also creates course information (planned travel route R) before the seedling transplanter 1 travels autonomously. For this reason, when adjusting the course TR relative to the reference position (coordinates), the control unit 100 creates the course information (planned travel route R) by acquiring the reference position (coordinates) from the position information acquisition device 50, for example, before the seedling transplanter 1 starts traveling autonomously.

[0088] Furthermore, when creating the course information (planned travel route R), if the course TR has been adjusted in the previous process, the control unit 100 resets the adjustment of the course TR. In this way, in order to reset the adjustment of the course TR before the seedling transplanter 1 starts autonomous travel, specifically, to return to the teaching setting value of the planned travel route R, it is possible to prevent erroneous setting of the course TR, i.e., the planned travel route R that will become the subsequent course TR, when, for example, work on the field F where the course TR has been adjusted is finished and work on the next field F is started.

[0089] 7 is an explanatory diagram of the arrangement of the course adjustment operation device 80 (80B). Note that FIG. 7 shows the arrangement of the course adjustment operation device 80B when the course adjustment operation device 80 (80B) is provided on the main shift lever 30.

[0090] As shown in Fig. 7, the course adjustment operation tool 80 (80B) may be provided on the main shift lever 30 which is operated by the driver (operator) with the right hand. When the course adjustment operation tool 80B is provided on the main shift lever, it is provided on the outer circumferential surface of the grip 30a. The course adjustment operation tool 80B is preferably disposed in an upper front area A6 on the outer circumferential surface of the grip 30a. The course adjustment operation tool 80B may also be disposed in an upper rear area A7 on the outer circumferential surface of the grip 30a.

[0091] In this way, by arranging the course adjustment operation tool 80B on the outer peripheral surface of the grip 30a of the main shift lever 30, the operator can adjust the course TR (see FIG. 6) at his / her own timing. Also, since the course adjustment operation tool 80B is provided at a position that makes it easy for the operator to operate, operability can be improved.

[0092] Incidentally, even when the course adjustment operating device 80B is provided on the main speed change lever 30, there are three positions, "left", "right" and "center", similar to the configuration of the toggle switch described above, and in the "left" position, the seedling transplanter 1 is adjusted to the left, and in the "right" position, the seedling transplanter 1 is adjusted to the right. In addition, when the course adjustment operating device 80B is in the "center" position, the course TR of the seedling transplanter 1 is not adjusted.

[0093] It is also preferable that the course adjustment operation tool 80B automatically returns to the "center" position when the operator (operator) removes his / her hand from the "left" or "right" position. Also, in the case of the course adjustment operation tool 8080B, if an operation (for example, a push operation) of the course adjustment operation tool 80B for a certain period of time or more is not detected, the course adjustment (correction) is not executed.

[0094] <Remote Control> Next, remote control of the seedling transplanter 1 by the remote control device 90 will be described with reference to Figures 8 and 9. Figures 8 and 9 are explanatory diagrams of remote control by the remote control device 90.

[0095] As shown in Fig. 8, when an operator W remotely controls the seedling transplanter 1 from a remote control device 90 such as a smartphone, the remote control device 90 communicates with the seedling transplanter 1 via a relay antenna 150 installed around the field F where the operator will be working. The remote control device 90 performs remote control using a smartphone app. The remote control device 90 also displays a planned travel route R (see Fig. 3) generated by teaching the seedling transplanter 1 to travel autonomously on the smartphone app.

[0096] As described above, the remote control device 90 has a short-distance wireless communication function and performs short-distance communication. Specifically, the remote control device 90 performs short-distance communication by Bluetooth (registered trademark). For example, the remote control device 90 communicates with the seedling transplanter 1 via the relay antenna 150 when the distance D1 to the relay antenna 150 is within 10 m. In this case, the distance D2 between the relay antenna 150 and the seedling transplanter 1 can be within 300 m.

[0097] In this way, by performing communication via the relay antenna 150, battery consumption can be reduced, making it easier to use than a remote control with a liquid crystal display. For example, a remote control with a liquid crystal display consumes a lot of battery power and requires frequent battery replacement, while increasing the battery capacity of the remote control with a liquid crystal display increases the size and reduces portability and operability. However, in this embodiment, where communication is performed via the relay antenna 150, there is no need to increase the battery capacity, so portability and operability are not reduced, and it is easy to use.

[0098] Furthermore, the relay antenna 150 can be carried by the worker W, and the installation position can be changed. Therefore, the relay antenna 150 can be installed in a position not too far from the worker W in the vicinity of the field F.

[0099] On the other hand, as shown in Figure 9, when an operator W remotely operates the seedling transplanter 1 from a remote control device 90 such as a smartphone, the remote control device 90 communicates directly with the seedling transplanter 1 without going through the relay antenna 150 if the distance D3 from the seedling transplanter 1 is within a predetermined range (for example, within 10 m).

[0100] In this way, when the distance D3 between the remote control device 90 and the seedling transplanter 1 is within a predetermined range, direct communication with the seedling transplanter 1 eliminates the need to use the relay antenna 150 when the distance (distance D3) between the seedling transplanter 1 and the operator W (remote control device 90) who remotely operates it is short, such as when remotely operating the seedling transplanter 1 while checking the distance to the ridge at the edge of the field. This eliminates the need to install the relay antenna 150, for example, improving workability.

[0101] Furthermore, by using a smartphone compatible with a Bluetooth (registered trademark) communication method with strong radio wave strength (long communication distance) (for example, "Bluetooth-Class 1") as the remote control device 90, the distance from the seedling transplanter 1 can be up to 100 m.

[0102] <Relay antenna> Next, the relay antenna 150 will be described with reference to Fig. 10. Fig. 10 is an explanatory diagram of the relay antenna 150. Fig. 10 is a schematic perspective view of the relay antenna 150.

[0103] 10, relay antenna 150 that transmits and receives radio waves is supported by a tripod-shaped support 151. For example, a camera tripod can be used as the tripod-shaped support 151. This makes it easy to obtain support 151 for supporting relay antenna 150, and also makes it easy to move and install relay antenna 150.

[0104] The relay antenna 150 is also provided with a notification light 140. The notification light 140 uses, for example, a plurality of (e.g., three) colors to notify the operator W (see FIG. 8) or the like of the status of the seedling transplanter 1 (see FIG. 1) by changing the display (illuminated color). The notification light 140 notifies of machine abnormalities and obstacle detection, as well as the type of mode currently being executed (autonomous driving mode, remote control mode, manual operation mode, etc.).

[0105] In this way, since the notification light 140 is provided on the relay antenna 150, the worker W can grasp the state of the seedling transplanter 1 by looking at the relay antenna 150 even if the seedling transplanter 1 is difficult to see for the worker W, thereby improving workability. Note that the notification light 140 is usually provided on the seedling transplanter 1 side. In this case, the notification light 140 is provided in a position that is easily seen by the worker W, such as the upper front part of the traveling body 2 (see FIG. 1).

[0106] <Fall prevention control for workers> Next, a description will be given of fall prevention control for an operator (worker) riding on the seedling transplanter 1 with reference to Figures 11 and 12. Figures 11 and 12 are flowcharts showing the process of fall prevention control for an operator W riding on the machine body (seedling transplanter 1).

[0107] The seedling transplanter 1 (see FIG. 1) described above is provided with a seating sensor (not shown) that detects the operator (operator) sitting in the cockpit 26 (see FIG. 1) when the operator (operator) is on board. The seating sensor is, for example, a pressure sensor, and is provided in the seat base or cushion of the cockpit 26. Note that, instead of the seating sensor, another sensor that detects the operator (operator) on board the machine may be used.

[0108] Here, in the seedling transplanter, for example, when the autonomous driving mode is assumed to be an unmanned state in which the operator (worker) is not on board the machine, there is a possibility that the operator (worker) may be thrown off due to the vibration of the machine during autonomous driving. For this reason, the seedling transplanter 1 uses a seating sensor to control the output of the HST when the operator (worker) is on board the seedling transplanter 1 and to delay the timing when the seedling transplanter 1 starts moving, thereby preventing the operator (worker) from falling off.

[0109] As shown in Figure 11, in a first example of control to prevent the operator (worker) from falling, when the seedling transplanter 1 is caused to travel autonomously by the control unit 100 (see Figure 2), when the seating sensor value and the HST motor sensor value are detected (step S101), the control unit 100 determines whether the operator (worker) is seated in the operator's seat 26 based on the seating sensor value (step S102).

[0110] When the control unit 100 determines in the process of step S102 that the operator (operator) is seated (step S102: Yes), it performs control to suppress the output of the HST (step S103). In this case, for example, the output of the HST is suppressed so that the opening degree of the HST is an upper limit of 80%. After performing control to suppress the output of the HST, the control unit 100 ends the process.

[0111] When the control unit 100 determines in the process of step S102 that the operator (operator) is not seated (step S102: No), it leaves the output of the HST at the default value (step S104) and ends the process.

[0112] In this way, by suppressing the output of the HST when the operator (worker) is on board the seedling transplanter 1, it is possible to prevent the operator (worker) from falling, thereby improving safety.

[0113] As shown in FIG. 12, in a second example of control to prevent the operator (worker) from falling, when the control unit 100 causes the seedling transplanter 1 to travel autonomously, upon detecting the seating sensor value and the HST output timing (step S201), the control unit 100 determines whether the operator (worker) is seated in the operator's seat 26 based on the seating sensor value (step S202).

[0114] When the control unit 100 determines in the process of step S202 that the operator (worker) is seated (step S202: Yes), it performs control to delay the timing at which the seedling transplanter 1 starts to move (step S203). In this case, for example, the timing at which the seedling transplanter 1 starts to move is delayed by about one second. After performing control to delay the timing at which the seedling transplanter 1 starts to move, the control unit 100 ends the process.

[0115] When the control unit 100 determines in the process of step S202 that the operator (worker) is not seated (step S202: No), it leaves the timing for the seedling transplanter 1 to start moving at the default value (step S204) and ends the process.

[0116] In this way, by delaying the timing at which the seedling transplanter 1 starts moving when an operator (worker) is on board the seedling transplanter 1, it is possible to prevent the operator (worker) from falling, thereby improving safety.

[0117] <Downsizing engine structure> Next, the downsizing structure of the engine E of the seedling transplanter 1 will be described with reference to Figures 13 and 14. Figures 13 and 14 are explanatory diagrams of the downsizing structure of the engine E. Note that Figure 13 shows the engine E, the electric supercharger 160, and the air cleaner 170 in an exploded state, and Figure 14 shows the air flow paths 161, 162 of the electric supercharger 160.

[0118] As shown in Figures 13 and 14, in the seedling transplanter 1, an electric supercharger 160 is attached to the intake port of the engine E to boost the amount of intake air when the engine E is rotating at a low speed. When the intake pressure exceeds the boost pressure when the engine E is rotating at a high speed, the electric supercharger 160 is turned off. That is, as shown in Figure 14, when the engine E is rotating at a high speed, air flows through the air flow path (bypass flow path) 162, so that the electric supercharger 160 is turned off.

[0119] As shown in Figs. 13 and 14, the seedling transplanter 1 has a structure (downsizing structure) in which the electric supercharger 160 is provided between the engine E and the air cleaner 170, thereby achieving downsizing and weight reduction and improving environmental performance. In recent years, seedling transplanters have become larger and more powerful, but the associated weight increase sacrifices wet-field running ability and turning ability. In the seedling transplanter 1, the downsizing structure described above allows the use of a smaller class engine, which reduces the weight of the engine E. In addition, it is less expensive than a turbo engine, and since seedling transplanters often use low speeds, the effect of the electric supercharger 160 is easily achieved, and the heat balance is also improved when downsizing is performed.

[0120] <Fertilizer clogging elimination control> Next, the fertilizer clogging removal control will be described with reference to Figures 15 to 18. Figure 15 is an explanatory diagram of fertilizer clogging in the feed device 42. Note that Figure 15 shows a schematic diagram of the feed device 42 for fertilizer G. Figures 16 to 18 are flow charts showing the process of the fertilizer clogging removal control.

[0121] As shown in Fig. 15, in the above-described fertilizer application device 40 (see Fig. 1), the payout device 42 supplies a predetermined amount of fertilizer G stored in the fertilizer application hopper 41 to a fertilizer application hose (not shown) (in other words, discharges a predetermined amount of fertilizer G from the fertilizer application hopper 41), and is of a so-called mechanically driven type that drives a payout rotor 421, which rotates in a predetermined direction RD to discharge fertilizer G from the fertilizer application hopper 41, via gears. In the mechanically driven payout device 42, if the driving force for rotating the payout rotor 421 is insufficient, the payout rotor 421 does not rotate and fertilizer G is not discharged, which is called fertilizer clogging. When fertilizer clogging occurs, an area where fertilizer G is not applied is created.

[0122] In the seedling transplanter 1, control is performed such that the mechanical drive of the delivery rotor 421 is assisted by the motor drive with a high gear ratio (fertilizer clogging removal control).

[0123] As shown in FIG. 16, in a first example of fertilizer clogging removal control, when the driving rotation speed of the payout rotor 421 is detected (step S301), the control unit 100 (see FIG. 2) determines whether or not the payout rotor 421 is rotating poorly based on the driving rotation speed of the payout rotor 421 (step S302).

[0124] If the control unit 100 determines in the processing of step S302 that there is a rotation failure of the payout rotor 421 (step S302: Yes), it performs control to add a fixed amount of motor drive to the mechanical drive (step S303). After the control unit 100 has added the fixed amount of motor drive, it performs control to stop the motor (step S304). When the motor stops, the payout rotor 421 becomes free. After performing control to stop the motor, the control unit 100 ends the processing.

[0125] If control unit 100 determines in the process of step S302 that there is no rotation failure of payout rotor 421 (step S302: No), control unit 100 returns to the process of step S301, whereby the driving rotation speed of payout rotor 421 is detected.

[0126] In this way, when the feed rotor 421 is not rotating properly (fertilizer clogging), a constant amount of motor drive is added to the mechanical drive, thereby eliminating the fertilizer clogging and preventing the creation of an area where no fertilizer G is applied.

[0127] In addition, the seedling transplanter 1 uses two motor systems, one of which has a higher gear ratio, and under normal circumstances, the low gear side motor with a lower gear ratio drives the delivery rotor 421, and when the output current value of the low gear side motor reaches or exceeds a predetermined value, the high gear side motor with a higher gear ratio drives the delivery rotor 421 (fertilizer clogging relief control).

[0128] As shown in FIG. 17, in the second example of fertilizer clogging removal control, when the current value of the low gear side motor output is detected (step S401), the control unit 100 (see FIG. 2) determines whether the current value of the low gear side motor output is large (whether it is equal to or greater than a predetermined value) based on the detected current value (step S402).

[0129] When the control unit 100 determines that the current value is large (above a predetermined value) in the process of step S402 (step S402: Yes), it controls the high gear side motor to drive the payout rotor 421 for a fixed number of rotations (step S403). After driving the payout rotor 421 for a fixed number of rotations with the high gear side motor, the control unit 100 controls it to switch back to the low gear side motor (step S404), and ends the process when it switches back to the low gear side motor.

[0130] If the control unit 100 determines in the process of step S402 that the current value is not large (less than the predetermined value) (step S402: No), the process returns to step S401, and the current value of the low gear side motor output is detected.

[0131] In this way, when the current value of the low gear side motor output is large, i.e., when the current value is above a predetermined value (fertilizer clogging), the high gear side motor drives the payout rotor 421 for a fixed number of rotations, thereby eliminating the fertilizer clogging and preventing the creation of an area where fertilizer G is not applied.

[0132] In addition, in the seedling transplanter 1, when crushed fertilizer G becomes clogged in the delivery rotor 421 and the load torque (current value) of the motor output exceeds a predetermined value, the motor output is reversed (positive and negative are swapped) and control is performed to output at a constant speed (fertilizer clogging relief control).

[0133] As shown in FIG. 18, in the third example of fertilizer clogging removal control, when the current value of the motor output is detected (step S501), the control unit 100 (see FIG. 2) determines whether the current value of the motor output is large (whether it is equal to or greater than a predetermined value) based on the detected current value (step S502).

[0134] If the control unit 100 determines that the current value is large (above a predetermined value) in the process of step S502 (step S502: Yes), it reverses the motor output (switches the positive and negative) and then controls it to output at a constant speed (step S503). After the control unit 100 reverses the motor output and then outputs it at a constant speed, it controls the motor output to return to its original state (for example, forward rotation) (step S504), and when the motor output is returned to its original state, the process ends.

[0135] If the control unit 100 determines in the process of step S502 that the current value is not large (less than the predetermined value) (step S502: No), the process returns to step S501, whereby the current value of the motor output is detected.

[0136] In this way, when the current value of the motor output is large, i.e., above a predetermined value (fertilizer clogging), the motor output is reversed and then output at a constant speed, thereby eliminating the fertilizer clogging and preventing the creation of an area where fertilizer G is not applied.

[0137] <Front sensor cover> Next, the front sensor cover 180 will be described with reference to Figures 19 and 20. Figures 19 and 20 are explanatory diagrams of the front sensor cover 180 and are schematic perspective views of the front sensor cover 180. Note that Figure 19 shows the front sensor cover 180 in an upright position, and Figure 20 shows the front sensor cover 180 in a tilted position.

[0138] As shown in Fig. 19, the seedling transplanter 1 (see Fig. 1) is provided with a front sensor cover 180 that houses a front sensor for detecting obstacles in front of the machine body. The front sensor cover 180 is provided in front of the bonnet 28. The front sensor cover 180 is made of, for example, resin. The front sensor cover 180 is supported by a support frame 181 that is rotatable in the front-rear direction.

[0139] As shown in FIG. 20, front sensor cover 180 is tilted, for example, during refueling, so that the rear surface of front sensor cover 180 serves as mounting portion 182 for a fuel tank or the like.

[0140] Such a front sensor cover 180 normally functions as a cover for the front sensor and also functions as a bumper guard for the front part of the body. In addition, the front sensor cover 180 serves as the face of the body, allowing it to be differentiated from other models.

[0141] <Turning Assist> Next, the turning assist in the seedling transplanter 1 (see FIG. 1) will be described.

[0142] During execution of turning assistance in the seedling transplanter 1 by the control unit 100 (see FIG. 2), the control unit 100 determines the slip rate from the ratio of the rotation speed of the front wheels 11 (see FIG. 1) to the rotation speed of the rear wheels 12 (see FIG. 1). In this case, slip is detected from the rotation speed of the front wheels 11, and the degree of slip is detected from the rotation speed of the rear wheels 12. In this case, it is better to look at the ratio of the rotation speed of the diagonal front wheels 11 to the rotation speed of the rear wheels 12, and if the ratio of the rotation speed of the front wheels 11 to the rotation speed of the rear wheels 12 is equal to or greater than a predetermined value, it is determined that slip has occurred. With this configuration, the accuracy of the turning assistance can be improved, and it is possible to suppress the effect of slip during turning of the machine body during autonomous driving on the accuracy of seedling planting row alignment.

[0143] In addition, while cornering assistance is being performed, the control unit 100 can detect the extent of slippage by estimating it from the rotation speed of the inner wheel of the rear wheel 12 when the clutch is disengaged (comparing it with the rotation speed of the outer wheel, and detecting the absence of rotation as slippage).

[0144] In addition, when performing turning assistance, the control unit 100 takes into account the deviation from the parallel lines stored for straight-line assistance, i.e., the degree to which the orientation of the aircraft before the start of automatic turning has deviated from the straight-line path RS (see Figure 3), and changes the time for returning the steering wheel 22 (see Figure 1) depending on the degree of deviation from the straight-line path RS.

[0145] In the seedling transplanter 1, the timing of the turning of the machine is determined by the position information acquisition device 50 (for example, a GNSS device), but for example, the driving rotation speed may be stored as a backup, so that even if the satellite is lost, a certain degree of appropriate turning timing can be obtained. In addition, in order to adapt to not only rectangular fields F but also irregular fields F such as trapezoidal, the seedling transplanter 1 may be configured to predict the length of the next path (third path) by, for example, differential calculation by taking the difference in distance between the first path and the second path during teaching for autonomous traveling. In addition, in the seedling transplanter 1, the rotation sensor may be configured to be fixed to the transmission, which makes it an inexpensive system that does not use a GNSS device or the like.

[0146] According to the above-described embodiment, the seedling transplanter 1 is realized as follows.

[0147] (1) A seedling transplanter 1 that is capable of autonomous travel and that performs seedling planting work while traveling autonomously within a field F, and is equipped with a control unit 100 that causes the seedling transplanter 1 to execute a straight line process of planting seedlings while traveling straight based on predetermined course information (planned travel route R), a turning process for transitioning from the straight line process to the next straight line process, and a headland process of planting seedlings in a headland area of ​​the field F, and the control unit 100 can adjust the course TR of the seedling transplanter 1 in the left and right directions while the seedling planting process is being performed.

[0148] According to such a seedling transplanter 1, for example, if the course TR of the seedling transplanter 1 deviates left or right during the straight-line process, the course TR can be adjusted left or right, thereby preventing the occurrence of a situation in which the spacing between seedling planting rows cannot be maintained constant due to the seedling transplanter 1 deviating left or right, thereby improving seedling planting performance.

[0149] (2) In the above (1), when the control unit 100 adjusts the course TR during the straight-line process, the control unit 100 creates new course information (planned driving route R) that reflects the adjustment made to the course TR during the next straight-line process of the seedling transplanter 1.

[0150] In addition to the effect of (1) above, such a seedling transplanter 1 creates new course information (planned travel path R) that reflects the adjustment in the next process (the straight-line process following the straight-line process in which the course TR was adjusted left and right), so the left and right direction is adjusted (corrected) in the next process. This makes it possible to keep the spacing between seedling planting rows constant. In addition, the accuracy of row alignment after the machine turns is improved, stabilizing the seedling planting start position, making this effective for seedling transplanters 1 in which the seedling planting start position is important.

[0151] (3) In the above (1) or (2), the control unit 100 adjusts the course TR relative to a reference path that serves as a reference for the seedling transplanter 1 to travel autonomously.

[0152] According to such a seedling transplanter 1, in addition to the above-mentioned effects (1) or (2), the seedling transplanter 1 traveling autonomously can be adjusted in the left and right directions with respect to the reference path.

[0153] (4) In the above (1) or (2), the control unit 100 adjusts the course TR relative to a reference direction that serves as a reference for the seedling transplanter 1 to travel autonomously.

[0154] According to such a seedling transplanter 1, in addition to the above-mentioned effects (1) or (2), the autonomously traveling seedling transplanter 1 can be adjusted in the left-right direction with respect to the reference direction.

[0155] (5) In the above (1) or (2), the control unit 100 adjusts the course TR relative to a reference position that serves as a reference for the seedling transplanter 1 to travel autonomously.

[0156] According to such a seedling transplanter 1, in addition to the above-mentioned effects (1) or (2), the autonomously traveling seedling transplanter 1 can be adjusted in the left-right direction with respect to a reference position (coordinate).

[0157] (6) In any one of (3) to (5) above, before the seedling transplanter 1 starts autonomous driving, the control unit 100 acquires the reference route and creates course information (planned driving route R) when adjusting the course TR relative to a reference route that is a reference for the seedling transplanter 1 to drive autonomously, or acquires the reference orientation and creates course information (planned driving route R) when adjusting the course TR relative to a reference orientation that is a reference for the seedling transplanter 1 to drive autonomously, or acquires the reference position and creates course information (planned driving route R) when adjusting the course TR relative to a reference position that is a reference for the seedling transplanter 1 to drive autonomously, and resets the adjustment of the course TR if the course TR has been adjusted in the previous process when creating the course information (planned driving route R), seedling transplanter 1.

[0158] According to such a seedling transplanter 1, in addition to any one of the effects (3) to (5) above, the adjustment of the course TR is reset before the seedling transplanter 1 starts traveling autonomously, so that, for example, when work in a field F in which the course TR has been adjusted is finished and work in a next field F is started, erroneous setting of the course TR (the planned traveling route R that will become the subsequent course TR) can be prevented.

[0159] (7) In any one of (1) to (6) above, the seedling transplanter 1 is provided with a steering handle 22 for steering the seedling transplanter 1, a main speed change lever 30 for changing the speed of the seedling transplanter 1, and a course adjustment operating device 80 provided around the steering handle 22 and operated by an operator W when adjusting the course TR using the control unit 100, and the course adjustment operating device 80 (80B) is provided on the outer peripheral surface of the grip 30a of the main speed change lever 30.

[0160] According to such a seedling transplanter 1, in addition to any one of the effects (1) to (6) above, for example, when an operator W is riding on the seedling transplanter 1, the course TR can be adjusted at the timing of the operator W riding on the seedling transplanter 1. Also, since the course adjustment operating tool 80 (80B) is provided at a position where it is easy for the operator W to operate, operability can be improved.

[0161] (8) In any one of (1) to (7) above, the seedling transplanter 1 further includes a remote control device 90 for remotely controlling the seedling transplanter 1, the remote control device 90 having a short-range wireless communication function, a changeable installation position, and communicating with the seedling transplanter 1 via a relay antenna 150 installed in the vicinity of the field F.

[0162] According to such a seedling transplanter 1, in addition to any one of the effects (1) to (7) above, by using the relay antenna 150, battery consumption can be reduced, making it easier to use than a remote control with an LCD screen, etc.

[0163] (9) In the above (8), the remote control device 90 communicates directly with the seedling transplanter 1 without going through the relay antenna 150 when the distance D3 from the seedling transplanter 1 is within a predetermined range.

[0164] In addition to the effect of (8) above, such a seedling transplanter 1 has no need to use the relay antenna 150 when the distance D3 between the seedling transplanter 1 and the operator W remotely operating it is within a predetermined range (distance where short-range wireless communication is possible), for example, when remotely operating the seedling transplanter 1 while checking the clearance between the ridge and the field. Therefore, for example, the work of installing the relay antenna 150 is eliminated, improving workability.

[0165] (10) In the above (8) or (9), the relay antenna 150 is provided with an indicator light 140 that indicates the status of the seedling transplanter 1 by a change in display.

[0166] In addition to the effects of (8) or (9) above, such a seedling transplanter 1 has the relay antenna 150 equipped with the notification light 140, so that the worker W can grasp the state of the seedling transplanter 1 by looking at the relay antenna 150 even if the worker W has difficulty seeing the seedling transplanter 1. This improves workability.

[0167] 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]

[0168] 1 Seedling transplanter 22 Steering wheel 30 Main gear shift lever 30a Grip 80 Course adjustment device 90 Remote Control Device 100 Control section 140 Warning light 150 Relay Antenna D3 Distance F Field R Route information (planned driving route) TR career path W Worker

Claims

1. A working machine capable of autonomous travel and performing field work while autonomously traveling within a field, a control unit that executes a straight line process for performing ground work while moving straight on the basis of predetermined route information, and a turning process for transitioning from the straight line process to the next straight line process; The working machine further includes a remote control device for remotely controlling the working machine, The remote control device includes: It has short-range wireless communication capabilities, The installation position can be changed, and communication with the work machine is performed via a relay antenna installed around the farm field. A work vehicle characterized by:

2. The remote control device includes: When the distance to the work machine is within a predetermined range, communication is performed directly with the work machine without going through the relay antenna.

2. The work vehicle according to claim 1 .

3. The relay antenna is provided with an indicator light that indicates the state of the work machine by changing the display.

3. A work vehicle according to claim 1 or 2.

4. a toggle switch for receiving an adjustment operation for the path of the work machine; Equipped with The control unit is The path of the work implement can be adjusted in the left and right directions while a ground operation is being performed, When the toggle switch is tilted by an operator, a path of the work machine is adjusted in response to the tilt; When the tilting operation by the worker is no longer performed, the toggle switch returns to a position where the path of the work machine is not adjusted, and the adjustment of the path of the work machine is reset.

4. A work vehicle according to claim 1, wherein the work vehicle is a work vehicle having a load capacity of 100 kg.

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