Work vehicles

Abstract

To provide a work vehicle which can store small articles and items and improve convenience.SOLUTION: A work vehicle includes: a travel vehicle body; a work machine attached to the travel vehicle body; a receiving antenna which acquires positional information of the travel vehicle body; a frame supporting the receiving antenna; and an antenna cover which covers the receiving antenna. The work vehicle includes a storage space below the receiving antenna. The storage space is fixed to the frame and wiring related to the receiving antenna is arranged along the frame.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] The present invention relates to agricultural work vehicles such as rice transplanters and tractors capable of performing autonomous driving.

Background Art

[0002] Patent Document 1 discloses a work vehicle capable of adjusting the steering angle of a steering wheel by driving a steering motor and performing autonomous driving. Hereinafter, the work vehicle is also simply referred to as a "vehicle".

[0003] During the autonomous driving of the work vehicle, it is particularly desirable that small items and items on the vehicle can be stored while the work vehicle is performing autonomous driving, especially in an unmanned state.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, when an operator operates the machine body, small items and items can be placed on the floor step or the seat, but the convenience is not good.

[0006] Therefore, an object of the present invention is to provide a work vehicle capable of storing small items and items and improving convenience.

Means for Solving the Problems

[0007] Such an object of the present invention is a traveling vehicle body (2), a driver's seat (48) attached to the traveling vehicle body (2), a working machine, a receiving antenna (130) for acquiring the position information of the traveling vehicle body (2), A frame supporting the receiving antenna (130), In a work vehicle equipped with an antenna cover (50) that covers the receiving antenna (130), The receiving antenna (130) is positioned in front of and above the cockpit (48). A storage space is provided below the receiving antenna (130), Previous income Delivery An opening is formed at the rear of the space. It is configured so that small items can be put in and taken out through the aforementioned opening. The opening contains Delivery Prevents small items stored in the space from falling out of the opening. Upward rising A work vehicle characterized by having a section.

[0008] (delete) [Effects of the Invention]

[0009] According to the present invention, by providing a storage space below the receiving antenna, small items and other items can be stored, improving convenience. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a schematic left side view of a work vehicle according to a preferred embodiment of the present invention. [Figure 2] Figure 2 is a block diagram of the work vehicle shown in Figure 1. [Figure 3] Figure 3 is a magnified view of the main gear shift lever shown in Figure 1. [Figure 4] Figure 4 is a diagram showing a remote controller for remotely operating a work vehicle. [Figure 5] Figure 5 is a schematic front view of the vicinity of the status indicator light shown in Figure 1. [Figure 6] Figure 6 is an enlarged perspective view of the vicinity of a status indicator light that is positioned to extend in the vertical direction. [Figure 7] Figure 7 is an enlarged perspective view of the vicinity of a status indicator light that is positioned horizontally. [Figure 8] Figure 8 is an enlarged perspective view of the vicinity of the status indicator lamp as seen from the rear right obliquely. [Figure 9] Figure 9 is an enlarged perspective view of the vicinity of the status indicator lamp as seen from the lower left front obliquely. [Figure 10] Figure 10 is an enlarged perspective view showing the inner surface of the small storage box shown in Figure 8. [Figure 11] Figure 11 is a drawing showing the flow of rice transplanting work. [Figure 12] Figure 12 is a drawing showing the teaching process. [Figure 13] Figure 13 is a drawing showing the round-trip journey in the unmanned automatic driving mode. [Figure 14] Figure 14 is a drawing showing the automatic adjustment of the planting width during the round-trip journey. [Figure 15] Figure 15 is a drawing showing the inner circumference journey in the unmanned automatic driving mode. [Figure 16] Figure 16 is a flowchart showing the procedure for temporarily stopping or notifying depending on the presence or absence of sitting in the driver's seat. [Figure 17] Figure 17(a) is a drawing showing the exit method when there is no field entrance, and Figure 17(b) is a drawing showing the exit method when there is a field entrance. [Figure 18] Figure 18 is a drawing showing the first to fourth processes when moving forward and exiting. [Figure 19] Figure 19 is a drawing showing the fifth to seventh processes when moving forward and exiting. [Figure 20] Figure 20 is a drawing showing the eighth to eleventh processes when moving forward and exiting. [Figure 21] Figure 21 is a drawing showing the adjustment of the starting position of planting. [Figure 22] Figure 22 is a drawing showing the procedure for replenishing herbicide. [Figure 23] Figure 23 is a drawing showing the work in a deformed field. [Figure 24] Figure 24 is a drawing showing the relationship between the driving order during teaching and the direction of reciprocating planting. [Figure 25] Figure 25(a) is a diagram illustrating seedling replenishment work in an inverted trapezoidal field, and Figure 25(b) is a diagram illustrating seedling replenishment work in a slightly inverted trapezoidal field. [Figure 26] Figure 26(a) is a diagram illustrating the generation of subpaths, Figure 26(b) is a diagram illustrating the first countermeasure to prevent the generation of subpaths, and Figure 26(c) is a diagram illustrating the second countermeasure to prevent the generation of subpaths. [Figure 27] Figure 27(a) is a diagram showing how sub-paths are generated in a field where the round-trip path is divided into two parts, and Figure 27(b) is a diagram showing a teaching path that prevents the generation of sub-paths in the field shown in Figure 27(a). [Figure 28] Figure 28 is a diagram showing the teaching route when supplying seedlings from both sides in a large field. [Figure 29] Figure 29(a) is a diagram showing a work vehicle colliding with an obstacle that extends more than 3m on the seedling supply side, and Figure 29(b) is a diagram showing a teaching path that recognizes the overhang shape of the obstacle shown in Figure 29(a). [Figure 30] Figure 30(a) shows how planting is left unplanted due to the influence of the entrance, Figure 30(b) shows how teaching is performed leaving the entrance area untouched, and Figure 30(b) shows how planting is performed manually on the remaining area. [Figure 31] Figure 31 is a diagram showing the screen displayed on the monitor shown in Figures 1 and 5. [Figure 32] Figure 32 is a diagram showing the seedling supply locations displayed on the monitor. [Figure 33] Figure 33 is a diagram showing how each work step is displayed on the monitor using different colors. [Figure 34] Figure 34 is a schematic perspective view of a work vehicle according to another preferred embodiment of the present invention. [Figure 35] Figure 35 is a schematic plan view showing three patterns of the relative position of the remote controller with respect to the remote control antenna in the embodiment shown in Figure 34. [Modes for carrying out the invention]

[0011] Preferred embodiments of the present invention will be described in detail below with reference to the attached drawings.

[0012] Figure 1 is a schematic left side view of a work vehicle 1 according to a preferred embodiment of the present invention, and Figure 2 is a block diagram of the work vehicle 1 shown in Figure 1.

[0013] Furthermore, Figure 3 is an enlarged view of the main gear shift lever shown in Figure 1, and Figure 4 is a diagram showing the remote controller for remotely operating the work vehicle 1.

[0014] In this specification, as indicated by the arrows in Figure 1, the side in the direction of travel of the work vehicle 1 is referred to as the front, and unless otherwise specified, the left side in the direction of travel of the work vehicle 1 is referred to as the "left," and the opposite side as the "right."

[0015] The work vehicle 1 according to this embodiment is a rice transplanter for planting rice seedlings in a field, and as shown in Figure 1, it comprises a traveling body 2 (hereinafter also simply referred to as "the body"), a seedling planting unit 63 attached to the rear of the traveling body 2, a status indicator light 55 for displaying the status of the work vehicle 1, a fertilizer applicator 26 for supplying fertilizer to the field, a pair of left and right line marking markers 40 for forming lines on the field that serve as a guide for the traveling position when traveling while planting seedlings, a receiving antenna 130 provided on the front of the traveling body 2, a direction sensor 80 for detecting the direction the traveling body 2 is facing, an auxiliary seedling frame 74 provided on the front of the traveling body 2 for accommodating seedlings supplied to the seedling planting unit 63, and a remote controller 44 (see Figures 2 and 4) for remotely operating the work vehicle 1 from the outside.

[0016] The receiving antenna 130 and the direction sensor 80 are covered by the antenna cover 50 shown in Figure 1. The seedling planting unit 63 is an example of a "working machine" according to the present invention.

[0017] The receiving antenna 130 is an antenna that receives radio waves from GNSS satellites and can acquire the vehicle's position information. The acquired position information is transmitted to the navigation ECU 70 of the control unit 87 located in the vehicle body 2 (see Figure 2). RTK-GNSS is used to acquire the position information, and by receiving correction information, highly accurate position information can be obtained.

[0018] In this embodiment, Bluetooth® SPP (Serial Port Profile) is used as the input interface for correction information, and mobile phones and Bluetooth® converters are connected and input by their device names.

[0019] The remote controller 44 remotely controls the work vehicle 1 and can transmit instructions such as start work, forward / reverse movement, and stopping to the remote control antenna 52 installed on the vehicle. The remote controller 44 and the work vehicle 1 are configured to automatically stop for safety if they are separated by more than the communication distance.

[0020] As shown in Figure 1, the vehicle body 2 comprises a control unit 87 covered by a front cover 47, a main frame 3 located approximately in the center of the vehicle body 2, a rear frame 6 attached to the rear end of the main frame 3 and extending in the width direction of the work vehicle 1, a floor step 60 located above the main frame 3, a cockpit 48 and control unit 49 located above the floor step 60, an engine 7 located below the cockpit 48, a pair of left and right front wheels 8 (steering wheels) and a pair of left and right rear wheels 9 as driving wheels, and a transmission mechanism such as a transmission case 30 that transmits power from the engine 7 to the pair of left and right front wheels 8 and rear wheels 9.

[0021] The control unit 49 includes a main gear lever 35 for changing the forward and reverse movement and vehicle speed of the vehicle body 2, a steering mechanism 43 including a steering wheel 56 for steering a pair of left and right front wheels 8, a straight assist lever 79 provided near the left side of the steering wheel 56, a monitor 61 with operation switches, and an operation unit 54 equipped with various operation switches for operating the work vehicle 1.

[0022] The straight-ahead assist lever 79 is operated by swinging when acquiring position information of the vehicle body 2 and when starting or stopping straight-ahead control, which is one of the functions of autonomous driving.

[0023] The steering mechanism 43 includes a steering wheel 56, as well as a steering shaft 83, a pitman arm, and tie rods (not shown).

[0024] The work vehicle 1 according to this embodiment can be driven in one of five modes: manual driving mode, teaching mode (instructional driving mode), unmanned automatic driving mode, manned automatic driving mode, and remote driving mode. The mode can be switched using the remote controller 44 or the monitor 61 located at the front of the vehicle.

[0025] The manual driving mode is a mode in which an operator riding in the vehicle adjusts the vehicle speed by operating the main transmission lever 35, and steers the front wheels 8, which are the steering wheels, by rotating the steering wheel 56.

[0026] The teaching mode is a mode in which, while the operator controls the machine to travel around the perimeter of the field, the receiving antenna 130 is used to read field shape information and reference lines used for straight-line control. In this embodiment, field shape reading is performed only while planting is taking place or while the seedling planting unit 63 is in the working position described in detail later. By swinging the straight-line assist lever 79 (see Figure 1) downwards, the starting and ending points of the reference lines and the positional information of the field contour are acquired. The field shape information and reference line information acquired in teaching mode are not erased even when the engine 7 is turned off, but the field shape information and reference lines of the previous field are erased when teaching is performed in another field.

[0027] In the unmanned automatic driving mode, based on the control of the control unit 87, the HST servo motor 150 is driven to automatically adjust the vehicle speed of the work vehicle 1, while the steering motor 57 is driven to automatically steer (automatically rotate) the steering wheel 56. The work vehicle 1 drives automatically along a travel path (work path) that is automatically created based on the field shape information acquired in the teaching mode, and starting, stopping, decelerating, accelerating, and turning are performed automatically.

[0028] The first planting step in unmanned automatic driving mode is the step that is closest in distance and direction when the system switches to unmanned automatic driving mode. Therefore, even if the work is interrupted, such as by turning off the engine, it is possible to resume the work.

[0029] Furthermore, the system is configured to automatically stop if the GNSS reception status is anything other than "RTK-FIX," if the vehicle tilts by more than 15°, or if the vehicle deviates from the working area of ​​the taught field.

[0030] In the manned automatic driving mode, the steering wheel 57 is automatically rotated based on the control of the control unit 87, and the vehicle speed is adjusted by the operator riding in the work vehicle 1. In this embodiment, so-called straight-line assist is performed, which includes straight-line control and turning control (automatic turning, turning assist).

[0031] In this embodiment, the initiation of the rotation control is also based on the operator's actions.

[0032] Furthermore, in this embodiment, vehicle speed adjustment is performed by manually operating the main gear shift lever 35, but it may also be configured to be performed by pressing down on the pedal.

[0033] The remote operation mode allows the work vehicle 1 to be remotely controlled from a distance using the remote controller 44. The remote operation mode can be used for entering fields, loading and unloading onto trucks, and moving the vehicle in and out of narrow garages.

[0034] As shown in Figure 2, the control unit 87 includes a navigation ECU 70 and a steering ECU 71.

[0035] The navigation ECU 70 calculates the route for automated driving during work based on position information from GNSS satellites and field shape information, and transmits appropriate steering information to the steering ECU 71 according to that route.

[0036] Furthermore, when the remote control antenna 52 receives an operation signal from the remote controller 44, the operation signal is transmitted to the navigation ECU 70. Based on the operation information obtained from the remote controller 44, the navigation ECU 70 drives the HST servo motor 150 to change the vehicle speed or controls the hydraulic equipment.

[0037] The steering ECU 71 controls the steering motor 57 based on information output from the navigation ECU 70 during autonomous driving. In manual driving mode, a steer-by-wire system is employed, which drives the steering motor 57 based on the steering angle of the steering wheel 56.

[0038] Meanwhile, the driving force output from the engine 7 is transmitted to the transmission case 30 via a belt-type power transmission mechanism 4 and a hydrostatic continuously variable transmission (HST) 25 located below the floor step 60, as shown in Figure 1.

[0039] The hydrostatic continuously variable transmission 25 is equipped with a trunnion shaft (not shown), and when the main shift lever 35 is operated, the opening of the trunnion shaft is adjusted by the drive of the HST servo motor 150 (see Figure 2), thereby changing the output to the transmission case 30 and adjusting the vehicle speed. When moving forward, that is, when the main shift lever 35 is in the forward range shown in Figure 3(b), the further forward the main shift lever 35 is operated, the higher the vehicle speed is adjusted.

[0040] The power transmitted to the transmission case 30 is shifted internally and divided into power for driving to the pair of front wheels 8 and the pair of rear wheels 9, and power for driving the seedling planting unit 63 (driving power).

[0041] Power for driving is transmitted to the left and right pair of front wheels 8 via the front wheel final case 13 and front wheel axle 31 (see Figure 1), and also to the left and right pair of rear wheels 9 via the left and right pair of rear wheel transmission shafts 14, left and right pair of rear wheel gear cases 51 and axle 82 shown in Figure 1.

[0042] On the other hand, the power for driving is transmitted to a planting clutch (not shown) located at the rear of the vehicle body 2, and when the planting clutch is engaged, it is further transmitted to the seedling planting unit 63.

[0043] As shown in Figure 1, the seedling planting unit 63 is attached to the vehicle body 2 via a lifting link device 5. The lifting link device 5 comprises an upper link arm 85 and a pair of left and right lower link arms 86, and is configured to allow the seedling planting unit 63 to move up and down.

[0044] The front ends of the upper link arm 85 and the lower link arm 86 are attached to the link base frame 10, which is fixed to the rear frame 6, and the other ends are attached to the upper and lower link arms 11, which are located below the seedling planting section 63.

[0045] Here, the control unit 87 controls the electronic hydraulic valve 88 (see Figure 2), and when the lifting hydraulic cylinder 12 shown in Figure 1 is retracted hydraulically, the upper link arm 85 rotates upward and backward, causing the seedling planting unit 63 to rise to a non-working position. When the seedling planting unit 63 is in a non-working position, its lower end is at approximately the same height as the bottom of the main frame 3.

[0046] In response, when the lifting hydraulic cylinder 12 is extended hydraulically, the upper link arm 85 rotates downward and backward, and the seedling planting section 63 is lowered to a working position (the position shown in Figure 1) where seedling planting can be performed.

[0047] As shown in Figures 1 and 2, the seedling planting section 63 includes a stand 65 for propping up soil-covered mat-shaped seedlings (hereinafter referred to as "seedling mats"), a plurality of planting devices 64 provided behind and below the stand 65, a center float 38 provided at the bottom of the seedling planting section 63, and side floats 39 positioned to the left and right of the center float 38.

[0048] Multiple planting devices 64 are arranged in the width direction of the work vehicle 1, and each planting device 64 is equipped with two pairs of planting tools 69 arranged in the front-to-back direction. When the planting clutch is engaged and the drive shaft 67 shown in Figure 1 is rotated, the front planting tool 69 and the rear planting tool 69 shown in Figure 1 rotate around the drive shaft 67, alternately picking up seedlings located at the lower end of the stand 65 and planting them in the field.

[0049] The center float 38 and side floats 39 are configured to glide and level the field as the work vehicle 1 moves, and seedlings are planted in the field leveled by each float 38, 39 by each planting device 64. The center float 38 and side floats 39 are each oscillated to conform to the unevenness of the field.

[0050] The pair of line-drawing markers 40 shown in Figure 1 each consist of a line-drawing body 41 that rolls across the field to form a line when the vehicle body 2 is moving, and an L-shaped marker rod 42 in a front view that connects the line-drawing body 41 and the vehicle body 2. The markers are configured to be switchable between an operating position in which the line-drawing body 41 is in contact with the field and a non-operating position in which the line-drawing body 41 is not in contact with the field.

[0051] As the work vehicle 1 travels in a straight line across the field and plants seedlings, the line marking marker 40 on the row where the next seedling will be planted (after the turn) is in the working position while the vehicle travels in a straight line. This creates a line on the field that serves as a guide for the travel position when traveling in a straight line after the turn. Figure 1 shows the left line marking marker 40 in the working position and the right line marking marker 40 in the non-working position.

[0052] As shown in Figures 1, 2, and 5, a center mascot 18 is provided at the front and center of the width direction of the work vehicle 1. When the work vehicle 1 turns over the field and travels straight over the next row, the steering wheel 56 is operated so that the center mascot 18 passes along the line formed by the line marking marker 40, and by traveling straight while operating the steering wheel 56, seedlings can be planted in the appropriate position.

[0053] The auxiliary seedling frame 74 is attached to the front of the vehicle body 2 via a frame 77 that supports the auxiliary seedling frame 74, as shown in Figure 1, in order to accommodate the seedling mat to be added to the base 65.

[0054] As shown in Figure 2, the control system of the work vehicle 1 includes a control unit 87 that controls the operation of the entire work vehicle 1 and a timer 105 that measures time.

[0055] The control unit 87 comprises a processing unit having a CPU (Central Processing Unit) and a storage unit having ROM (Read Only Memory) and RAM (Random Access Memory). The storage unit stores various programs and data for controlling the work vehicle 1.

[0056] As shown in Figure 2, the detection system of the work vehicle 1 includes a pitman sensor 58 that detects the steering angle of the steering wheel 56, a steering sensor 45 provided on the steering motor 57 that detects the rotational position and rotational speed of the steering motor 57, an engine rotation sensor 96 that detects the rotational speed of the engine 7, a link sensor 89 that detects the relative angle of the upper link arm 85 with respect to the link base frame 10, a receiving antenna 130 that receives radio waves from an artificial satellite, a rear wheel rotation sensor 29 that counts the rotational speed of each axle 82 connected to the left and right pair of rear wheels 9, a float sensor 33 that detects the vertical position of the front of the center float 38, a compass sensor 80, a tilt detection sensor 37 that detects the tilt of the vehicle body 2, and a seat switch 110 that detects a person sitting in the driver's seat 48.

[0057] In this embodiment, the pitman sensor 58 is attached to the pitman arm, but it may also be provided on the steering shaft 83 or the like.

[0058] The float sensor 33 is configured to detect the vertical position of the front of the center float 38 when the front of the center float 38 swings in accordance with the unevenness of the field, and to output this information to the control unit 87.

[0059] As shown in Figure 2, the input system of the work vehicle 1 includes a main shift lever sensor 36 that detects the operating position of the main shift lever 35 (see Figures 1 and 3) that changes the forward / reverse movement and vehicle speed of the work vehicle 1, a straight assist lever sensor 81 that detects the operation of the straight assist lever 79 which is swung up or down when acquiring position information of the traveling vehicle body 2, or when starting or stopping straight-line control, a finger lever sensor 16 that detects the swinging operation of the finger lever 23 that raises and lowers the seedling planting unit 63, a planting on / off switch 19 that switches the seedling planting operation on and off, a monitor 61 as shown in Figure 8, a marker switch 28 that switches the posture of the left and right line marking markers 40, and a slewing control switch 17 that sets slewing control. The marker switch 28 and the slewing control switch 17 are located on the operation unit 54. The finger lever 23 and the planting on / off switch 19 are located on the main shift lever 35 as shown in Figure 3.

[0060] In this embodiment, the straight-ahead assist lever 79 can be swung upward and downward, and after being swung in either the up or down direction, it is configured to automatically return to its original up or down position by a spring.

[0061] As shown in Figure 2, the drive system of the work vehicle 1 includes a throttle motor 97 that adjusts the intake volume of the engine 7 located below the driver's seat 48, an electronic hydraulic valve 88 that extends and retracts the lifting hydraulic cylinder 12 when the seedling planting unit 35 is raised and lowered, an HST servo motor 150 that adjusts the opening degree of the trunnion shaft in the hydrostatic continuously variable transmission 25 to change the forward and reverse movement and vehicle speed of the work vehicle 1, a steering motor 57 that rotates the steering shaft 83 and steering wheel 56, an electromagnetic valve 103 that engages and disengages the side clutch of the rear wheel 9, a power steering 108, a planting clutch motor 27 that operates the planting clutch, a marker motor 34 that swings each of the left and right line marking markers 40, and a fertilizer amount adjustment motor 66 that adjusts the amount of fertilizer applied to the field by the fertilizer application device 26.

[0062] The steering motor 57 is controlled by the control unit 87 for the purpose of automatically rotating the steering wheel 56 in straight-line control, turning control, and unmanned automatic driving mode.

[0063] Furthermore, the control unit 87 is configured to calculate the current height (vertical position) of the seedling planting unit 35 based on the output signal from the link sensor 89.

[0064] In addition, when the work vehicle 1 is driving over the field while planting seedlings, the control unit 87 controls the electronic hydraulic valve 88 based on the detection signal from the float sensor 33 to extend and retract the lifting hydraulic cylinder 12 shown in Figure 1, and raise and lower the seedling planting unit 63 shown in Figure 1, thereby maintaining a constant planting depth for the seedlings in the field.

[0065] Figure 5 is a schematic front view of the vicinity of the status indicator light 55 shown in Figure 1, Figure 6 is an enlarged perspective view of the vicinity of the status indicator light 55 in an orientation extending in the vertical direction, and Figure 7 is an enlarged perspective view of the vicinity of the status indicator light 55 in an orientation extending in the horizontal direction.

[0066] Figure 5 shows an enlarged front view of the support member 90 that supports the status indicator light 55, while Figures 6 and 7 show the vicinity of the status indicator light 55 as seen from the front right. Note that the small storage compartment, which will be described in detail later, is omitted in Figures 6 and 7.

[0067] Furthermore, Figure 8 is an enlarged perspective view of the vicinity of the status indicator light 55 as seen from the right rear, and Figure 9 is an enlarged perspective view of the vicinity of the status indicator light 55 as seen from the left front lower.

[0068] As shown in Figures 6 and 8, the status indicator light 55 is configured as a stacked lamp with a first lamp 121, a second lamp 122, and a third lamp 123 arranged vertically, and the first lamp 121 can emit pink light, the second lamp 122 can emit green light, and the third lamp 123 can emit blue light.

[0069] Here, if only the first lamp 121 is lit, it indicates a temporary stop (stop) due to an abnormality; if only the third lamp 123 is lit, it indicates that the vehicle is running in automatic mode; if all of the first to third lamps 121, 122, and 123 are lit, it indicates that the vehicle is ready to start automatic driving; and if all of the first to third lamps 121, 122, and 123 are off, it indicates that the vehicle is in manual driving mode or manned automatic driving mode. Therefore, the status indicator lights 55 do not flicker and become an eyesore while the operator is riding in and operating the work vehicle 1.

[0070] When the system is set to unmanned automatic operation mode, one of the status indicator lights 55, lamps 121 to 123, will be illuminated.

[0071] The status indicator light 55, which displays the status of the work vehicle 1, is located directly beside (to the right of) the antenna cover 50 that covers the receiving antenna 130 (see Figure 1), and is positioned at the highest point on the vehicle, as shown in Figures 1 and 5.

[0072] The antenna frame 100, which supports the receiving antenna 130 and the antenna cover 50, comprises a pair of left and right fixed frames 75, 76 fixed to the lower part of the floor step 60 of the vehicle body 2, and a mounting frame 77 that connects the pair of fixed frames 75, 76 at their upper ends and to which the antenna cover 50 is attached, as shown in Figures 5 and 8.

[0073] In this embodiment, the status indicator light 55 is attached to the support member 90 and supported by the support member 90.

[0074] As shown in the vent in Figure 5, the support member 90 has a mounting plate 92 that is inverted L-shape and a stay 91 that is U-shaped when viewed from the front, and the right part of the stay 91 of the support member 90 is fixed to the mounting frame 77 by a bolt 93.

[0075] When the status indicator light 55 is in use (as shown in Figures 1, 5, 6, 7, and 8), the mounting plate 92 and the stay 91 are connected by the knob bolt 58 and stepped bolt 59 shown in Figure 6.

[0076] Specifically, the mounting plate 92 and the stay 91 are connected by aligning the front screw hole 94 formed in the mounting plate 92 with the front screw hole 98 formed in the stay 91, and the rear hole 95 formed in the mounting plate 92 with the rear hole 99 formed in the stay 91, inserting and screwing in knob bolts 58 into the respective front screw holes 94 and 98, and inserting stepped bolts 59 into the respective rear holes 95 and 99, and securing them with nuts from the inside (left side). The stepped bolts 59 are inserted in the left-right direction (vehicle width direction).

[0077] Here, when only the knob bolt 58 is removed from the mounting plate 92 and the stay 91, the mounting plate 92 and the indicator light 55 that indicates the mounting plate 92 is fixed can be rotated backward using the stepped bolt 59 extending in the left-right direction as the pivot point, switching to the stored state (storage position) shown in Figure 7.

[0078] In this embodiment, when the mounting plate 92 and the status indicator light 55 are rotated to the rear, the entire status indicator light 55 is positioned below the upper end of the antenna cover 50.

[0079] Therefore, for example, when loading the work vehicle 1 onto a truck or the like for transport, the worker can remove the knob bolt 58 from the mounting plate 92 and the stay 91, and rotate the mounting plate 92 and the status indicator light 55 towards the rear (towards the driver's seat 48), thereby lowering the overall height of the vehicle and preventing the status indicator light 55 from coming into contact with the outside (for example, a tunnel) and being damaged during transport.

[0080] Furthermore, in this embodiment, since a knob bolt 58 is used for insertion into the front screw holes 94 and 98, the knob bolt 58 can be removed from the mounting plate 92 and stay 91 without tools, and the mounting plate 92 and status indicator light 55 can be rotated, providing high convenience.

[0081] Furthermore, in this embodiment, as shown in Figure 5, the mounting plate 92 of the support member 90 is in an inverted L shape, and a portion 113 of the part of the mounting plate 92 above the part connected to the stay 91 extends inward in the vehicle width direction (towards the center mascot 18). A status indicator light 55 is attached to the upper surface of this portion that extends inward in the vehicle width direction.

[0082] By configuring it in this way, even if the status indicator light 55 is positioned to the side (adjacent to) the antenna cover 50, the position of the status indicator light 55 can be positioned towards the center in the vehicle width direction (left-right direction), thus preventing the status indicator light 55 from obstructing the worker's movement. In addition, as shown in Figure 7, when the mounting plate 92 and the status indicator light 55 are rotated to the rear, the bolt 93 and the stepped bolt 59 can be easily removed.

[0083] When the status indicator light 55 is not in use, the mounting plate 92 and the status indicator light 55 may be rotated further downward from the state shown in Figure 7 to switch to a state where the status indicator light 55 is facing downward (the second lamp 122 is positioned below the third lamp 123, and the status indicator light 55 has been rotated downward by approximately 180° from the state shown in Figure 6).

[0084] In this case as well, since the entire status indicator light 55 is located below the upper end of the antenna cover 50, it is possible to prevent the status indicator light 55 from coming into contact with the outside, and the bolt 93 and stepped bolt 59 can be easily removed. In addition, when the status indicator light 55 is switched to a position where it extends downward, the status indicator light 55 does not extend towards the rear cockpit 48, so it is less likely to get in the way of workers.

[0085] Furthermore, the status indicator lights may be positioned below the antenna cover 50 in a sideways orientation (with the first lamp positioned to the side of the third lamp). In this case as well, the status indicator lights will not obstruct the receiving antenna, the overall height of the vehicle during operation can be kept low, the appearance is good, and the status indicator lights can be easily seen from the driver's seat 48.

[0086] Figure 10 is an enlarged perspective view showing the inner surface of the small item container 53 shown in Figure 8.

[0087] As shown in Figures 5, 8, 9, and 10, a small storage compartment 53 is provided below the antenna cover 50, and the storage compartment 53 is fastened together with the stay 91 and mounting frame 77 by bolts 93 using a pair of plates 68 (see Figure 10) attached to the left and right sides of the storage compartment 53.

[0088] As shown in Figure 8, an opening 78 is formed at the rear of the storage compartment 53, allowing precision equipment such as terminals for network-type RTK-GPS services (VRS) and their cords to be stored in the storage compartment 53 without obstructing the acquisition of location information by the receiving antenna 130 or the worker's view.

[0089] As shown in Figure 10, a rubber sheet 84 is attached to the inside bottom surface of the small item compartment 53, which helps to suppress the transmission of vibrations and shocks to the precision equipment stored inside the small item compartment 53.

[0090] As shown in Figure 9, the storage compartment 53 is fixed in close contact with the bottom surface (GNSS plate) 104 of the antenna cover 50 so that there is no gap between the upper end of the storage compartment 53 and the bottom surface (GNSS plate) 104 except for the opening 78. This prevents water and debris from entering from parts other than the opening 78 and also allows for an aesthetically pleasing appearance. In addition, a slit 101 extending in the left-right direction is formed in the bottom surface of the storage compartment 53, which prevents water and debris from accumulating inside the storage compartment 53.

[0091] As shown in Figures 8, 9, and 10, the rear of the small item compartment 53 is provided with a lip 106 approximately 20 mm long, which prevents items stored inside the compartment from falling out.

[0092] As shown as the "fold" in Figure 10, the rear end of the fold 106 is folded downwards so as to be in close contact with the outer surface, thereby preventing injuries caused by the barb.

[0093] The work vehicle 1 according to this embodiment, configured as described above, performs seedling planting work as follows.

[0094] <Workflow and Roles> Figure 11 is a diagram illustrating the flow of rice planting work.

[0095] The rice planting operation according to this embodiment consists of four steps: a teaching step, a round-trip step, an inner circumference step, and a finishing step. The first step, the teaching step, involves the operator riding on the machine and planting rice along three sides of the outer perimeter (excluding the side where seedlings are supplied) in teaching mode, allowing the rice transplanter to recognize the shape of the field. The round-trip step and the inner circumference step are steps in which rice planting is performed by automatically driving along the created work path. The final finishing step is a step in which the operator rides on the machine and plants rice along the remaining side of the outer perimeter, completing the rice planting operation.

[0096] <Starting> The main switch on work vehicle 1 is turned on, the entire system is activated, and the acquisition of location information using the receiving antenna 130 begins.

[0097] <Recognition of azimuth angle> Turn the main switch on work vehicle 1 to the start position to start engine 7, and drive work vehicle 1 approximately 2 meters. This allows work vehicle 1 to recognize its orientation. This process can be done in either forward or reverse and is completed in about 2 meters. Therefore, recognition will be completed when entering the field as usual. Note that if you drive while "RTK-FIX" is not engaged, the azimuth recognition state will be canceled, so you will need to perform the azimuth recognition operation again after engaging "RTK-FIX".

[0098] <Preparation for entering the field and teaching> The process from entering the field to moving to the teaching start position (work start position) is the same as with a normal rice transplanter. Furthermore, by using the remote operation mode, loading and unloading from the truck and entering the field can also be controlled remotely.

[0099] Adjusting the planting depth and the amount of seedlings to be picked is the same as with a regular rice transplanter. In the teaching process, seedlings are actually planted, so it is necessary to check the number of seedlings and the amount of fertilizer and herbicide before starting work.

[0100] <Teaching> Figure 12 is a diagram showing the teaching process.

[0101] This process involves riding in work vehicle 1 and planting along the three outer edges of the field to familiarize the machine with its shape. Teaching is performed by switching from manual operation mode to teaching mode.

[0102] First, switch to teaching mode.

[0103] Next, the machine moves along three sides of the field, planting seedlings along the ridges, using manual operation. The machine is raised and lowered manually to ensure no areas are missed during planting. For sides that need to be used for seedling replenishment or for planting last, the seedling planting unit 63 is lowered and the machine moves without planting.

[0104] Once planting is complete on the three outer edges, the operator can switch to unmanned automatic operation mode. At this time, the work path for one plot of field is automatically calculated. In this embodiment, the condition for switching to unmanned automatic operation mode is that the circular F switch and the start + circular F switch on the remote controller 44 shown in Figure 4 are pressed simultaneously. This enables unmanned automatic operation (round trip and inner circumference).

[0105] <Round trip (autonomous driving)> Figure 13 is a diagram showing the round trip route in unmanned automatic driving mode.

[0106] First, replenish seedlings and fertilizer as needed.

[0107] After disembarking, the operator uses the remote controller 44 to start the automated driving operation.

[0108] Next, it automatically turns and begins the next round-trip stroke. Note that it reverses approximately 1 meter before turning.

[0109] After the rice planting is automatically completed on the outward journey, the machine automatically turns around when it reaches the edge of the field. At this time, the seedling planting unit 63 is also configured to be raised and lowered automatically.

[0110] Next, rice planting is performed automatically on the return journey, and the machine automatically stops 3m before the levee on the supply road side. At this time, the levee is moved using the remote controller 44. When supplying seedlings, the seedling planting unit 63 is raised by operating the remote controller 44.

[0111] During the round trip, the above procedure is repeated, allowing the rice planting work to be carried out automatically while the vehicle travels back and forth.

[0112] <Automatic adjustment of planting width> Figure 14 is a diagram illustrating the automatic adjustment of the planting width during the round trip.

[0113] Depending on the size of the field, the second-to-last round trip may involve stopping the rows or driving without moving the vehicle.

[0114] The system is configured to automatically perform row stopping and adjust planting width during the second-to-last outward or return leg.

[0115] If the stapling operation is performed on the outbound journey, the return journey will skip one leg and run empty. After that, the operation for the final round trip will be performed.

[0116] <Inner loop (autonomous driving)> Figure 15 is a diagram showing the inner circumference path in unmanned automatic driving mode.

[0117] After the round trip is completed, the remaining inner loop steps between the teaching step and the round trip are automatically implanted.

[0118] First, seedlings and fertilizers are supplied and headland rotors are set up as needed.

[0119] After disembarking, the vehicle starts driving automatically based on the operation signals transmitted from the remote controller 44.

[0120] From this point onward, seedlings are automatically planted during the inner circumferential process.

[0121] Thus, after the inner circumferential process is completed, seedlings are planted manually in the area between the supply route and the automatically planted area (lower part of the diagram in Figure 15).

[0122] <Exiting the field> After the work is completed, work vehicle 1 will reverse and exit the field.

[0123] <Manned Automated Driving Mode> In manned autonomous driving mode, the vehicle travels a round trip while alternately performing straight-line control and turning control based on the control of the control unit 87.

[0124] Specifically, after the teaching mode acquires information on the start and end points of the reference line for straight-line control and the field shape, the control unit 87 initiates straight-line control when the straight-line assist lever 79 is swung upward. The conditions for initiating straight-line control are that the angle difference between the target line (a virtual line indicating the position to be traveled, parallel to the reference line) and the direction of the vehicle body 2 (the orientation of the vehicle body 2) when traveling in a straight line for each straight-line distance (round trip) on the field is less than 30°, and the straight-line assist lever 79 is swung upward.

[0125] In straight-line control, the control unit 87 is configured to drive the steering motor 57 and steer the pair of left and right front wheels 8, which act as steering wheels, based on detection signals output from the receiving antenna 130 and the direction sensor 80, so that the work vehicle 1 travels in a straight line along a line parallel to a reference line connecting the starting point and the ending point, for which position information has been acquired in teaching mode. When the work vehicle 1 approaches the headland, the operator swings the straight-line assist lever 79 upward, ending the straight-line control by the control unit 87 and initiating the turning control.

[0126] In this embodiment, when the main gear shift lever 35 is in the forward position (the position in which the vehicle moves forward) and the finger lever 23 (see Figure 3) is swung upward, the control unit 87 is configured to start turning control.

[0127] In turning control, which is one type of autonomous driving, as shown in Figure 4 of Japanese Patent Publication No. 2021-069293, for example, the steering angle of the steering wheel 56 is sequentially changed based on the steering angle of the steering wheel 56, the orientation of the vehicle body, and the rotation speed of the wheels, thereby enabling the vehicle to turn to a target turning position.

[0128] When the vehicle 1 completes its turn under the turning control, it is configured to automatically switch to straight-line control (start straight-line control) without the need to operate the straight-line assist lever 79, which initiates straight-line control.

[0129] Under straight-line control, as the work vehicle 1 approaches the headland, the operator swings the straight-line assist lever 79 upward, ending the straight-line control by the control unit 87 and initiating the turning control. As a result, turning control by the control unit 87 begins.

[0130] Similarly, in the following steps, the work vehicle 1 travels a round trip in manned automatic driving mode, repeatedly performing straight-line travel accompanied by seedling planting and turning using turning control (illustrated by a dashed line in Figure 5).

[0131] Furthermore, in straight-line control and turning control, the steering motor 57 may simply be configured to automatically drive so that the work vehicle 1 travels along a travel path (work path) automatically created based on the shape information of the field.

[0132] Furthermore, as described above, during straight-line control and turning control, while the steering wheel is automatically rotating, the vehicle speed is adjusted by the operator using the main gear shift lever 35.

[0133] <Straight-line reverse function> On the other hand, in this embodiment, when straight-line control is performed during each straight-line phase of the round-trip journey and the planting clutch is engaged, if the main shift lever 35 is operated to the reverse position (the operating position in which the vehicle 1 moves in reverse), the control unit 87 is configured to automatically control the steering angle of the steering wheel 56 so that the vehicle moves in a straight line parallel to the reference line (target line) while the main shift lever 35 is in the reverse position. Hereinafter, this type of control will be referred to as "straight-line reverse control".

[0134] While the straight-line reverse control is in operation, the control unit 87 is configured to raise the height of the seedling planting unit 63 to a position lower than its highest point and then stop it.

[0135] Furthermore, when the main gear lever 35 is subsequently operated to the forward position (the operating position in which the vehicle 1 moves forward), the control unit 87 is configured to automatically start (restart) straight-line control.

[0136] Furthermore, simultaneously with the start of straight-line control, the control unit 87 automatically lowers the seedling planting unit 63 to the working position, and then, when the rear wheels 9 have rotated the same number of times as they rotated during the straight-line reverse control, the planting clutch is automatically engaged, and seedling planting is automatically resumed. The rotation speed of the rear wheels 9 is detected by the rear wheel rotation sensor 29.

[0137] Therefore, for example, when asking someone at the edge of the bank to check for an abnormality in the seedling planting unit 63, the machine can reverse towards the bank and then move forward to resume planting seedlings. It can also automatically plant new seedlings on top of the rows of seedlings that were planted before the person at the bank checked, making it extremely convenient.

[0138] It is not necessarily required to configure the system to detect the distance during reverse movement (straight-line reverse control) using the rear wheel rotation sensor 29. For example, the system may be configured to detect the distance during straight-line reverse control based on position information acquired by the receiving antenna 130, and to resume planting seedlings once that distance has been moved forward.

[0139] Furthermore, while turning control is being performed, if the planting clutch is engaged and the main shift lever 35 is operated to the reverse position, the control unit 87 may be configured to automatically control the steering angle of the steering wheel 56 so that the vehicle reverses in a straight line parallel to the reference line (target line). By configuring the vehicle in this way, the vehicle 1 can be driven straight backward during so-called "sudden backing," and it is possible to prevent the planted seedlings from being run over by the driving wheels 8 and 9 when the vehicle moves forward to the edge of the field.

[0140] When straight-line control is possible, that is, when traveling in a straight line for each straight-line journey (round trip) on the field, the angle difference between the target line (a virtual line indicating the position to be traveled and parallel to the reference line) and the direction of the vehicle body 2 (the orientation of the vehicle body 2) is less than 30°, the system may be configured so that when the main shift lever 35 is operated to the reverse position (the position in which the vehicle 1 moves in reverse), the vehicle moves in reverse while traveling in a straight line along the target line. Alternatively, the system may be configured so that the steering wheel 56 is automatically rotated to move in a straight line in reverse, provided that the main shift lever 35 is operated to the reverse position while straight-line control is being performed.

[0141] <Seat switch control> Figure 16 is a flowchart showing the procedure for pausing or notifying based on whether or not the pilot is seated in the cockpit 48.

[0142] As shown in Figure 16, when the system is set to unmanned automatic driving mode, and the seat switch 110 detects that the driver is seated in the cockpit 48, the system starts driving automatically (step s3). During driving, the system repeatedly checks whether the driver is seated or not (whether the driver is seated in the cockpit 48) (step s4). If the driver is not seated, the monitor 61 displays "Absent," and the speaker 112 outputs an audio message indicating that the driver is absent.

[0143] Thus, even if a worker leaves their seat during autonomous driving, the system is configured to only issue a notification and not force a stop. This allows tasks such as replenishing seedlings to be performed while the vehicle is driving autonomously, without compromising convenience.

[0144] On the other hand, when the vehicle is set to manned automatic driving mode, if an operation is performed to start driving by automatic driving (an operation to start straight-line control or turning control in which the steering wheel 56 is automatically rotated, specifically an operation to swing the straight-line assist lever 79 or finger lever 23), the control unit 87 determines whether or not the vehicle is seated based on the output signal of the seat switch 110 (step s9).

[0145] If the determination is made and the operator is seated (the seat switch 110 detects that the operator is seated), the control unit 87 starts automatic driving, i.e., straight-line control or turning control (step s10). If the operator is not seated, the control unit 87 drives the HST servo motor 150 to temporarily stop the vehicle (step s12).

[0146] Thus, when set to manned automatic driving mode, if an operation to initiate automatic driving while the operator is not seated is performed, that is, if an operation to initiate straight-line control or turning control is performed, the vehicle will temporarily stop driving and will not perform automatic driving. This prevents situations such as the operator being thrown from the vehicle when the vehicle shakes or turns, thereby ensuring safety.

[0147] Furthermore, in this embodiment, in the manned automatic driving mode, if it is detected that the driver is not seated after automatic driving, i.e., straight-line control or turning control has started (during automatic driving), the message "Away from seat" will be displayed on the monitor 61, which is one of the "notification means" according to the present invention, and an audio message indicating that the driver is away from seat will be output from the speaker 112, which is another "notification means" according to the present invention, thereby notifying the driver (step s13). At this time, no forced stop will be performed.

[0148] Thus, if the operator leaves their seat after the vehicle has started to operate in either unmanned or manned autonomous driving mode while seated, the system is configured to notify the operator that they are away from their seat, thereby alerting the operator and ensuring safety.

[0149] In this embodiment, the system is configured to allow switching to manned automatic driving mode or manual driving mode only while a seated driver is detected in the unmanned automatic driving mode. This provides convenience and ensures safety by preventing the system from switching to manned automatic driving mode or manual driving mode when the driver is not seated.

[0150] Figure 17(a) is a diagram showing the exit method when there is no field entrance, and Figure 17(b) is a diagram showing the exit method when there is a field entrance.

[0151] In fields with no entrance and where vehicles can exit from anywhere, they exit by reversing while turning.

[0152] In contrast, if there is an entrance at the edge of the field, planting should first be done around the entrance using manual operation mode.

[0153] Next, the work vehicle 1 is turned in the same direction as when it entered the field, and then it is moved out in reverse.

[0154] <If you want to move forward or exit from the entrance> Figure 18 is a diagram showing the first to fourth steps when moving forward and exiting, Figure 19 is a diagram showing the fifth to seventh steps when moving forward and exiting, and Figure 20 is a diagram showing the eighth to eleventh steps when moving forward and exiting.

[0155] Although the procedure is somewhat more complicated, it is also possible to exit the field by moving forward from the entrance. Since this work procedure differs from the teaching stage, it is necessary to decide in advance which method of exiting the field will be used.

[0156] First, you can switch to teaching mode.

[0157] Next, the machine drives along the first side of the field without planting using manual operation, and then drives along the remaining two sides while planting. Note that when driving without planting, the machine will not recognize the seedling planting unit 63 unless it is lowered.

[0158] Next, the machine switches to manual operation mode, and then planting is done manually in the corners of the field.

[0159] Next, near the first leg of the journey, the operator disembarks and switches to unmanned automatic driving mode using the remote controller 44, after which the automatic driving operation begins.

[0160] Once the round trip is complete, the operator boards the vehicle and it switches to manual operation mode.

[0161] After that, seedlings are planted on the side where the seedlings are supplied, using manual operation.

[0162] The machine moves to the starting position of the inner circumference stroke and switches to unmanned automatic driving mode using the remote controller 44. After that, the seedling planting unit 63 is lowered and unmanned automatic driving begins.

[0163] Once the inner loop is complete, the system switches to manual operation mode.

[0164] Next, seedlings are planted manually along the first side of the teaching process that was driven without planting.

[0165] Finally, work vehicle 1 moves forward and exits the field.

[0166] <Adjusting the starting planting position> Figure 21 is a diagram showing how to adjust the starting position for planting.

[0167] If there are obstacles such as utility poles or water taps along the edge of the field, the planting start position may change due to the movement of the field, potentially resulting in missed planting spots after turning. In this case, the following procedure can prevent missed planting spots.

[0168] First, once planting begins after the turning is complete, the work vehicle 1 is stopped using the remote controller 44.

[0169] Next, the remote controller 44 is used to move the work vehicle 1 backward to the position where planting is to begin, the seedling planting unit 63 is lowered, and unmanned automatic driving resumes.

[0170] <Replenishing herbicides> Figure 22 is a diagram illustrating the procedure for replenishing herbicides.

[0171] Unlike seedlings and fertilizers, herbicides need to be replenished from behind the field. Therefore, if you want to replenish herbicides without entering the field, you need to follow the procedure below.

[0172] First, once the rotation is complete and the seedling planting unit 63 begins to descend, the work vehicle 1 is stopped.

[0173] Next, the vehicle is reversed to the edge of the field using the remote controller 44, the seedling planting unit 63 is lowered, and then the herbicide is replenished.

[0174] After that, the seedling planting unit 63 is raised using the remote controller 44, and finally, unmanned automatic driving is resumed.

[0175] Figure 23 shows a diagram illustrating work in an irregularly shaped field; Figure 23(a) shows a diagram illustrating work in a triangular field; Figure 23(b) shows a diagram illustrating work in a polygonal field; and Figure 23(c) shows a diagram illustrating work in a curved field.

[0176] <Triangular field> In the case of a triangular field, the work can be carried out by teaching two sides.

[0177] <Polygonal field> For polygonal fields, the system is configured to accommodate up to 32 sides.

[0178] <Curved field> The curved sections are automatically approximated by polygons, and the overlap amount is automatically calculated to prevent any missed plantings at the boundary with the teaching process. The system is configured to handle polygons with up to 32 sides.

[0179] <Teaching Circulation Direction and Path Generation> Figure 24 is a diagram showing the relationship between the travel sequence during teaching and the direction of reciprocating planting. Figure 24(a) shows the relationship between the travel sequence and the direction of reciprocating planting when teaching is done clockwise, and Figure 24(b) shows the relationship between the travel sequence and the direction of reciprocating planting when teaching is done counterclockwise.

[0180] In irregularly shaped fields, even within the same field, the direction of planting changes significantly depending on the order of travel during the teaching process. This is because the path for the back-and-forth process is generated based on the "last side traveled in teaching mode."

[0181] First, in the case of clockwise teaching, the machine moves back and forth parallel to the last edge of the teaching area. Therefore, when teaching the trapezoidal field shown in Figure 24(a) clockwise, the direction of the back-and-forth movement will be perpendicular to the supply path.

[0182] In contrast, when teaching counterclockwise, the machine moves back and forth parallel to the last edge of the teaching area. Therefore, when teaching the trapezoidal field shown in Figure 24(b) counterclockwise, the direction of travel becomes diagonal.

[0183] <Consideration of seedling supply location> Figure 25(a) is a diagram illustrating seedling replenishment work in an inverted trapezoidal field, and Figure 25(b) is a diagram illustrating seedling replenishment work in a slightly inverted trapezoidal field.

[0184] In this embodiment, work can be carried out even in an inverted trapezoidal field where the opposite side is wider than the side on the seedling supply path. However, supply work will also be necessary on sides other than the usual supply path.

[0185] First, in the case of an inverted trapezoidal field, as shown in Figure 25(a), seedling replenishment is necessary on the first teaching side, which would disturb the seedlings planted during teaching. Therefore, the first teaching pass is run without planting. At this time, care must be taken because the field shape will not be recognized unless the seedling planting section 63 is lowered. Note that the inner perimeter pass will not be generated on the side that was taught without planting.

[0186] On the other hand, in the case of a slightly inverted trapezoidal field, specifically, as shown in Figure 25(b), if the overhang length of opposite sides is generally within 10m, planting the first row will not affect seedling supply. In this case, if teaching is done as usual, inner perimeter rows will be generated on three sides.

[0187] <Constraints on the end position of teaching> Figure 26(a) is a diagram illustrating the generation of subpaths, Figure 26(b) is a diagram illustrating the first countermeasure to prevent the generation of subpaths, and Figure 26(c) is a diagram illustrating the second countermeasure to prevent the generation of subpaths.

[0188] During the round trip, the machine turns from the teaching end position towards the teaching start position. As a result, there may be areas that cannot be planted, and in such fields, a sub-path (shown in a different color from the main path) that is not connected to the main path is generated.

[0189] To perform tasks on a sub-path, you must first move onto the sub-path in manual or remote driving mode, and then switch to automatic driving mode.

[0190] As the first countermeasure, if seedlings can be supplied along the upper edge of Figure 26(a), teaching can be performed as shown in Figure 26(a), preventing the generation of subpaths and enabling continuous operation.

[0191] As a second measure, if seedlings can only be supplied from the lower side of Figure 26(b), changing the direction of the teaching process will allow for continuous operation without the generation of sub-paths. However, as with the inverted trapezoid case, if the overhang length is approximately 10m or more, it is desirable to teach without planting on the first two sides, which will allow seedlings to be supplied even in the overhanging section.

[0192] <Shape that makes round trip impossible> Figure 27(a) is a diagram showing how sub-paths are generated in a field where the round-trip path is divided into two parts, and Figure 27(b) is a diagram showing a teaching path that prevents the generation of sub-paths in the field shown in Figure 27(a).

[0193] As shown in Figure 27(a), in fields with a shape that divides the round-trip route into two, a sub-path (shown in a different color) that is not connected to the main path is generated. In order to perform work on the sub-path, it is necessary to move onto the sub-path in manual or remote operation mode and then switch to automatic operation mode.

[0194] One way to prevent the generation of subpaths is, for example, by teaching the system to replenish seedlings on the right-hand side, as shown in Figure 27(b), it becomes possible to perform continuous work without generating subpaths.

[0195] <Seedling supply on both sides> Figure 28 is a diagram showing the teaching route when supplying seedlings from both sides in a large field.

[0196] In large fields with sides exceeding 100m, where seedlings need to be supplied from both sides, it is desirable to teach the opposite side without planting, as shown in Figure 28. A furrowing mechanism is inserted into the travel path that comes into contact with the side that has been taught without planting seedlings, enabling seedling replenishment.

[0197] Note that if teaching is performed without planting, the inner perimeter path may become a subpath (shown in a different color), because an inner perimeter path is not generated on the edge that was taught without planting. For example, in Figure 28, since no inner perimeter path is generated on the second edge, the third edge becomes a subpath.

[0198] <Protrusion of supply routes> Figure 29(a) is a diagram showing how work vehicle 1 collides with an obstacle that extends more than 3m on the seedling supply side, and Figure 29(b) is a diagram showing a teaching path that recognizes the overhang shape of the obstacle shown in Figure 29(a).

[0199] As shown in Figure 29(a), if there is an obstacle extending more than 3m on the side where seedlings are supplied, there is a risk that the work vehicle 1 may collide with the obstacle.

[0200] In this case, as shown in Figure 29(b), the protruding shape can be recognized by first performing teaching without planting on the side where seedlings are supplied.

[0201] <Influence of entry point> Figure 30(a) shows how planting is left unplanted due to the influence of the entrance, Figure 30(b) shows how teaching is performed leaving the entrance area untouched, and Figure 30(b) shows how planting is performed manually on the remaining area.

[0202] In narrow fields, the angle of the side facing the farm road may be misinterpreted due to the length of the entrance, which can lead to missed plantings due to the influence of the entrance.

[0203] In such cases, it is desirable to terminate teaching while leaving the length of the entrance remaining, as shown in Figure 30(b), and then plant the remaining portion using manual operation mode, as shown in Figure 30(c).

[0204] <Monitor display> Figure 31 is a diagram showing the screen displayed on the monitor 61 shown in Figures 1 and 5.

[0205] The monitor 61 displays the generated work path and the status of the rice transplanter, and is configured to display information that is difficult to understand from the display on the remote controller 44 alone, using various icons to make it easy to understand. The monitor 61 is removable from the vehicle body.

[0206] The display is a touchscreen that supports multi-touch, allowing for movement, zooming in and out, and rotation. Buttons located on the side of the display also allow for zooming in and out, returning to the current position, and locking the compass direction.

[0207] As shown in Figure 31, in automatic driving mode, the planting distance to the next seedling replenishment location is displayed, and the distance traveled without planting is not counted. Therefore, this can be used to determine the timing of seedling replenishment and whether or not to board the work vehicle 1 to replenish the seedlings.

[0208] <Icon on map> Figure 32 is a diagram showing the seedling supply locations displayed on the monitor 61, and Figure 33 is a diagram showing how each work process is displayed on the monitor 61 in different colors.

[0209] As shown in Figure 32, the seedling markers (seedling markers enclosed in circles) on the map displayed on the monitor 61 indicate the next seedling replenishment location (bank-filling location). Therefore, workers can use this information, along with the distance display to the next seedling replenishment location (see Figure 31), as a reference for replenishing seedlings.

[0210] The marks with arrows inside circles indicate the starting points of the main route and each sub-route, and are used to identify the starting points of sub-routes that are not connected to the main route. Since sub-routes with the reverse direction of travel are generated for each path, their starting points are also displayed. Note that automated driving can be started from any point other than the starting point.

[0211] <Display color for work process> As shown in Figure 33, steps connected to the current route are displayed in green, steps not connected to the current route, such as sub-routes, are displayed in red, and steps that have already been completed, even if they are on the same route, are also displayed in red.

[0212] According to this embodiment, the support member 90 that supports the status indicator light 55 is fixed to the upper part of the antenna frame 100 that supports the receiving antenna 130 that acquires position information of the vehicle body 2. As shown in Figure 5, in the operating state (operating posture), a part of the status indicator light 55 is positioned above the upper end of the antenna cover 50. Therefore, the status indicator light 55 can be made visible even from a distance from the vehicle, and thus, a worker outside the vehicle can easily check the status of the vehicle displayed on the status indicator light 55.

[0213] Furthermore, according to this embodiment, as shown in Figures 6 and 7, the support member 90 that supports the status indicator light 55 is a mechanism for rotating the status indicator light 55, and is equipped with a rotation mechanism for the status indicator light 55 consisting of a mounting plate 92 and a stay 91, so that the entire status indicator light 55 can be switched to a stored state where it is positioned below the upper end of the antenna cover 100, thereby preventing the status indicator light 55 from coming into contact with the outside when the work vehicle 1 is loaded onto a truck.

[0214] Furthermore, according to this embodiment, the support member 90 that supports the status indicator light 55 comprises a stay 91 fixed to the upper part of the antenna frame and a mounting plate 92 to which the status indicator light 55 is fixed. In use, the mounting plate 92 has a shape in which a portion 113 (see Figure 5) of the part above the part connected to the stay 91 extends inward in the width direction of the work vehicle 1 (to the left in Figure 6, and to the side of the center mascot 18 in Figure 5). Since the status indicator light 55 is fixed to this inwardly extending portion 113, the status indicator light 55 adjacent to the antenna cover 50 does not protrude outward in the width direction of the vehicle (to the right in Figure 6), and is less likely to interfere with the worker.

[0215] Furthermore, according to this embodiment, when the vehicle is set to a manned automatic driving mode in which the vehicle speed is adjusted by the operator riding in the work vehicle 1, the status indicator light 55 is configured not to light up. Therefore, the status indicator light 55 does not light up and become a distraction while the operator is driving.

[0216] Furthermore, according to this embodiment, when the vehicle is set to manned automatic driving mode, if an operation to start automatic driving is performed while the operator is not seated, that is, an operation to start straight-line control or turning control is performed, as shown in Figure 16, the vehicle is configured to start automatic driving only if the seat switch 110 detects that the operator is seated. Therefore, it is possible to prevent accidents such as the operator being thrown from the vehicle while the operator is away from the seat, thereby ensuring safety.

[0217] Furthermore, according to this embodiment, regardless of whether the system is set to unmanned automatic driving mode or manned automatic driving mode, if an operator leaves their seat while the system is running automatically, the monitor 61 and speaker 112 are configured to notify the operator that they are away from their seat. This ensures that the operator is alerted, safety is maintained, and work efficiency is not impaired. In addition to or instead of notifying the operator that they are away from their seat, the system may also be configured to provide a warning.

[0218] Furthermore, according to this embodiment, when the vehicle is set to unmanned automatic driving mode and is driving automatically, it is configured to be switchable to manned automatic driving mode or manual driving mode only while the seat switch 110 detects that the driver is seated in the cockpit 48. This provides convenience and prevents the vehicle from switching to manned automatic driving mode or manual driving mode when the driver is not seated, thus ensuring safety.

[0219] Figure 34 is a schematic perspective view of a work vehicle 1 according to another preferred embodiment of the present invention.

[0220] In this embodiment, the work vehicle 1 is equipped with a sun visor 107 to block sunlight from reaching the worker. The antenna frame 100 that supports the receiving antenna 130 is attached to the visor support frame 109 that supports the sun visor 107, and the stays 91 of the support members 90 that support the status indicator lights 55 are fixed to the left and right ends of the antenna frame 100 with bolts.

[0221] A mounting plate 92 is attached to each stay 91 by stepped bolts 59 and knob bolts 58 (see Figure 7). When the knob bolt 58 is removed, the mounting plate 92 and the status indicator light 55 fixed to the mounting plate 92 are configured to rotate rearward or further downward around the stepped bolt 59.

[0222] When the status indicator light 55 is rotated rearward or downward, the entire status indicator light 55 is configured to be positioned below the upper end of the antenna cover 50, similar to the embodiment described above, thereby preventing contact with the outside.

[0223] As described above, in this embodiment, since status indicator lights 55 are provided on both the left and right sides of the antenna frame 100, the status indicator lights 55 can be viewed from all directions.

[0224] Furthermore, in this embodiment, the status indicator light 55 is attached to the visor support frame 109, which is also provided in existing work vehicles 1 equipped with sun visors, thus reducing the number of parts.

[0225] Figure 35 is a schematic plan view showing three patterns of the relative position of the remote controller 44 with respect to the remote control antenna 52 in the embodiment shown in Figure 34.

[0226] In this embodiment, the remote control antenna 52 is configured to detect the distance to the remote controller 44, and when the remote controller 44 is within a predetermined distance range from the remote control antenna 52 and the vehicle is automatically driven in remote driving mode, the control unit 87 is configured to temporarily stop driving when the seat switch 110 detects that the vehicle has left its seat.

[0227] With this configuration, if a worker is not seated in the cockpit 48 while the vehicle is on board, or if a worker approaches the vehicle while it is being remotely controlled from outside the vehicle, the vehicle can be temporarily stopped to ensure safety.

[0228] Furthermore, in this embodiment, when the remote controller 44 is outside a predetermined distance range from the remote control antenna 52 and seating is detected by the seat switch 110, the control unit 87 is configured not to accept operations from the remote controller 44.

[0229] This configuration allows a third party to operate the vehicle from outside while an operator is inside, preventing accidents caused by unintended acceleration or deceleration.

[0230] Furthermore, in this embodiment, when the remote controller 44 is within a predetermined distance range from the remote control antenna 52 and seating is not detected by the seat switch 110 (meaning the person is not seated), the control unit 87 is configured not to accept operations from the remote controller 44 or operations to start automatic driving.

[0231] This configuration prevents situations where a worker is on board but does not take their seat, or where the vehicle starts moving while being remotely controlled from outside the vehicle and a worker is approaching it, thereby ensuring safety.

[0232] In this embodiment, the work vehicle 1 is configured in the same way as the previous embodiment, except for the number and mounting positions of the sun visors 107 and status indicator lights 55, and the accident prevention configuration based on the distance to the remote controller 44.

[0233] The present invention is not limited to the embodiments described above, and various modifications are possible within the scope of the invention as described in the claims, and these modifications are also included within the scope of the present invention.

[0234] For example, in each embodiment shown in Figures 1 to 35, the work vehicle 1 is configured as a rice transplanter, but it may also be configured as another work vehicle such as a tractor or a combine harvester.

[0235] Furthermore, in each embodiment shown in Figures 1 to 35, the system is configured to perform both straight-line control and turning control when the manned automatic driving mode is set. However, it is also possible to configure the system to perform only one of either straight-line control or turning control.

[0236] Furthermore, in each embodiment shown in Figures 1 to 35, as shown in Figure 16, in both the unmanned automatic driving mode and the manned automatic driving mode, if the worker leaves their seat after the automatic driving has started with the seating detection enabled, the system is configured to only notify the worker (steps s5, s13). However, the system may also be configured to temporarily stop driving if the worker leaves their seat after the automatic driving has started in either the unmanned or manned automatic driving mode with the seating detection enabled, in which case even greater safety can be ensured.

[0237] Furthermore, in each embodiment shown in Figures 1 to 35, as shown in Figure 5, a portion of the status indicator light 55 is configured to be located above the upper end of the antenna cover 50. However, the entire status indicator light 55 may also be configured to be located above the upper end of the antenna cover 50.

[0238] In addition, in the embodiments shown in Figures 1 to 33, the right portion of the stay 91 of the support member 90 that supports the status indicator light 55 is fixed to the mounting frame 77 by a bolt 93. However, the stay 91 of the support member 90 may also be fastened together with the mounting frame 77 and the right-side fixing frame 76 by the bolt 93. In this case, the number of bolts and other parts can be reduced. [Explanation of symbols]

[0239] 1. Work vehicles 2. Running vehicle 3 Mainframe 4. Belt-type power transmission mechanism 5. Lifting linkage device 6. Rear frame 7 Engine 8 Front wheels 9 Rear wheels 10-link base frame 11 Upper and lower link arms 12. Lifting hydraulic cylinder 13 Front wheel final case 14 Rear wheel drive shaft 15 Power transmission mechanism 16 Finger Lever Sensor 17. Swivel control switch 18 Center Mascot 19. Planting On / Off Switch 20 Sub-transmission mechanism 21 Front wheel rotation sensor 23 Finger Lever 24 Sub-gear lever 25 Hydrostatic continuously variable transmission 26 Fertilizer application equipment 27 Planting clutch motor 28 Marker switches 29 Rear wheel rotation sensor 30 Mission Case 31 Front axle 32 displays 33 Float Sensor 34 Marker Motor 35 Main gear lever 36 Main transmission lever sensor 37 Tilt detection sensor 38 Center float 39 Side float 40 Furrow marker 41 Furrow marker body 42 Marker rod 43 Steering mechanism 44 Remote controller 45 Steering sensor 46 Frame 47 Front cover 48 Operator's seat 49 Control section 50 Antenna cover 51 Rear wheel gear case 52 Remote control antenna 53 Small storage compartment 54 Operation section 55 Status indicator lamp 56 Steering wheel 57 Steering motor 58 Knob bolt 59 Step bolt 60 Floor step 61 Monitor 62 Operation switch 63 Seedling planting section 64 Planting device 65 Stand 66 Fertilizer application rate adjustment motor 67 Drive shaft 68 Plate 69 Planter 70 Navigation ECU 71 Steering ECU 72 Nut 73 Nut 74 Auxiliary seedling frame 75 Left fixed frame 76 Right fixed frame 77 Mounting frame 78 Opening 79 Straight-ahead assist lever 80 Azimuth sensor 81 Straight-line assist lever sensor 82 rear wheel axle 83 Steering shaft 84 Rubber sheet 85 Upper link arm 86 Lower link arm 87 Control Unit 88 Electronic Hydraulic Valve 89 Link Sensor 90 Support Member 91 Stay 92 Mounting plate 93 volts 94 Front screw holes 95 Rear screw holes 96 Engine speed sensor 97 Throttle motor 98 Front screw holes 99 Rear screw holes 100 antenna frames 101 Slit 102 Indicators 103 Solenoid valve 104 GNSS Plate 105 Timer 106 Reply 107 Sun Visor 108 Power Steering 109 Visor support frame 110 Seat switch 111 Torque Sensor 112 speakers 113 The part of the mounting plate that extends towards the center of the vehicle. 121 The First Lamp 122 The Second Lamp 123 The Third Lamp 130 Receiving Antenna 150 HST servo motor

Claims

1. The vehicle body and A driver's seat and work equipment are attached to the aforementioned vehicle body. A receiving antenna that acquires the position information of the aforementioned moving vehicle body, A frame supporting the aforementioned receiving antenna, A work vehicle equipped with an antenna cover that covers the receiving antenna, The receiving antenna is positioned in front of and above the cockpit. A storage space is provided below the receiving antenna. An opening is formed at the rear of the aforementioned storage space. It is configured so that small items can be put in and taken out through the aforementioned opening. A work vehicle characterized in that the opening is provided with an upward-rising portion to prevent small items stored in the storage space from falling out of the opening.

2. The aforementioned storage space is fixed to the frame, A plate-shaped support member is provided on the bottom surface of the receiving antenna. The receiving antenna and the antenna cover are supported by the support member. Wiring connected to the receiving antenna is arranged on the upper part of the frame. The work vehicle according to claim 1, characterized in that the wiring is routed along the frame.

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