Field work equipment

Abstract

To provide a farm field work machine capable of improving workability.SOLUTION: A farm field work machine includes a travelling vehicle body having travelling wheels including a steering wheel, which can travel in a farm field, a steering device for driving and steering the steering wheel, and a control device for controlling the steering device and causing the travelling vehicle body to travel autonomously, and supplies agricultural materials to a farm field as ground work by repeating automatic reciprocative travelling for travelling in a target travelling route. The travelling vehicle body performs replenishment of the agricultural materials in a side which is at least one peripheral side of the peripheral sides of the farm field, and includes a remote device capable of operating the travelling vehicle body remotely from the position away from the travelling vehicle body. The travelling vehicle body can be automatically stopped by a ridge for replenishing the agricultural materials. Furthermore, an approaching operation for causing the travelling vehicle body to approach the ridge can be performed by the remote device.SELECTED DRAWING: Figure 10

Description

[Technical Field]

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

[0002] BACKGROUND ART Conventionally, work vehicles have been known that have an automatic mode in which the traveling vehicle body performs work while traveling autonomously within a field (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-141615 Summary of the Invention [Problem to be solved by the invention]

[0004] However, work vehicles with an automatic mode have room for improvement in terms of workability, for example, even in automatic mode, the operation of moving the vehicle to the edge of a field to replenish agricultural materials requires the worker to manually (operate the vehicle) and move the vehicle body, which can be cumbersome.

[0005] The present invention has been made in view of the above, and has an object to provide a field work machine that can improve workability. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, the field work machine according to the present invention comprises a traveling body (2) having traveling wheels including a steering wheel and capable of traveling within a field, a steering device (95) that steers and drives the steering wheel, and a control device (100) that controls the steering device (95) and causes the traveling body (2) to travel autonomously, SelfThis field work machine supplies agricultural materials to a field as ground work by repeatedly moving back and forth, and the agricultural materials are replenished at at least one of the outer peripheries of the field, and is equipped with a remote device that can remotely operate the traveling body (2) from a position separated from the traveling body (2), and the traveling body (2) can be automatically stopped at the edge of a ridge to replenish the agricultural materials, and further, the remote device can perform a ridge-pushing operation to bring the materials closer to the ridge. [Effects of the Invention]

[0007] The field work machine according to the present invention can improve workability. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic left side view showing a work vehicle according to an embodiment. [Figure 2] FIG. 2 is a schematic plan view showing the work vehicle according to the embodiment. [Figure 3] FIG. 3 is a block diagram showing an example of a control system centered around a control device. [Figure 4] FIG. 4 is an explanatory diagram of autonomous driving in a farm field. [Figure 5] FIG. 5 is a diagram illustrating mode configurations performed by the controller. [Figure 6] FIG. 6 is a diagram showing an example of work area information acquisition in the teaching mode. [Figure 7] FIG. 7 is a front view showing the remote control device. [Figure 8] FIG. 8 is a diagram showing a display example of the top screen (part 1) on the remote control display unit. [Figure 9] FIG. 9 is a diagram showing a display example of the top screen (part 2) on the remote control display unit. [Figure 10] FIG. 10 is a diagram showing a display example of the top screen (part 3) on the remote control display unit. [Figure 11]FIG. 11 is a diagram showing a display example of the top screen (part 4) on the remote control display unit. [Figure 12] FIG. 12 is a diagram showing an example of a mode screen displayed on the remote control display unit. [Figure 13] FIG. 13 is a diagram showing a display example of the menu screen (part 1) on the remote control display unit. [Figure 14] FIG. 14 is a diagram showing a display example of the menu screen (part 2) on the remote control display unit. [Figure 15] FIG. 15 is a diagram showing a display example of the menu screen (part 3) on the remote control display unit. [Figure 16] FIG. 16 is a diagram showing an example of a screen display on the remote control display unit during teaching. [Figure 17] FIG. 17 is a diagram showing a display example (part 1) of the screen on the device-side display unit. [Figure 18] FIG. 18 is a diagram showing a display example (part 2) of the screen on the device-side display unit. [Figure 19] FIG. 19 is a diagram showing a display example (part 3) of the screen on the device-side display unit. [Figure 20] FIG. 20 is a diagram showing a display example (part 4) of the screen on the device-side display unit. [Figure 21] FIG. 21 is a diagram showing a display example (part 5) of the screen on the device-side display unit. [Figure 22] FIG. 22 is a diagram showing a display example (part 6) of the screen on the device-side display unit. [Figure 23] FIG. 23 is a diagram showing a display example (part 7) of the screen on the device-side display unit. [Figure 24] FIG. 24 is a diagram showing a display example (part 8) of the screen on the device-side display unit. [Figure 25] FIG. 25 is a diagram showing a display example (part 9) of the screen on the device-side display unit. [Figure 26] FIG. 26 is a diagram showing a display example (part 10) of the screen on the device-side display unit. [Figure 27]FIG. 27 is a diagram showing a display example (part 11) of the screen on the device-side display unit. [Figure 28] FIG. 28 is a diagram showing a display example (part 12) of the screen on the device-side display unit. [Figure 29] FIG. 29 is a diagram showing another example of obtaining work area information in the teaching mode. [Figure 30] FIG. 30 is a diagram showing a standing steering assist mechanism (part 1). [Figure 31] FIG. 31 is a diagram showing a standing steering assist mechanism (part 2). DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the work vehicle disclosed in the present application will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described below.

[0010] <Overview of the work vehicle (seedling transplanter)> First, an overview of a work vehicle (seedling transplanter) 1 according to an embodiment will be described with reference to Figures 1 and 2. Figure 1 is a schematic left side view showing a work vehicle (seedling transplanter) 1 according to an embodiment. Figure 2 is a schematic plan view showing a work vehicle (seedling transplanter) 1 according to an embodiment.

[0011] In the following description, the forward / rearward direction refers to the direction of travel of the work vehicle 1 when traveling straight, with the front side of the traveling direction being defined as "front" and the rear side being defined as "rear." The traveling direction of the work vehicle 1 is the direction from the operator's seat 41a (described later) to the steering wheel 35 when traveling straight (see Figures 1 and 2).

[0012] The left-right direction is a direction that is horizontally perpendicular to the front-rear direction and defines left and right facing the "front." That is, when the operator (also referred to as an operator) is seated in the operator's seat 41a and facing forward, the left-hand side is the "left" and the right-hand side is the "right."

[0013] The up-down direction is the vertical direction. The front-to-back direction, left-to-right direction, and up-down direction are perpendicular to each other. Each direction is defined for the convenience of explanation, and the present invention is not limited by these directions. In the following explanation, the work vehicle (seedling transplanter) 1 or the traveling vehicle body 2 described below may be referred to as the "machine body."

[0014] As shown in Figures 1 and 2, the work vehicle 1 comprises a traveling body 2 and a work implement 4. In this embodiment, the work vehicle is described as a ride-on seedling transplanter 1 that is equipped with a seedling planting unit 4 as the work implement and that plants seedlings in the soil surface of a field. The seedling transplanter 1 is equipped with the seedling planting unit 4, which can be raised and lowered via a lifting link mechanism 3 on the rear side of the traveling body 2, for planting seedlings in the field.

[0015] A fertilizer applicator 5 is disposed on the upper rear side of the traveling body 2. If the work vehicle 1 is not a seedling transplanter 1, it may be provided with a sowing device that supplies seeds as a work machine.

[0016] The traveling vehicle body 2 is equipped with steering wheels and drive wheels as traveling wheels. The traveling vehicle body 2 is equipped with a pair of left and right front wheels 10 and a pair of left and right rear wheels 11. In the traveling vehicle body 2, the steering wheels are the pair of left and right front wheels 10. In addition, in the traveling vehicle body 2, the drive wheels are the pair of left and right rear wheels 11, or the pair of left and right front wheels 10 and the pair of left and right rear wheels 11.

[0017] On the front side of the main frame 15, which forms the body skeleton of the running vehicle body 2, there are provided a transmission case 13 that transmits driving force to the seedling planting section 4, etc., and a hydraulic continuously variable transmission 14 that outputs the driving force supplied from the engine 30, i.e., the rotation generated by the engine 30, to the transmission case 13.

[0018] The continuously variable transmission 14 is a hydrostatic continuously variable transmission known as an HST (Hydro Static Transmission). In the following, a case where the continuously variable transmission is the HST 14 will be described.

[0019] An auxiliary transmission mechanism 16 is provided within the transmission case 13 to switch the driving mode of the traveling vehicle body 2 between high-speed mode for road driving and low-speed mode for planting seedlings, etc. Front wheel final cases 10a are provided on the left and right sides of the transmission case 13, and front wheels 10 are attached to left and right front axles 10b that protrude outward from front wheel support parts that can change the steering direction of the left and right front wheel final cases 10a.

[0020] In addition, rear wheel gear cases 11a are attached to both the left and right sides of a rear frame 22 (see Figure 2) that is arranged laterally on the rear side of the main frame 15, and rear wheels 11 are attached to left and right rear axles 11b that protrude outward from the rear wheel gear cases 11a, respectively.

[0021] Left and right link support frames 23 that support the lifting link mechanism 3 protrude upward from the upper part of the rear frame 22. A pair of left and right lower link arms 24 are provided below and between the left and right link support frames 23. A hydraulically operated lifting cylinder 25 is provided between the left and right lower link arms 24.

[0022] An upper link arm 26 is provided above the lifting cylinder 25, forming a parallel link mechanism, the lifting link mechanism 3. The left and right lower link arms 24, the lifting cylinder 25, and the other end of the upper link arm 26, each of which has one end connected to the traveling vehicle body 2, are attached to the front of the seedling planting section 4.

[0023] An engine 30 is mounted on the main frame 15. Rotational power of the engine 30 is transmitted to the transmission case 13 via the belt transmission device 21 and the HST 14. The rotational power transmitted to the transmission case 13 is changed in speed by the sub-transmission mechanism 16 inside the transmission case 13, and then separated into traveling power and externally extracted power.

[0024] The rotational power of the engine 30 is transmitted to a hydraulic pump (not shown). The hydraulic pressure generated by the hydraulic pump is supplied to the HST 14, a power steering mechanism 89 (see FIG. 3) of the handle (also called the steering wheel) 35, the lift cylinder 25, etc.

[0025] The externally extracted power extracted from the rotational power transmitted to the transmission case 13 is transmitted to the planting clutch case 27 provided at the rear of the running body 2, and is transmitted from the planting clutch case 27 to the seedling planting section 4 via the planting transmission shaft 67.

[0026] Meanwhile, left and right drive shafts 42 are provided at the rear of the transmission case 13. Rotational power from the engine 30 is transmitted via the transmission case 13 and the drive shafts 42 to the left and right rear wheel gear cases 11a.

[0027] A side clutch 44 (see FIG. 3) that turns on and off the power transmission to the left and right drive shafts 42 is disposed upstream of the left and right drive shafts 42 in the power transmission direction. As shown in FIG. 1, a side clutch pedal 43a that turns on and off the left and right side clutches 44 is provided at the front lower part of the cockpit 41a and on one of the left and right sides.

[0028] Of the left and right side clutch pedals 43a, when the side clutch pedal 43a on the inside of the turn is depressed to disengage the side clutch 44, and then the steering wheel 35 is operated to make a turn, the drive rotation of the rear wheel 11 on the inside of the turn can be completely cut off.

[0029] A bonnet 39 with an operation panel 38 arranged on top for operating each part is provided on the upper front side of the traveling vehicle body 2. The operation panel 38 is provided with a display unit 86 (see FIG. 3) for displaying predetermined information, etc.

[0030] The bonnet 39 is also provided with a handle 35 for steering the traveling vehicle body 2, a speed change control lever 36 for operating the HST 14 and the seedling planting unit 4, and an auxiliary speed change control lever 37 for operating the auxiliary speed change mechanism 16. The operator's seat 41a, the handle 35, the speed change control lever 36, the auxiliary speed change control lever 37, etc. make up the operation unit 41 in which the operator (worker) sits in the seedling transplanter 1.

[0031] An openable front cover 40 is provided in front of the hood 39. Inside the front cover 40, a fuel tank, a battery, and an interlocking mechanism that rotates the left and right front wheels 10 and the lower sides of the left and right front wheel final cases 10a in response to steering of the handlebars 35 are provided. As described above, the front wheels 10 are steered wheels that steer the vehicle in accordance with the amount of steering of the handlebars 35.

[0032] An engine cover 30a that covers the top and sides of the engine 30 is provided behind the hood 39 and above the engine 30, and a pilot's seat 41a where the pilot sits is provided above the engine cover 30a.

[0033] The fertilizer applicator 5 is provided behind the driver's seat 41a, at the rear end of the main frame 15. 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 of the left and right rear wheel gear cases 11a.

[0034] Approximately horizontal floor steps 33 are formed on both the left and right sides of the lower part of the engine cover 30a and the hood 39. As shown in Fig. 2, the floor steps 33 are partially lattice-shaped, so that even if mud falls off the shoes of an operator (worker) walking on the floor steps 33, the fallen mud will fall into the field.

[0035] 2, a rear step 330 is connected to the rear of the floor step 33. The surface of the rear step 330 is preferably provided with an anti-slip finish, for example, with a pattern of multiple protrusions, to prevent feet from slipping during work.

[0036] In addition, at the front of the traveling vehicle body 2, on both the left and right sides, spare seedling frames 50 are provided, each with a seedling frame support 51 on which multiple spare seedling carrying tables 52 are arranged at intervals in the vertical direction, allowing work materials such as seedlings (seedling mats) and fertilizer bags to be replenished in the seedling planting section 4 to be placed.

[0037] Additionally, a seedling tank 53 for loading seedlings (seedling mats) to be planted in the field is attached to the rear end of the lifting link mechanism 3, along with a sliding mechanism for sliding it left and right. Seedling partition fences 54 that are long in the vertical direction are placed on the seedling tank 53 at predetermined intervals in the horizontal direction. Below the seedling tank 53 is placed a seedling planting device 55 that scrapes seedlings from the loaded seedling mats and plants them in the field.

[0038] The seedling planting device 55 plants eight rows at the same time, the same number as the number of rows to be planted separated by the seedling partition fence 54. Four planting transmission cases 56 are arranged at intervals below the seedling tank 53, and planting rotaries 57 are attached to both the left and right sides of the planting transmission cases 56, which rotate to pick up seedlings using planting rods 58 and plant them in the field.

[0039] In the fertilizer applicator 5, the fertilizer hopper 70 that stores the fertilizer is divided into the same number of sections as the number of working rows in the seedling planting section 4 (eight rows in the example shown in FIG. 2). Note that the eight-row fertilizer hopper 70 is long in the left-right direction, which reduces the convenience of adding fertilizer and attaching and detaching it, so it may have a so-called side fertilizer application structure, in which sections divided into four rows are lined up on each side.

[0040] Below the fertilizer hopper 70, a dispensing device 71 that supplies a set amount of fertilizer is provided for each row. Below the dispensing device 71, a ventilation duct 72 is provided in the left-right direction, through which conveying air passes to move the fertilizer. Below the dispensing device 71, a fertilizer hose 73 is provided to guide the fertilizer near the seedling planting position in the seedling planting section 4. Also, at one end of the ventilation duct 72, a blower 74 that is operated by an electric blower motor 76 to generate conveying air is provided.

[0041] 1 and 2, a center float 62C that slides on the field surface and two side floats 62L and 62R are provided rotatably about axes below the seedling planting section 4. The center float 62C and the left and right side floats 62L and 62R are sometimes collectively referred to as floats 62.

[0042] The seedling planting unit 4 is located forward of the float 62 and has a soil leveling rotor 63 that levels out unevenness in the field. The seedling planting unit 4 plants seedlings in the soil leveled by the soil leveling rotor 63. Driving force is transmitted to the soil leveling rotor 63 from the rear wheel gear case 11a via a rotor transmission shaft 63a. The seedling planting unit 4 is driven and controlled by a control device 100 (see Figure 3), which will be described later.

[0043] 1, line-drawing markers 65 are provided on both the left and right sides of the seedling planting section 4. One of the markers 65 touches the ground on the field surface to form a groove that serves as a guide for traveling in the next work row (next process). When one of the markers 65 touches the ground, the other moves upward, and when the seedling planting section 4 is raised during rotation, both the left and right sides move upward, and when the seedling planting section 4 is lowered after rotation, one of the markers 65 moves upward and the other moves downward.

[0044] 1 and 2, a center mascot 66 that is long in the vertical direction is provided in the center of the left and right of the traveling vehicle body 2, and in front of the hood 39. By aligning the center mascot 66 with the grooves formed in the field by the left and right line markers 65, it becomes possible to travel in accordance with the work position of the previous work row, improving work accuracy and preventing non-working.

[0045] Depending on the soil quality of the field, the guide lines formed by the left and right line-drawing markers 65 may quickly become buried, causing the guide for going straight to disappear. In such cases, it is advisable to use the left and right side markers 19, which are located forward of the left and right line-drawing markers 65. In other words, by moving the left and right side markers 19 outward and positioning them above the planted seedlings, planting work can be performed in accordance with the planting of the seedlings in the previous work row.

[0046] As shown in FIG. 1, the seedling transplanter 1 is also equipped 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, an orientation sensor and positioning means such as a Global Positioning System (GPS) or a Global Navigation Satellite System (GNSS). The position acquisition device 150 may be composed of multiple devices. The position acquisition device 150 may also include a camera or an ultrasonic sensor, and may acquire a turning position in the field and detect the distance to the turning position.

[0047] The position acquisition device 150 receives positioning information from a positioning means, for example, and creates current position information and direction information of the traveling vehicle body 2 based on the received positioning information, thereby acquiring the current position and direction. The position acquisition device 150 is attached to the mounting stay 59, for example, and disposed above the traveling vehicle body 2.

[0048] Furthermore, the straight running control program and the turning control program, which are created based on the position information from the position acquisition device 150, 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 acquisition device 150, and the turning control program is stored, for example, in a turning control ECU housed in the hood 39. The straight running control ECU and the turning control ECU are included in the control device 100 (see FIG. 3), which will be described later. The straight running control ECU and the turning control ECU may be the same ECU.

[0049] <Control system for work vehicle (seedling transplanter)> Next, the control system of the work vehicle (seedling transplanter) 1 (see Figs. 1 and 2) will be described with reference to Fig. 3. Fig. 3 is a block diagram showing an example of a control system centered around a control device 100. The seedling transplanter 1, which is a work vehicle, is capable of controlling each part by electronic control and is equipped with a control device 100 that controls each part.

[0050] The control device 100 is provided with a processing unit having a CPU (Central Processing Unit), a memory unit such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input / output unit, which are interconnected to allow signals to be exchanged between them. The memory unit stores computer programs for controlling the seedling transplanter 1. The control device 100 performs each function by reading out the computer programs stored in the memory unit.

[0051] The control device 100 is connected to actuators such as a throttle motor 80, a hydraulic control valve 81, a hydraulic control valve 82, a planting clutch actuation solenoid 83, a side clutch actuation solenoid 84, an HST motor 85, a line drawing marker lifting motor 88, a steering device 95, and a differential lock switching motor 96.

[0052] The throttle motor 80 increases or decreases the rotation speed of the output shaft of the engine 30 by operating a throttle that adjusts the amount of air intake into the engine 30. The hydraulic control valve 81 controls the extension and retraction of the lift cylinder 25. The hydraulic control valve 82 controls the power steering mechanism 89. The planting clutch operating solenoid 83 operates the planting clutch 27a.

[0053] The side clutch actuation solenoid 84 actuates the side clutch 44, which switches the state of power transmission to the rear wheels 11 (see FIGS. 1 and 2). The side clutch 44 is provided on each of the left and right rear wheels 11, and two side clutch actuation solenoids 84 are provided corresponding to each side clutch 44.

[0054] The HST motor 85 changes the rotation angle of the trunnion of the HST 14, thereby changing the inclination angle of the swash plate of the HST 14. The steering device 95 steers and drives the left and right front wheels 10 (see Figures 1 and 2), which are steered wheels. The steering device 95 has a steering motor 95a. The steering motor 95a is a motor that drives the handle 35, which adjusts the steering amount (also called the steering angle or turning angle) of the front wheels 10 when automatic turning control is performed. The steering motor 95a rotates the handle 35. The line drawing marker lifting motor 88 lifts and lowers the line drawing marker 65.

[0055] The differential lock switching motor 96 is a motor that switches between operating and deactivating a differential lock mechanism 97 (hereinafter referred to as the differential lock mechanism), which rotates the left and right running wheels (for example, the left and right front wheels 10) at the same rotational speed. When the differential lock mechanism 97 is engaged, four-wheel drive can be forcibly achieved, and the left and right running wheels rotate at the same rotational speed.

[0056] The control device 100 is connected to a rotation speed sensor 90, a steering amount sensor 91, an inclination sensor 92, etc. Two rotation speed sensors 90 are provided corresponding to the left and right rear wheels 11, and detect the rotation speeds of the left and right rear wheels 11, respectively. Note that the rotation speed sensors 90 may also detect the rotation speeds of the left and right front wheels 10.

[0057] The steering amount sensor 91 detects the steering amount of the steering wheel 35, i.e., the steering amount (steering angle, turning angle) of the front wheels 10. The steering amount sensor 91 is provided, for example, on a shaft connected to a pitman arm. The steering amount is detected in both the left and right directions, with a value when the steering wheel 35 is in a preset straight-ahead position being used as a reference value.

[0058] Furthermore, a plurality of steering amount sensors 91 may be provided. Furthermore, the steering amount sensors 91 may be provided at a plurality of locations. By detecting the steering amount of the front wheels 10 using a plurality of steering amount sensors 91, it is possible to improve detection accuracy. The tilt sensor 92 detects the tilt angle, which is the tilt of the traveling vehicle body 2.

[0059] In addition, signals are input to the control device 100 as operation signals from the speed change operation lever 36, the sub-speed change operation lever 37, the mode change switch 46, the seedling planting section lifting / lowering switch 47, the automatic turning change switch 48, the line drawing marker automatic lifting / lowering switch 49, etc.

[0060] The mode changeover switch 46 is a switch for switching whether or not autonomous driving is performed. The mode changeover switch 46 is a switch for switching between an automatic mode, a manual mode, and a remote control mode, which will be described later.

[0061] The seedling planting section lifting / lowering switch 47 is a switch for switching whether to lift or lower the seedling planting section 4. The seedling planting section lifting / lowering switch 47 is changed to the "up" and "down" positions.

[0062] When the seedling planting unit lifting switch 47 is in the "up" position, the seedling planting unit 4 rises to a predetermined non-working position and the seedling planting device 55 stops, entering a non-working state (seedling planting unit 4 off state). When the seedling planting unit lifting switch 47 is in the "down" position, the seedling planting unit 4 descends to a predetermined working position and the seedling planting device 55 (see Figures 1 and 2) enters a working state (seedling planting unit 4 on state). In other words, the seedling planting unit lifting switch 47 is a switch that detects the working state of the seedling planting unit 4.

[0063] The automatic line drawing marker lifting / lowering switch 49 is a switch that switches whether or not the line drawing marker 65 is automatically lifted / lowered in conjunction with the steering amount of the handlebars 35 (i.e., the steering amount of the front wheels 10). When the automatic line drawing marker lifting / lowering switch 49 is "ON," control is executed to automatically lift / lower the line drawing marker 65 in conjunction with the steering amount. On the other hand, when the automatic line drawing marker lifting / lowering switch 49 is "OFF," control is not executed to automatically lift / lower the line drawing marker 65 in conjunction with the steering amount.

[0064] The automatic turning selector switch 48 is a switch that switches whether or not automatic turning is enabled in manual mode, for example. When the automatic turning selector switch 48 is set to "ON," automatic turning is enabled. When the automatic turning selector switch 48 is set to "OFF," automatic turning is disabled.

[0065] A display unit 86 and a setting unit 87 are connected to the control device 100. The display unit 86 is, for example, a liquid crystal monitor, and is arranged on the operation panel 38 of the operation unit 41 (see FIGS. 1 and 2 for both). The setting unit 87 is, for example, a push button, and is arranged near the display unit 86 on the operation panel 38 of the operation unit 41. If the display unit 86 is a touch panel monitor, the setting unit 87 will be arranged on the screen of the display unit 86.

[0066] The display unit 86 includes an aircraft-side display unit 86a disposed on the control unit 41, as well as a remote-control-side display unit 86b disposed on the remote control device 160, which will be described later. Therefore, the operator can use the aircraft-side display unit 86a when riding in the aircraft to operate it, and can use the remote-control-side display unit 86b when remotely operating the aircraft using the remote control device 160. In this way, the display unit 86 has the aircraft-side display unit 86a and the remote-control-side display unit 86b, so that the operator can easily grasp information whether the automatic mode, remote control mode, or manual mode is being executed.

[0067] The display unit 86 also displays a setting screen for preset reference values ​​for each part of the traveling vehicle body 2, the seedling planting unit 4, and the fertilizer applicator 5. The display unit 86 displays a setting screen for setting reference values, for example, the seedling picking amount and planting depth in the seedling planting unit 4, the hydraulic sensitivity in the seedling planting unit 4, the on / off state of the seedling planting unit 4, and the height of the soil leveling rotor 63. The setting unit 87 accepts setting operations for the reference values ​​by the operator. That is, the operator can input and change the reference values ​​from the setting unit 87.

[0068] Furthermore, a remote control device 160 is connected to the control device 100 so as to be able to communicate with each other, and various pieces of information are input from the remote control device 160. The control device 100 receives various pieces of information from the remote control device 160 via, for example, a receiver 180 (see FIG. 1). The receiver 180 is attached to, for example, a mounting stay 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.

[0069] The remote control device 160 is operated by an operator when a remote operation mode, which will be described later, is executed. The remote control device 160 can remotely control the seedling transplanter 1. The remote control device 160 transmits a control signal to the control device 100 in response to an operation by the operator. The remote control device 160 may be communicably connected to the control device 100 via short-range wireless communication such as Wi-fi (registered trademark) or BLE (Bluetooth (registered trademark) Low Energy), or may be communicably connected via a communication network in addition to (or instead of) short-range wireless communication.

[0070] Furthermore, the remote control device 160 includes, for example, a direction sensor and a positioning means such as GPS or GNSS. The remote control device 160 transmits position information of the remote control device 160 to the control device 100. Then, the control device 100 calculates the distance between the remote control device 160 and the traveling vehicle body 2 and the direction of the remote control device 160 relative to the traveling vehicle body 2 based on the position information of the remote control device 160 and the position information of the traveling vehicle body 2. The remote control device 160 includes a remote control-side display unit 86b and a remote control-side operation unit 87b, which configure the display unit 86. The remote control device 160 will be described in detail later with reference to FIG. 7.

[0071] In this way, the current position information of the traveling vehicle body 2 and the like are input from the position acquisition device 150 to the control device 100, whereby the control device 100 controls the steering device 95 and causes the traveling vehicle body 2 (see FIGS. 1 and 2) to travel autonomously. The control device 100 executes an automatic mode, which will be described later, in which the traveling vehicle body 2 performs work while traveling autonomously.

[0072] <Automatic mode> Here, referring to Figure 4, autonomous travel (automatic mode) in a farm field by the seedling transplanter 1 will be described. Figure 4 is an explanatory diagram of autonomous travel in a farm field. The control device 100 (see Figure 3) has an automatic mode in which it automatically controls the steering device 95 (see Figure 3) while feeding back the steering amount of the front wheels 10 (see Figures 1 and 2). In the automatic mode, the control device 100 controls the steering device 95 to operate the handle 35 (see Figure 3). The automatic mode includes automatic straight-line control and automatic turning control.

[0073] When in automatic mode, the control device 100 causes the traveling vehicle body 2 to travel autonomously. During autonomous traveling, the control device 100 controls the direction of travel of the traveling vehicle body 2 by controlling the steering wheel 35. During autonomous traveling, the control device 100 also controls the speed (vehicle speed) of the traveling vehicle body 2, for example, by controlling the number of revolutions of the engine 30. Note that during autonomous traveling, the control device 100 may also control the speed of the traveling vehicle body 2 by performing a brake operation.

[0074] As shown in Figure 4, in the automatic mode, the seedling transplanter 1 automatically performs seedling planting work in the field by repeatedly moving straight and turning along the planned travel route L. As described above, the control device 100 acquires information on the current position of the seedling transplanter 1 and information on the turning position using the position acquisition device 150 (see Figure 1) located above the traveling body 2.

[0075] The seedling transplanter 1 plants seedlings while traveling back and forth within a predetermined work area in the field. In this case, for straight traveling, the control device 100 executes automatic straight traveling control, so that the machine travels autonomously along a straight traveling path L1 of a set planned traveling path L. For turning traveling, the control device 100 executes automatic turning control, so that the machine turns automatically along a turning traveling path L2 of the planned traveling path L.

[0076] The straight-ahead travel path L1 is parallel to a reference line L0, which serves as a travel reference. The reference line L0 is set in the field in accordance with the planting direction of the seedlings. For example, the control device 100 acquires the start and end positions of the straight-ahead travel as a reference start point P1 and a reference end point P2, respectively, and stores the line segment connecting the reference start point P1 and the reference end point P2 as the reference line L0.

[0077] The control device 100 controls the steering device 95 (steering motor 95a) so that the steering amount of the handle 35 becomes a predetermined steering amount while the seedling transplanter 1 is turning. The predetermined steering amount is a preset value. The predetermined steering amount is set depending on the type of seedling transplanter 1, etc. The predetermined steering amount is also set appropriately so as to smoothly transition from automatic turning to automatic straight ahead.

[0078] In addition, while the seedling transplanter 1 is turning, the control device 100 may control the steering device 95 (steering motor 95a) based on the position information acquired by the position acquisition device 150 so that the seedling transplanter 1 reaches any desired position on the set turning travel path L2.

[0079] The control device 100 controls the steering device 95 (steering motor 95a) so that the seedling transplanter 1, after turning by automatic turning, reaches the planting start position by automatic straight travel in the next process.

[0080] When performing autonomous driving, the control device 100 controls the steering device 95 (steering motor 95a) based on the steering amount of the steering wheel 35 detected by the steering amount sensor 91. Specifically, the control device 100 compares the steering amount of the steering wheel 35 detected by the steering amount sensor 91 with a reference value, and controls the steering device 95 (steering motor 95a) based on the comparison result.

[0081] <Various modes> Here, we will explain each mode, including the automatic mode, executed by the control device 100. Fig. 5 is a diagram showing the mode configuration executed by the control device 100. As shown in Fig. 5, the control device 100 (see Fig. 3) has a first mode, a second mode, a teaching mode, and a four-wheel drive mode.

[0082] The first mode is a mode in which the traveling vehicle body 2 (see FIGS. 1 and 2) is capable of autonomous traveling. The control device 100 has an automatic mode and a remote control mode in the first mode. That is, the first mode includes the automatic mode and the remote control mode.

[0083] The automatic mode is a mode in which the steering device 95 (see FIG. 3) is automatically controlled, and includes the automatic straight-line control and automatic turning control described above. In the automatic mode, the control device 100 causes the traveling vehicle body 2 to travel along the planned traveling route L (see FIG. 4) while repeatedly traveling straight and turning.

[0084] The remote control mode is a mode in which the steering device 95 is controlled based on remote control by an operator. In the remote control mode, the operator operates the remote control device 160 (see FIG. 3) to operate the machine body.

[0085] In this way, by having an automatic mode and a remote control mode in the first mode, for example, the traveling body 2 can be moved in remote control mode from outside the field to the work start point within the field, thereby improving workability by eliminating the hassle of the worker having to operate the machine to move the traveling body 2 and then walk within the field to get out of the field.

[0086] While the remote control mode is being executed, the control device 100 stops the autonomous traveling of the traveling vehicle body 2, that is, stops the automatic mode, and only accepts vehicle body operations based on operation signals from the remote control device 160.

[0087] With this configuration, in the remote control mode, remote control by the remote control device 160 is possible. In this case, because autonomous traveling is stopped, it is possible to prevent the traveling vehicle body 2 from traveling unintentionally while being remotely operated by the remote control device 160, thereby improving safety. Furthermore, even when the automatic mode is being executed, the mode is switched to remote control mode when the traveling vehicle body 2 approaches a ridge, so that autonomous traveling stops at the edge of the ridge, making it possible, for example, to replenish work materials at the edge of the ridge.

[0088] Furthermore, even when the automatic mode is being executed, when the traveling vehicle body 2 reaches a point where turning starts, the control device 100 shifts to the remote control mode so that the operator can operate the turning of the vehicle body. In this case, the control device 100 shifts to the remote control mode based on a mode switching operation signal from the remote control device 160.

[0089] According to this configuration, by switching to the remote control mode by operating the remote control device 160, it is possible to prevent erroneous operations, thereby improving safety.

[0090] Furthermore, while the automatic mode is being executed, the control device 100 operates each section, including the seedling planting section 4 (see FIGS. 1 and 2), based on an operation signal from the remote control device 160. This allows the operator to adjust each section, including the seedling planting section 4, from the remote control device 160 while the automatic mode is being executed.

[0091] In this way, even in automatic mode, remote operation from the remote control device 160 is accepted, and each part including the seedling planting unit 4 can be operated remotely while the automatic mode is being executed, thereby improving workability.

[0092] In this case, among the operation signals from the remote control device 160 while the automatic mode is being executed, the control device 100 does not accept an operation signal related to the steering device 95. In this way, while the automatic mode is being executed, the control device 100 does not accept an operation signal related to the steering device 95 from the remote control device 160, that is, does not accept an operation of the steering device 95 from the remote control device 160, thereby making it possible to prevent erroneous operation of the vehicle while traveling.

[0093] Furthermore, the control device 100 performs various adjustments in response to operation signals from the remote control device 160 while the automatic mode is being executed. Specifically, the control device 100 adjusts the start, stop, and temporary stop of the traveling body 2, the speed of the traveling body 2, the seedling picking amount and planting depth in the seedling planting unit 4, the hydraulic sensitivity of the seedling planting unit 4, the on / off of the seedling planting unit 4, and the height of the soil leveling rotor 63. Furthermore, the control device 100 switches to a four-wheel drive mode (forced four-wheel drive), which will be described later, in response to operation signals from the remote control device 160 while the automatic mode is being executed.

[0094] With this configuration, various adjustments can be made remotely while the automatic mode is running, thereby improving workability.

[0095] In addition, when the traveling vehicle body 2 reaches the point where it ends its turning while the automatic mode is being executed, the control device 100 returns the seedling quantity and planting depth in the seedling planting section 4, the hydraulic sensitivity in the seedling planting section 4, the on / off state of the seedling planting section 4, and the height of the soil leveling rotor 63 to the predetermined reference values ​​described above.

[0096] With this configuration, if the straight-line movement and turning of the aircraft are considered to be one process, by returning the value changed in the previous process to the reference value when moving on to the next process, various adjustments according to the next process can be easily made, thereby improving workability.

[0097] In addition, the setting of the seedling quantity and planting depth in the seedling planting section 4, the hydraulic sensitivity in the seedling planting section 4, the on / off of the seedling planting section 4, and the reference values ​​for the height of the ground leveling rotor 63 can be done using the control section 41, making it easy to perform setting operations.

[0098] In addition, while the remote control mode is in operation, the control device 100, using operation signals from the remote control device 160, performs adjustments such as steering the steering wheels (front wheels 10) using the steering device 95, moving the traveling body 2 forward, backward, and stopping, turning the seedling planting unit 4 on and off, switching to four-wheel drive mode (forced four-wheel drive), and switching the state of the spare seedling frame (seedling rail) 50 (switching between rail state and loading state). This allows various adjustments to be made remotely while the remote control mode is in operation, improving workability. Note that switching the state of the spare seedling frame (seedling rail) 50 is only possible while the traveling body is stopped.

[0099] The second mode is a mode in which an operator can manually drive the traveling vehicle body 2. The control device 100 has a manual mode in the second mode. The manual mode is a mode in which an operator performs machine body operations including steering operations and gear shifting operations.

[0100] The teaching mode is a mode in which, in order to execute the automatic mode, the traveling vehicle body 2 travels in the field where work is to be performed, thereby acquiring field information (information about the shape of the field, etc.). Note that, in the teaching mode, the control device 100 executes the manual mode. Therefore, in the teaching mode, the traveling vehicle body 2 is manually operated by the operator to travel in the field where work is to be performed, thereby acquiring field information.

[0101] Fig. 6 is a diagram showing an example of work area information acquisition in teaching mode. As shown in Fig. 6, when the work area information indicates that the field F where work is to be performed is not rectangular, for example, has an irregular shape such as an L-shape, the control device 100 can determine that the lengths of the three sides E1 to E3 of the field F are different from the straight travel paths L01 to L03 of the traveling vehicle body 2, and determines from the determination result that the field is not rectangular.

[0102] If the control device 100 determines in teaching mode that the field F where work is to be performed is not rectangular, it causes the traveling vehicle body 2 to travel in an area A1 where autonomous traveling is possible (the area indicated by diagonal lines in FIG. 6) in automatic mode, and then transitions to manual mode. In the example shown in FIG. 6, the control device 100 can, for example, determine the area A1 where autonomous traveling is possible by the traveling vehicle body 2 from the straight traveling routes L01 to L05.

[0103] According to this configuration, when the field F on which work is to be performed is an irregularly shaped field F, such as an L-shape, the automatic mode is executed in the rectangular area A1 where the traveling vehicle body 2 can travel autonomously, and the manual mode is executed in the area A2 outside the area A1 where the traveling vehicle body 2 can travel autonomously. This makes it possible to perform work efficiently even on an irregularly shaped field F by combining the automatic mode and the manual mode.

[0104] In the teaching mode, the control device 100 determines the shape of the field F by teaching using three sides as described above, but it is also possible to determine the shape of the field by teaching using two sides or four sides, for example.

[0105] Teaching using two sides is used, for example, in a U-shaped field consisting of one vertically long rectangular portion and two horizontally long rectangular portions, when the planting and traveling are not performed on the vertically long rectangular portion.

[0106] In two-side teaching, full automatic turning is not performed on both ridges (edges). Note that in the case of two-side teaching, as with three-side teaching, it is necessary to use the remote control device 160 to operate the traveling vehicle body 2 forward to the edge of the ridge and stop it. Furthermore, if you want to turn to the next process after the traveling vehicle body 2 has stopped, press the function button 8707 and start button 8709 (both see Figure 7) on the remote control device 160 to perform automatic turning to move to the next process (restart autonomous traveling). Furthermore, when switching to remote control mode near a ridge on the side where teaching is not being performed, the vehicle will automatically stop (park). Note that turning to the next process can be performed even from the stopped position. In other words, operation of the start button 8709 is accepted.

[0107] Teaching using four sides involves, for example, traveling on a concave field with the last side left empty, with no planting taking place. The last side corresponds to the line at which the vehicle switches from automatic mode to remote control mode. If the fourth side (including the top concave side) of a concave field is irregular, the vehicle can stop (park) in response to the irregularity around the center of the field, switch to remote control mode, and turn using the remote control device.

[0108] Four-wheel drive mode (also called forced four-wheel drive mode) is a mode in which both the pair of left and right front wheels 10 and the pair of left and right rear wheels 11 are driven. In four-wheel drive mode, the differential lock mechanism 97 (see FIG. 3) is engaged, putting the vehicle into forced four-wheel drive mode. In four-wheel drive mode, the left and right running wheels (for example, the left and right front wheels 10) rotate at the same rotational speed. In four-wheel drive mode, for example, if a running wheel (front wheel 10) becomes stuck in deep soil, the running vehicle body 2 can escape from the deep soil.

[0109] While the automatic mode is being executed, the control device 100 transitions to the four-wheel drive mode based on an operation signal from the remote control device 160. As a result, for example, if the traveling vehicle body 2 becomes stuck in deep soil while the automatic mode is being executed, the traveling vehicle body 2 can be extricated from the deep soil by forcibly switching to four-wheel drive by executing the four-wheel drive mode through operation from the remote control device 160.

[0110] <Remote control device> The remote control device 160 will be described with reference to Figure 7. Figure 7 is a front view showing the remote control device 160. As described above, the remote control device 160 is capable of wireless communication with the control device 100 (see Figure 3), and by accepting operations from an operator, it is possible to change the running mode of the machine (seedling transplanter 1), remotely control the machine, change the settings of the machine, etc.

[0111] As shown in FIG. 7, remote control device 160 includes a display unit 86 (hereinafter, remote control side display unit 86b) and a setting unit 87 (hereinafter, remote control side operation unit 87b).

[0112] The remote control side display unit 86b is, for example, an LCD screen, and displays an opening screen, a home screen (top screen), a driving mode switching screen (mode screen), a menu screen, a remote control setting screen, a pairing screen, a brightness adjustment screen for adjusting the brightness of the LCD screen, a power saving time adjustment screen, a remote control information screen, an ending screen, etc.

[0113] The remote control side display section 86b is configured to transition between screens in response to various button operations on the remote control side operation section 87b (described later) or the passage of time.

[0114] As shown in Figure 7, the remote control side operation unit 87b has a mode switching operation device (driving mode button) 8701 for switching between automatic mode and remote control mode, gear change operations 8702, 8708 for adjusting the speed of the traveling vehicle body 2 (see Figures 1 and 2) while the automatic mode is being executed, a four-wheel drive mode switching operation device (forced four-wheel drive button) 8703 for switching to four-wheel drive mode, a back button 8704, a menu button 8705, a decision button 8706, a function button 8707, a start button 8709, a power button 8710, a stop operation device (stop button) 8711 for stopping the autonomous traveling of the traveling vehicle body 2, and a pause operation device (pause button) 8712 for temporarily suspending the autonomous traveling of the traveling vehicle body 2.

[0115] In this way, by having the mode switching operation device (traveling mode button) 8701 and the speed change operations devices 8702 and 8708 in the remote control side operation unit 87b, it is possible to switch between the automatic mode and the remote control mode with the remote control device 160, and while the remote control mode is being executed, it is possible to change the traveling speed with the remote control device 160. This improves remote operability.

[0116] Furthermore, by providing the remote control side operation unit 87b with a stop operation device (stop button) 8711 and a pause operation device (pause button) 8712, the traveling vehicle body can be stopped and paused using the remote control device 160 while the remote control mode is being executed. This improves remote operability. Furthermore, by providing the four-wheel drive mode switching operation device (forced four-wheel drive button) 8703 in the remote control side operation unit 87b, if the traveling vehicle body 2 becomes stuck in deep soil while the automatic mode is being executed, the traveling vehicle body 2 can be forced into four-wheel drive by executing four-wheel drive mode through operation from the remote control device 160, thereby allowing the traveling vehicle body 2 to escape from the deep soil surface.

[0117] Furthermore, while the remote control mode is being executed, the remote control side operation unit 87b can adjust the forward and reverse movement of the traveling vehicle body 2 using the speed change operating devices 8702, 8708. The speed change operating devices 8702, 8708 have a first speed change operating device (forward button) 8702 that increases the speed of the traveling vehicle body 2 and causes the traveling vehicle body 2 to move forward, and a second speed change operating device (reverse button) 8708 that decreases the speed of the traveling vehicle body 2 and causes the traveling vehicle body 2 to move backward.

[0118] In this way, the speed of the traveling body 2 and the forward movement of the traveling body 2 can be increased using the same operating tool, the forward button 8702, and the speed of the traveling body 2 and the reverse movement of the traveling body 2 can be increased using the same operating tool, the reverse button, thereby improving remote operability.

[0119] Furthermore, while the remote control mode is being executed, the remote control side operation unit 87b enables adjustment of the steering of the front wheels 10, which are steered wheels, by the steering device 95 (see FIG. 3). For this reason, the remote control device 160 has a left steering operation tool that is an operation tool for steering the front wheels 10 to the left, and a right steering operation tool that is an operation tool for steering the front wheels 10 to the right. In the example shown in FIG. 7, the left steering operation tool is a back button 8704 that is an operation tool for returning to the previous item among the various setting items, and the right steering operation tool is a decision button 8706 that is an operation tool for deciding on the various setting items.

[0120] In this way, by giving the right steering operating device, which is an operating device for steering the front wheels 10, which are the steered wheels, to the right, the function of an operating device (decision button 8706) for deciding various setting items, and giving the left steering operating device, which is an operating device for steering the front wheels 10, which are the steered wheels, to the left the function of an operating device (back button 8704) for returning to the previous setting item among the various setting items, it is possible to reduce the types and number of operating devices and simplify the remote control device 160.

[0121] The remote control side display unit 86b displays information as to whether or not the traveling vehicle body 2 (see FIGS. 1 and 2) is currently capable of autonomous driving. The remote control side display unit 86b also displays information as to whether or not the traveling vehicle body 2 is currently in autonomous driving. The remote control side display unit 86b also displays information as to whether or not the traveling vehicle body 2 is currently capable of remote control. The remote control side display unit 86b also displays information as to whether or not the traveling vehicle body 2 is currently being remotely controlled.

[0122] In this way, by displaying information on the remote controller side display unit 86b as to whether the traveling vehicle body 2 is currently capable of autonomous traveling, whether it is currently in autonomous traveling, whether it is currently capable of remote control, and whether it is currently in remote control, the worker can easily grasp this information, thereby improving workability.

[0123] The above information displayed by the remote control side display unit 86b (information on whether the traveling vehicle body 2 is currently capable of autonomous driving, whether it is currently in autonomous driving, whether it is currently capable of remote control, and whether it is currently being remotely controlled) can also be displayed on the vehicle side display unit 86a (see Figure 3), which, together with the remote control side display unit 86b, constitutes the display unit 86 of this embodiment.

[0124] Furthermore, the remote control display unit 86b displays information as to whether the teaching mode is being executed and whether field information has been acquired. When the teaching mode is being executed and field information has been acquired, the remote control display unit 86b displays a message indicating that autonomous driving is possible throughout the field and a message indicating that both autonomous driving and manual driving are required within the field. Whether the teaching mode is being executed and whether field information has been acquired is determined by the control device 100 (see FIG. 3).

[0125] In this way, by displaying on the remote controller display unit 86b an indication that the robot can travel autonomously throughout the entire field and an indication that both autonomous and manual travel are required within the field, the operator can easily understand whether the robot can travel autonomously throughout the entire field or whether both autonomous and manual travel are required, thereby improving workability.

[0126] The above information displayed by the remote control side display unit 86b (information on whether the teaching mode is being executed, whether field information has been acquired, and further information on whether autonomous driving is possible throughout the field or whether autonomous driving and manual driving are required within the field) can also be displayed on the machine side display unit 86a, which, together with the remote control side display unit 86b, constitutes the display unit 86 of this embodiment.

[0127] Furthermore, while the remote control mode is being executed, the remote control display unit 86b displays the forward and reverse movement of the traveling vehicle body 2 and the steering angle of the steered wheels (front wheels 10) by the steering device 95. In this case, in the remote control operation unit 87b, the forward button 8702, which is a first gearshift operation device, moves the traveling vehicle body 2 forward only while the forward button 8702 is being operated. Furthermore, the reverse button 8708, which is a second gearshift operation device, moves the traveling vehicle body 2 backward only while the reverse button 8708 is being operated. Furthermore, the enter button 8706, which is a right steering operation device, steers the steered wheels (front wheels 10) to the right in accordance with the amount of operation (pressing time) of the enter button 8706, and the return button 8704, which is a left steering operation device, steers the steered wheels (front wheels 10) to the left in accordance with the amount of operation (pressing time) of the return button 8704.

[0128] According to this configuration, the operator can easily feel the operation of moving the traveling body 2 forward and backward and steering the steering wheels (front wheels 10) left and right, thereby improving remote operability.

[0129] In addition, when the control device 100 (see FIG. 3) detects that the power supply to the remote control device 160 has been cut off, it immediately stops the seedling transplanter 1 and switches to manual mode. Furthermore, while the remote control mode is being executed, the control device 100 limits the vehicle speed of the traveling body 2 so that it does not stop from first speed by pressing the forward button 8702 or the reverse button 8708. Furthermore, when the traveling body 2 is temporarily stopped while the remote control mode is being executed, the control device 100 limits the traveling body 2 so that it does not change speed by pressing the forward button 8702 or the reverse button 8708. In this case, the control device 100 accepts an operation signal of the forward button 8702 or the reverse button 8708 only when it is pressed simultaneously with the start button 8709.

[0130] Furthermore, the control device 100 changes the speed (increases or decreases the speed) of the traveling body 2 when the forward button 8702 or the reverse button 8708 is pressed simultaneously with the function button 8707. Furthermore, the control device 100 controls the device 100 to sound a buzzer or the like when it receives an operation signal from the remote control device 160, thereby confirming communication between the device (seedling transplanter 1, traveling body 2) and the remote control device 160.

[0131] <Example of display on the remote control display> Display examples of the remote control display unit 86b (see FIG. 7) will be described with reference to Figs. 8 to 16. Figs. 8 to 11 are diagrams showing display examples of the top screen on the remote control display unit 86b. Fig. 8 shows a display example of a teaching screen from the top screen, Fig. 9 shows a display example of a remote operation screen from the top screen, Fig. 10 shows a display example of an automatic driving screen from the top screen, and Fig. 11 shows a display example of a manual driving screen from the top screen.

[0132] Fig. 12 is a diagram showing an example of a mode screen displayed on the remote control display unit 86b. Figs. 13 to 15 are diagrams showing examples of menu screens displayed on the remote control display unit 86b. Fig. 13 shows an example of a function setting screen displayed on the menu screen, Fig. 14 shows an example of a planting unit operation screen displayed on the menu screen, which allows operation of the seedling planting unit 4 (see Figs. 1 and 2), and Fig. 15 shows an example of a seedling rail operation screen displayed on the menu screen, which allows operation of the spare seedling frame (seedling rail) 50 (see Fig. 1). Fig. 16 is a diagram showing an example of a screen displayed on the remote control display unit 86b during teaching.

[0133] As shown in Figures 8(A) to (D), the remote control display unit 86b displays the remaining battery level, the GNSS level (positioning means), and the communication connection status at the top of the teaching screen, the upper area below the top displays the current mode (teaching mode), the middle area below the upper area displays area determination information (work area information) and the current status, and the lower area below the middle area displays various messages.

[0134] As shown in Figures 9(A) to (L), the remote control side display unit 86b displays the remaining battery level, the GNSS level which is the positioning means, and the communication connection status at the top of the remote operation screen, the upper area below the top displays the current mode (remote operation mode), the middle area below the upper area displays area determination information (work area information) and the current status, and the lower area below the middle area displays the steering angle (turning angle) status and the status of the gear change operating device which indicates the forward / reverse lever.

[0135] As shown in Fig. 9, the steering angle status display uses an arrow to indicate the direction of travel of the aircraft. The steering angle status display also uses three types of icons to display the steering angle of the front wheels 10 (see Figs. 1 and 2), which are the steered wheels, in three stages: "small," "large," and "maximum."

[0136] As shown in Figures 10(A) to (H), the remote control side display unit 86b displays the remaining battery level, the GNSS level which is the positioning means, and the communication connection status at the top of the automatic driving screen, the upper area below the top displays the current mode (automatic mode), the middle area below the upper area displays area determination information (work area information) and the current status, and the lower area below the middle area displays the driving status ("forward" or "neutral"), the status of the gear change operating device which indicates the forward / reverse lever, and various messages.

[0137] As shown in Figures 11(A) to (G), on the manual driving screen, the remote control side display unit 86b displays the remaining battery level, the GNSS level which is the positioning means, and the communication connection status at the top, the upper area below the top displays the current mode (manual mode), the lower area below the middle area displays area determination information (work area information) and whether or not it is possible to switch to automatic mode, and the lower area below the middle area displays various messages.

[0138] As shown in FIGS. 12A to 12H, the remote control display unit 86b displays the remaining battery level, the GNSS level (positioning method), and the communication connection status at the top of the mode screen, and displays multiple menus in the area below the top. In the example shown in FIG. 12, the currently open item "driving mode switching" is displayed below the "teaching," "automatic driving," "manual driving," and "remote control" modes. Also, in the example shown in FIG. 12, below the mode items (at the bottom), "long press to confirm" is displayed along with the operation button display icon of the remote control device 160 (see FIG. 7) as an operation instruction for confirming the item. The operator can proceed to the selected item by selecting and confirming a desired item from multiple menus displayed on the mode screen.

[0139] As shown in Figures 13(A)-(O), the remote control display unit 86b displays the remaining battery level, the GNSS level (the positioning means), and the communication connection status at the top of the function setting screen. Below the top, the area below the top displays the currently open item "Function Settings" and selection items (such as "Seedling Removal Rate," "Planting Depth," and "Rotor Height"). Below that, the seedling removal rate display icon, the current seedling removal rate, and the seedling removal rate correction value are displayed. Below that, the planting depth display icon, the current planting depth, and the planting depth correction value are displayed. Below that, the rotor height display icon, the current rotor height, and the rotor height correction value are displayed. Below that, the hydraulic sensitivity display icon, the current hydraulic sensitivity, and the hydraulic sensitivity correction value are displayed. Also, in the example shown in Figure 13, the bottom displays "Long Press Confirm" along with the operation button display icons of the remote control device 160 as instructions for adjusting the seedling removal rate, planting depth, rotor height, and hydraulic sensitivity.

[0140] As shown in Figures 14(A) to 14(H), the remote control display 86b displays the remaining battery level, the GNSS level (positioning means), and the communication connection status at the top of the planting unit operation screen. The area below the top displays the currently open item "Planting." Below that, "Planting Unit Raise," which is selected when raising the seedling planting unit 4, is displayed. Below that, "Planting Unit Lower," which is selected when lowering the seedling planting unit 4, is displayed. Below that, the on / off status of "Planting" is displayed. Also, in the example shown in Figure 14, "Long Press Confirm" is displayed at the bottom along with the operation button display icon of the remote control device 160 as an instruction for operating the seedling planting unit 4.

[0141] 15(A) and (B), the remote control display unit 86b displays the remaining battery level, the GNSS level (positioning means), and the communication connection status at the top of the seedling rail operation screen, and in the area below the top, it displays the currently open item "Seedling Rail," and below that, it displays "Extend," which is selected when extending the spare seedling frame (seedling rail) 50, and below that, it displays "Reducing," which is selected when reducing the spare seedling frame (seedling rail) 50. Also, in the example shown in FIG. 15, at the bottom, "Pressed - Operated" is displayed along with the operation button display icon of the remote control device 160 as an operation instruction for the spare seedling frame (seedling rail) 50.

[0142] As shown in Fig. 16, the remote control display unit 86b displays the remaining battery level, the GNSS level (positioning means), and the communication connection status at the top of the screen during teaching of the traveling body 2 (see Figs. 1 and 2), with a "Menu" column below that, and a menu screen below that displaying, from top to bottom, "Function Settings," "Seedling Rail," "Planting Unit," and "Remote Control Settings," with "Remote Control Settings" selected. Also, in the example shown in Fig. 16, "Select" is displayed at the bottom along with the operation button display icon of the remote control device 160 as an operation guide for menu selection.

[0143] The remote control display unit 86b also displays an interrupt screen that is displayed preferentially when each part is in a predetermined state. The interrupt screen displays, for example, the state of each part, a message, and "OK" that the operator selects when checking the state.

[0144] As an example of the display on the interrupt screen, for example, if the traveling vehicle 2 is in a "tilt stop" state, a message such as "The vehicle is stopping because it has tilted too much" is displayed. Also, for example, if the traveling vehicle 2 is in an "auto-travel pause" state, messages such as "Traveling will be paused because the GNSS status has deteriorated", "Parking brake pedal is engaged", "Traveling will be paused", "Traveling will be paused because an abnormal condition has been detected", "An obstacle has been detected and the vehicle has been paused", and "Please check for safety" are displayed.

[0145] For example, if the battery level is low, a message such as "Please replace the battery" is displayed. For example, if teaching is in progress, a message such as "Sub-route created" or "Acquired points deleted" is displayed. For example, if mode switching is performed, a message such as "Switched to manual driving", "Switched to automatic driving", "Switched to remote control mode", or "Switched to teaching mode" is displayed.

[0146] <Example of display on the aircraft side display> Display examples of the machine body display unit 86a will be described with reference to Figures 17 to 28. Figures 17 to 28 are diagrams showing display examples of the screen on the machine body display unit 86a. The seedling transplanter 1 (see Figures 1 and 2) also displays various information on the machine body display unit 86a of the control unit 41 (see Figures 1 and 2).

[0147] As shown in Figure 17, the aircraft side display unit 86a displays a display icon 8601 of the GNSS level, which is the positioning means, a display icon 8602 of the robot mode (automatic mode) switching state, a display icon 8603 of the remote control connection state, a display icon 8604 of the work area information acquisition state, a mode display icon 8605, and a mode state display icon 8606.

[0148] The machine-side display unit 86a also displays adjusted values ​​(information) for each unit, including the seedling planting unit 4 (see FIGS. 1 and 2), during operation in any of the automatic, remote-controlled, and manual modes. Specifically, the machine-side display unit 86a displays the speed of the traveling vehicle body 2 (see FIGS. 1 and 2), the seedling collection amount and seedling planting depth in the seedling planting unit 4, the hydraulic sensitivity in the seedling planting unit 4, and the height of the soil leveling rotor 63 (see FIG. 1), all of which have been adjusted during operation in any of the automatic, remote-controlled, and manual modes. Furthermore, the machine-side display unit 86a displays the number of times seedling mats are fed sideways in the seedling planting unit 4 and the number of seedling mats required per 10 ares. As shown in Figure 17, the machine side display unit 86a displays the number of seedling mats required per 10 ares at the upper left, the seedling removal amount at the seedling planting section 4 at the middle left, the number of times the seedling mats are fed sideways at the seedling planting section 4 at the lower left, the seedling planting depth at the seedling planting section 4 at the upper right, the height of the soil leveling rotor 63 at the middle right, and the hydraulic sensitivity at the seedling planting section 4 at the lower right.

[0149] In this way, by displaying the adjusted values ​​of each section, including the seedling planting section 4, during operation in any of the automatic mode, remote control mode, and manual mode on the machine body display section 86a, the operator can easily grasp these adjusted values, thereby improving workability. Furthermore, by displaying the values ​​of the speed of the traveling vehicle body 2, the seedling picking amount and planting depth in the seedling planting section 4, the hydraulic sensitivity in the seedling planting section 4, and the height of the soil leveling rotor 63, which are adjusted during operation in any of the automatic mode, remote control mode, and manual mode, on the machine body display section 86a, the operator can easily grasp these adjusted values, thereby improving workability.

[0150] Furthermore, the machine-side display unit 86a displays the number of times the seedling mats are fed sideways in the seedling planting section 4 and the number of seedling mats required per 10 ares, allowing the worker to easily grasp this information. This improves workability.

[0151] Furthermore, as shown in FIG. 18, when the connection with the remote control device 160 (see FIG. 7) is in a disconnected state, the machine-side display unit 86a does not display (displays in a darkened state) the remote control connection state display icon 8603.

[0152] In addition, as shown in Figure 19, when automatic mode is being executed, the aircraft side display unit 86a displays the mode display icon 8605, and when automatic mode is not being executed, as shown in Figure 20, the mode display icon 8605 is displayed in a darkened state and the display content is changed.

[0153] Furthermore, when area determination information (work area information) has been acquired, the machine-side display unit 86a displays the work area information acquisition status display icon 8604 as shown in Fig. 21, and when area determination information (work area information) has been acquired, the machine-side display unit 86a does not display the work area acquisition status display icon 8604 (displays it in a darkened state) as shown in Fig. 22. Furthermore, when area determination information (work area information) indicating that the field is irregularly shaped has been acquired as shown in Fig. 23, the machine-side display unit 86a changes the display content of the work area information acquisition status display icon 8604 and displays it.

[0154] Furthermore, as shown in FIG. 24, when the traveling vehicle body 2 is traveling autonomously, that is, when the automatic mode is being executed, the vehicle body side display unit 86a displays the mode display icon 8605, and as shown in FIG. 25, when the traveling vehicle body 2 is in a state where it can travel autonomously, the mode display icon 8605 is displayed with the display content changed, and as shown in FIG. 26, when the traveling vehicle body 2 is in a state where it cannot travel autonomously, the mode display icon 8605 is displayed in a darkened state and the display content is changed.

[0155] The machine-side display unit 86a also displays a screen for adjusting the seedling amount, as shown in Fig. 27. The screen for adjusting the seedling amount shown in Fig. 27 is displayed by switching from the main screen shown in Fig. 17, etc. The machine-side display unit 86a also displays a screen for adjusting the planting depth, as shown in Fig. 28. The screen for adjusting the planting depth shown in Fig. 28 is displayed by switching from the main screen shown in Fig. 17, etc.

[0156] <Another example of obtaining work area information> Fig. 29 is a diagram showing another example of acquiring work area information in the teaching mode. As shown in Fig. 29, in this other example of acquiring work area information in the teaching mode, the control device 100 (see Fig. 3) erases the most recent piece of position information Pa1 to Pa4 of points acquired in the process of recognizing the work area by operating the remote control device 160 (see Fig. 7) or by operating the seedling transplanter 1 side, one by one.

[0157] Until now, if a mistake was made in recognizing the work area while it was being recognized, there was no way to correct it and the only option was to reset the acquired work area information, but by configuring it in this way, it becomes possible to make corrections while the work area is being recognized.

[0158] The location information Pa4 of the point acquired in the step of recognizing the work area may be erased by simultaneously pressing at least two or more operation buttons on the remote control device 160. This configuration can prevent operational errors. For example, pressing a dedicated button on the seedling transplanter 1 can display a confirmation information screen for the location information on the machine body display unit 86a (see FIG. 3), and the location information Pa4 of the point acquired in the step of recognizing the work area can be erased using a jog dial or the like while the confirmation information screen is displayed. This configuration can prevent operational errors.

[0159] <Standing steering assist mechanism> Figures 30 and 31 are diagrams showing the standing steering assist mechanism. In the seedling transplanter 1, for example, when seedlings are loaded in the seedling tank 53 (see Figures 1 and 2), an operator may steer while standing on the floor step 33. As shown in Figure 30, by providing recesses 33a on the floor step 33 into which the operator W can place his or her feet, the operator W who is standing to steer can brace himself or herself on the floor step 33, thereby improving safety.

[0160] In addition, as shown in Figure 31, by providing a guard portion 33b that is erected on the floor step 33 and protects the waist of the worker W at its tip, the worker W can be prevented from being thrown off the machine body (seedling transplanter 1), thereby increasing safety.

[0161] The above-described embodiment realizes the following work vehicle 1.

[0162] (1) A work vehicle 1 comprising a traveling body 2 having traveling wheels (front wheels 10, rear wheels 11) including steering wheels and capable of traveling within a field, a steering device 95 that steers and drives the steering wheels (front wheels 10), and a control device 100 that controls the steering device 95 and causes the traveling body 2 to travel autonomously, the control device 100 having a first mode in which the traveling body 2 can travel autonomously and a second mode in which the traveling body 2 can be manually driven by an operator, and in the first mode having an automatic mode in which the steering device 95 is automatically controlled and a remote control mode in which the steering device 95 is controlled based on remote operation by the operator.

[0163] With such a work vehicle 1, the first mode in which the traveling body 2 can travel autonomously has an automatic mode and a remote control mode, so that, for example, the traveling body 2 can be moved in remote control mode from outside the field to a work start point within the field.This improves workability by eliminating the hassle of the worker having to manually (operate the machine) move the traveling body 2 and then walk through the field to get out of the field.

[0164] (2) In the above (1), the work vehicle 1 is provided with a remote control device 160 that is operated by an operator when the remote control mode is being executed and that transmits an operation signal to the control device 100, and the control device 100 stops the autonomous traveling of the traveling body 2 while the remote control mode is being executed and only accepts the operation of the vehicle body by the operation signal from the remote control device 160.

[0165] In addition to the effect (1) above, such a work vehicle 1 enables remote control by the remote control device 160 in the remote control mode. Furthermore, in this case, because autonomous traveling is stopped, unintended traveling of the traveling body 2 can be prevented while remotely operated by the remote control device 160, thereby improving safety.

[0166] (3) In the above (1) or (2), the control device 100, in the automatic mode, causes the traveling body 2 to travel by repeatedly moving straight and turning along a predetermined planned traveling route L, and even while the automatic mode is being executed, when the traveling body 2 reaches a point where it starts to turn, the work vehicle 1 transitions to the remote control mode.

[0167] With such a work vehicle 1, in addition to the effects of (1) or (2) above, even when the automatic mode is running, the traveling body 2 switches to remote control mode when it approaches a ridge, so that autonomous traveling stops at the edge of the ridge, making it possible, for example, to replenish work materials at the edge of the ridge.

[0168] (4) In any one of (1) to (3) above, the work vehicle 1 is provided with a remote control device 160 that is operated by an operator when the remote control mode is executed and transmits an operation signal to the control device 100, and when the control device 100 transitions to the remote control mode, the control device 100 transitions to the remote control mode based on the operation signal from the remote control device 160.

[0169] According to such a work vehicle 1, in addition to any one of the effects (1) to (3) above, by switching to remote control mode by operating the remote control device 160, it is possible to suppress erroneous operation, thereby improving safety.

[0170] (5) In any one of (1) to (4) above, a work vehicle 1 is provided with a remote control device 160 that is operated by an operator when the remote operation mode is being executed and that sends an operation signal to the control device 100, and a work implement 4 that is attached to the traveling body 2 and performs work in the field, the work implement 4 having a ground leveling rotor 63 that levels the soil surface in the field and is a seedling planting unit 4 that plants seedlings in the soil surface leveled by the ground leveling rotor 63, and the control device 100 controls the seedling planting unit 4 and, when the automatic mode is being executed, operates each unit including the seedling planting unit 4 based on an operation signal from the remote control device 160 to the control device.

[0171] According to such a work vehicle 1, in addition to any one of the effects (1) to (4) above, remote operation from the remote control device 160 can be accepted even in automatic mode, and each part including the seedling planting unit 4 can be operated remotely while automatic mode is being executed, thereby improving workability.

[0172] (6) In the work vehicle 1 described above in (5), the control device 100 does not accept an operation signal relating to the steering device 95 among operation signals sent to the control device from the remote control device 160 while the automatic mode is being executed.

[0173] In addition to the effect of (5) above, such a work vehicle 1 does not accept operation signals related to the steering device 95 from the remote control device 160 while the automatic mode is in operation, i.e., does not accept operations of the steering device 95 from the remote control device 160, thereby preventing erroneous operation of the vehicle while traveling.

[0174] (7) In the above (5) or (6), the control device 100 performs various adjustments including starting, stopping and pausing the traveling body 2, the speed of the traveling body 2, the amount of seedlings taken and the planting depth in the seedling planting section 4, the hydraulic sensitivity in the seedling planting section 4, turning the seedling planting section 4 on and off, and the height of the soil leveling rotor 63, in response to operation signals from the remote control device 160 to the control device while the automatic mode is being executed, of the work vehicle 1.

[0175] In addition to the effects (5) and (6) above, such a work vehicle 1 allows various adjustments to be made remotely while the automatic mode is being executed, thereby improving workability.

[0176] (8) In (7) above, the control device 100, in automatic mode, causes the traveling body 2 to travel while repeatedly moving straight and turning along a predetermined planned traveling route L, and even while the automatic mode is being executed, when the traveling body 2 reaches a point where it starts turning, the control device 100 switches to remote control mode, and when the traveling body 2 reaches a point where it ends turning while the automatic mode is being executed, the control device 100 returns the seedling picking amount and planting depth in the seedling planting section 4, the hydraulic sensitivity in the seedling planting section 4, the on / off of the seedling planting section 4, and the height of the soil leveling rotor 63 to predetermined reference values, the work vehicle 1.

[0177] In addition to the effect of (7) above, with such a work vehicle 1, if the vehicle's straight-line movement and turning are considered to be one process, by returning the value changed in the previous process to the reference value when moving on to the next process, various adjustments according to the next process can be easily made, thereby improving workability.

[0178] (9) In the above (8), the work vehicle 1 is provided with a control unit 41 into which a worker rides, a display unit 86 arranged on the control unit 41, and a setting unit 87 arranged on the control unit 41, wherein the display unit 86 displays a setting screen for the reference value, and the setting unit 87 accepts the worker's operation to set the reference value.

[0179] With such a work vehicle 1, in addition to the effect of (8) above, the reference values ​​for the seedling quantity and planting depth in the seedling planting section 4, the hydraulic sensitivity in the seedling planting section 4, the on / off of the seedling planting section 4, and the height of the soil leveling rotor 63 can be set using the control section 41, making setting operations easy.

[0180] (10) In any one of (5) to (9) above, the control device 100 performs various adjustments including steering the steering wheels (front wheels 10) using the steering device 95, moving the traveling body 2 forward, backward and stopping, and turning the seedling planting section 4 on and off, in response to an operation signal from the remote control device 160 to the control device while the remote operation mode is being executed, in the work vehicle 1.

[0181] According to such a work vehicle 1, in addition to any one of the effects (5) to (9) above, various adjustments can be made remotely while the remote control mode is being executed, thereby improving workability.

[0182] (11) In any one of (1) to (10) above, the control device 100 has, in the second mode, a manual mode in which an operator manually operates the vehicle, including steering and gear changes, and the control device 100 further has a teaching mode in which field information is acquired by driving the traveling body 2 in the manual mode within the field where work is to be performed, and if it is determined in the teaching mode that the field where work is to be performed is not rectangular, the work vehicle 1 is driven in an area where autonomous driving by the traveling body 2 is possible in the automatic mode, and then switches to the manual mode.

[0183] In addition to any one of the effects (1) to (10) above, such a work vehicle 1 can achieve the following: when the field on which work is to be performed is not rectangular (for example, an irregularly shaped field such as an L-shaped field), the automatic mode is executed in rectangular areas where autonomous travel is possible by the traveling body 2, and the manual mode is executed in areas other than those where autonomous travel is possible by the traveling body 2. This allows work to be performed efficiently even on irregularly shaped fields by combining the automatic mode and the manual mode.

[0184] (12) In any one of (1) to (11) above, the work vehicle 1 is equipped with a remote control device 160 that is operated by an operator when a remote operation mode is being executed and that transmits an operation signal to the control device 100, the running wheels include a pair of left and right front wheels 10 and a pair of left and right rear wheels 11, the control device 100 has a four-wheel drive mode in which both the pair of left and right front wheels 10 and the pair of left and right rear wheels 11 are driven, and when the automatic mode is being executed, the work vehicle 1 transitions to the four-wheel drive mode based on an operation signal from the remote control device 160.

[0185] According to such a work vehicle 1, in addition to any one of the effects (1) to (11) above, for example, if the traveling body 2 becomes stuck in deep soil while the automatic mode is being executed, the traveling body 2 can be extricated from the deep soil by forcibly switching to four-wheel drive by executing four-wheel drive mode through operation from the remote control device 160.

[0186] Further advantages and modifications will readily occur to those skilled in the art. Therefore, 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 their equivalents. [Explanation of symbols]

[0187] 1. Work vehicle (seedling transplanter (field work machine)) 2 Running vehicle 4 Work equipment (seedling planting section) 10 Driving wheels (steering wheels, front wheels) 11 Running wheels (rear wheels) 41 Control Unit 63 Leveling rotor 86 Display section 87 Setting section 95 Steering device 100 control device 160 Remote Control Device L Planned driving route

Claims

1. a traveling vehicle body having traveling wheels including steering wheels and capable of traveling within a field; a steering device that steers and drives the steering wheels; a control device that controls the steering device and causes the traveling vehicle body to travel autonomously, A field work machine that supplies agricultural materials to a field as ground work by repeating automatic reciprocating travel, The agricultural materials are replenished on at least one of the outer peripheries of the field, and the field work machine is equipped with a remote device that can remotely control the traveling vehicle body from a position spaced apart from the traveling vehicle body, and the traveling vehicle body is automatically stopped at the edge of a ridge to replenish the agricultural materials, and further, the remote device can be used to perform a ridge-pushing operation to move the materials closer to the ridge.

2. a remote device capable of remote control transmits an operation signal to the control device; 2. The field work machine according to claim 1, wherein operation signals from the remote device to the control device can start, stop, and temporarily stop the traveling vehicle body during the autonomous traveling, adjust the speed of the traveling vehicle body during the autonomous traveling, and turn on and off the supply of agricultural materials during the autonomous traveling.

3. The vehicle has a ground leveling device that levels the soil surface in the field, and is equipped with a work device that supplies agricultural materials to the soil surface leveled by the ground leveling device, and is capable of operating each part including the work device based on an operation signal sent from the remote device to the control device during the autonomous traveling, During the autonomous traveling, among operation signals from the remote device to the control device, an operation signal related to the steering device is not accepted, the control device has a manual driving function in which an operator manually controls the vehicle, including steering and gear shifting; the control device further has a teaching function of acquiring field information by manually driving the traveling vehicle body in a field where work is to be performed, The field work machine according to claim 1 or 2, characterized in that if the teaching function determines that part of the field where work is to be performed cannot be driven autonomously, the field work machine moves through an area where autonomous driving is possible using the vehicle body during the autonomous driving, and then transitions to the manual driving mode.

Images