Work vehicle

Abstract

To provide a work vehicle which includes a switch operation used for manual travel, a notification device that notifies of information, and a notification device that notifies of a warning, and can reduce a burden on an operator.SOLUTION: A work vehicle includes: a traveling machine body which is connected in a supporting manner with a work device and can be switched between manual travel by manual steering and automatic travel in which the vehicle travels by automatic steering along a set travel line set parallel to a reference travel line; an information notification unit 72 which notifies of information; a warning notification unit 73 which notifies of a warning; and an instruction operation tool 71 which sets the start point and the end point of the reference travel line by operating it during teaching travel by the manual travel. The instruction operation tool 71, the information notification unit 72 and the warning notification unit 73 are arranged in a single operation device 70.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a work vehicle that performs agricultural work by setting a driving line using a satellite-based positioning system such as GPS (Global Positioning System), and that is configured to be able to switch between manual driving using manual steering and automatic driving using automatic steering to drive along a set driving line that is set parallel to a reference driving line. [Background technology]

[0002] In order for this type of work vehicle to travel automatically, it is necessary to set a reference travel line that serves as a reference for the travel line in advance (herein referred to as teaching).

[0003] As a specific example of teaching, when the traveling machine travels in a field and reaches a position that is to be the start point of a reference traveling line, by operating an instruction switch on the meter panel, the position information of the traveling machine at that position is read by the positioning system and input as the start point position in the recording unit. Next, by running the traveling machine to a position that is to be the end point of the reference traveling line and similarly operating the instruction switch, the end point position information of the reference traveling line can be recorded, and the reference traveling line is set by connecting these start point positions and end point positions (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-175405 Summary of the Invention [Problem to be solved by the invention]

[0005] Here, when setting the start point and end point of the reference driving line, it is necessary to operate an instruction switch during manual driving. During manual driving, the operator needs to drive while checking the field around the work vehicle. And, during manual driving, the operator needs to operate an instruction switch while checking the field around the work vehicle.

[0006] However, when driving manually, the operator not only operates the command switches while checking the field around the work vehicle, but also needs to check the alarm device that displays information (referred to as a "liquid crystal display" in Patent Document 1). Furthermore, in work vehicles equipped with an alarm device that issues warnings, the operator must also pay attention to the alarm device, and such work vehicles place a heavy burden on the operator.

[0007] Therefore, the object of the present invention is to provide a work vehicle that can reduce the burden on the operator by having a switch operation used for manual driving, an alarm device that notifies information, and an alarm device that notifies warnings. [Means for solving the problem]

[0008] The work vehicle of the present invention is provided with a traveling machine body to which a work device is coupled and supported, and which can switch between manual traveling by manual steering and automatic traveling by automatic steering along a set traveling line that is set parallel to a reference traveling line, an information notification unit that notifies information, a warning notification unit that notifies warnings, and an instruction operation device that is operated during teaching traveling by the manual traveling to set a start point and an end point of the reference traveling line, and the instruction operation device, the information notification unit, and the warning notification unit are arranged on a single operation device. The indicating operation tool has a start point indicating operation tool that sets the start point of the reference travel line, and an end point indicating operation tool that sets the end point of the reference travel line, and the start point indicating operation tool and the end point indicating operation tool are each provided with a light emitting device, and when it is detected that the position of the traveling machine body has moved away from the set travel line or that its orientation has shifted, the light emitting device emits light. do.

[0009] According to this invention, the instruction operating tool used during manual driving and the information and warning notification unit that notifies information and warnings are arranged in a single operating device. Therefore, when operating the automatic driving, the operator basically only needs to pay attention to the operating device and can perform basic operations without paying attention to other operating devices, etc. As a result, the burden on the operator can be reduced.

[0010] In the present invention, it is preferable that a satellite signal receiving unit that receives satellite signals from satellites and a receiving sensitivity detecting unit that detects the receiving sensitivity of the satellite signal receiving unit are provided, and that the information reporting unit reports information regarding the receiving sensitivity of the satellite signal receiving unit based on the detection result of the receiving sensitivity detecting unit.

[0011] According to this configuration, information about the reception sensitivity of satellite signals is reported from the control device on which the instructing operation tool is located. Therefore, when setting the start and end points of the reference driving line, the driver can obtain the information necessary to determine whether autonomous driving is possible from the control device that is being operated while operating the instructing operation tool located on the control device, without being aware of other control devices. As a result, the burden on the operator can be reduced.

[0012] In the present invention, it is preferable that the information notification unit has a display unit that displays the information, and that the display unit displays a predetermined shape and notifies information about the reception sensitivity of the satellite signal receiving unit by changing the display mode of the shape.

[0013] According to this configuration, information is notified by changing the display mode of the shape without changing the shape of the display unit. However, if a method of notifying information by changing the shape of the display unit is adopted, the size of the display unit needs to be increased to a level where the change in shape can be recognized, which is inconvenient as it increases the size of the operating device. Therefore, by notifying information by changing the display mode, it is not necessary to increase the size of the display unit, which makes it possible to avoid the inconvenience of increasing the size of the operating device.

[0014] In the present invention, the display mode is preferably a light emitting pattern.

[0015] According to this configuration, for example, by varying the blinking cycle, it is possible to realize various display modes, and therefore it is possible to notify more information.

[0016] In the present invention, a driver's seat is provided in which a driver sits, and the indicating operating device has a start point indicating operating device that sets the start point of the reference driving line, and an end point indicating operating device that sets the end point of the reference driving line, and it is preferable that the start point indicating operating device is arranged closer to the driver's seat than the end point indicating operating device.

[0017] With this configuration, the start point indicating operating tool is located on the closer side from the operator's perspective, and the end point indicating operating tool is located on the farther side. Generally, when performing manual driving to set a reference driving line, the start point is set on the closer side with respect to the direction of travel, and the end point is set on the farther side. In other words, from the operator's perspective, the positional relationship between the start point indicating operating tool and the end point indicating operating tool is the same as the positional relationship between the start point and the end point when setting a reference driving line. As a result, the operator can intuitively determine which operating tool to operate when setting the start point and the end point.

[0018] In the present invention, it is preferable that a center mascot is provided at the front of the running body and positioned at the center of the left and right sides of the running body, and that an automatic driving notification unit is provided above the center mascot, which notifies the user that automatic driving is possible based on the detection results of the receiving sensitivity detection unit.

[0019] According to this configuration, the automatic driving notification unit is located in the center mascot located in front of the operator seated in the operator's seat. Generally, when driving, the operator often looks ahead, which is the direction in which the work vehicle is traveling. The operator can easily check the notification content of the automatic driving notification unit while looking ahead.

[0020] In the present invention, the working device is a seedling planting device for planting seedlings in a field, and is provided with spare seedling tables on both the left and right sides of the front of the traveling body, on which spare seedlings to be supplied to the seedling planting device can be placed, and left and right spare seedling frames that support the left and right spare seedling tables, respectively, and it is preferable that the operating device is supported on at least one of the left and right spare seedling frames.

[0021] With this configuration, the operating device can be supported on an existing spare seedling stand, eliminating the need for a new mechanism to support the operating device and making it possible to simplify the mechanism for supporting the operating device.

[0022] In the present invention, a driver's seat is provided for the operator to sit in, the spare seedling frame is positioned forward of the driver's seat, the spare seedling frame is provided with a plurality of vertical frames extending in the vertical direction, and the operating device is preferably supported by the vertical frame located furthest rearward among the plurality of vertical frames.

[0023] With this configuration, the operating device is supported on the vertical frame closest to the driver's seat among the vertical frames provided on the spare seedling frame, and the operating device is positioned close to the operator. In addition, because it is supported on a vertical frame that extends vertically, it is possible to easily adjust the height position of the operating device.

[0024] In the present invention, it is preferable that a stay is provided to support the operating device, and that the operating device is supported on the spare seedling frame via the stay.

[0025] According to this configuration, by supporting the operating device via the stay, it is possible to arrange the operating device so as to be located closer to the operator.

[0026] In the present invention, the indicating operating device has a start point indicating operating device that sets the start point of the reference driving line, and an end point indicating operating device that sets the end point of the reference driving line, and it is preferable that the start point indicating operating device and the end point indicating operating device are each provided with a light-emitting device, and that the light-emitting device emits light when the position of the traveling body moves away from the set driving line.

[0027] With this configuration, there is no need to install a new alarm device to notify users that the position of the traveling machine has moved away from the set traveling line, and it is possible to simplify the arrangement of operating tools, etc. on the operating device.

[0028] In the present invention, it is preferable that the start point indication operating device and the end point indication operating device are arranged on the left and right sides, and that the light-emitting device provided on the side of the start point indication operating device and the end point indication operating device where the traveling body is located relative to the set traveling line emits light.

[0029] With this configuration, of the indicating operating devices arranged on the left and right, the indicating operating device on the side where the traveling vehicle is positioned relative to the set traveling line will emit light, allowing the operator to intuitively grasp the position of the traveling vehicle relative to the set traveling line.

[0030] In the present invention, it is preferable that the start point indicating operating device and the end point indicating operating device are arranged on the left and right sides, and that the light-emitting device provided on the side of the start point indicating operating device and the end point indicating operating device where the set traveling line is located relative to the traveling body emits light.

[0031] With this configuration, of the indicating operating devices arranged on the left and right, the indicating operating device on the side where the set driving line is located relative to the running vehicle will emit light, allowing the operator to intuitively understand the direction in which the running vehicle should move.

[0032] In the present invention, it is preferable that the warning notification unit issues a warning when the position of the traveling machine body deviates from the set traveling line.

[0033] According to this configuration, when the position of the traveling machine deviates from the set traveling line, a notification is sent from the operating device on which the instruction operating tool is arranged. Therefore, the operator can grasp that the position of the traveling machine deviates from the set traveling line while operating the instruction operating tool arranged on the operating device, without being aware of other operating devices. [Brief explanation of the drawings]

[0034] [Figure 1] FIG. [Figure 2] FIG. 2 is a schematic diagram showing a steering unit. [Figure 3] FIG. 2 is a block diagram showing a control configuration related to automatic steering control. [Figure 4] FIG. 1 is a diagram showing the surroundings of the control tower. [Figure 5] FIG. 2 is a diagram illustrating a configuration of a switch box. [Figure 6] FIG. 10 is a top view illustrating generation of a driving line, etc. [Figure 7] 10A and 10B are diagrams illustrating a configuration of a switch box according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0035] An embodiment of the present invention will be described with reference to the drawings. In the following description, unless otherwise specified, the direction of the arrow FW in the drawings will be referred to as "front," the direction of the arrow BK as "rear," the direction of the arrow LH as "left," and the direction of the arrow RH as "right." Furthermore, the direction of the arrow UP in the drawings will be referred to as "up," and the direction of the arrow DW as "down."

[0036] [Overall structure] Below, we will explain a riding rice transplanter, which is an example of a work vehicle of this embodiment.

[0037] In this embodiment, the riding rice transplanter first defines a travel line, as shown in FIG. 6. Here, the travel line refers not only to a reference line along which the riding rice transplanter travels, but also to a virtual line along which the riding rice transplanter travels along a reference direction set by manual steering (teaching), for example. In this embodiment, teaching is performed to set the reference travel line KL, which is the travel line. After completing teaching, the riding rice transplanter is turned to the planting start position by manual steering, and then switched to automatic steering, generating a set travel line SL, and planting travel is performed. Furthermore, at the end point of the set travel line SL, planting is temporarily stopped, and automatic steering is switched back to manual steering to turn, and the next set travel line SL is generated and the planting automatic travel is resumed. This cycle is repeated.

[0038] As shown in Figure 1, the riding rice transplanter has a traveling body 3 having a pair of left and right front wheels 1 and a pair of left and right rear wheels 2. An engine 4 and a bonnet 5 that covers the engine 4 are provided at the front of the traveling body 3. A driving section 8 where various driving operations are performed is provided at the rear of the traveling body 3.

[0039] A seedling planting device 9 that plants seedlings in the field is connected as a work device to the rear of the traveling body 3. The seedling planting device 9 is connected to the traveling body 3 via a link mechanism 11 that extends rearward from the body frame 10 and is capable of swinging up and down. In this embodiment, the seedling planting device 9 is configured to be capable of planting seedlings in six planting rows, but it may also be configured to be capable of planting seedlings in planting rows other than six.

[0040] The pair of left and right front wheels 1 are supported at the front of the vehicle frame 10 via a front transmission case 13 that supports the pair of left and right front wheels 1 so that they can be steered and driven. The pair of left and right rear wheels 2 are supported at the rear of the vehicle frame 10 via a wheel drive case 14 that supports the pair of left and right rear wheels 2 so that they can be driven.

[0041] [About the seedling planting device] As shown in Figure 1, the seedling planting device 9 is connected to the rear end of the traveling body 3 so that it can be raised and lowered via a link mechanism 11 that is raised and lowered by the extension and contraction of a lifting cylinder 12 made up of a hydraulic cylinder. In addition, a fertilizer applicator 18 is provided as part of the seedling planting device 9, and the fertilizer applicator 18 supplies fertilizer to the seedlings planted in the field.

[0042] The seedling planting device 9 is equipped with a plurality of transmission cases 19, a rotating case 21 rotatably supported on the left and right rear sides of each transmission case 19, a pair of rotary planting arms 22 provided at both ends of each rotating case 21, a plurality of ground leveling floats 23 for leveling the rice field surface, and a seedling loading platform 24 on which mat-shaped seedlings for planting are placed.

[0043] The seedling planting device 9 drives the seedling carrier 24 to move back and forth horizontally, and rotates each rotary case 21 by power transmitted from the transmission case 19, so that each planting arm 22 alternately takes out seedlings from the bottom of the seedling carrier 24 and plants them on the surface of the paddy field.

[0044] [About spare seedling beds] As shown in Figure 1, the left and right sides of the bonnet 5 of the traveling body 3 are each provided with a plurality of spare seedling trays 25 on which spare seedlings can be placed to be supplied to the seedling planting device 9. In addition, the left and right sides of the bonnet 5 of the traveling body 3 are each provided with a pair of spare seedling frames 26 on the left and right that support each spare seedling tray 25, and a connecting frame 27 that connects the upper parts of the left and right spare seedling frames 26.

[0045] The spare seedling frame 26 on one side (the right side in this embodiment) of the left and right spare seedling frames 26 is configured to have an inverted U-shape in side view, with multiple (two in this embodiment) vertical frame sections (corresponding to the "vertical frames" of the present invention) 26a extending vertically and horizontal frame sections 26b extending across the upper ends of the two vertical frame sections 26a. The spare seedling frame 26 on the other side (the left side in this embodiment) of the left and right spare seedling frames 26 is configured so that, although not described in detail, a link mechanism (not shown) can be used to switch between a state in which multiple spare seedling trays 25 are lined up front to back and a state in which they are lined up top to bottom.

[0046] Although not shown, the connecting frame 27 has an inverted U-shape when viewed from the front. The left and right ends of the connecting frame 27 are connected to the upper parts of the left and right spare seedling frames 26, i.e., the horizontal frame parts 26b, via connecting brackets 28, respectively.

[0047] [About the driving section] The driver's section 8 is equipped with a driver's seat 31 where the operator sits, a control tower 32, a steering handle 33 consisting of a steering wheel that steers the front wheels 1, a main speed change lever 34 that can switch between forward and reverse travel and change the traveling speed, and an operating lever 35 (see Figure 4) that operates the seedling planting device 9. The steering handle 33, main speed change lever 34, and operating lever 35 are provided on the control tower 32.

[0048] A switch box (corresponding to the "operating device" of the present invention) 70 is provided in front of the driver's seat 31. The switch box 70 is provided with a pair of instruction buttons (corresponding to the "instruction operating tool" of the present invention) 71 that are operated during teaching driving by manual driving to set the start point and end point of the reference driving line KL.

[0049] [About the center mascot] A ridge-crossing arm 15 is provided at the front of the traveling body 3 to press the traveling body 3 downward to prevent the body from lifting up when crossing a ridge, and a rod-shaped center mascot 40 is provided at the top of the ridge-crossing arm 15. The center mascot 40 is mounted at the tip of the ridge-crossing arm 15 so that it can swing around the left-right axis of the body, and is configured to be switchable between a working position and a storage position.

[0050] The center mascot 40 is located at the lateral center of the traveling body 3 and is used as a guide for checking whether the traveling body 3 is aligned with an index line drawn on the surface of the field by a marker device (not shown). When the operator looks at the center mascot 40 from the driver's seat 31, if the index line drawn by the marker device is located on an extension of the operator's line of sight, the operator can determine that the traveling body 3 is aligned.

[0051] As shown in FIG. 4, an automatic driving notification unit 41 is provided on the upper part of the center mascot 40, which notifies that automatic driving is possible, that automatic driving is in progress, etc. The automatic driving notification unit 41 has a display unit 41D. The display unit 41D is made up of a plurality of LED lights arranged vertically. The upper lighting device 41D1 of the display unit 41D notifies of errors unrelated to automatic driving, such as out of seedlings. The lower lighting device 41D2 of the display unit 41D emits light in a different color from the lighting device 41D1 and notifies the status of automatic driving by changing its light emission pattern (display form), for example, by lighting up when automatic driving is possible and flashing during automatic driving.

[0052] [About the main gear shift lever] 1 and 4, the main shift lever 34 is provided on the left side of the steering handle 33. It is configured to be swingable in the front-to-rear direction, and by swinging it forward from the neutral position, forward gear shifting can be performed, and by swinging it backward from the neutral position, reverse gear shifting can be performed.

[0053] As shown in Figure 4, an automatic travel switch 36 that switches automatic travel on and off is provided on a grip 34A provided at the upper end of the main shift lever 34. The automatic travel switch 36 is located in a position where it can be pressed with the thumb of the left hand while holding the grip 34A in the left hand, and is configured so that manual travel and automatic travel are alternated each time the switch is pressed.

[0054] [About the steering unit] The traveling machine body 3 is provided with a steering unit U that can steer the left and right front wheels 1.

[0055] As shown in FIG. 2, the steering unit U includes the above-mentioned steering handle 33, a steering operation shaft 51 operatively connected to the steering handle 33, a pitman arm 52 that swings in conjunction with the rotation of the steering operation shaft 51, left and right linking mechanisms 53 operatively connected to the pitman arm 52, a steering motor 55, and a gear mechanism 54 operatively connecting the steering motor 55 to the steering operation shaft 51.

[0056] The steering operation shaft 51 is interlocked and connected to the left and right front wheels 1 via a pitman arm 52 and left and right linkage mechanisms 53. The amount of rotation of the steering operation shaft 51 is detected by a steering angle sensor 84 (see FIG. 3) consisting of a rotary encoder provided at the lower end of the steering operation shaft 51.

[0057] When the steering unit U is steered manually, an auxiliary force corresponding to the operation of the steering handle 33 by the steering motor 55 is applied to the operating force applied by the operator to operate the steering handle 33, thereby rotating the steering shaft 51 and changing the steering angle of the front wheels 1. On the other hand, when the steering unit U is steered automatically, the steering motor 55 is driven, and the driving force of the steering motor 55 rotates the steering shaft 51, thereby changing the steering angle of the front wheels 1.

[0058] [About the satellite positioning system] As shown in FIG. 1, the traveling machine body 3 is provided with a receiving device (corresponding to the "satellite signal receiving unit" of the present invention) 81 that acquires position information by a satellite positioning system.

[0059] A representative example of a satellite positioning system (GNSS: Global Navigation Satellite System) is the Global Positioning System (GPS). The GPS measures the position of a receiving device 81 using a plurality of GPS satellites orbiting the Earth, a control station that tracks and controls the GPS satellites, or a receiving device 81 provided in the target (traveling vehicle 3) to be positioned.

[0060] The receiving device 81 receives satellite signals from satellites such as GPS satellites. The position of the receiving device 81 is determined based on the information from the satellite signals. The receiving device 81 is attached to the connecting frame 27 via a plate-shaped support plate 86.

[0061] 3, the traveling vehicle body 3 is equipped with a measurement unit 80 having a secondary inertial measurement unit 82 that can detect the inclination (pitch angle, roll angle) of the traveling vehicle body 3, and a primary inertial measurement unit 83 that measures inertial information. The primary inertial measurement unit 83 and the secondary inertial measurement unit 82 are each composed of an IMU (Inertial Measurement Unit).

[0062] The receiving device 81 is also provided with a receiving sensitivity detection unit 85 that detects the receiving sensitivity of the receiving device 81. The receiving sensitivity detection unit 85 transmits the detection result to the control device 60, which will be described later. The receiving sensitivity detection unit 85 detects a decrease in the receiving sensitivity from the satellite as information related to the receiving sensitivity. The method of detecting the receiving sensitivity is not particularly limited. For example, the receiving sensitivity can be detected by comparing the receiving sensitivity from the satellite with a predetermined threshold value, and detecting a decrease in the receiving sensitivity if the receiving sensitivity is equal to or lower than the threshold value, or by detecting that the receiving sensitivity is insufficient if the receiving sensitivity from the satellite is poor and position information cannot be acquired.

[0063] [Regarding the control device] 3, the traveling machine body 3 is equipped with a control device 60 that controls the automatic steering of the steering unit U. The control device 60 is equipped with an information storage unit 61, a teaching storage unit 62, an information correction unit 63, a start point setting unit 64 that generates a set traveling line SL along which the traveling machine body 3 will travel, a state detection unit 65 that detects a deviation between the set traveling line SL and the own position of the traveling machine body 3, and a control unit 66 that controls the steering unit U so that the traveling machine body 3 travels along the set traveling line SL based on position information and inertia information.

[0064] Control device 60 receives information from receiving device 81, secondary inertial measurement unit 82, gyro sensor 83a, acceleration sensor 83b, steering angle sensor 84, automatic driving switch 36, command button 71, reception sensitivity detection unit 85, etc., which are provided in primary inertial measurement unit 83.

[0065] The information storage unit 61 is configured to store the location information acquired from the receiving device 81 on a time basis.

[0066] The teaching storage unit 62 is configured to calculate the reference driving line KL using the position information of the start point K1 and the end point K2 among the position information stored in the information storage unit 61 based on the operation of the instruction button 71.

[0067] The information correction unit 63 is configured to perform correction processing on the accumulated error of the information detected by the gyro sensor 83a among the inertial information measured by the primary inertial measurement device 83, based on the position information acquired by the receiving device 81 and the information measured by the secondary inertial measurement device 82, each time automatic driving control of the traveling body 3 is started.

[0068] The start point setting unit 64 is configured to generate a set traveling line SL based on the reference traveling line KL and the position and orientation of the traveling machine body 3 at the start of automatic traveling control.

[0069] The state detection unit 65 is configured to detect the distance deviation (deviation distance) between the own position of the running body 3 and the set running line SL, and the angle deviation (deviation angle) between the own orientation of the running body 3 and the set running line SL during automatic running control of the running body 3.

[0070] The control unit 66 is configured to control the driving of the steering motor 55 of the steering unit U based on the information input from the state detection unit 65.

[0071] [About the switch box] As shown in Figures 4 and 5, in this embodiment, the switch box 70 is supported by the right inverted U-shaped spare seedling frame 26 of the left and right spare seedling frames 26. Specifically, a stay 70S that supports the switch box 70 is provided on the vertical frame portion 26a of the spare seedling frame 26. The stay 70S is configured to extend from the vertical frame portion 26a toward the driver's seat 31. The switch box 70 is supported by the rearmost vertical frame portion 26a of the multiple vertical frame portions 26a via the stay 70S. With this configuration, the switch box 70 is positioned forward of the driver's seat 31 and can be operated by the operator while sitting in the driver's seat 31.

[0072] The switch box 70 is provided with an instruction button 71, an information notification unit 72 that notifies information related to the reception sensitivity of the receiving device 81, and a warning notification unit 73 that notifies a warning related to automatic driving. In other words, the instruction button 71, the information notification unit 72, and the warning notification unit 73 are provided on a single switch box 70.

[0073] The instruction buttons 71 include a start point instruction button (corresponding to the "start point instruction operating tool" of the present invention) 71A for setting the start point K1 of the reference driving line KL, and an end point instruction button (corresponding to the "end point instruction operating tool" of the present invention) 71B for setting the end point K2 of the reference driving line KL.

[0074] In this embodiment, the switch box 70 is configured at an angle such that the arrangement surface on which operating devices such as the start point instruction button 71A are arranged is positioned more forward as it approaches the top. In the switch box 70, the start point instruction button 71A is arranged rearward of the end point instruction button 71B in the front-to-back direction and lower than the end point instruction button 71B in the up-down direction, and is arranged closer to the driver's seat 31 than the end point instruction button 71B. In the switch box 70, the information notification unit 72 and the warning notification unit 73 are arranged forward of the end point instruction button 71B in the front-to-back direction and higher than the end point instruction button 71B in the up-down direction, and are arranged farther from the driver's seat 31 than the end point instruction button 71B.

[0075] The information notification unit 72 notifies information related to the reception sensitivity of the receiving device 81 based on the detection result of the reception sensitivity detection unit 85. The information notification unit 72 has a display unit 72D that displays information. In this embodiment, the display unit 72D is an LED light configured in a predetermined shape (circular in this embodiment), and notifies information related to the reception sensitivity of the receiving device 81 by changing its light emission pattern. For example, when the reception sensitivity is good, the display unit 72D is lit, and when the reception sensitivity has deteriorated, the display unit 72D is made to blink.

[0076] The warning notification unit 73 issues a warning regarding automatic driving, and has a display unit 73D that displays the warning. The display unit 73D is an LED light that emits light in a different color from the display unit 72D that is configured in a predetermined shape (circular in this embodiment). For example, when the reception sensitivity is extremely poor and automatic driving is impossible, the display unit 73D is turned on.

[0077] A specific example of the running of the rice transplanter of this embodiment will be described. [1] As shown in Figure 6, start manual driving for teaching. This manual traveling can be started by swinging the main shift lever 34 forward from the neutral position, and the machine travels in a straight course along the ridge from the outer periphery of the field close to the ridge. By pressing the start point instruction button 71A while traveling, the position information of the traveling machine body 3 at that time is acquired by the positioning system and recorded in the information storage unit 61 as the position information of the start point K1 of the reference traveling line KL.

[0078] Furthermore, by pressing the end point instruction button 71B after continuing manual traveling, the position information of the traveling body 3 at that time is acquired by the positioning system and recorded as position information of the end point K2 of the reference traveling line KL in the information storage unit 61. As a result, the teaching storage unit 62 sets the reference traveling line KL as a straight line connecting the start point K1 and the end point K2.

[0079] [2] After traveling in a straight line on the reference traveling line KL, the steering handle 33 is turned to change the direction of the traveling machine body 3, and manual traveling is performed to the start position of the adjacent set traveling line SL.

[0080] [3] Planting is performed while the traveling body 3 is traveling automatically. Autonomous driving is initiated by swinging the main shift lever 34 forward and pressing the automatic driving switch 36. At this time, the automatic driving notification unit 41 provided in the center mascot 40 notifies that automatic driving is possible by turning on or blinking the lighting device 41D2 of the display unit 41D based on the detection result of the reception sensitivity detection unit 85. The driver can confirm that automatic driving is possible by checking the automatic driving notification unit 41.

[0081] When the automatic driving switch 36 is pressed, the starting point setting unit 64 acquires the position information of the traveling body 3 at that time using the positioning system, records it in the information memory unit 61 as the position information of the starting point S1 of the set driving line SL, and further generates a set driving line SL that passes through the starting point S1 and is parallel to the reference driving line KL.

[0082] When the set driving line SL is generated, the control device 60 controls the steering unit U in the direction of correcting the deviation based on the deviation information of the running body 3 input from the state detection unit 65, and controls the running body 3 to run on the set driving line SL.

[0083] [4] Cancel automatic driving on the set driving line SL. When the robot reaches the end position of the set travel line SL, automatic travel is canceled by pressing the automatic travel switch 36. In this state, the steering handle 33 is turned to change the direction of the traveling machine body 3, and manual steering is performed to the start position of the next adjacent set travel line SL. Thereafter, the planting steering of the set travel line SL by automatic travel and the direction change by manual travel are repeated alternately.

[0084] [Another embodiment] Hereinafter, another embodiment in which the above embodiment is modified will be exemplified.

[0085] (1) In the above embodiment, a configuration has been described in which the information notification unit 72 and the warning notification unit 73 are provided with a display unit 72D and a display unit 73D, respectively. However, the present invention is not limited to the above embodiment. For example, the information notification unit 72 and the warning notification unit 73 may be provided with a sound generating unit that generates sound.

[0086] (2) In the above embodiment, the display units 72D and 73D are circular LED lights, but the present invention is not limited to the above embodiment. For example, the display units 72D and 73D may be configured to display a predetermined shape on a liquid crystal screen. Furthermore, the display units 72D and 73D may be configured to have a square or triangular shape instead of a circle.

[0087] (3) In the above embodiment, the switch box 70 is described as being supported on the right-side spare seedling frame 26, but the present invention is not limited to the above embodiment and may be supported on, for example, the control tower 32. It may also be supported on the left-side spare seedling frame 26, in which case the left-side spare seedling frame 26 may be configured in an inverted U shape.

[0088] (4) In the above embodiment, the switch box 70 is supported by the rearmost vertical frame portion 26a among the multiple vertical frame portions 26a provided on the spare seedling frame 26. However, the present invention is not limited to the above embodiment. For example, the switch box 70 may be supported by the forwardmost vertical frame portion 26a among the multiple vertical frame portions 26a, or may be supported by the horizontal frame portion 26b.

[0089] (5) In the above embodiment, the switch box 70 is supported on the vertical frame portion 26a via the stay 70S. However, the present invention is not limited to the above embodiment. For example, the switch box 70 may be supported directly on the vertical frame portion 26a.

[0090] (6) In the above embodiment, the start point button 71A is located behind the end point button 71B in the front-to-back direction in the switch box 70. However, the present invention is not limited to the above embodiment. For example, the start point button 71A may be located ahead of the end point button 71B in the front-to-back direction, or the start point button 71A and the end point button 71B may be located on the left and right sides.

[0091] As shown in FIG. 7, when the start point instruction button 71A and the end point instruction button 71B are arranged on the left and right sides, the start point instruction button 71A and the end point instruction button 71B may be provided with a light-emitting device 74 such as an LED light to illuminate the buttons themselves.

[0092] At this time, when the state detection unit 65 detects that the position of the traveling machine body 3 has moved away from the set traveling line SL or that the orientation has shifted, the light emitting device 74 may be illuminated to notify that the position of the traveling machine body 3 has moved away from the set traveling line SL or that the orientation has shifted. Furthermore, of the start point instruction button 71A and the end point instruction button 71B allocated to the left and right, the light emitting device 74 provided on the side where the traveling machine body 3 is located with respect to the set traveling line SL may be configured to emit light, or, of the start point instruction button 71A and the end point instruction button 71B allocated to the left and right, the light emitting device 74 provided on the side where the set traveling line SL is located with respect to the traveling machine body 3 may be configured to emit light.

[0093] (7) In the above embodiment, the switch box 70 is described as being supported on the right spare seedling frame 26 of the left and right spare seedling frames 26, but the present invention is not limited to the above embodiment, and the switch box 70 may also be supported on the left spare seedling frame 26 of the left and right spare seedling frames 26.

[0094] (8) In the above embodiment, the information notification unit 72 is described as being configured to issue a warning when the reception sensitivity is extremely poor and automatic driving is impossible. However, the present invention is not limited to the above embodiment, and may be configured, for example, to issue a warning when the position of the traveling body 3 moves away from the set traveling line SL.

[0095] (9) In the above embodiment, the receiving sensitivity detection unit 85 is configured separately from the control device 60, and the control device 60 is configured to receive information from the receiving sensitivity detection unit 85. However, the present invention is not limited to the above embodiment. For example, the receiving sensitivity detection unit 85 may be incorporated into the control device 60.

[0096] (10) In the above embodiment, display unit 72D and display unit 73D are described as being configured to notify information and warnings by changing the light emission pattern of the LED lighting, but any configuration may be used as long as the display mode of display unit 72D and display unit 73D is changed, and for example, they may be configured to notify information and warnings by changing the light emission color of the LED lighting.

[0097] (11) In the above embodiment, the switch box 70 is described as having a configuration in which the arrangement surface on which operating devices such as the start point instruction button 71A are arranged is configured to be oblique so that the upper side is positioned more forward, but the present invention is not limited to the above embodiment. For example, the arrangement surface may be configured to be vertical or horizontal. Also, the position of the switch box 70 may be configured to be changeable.

[0098] (12) In the above embodiment, the display unit 41D has an illumination device 41D1 arranged on the upper side to notify an error unrelated to autonomous driving and an illumination device 41D2 arranged on the lower side to notify information related to autonomous driving. However, the present invention is not limited to the above embodiment. For example, the display unit 41D may have an illumination device 41D2 arranged on the upper side and an illumination device 41D1 arranged on the lower side, or may have three or more illumination devices arranged on the upper side. Furthermore, the multiple illumination devices may each have a different shape. This configuration can improve the visibility of the display unit 41D.

[0099] (13) In the above embodiment, an example has been described in which the main shift lever 34 provided on the control tower 32 is provided with the automatic travel switch 36 that switches automatic travel on and off, but the present invention is not limited to the above embodiment. For example, the automatic travel may be switched on and off using an operating device separate from the main shift lever 34, etc., and in this case, the operating device may be disposed in the switch box 70. Furthermore, the automatic travel may be switched on and off by operating a start point instruction button 71A and an end point instruction button 71B provided on the switch box 70.

[0100] (14) In the above embodiment, an example was described in which planting is temporarily stopped at the end point of the set travel line SL and automatic travel is switched to manual steering to turn. However, the present invention is not limited to the above embodiment. For example, the configuration may be such that turning is performed by automatic steering at the end point of the set travel line SL by operating a specified operating tool.

[0101] (15) In the above embodiment, the traveling vehicle body 3 is provided with the primary inertial measurement unit 83 and the secondary inertial measurement unit 82. However, instead of these, the traveling vehicle body 3 may be provided with a single inertial measurement unit that can detect the inclination of the traveling vehicle body 3 and the direction of travel of the traveling vehicle body 3. In this case, the inertial measurement unit may be incorporated into the receiving device 81, or may be configured separately from the receiving device 81 and placed, for example, near the driver's seat 31, which is less susceptible to the effects of vibration.

[0102] The configurations disclosed in the above embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with configurations disclosed in other embodiments, unless a contradiction arises. Furthermore, the embodiments disclosed in this specification are merely examples, and the present invention is not limited to these, and can be modified as appropriate within the scope of the purpose of the present invention. [Industrial Applicability]

[0103] The present invention can be used not only in riding rice transplanters, but also in various work vehicles such as combine harvesters and tractors. [Explanation of symbols]

[0104] 3: Running body 9: Seedling planting device 25: Spare seedling stand 26: Spare seedling frame 26a: Vertical frame part (vertical frame) 41: Driver's seat 70: Switch box (operating device) 70S: Stay 71: Instruction button (instruction operation tool) 71A: Start point button (start point operating tool) 71B: End point instruction button (end point instruction operating device) 72: Information and Notification Department 72D:Display section 73: Warning notification section 74: Center mascot 75: Automatic driving notification unit 81: Receiving device (satellite signal receiving unit) 84: Receiving sensitivity detector KL: Reference driving line K1: Starting point K2: End point SL: Set driving line

Claims

1. a traveling machine body to which a working device is connected and supported, capable of switching between manual traveling by manual steering and automatic traveling by automatic steering along a set traveling line that is set parallel to a reference traveling line; an information notification unit that notifies information; a warning notification unit that issues a warning; an instruction operating tool that is operated during the teaching travel by the manual travel to set a start point and an end point of the reference travel line, the pointing operation tool, the information notification unit, and the warning notification unit are arranged in a single operation device, the indicating operation tool includes a start point indicating operation tool that sets a start point of the reference travel line, and an end point indicating operation tool that sets an end point of the reference travel line, a light-emitting device is provided on each of the start point indicating operation tool and the end point indicating operation tool; A work vehicle in which the light emitting device emits light when it is detected that the position of the traveling body has deviated from the set traveling line or has shifted in direction.

2. a satellite signal receiving unit that receives a satellite signal from a satellite; a reception sensitivity detection unit that detects the reception sensitivity of the satellite signal reception unit, The work vehicle according to claim 1, wherein the information notification unit notifies information relating to the reception sensitivity of the satellite signal receiving unit based on the detection result of the reception sensitivity detection unit.

3. the information notification unit has a display unit that displays the information, The work vehicle according to claim 2, wherein the display unit displays a predetermined shape and changes the display mode of the shape to notify information about the reception sensitivity of the satellite signal receiving unit.

4. The work vehicle according to claim 3, wherein the display mode is a light emitting pattern.

5. It is equipped with a driver's seat where the operator sits, 2. The work vehicle according to claim 1, wherein the start point indicating operation tool is disposed closer to the driver's seat than the end point indicating operation tool.

6. A center mascot is provided at the front of the traveling body and is arranged at the left and right center of the traveling body, 3. The work vehicle according to claim 2, further comprising an automatic driving notification unit provided above the center mascot, which notifies the user that automatic driving is possible based on the detection result of the reception sensitivity detection unit.

7. The working device is a seedling planting device that plants seedlings in a field, A spare seedling tray is provided on each of the left and right sides of the front of the traveling body, and is capable of carrying spare seedlings to be supplied to the seedling planting device; and left and right spare seedling frames for supporting the left and right spare seedling tables, respectively; 2. A work vehicle according to claim 1, wherein the operating device is supported by at least one of the left and right spare seedling frames.

8. It is equipped with a driver's seat where the operator sits, The spare seedling frame is disposed forward of the driver's seat, The spare seedling frame is provided with a plurality of vertical frames extending along the vertical direction, The work vehicle according to claim 7, wherein the operating device is supported by the rearmost vertical frame among the plurality of vertical frames.

9. A stay is provided to support the operating device, The work vehicle according to claim 7 or 8, wherein the operating device is supported on the spare seedling frame via the stay.

10. The start point indicating operation tool and the end point indicating operation tool are arranged separately on the left and right sides, 2. The work vehicle according to claim 1, wherein the light emitting device provided on one of the start point indicating operating tool and the end point indicating operating tool on the side where the traveling machine body is located with respect to the set traveling line emits light.

11. The start point indicating operation tool and the end point indicating operation tool are arranged separately on the left and right sides, 2. The work vehicle according to claim 1, wherein the light emitting device provided on one of the start point indicating operating tool and the end point indicating operating tool on the side where the set travel line is located relative to the traveling body emits light.

12. The work vehicle according to claim 1 , wherein the warning notification unit issues a warning when the position of the traveling machine body deviates from the set traveling line.

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