Work vehicle

Abstract

To provide a work vehicle that allows an operator to readily know the settings of a work device when a travel mode is changed.SOLUTION: A work vehicle includes: a travelling vehicle body; a work device mounted to the vehicle body; a position acquisition device for acquiring positional information of the travelling vehicle body; and a control device for controlling a steering angle of a steering wheel of the travelling vehicle body and capable of switching the modes among an autonomous travel mode of causing the travelling vehicle body to autonomously travel, a teaching mode of acquiring information of a farm field, and a manual travel mode of travelling without performing the teaching that acquires information of a farm field. When the autonomous travel mode is switched to any one of the respective modes, the control device returns a correction value that has been changed for a work on the work device to a value before changed.SELECTED DRAWING: Figure 6

Description

Technical Field

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

Background Art

[0002] Conventionally, there is known a work vehicle that is equipped with a boundary detection means for detecting the boundary of a field on a traveling vehicle body and executes an automatic turn when the traveling vehicle body approaches the boundary (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a work vehicle capable of executing an autonomous driving mode capable of executing an automatic turn or the like and a manual mode of traveling by an operator's operation, the settings in the work device may be different depending on each mode. When each mode is switched, the settings in the work device cannot be grasped, and there is room for improvement in the settings of the work device.

[0005] The present invention has been made in view of the above, and an object thereof is to provide a work vehicle capable of easily grasping the settings of a work device when the traveling mode is changed.

Means for Solving the Problems

[0006] In order to solve the above-described problems and achieve the object, a work vehicle (1) according to one aspect of the embodiment includes a traveling vehicle body (2), a work device (4, 5) attached to the traveling vehicle body (2), a position acquisition device (150) that acquires position information of the traveling vehicle body (2), a control device (100) that controls the steering angle of the steering wheel (10) of the traveling vehicle body (2) to autonomously drive the traveling vehicle body (2), and is capable of switching between a teaching mode for acquiring field information and a manual driving mode for traveling without performing teaching for acquiring field information. When the control device (100) is switched from the autonomous driving mode to any of the modes, the correction value changed for the work in the work device (4, 5) is returned to the value before the change. In addition, in the self-driving mode, remote operation driving by a remote operation tool is possible on one side of the reciprocating process of the traveling vehicle body (1), when the forward button of the remote operation tool is pressed, the traveling vehicle body (1) is moved forward, and during the forward movement, the speed of the traveling vehicle body (1) can be adjusted by the remote operation tool, the adjustment of the rudder angle by the remote operation tool is prohibited, and the rudder angle is controlled to the rudder angle set based on the driving by teaching 。

Effect of the Invention

[0007] According to one aspect of the embodiment, when the traveling mode is changed, the settings of the work device can be easily grasped.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Mode for Carrying Out the Invention

[0009] <First Embodiment> (Overview of the Work Vehicle) First, with reference to FIGS. 1 and 2, an overview of the work vehicle 1 according to the first embodiment will be described. FIG. 1 is a side view showing the work vehicle 1 according to the first embodiment. FIG. 2 is a plan view showing the work vehicle 1 according to the first embodiment.

[0010] In the following description, the front-rear direction is the traveling direction when the work vehicle 1 is traveling straight, and the front side in the traveling direction is defined as "front" and the rear side as "rear". The traveling direction of the work vehicle 1 is the direction from the driver's seat 41 toward the steering wheel 35 (steering device) when traveling straight (see FIGS. 1 and 2).

[0011] The left-right direction is a direction that is horizontally orthogonal to the front-rear direction, and the left and right are defined toward the "front" side. That is, with the operator (also referred to as the worker) seated in the driver's seat 41 and facing forward, the left hand side is "left" and the right hand side is "right".

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

[0013] In this embodiment, the work vehicle 1 will be described as a riding type seedling transplanter 1 that includes a seedling planting part 4 (planting device) as a work device and receives seedlings in a field. As shown in FIGS. 1 and 2, the seedling transplanter 1 includes a vertically movable seedling planting part 4 that plants seedlings in a field via a lifting link mechanism 3 on the rear side of the traveling vehicle body 2.

[0014] The main body part of the fertilizer application device 5 as a work device is arranged on the upper rear part of the traveling vehicle body 2. When the work vehicle 1 is not the seedling transplanter 1, it may include a chemical spraying device that sprays chemicals and a seeding device that supplies seeds as work devices. Hereinafter, mainly the case where the work device is the seedling planting part 4 will be described as an example.

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

[0016] The continuously variable transmission device 14 is a hydrostatic continuously variable transmission known as a so-called HST (Hydro Static Transmission). Hereinafter, the case where the continuously variable transmission device is the HST 14 will be described.

[0017] Inside the transmission case 13, there is provided a sub-transmission mechanism 16 for switching the traveling mode of the traveling vehicle body 2 during road travel in high speed mode or during seedling planting in low speed mode. On the left and right sides of the transmission case 13, front wheel final cases 10a are provided, and the front wheels 10 are attached to the left and right front axles 10b that project outward from the front wheel support portions capable of changing the steering direction of the left and right front wheel final cases 10a.

[0018] Also, on the rear side of the main frame 15, rear wheel gear cases 11a are attached to both the left and right sides of the rear frame 22 provided in the lateral direction (see Figure 2), and the rear wheels 11 are respectively attached to the left and right rear axles 11b that project outward from the rear wheel gear cases 11a.

[0019] Also, on the upper part of the rear frame 22, left and right link support frames 23 that support the lifting link mechanism 3 project upward. Below the left and right link support frames 23 and between the left and right, a pair of left and right lower link arms 24 are provided. Between the left and right lower link arms 24, a hydraulic lifting cylinder 25 is provided.

[0020] Above the lifting cylinder 25, an upper link arm 26 is provided, and a lifting link mechanism 3, which is a parallel link mechanism, is constituted. Note that the left and right lower link arms 24, each having one end connected to the traveling vehicle body 2 side, the lifting cylinder 25, and the other end side of the upper link arm 26 are attached to the front portion of the seedling planting unit 4.

[0021] Also, an engine 30 is mounted on the main frame 15. The 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 shifted by the sub-transmission mechanism 16 in the transmission case 13 and then divided into traveling power and externally extracted power.

[0022] Also, 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, the power steering mechanism 88 (see FIG. 3) of the steering wheel 35, the lifting cylinder 25, and the like.

[0023] The externally extracted power taken out from the rotational power transmitted to the transmission case 13 is transmitted to the planting clutch case 27 provided at the rear portion of the traveling vehicle body 2, and is transmitted from the planting clutch case 27 to the seedling planting unit 4 by the planting transmission shaft 67.

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

[0025] Note that a side clutch 44 (see FIG. 3) for switching the power transmission to the left and right drive shafts 42 is arranged on the upstream side in the transmission direction with respect to the left and right drive shafts 42. As shown in FIG. 1, a side clutch pedal 43a for switching the left and right side clutches 44 on and off is provided at the lower front side of the driver's seat 41 and on one side of the left and right.

[0026] When turning, if you step on the side clutch pedal 43a on the inner side of the turn among the left and right side clutch pedals 43a to disengage the side clutch 44 and then operate the steering wheel 35 to perform turning travel, the driving rotation of the rear wheel 11 on the inner side of the turn can be completely blocked.

[0027] On the upper front side of the traveling vehicle body 2, a bonnet 39 with a control panel 38 (operation unit) for operating each part arranged on the upper part is provided. The control panel 38 is provided with a monitor, operation buttons, an operation panel, and the like.

[0028] Also, on the bonnet 39, a steering wheel 35 for steering the traveling vehicle body 2, a shift operation lever 36 for operating the HST 14 and the seedling planting unit 4, a sub-shift operation lever 37 for operating the sub-shift mechanism 16, and the like are provided.

[0029] Also, on the front side of the bonnet 39, an openable and closable front cover 40 is provided. Inside the front cover 40, a fuel tank, a battery, and an interlocking mechanism for rotating the lower sides of the left and right front wheels 10 and the left and right front wheel final cases 10a in accordance with the steering of the steering wheel 35 are provided. The front wheel 10 is, for example, a steering wheel that steers in response to the steering of the steering wheel 35.

[0030] Behind the bonnet 39 and above the engine 30, an engine cover 30a that covers the upper and side parts of the engine 30 is provided, and a driver's seat 41 on which the operator sits is provided on the upper part of the engine cover 30a.

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

[0032] On both the left and right sides at the lower part of the engine cover 30a and the bonnet 39, substantially horizontal floor steps 33 are formed. As shown in FIG. 2, the floor steps 33 are partially lattice-shaped. For example, even if mud attached to, for example, the shoes of an operator walking on the floor steps 33 falls off, the fallen mud and the like will fall onto the field.

[0033] Also, as shown in FIG. 2, a rear step 330 is connected to the rear of the floor step 33. Preferably, the surface of the rear step 330 is subjected to an anti-slip process in which, for example, a plurality of protrusion patterns are formed so that the feet are less likely to slip during work.

[0034] In addition, on the front side of the traveling vehicle body 2 and on both the left and right sides, a spare seedling frame 50 for arranging a plurality of spare seedling placing tables 52 at intervals in the vertical direction on the seedling frame support 51 is provided respectively, and work materials such as seedlings to be replenished to the seedling planting part 4 and fertilizer bags can be placed thereon.

[0035] Also, at the rear end of the lifting link mechanism 3, a seedling tank 53 for loading seedlings to be planted in the field is mounted together with a sliding mechanism for sliding in the left-right direction. In the seedling tank 53, long seedling partition fences 54 in the vertical direction are arranged at predetermined intervals in the left-right direction respectively. Below the seedling tank 53, a seedling planting device 55 for scraping the loaded seedlings and planting them in the field is arranged.

[0036] The seedling planting device 55 is configured to plant simultaneously in the same number of planting operation rows as the number of rows partitioned by the seedling partition fences 54, that is, 8 rows. Four planting transmission cases 56 are arranged at intervals below the seedling tank 53, and planting rotaries 57 for taking seedlings by planting rods 58 while rotating are respectively mounted on both the left and right sides of the planting transmission cases 56 and planting the seedlings in the field.

[0037] The fertilizer application device 5 has a fertilizer application hopper 70 in which fertilizer is stored, and the fertilizer application hopper 70 is partitioned into the same number as the number of working rows of the seedling planting section 4 (in the example shown in FIG. 2, for 8 rows). Note that since the fertilizer application hopper 70 for 8 rows is long in the left-right direction, the convenience of fertilizer input and attachment / detachment is reduced. Therefore, a so-called side fertilizer application structure in which those partitioned into 4 rows each are arranged side by side on the left and right may be used.

[0038] Below the fertilizer application hopper 70, a feeding device 71 for supplying a set amount of fertilizer is provided for each row. Below the feeding device 71, a ventilation duct 72 through which the conveying air for moving the fertilizer passes is provided in the left-right direction. Below the feeding device 71, a fertilizer application hose 73 for guiding the fertilizer to the vicinity of the seedling planting position of the seedling planting section 4 is provided. Further, at one side end of the ventilation duct 72, a blower 74 that is operated by a blower electric motor 76 to generate the conveying air is provided.

[0039] As shown in FIGS. 1 and 2, below the seedling planting section 4, a center float 62C that slides on the field surface and two left and right side floats 62L and 62R are provided so as to be rotatable about an axis. Note that the center float 62C and the left and right side floats 62L and 62R may be collectively referred to as the float 62.

[0040] Also, below the seedling planting section 4, in front of the float 62, a leveling rotor 63 for leveling the unevenness of the field surface is provided. For example, a driving force is transmitted to the leveling rotor 63 from the rear wheel gear case 11a on the other side of the left and right via a rotor transmission shaft 63a.

[0041] Also, as shown in FIG. 1, on both the left and right sides of the seedling planting section 4, line drawing markers 65 are respectively provided, with either the left or the right side in contact with the field surface to form a groove as a guide for traveling in the next working row (next process). When either the left or the right side of the left and right line drawing markers 65 is in contact with the ground, the other side is separated upward. When the seedling planting section 4 is lifted during turning, both the left and right sides are separated upward. When the seedling planting section 4 descends after turning, one side is separated upward and the other side is in contact with the ground.

[0042] Also, as shown in FIGS. 1 and 2, at the left - right center of the traveling vehicle body 2 and in front of the bonnet 39, a vertically long center mascot 66 is provided. By aligning the center mascot 66 with the grooves formed in the field by the left - right guiding markers 65, it becomes possible to travel in accordance with the working position of the immediately preceding working strip, improving the working accuracy and preventing the occurrence of non - working.

[0043] Note that depending on the soil quality of the field, the guide lines formed by the left - right guiding markers 65 may be buried immediately, and the reference for straight - ahead travel may disappear. In such a case, it is advisable to use the left - right side markers 19 provided in front of the left - right guiding markers 65. That is, by moving the left - right side markers 19 in the outer direction and positioning the side markers 19 above the planted seedlings, it becomes possible to perform the planting work in accordance with the planting of the seedlings in the previous working strip.

[0044] Also, as shown in FIG. 1, the seedling transplanter 1 is provided with a position acquisition device 150. The position acquisition device 150 acquires the current position and orientation of the seedling transplanter 1. The position acquisition device 150 includes, for example, orientation sensors, positioning means such as GPS (Global Positioning System) and GNSS (Global Navigation Satellite System). The position acquisition device 150 may be composed of a plurality of devices. The position acquisition device 150 may include a camera and an ultrasonic sensor, and may acquire the turning position in the field and detect the distance to the turning position.

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

[0046] The straight-ahead control program and the turning control program, which are created based on the position information obtained by the position acquisition device 150, are stored in different locations from each other. The straight-ahead control program is stored, for example, in the straight-ahead control ECU (Electronic Control Unit) 100a within the position acquisition device 150, and the turning control program is stored, for example, in the turning control ECU 100b housed in the bonnet 39. Note that the straight-ahead control ECU 100a and the turning control ECU 100b are included in the control device 100 (see FIG. 3) described later. The straight-ahead control ECU 100a and the turning control ECU 100b may be stored in the same ECU.

[0047] On the mounting stand 59, when the transplanter 1 travels autonomously, a three-color lamp 110 indicating the state of the transplanter 1 is provided.

[0048] (Control system of the transplanter) Next, with reference to FIG. 3, the control system of the transplanter 1 will be described. FIG. 3 is a block diagram showing a control system centered on the control device 100 of the transplanter 1 according to the first embodiment. The transplanter 1 is capable of controlling each part by electronic control and includes a control device (hereinafter referred to as a controller) 100 that controls each part.

[0049] The controller 100 is provided with 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 an input / output unit, and these are connected to each other and can transfer signals to each other. A computer program for controlling the transplanter 1 and the like is stored in the storage unit. The controller 100 exhibits each function by reading out a computer program and the like stored in the storage unit.

[0050] Connected to the controller 100 are, for example, as actuators, a throttle motor 80, hydraulic control valves 81, 82, a planting clutch operating solenoid 83, a side clutch operating solenoid 84, an HST motor 85, a line marker lifting and lowering motor 87, a steering motor 95, a differential lock switching motor 96, and the like.

[0051] The throttle motor 80 increases or decreases the rotational speed of the output shaft of the engine 30 by operating a throttle that adjusts the intake air amount of the engine 30. The hydraulic control valve 81 controls the telescopic operation of the lifting cylinder 25. The hydraulic control valve 82 controls the power steering mechanism 88. The planting clutch operating solenoid 83 operates the planting clutch 27a.

[0052] The side clutch operating solenoid 84 operates a side clutch 44 that switches the power transmission state to the rear wheels 11 (see FIG. 1). The side clutch 44 is provided for each of the left and right rear wheels 11, and two side clutch operating solenoids 84 are provided corresponding to each side clutch 44.

[0053] The HST motor 85 changes the tilt angle of the swash plate of the HST 14 by changing the rotation angle of the trunnion of the HST 14. The steering motor 95 is a motor that drives a steering wheel 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 steering wheel 35. The line marker lifting and lowering motor 87 raises and lowers the line marker 65.

[0054] The differential lock switching motor 96 is a motor that switches the operation and the stop of a differential lock mechanism 97 (hereinafter referred to as a differential lock) that rotates the left and right traveling wheels, specifically, the left and right front wheels 10, at the same rotational speed. When the differential lock mechanism 97 is in the engaged state, the left and right traveling wheels rotate at the same rotational speed.

[0055] The controller 100 is connected to a rotation speed sensor 90, a steering amount sensor 91, an inclination sensor 92, etc., which are detection devices. Two rotation speed sensors 90 are provided corresponding to the left and right rear wheels 11 to detect the rotation speeds of the left and right rear wheels 11 respectively. Note that the rotation speed sensor 90 may also detect the rotation speeds of the left and right front wheels 10.

[0056] The steering amount sensor 91 detects the operation amount of the steering wheel 35, which is a steering device, that is, the steering amount (steering angle) of the front wheels 10. The steering amount sensor 91 is provided, for example, on a shaft connected to the pitman arm. Note that the steering amount is detected in each of the left and right directions with the value when the steering wheel 35 is in a preset straight-ahead position as a reference value. The inclination sensor 92 detects the inclination angle, which is the inclination of the traveling vehicle body 2.

[0057] In addition, signals are input to the controller 100 as operation signals from a shift operation lever 36, a sub-shift operation lever 37, an autonomous driving changeover switch 46, a planting unit lifting switch 47, an automatic straight-ahead changeover switch 45, an automatic turning changeover switch 48, a line-drawing marker automatic lifting switch 49, a remote control operation switch 160, etc.

[0058] The autonomous driving changeover switch 46 is a switch for switching whether to execute autonomous driving. Specifically, the autonomous driving changeover switch 46 is a switch for switching the driving mode to an autonomous driving mode or a manual driving mode.

[0059] 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-ahead changeover switch 45 and the automatic turning changeover switch 48 are turned "ON". Note that the automatic straight-ahead changeover switch 45 and the automatic turning changeover switch 48 can be changed to "OFF" by the operator's operation even if they have once been turned "ON".

[0060] The autonomous driving mode includes the automatic straight - driving mode and the automatic turning mode, which will be described later. The manual driving mode includes the teaching mode, the remote - control mode, and the full - manual mode.

[0061] The teaching mode is executed at a stage before the autonomous driving mode is executed. For example, when an operation area setting button (not shown) is operated to be "ON", the driving mode becomes the teaching mode. In the teaching mode, field information is acquired, and teaching driving, which will be described later, is performed by the operator's operation. The operation area setting button may be provided on the remote controller 170.

[0062] The remote - control mode is a mode in which the transplanter 1 travels and performs operations by operating a remote - control device 170 (hereinafter referred to as "remote controller 170") which will be described later. For example, when a remote - control button (not shown) on the remote controller 170 is operated to be "ON", the driving mode becomes the remote - control mode. The full - manual mode is a mode in which the transplanter 1 travels and operations are performed by the operator's operation. The full - manual mode is a manual - driving mode other than the teaching mode and the remote - control mode. In the full - manual mode, the transplanter 1 travels without performing teaching for acquiring field information. When the operation area setting button is "OFF" and the remote - control button on the remote controller 170 is "OFF", the driving mode becomes the full - manual mode.

[0063] The planting - unit lifting switch 47 is a switch for switching whether to lift or lower the seedling - planting unit 4. The planting - unit lifting switch 47 is changed to the "up" and "down" positions.

[0064] When the planting unit lifting switch 47 is in the "raise" position, the seedling planting unit 4 rises to a predetermined non-operating position, and the seedling planting device 55 enters a non-operating state where it stops. When the planting unit lifting switch 47 is in the "lower" position, the seedling planting unit 4 descends to a predetermined operating position, and the seedling planting device 55 enters an operating state where it operates. That is, the planting unit lifting switch 47 is a switch that detects the operating state of the seedling planting unit 4. Note that a switch for detecting the operating state of the seedling planting unit 4 may be provided separately. The non-operating position is the position where the seedling planting unit 4 rises to a predetermined upper position and stops. The non-operating position may include a position above the predetermined operating position.

[0065] The furrow marker automatic lift switch 49 is a switch that switches whether to automatically raise and lower the furrow marker 65 in conjunction with the operation amount of the handle 35, that is, the steering amount of the front wheels 10. When the furrow marker automatic lift switch 49 is "ON", control is executed to automatically raise and lower the furrow marker 65 in conjunction with the steering amount. On the other hand, when the furrow marker automatic lift switch 49 is "OFF", control to automatically raise and lower the furrow marker 65 in conjunction with the steering amount is not executed.

[0066] The automatic straight-ahead switching switch 45 is a switch that switches whether it is possible to execute automatic straight-ahead driving. When the automatic straight-ahead switching switch 45 is "ON", the driving mode becomes the automatic straight-ahead mode described later, the driving assist function becomes effective, and automatic straight-ahead driving can be executed. When the automatic straight-ahead switching switch 45 is "OFF", the driving assist function becomes ineffective, and automatic straight-ahead driving cannot be executed.

[0067] The automatic turning switch 48 is a switch that switches whether or not to enable the execution of automatic turning. When the automatic turning switch 48 is set to "ON", the traveling mode becomes the automatic turning mode described later, the turning assist function becomes effective, and automatic turning can be executed. When the automatic turning switch 48 is set to "OFF", the turning assist function becomes invalid, and automatic turning cannot be executed. When the automatic turning switch 48 is set to "OFF", even if the conditions for executing automatic turning are satisfied, automatic turning is not executed.

[0068] The remote control operation switch 160 is a switch that switches whether or not to enable the operation of the transplanter 1 by the remote control 170. When the remote control operation switch 160 is set to "ON", the operation by the remote control 170 becomes effective, and the operation by the remote control 170 becomes possible. When the remote control operation switch 160 is set to "OFF", the operation by the remote control 170 becomes invalid, and the operation by the remote control 170 becomes impossible. When the remote control operation switch 160 is set to "OFF", all operations from the remote control 170 are rejected.

[0069] In addition, the current position information of the traveling vehicle body 2 and the like are input from the position acquisition device 150 to the controller 100. The controller 100 executes an autonomous traveling mode in which the traveling vehicle body 2 performs work while automatically traveling.

[0070] In addition, various information is input from the remote control 170 to the controller 100. For example, the controller 100 receives various information from the remote control 170 via the receiver 180 (see FIG. 1). The receiver 180 is attached to, for example, the mounting base 59 (see FIG. 1) and is disposed above the front side of the traveling vehicle body 2. Note that a plurality of receivers 180 may be provided.

[0071] The remote controller 170 can remotely operate the seedling transplanter 1. The remote controller 170 may be a terminal device such as a smartphone. The remote controller 170 transmits a control signal according to the operator's operation. The remote controller 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 communicably connected via a communication network in addition to or instead of short-range wireless communication.

[0072] The remote controller 170 may include, for example, an azimuth sensor or a positioning means such as GPS or GNSS. The remote controller 170 may transmit the position information of the remote controller 170 to the controller 100.

[0073] A plurality of remote controllers 170 may be provided. That is, the controller 100 may be able to acquire the position information of each remote controller 170 from a plurality of remote controllers 170.

[0074] When a brake operation is performed by the remote controller 170, the controller 100 sets the HST 14 to the neutral state, locks the sub-speed change mechanism 16, and executes the brake operation. For example, the controller 100 operates an electronically controlled actuator that operates a locking mechanism for locking the sub-speed change mechanism 16 to lock the sub-speed change mechanism 16. Thereby, the seedling transplanter 1 can be surely stopped.

[0075] The remote controller 170 can, for example, switch the planting clutch 27a when the traveling mode is the autonomous traveling mode. The remote controller 170 can, for example, raise and lower the seedling planting unit 4 when the traveling mode is the autonomous traveling mode.

[0076] (Autonomous traveling mode) Here, the autonomous driving (automatic driving) of the seedling transplanter 1 in the field will be described. The controller 100 (see FIG. 3) has an autonomous driving mode in which the steering motor 95 (see FIG. 3) is controlled while feeding back the steering amount (steering angle) of the front wheels 10 (see FIG. 1) which are the steering wheels to operate the steering wheel 35 (see FIG. 3). The autonomous driving mode includes an automatic straight - running mode and an automatic turning mode.

[0077] The automatic straight - running mode is a mode in which the steering motor 95 is controlled so that the traveling vehicle body 2 travels along a preset straight - running path and travels straight. In the automatic straight - running mode, while the seedling planting unit 4 plants seedlings in the field, the traveling vehicle body 2 travels straight without depending on the operation of the operator. That is, a traveling assist function for automatically straight - running the traveling vehicle body 2 while transplanting seedlings in the field becomes effective, and the traveling assist function is executed.

[0078] The automatic turning mode is a mode in which when the traveling vehicle body 2 reaches a predetermined planting end position, the seedling planting by the seedling planting unit 4 is stopped, and the steering motor 95 is controlled so that the traveling vehicle body 2 travels along a preset turning path and turns. The predetermined planting end position is set, for example, by the traveling distance of the process in which the work is performed, the position information regarding the process in which the work is performed, and the like.

[0079] In the automatic turning mode, for example, the seedling planting unit 4 rises from the working position and is changed to the non - working position, and the traveling vehicle body 2 turns without depending on the operation of the operator. That is, a turning assist function for turning the traveling vehicle body 2 without performing the seedling planting by the seedling planting unit 4 becomes effective, and the turning assist function is executed.

[0080] Note that when the traveling mode becomes the teaching mode, as shown in FIG. 4, by performing teaching driving in which the three sides La - Lc of the field are traveled by the operation of the operator, a work area in which the autonomous driving mode is executed is set. FIG. 4 is a diagram showing a method of setting a work area by teaching driving according to the first embodiment.

[0081] For example, when a work area setting button (not shown) is operated to start traveling, the position information of the traveling vehicle body 2 is recorded as the starting point of side La, and the position information of the traveling vehicle body 2 during traveling is recorded. Then, when the steering wheel 35 is rotated by the operator by a predetermined turning angle or more, the end point of side La is recorded, and side La is set. Also, the position information of the traveling vehicle body 2 at the starting 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 vehicle body 2 has turned along the ridge.

[0082] Furthermore, after the traveling vehicle body 2 has traveled straight, when the steering wheel 35 is rotated by the operator by a predetermined turning angle or more, the end point of side Lb is recorded, and side Lb is set. Also, the position information of the traveling vehicle body 2 at the starting point of side Lc is recorded.

[0083] After the traveling vehicle body 2 has traveled straight, when the work area setting button is operated, the position information of the traveling vehicle body 2 is recorded as the end point of side Lc, and side Lc is set. When the three sides La to Lc are set, the work area is set. In teaching travel, when the traveling vehicle body 2 is traveling straight, seedlings are planted in the field by the seedling planting unit 4. The teaching travel is performed in the outer peripheral process in which the planting work is carried out along the outer periphery of the field.

[0084] In the field where the work area is set, the autonomous driving mode can be executed. For example, in the field, automatic straight travel is possible along a straight travel route parallel to side La or side Lc. Also, automatic turning is possible when turning near the ridge on the side of side Lb. When turning near the ridge on the side opposite to side Lb, which is the side of the field that was not traveled during the teaching travel, turning can be performed by operating the remote control 170.

[0085] Also, even when the teaching travel is completed and the work area is set, when the travel mode is the manual travel mode, the seedling transplanter 1 can travel by the operation of the operator and transplant seedlings in the field.

[0086] Here, with reference to FIG. 5, a working example in the case where autonomous driving is performed after teaching driving will be described. FIG. 5 is a diagram showing a working example in which autonomous driving is performed. Here, in the working area, it includes a reciprocating process area where a reciprocating process is performed and an inner circumference process area where an inner circumference process is performed. The inner circumference process area is one process inside the outer circumference process and includes a process parallel to the outer circumference process. That is, the inner circumference process area is an area offset one process inside with respect to the outer circumference process. The reciprocating process area is a working area inside the inner circumference process area.

[0087] First, when autonomous driving is performed in the reciprocating process area, the seedling transplanter 1 automatically moves straight along the straight driving path and plants seedlings in the field. In the reciprocating process, the seedling transplanter 1 turns the turning on the side (ridge side) traveled by teaching driving by automatic turning. Also, in the reciprocating process, the seedling transplanter 1 turns the turning on the side (ridge side) traveled by teaching driving by operating the remote controller 170. In the turning by operating the remote controller 170, the seedling transplanter 1 stops at a predetermined distance in front of the ridge. The predetermined distance is, for example, a distance of 3 to 5 m from the ridge. When the forward button of the remote controller 170 is pressed, the seedling transplanter 1 starts moving forward. When the automatic driving button of the remote controller 170 is pressed, the seedling transplanter 1 performs automatic turning. The automatic turning mode in the autonomous driving mode includes automatic turning at both ends of the reciprocating process. That is, the autonomous driving mode includes automatic turning by operating the remote controller 170 in the reciprocating process.

[0088] When the stop button of the remote controller 170 is pressed during forward movement, the seedling transplanter 1 stops. Also, when the forward button of the remote controller 170 is pressed during forward movement, the speed of the seedling transplanter 1 is adjusted. For example, the speed of the seedling transplanter 1 is adjusted according to the number of times the forward button is pressed. In the automatic turning by operating this remote controller 170, the steering amount (steering angle) of the front wheels 10 is a steering amount preset in advance for automatic turning based on teaching driving and is not changed by operating the remote controller 170.

[0089] In this way, the seedling transplanter 1 repeats the reciprocating process. When the planting of seedlings in the reciprocating process area is completed, the inner peripheral process area is automatically driven straight and automatically turned to plant the seedlings.

[0090] When the traveling mode is the manual traveling mode and the seedling transplanter 1 is traveling by the operation of the operator, when the automatic straight-ahead switching switch 45 is turned "ON", the seedling transplanter 1 executes automatic straight-ahead traveling. That is, the seedling transplanter 1 can execute the traveling assist function even when the traveling mode is the manual traveling mode.

[0091] Also, when the traveling mode is the manual traveling mode and the seedling transplanter 1 is traveling by the operation of the operator, when the automatic turning switching switch 48 is turned "ON", the seedling transplanter 1 can execute automatic turning. That is, the seedling transplanter 1 can execute the turning assist function even when the traveling mode is the manual traveling mode.

[0092] When the traveling mode is changed from the autonomous traveling mode to the manual traveling mode, the controller 100 stores the traveling information for autonomously traveling the traveling vehicle body 2. For example, the controller 100 stores information regarding the straight-ahead path and information regarding the turning path. When the traveling mode becomes the manual traveling mode, based on the stored traveling information, the traveling assist function and the turning assist function can be executed.

[0093] The controller 100 sets the operations in the seedling planting unit 4, which is a working device, through operations on the control panel 38 and the remote controller 170, etc. The controller 100 can change the setting of the operations in the seedling planting unit 4 from each reference value to a correction value according to operations on the control panel 38 and the remote controller 170, etc. That is, when the setting of the operations in the seedling planting unit 4 is corrected according to operations on the control panel 38 and the remote controller 170, etc., the controller 100 controls the seedling planting unit 4 to perform operations according to the correction value set according to operations on the control panel 38 and the remote controller 170, etc. The reference value is the initial value of various settings in the seedling planting unit 4 (working device). The controller 100 can change the setting of the operations of working devices other than the seedling planting unit 4 from each reference value to a correction value according to operations on the control panel 38 and the remote controller 170, etc.

[0094] When the traveling mode is switched, the controller 100 resets the correction value changed from the reference value for the operations in the seedling planting unit 4 to the reference value. The controller 100 may reset the correction value of working devices other than the seedling planting unit 4 to the reference value.

[0095] When the setting of the operations in the seedling planting unit 4 is a correction value and the traveling mode is changed from the manual traveling mode to the autonomous traveling mode, the controller 100 resets the correction value to the reference value. When the setting of the operations in the seedling planting unit 4 is a correction value and the traveling mode is changed from the autonomous traveling mode to the manual traveling mode, the controller 100 resets the correction value to the reference value.

[0096] Also, when each traveling mode in the manual traveling mode is switched, the controller 100 also resets the correction value changed from the reference value for the operations in the seedling planting unit 4 to the reference value. For example, when the setting of the operations in the seedling planting unit 4 is a correction value and the traveling mode is switched from the teaching mode to the remote operation mode or the full manual mode, the controller 100 resets the correction value to the reference value.

[0097] Further, when the remote control operation switch 160 is changed from "ON" to "OFF", the controller 100 resets the correction value changed from the reference value for the work in the seedling planting unit 4 to the reference value.

[0098] When the traveling mode is the autonomous traveling mode or the remote operation mode, the controller 100 can set the work in the seedling planting unit 4 according to the operation of the remote controller 170.

[0099] (First reset process) Next, the first reset process according to the first embodiment will be described with reference to FIG. 6. FIG. 6 is a flowchart for explaining the first reset process according to the first embodiment.

[0100] The controller 100 determines whether the traveling mode has been changed (S100). The controller 100 determines, for example, whether the traveling mode has been changed from the autonomous traveling mode to the manual traveling mode. Further, the controller 100 determines, for example, whether the traveling mode has been changed within the manual traveling mode.

[0101] If the traveling mode has not been changed (S100: No), the controller 100 ends the current process. If the traveling mode has been changed (S100: Yes), the controller 100 determines whether there is a setting for the seedling planting unit 4 (working device) that has been changed from the reference value to the correction value (S101).

[0102] If there is a setting for the seedling planting unit 4 that has been changed from the reference value to the correction value (S101: Yes), the controller 100 resets the correction value to the reference value (S102).

[0103] If there is no setting for the seedling planting unit 4 that has been changed from the reference value to the correction value (S101: No), the controller 100 ends the current process.

[0104] The seedling transplanter 1 includes a traveling vehicle body 2, a seedling planting unit 4 (working device), a position acquisition device 150, and a controller 100. The seedling planting unit 4 is attached to the traveling vehicle body 2. The position acquisition device 150 acquires the position information of the traveling vehicle body 2. The controller 100 can control the steering amount (steering angle) of the front wheels 10 (steering wheels) of the traveling vehicle body 2 and switch between an autonomous driving mode in which the traveling vehicle body 2 travels autonomously and a manual driving mode in which autonomous driving is not performed. When the mode is switched, the controller 100 resets the correction value changed from the reference value for the work in the seedling planting unit 4 to the reference value.

[0105] Thereby, for example, when the mode is changed, the seedling transplanter 1 can suppress the continuation of work in the changed mode with the correction value set before the mode change. Also, the operator can easily set the seedling planting unit 4 by setting the seedling planting unit 4 to the reference value after the mode change. That is, the operator can easily grasp the setting after the mode change by setting the same reference value for the setting after the mode change.

[0106] The manual driving mode includes a teaching mode for acquiring field information, a remote operation mode for traveling by remote operation, and a full manual mode for traveling without performing teaching for acquiring field information. When each mode in the manual driving mode is switched, the controller 100 resets the correction value changed from the reference value for the work in the seedling planting unit 4 to the reference value.

[0107] Thereby, when traveling by the operation of the operator, the seedling transplanter 1 can suppress the continuation of work in the changed mode with the correction value set before the mode change. Therefore, even when the operator forgets to return the setting of the seedling planting unit 4 to the reference value, the seedling transplanter 1 can return the setting of the seedling planting unit 4 to the reference value according to the mode change.

[0108] The self-driving mode includes an automatic turning mode in which the vehicle travels by remote operation with the remote controller 170 during one of the turning operations in the reciprocating process of the traveling vehicle body 2. When turning by operating the remote controller 170 in the automatic turning mode, the controller 100 maintains the correction value set by the remote controller 170.

[0109] Accordingly, when the transplanter 1 is turned by remote operation with the remote controller 170 during one of the turning operations in the reciprocating process of the traveling vehicle body 2, after turning, the operator can continue the self-driving without resetting the setting of the seedling planting unit 4 to the correction value by operating the remote controller 170 again. Therefore, the transplanter 1 can reduce the load on the operator and improve the operability and workability.

[0110] When the remote control operation switch 160 is changed from "ON" to "OFF", the controller 100 resets the correction value to the reference value.

[0111] Accordingly, when the traveling mode of the transplanter 1 is changed from the remote operation mode to another mode, the setting of the seedling planting unit 4 (working device) is reset from the correction value to the reference value. Thereby, it is possible to prevent the setting of the seedling planting unit 4 set in the remote operation mode from remaining in the state of the correction value. When the remote control operation switch 160 is turned "OFF", it is considered that the work continues with the operator seated in the driver's seat 41. Also, in such a case, the correction value set by operating the remote controller 170 may not be reflected in the traveling vehicle body 2, for example, the monitor of the operation panel 38. Therefore, it is difficult for the operator to grasp the current setting of the seedling planting unit 4. When the remote control operation switch 160 is turned "OFF", by resetting the setting of the seedling planting unit 4 from the correction value to the reference value, the operator can easily grasp the current setting.

[0112] When the driving mode of the controller 100 is the autonomous driving mode and it executes a turn on one side of the ridge where teaching is not being performed in the reciprocating process, it stops the traveling vehicle body 2 at a point a predetermined distance in front of the ridge. When the forward button of the remote controller 170 is pressed, the controller 100 moves the traveling vehicle body 2 forward and continues to move the traveling vehicle body 2 forward until the stop button of the remote controller 170 is pressed. Then, during forward movement, the controller 100 enables adjustment of the speed of the traveling vehicle body 2 by operating the remote controller 170. Also, at this time, the controller 100 prohibits adjustment of the steering amount (steering angle) of the front wheels 10 by operating the remote controller 170 and controls the steering angle to the steering amount set based on the teaching run.

[0113] Thereby, the operator can adjust the speed of the traveling vehicle body 2 during turning. Also, the seedling transplanter 1 can perform a turn along a preset next process.

[0114] <Second Embodiment> Next, the seedling transplanter 1 of the second embodiment will be described. Here, the parts different from the first embodiment will be described, and the same components as those of the seedling transplanter 1 of the first embodiment will be given the same reference numerals as in the first embodiment, and detailed description will be omitted.

[0115] When the traveling vehicle body 2 moves backward and / or when the seedling planting unit 4 is changed from the working state to the non - working state, at least in one of these cases, the controller 100 resets the correction value set by the remote controller 170 to the reference value. For example, when the driving mode is the autonomous driving mode or the remote operation mode, and the working setting of the seedling planting unit 4 set by the remote controller 170 is set to the correction value, when the traveling vehicle body 2 moves backward and / or when the seedling planting unit 4 is changed from the working state to the non - working state, at least in one of these cases, the controller 100 resets the correction value set by the remote controller 170 to the reference value.

[0116] The reverse movement of the traveling body 2 is detected by, for example, a trunnion arm sensor. The reverse movement of the traveling body 2 may be detected by a neutral sensor of the HST 14. The reverse movement of the traveling body 2 may be detected based on information from the position acquisition device 150. The reverse movement of the traveling body 2 may be detected based on the operation of the reverse button of the remote controller 170. The change to the non-working state in the seedling planting unit 4 is detected by, for example, a center float sensor. The change to the non-working state in the seedling planting unit 4 may be detected by a link sensor.

[0117] (Second reset process) Next, the second reset process according to the second embodiment will be described with reference to FIG. 7. FIG. 7 is a flowchart for explaining the second reset process according to the second embodiment.

[0118] The controller 100 determines whether the traveling mode is either the autonomous traveling mode or the remote operation mode (S200).

[0119] If the traveling mode is neither the autonomous traveling mode nor the remote operation mode (S200: No), the controller 100 ends the current process.

[0120] If the traveling mode is either the autonomous traveling mode or the remote operation mode (S200: Yes), the controller 100 determines whether the traveling body 2 is moving backward (S201). If the traveling body 2 is not moving backward (S201: No), the controller 100 determines whether the seedling planting unit 4 (working device) has been changed to the non-working state (S202).

[0121] If the seedling planting unit 4 has not been changed to the non-working state (S202: No), the controller 100 ends the current process.

[0122] When the traveling vehicle body 2 moves backward (S201: Yes), or when the seedling planting unit 4 is changed to the non-operating state (S202: Yes), the controller 100 determines whether there is a setting of the seedling planting unit 4 that has been changed to a correction value by the operation of the remote controller 170 (S203).

[0123] When there is a setting of the seedling planting unit 4 that has been changed from the reference value to the correction value by the operation of the remote controller 170 (S203: Yes), the controller 100 resets the correction value set by the operation of the remote controller 170 to the reference value (S204).

[0124] When there is no setting of the seedling planting unit 4 that has been changed from the reference value to the correction value (S203: No), the controller 100 ends the current process.

[0125] In the autonomous driving mode or the remote operation mode, the seedling transplanter 1 can set the operation of the seedling planting unit 4 (working device) by the remote controller 170. When the traveling vehicle body 2 moves backward and / or when the seedling planting unit 4 is changed from the working state to the non-working state, the controller 100 resets the correction value of the setting of the seedling planting unit 4 set by the operation of the remote controller 170 to the reference value.

[0126] Thereby, when the seedling transplanter 1 is performing the seedling planting operation in the autonomous driving mode or the remote operation mode, for example, when moving to the next process, the setting of the seedling planting unit 4 set by the operation of the remote controller 170 is reset from the correction value to the reference value. For example, when the state of the field is different between the immediately preceding process and the next process, the seedling transplanter 1 resets the correction value to the reference value without depending on the operation of the remote controller 170. Therefore, the operator can change the setting of the seedling planting unit 4 in the next process with respect to the same reference value, and can easily grasp the setting of the seedling planting unit 4.

[0127] <Modification Example> When the traveling mode of the controller 100 of the seedling transplanter 1 according to the modification example is either the teaching mode or the full manual mode, the operation of the working device can be set according to the operation of the operation panel 38. The setting of the operation of the working device set by the operation panel 38 is a correction value. When the traveling vehicle body 2 moves backward or the working device is changed from the working state to the non-working state, the controller 100 resets the correction value set by the operation panel 38 to the reference value. Here, the working device that executes the work related to the reset correction value includes at least one of the seedling planting unit 4 and the fertilizer applicator 5. The setting of the work related to the reset correction value is at least one of the setting of the partial strip clutch (ridge clutch) and the setting of fertilizer reduction in the fertilizer applicator 5. When the working device is a chemical spraying device, the setting of the work related to the reset correction value may be the setting of chemical spraying. Among the correction values in the working device, the settings such as the seedling picking amount, planting depth, and height of the rotor are not reset to the reference value. In addition, the setting of the partial strip clutch can be set by the operation panel 38 and the remote controller 170. The partial strip clutch includes a plurality of partial strip clutches. The reference value of the partial strip clutch is the state where all the partial strip clutches are "ON (engaged)". The correction value of the partial strip clutch is the state where one or more partial strip clutches are "OFF (disengaged)". Also, the working state of the fertilizer applicator 5 is the state where fertilizer is supplied to the field. The non-working state of the fertilizer applicator 5 is the state where fertilizer is not supplied to the field. The working state of the chemical spraying device is the state where chemicals are sprayed on the field. The non-working state of the chemical spraying device is the state where chemicals are not sprayed on the field.

[0128] Thus, the seedling transplanter 1 is performing the seedling planting operation in the teaching mode or the full manual mode. For example, when moving to the next process, the settings of the working device (e.g., the seedling planting unit 4) set by the operation panel 38 are reset from the correction values to the reference values. For example, when the field conditions are different in the immediately preceding process and the next process, the seedling transplanter 1 resets the correction values to the reference values regardless of the operation panel 38. Therefore, the operator can change the settings of the working device in the next process for the same reference values and can easily grasp the settings of the working device.

[0129] Also, when the traveling vehicle body 2 reverses or the working device is changed from the working state to the non-working state, the seedling transplanter 1 according to the modified example resets at least one correction value of the partial strip clutch setting, the fertilizer reduction setting, and the chemical spraying setting to the reference value. Thereby, the operator can perform these settings in the next process, for example, for the same reference values and can easily grasp the settings of the working device.

[0130] The seedling transplanter 1 according to the modified example, regardless of the traveling mode, when the traveling vehicle body 2 reverses or the working device is changed from the working state to the non-working state, the settings of the working device (e.g., the seedling planting unit 4) may be reset from the correction values to the reference values.

[0131] The seedling transplanter 1 according to the modified example may reset the settings of the working device (e.g., the seedling planting unit 4) set by the operation of the remote controller 170 from the correction values to the reference values when the traveling mode is changed from the manual traveling mode to the autonomous traveling mode.

[0132] The seedling transplanter 1 according to the modified example may reset the settings of the working device (e.g., the seedling planting unit 4) set by the operation of the remote controller 170 from the correction values to the reference values when the traveling mode is changed from the autonomous traveling mode to the manual traveling mode.

[0133] In the transplanter 1 according to the modified example, when the sub-transmission mechanism 16 reaches the moving speed, the setting of the working device (for example, the seedling planting unit 4) set by operating the remote controller 170 may be reset from the correction value to the reference value. Thereby, when moving between fields, the transplanter 1 moves to the next field without leaving the correction value of the setting in the working device in the field before moving. Therefore, the operator can set the working device in the next field with respect to the reference value. Detection of the moving speed in the sub-transmission mechanism 16 is detected by a sensor provided on the arm portion of the sub-transmission operation lever 37.

[0134] In the transplanter 1 according to the modified example, when the sub-transmission mechanism 16 reaches the moving speed and the movement is detected, the setting of the working device (for example, the seedling planting unit 4) set by operating the remote controller 170 may be reset from the correction value to the reference value. Detection of this movement is detected by a rotation sensor provided on the rear wheel 11. Detection of the movement may be detected by a rotation sensor provided on the front wheel 10. Detection of the movement may be detected based on the position information acquired from the position acquisition device 150. Detection of the movement may be detected based on the azimuth information acquired from the position acquisition device 150. Detection of the movement may be detected based on the change information of the pitch angle acquired from the position acquisition device 150. Detection of the movement may be detected based on the change information of the roll angle acquired from the position acquisition device 150.

[0135] In the transplanter 1 according to the modified example, when the power supply to the controller 100 stops, the setting of the working device (for example, the seedling planting unit 4) set by operating the remote controller 170 may be reset from the correction value to the reference value. In the transplanter 1 according to the modified example, when a predetermined time (for example, 2 hours) has elapsed after the engine 30 stops and the power supply to the controller 100 stops, the setting of the working device (for example, the seedling planting unit 4) set by operating the remote controller 170 may be reset from the correction value to the reference value. In the transplanter 1 according to the modified example, when a predetermined time has passed after the communication with the remote controller 170 is interrupted, the setting of the working device (for example, the seedling planting unit 4) set by operating the remote controller 170 may be reset from the correction value to the reference value.

[0136] The seedling transplanter 1 according to the modified example may control the generation of a warning sound by a warning horn according to the situation of people around the seedling transplanter 1. For example, when there are people around the seedling transplanter 1, the seedling transplanter 1 sounds the warning horn to give a warning, and when there are no people around the seedling transplanter 1, it does not sound the warning horn and does not give a warning.

[0137] The seedling transplanter 1 may be provided with a seating switch on the operator's seat 41. When an operator sits on the operator's seat 41 and the seating switch is turned "ON", an electronic buzzer with a low sound pressure may sound without sounding the warning horn. The presence or absence of the operator's seating may be switched by at least one of the following operations: setting of the monitor on the operation panel 38, operation of the button provided on the operation panel 38, operation of the button on the remote controller 170, operation of the button provided beside the operator's seat 41, operation of the button provided on the handrail at the center of the traveling vehicle body 2, operation of the button provided at the lower part of the fertilizer applicator 5, button operation of the fertilizer applicator information, operation of the button provided on the attachment stay 59, and operation of the button provided on the spare seedling frame 50.

[0138] Further effects and modified examples can be easily derived by those skilled in the art. Therefore, the broader aspects of the present invention are not limited to the specific details and representative embodiments described and represented as above. Accordingly, various changes can be made without departing from the spirit or scope of the general inventive concept defined by the appended claims and their equivalents.

Explanation of Signs

[0139] 1 Seedling transplanter (working vehicle) 2 Traveling vehicle body 4 Seedling planting part (working device, planting device) 10 Front wheel (steering wheel) 11 Rear wheel 35 Steering wheel 38 Operation panel (operation part) 91 Steering angle sensor 100 Controller (control device) 150 Position acquisition device 160 Remote control operation switch 170 Remote control device (remote control)

Claims

1. A running vehicle body, A working device attached to the traveling vehicle body; A position acquisition device for acquiring position information of the traveling vehicle body; a control device capable of switching between an autonomous driving mode in which the traveling vehicle body is autonomously driven by controlling a steering angle of a steering wheel of the traveling vehicle body, a teaching mode in which information about a farm field is acquired, and a manual driving mode in which the traveling vehicle body is driven without performing teaching in which information about the farm field is acquired; Equipped with When the control device is switched from the autonomous driving mode to any of the other modes, the control device returns the correction value that has been changed for the work performed by the work device to the value before the change, The autonomous traveling mode allows the traveling vehicle body to travel remotely by a remote control device on one bank side during a reciprocating process of the traveling vehicle body, A work vehicle characterized in that, when a forward movement button on the remote control device is pressed, the traveling body moves forward, and during the forward movement, the speed of the traveling body can be adjusted by the remote control device, adjustment of the steering angle by the remote control device is prohibited, and the steering angle is controlled to a steering angle that is set based on traveling by teaching.

2. 2. The work vehicle according to claim 1, wherein the work performed by the work device can be set in response to operation of an operating unit provided on the traveling vehicle body, the work performed by the work device can also be set by a remote control device, and the correction value is a value changed by operation of the remote control device.

3. The work vehicle according to claim 1 or 2, characterized in that, when the traveling vehicle body moves backward and / or when the working device is changed from a working state to a non-working state, the correction value changed by operating the remote control device is returned to the value before the change.

Images