Work vehicles

Abstract

To well maintain a machine body layout to protect wiring therein by suppressing complication in routing of the wiring for connecting each reception antenna, each device, and a control device.SOLUTION: A work vehicle includes: a positional information acquiring device provided at a vehicle body, and receiving positioning information transmitted from a satellite positioning system by a positional information receiving antenna to acquire the positional information on the vehicle body; and an antenna frame supporting the positional information acquiring device at a predefined position. A receiver for receiving the operation signal transmitted from a remote device and a reception antennal of the receiver are supported by the antenna frame. The antenna frame is formed of a pipe-like frame member, and wiring for connecting the positional information receiving antenna or the receiving antenna of the receiver is routed via the inside of the frame member.SELECTED DRAWING: Figure 7

Description

[Technical Field]

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

[0002] Conventionally, some work vehicles that perform work while traveling within a field are equipped with a position information acquisition device that acquires the vehicle's position information using a satellite positioning system, and the vehicle travels autonomously using a control device based on the position information acquired by the position information acquisition device.

[0003] Such a work vehicle is equipped with an antenna frame that supports a position information acquisition device and a position information receiving antenna that receives position information (signals) transmitted from a satellite in the position information acquisition device (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2020-162454 Summary of the Invention [Problem to be solved by the invention]

[0005] In a work vehicle that performs work while traveling within a farm field, a receiver having an operation signal receiving antenna that receives operation signals transmitted from a remote device may be further provided in order to remotely operate the work vehicle using the remote device.

[0006] However, in conventional work vehicles such as those described above, the remote device is placed on the vehicle body, and in addition to the position information device and position information receiving antenna, a receiver and an operation signal receiving antenna are added, which increases the amount of wiring required to connect each receiving antenna, each device, and each control device, making the wiring more complicated, worsening the vehicle layout, and requiring protection of the wiring.

[0007] The present invention has been made in consideration of the above, and aims to provide a work vehicle in which the remote device can be placed in a position that does not interfere with the work of the worker, multiple receiving antennas can be consolidated, and the complexity of wiring arrangement can be reduced, thereby maintaining a good vehicle layout and protecting the wiring. [Means for solving the problem]

[0008] In order to solve the above-mentioned problems and achieve the object, a work vehicle (1) according to the present invention comprises: a control device (100) that controls a traveling body (2); a remote control device (160) capable of remotely controlling the traveling vehicle body (2) by transmitting an operation signal to the control device (100); a receiver provided in the traveling vehicle body (2) for receiving the operation signal transmitted from the remote device (160); a meter panel (45) provided in the traveling vehicle body (2); and a vehicle-side display unit (86a) for displaying various information on the meter panel (45); Equipped with a position information acquisition device (150) provided on the traveling vehicle body (2) and configured to receive positioning information transmitted from a satellite positioning system by a position information receiving antenna (151) and acquire position information of the traveling vehicle body (2); a control device (100) that causes the traveling vehicle body (2) to travel autonomously based on the position information acquired by the position information acquisition device (150); an antenna frame (59) that supports the position information acquisition device (150) at a predetermined position; a receiver (140) for receiving the operation signal transmitted from the remote device (160) and a receiving antenna (141) of the receiver (140) are supported by the antenna frame (59); The antenna frame (59) The device is formed of a pipe-shaped frame member, and wiring connected to the location information receiving antenna (151) or the receiving antenna (141) of the receiver (140) is routed through the inside of the frame member, If there is a direct manual operation of either the steering handle (35) or the gear change operation tool while the autonomous driving is being performed, the traveling vehicle body (2) is automatically stopped and shifted to manual driving, and the fact that the autonomous driving has been cancelled is displayed on the vehicle body side display unit (86a). 、 The remote device (160) has a remote device display unit (86b) capable of displaying various information, and an operation unit (87b) disposed on the remote device (160), a remote device holder (170) provided on the traveling vehicle body (2) and supporting the remote device (160); When the remote device (160) is in a supported state, the remote device (160) is located near the aircraft-side display unit (86a), In the case of remote travel using the remote device (160), if no operation of the remote device (160) is detected for a predetermined time or longer, the remote travel is cancelled by the control device (100). It is characterized by the following. [Effects of the Invention]

[0009] According to the work vehicle of the present invention, the wiring is protected by being routed through the interior of the frame member, and it is possible to prevent the wiring from being broken, etc. Furthermore, by displaying on the vehicle's display unit that autonomous driving has been cancelled, the worker can easily grasp the information. Furthermore, if no operation of the remote device is detected for a predetermined period of time or longer, remote driving is cancelled, thereby preventing remote driving from being performed for a long period of time and improving safety. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic left side view showing an example of a work vehicle according to an embodiment. [Figure 2] FIG. 2 is a schematic plan view showing an example of a 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 schematic perspective view showing the antenna frame and the position information acquisition device. [Figure 8] FIG. 8 is a schematic side view showing the position information acquisition device and the operation signal receiving antenna. [Figure 9]FIG. 9 is an explanatory diagram of the remote control device. [Figure 10] FIG. 10 is a schematic perspective view showing the remote control holder. [Figure 11] FIG. 11 is a schematic front view showing the arrangement of the remote control holder. [Figure 12] FIG. 12 is a schematic side view showing the arrangement of the remote control holder. [Figure 13] FIG. 13 is a diagram showing an example of a connection configuration of a partial-row clutch. DETAILED DESCRIPTION OF THE INVENTION

[0011] 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.

[0012] <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.

[0013] 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 in the direction of travel defined as "front" and the rear side defined as "rear." The direction of travel of the work vehicle 1 when traveling straight is the direction from the operator's seat 41a, described below, toward the steering handle (hereinafter simply referred to as the handle) 35 (see Figures 1 and 2).

[0014] 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."

[0015] The up-down direction is the vertical direction. The front-rear direction, left-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 body 2 described below may be referred to as the "machine body."

[0016] 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 a 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 3 on the rear side of the traveling body 2, and which plants seedlings in the field.

[0017] A fertilizer applicator 5, which is a working machine of the seedling transplanter 1 together with the seedling planting unit 4, is arranged on the upper rear side of the traveling body 2. The fertilizer applicator 5 spreads fertilizer over the field. Note that if the work vehicle 1 is not the seedling transplanter 1, it may be equipped with a sowing device that supplies seeds or the like as a working machine.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] Left and right link support frames 23 that support the lift links 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 lift cylinder 25 is provided between the left and right lower link arms 24.

[0024] An upper link arm 26 is provided above the lifting cylinder 25, forming a parallel link mechanism, the lifting link 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.

[0025] 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.

[0026] 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 steering wheel 35, the lift cylinder 25, etc.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] A hood 39 that houses the engine 30 is provided in front of the floor step 33 of the traveling vehicle body 2. A control panel 38 is provided at the rear of the hood 39. The control panel 38 is provided with a meter panel 45 (see FIG. 7) and a display unit (machine body display unit) 86a that displays various information. In addition, a handle 35 is provided upright at the rear of the hood 39.

[0032] The bonnet 39 is also provided with a handle 35 for steering the traveling vehicle body 2, a main 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 main 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] A seedling tank 53 for carrying seedlings (seedling mats) to be planted in the field is attached to the rear end of the lifting link 3, along with a sliding mechanism for sliding it left and right. Seedling partition fences 54, which 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 planting device 55 for scraping seedlings from the loaded seedling mats and planting them in the field.

[0040] The 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 rotary (rotary case) 57 is 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] As shown in FIGS. 1 and 2, the seedling transplanter 1 is also provided with a location information acquisition device 150. The location information acquisition device 150 acquires the current location (and orientation) of the seedling transplanter 1. The location information acquisition device 150 acquires the current location (and orientation) of the seedling transplanter 1 using a satellite positioning system such as a global positioning system (GPS) or a global navigation satellite system (GNSS). The location information acquisition device 150 may be composed of multiple devices.

[0049] The position information acquisition device 150 receives positioning information from, for example, a satellite positioning system, creates current position information (and direction information) of the traveling vehicle body 2 based on the received positioning information, and acquires the current position (and direction). The position information acquisition device 150 is attached to an antenna frame 59, which will be described later, and is disposed above the traveling vehicle body 2.

[0050] Furthermore, the straight running control program and the turning control program, which are created based on the position information from the position information 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 information 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.

[0051] <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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] In addition, signals are input to the control device 100 as operation signals from the main 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.

[0062] 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.

[0063] 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.

[0064] 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 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 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.

[0065] 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.

[0066] The automatic turning selector switch 48 is a switch that switches whether or not automatic turning is enabled in manual driving 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.

[0067] A display unit 86 and an operation 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 operation 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 operation unit 87 will be arranged on the screen of the display unit 86.

[0068] 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 aircraft is in automatic driving mode, remote control mode, or manual driving mode.

[0069] The display unit 86 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 operation unit 87 accepts the operator's operation to set the reference values. In other words, the operator can use the operation unit 87 to input and change the reference values.

[0070] 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 a receiver 140 (see FIG. 7). The receiver 140 is attached to the antenna frame 59, for example. The receiver 140 is disposed, for example, on the front side of the traveling vehicle body 2. Note that a plurality of receivers 140 may be provided.

[0071] 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.

[0072] The remote control device 160 may be configured to transmit position information of the remote control device 160 from a satellite positioning system such as GPS or GNSS to the control device 100. In this case, the control device 100 calculates the distance between the remote control device 160 and the traveling vehicle body 2 and the orientation of the remote control device 160 with respect 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.

[0073] Remote control device 160 includes a remote control display unit 86b and a remote control operation unit 87b that constitute display unit 86. Details of remote control device 160 will be described later with reference to FIG.

[0074] In this way, the current position information of the traveling vehicle body 2 and the like are input to the control device 100 from the position information acquisition device 150, 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 travel mode, which will be described later, in which the traveling vehicle body 2 performs work while traveling autonomously.

[0075] <Automatic driving mode> Here, the autonomous travel mode (automatic travel mode) in the field by the seedling transplanter 1 will be described with reference to Fig. 4. Fig. 4 is an explanatory diagram of autonomous travel in the field.

[0076] The control device 100 (see FIG. 3) has an automatic mode in which it automatically controls the steering device 95 (see FIG. 3) while feeding back the steering amount of the front wheels 10 (see FIGS. 1 and 2). In the automatic mode, the control device 100 controls the steering device 95 to operate the handlebars 35 (see FIG. 3). The automatic driving mode includes automatic straight-line control and automatic turning control.

[0077] When in the automatic driving mode, the control device 100 causes the traveling vehicle body 2 to travel autonomously. During autonomous driving, the control device 100 controls the direction of travel of the traveling vehicle body 2 by controlling the steering wheel 35. During autonomous driving, 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 driving, the control device 100 may also control the speed of the traveling vehicle body 2 by operating the brakes.

[0078] As shown in Figure 4, in the automatic travel mode, the seedling transplanter 1 automatically performs seedling planting work in the field while 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 information acquisition device 150 (see Figure 1) located above the traveling body 2.

[0079] 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.

[0080] 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.

[0081] The control device 100 controls the steering motor 95a (see FIG. 3) 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.

[0082] In addition, while the seedling transplanter 1 is turning, the control device 100 may control the steering motor 95a based on the position information acquired by the position information acquisition device 150 so that the seedling transplanter 1 reaches any desired position on the set turning travel path L2.

[0083] The control device 100 controls the 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.

[0084] When performing autonomous driving, the control device 100 controls the 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 motor 95a based on the comparison result.

[0085] <Various modes> Here, we will explain each mode, including the autonomous driving mode (automatic driving 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 an autonomous driving mode, a manual driving mode, a teaching mode, a four-wheel drive mode, and a variable fertilization mode.

[0086] The autonomous driving mode is a mode in which the traveling vehicle body 2 (see FIGS. 1 and 2) can travel autonomously. In the autonomous driving mode, the control device 100 has the automatic driving mode described above and a remote control mode.

[0087] The automatic driving 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 driving mode, the control device 100 causes the traveling vehicle body 2 to travel along a planned traveling route L (see FIG. 4) while repeatedly traveling straight and turning.

[0088] 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.

[0089] In this way, by having an automatic driving mode and a remote control mode in the autonomous driving mode, 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, 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.

[0090] When the control device 100 does not receive an operation signal from the remote control device 160 for a predetermined time or longer while the remote control mode is being executed, the control device 100 switches to the manual driving mode. This prevents the remote control mode from being executed for a long time, thereby improving safety.

[0091] During the automatic travel mode, 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 during the automatic travel mode.

[0092] The manual driving 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 driving mode is a mode in which an operator performs machine body operations including steering operations and gear shift operations.

[0093] The teaching mode is a mode in which, in order to execute the automatic driving mode, the traveling vehicle body 2 travels in the field where work is to be performed, thereby acquiring field information (information on the shape of the field, etc.). In the teaching mode, the control device 100 operates in the manual travel 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.

[0094] 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.

[0095] 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 traveling mode, and then transitions to manual traveling 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.

[0096] 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 driving mode is executed in the rectangular area A1 where the traveling vehicle body 2 can travel autonomously, and the manual driving 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 driving mode and the manual driving mode.

[0097] 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.

[0098] 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.

[0099] In two-side teaching, full automatic turning is not performed on both ridges (sides). In addition, in the case of two-side teaching, as in the case of three-side teaching described above, it is necessary to operate the traveling vehicle body 2 forward to the edge of the ridge using the remote control device 160 and stop it.

[0100] Furthermore, in teaching using four sides, for example, in a concave-shaped field, the last side is traveled without planting. The last side corresponds to the line at which the automatic travel mode switches to remote control mode. If the fourth side (the side including the concave top side) of a concave-shaped field is irregular, the traveling vehicle can be stopped (parked) to accommodate the irregular shape around the center of the field, and the mode can be switched to remote control mode, allowing the vehicle to turn by operating the remote control device 160.

[0101] Returning to FIG. 5, the 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 the four-wheel drive mode, the differential lock mechanism 97 (see FIG. 3) is engaged, putting the vehicle into forced four-wheel drive mode. In the 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 the 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.

[0102] While the automatic driving mode is being executed, the control device 100 transitions to the four-wheel drive mode, for example, 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 driving mode is being executed, the traveling vehicle body 2 can be forced into four-wheel drive by executing the 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.

[0103] The variable fertilization mode is a mode in which the amount of fertilizer sprayed by the fertilizer application device 5 (see FIG. 1) is adjusted based on field information including the fertility of the field, the water temperature of the field, and the water depth of the field. The variable fertilization mode has a remote fertilization mode and a manual fertilization mode. In the remote fertilization mode, the amount of fertilizer sprayed can be adjusted based on remote operation by an operator using the remote control device 160. In the manual fertilization mode, an operator or the like can directly and manually adjust the amount of fertilizer sprayed. In this way, by having the remote fertilization mode in addition to the manual fertilization mode, variable fertilization (remote fertilization mode) can also be performed from the remote control device 160, improving workability.

[0104] <Location of the control signal receiving antenna> Next, the arrangement of the operation signal receiving antenna 141, which is the receiving antenna of the receiver 140, will be described with reference to Fig. 7 and Fig. 8. Fig. 7 is a schematic perspective view showing the antenna frame 59 and the position information acquisition device 150. Fig. 8 is a schematic side view showing the position information acquisition device 150 and the operation signal receiving antenna 141.

[0105] As shown in Fig. 7, antenna frame 59 supports position information acquisition device 150 above the front of the aircraft. Antenna frame 59 supports position information acquisition device 150 at a predetermined position, i.e., above the front of the aircraft. Antenna frame 59 includes frame member 591, connecting frame 592, support body 593 (see Fig. 8), and bending portion 594 (see Fig. 8).

[0106] The frame member 591 is a pipe-shaped member that forms an antenna frame. As shown in Fig. 8, the wiring W that connects the receiver 140 and the operation signal receiving antenna 141 is routed through the inside of the frame member 591. By routing the wiring W of the operation signal receiving antenna 141 through the inside of the pipe-shaped frame member 591 in this way, the wiring W is protected and breakage of the wiring W can be prevented.

[0107] As shown in Fig. 7, the connecting frame 592 is a frame member that connects with the control unit 41 (see Fig. 1), and is also a member on which the receiver 140 is provided for receiving operation signals from the remote control device 160 (see Fig. 3). The connecting frame 592 has left and right frames 592a and an intermediate frame 592b that connects the left and right frames 592a in the left-right direction. The receiver 140 is preferably attached to the intermediate frame 592b.

[0108] Furthermore, one of the left and right frames 592a (for example, the right frame 592a) is provided with a remote control holder 170 for storing the remote control device 160 when the remote control device 160 is not in use. The remote control holder 170 is disposed on either the left or right side (for example, the right side) of the handlebars 35 and above the hood 39. The remote control holder 170 is also disposed below the aircraft-side display unit 86a. In this way, the remote control holder 170 is disposed in a position that does not interfere with the operator's work (such as operating the vehicle).

[0109] 8, support body 593 is provided at the top of antenna frame 59 and is a plate-like member on which position information acquisition device 150 and position information receiving antenna 151 are placed. Also, bent portion 594 is formed at the rear of support body 593. Bent portion 594 is provided so as to form space 595 at the rear of support body 593. In space 595 formed by bent portion 594, operation signal receiving antenna 141, which is the receiving antenna of receiver 140 (see FIG. 7), is disposed.

[0110] 8, the operation signal receiving antenna 141 is supported by the antenna frame 59. More specifically, the operation signal receiving antenna 141 is supported by a support member 593 of the antenna frame 59.

[0111] In this way, the operation signal receiving antenna 141 is supported by the antenna frame 59 that supports the position information acquisition device 150, so that the operation signal receiving antenna 141 and the position information acquisition device 150 (position information receiving antenna 151) can be consolidated. By consolidating multiple receiving antennas in this way, it is possible to prevent the wiring for connecting the receiving antennas, devices, and control devices from becoming complicated, and maintain a good airframe layout.

[0112] Furthermore, since the operation signal receiving antenna 141 is placed at a high position, good reception sensitivity can be maintained.

[0113] Furthermore, the operation signal receiving antenna 141 is disposed within the left-right width of the floor step 33 when viewed from the front of the vehicle. Specifically, the operation signal receiving antenna 141 is disposed above the hood 39, and is disposed within the left-right width of the hood 39 when viewed from the front of the vehicle. Furthermore, as shown in FIG. 8 , the operation signal receiving antenna 141 is disposed adjacent to the position information acquisition device 150, and is disposed behind the position information acquisition device 150 when viewed from the side of the vehicle.

[0114] In this way, the operation signal receiving antenna 141 fits within the left and right width of the floor step 33 and does not protrude to either the left or right side from the machine body, thereby preventing the operation signal receiving antenna 141 from coming into contact with objects outside the machine body.

[0115] Furthermore, since the operation signal receiving antenna 141 is contained within the left-right width of the hood 39 and does not protrude to either the left or right side from the vehicle body, contact of the operation signal receiving antenna 141 with objects outside the vehicle body can be further reduced.

[0116] Furthermore, the operation signal receiving antenna 141 and the position information acquisition device 150 (position information receiving antenna 151) can be integrated, which makes it easier to route the wiring W and also improves the appearance.

[0117] <Remote control device> Next, the remote control device 160 will be described with reference to Fig. 9. Fig. 9 is an explanatory diagram of the remote control device 160, showing a display screen and an operation screen provided on the same surface of the remote control device 160. As described above, the remote control device 160 is capable of wireless communication with the control device 100 (see Fig. 3), and by accepting operations by the 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.

[0118] As shown in FIG. 9, remote control device 160 includes a display unit 86 (hereinafter, remote control side display unit 86b) and an operation unit 87 (hereinafter, remote control side operation unit 87b).

[0119] The remote control side display unit 86b is, for example, an LCD screen, and displays, for example, 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.

[0120] 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.

[0121] As shown in Figure 9, the remote control side operation unit 87b has, for example, a mode switching operation device (driving mode button) 8701 for switching between automatic driving 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 driving 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 driving of the traveling vehicle body 2, and a pause operation device (pause button) 8712 for temporarily suspending the autonomous driving of the traveling vehicle body 2.

[0122] Of these, the speed change operating devices 8702, 8708 include a first speed change operating device (forward button) 8702 that increases the speed of the traveling body 2 and moves the traveling body 2 forward, and a second speed change operating device (reverse button) 8708 that decreases the speed of the traveling body 2 and moves the traveling body 2 backward.

[0123] <Remote control holder> Next, the remote control holder 170 will be described with reference to Figures 10, 11, and 12. Figure 10 is a schematic perspective view showing the remote control holder 170. Figure 11 is a schematic front view showing the arrangement of the remote control holder 170. Figure 12 is a schematic side view showing the arrangement of the remote control holder 170. Figures 11 and 12 show the front part of the vehicle body (traveling vehicle body 2) with the remote control holder 170 attached.

[0124] As shown in FIG. 10 , remote control holder 170 includes a pair of side plates 171, a bottom plate 172, and a back plate 173. Remote control holder 170 is a rectangular box-shaped member with an open front and top. Side plates 171 are rectangular and form the left and right side surfaces of remote control holder 170. Side plates 171 each have holding portions 171a that are bent toward each other. Holding portions 171a prevent remote control device 160 from falling out of the open front surface when remote control device 160 is stored.

[0125] Bottom plate 172 is a rectangular plate and forms the bottom surface of remote control holder 170. Back plate 173 is a rectangular plate and forms the bottom surface of remote control holder 170. Back plate 173 is also provided with cushioning member 174 that reduces vibrations of remote control device 160 and impacts to remote control device 160 when remote control device 160 is stored.

[0126] 10, remote control holder 170 exposes remote control display unit 86b when remote control device 160 is stored in the holder. By exposing remote control display unit 86b in this manner, the worker can view remote control display unit 86b when remote control device 160 is stored in remote control holder 170.

[0127] 11 and 12, the remote control holder 170 is disposed on the outside of either the left or right frame 592a of the connection frame 592 of the antenna frame 59 (for example, the right frame 592a).

[0128] Specifically, as described above, the remote control holder 170 is disposed on either the left or right side (for example, on the right side) of the handlebars 35 and above the hood 39 (see FIG. 7). The remote control holder 170 is also disposed below the aircraft-side display unit 86a (see FIG. 7). This allows the remote control holder 170 to be disposed in a position that does not interfere with the operator's work (such as piloting), and allows the remote control holder 170 to be disposed in a position where the operator can see the remote control-side display unit 86b when the remote control device 160 is stored.

[0129] As shown in FIG. 12, the operation signal receiving antenna 141 may be disposed in front of the position information acquisition device 150.

[0130] 11 and 12, a notification light 190 is provided on either the left or right frame member 591 of the antenna frame 59. The notification light 190 is attached to the right frame member 591 by being supported by the support member 191. The notification light 190 is disposed, for example, at a position inside the aircraft body of the right frame member 591 (the left side of the right frame member 591). The notification light 190 notifies an operator or the like of aircraft abnormalities and obstacle detection, as well as the type of mode currently being executed (autonomous driving mode, remote control mode, manual driving mode, etc.) by changing the color or position of the light that is lit.

[0131] <Example of display on remote control device> In the remote control device 160, the remote control side display unit 86b displays, for example, information on whether the traveling vehicle body 2 (see FIGS. 1 and 2) is currently capable of autonomous driving, information on whether the traveling vehicle body 2 is currently in autonomous driving, information on whether the traveling vehicle body 2 is currently capable of remote control, information on whether the traveling vehicle body 2 is currently being remotely controlled, etc. Displaying various types of information on the remote control side display unit 86b in this way allows the worker to easily grasp this information, thereby improving workability.

[0132] The remote control side display unit 86b of the remote control device 160 can also display various information on the partial row clutch (also called furrow clutch) 180 that drives and controls the planting device 55 of the seedling planting unit 4 (see FIG. 1).

[0133] Here, we will explain the partial row clutch 180. Figure 13 is a diagram showing an example of the connection configuration of the partial row clutch 180. Note that Figure 13 is a schematic diagram of the planting device 55 seen from the rear, and shows the partial row clutch 180 that turns on and off the power transmission to the planting device 55 for every two rows.

[0134] As shown in Figure 13, the seedling transplanter 1 (see Figures 1 and 2) includes an instruction unit 181, a partial row clutch 180, an instruction unit 181, a drive unit 182, an on / off mechanism 183, and the control device 100 described above.

[0135] In the seedling transplanter 1, the multiple planting devices 55 are lined up in the left-right direction of the traveling body 2 (see Figures 1 and 2). For example, the planting devices 55 are lined up in order from left to right as a first planting device 55, a second planting device 55, a third planting device 55, and a fourth planting device 55.

[0136] As mentioned above, the seedling planting section 4 (see Figures 1 and 2) plants in eight rows and is equipped with a planting transmission case 56 that also serves as a frame. The rear of the planting transmission case 56 is branched into four parts, and at the rear end of each branch, a rotary case 57 and a planting claw 551 that make up the planting device 55 are provided.

[0137] That is, the first planting device 55 plants rows 1 and 2 from the left, the second planting device 55 plants rows 3 and 4, the third planting device 55 plants rows 5 and 6, and the fourth planting device 55 plants rows 7 and 8.

[0138] There are four partial row clutches 180, corresponding to the first to fourth planting devices 55, and they are lined up in the left-right direction. For example, the partial row clutches 180 are lined up in order from the left, namely, the first partial row clutch 180, the second partial row clutch 180, the third partial row clutch 180, and the fourth partial row clutch 180.

[0139] The first partial row clutch 180 to the fourth partial row clutch 180 respectively turn on and off the power transmission to the corresponding first planting device 55 to fourth planting device 55. That is, the partial row clutches 180 turn on and off the power transmission to the first planting device 55 via the first partial row clutch 180, turn on and off the power transmission to the second planting device 55 via the second partial row clutch 180, turn on and off the power transmission to the third planting device 55 via the third partial row clutch 180, and turn on and off the power transmission to the fourth planting device 55 via the fourth partial row clutch 180.

[0140] The indicators 181 are four in number, corresponding to the first to fourth partial-component clutches 180, and are lined up, for example, in the left-right direction. For example, the indicators 181 are lined up in order from left to right as a first indicator 181, a second indicator 181, a third indicator 181, and a fourth indicator 181.

[0141] The first instruction unit 181 to the fourth instruction unit 181 are input to the control device 100, and the control device 100 operates the drive unit 182 and the on / off mechanism 183 to issue on / off instructions to the first partial-component clutch 180 to the fourth partial-component clutch 180 that have been set, respectively.

[0142] The control device 100 is electrically connected to a link sensor 31 that detects the raising and lowering of the lifting link 3 of the seedling planting section 4 and a handle sensor 351 that detects the turning angle of the handle 35, and receives detection signals from each and outputs control signals.

[0143] The remote control device 160 (see FIG. 9) can turn on and off the four partial row clutches 180 in order, starting with the first partial row clutch 180 corresponding to the first planting device 55 located at one end in the left-right direction, on the remote control side operation unit 87b (see FIG. 9). The remote control device 160 also displays the on / off states of the four partial row clutches 180 on the remote control side display unit 86b (see FIG. 9).

[0144] In this way, the remote control device 160 can remotely turn on and off the four partial row clutches 180, and the on / off states of the four partial row clutches 180 can be confirmed on the remote control side display unit 86b, thereby improving operability.

[0145] In the seedling transplanter 1 according to the embodiment described above, the remote control mode using the remote control device 160 is automatically switched to the manual driving mode, and when a predetermined time has elapsed since the last operation of the remote control device 160 while the remote control mode is being executed, the mode is automatically switched back to the manual driving mode. After the mode is switched to the manual driving mode, a message is displayed on the remote control display unit 86b to notify the user that the mode has been switched to the manual driving mode.

[0146] In addition, when the automatic driving mode is being executed, if the traveling vehicle body 2 is moving forward, the remote control device 160 is restricted so that the deceleration operation cannot cause the traveling vehicle body 2 to slow down until it stops (halts) or moves backward, and when the automatic driving mode is being executed, the remote control device 160 is restricted so that the acceleration operation cannot cause the traveling vehicle body 2 to slow down until it stops (halts) or moves forward.

[0147] In addition, in the remote operation mode using the remote control device 160, it is possible to adjust the seedling removal amount, planting depth, rotor height, and hydraulic sensitivity. The remote control side display 86b of the remote control device 160 can also display the current setting values ​​and correction values ​​for each function. Various modes can also be changed from the remote control device 160.

[0148] Furthermore, remote control device 160 can determine whether or not it has a malfunction, and if it determines that it has a malfunction, it automatically turns off the power. Furthermore, in the case of a malfunction of remote control device 160, after detecting that it has been switched to manual driving mode, receiver 140 will not receive an operation signal unless normal operation is performed on the remote control device 160 side. Furthermore, in the case of a malfunction of remote control device 160, after detecting that it has been switched to manual driving mode, remote control device 160 will not transmit an operation signal until the power of remote control device 160 is turned off.

[0149] Furthermore, if an operation in a simultaneous press pattern occurs for a predetermined time (e.g., 3 seconds) or more, remote control device 160 determines that there is a malfunction in remote control device 160. Furthermore, if an operation not in a simultaneous press pattern occurs for a predetermined time (e.g., 10 seconds) or more, remote control device 160 determines that there is a malfunction in remote control device 160.

[0150] Furthermore, in the remote operation mode using the remote control device 160, if no operation of the remote control device 160 is detected for a predetermined time (for example, one minute) or more, the control device 100 switches to the manual driving mode, thereby preventing erroneous operation.

[0151] If a limit switch (second seedling reduction switch) is further provided at a position where the seedling remaining amount in the seedling tank 53 is 1.2 sheets, and if the first seedling reduction switch is pressed and the second seedling reduction switch is not pressed during manual travel mode, the control device 100 will display, for example, a pop-up display on the machine-side display unit 86a to indicate that the seedlings need to be lowered to the planting position. Note that the pop-up display will not disappear until the dial on the operation panel 38 or the enter button 8706 on the remote control-side operation unit 87b of the remote control device 160 is pressed.

[0152] In addition, when the first seedling reduction switch is pressed and the second seedling reduction switch is not pressed while the automatic driving mode is being executed, the control device 100 automatically pauses the traveling vehicle body 2 and displays, for example, a pop-up display on the vehicle body display unit 86a, indicating that the seedling planting unit 4 needs to be lowered to the planting position.

[0153] Furthermore, when the reference start point P1 or the reference end point P2 is erased from the remote control device 160, the fact that the operation to erase the reference start point P1 or the reference end point P2 has been performed is displayed, for example, in a pop-up display on the machine-side display unit 86a.

[0154] Furthermore, when the azimuth angle changes from a confirmed state to an uncertain state, the control device 100 also displays a pop-up on the machine-side display unit 86a indicating that the azimuth angle is unconfirmed and prompting the user to move the machine forward or backward by 2 m. The seedling transplanter 1 also has a switch that, when turned OFF, denies all communication with the remote control device 160; when this switch is turned OFF, the control device 100 automatically switches the machine to manual travel mode, and displays a pop-up on the machine-side display unit 86a requesting that the switch be turned ON if the machine is to be operated using the remote control device 160.

[0155] Furthermore, when the first seedling reduction switch is no longer pressed, the control device 100 automatically pauses the traveling vehicle body 2 and causes the vehicle body display unit 86a to display a pop-up message indicating that the traveling vehicle body 2 has been paused due to a decrease in the remaining seedlings. Furthermore, the control device 100 pauses the traveling vehicle body 2 when it reaches the edge of a paddy field, and in this case, if the second seedling reduction switch is not pressed, causes the vehicle body display unit 86a to display a pop-up message indicating that seedlings need to be replenished.

[0156] Furthermore, when the control device 100 acquires the reference start point P1 while the teaching mode is being executed, it causes the machine-side display unit 86a to display, in a pop-up display, that the reference start point P1 has been acquired. Furthermore, when the control device 100 acquires, in a teaching mode while the control device 100 acquires, it causes the machine-side display unit 86a to display, in a pop-up display, that the sub-route has been created while the planned traveling route L is being determined.

[0157] In addition, when the control device 100 is in the teaching mode, after performing the teaching operation, it transitions to the automatic driving mode and when the planned driving route L is confirmed, it determines whether it is possible to drive an area equal to the length of the planned driving route L multiplied by the number of rows with the current remaining fuel, and if it is not possible to drive (insufficient fuel), it rejects the operation to start autonomous driving and displays a pop-up on the aircraft side display unit 86a indicating that refueling is necessary.

[0158] In this case, the control device 100 controls the vehicle so that autonomous traveling cannot be started until the pop-up display is cleared. The control device 100 may also control the pop-up display so that it is not cleared until the dial on the operation panel 38 or the enter button 8706 on the remote control side operation unit 87b of the remote control device 160 is pressed, or may control the pop-up display so that it is not cleared until fuel is refueled.

[0159] Furthermore, if the fuel level falls below a predetermined level while the vehicle is in the automatic driving mode or remote control mode, the control device 100 temporarily suspends the autonomous driving and displays a pop-up message on the vehicle body display unit 86a to indicate that the fuel level is low. In this case, the pop-up message ends when the fuel level rises above a certain level or when the vehicle is switched to a driving mode other than the automatic driving mode or remote control mode.

[0160] Furthermore, if the first seedling reduction switch is no longer pressed while the automatic travel mode or remote operation mode is in operation, the control device 100 automatically pauses the traveling body 2 and causes the machine-side display unit 86a to display a pop-up message indicating that the traveling body 2 has been paused due to a decrease in the remaining seedlings. Furthermore, if the second seedling reduction switch is pressed and the first seedling reduction switch is not pressed while the automatic travel mode or remote operation mode is in operation, the control device 100 automatically pauses the traveling body 2 and causes the machine-side display unit 86a to display a pop-up message indicating that the seedling planting unit 4 needs to be lowered to the planting position.

[0161] Furthermore, if the control device 100 detects fertilizer clogging in one or more fertilizer hoses from a sensor that detects fertilizer clogging in the fertilizer hose discharge section while the automatic driving mode or remote control mode is in operation, the control device 100 automatically pauses the traveling vehicle body 2 and displays a pop-up message on the vehicle body display unit 86a indicating that the traveling vehicle body 2 has been paused due to a fertilizer clogging. In this case, the pop-up message ends when the fertilizer clogging is no longer detected or when the mode is switched to a traveling mode other than the automatic driving mode or remote control mode. The pop-up message also ends when the first seedling reduction switch is detected or when the mode is switched to a traveling mode other than the automatic driving mode or remote control mode.

[0162] Also, the pop-up display is only displayed when the seedling planting section is lowered and the planting clutch 27a is "on."

[0163] Furthermore, when the second fertilizer reduction switch detects fertilizer but the first fertilizer detection switch, which detects fertilizer at a different position from the second fertilizer reduction switch, does not detect fertilizer, the control device 100 causes the machine-side display unit 86a to display a pop-up message informing the user that the seedling planting unit 4 needs to be lowered to the planting position. Furthermore, when the second seedling reduction switch is pressed but the first seedling reduction switch is not pressed, the control device 100 causes the machine-side display unit 86a to display a pop-up message informing the user that the fertilizer is unevenly distributed and needs to be made uniform.

[0164] Furthermore, in the automatic traveling mode, if the second fertilizer reduction switch does not detect fertilizer when the traveling vehicle body 2 starts autonomous traveling after performing a ridge-pushing operation, the control device 100 will reject the operation to start autonomous traveling and cause the machine-side display unit 86a to display a pop-up message indicating that fertilizer needs to be replenished. Furthermore, in the automatic traveling mode, if the second seedling reduction switch is not pressed when the traveling vehicle body 2 starts autonomous traveling after performing a ridge-pushing operation, the control device 100 will reject the operation to start autonomous traveling and cause the machine-side display unit 86a to display a pop-up message indicating that seedlings need to be replenished.

[0165] In this case, the control device 100 controls the robot so that autonomous traveling cannot be started until the pop-up display is cleared. The control device 100 may also control the pop-up display so that it is not cleared until the dial on the operation panel 38 or the decision button 8706 on the remote control side operation unit 87b of the remote control device 160 is pressed, or may control the pop-up display so that it is not cleared until seedlings or fertilizer are replenished.

[0166] In this case, the display flag for the pop-up display becomes "0" when the seedling planting section 4 is lowered.

[0167] In addition, the remote control device 160 has an emergency stop button that switches from automatic driving mode to manual driving mode and brings the traveling vehicle body 2 to an emergency stop, and when the emergency stop button is pressed, the control device 100 displays a pop-up message on the vehicle body display unit 86a to indicate that the switches have been turned off due to the emergency stop of the traveling vehicle body 2.

[0168] Furthermore, if the traveling vehicle body 2 slips while traveling, the control device 100 detects the slip from the ratio of the rotation speed of the front wheels 10 and the left and right rotation speeds, automatically activates the differential lock function, and causes the vehicle-side display unit 86a to display that the differential lock function is activated while a limit switch that confirms the activation of the differential lock function is pressed. Furthermore, if the traveling vehicle body 2 cannot escape from the slip, the control device 100 executes a forced four-wheel drive mode that engages the rear wheel clutch, and causes the vehicle-side display unit 86a to display that the forced four-wheel drive mode is being executed.

[0169] Furthermore, if slippage is not resolved even after rotating the wheels a predetermined number of times while the forced four-wheel drive mode is being executed during execution of the automatic driving mode or remote control mode, the control device 100 automatically stops the traveling vehicle body 2 and switches to manual driving mode. In this case, the vehicle body display unit 86a displays that autonomous traveling has been stopped because slippage has not been resolved. In this case, the display flag becomes "0" after a predetermined time has elapsed.

[0170] Furthermore, if any abnormality occurs in the vehicle body while the automatic driving mode or remote control mode is being executed, the control device 100 automatically pauses the traveling vehicle body 2 and causes the vehicle body display unit 86a to display that traveling has been stopped due to the detection of an abnormality. In this case, the pop-up display ends when the abnormality is no longer detected or when the mode is switched to a driving mode other than the automatic driving mode or remote control mode.

[0171] In addition, the control device 100 prohibits transition to automatic driving mode or remote control mode unless the HST lever is in neutral, and if an operation to transition to automatic driving mode or remote control mode is performed while the HST lever is in a position other than neutral, a pop-up message is displayed on the aircraft-side display unit 86a urging the user to return the main transmission operation lever 36 to neutral.

[0172] In addition, the control device 100 prohibits the sub-speed change control lever 37 from transitioning to the automatic travel mode, remote control mode, or teaching mode when the sub-speed change control lever 37 is in a state other than planting, and displays a pop-up message on the machine-side display unit 86a urging the user to return the sub-speed change control lever 37 to planting when an operation to transition to the automatic travel mode, remote control mode, or teaching mode is performed when the sub-speed change control lever 37 is in a state other than planting.

[0173] In addition, the control device 100 prohibits transition to automatic driving mode or remote control mode when the parking brake pedal is operated, and if an operation to transition to automatic driving mode or remote control mode is performed while the parking brake pedal is operated, a pop-up message is displayed on the aircraft-side display unit 86a urging the driver to release the parking brake pedal.

[0174] In this case, the control device 100 ends the pop-up display when the operation requested in the pop-up display is performed or the mode is switched to an available mode. The control device 100 may also end the pop-up display by pressing the dial. The display flag becomes "0" after 5 seconds, when the operation requested in the pop-up display is performed or the mode is switched to an available mode. The control device 100 does not display the pop-up display on the aircraft-side display unit 86a if it detects tilt of the aircraft.

[0175] Furthermore, when the automatic driving mode or remote control mode is being executed, if any of the handlebars 35, the main speed change operation lever 36, or the auxiliary speed change operation lever 37 is operated, the control device 100 automatically pauses the traveling vehicle body 2 and switches to manual driving mode, and displays on the vehicle body display unit 86a that the operation performed has cancelled the autonomous driving.

[0176] In addition, if the traveling vehicle body 2 deviates from the planned traveling route L or work area set in the teaching mode while the automatic traveling mode is being executed, the control device 100 automatically pauses the traveling vehicle body 2, switches to the manual traveling mode, and displays on the vehicle side display unit 86a that the autonomous traveling has been terminated due to deviation from the planned traveling route L or work area.

[0177] In this case, the display flag becomes "0" when the traveling vehicle body 2 returns to the planned traveling route L or the working area, when the traveling mode is switched to a traveling mode other than the automatic traveling mode, or after 5 seconds.

[0178] Furthermore, if the number of acquired points exceeds the number that can be acquired during the teaching mode or if the number of routes to be created is insufficient, the control device 100 switches to manual driving mode and displays on the vehicle-side display unit 86a that a route cannot be created due to insufficient capacity. Note that the control device 100 stops displaying the message that a route cannot be created due to insufficient capacity after a predetermined time has elapsed.

[0179] Furthermore, if the control device 100 remains in the remote control mode without any operation, it will automatically switch to the manual driving mode after a predetermined time has elapsed, and display on the machine-side display unit 86a that no operation has been performed for the predetermined time.

[0180] Furthermore, the control device 100 causes the aircraft-side display unit 86a to display a message urging the user to perform an operation to confirm the azimuth angle when the azimuth angle changes from a confirmed state to an uncertain state. Furthermore, the control device 100 prohibits the transition to the automatic driving mode or teaching mode when the azimuth angle is uncertain, and causes the aircraft-side display unit 86a to display a message urging the user to perform an operation to confirm the azimuth angle when a button for changing modes is pressed when the azimuth angle is uncertain.

[0181] In this case, the display flag becomes "0" when the azimuth angle is determined, a predetermined time has elapsed, or the mode is switched to remote control mode or manual driving mode.

[0182] Furthermore, the seedling transplanter 1 according to the above embodiment is capable of adjusting the timing of water spraying by the planting and cleaning device using the remote control device 160. Furthermore, the seedling transplanter 1 according to the above embodiment is capable of adjusting the lateral feed amount of the seedlings in the seedling tank 53 using the remote control device 160. Furthermore, the seedling transplanter 1 according to the above embodiment is capable of changing the seedling supply level of the seedling tank 53 using the remote control device 160.

[0183] Furthermore, the seedling transplanter 1 according to the above-described embodiment is capable of changing the number of seedlings to be planted and the height of the line-drawing marker 65 using the remote control device 160. Furthermore, the seedling transplanter 1 according to the above-described embodiment is capable of adjusting the rolling control of the machine body using the remote control device 160. Furthermore, the seedling transplanter 1 according to the above-described embodiment is capable of switching the herbicide sprayer on and off using the remote control device 160. Furthermore, the seedling transplanter 1 according to the above-described embodiment is capable of changing the supply stage of the seedling supply device.

[0184] The above-described embodiment realizes the following work vehicle 1.

[0185] (1) A work vehicle 1 comprising: a traveling body 2 capable of traveling within a field; a work machine (seedling planting unit) 4 mounted on the traveling body 2 and performing work within the field F; a position information acquisition device 150 mounted on the traveling body 2 and receiving positioning information transmitted from a satellite positioning system using a position information receiving antenna 151 to acquire position information for the traveling body 2; an antenna frame 59 supporting the position information acquisition device 150 at a predetermined position; a control device 100 that causes the traveling body 2 to travel autonomously based on the position information acquired by the position information acquisition device 150; a remote control device 160 that can remotely control the traveling body 2 by transmitting an operation signal to the control device 100; a receiver 140 mounted on the traveling body 2 and receiving an operation signal transmitted from the remote control device 160; and an operation signal receiving antenna 141 that is a receiving antenna for the receiver 140 and is supported by the antenna frame 59.

[0186] According to this type of work vehicle 1, the operation signal receiving antenna 141 that receives an operation signal from the remote control device 160 is supported by the antenna frame 59 that supports the position information acquisition device 150, so it is possible to consolidate the operation signal receiving antenna 141 and the position information acquisition device 150 (position information receiving antenna 151). By consolidating multiple receiving antennas in this way, it is possible to prevent the wiring W used to connect the receiving antennas, devices, and control devices from becoming too complicated, and to maintain a good vehicle layout.

[0187] (2) In the above (1), the antenna frame 59 has a support 593 that is positioned above the traveling body 2 and supports the position information acquisition device 150, and the operation signal receiving antenna 141 is supported by the support 593, in the work vehicle 1.

[0188] In addition to the effect (1) above, such a work vehicle 1 has the advantage that the operation signal receiving antenna 141 that receives the operation signal from the remote control device 160 is located at a high position, so that good reception sensitivity can be maintained.

[0189] (3) In the work vehicle 1 described above in (2), the traveling body 2 has a floor step 33 for a worker to board, and the operation signal receiving antenna 141 is positioned within the left-right width of the floor step 33 when viewed from the front of the vehicle.

[0190] In addition to the effect of (2) above, with such a work vehicle 1, the operation signal receiving antenna 141 that receives the operation signal from the remote control device 160 is contained within the left-right width of the floor step 33 and does not protrude to either the left or right side from the vehicle body, thereby reducing contact of the operation signal receiving antenna 141 with objects outside the vehicle body.

[0191] (4) In the work vehicle 1 described above in (3), the traveling body 2 has a bonnet 39 that houses the engine 30 in front of the floor step 33, and the operation signal receiving antenna 141 is positioned above the bonnet 39 and within the left-right width of the bonnet 39 when viewed from the front of the vehicle.

[0192] In addition to the effect of (3) above, with such a work vehicle 1, the operation signal receiving antenna 141 that receives the operation signal from the remote control device 160 is contained within the left-right width of the hood 39 and does not protrude to either the left or right side from the vehicle body, which further reduces contact of the operation signal receiving antenna 141 with objects outside the vehicle body.

[0193] (5) In any one of (1) to (4) above, the operation signal receiving antenna 141 is disposed adjacent to the position information acquisition device 150 and behind the position information acquisition device 150 in a side view of the vehicle body.

[0194] In addition to any one of the effects (1) to (4) above, such a work vehicle 1 can integrate the operation signal receiving antenna 141 that receives the operation signal from the remote control device 160 and the position information acquisition device 150 (position information receiving antenna 151). This makes it easier to route the wiring W and also improves the appearance.

[0195] (6) In the above (5), the antenna frame 59 is arranged above the traveling body 2 and has a support 593 that supports the position information acquisition device 150, the support 593 has a space 595 formed by a bent portion 594 at the rear of the support 593, the operation signal receiving antenna 141 is arranged in the space 595, the antenna frame 59 is formed by a pipe-shaped frame member 591, and wiring W connecting the receiver 140 and the operation signal receiving antenna 141 is routed through the inside of the frame member 591, work vehicle 1.

[0196] According to such a work vehicle 1, in addition to the effect (5) above, the wiring connecting the receiver 140 and the operation signal receiving antenna 141 is protected by the frame member 591 of the antenna frame 59, thereby preventing breakage of the wiring W, etc.

[0197] (7) In any one of (1) to (6) above, the control device 100 has an autonomous driving mode in which the traveling body 2 can travel autonomously, and a manual driving mode in which the traveling body 2 can be manually driven by an operator, and in the autonomous driving mode, it further has an automatic driving mode in which the traveling body 2 is automatically controlled, and a remote control mode in which the traveling body 2 is controlled based on remote control by an operator using a remote control device 160, and if an operation signal is not received for a predetermined period of time while the remote control mode is being executed, the work vehicle 1 switches to the manual driving mode.

[0198] According to such a work vehicle 1, in addition to any one of the effects (1) to (6) above, execution of the remote control mode for a long period of time is suppressed, thereby improving safety.

[0199] (8) In any one of (1) to (7) above, the work implement 4 is a seedling planting unit 4 provided at the rear of the traveling body 2, which plants seedlings in the soil surface of the field F, and has a plurality of planting devices 55 lined up in the left-right direction and a plurality of partial row clutches 180 that correspond to the plurality of planting devices 55 and drive and control the plurality of planting devices 55 by turning them on and off, and the remote control device 160 has a remote control side display unit 86b that can display various information, and can turn on and off the partial row clutches 180 in order from the partial row clutch 180 that corresponds to the planting device 55 located at one end in the left-right direction, and the remote control side display unit 86b displays the on / off state of the plurality of partial row clutches 180,

[0200] According to such a work vehicle 1, in addition to any one of the effects (1) to (7) above, the on / off operation of the multiple partial-row clutches 180 can be performed using the remote control device 160, and the on / off state of the multiple partial-row clutches 180 can be confirmed on the remote control side display unit 86b, thereby improving workability.

[0201] (9) In the above (8), the work machine 4 further has a fertilizer applicator 5 that spreads fertilizer on the field F, and the control device 100 has a variable fertilization mode that adjusts the amount of fertilizer spread by the fertilizer applicator 5 based on field information including the fertility of the field F, the water temperature of the field F, and the water depth of the field F, and in the variable fertilization mode, the work vehicle 1 has a remote fertilization mode in which the amount of fertilizer spread can be adjusted based on remote operation by the worker using the remote control device 160, and a manual fertilization mode in which the amount of fertilizer spread can be manually adjusted.

[0202] According to such a work vehicle 1, in addition to the effect of (8) above, variable fertilization (remote fertilization mode) can also be executed from remote control device 160, thereby improving workability.

[0203] (10) In any one of (1) to (9) above, the traveling body 2 has a floor step 33 for a worker to board and an operating unit 41 provided on the upper part of the floor step 33, the remote control device 160 has a remote control side display unit 86b that can display various information and an operating unit (remote control side operating unit) 87b that is provided below the remote control side display unit 86b, the antenna frame 59 has a connection frame 592 that connects to the operating unit 41 and a remote control holder 170 that is provided on the connection frame 592 and in which the remote control device 160 is stored, and the remote control holder 170 exposes the remote control side display unit 86b when the remote control device 160 is stored.

[0204] According to such a work vehicle 1, in addition to any one of the effects (1) to (9) above, when remote control device 160 is stored in remote control holder 170, the worker can visually check remote control side display section 86b.

[0205] (11) In the above (10), the traveling body 2 has a bonnet 39 that houses the engine 30 in front of the floor step 33, a steering handle 35 that is erected at the rear of the bonnet 39, a meter panel 45 that is provided at the rear of the bonnet 39, and a machine-side display unit 86a that is provided at the rear of the bonnet 39 near the meter panel 45 and displays various information, and the remote control holder 170 is positioned on either the left or right side of the steering handle 35, above the bonnet 39, and below the machine-side display unit 86a.

[0206] With such a work vehicle 1, in addition to the effect of (10) above, the remote control holder 170 can be placed in a position that does not interfere with the worker's work (such as operating the vehicle), and when the remote control device 160 is stored, the remote control holder 170 can be placed in a position where the remote control side display unit 86b can be seen by the worker.

[0207] 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]

[0208] 1 Work vehicle (seedling transplanter) 2 Running vehicle 4 Work equipment (seedling planting section) 5 Fertilizer application equipment 30 Engine 33 Floor Step 35 Steering handle (handle) 39 Bonnet 41 Control Unit 45 Meter panel 55 Planting equipment 59 Antenna Frame 591 Frame members 592 Connection Frame 593 Support 594 Bend 595 Space 86a Aircraft display unit 86b Remote control display 87b Operation unit (remote control operation unit) 100 control device 140 receiver 141 Operation signal receiving antenna 150 Location information acquisition device 151 Location information receiving antenna 160 Remote Control Device 170 Remote Control Holder 180 partial row clutch F field

Claims

1. a control device for controlling the traveling vehicle body; a remote control device capable of remotely controlling the traveling vehicle body by transmitting an operation signal to the control device; a receiver provided on the vehicle body for receiving the operation signal transmitted from the remote device; a meter panel provided on the vehicle body; and a vehicle-side display unit for displaying various information on the meter panel. Equipped with a position information acquisition device provided on the traveling vehicle body, the position information acquisition device receiving positioning information transmitted from a satellite positioning system by a position information receiving antenna, and acquiring position information of the traveling vehicle body; a control device that causes the traveling vehicle body to travel autonomously based on the position information acquired by the position information acquisition device; an antenna frame that supports the location information acquisition device at a predetermined position; a receiver for receiving the operation signal transmitted from the remote device and a receiving antenna of the receiver are supported by the antenna frame; The antenna frame includes: a frame member formed of a pipe, and wiring connected to the position information receiving antenna or the receiving antenna of the receiver is routed through the inside of the frame member; If there is a direct manual operation of either the steering handle or the gear change operation tool while the autonomous driving is being performed, the traveling vehicle body is automatically stopped and shifted to manual driving, and a message is displayed on the vehicle body display unit indicating that the autonomous driving has been canceled; The remote device A remote device has a display unit on the remote device that can display various information, and an operation unit that is disposed on the remote device, a remote device holder provided on the traveling vehicle body and supporting the remote device; When the remote device is in a supported state, it is located near the aircraft-side display unit, In the remote traveling using the remote device, the work vehicle is characterized in that if no operation of the remote device is detected for a predetermined period of time or longer, the remote traveling is cancelled by the control device.

2. The work vehicle described in claim 1, characterized in that if the vehicle deviates from a set planned driving route or work area while autonomous driving is being performed, the control device automatically stops the vehicle and switches to manual driving, and displays on the vehicle-side display unit that autonomous driving has been terminated due to deviation from the set planned driving route or work area.

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