Work vehicles

Abstract

To provide a work vehicle that improves work efficiency.SOLUTION: A work vehicle includes: a travelling vehicle body; and a control device for controlling a steering angle of a steering wheel of the travelling vehicle body to allow the travelling vehicle body to autonomously travel. The control device sets a working area to autonomously travel by teaching travel along a plurality of sides of a farm field. A seedling planting part is installed to the travelling vehicle body. The control device can change a condition of planting a seedling to a farm field in accordance with an operation by a remote operation tool and, when the travelling vehicle body transitions to the nest step, resets the condition of planting a seedling that is changed in accordance with the operation by the remote operation tool to a predetermined initial state.SELECTED DRAWING: Figure 4

Description

[Technical Field]

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

[0002] BACKGROUND ART Conventionally, there is known a work vehicle in which an operating device is held in a straight-ahead position and the traveling vehicle body is automatically driven in a straight-ahead position (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-24541 Summary of the Invention [Problem to be solved by the invention]

[0004] A work vehicle can be considered to perform manual driving under the control of a driver, or autonomous driving such as automatic straight-line driving, etc. However, there is room for improvement in improving work efficiency for work vehicles using the above technology.

[0005] The present invention has been made in view of the above, and aims to provide a seedling transplanter that improves work efficiency. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, a work vehicle (1) according to one aspect of an embodiment includes a traveling vehicle body (2), a seedling planting section (4) provided on the traveling vehicle body (2); and a control device (100) that controls the steering angle of the steering wheels of the traveling vehicle body (2) and causes the traveling vehicle body (2) to travel autonomously, and the control device (100) sets a work area in which the traveling vehicle body (2) will travel autonomously by teaching along a plurality of sides of a field, and systemThe control device (100) is capable of changing the conditions for planting seedlings in the field in response to operation by a remote control device, and when the traveling body (2) moves to the next process, it resets the seedling planting conditions changed in response to operation by the remote control device to a predetermined initial state. [Effects of the Invention]

[0007] According to one aspect of the embodiment, the work vehicle can improve work efficiency. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a side view showing a work vehicle. [Figure 2] FIG. 2 is a plan view showing the work vehicle. [Figure 3] FIG. 3 is a block diagram showing a control system centered on the control device of the seedling transplanter. [Figure 4] FIG. 4 is a diagram showing a method for setting a work area by teaching travel according to the embodiment. [Figure 5] FIG. 5 is a flowchart illustrating the manual driving process according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] (Overview of work vehicles) First, an overview of a work vehicle 1 according to an embodiment will be described with reference to Figures 1 and 2. Figure 1 is a side view showing the work vehicle 1. Figure 2 is a plan view showing the work vehicle 1.

[0010] In the following description, the forward / rearward direction refers to the direction of travel of the work vehicle 1 when traveling straight, with the front side of the traveling direction being defined as "front" and the rear side being defined as "rear." The traveling direction of the work vehicle 1 is the direction from the driver's seat 41 toward the handlebars 35 (steering device) when traveling straight (see Figures 1 and 2).

[0011] The left-right direction is a direction that is horizontally perpendicular to the front-rear direction and defines left and right facing the "front." In other words, when the operator (also referred to as an operator) is seated in the operator's seat 41 and facing forward, the left-hand side is the "left" and the right-hand side is the "right."

[0012] The up-down direction is the vertical direction. The front-rear direction, 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 to these directions.

[0013] In this embodiment, the work vehicle 1 will be described as a riding seedling transplanter 1 that is equipped with a seedling planting unit 4 as a field work device and that receives seedlings in a field. As shown in Figures 1 and 2, the seedling transplanter 1 is equipped with the seedling planting unit 4, which can be raised and lowered via a lifting link mechanism 3 on the rear side of the traveling body 2, to plant seedlings in the field.

[0014] The main body of the fertilizer applicator 5 is disposed on the upper rear side of the traveling body 2. If the work vehicle 1 is not a seedling transplanter 1, it may be provided with a sowing device that supplies seeds as a work device.

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

[0016] The continuously variable transmission 14 is a hydrostatic continuously variable transmission known as an HST (Hydro Static Transmission). In the following, a case where the continuously variable transmission is the HST 14 will be described.

[0017] An auxiliary transmission mechanism 16 is provided 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.

[0018] In addition, rear wheel gear cases 11a are attached to both the left and right sides of a rear frame 22 (see Figure 2) that is 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.

[0019] Left and right link support frames 23 that support the lifting link mechanism 3 protrude upward from the upper part of the rear frame 22. A pair of left and right lower link arms 24 are provided below and between the left and right link support frames 23. A hydraulically operated lifting cylinder 25 is provided between the left and right lower link arms 24.

[0020] An upper link arm 26 is provided above the lifting cylinder 25, forming a parallel link mechanism, the lifting link mechanism 3. The left and right lower link arms 24, the lifting cylinder 25, and the other end of the upper link arm 26, each of which has one end connected to the traveling vehicle body 2, are attached to the front of the seedling planting section 4.

[0021] 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.

[0022] The rotational power of the engine 30 is transmitted to a hydraulic pump (not shown). The hydraulic pressure generated by the hydraulic pump is supplied to the HST 14, a power steering mechanism 88 (see FIG. 3) of the handle 35, the lift cylinder 25, etc.

[0023] The 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.

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

[0025] A side clutch 44 (see FIG. 3) that 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 41 and on one of the left and right sides.

[0026] Of the left and right side clutch pedals 43a, when the side clutch pedal 43a on the inside of the turn is depressed to disengage the side clutch 44, and then the steering wheel 35 is operated to make a turn, the drive rotation of the rear wheel 11 on the inside of the turn can be completely cut off.

[0027] A bonnet 39 with an operation panel 38 arranged on top for operating each section is provided on the upper front side of the traveling vehicle body 2. The operation panel 38 is provided with a monitor 86 (see FIG. 3) and the like.

[0028] The bonnet 39 is also provided with a handle 35 for steering the traveling vehicle body 2, a speed change control lever 36 for operating the HST 14 and the seedling planting section 4, and an auxiliary speed change control lever 37 for operating the auxiliary speed change mechanism 16.

[0029] 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. The front wheels 10 are, for example, steerable wheels that turn in response to steering of the handlebars 35.

[0030] An engine cover 30a that covers the top and sides of the engine 30 is provided behind the hood 39 and above the engine 30, and a pilot's seat 41 where the pilot sits is provided above the engine cover 30a.

[0031] The fertilizer applicator 5 is provided behind the driver's seat 41, 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.

[0032] 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 on the shoes of an operator walking on the floor steps 33 falls off, the fallen mud will fall into the field.

[0033] 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.

[0034] In addition, on the front side of the traveling body 2 and 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 loading tables 52 are arranged at intervals in the vertical direction, so that work materials such as seedlings and fertilizer bags to be replenished in the seedling planting section 4 can be placed.

[0035] A seedling tank 53 for carrying seedlings to be planted in the field is attached to the rear end of the lifting link mechanism 3, along with a sliding mechanism for sliding it left and right. Seedling partition fences 54, 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 a seedling planting device 55 that picks up the loaded seedlings and plants them in the field.

[0036] The seedling planting device 55 plants eight rows at the same time, the same number as the number of rows to be planted separated by the seedling partition fence 54. Four planting transmission cases 56 are arranged at intervals below the seedling tank 53, and planting rotaries 57 are attached to both the left and right sides of the planting transmission cases 56, which rotate to pick up seedlings using planting rods 58 and plant them in the field.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] In addition, below the seedling planting section 4, and forward of the float 62, a ground leveling rotor 63 for leveling unevenness in the field surface is provided. Driving force is transmitted to the ground leveling rotor 63 from the rear wheel gear case 11a on the other left or right side via a rotor transmission shaft 63a.

[0041] 1, line-drawing markers 65 are provided on both the left and right sides of the seedling planting section 4. One of 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.

[0042] 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.

[0043] Depending on the soil quality of the field, the guide lines formed by the left and right line-drawing markers 65 may quickly become buried, 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.

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

[0045] For example, the position acquisition device 150 receives positioning information from a positioning means, 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 acquisition device 150 is attached to the mounting stay 59, for example, and disposed above the traveling vehicle body 2.

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

[0047] (Seedling transplanter control system) Next, the control system of the seedling transplanter 1 will be described with reference to Fig. 3. Fig. 3 is a block diagram showing the control system centered on the control device 100 of the seedling transplanter 1. The seedling transplanter 1 is capable of controlling each part by electronic control, and is equipped with a control device (hereinafter referred to as a controller) 100 that controls each part.

[0048] The controller 100 is provided with a processing section having a CPU (Central Processing Unit) and the like, a memory section such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input / output section, which are interconnected to allow signals to be exchanged between them. The memory section stores computer programs and the like for controlling the seedling transplanter 1. The controller 100 performs each function by reading out the computer programs and the like stored in the memory section.

[0049] The controller 100 is connected to actuators such as a throttle motor 80, hydraulic control valves 81 and 82, a planting clutch actuation solenoid 83, a side clutch actuation solenoid 84, an HST14 motor 85, a line drawing marker lifting motor 87, a steering motor 95, and a differential lock switching motor 96.

[0050] The throttle motor 80 increases or decreases the rotation speed of the output shaft of the engine 30 by operating a throttle that adjusts the amount of 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 88. The planting clutch operating solenoid 83 operates the planting clutch 27a.

[0051] The side clutch actuation solenoid 84 actuates the side clutch 44, which switches the state of power transmission to the rear wheels 11 (see FIG. 1). The side clutch 44 is provided on each of the left and right rear wheels 11, and two side clutch actuation solenoids 84 are provided corresponding to each side clutch 44.

[0052] The HST14 motor 85 changes the rotation angle of the trunnion of the HST 14, thereby changing the tilt angle of the swash plate of the HST 14. The steering motor 95 is a motor that drives the handle 35, which is a steering device that adjusts the steering amount (steering angle) of the front wheels 10 (see Figure 1) when automatic turning control is performed. The steering motor 95 rotates the handle 35. The line drawing marker lifting motor 87 lifts and lowers the line drawing marker 65.

[0053] The differential lock switching motor 96 is a motor that switches between operating and deactivating a differential lock mechanism 97 (hereinafter referred to as the differential lock mechanism) that rotates the left and right running wheels, specifically the left and right front wheels 10, at the same rotational speed. When the differential lock mechanism 97 is engaged, the left and right running wheels rotate at the same rotational speed.

[0054] The controller 100 is connected to detection devices such as a rotation speed sensor 90, a steering amount sensor 91, and an inclination sensor 92. Two rotation speed sensors 90 are provided corresponding to the left and right rear wheels 11, and detect the rotation speeds of the left and right rear wheels 11, respectively. Note that the rotation speed sensors 90 may also detect the rotation speeds of the left and right front wheels 10.

[0055] The steering amount sensor 91 detects the amount of operation of the steering wheel 35, which is a steering device, i.e., the steering amount (steering angle) of the front wheels 10. The steering amount sensor 91 is provided, for example, on a shaft connected to a pitman arm. The steering amount is detected in both the left and right directions, with the value when the steering wheel 35 is in a preset straight-ahead position being used as a reference value. The tilt sensor 92 detects the tilt angle, which is the inclination of the traveling vehicle body 2.

[0056] In addition, signals are input to the controller 100 as operation signals from the speed change operation lever 36, the auxiliary speed change operation lever 37, the autonomous driving switch 46, the planting section lifting / lowering switch 47, the automatic straight-line movement switch 45, the automatic turning switch 48, the line drawing marker automatic lifting / lowering switch 49, etc.

[0057] The autonomous driving selector switch 46 is a switch that switches whether autonomous driving is performed. Specifically, the autonomous driving selector switch 46 is a switch that switches the driving mode between the autonomous driving mode and the manual driving mode. For example, when the autonomous driving selector switch 46 is "ON," the driving mode is set to the autonomous driving mode. When the autonomous driving selector switch 46 is "OFF," the driving mode is set to the manual driving mode. When the autonomous driving selector switch 46 is turned "ON," the automatic straight driving selector switch 45 and the automatic turning selector switch 48 are turned "ON." In other words, once the driving mode is set to the autonomous driving mode, the automatic straight driving selector switch 45 and the automatic turning selector switch 48 can be changed to "OFF" by the operator, even if they have been turned "ON" once.

[0058] The planting section lifting / lowering switch 47 is a switch that switches whether to lift or lower the seedling planting section 4. The planting section lifting / lowering switch 47 can be changed to the "up" and "down" positions.

[0059] When the planting unit lift switch 47 is in the "up" position, the seedling planting unit 4 rises to a predetermined non-working position and the seedling planting device 55 stops, putting it into a non-working state. When the planting unit lift switch 47 is in the "down" position, the seedling planting unit 4 descends to a predetermined working position and the seedling planting device 55 operates, putting it into a working state. In other words, the planting unit lift switch 47 is a switch that detects the working state of the seedling planting unit 4. Note that a separate switch that detects the working state of the seedling planting unit 4 may also be provided.

[0060] 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 amount of operation of the handlebars 35, i.e., the amount of steering 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 amount of steering. 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 amount of steering.

[0061] The automatic straight-line driving selector switch 45 is a switch that switches whether or not automatic straight-line driving is enabled. When the automatic straight-line driving selector switch 45 is set to "ON," a driving assist function, which will be described later, is enabled, and automatic straight-line driving can be performed. When the automatic straight-line driving selector switch 45 is set to "OFF," the driving assist function is disabled, and automatic straight-line driving cannot be performed.

[0062] The automatic turning selector switch 48 is a switch that switches whether or not automatic turning is enabled. When the automatic turning selector switch 48 is set to "ON," the turning assist function, which will be described later, is enabled, and automatic turning can be performed. When the automatic turning selector switch 48 is set to "OFF," the turning assist function is disabled, and automatic turning cannot be performed. When the automatic turning selector switch 48 is set to "OFF," automatic turning is not performed even if the conditions for performing automatic turning are met.

[0063] Furthermore, the controller 100 receives input of information such as the current position of the traveling vehicle body 2 from the position acquisition device 150. The controller 100 executes an autonomous traveling mode in which the traveling vehicle body 2 performs work while traveling automatically.

[0064] Moreover, various types of information are input to the controller 100 from a remote control device 170 (hereinafter referred to as "remote control"). For example, various types of information are input to the controller 100 from the remote control 170 via a receiver 180 (see FIG. 1). The receiver 180 is attached to, for example, a mounting stay 59 (see FIG. 1), and is disposed above the front side of the traveling vehicle body 2. Note that multiple receivers 180 may be provided.

[0065] The remote control 170 can remotely control the seedling transplanter 1. The remote control 170 may be a terminal device such as a smartphone. The remote control 170 transmits a control signal in response to an operation by an operator. The remote control 170 is communicably connected to the controller 100 via short-range wireless communication such as Wi-fi (registered trademark) or BLE (Bluetooth (registered trademark) Low Energy), but is not limited thereto, and may be communicably connected via a communication network or the like in addition to or instead of short-range wireless communication.

[0066] The remote control 170 may include, for example, a direction sensor or a positioning means such as a GPS or a GNSS. The remote control 170 may transmit its position information to the controller 100.

[0067] There may be provided a plurality of remote controls 170. That is, the controller 100 may be able to acquire the position information of each remote control 170 from a plurality of remote controls 170.

[0068] (Autonomous driving mode) Here, we will explain the autonomous driving (automatic driving) in a farm field by the seedling transplanter 1. The controller 100 (see FIG. 3) has an autonomous driving mode in which the steering motor 95 (see FIG. 3) is controlled to operate the handlebars 35 (see FIG. 3) while feeding back the steering amount of the front wheels 10 (see FIG. 1). The autonomous driving mode includes an automatic straight-line mode and an automatic turning mode.

[0069] In the automatic straight-line mode, the steering motor 95 is controlled so that the traveling vehicle body 2 moves straight along a preset straight-line path. In the automatic straight-line mode, the traveling vehicle body 2 moves straight without the driver's operation while the seedling planting unit 4 plants seedlings in the field. In other words, the traveling assist function for transplanting seedlings into the field is enabled and executed while the traveling vehicle body 2 moves automatically straight.

[0070] In the automatic turning mode, when the traveling vehicle body 2 reaches a predetermined turning position, the seedling planting unit 4 stops planting seedlings, and the steering motor 95 is controlled to turn the traveling vehicle body 2 along a preset turning path. The predetermined turning position is set, for example, based on the travel distance of the process where the work was performed and position information related to the process where the work was performed.

[0071] In the automatic turning mode, for example, the seedling planting unit 4 is raised and put into a non-working state, and the traveling body 2 turns without the operator's operation. In other words, the turning assist function that turns the traveling body 2 without the seedling planting unit 4 planting seedlings is enabled, and the turning assist function is executed.

[0072] As shown in Fig. 4, a working area in which the autonomous traveling mode is executed is set by performing teaching traveling along three sides La to Lc of the field under the operator's operation. Fig. 4 is a diagram showing a method for setting a working area by teaching traveling according to an embodiment.

[0073] For example, when a work area setting button (not shown) is operated to start traveling, the position information of the traveling vehicle body 2 is recorded as the start point of side La, and the position information of the traveling vehicle body 2 while traveling is recorded. Then, when the handlebars 35 are turned by the operator by a predetermined turning angle or more, the end point of side La is recorded and side La is set. In addition, the position information of the traveling vehicle body 2 at the start point of side Lb is recorded. The predetermined turning angle is a preset value, and is an angle at which it can be determined that the traveling vehicle body 2 has turned along the edge of a riverbank.

[0074] Furthermore, after the traveling vehicle body 2 has traveled straight, when the driver turns the handlebars 35 by a predetermined angle or more, the end point of side Lb is recorded and side Lb is set. In addition, the position information of the traveling vehicle body 2 at the start point of side Lc is recorded.

[0075] When the working area setting button is operated after the traveling vehicle body 2 has traveled straight, the position information of the traveling vehicle body 2 is recorded as the end point of side Lc, and side Lc is set. The working area is set by setting the three sides La to Lc.

[0076] In a field where a work area has been set, the autonomous driving mode can be executed. For example, in the field, the robot can automatically travel straight along a straight travel path parallel to side La or side Lc. In addition, automatic turning is possible when turning near the ridge on the side of side Lb. When turning near a side of the field that was not traveled during teaching travel, i.e., the ridge on the side opposite side Lb, turning can be performed by remote control.

[0077] Furthermore, even when the teaching driving is completed and the working area is set, if the driving mode is manual driving mode, the seedling transplanter 1 can be driven by the operator and seedlings can be transplanted into the field.

[0078] When the driving mode is the manual driving mode and the seedling transplanter 1 is being driven by the operator, if the automatic straight driving selector switch 45 is turned "ON", the seedling transplanter 1 will automatically drive in a straight line. In other words, the seedling transplanter 1 can execute the driving assist function even when the driving mode is the manual driving mode.

[0079] Furthermore, when the driving mode is the manual driving mode and the seedling transplanter 1 is being driven by the operator, if the automatic turning selector switch 48 is turned "ON", the seedling transplanter 1 can perform automatic turning. In other words, the seedling transplanter 1 can perform the turning assist function even when the driving mode is the manual driving mode.

[0080] When the driving mode is changed from the autonomous driving mode to the manual driving mode, the controller 100 stores driving information for causing the traveling vehicle body 2 to travel autonomously. For example, the controller 100 stores information about a straight path and information about a turning path. When the driving mode is changed to the manual driving mode, a driving assist function and a turning assist function can be executed based on the stored driving information.

[0081] (Manual driving processing) Next, the manual driving process according to the embodiment will be described with reference to Fig. 5. Fig. 5 is a flowchart illustrating the manual driving process according to the embodiment.

[0082] The controller 100 determines whether the automatic straight running changeover switch 45 has been turned "ON" while the vehicle is traveling in the manual traveling mode (S100).

[0083] If the automatic straight running changeover switch 45 is turned "ON" (S100: Yes), the controller 100 enables the driving assist function (S101). If the automatic straight running changeover switch 45 is "OFF" (S100: No), the controller 100 proceeds to step S102.

[0084] The controller 100 determines whether the automatic turning changeover switch 48 is turned "ON" (S102).

[0085] If the automatic turning switch 48 is turned "ON" (S102: Yes), the controller 100 enables the turning assist function (S103). If the automatic turning switch is "OFF" (S102: No), the controller 100 ends this processing.

[0086] In this way, even if the driving mode is manual driving mode, the driving assist function and turning assist function can be enabled by operating the automatic straight-line switching switch 45 and the automatic turning switching switch 48, and each assist function can be executed.

[0087] The seedling transplanter 1 comprises a traveling body 2, a seedling planting unit 4, and a controller 100. The seedling planting unit 4 is provided on the traveling body 2. The controller 100 controls the steering angle of the front wheels 10 of the traveling body 2, causing the traveling body 2 to travel autonomously. The controller 100 can execute two autonomous driving functions: a traveling assist function that automatically moves the traveling body 2 in a straight line while the seedling planting unit 4 transplants seedlings into a field, and a turning assist function that turns the traveling body 2 without the seedling planting unit 4 transplanting seedlings. The controller 100 can execute the traveling assist function and the turning assist function during manual driving, where the traveling body is driven by a driver.

[0088] As a result, even when the seedling transplanter 1 is in manual driving mode, it can perform at least one of the driving assist function and the turning assist function, making it easier for the operator to work in the field. In other words, the seedling transplanter 1 can improve work efficiency.

[0089] When the driving mode is changed from the autonomous driving mode to the manual driving mode, the controller 100 stores driving information for executing autonomous driving.

[0090] As a result, when the seedling transplanter 1 executes the travel assist function or the turning assist function in the manual travel mode, it can execute each assistance based on the stored travel information.

[0091] (Variation) The seedling transplanter 1 can set the conditions for accepting seedlings into the field. The planting conditions include the seedling quantity, planting depth, and height of the soil leveling rotor 63. The planting conditions can be set using the remote control 170. For example, the planting conditions can be changed from a predetermined initial state. The predetermined initial state may be set at the time of shipment from the factory or may be set by an operator, etc.

[0092] The seedling transplanter 1 resets the planting conditions to the predetermined initial state when the planting conditions are changed from the predetermined initial state and the seedling transplanter 1 performs autonomous traveling and turns. For example, when the seedling transplanter 1 turns using the turning assist function, it resets the planting conditions to the predetermined initial state. The timing for resetting to the predetermined initial state may be when the traveling body 2 reaches the turning start position, when the traveling body 2 finishes turning, or when the traveling body 2 reaches the work start position for the next process.

[0093] This allows the seedling transplanter 1 to plant seedlings under planting conditions suitable for each work path (straight path) using the remote control 170, for example.

[0094] The seedling transplanter 1 may be able to change whether or not to reset the planting conditions to the initial state depending on the rotation. For example, it may be possible to change whether or not to reset the planting conditions to the initial state depending on the rotation by operating a remote control.

[0095] As a result, if the planting conditions are set not to be reset on a work route (straight route) where the field conditions are considered to be the same, the seedling transplanter 1 can plant seedlings under the set planting conditions. This saves the operator the trouble of setting the planting conditions.

[0096] The predetermined initial state may be set during autonomous travel, allowing the seedling transplanter 1 to set planting conditions suitable for the field as the predetermined initial state.

[0097] The seedling transplanter 1 may be capable of deleting part of the sides La to Lc of the field acquired by teaching travel in response to operation of the remote control 170 or operation of buttons provided on the traveling body 2.

[0098] For example, when the controller 100 travels along the side Lb of the field and acquires the side Lb, the controller 100 deletes the information on the side Lb by operating a button. This makes it easy for the seedling transplanter 1 to correct the side during teaching travel.

[0099] When the controller 100 acquires a new side corresponding to the deleted side by teaching travel, it connects the new side to the side to which the deleted side was connected, and sets the working area.

[0100] This allows the seedling transplanter 1 to easily correct the sides during teaching travel and set the work area.

[0101] The controller 100 may be able to delete some of the sides after the three sides La to Lc are acquired.

[0102] The deletion of a side is executed, for example, when multiple buttons, for example, two buttons, are pressed simultaneously on the remote control 170. This allows the seedling transplanter 1 to prevent the side from being accidentally deleted.

[0103] Furthermore, the seedling transplanter 1 displays the position information included in the edge as a point on the monitor 86 by pressing a dedicated button provided on the seedling transplanter 1. The point displayed on the monitor 86 may then be erased by pressing a jog dial provided on the monitor 86, thereby deleting the edge.

[0104] Priorities for operations are set in the seedling transplanter 1. For example, the priorities are, in descending order, as follows: manual stop of the seedling transplanter 1, manual operation of the seedling transplanter 1, stop by the remote control 170, and operation by the remote control 170.

[0105] This allows the seedling transplanter 1 to improve safety for the operator riding in the seedling transplanter 1.

[0106] The priority of operations may be, in descending order, as follows: manual stop of the seedling transplanter 1, stop by the remote control 170, manual operation of the seedling transplanter 1, and operation by the remote control 170. This allows the seedling transplanter 1 to be stopped with priority, thereby improving the safety of the operator riding in the seedling transplanter 1.

[0107] The seedling transplanter 1 may transmit to the remote controller 170 whether or not there is a manual operation input. If the manual operation has priority, the fact that the manual operation has priority is displayed on the remote controller 170. The display method may be a display or an indicator. This allows the remote controller 170 to confirm that the manual operation has priority.

[0108] The seedling transplanter 1 may receive and display whether or not an input has been made via the remote control 170. The display method may be a display or an indicator. Alternatively, the display may be a warning light, etc. It is desirable that the display be located near the input section for manual operation so that it can be checked during manual operation.

[0109] The operation by the remote control 170 may be delayed from the display by the seedling transplanter 1. This prevents the operator of the seedling transplanter 1 from performing an unexpected operation, thereby improving the safety of the operator.

[0110] The remote control 170 may be provided with a home button, and the seedling transplanter 1 may be configured to automatically return to the vicinity of the remote control 170 by pressing the home button. This allows the seedling transplanter 1 to automatically return to the owner of the remote control 170 by operating the remote control 170.

[0111] The remote control 170 displays an error message based on a signal transmitted from the seedling transplanter 1. For example, if the seedling transplanter 1 detects the hardness or softness of the field and determines that the field is soft, the determination result is displayed on the remote control 170. This allows the owner of the remote control 170 to adjust the planting depth, for example, to be deeper.

[0112] The remote control 170 is unlocked by inputting a dedicated code before inputting an operation. The remote control 170 cannot transmit operation input to the seedling transplanter 1 until it is unlocked. Note that even before it is unlocked, it can receive signals from the seedling transplanter 1.

[0113] The seedling transplanter 1 may be able to set whether or not to receive signals transmitted from the remote controller 170. For example, the seedling transplanter 1 can be set to reject reception of signals transmitted from the remote controller 170. This prevents the seedling transplanter 1 from performing operations that are not anticipated by the operator, thereby improving the safety of the operator.

[0114] The seedling transplanter 1 can turn by a turn, which starts from a straight forward movement and then turns directly, or by a back turn, which starts from a straight forward movement and then moves backward, and then turns again.

[0115] The controller 100 executes the turning assist function by turning backward when the driving mode is the manual driving mode, the automatic turning selector switch 48 is "ON", and the driver operates the lever to turn while driving straight ahead. Also, the controller 100 executes the turning assist function by turning backward when the driving mode is the manual driving mode, the automatic turning selector switch 48 is "ON", and the driver operates the lever to turn from straight ahead to reverse.

[0116] This allows the selection of a turning method using the turning assist function without operating any buttons, making it easy to select a turning method.

[0117] When executing turning assistance, controller 100 automatically corrects the steering amount of steering wheel 35. For example, controller 100 counts the number of rotations of rear wheel 11 on the outside of the turn from the start of the turn to the completion of the turn in the immediately preceding turn. Then, controller 100 automatically corrects the steering amount of steering wheel 35 so that the counted number of rotations matches the number of rotations in the set turning path.

[0118] As a result, in subsequent turns, the seedling transplanter 1 can perform turning with turning assistance along the set turning path without any correction operation by the operator, etc. Therefore, the seedling transplanter 1 can improve field applicability when performing turning assistance.

[0119] Furthermore, the controller 100 may automatically correct the steering amount of the steering wheel 35 in the current turn based on the number of rotations of the rear wheel 11 on the outside of the turn from the start of the turn to the completion of the turn two turns ago.

[0120] This allows the seedling transplanter 1 to correct the steering amount of the handle 35 in the current turn based on the turning information for the ridge on the same side, thereby improving the turning accuracy.

[0121] When the seedling transplanter 1 is in the manual travel mode, it may be provided with a travel assist function, a turning assist function, and an operation switch or dial for executing each turning method.

[0122] For example, the operation switches and dials can be switched among (1) no assistance functions are performed, (2) only the driving assistance function is performed, (3) the driving assistance function and turning assistance function are performed, (4) the driving assistance function and turning assistance function are performed, and (5) the operation mode is switched to autonomous driving mode. This allows the seedling transplanter 1 to avoid a complicated operating system.

[0123] In the seedling transplanter 1, the operating state (ON state, OFF state) of each assist function is displayed on the monitor 86. This allows the operator to easily check the operating state of each assist function.

[0124] The seedling transplanter 1 may be capable of automatically traveling to a work start point in the work area. In this case, the seedling transplanter 1 can travel to the work start point regardless of the angle difference between the orientation at the work start point and the current orientation of the traveling vehicle body 2.

[0125] The seedling transplanter 1 may be prohibited from traveling to the work start point if the angular difference between the direction at the work start point and the current direction of the traveling body 2 is not within a predetermined angle. In this case, when the angular difference becomes within the predetermined angle difference, the seedling transplanter 1 starts traveling toward the work start point.

[0126] If the angular difference between the orientation at the work start point and the current orientation of the traveling body 2 is not within a predetermined angle, the seedling transplanter 1 may make multiple turns (for example, two turns) and travel to the work start point.

[0127] The seedling transplanter 1 may set a work path in the work area in advance and search for an actual travel path based on the distance between the work path and the traveling body 2. This allows the seedling transplanter 1 to search for a travel path without aligning the direction of the work path with the direction at the current position.

[0128] The seedling transplanter 1 may set a search area for searching for a work path and automatically travel along the work path detected within the set search area. The search area is set, for example, so as to extend inward from the current position of the traveling body 2 as the center.

[0129] This allows the seedling transplanter 1 to search for a work path with high accuracy when oversteering occurs due to the state of the field.

[0130] The search area may be set, for example, so that it turns around the current position of the traveling body 2 and expands toward the inside and forward. This allows the seedling transplanter 1 to search for a work path with high accuracy. The search area may also be set, for example, so that it turns around the current position of the traveling body and expands toward the inside and backward. This allows the seedling transplanter 1 to avoid skipping a work path.

[0131] The seedling transplanter 1 may set a travel route without providing a specific area, thereby allowing the seedling transplanter 1 to switch routes, for example, at an intermediate point.

[0132] The seedling transplanter 1 has accumulated data on past work in the field, and when traveling through a location where slippage occurred during the previous work and the differential lock mechanism 97 was activated or the forced four-wheel drive function was activated, the differential lock mechanism 97 or the forced four-wheel drive function is automatically activated before slippage occurs.

[0133] Accumulated data from past work is recorded as driving data of the work vehicle (position information, vehicle speed information, steering angle information, etc.) and sent to the cloud or a mobile device. Note that the locations where the differential lock mechanism 97 is activated or the forced four-wheel drive function is activated may be displayed on a map in the management system.

[0134] When the seedling transplanter 1 deviates from a straight path during autonomous travel, it processes the deviation position as the end of the deviation trajectory. When the seedling transplanter 1 deviates from a straight path during autonomous travel, it sets a position a predetermined distance back from the deviation position as the deviation position. This allows the seedling transplanter 1 to prevent gaps when restarting seedling transplanting.

[0135] If the seedling transplanter 1 deviates from the straight path, the deviation position may be set to a position a certain number of plants back from the deviation position. This allows the seedling transplanter 1 to resume transplanting seedlings from a position that takes into account the speed.

[0136] The seedling transplanter 1 may perform autonomous travel based on the planted route information in addition to the work vehicle information and direction information. This allows the seedling transplanter 1 to avoid skipping a work route.

[0137] The seedling transplanter 1 may define the setting of the working area using teaching points. This allows the seedling transplanter 1 to reduce the memory and data processing load. The seedling transplanter 1 may set the working area without thinning out point coordinates. This allows the seedling transplanter 1 to set the working area with high precision. If memory is insufficient, the seedling transplanter 1 may thin out point coordinates and set the working area using an approximate polygon.

[0138] The seedling transplanter 1 stops the traveling body 2 when the inclination angle detected by the inclination sensor 92 becomes equal to or greater than a predetermined inclination angle. The predetermined inclination angle is set in advance. A plurality of predetermined inclination angles may be set. For example, the predetermined inclination angles include a first predetermined inclination angle and a second predetermined inclination angle. The second predetermined inclination angle (e.g., 20 degrees) is greater than the first predetermined inclination angle (e.g., 10 degrees).

[0139] When the seedling transplanter 1 is near the edge of the field, the traveling body 2 stops when the inclination angle becomes equal to or greater than a first predetermined inclination angle. When the seedling transplanter 1 is near the center of the field, the traveling body 2 stops when the inclination angle becomes equal to or greater than a second predetermined inclination angle.

[0140] This prevents the seedling transplanter 1 from stopping near the center of the field and from sinking.

[0141] The seedling transplanter 1 may stop the traveling body 2 when the inclination angle near the edge of the field becomes equal to or greater than a predetermined inclination angle. Alternatively, the seedling transplanter 1 may slow down the traveling body 2 without stopping the traveling body 2 when the inclination angle near the center of the field becomes equal to or greater than a predetermined inclination angle. For example, the seedling transplanter 1 may set the speed of the traveling body 2 to a predetermined low speed.

[0142] This prevents the seedling transplanter 1 from stopping near the center of the field and from sinking.

[0143] The seedling transplanter 1 may decelerate the traveling body 2 when the inclination angle near the edge of the field becomes equal to or greater than a predetermined inclination angle. The seedling transplanter 1 decelerates the traveling body 2 when the inclination angle near the edge of the field becomes equal to or greater than a predetermined inclination angle. Furthermore, the seedling transplanter 1 does not decelerate the traveling body 2 even when the inclination angle near the center of the field becomes equal to or greater than a predetermined inclination angle.

[0144] This allows the seedling transplanter 1 to be prevented from climbing over the ridge and from getting stuck in the culvert in the center of the field.

[0145] The seedling transplanter 1 may be prohibited from autonomously traveling along the edge of a field.

[0146] The seedling transplanter 1 may be provided with a human presence sensor, and when the human presence sensor detects a person, the traveling body 2 may be slowed down or stopped. The human presence sensor is attached to the mounting stay 59, for example, and positioned above the traveling body 2. The human presence sensor has directionality and detects the presence or absence of a person within a predetermined range in front of the traveling body 2.

[0147] The detection range of the human sensor may be physically limited, for example, by attaching a cover. This allows the seedling transplanter 1 to detect the presence or absence of a person within a predetermined range in front of the traveling body 2 using the versatile human sensor.

[0148] The cover may move in conjunction with the handle 35. The seedling transplanter 1 may rotate the mounting stay 59 to which the human sensor is attached. This allows, for example, the detection range to be changed in conjunction with the handle 35. Therefore, the seedling transplanter 1 can quickly detect people at the destination of the rotation.

[0149] In the seedling transplanter 1, a portion of the mounting stay 59 on which the human presence sensor is attached may be rotatable 180 degrees forward and backward. For example, the portion of the mounting stay 59 may be rotated by a motor in conjunction with the HST operation. The portion of the mounting stay 59 may also rotate in conjunction with a pitman arm. This allows the seedling transplanter 1 to detect people in front and behind by rotating a portion of the mounting stay 59 backward when moving backward.

[0150] The seedling transplanter 1 travels autonomously using the travel assist function, and if it stops along a straight path, it will resume from a turning path. The seedling transplanter 1 travels autonomously using the travel assist function, and if it stops along a straight path, it may resume from the path closest to the current position of the traveling vehicle body 2. The seedling transplanter 1 may display the path that has already been planted and the planned path to resume on the monitor 86.

[0151] The initial straight path of the seedling transplanter 1 in the work area does not have to be parallel to the side La, for example.

[0152] When the seedling transplanter 1 travels around the field along the ridge multiple times, for example, twice, the interval between each round may be adjustable.

[0153] The seedling transplanter 1 may generate autonomous driving routes, straight routes, and turning routes, and may be capable of detecting decreases in fertilizer, seedlings, and fuel. When the seedling transplanter 1 approaches a ridge in a field where seedlings or other materials are to be replenished and the seedling planting work in the next process cannot be performed due to a shortage of seedlings or other materials, the seedling transplanter 1 will not transition to autonomous driving. In this case, the current planting work area is displayed on at least one of the monitor 86 of the seedling transplanter 1, the monitor of the remote control 170, and the mobile device. This allows the operator to check the consumption of materials and the work area when it is time to replenish materials.

[0154] The working area is calculated using the operating status (ON and OFF states) of each unit's ridge clutch, the operating status (ON and OFF states) of the planting clutch 27a, the rotation speed of the front wheels 10, the rotation speed of the rear wheels 11, and position information.

[0155] 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]

[0156] 1. Seedling transplanter (work vehicle) 2 Running vehicle 4 Seedling planting department 10 Front wheels (steering wheels) 11 Rear wheel 35 Handle 45 Automatic straight-line switching switch 46 Autonomous driving switch 48 Automatic rotation switch 91 Steering amount sensor 100 Controller (control device) 170 Remote control device (remote control)

Claims

1. A running vehicle body, A seedling planting unit provided on the traveling vehicle body; a control device that controls the steering angle of the steering wheels of the traveling vehicle body and causes the traveling vehicle body to travel autonomously, the control device sets a work area in which the autonomous traveling is to be performed by teaching traveling along a plurality of sides of the field; The control device can change the conditions for planting seedlings in the field in response to operation by a remote control device, A work vehicle characterized in that when the traveling vehicle body moves to the next process, the seedling planting conditions that have been changed in response to operation by the remote-controlled device are reset to a predetermined initial state.

2. The work vehicle described in claim 1, characterized in that the control device is capable of setting the seedling planting conditions specified by the worker as the specified initial state, and when the traveling vehicle body moves to the next process, it is also possible to set whether or not to reset the seedling planting conditions that have been changed in response to operation by the remote-controlled device to the specified initial state.

3. 3. The work vehicle according to claim 1, wherein the control device is capable of deleting part of the information about the edges of the field obtained by the teaching travel in response to an operation of an operation unit provided on the traveling vehicle body.

Images