Work vehicle

Abstract

The purpose of the present invention is to provide a work vehicle wherein a location for replenishing a work material can easily be specified, by providing a work vehicle that is characterized by comprising: a travel vehicle body 7; a satellite positioning unit 3 that can detect the location of the travel vehicle body 7; a supply device that supplies a material to an agricultural field; and a control unit 50 that uses data from the satellite positioning unit 3 to acquire location information for the full perimeter of an outermost section of the agricultural field while an operator causes the travel vehicle body 7 to undergo teaching travel along the full perimeter of the outermost section, wherein a target travel path of back-and-forth straight line travel that is to be executed in an inside area is generated, said inside area being to the inside of the travel path of the travel vehicle body 7 on the full perimeter of the outermost section of the agricultural field, and the operator specifies a section of the back-and-forth straight line travel where the material is to be replenished, by changing a supply status of the supply device during the teaching travel so as to be different in one section from in other sections of the full perimeter of the outermost section.

Description

Work vehicles

[0001] The present invention relates to a work vehicle such as a rice transplanter.

[0002] Conventionally, work vehicles that perform work in fields by autonomous driving perform teaching driving in advance to identify a predetermined target driving route, and then automatically drive along the target driving route based on their own position calculated using GNSS (Global Navigation Satellite System) or the like (Patent Documents 1 and 2).

[0003] JP 2018-116608 A JP 2019-154394 A

[0004] By the way, when performing such automatic driving, it is necessary to replenish work materials while the vehicle is driving automatically. To do this, the locations (ridges) for replenishing work materials must be suitable for each field, but the process of determining this is complicated and troublesome.

[0005] Furthermore, there was the following problem. For example, Figure 21 shows an example, where (Ho) is a field and (100) is a traveling vehicle. When performing teaching travel, in Figure 21 (A), the traveling vehicle (100) travels from the lower left corner to the upper part of the drawing with a worker on board, planting while traveling, then moves to the right of the drawing, and continues traveling up and down the drawing, stopping there and the worker dismounts. In this case, the lower side of the ridge is determined to be the ridge to which work materials are to be supplied.

[0006] The robot then automatically turns by remote control, skips one stroke, and automatically travels back and forth while planting (Figure 21(B)). In this case, when returning to the ridge where work materials are to be replenished, it is stopped about 3 meters beforehand for safety reasons. If no replenishment is required, the operator remotely controls the robot to move forward while planting seedlings to the required position, then moves it back a little, turns it, and resumes automatic travel (Figure 21(C)). After the robot automatically travels while planting the last remaining inner perimeter, the operator gets on and manually drives the robot along the ridge where work materials are to be replenished while planting, returning it to the starting position (Figure 21(D)).

[0007] With this method, when traveling back and forth, the vehicle had to stop every time it came to the edge of the field where work materials needed to be supplied, and then it had to be instructed to move forward or resume traveling using the remote control, which was a lot of work.

[0008] The present invention takes into consideration the problems with conventional work vehicles, and has as its object to provide a work vehicle that can easily identify a location to replenish work materials.

[0009] The first invention is a work vehicle comprising: a traveling body (7); a satellite positioning unit (3) capable of detecting the position of the traveling body (7); a supply device that supplies materials to a field; and a control unit (50) that uses data from the satellite positioning unit (3) to acquire position information about the entire outermost circumference while an operator causes the traveling body (7) to perform teaching traveling along the entire outermost circumference of the field, wherein a target traveling path for a straight reciprocating process that takes place in an inner area inside the traveling path of the traveling body (7) around the entire outermost circumference of the field is generated, and the operator changes the supply state of the supply device, performed during the teaching traveling, so that it is different from other parts in one part of the outermost circumference, thereby identifying the part of the straight reciprocating process where the materials are to be replenished.

[0010] The second invention is the work vehicle of the first invention, wherein the entire outermost perimeter of the field is made up of a plurality of sides, and the supply device does not supply materials along the sides where the materials are replenished, and the supply device does supply materials along the other sides where the materials are not replenished.

[0011] The third invention is the work vehicle of the first or second invention, wherein the supply device is a seedling planting unit (9), the materials are seedlings, and when performing the teaching travel, the worker lowers the seedling planting unit (9) on sides where the seedlings are not to be supplied and plants them, and on sides where the seedlings are to be supplied, the worker travels with the seedling planting unit (9) lowered but without planting.

[0012] The fourth aspect of the present invention is a work vehicle according to the third aspect of the present invention, wherein the control unit (50) designates and records the section from the lowered position of the seedling planting unit (9) on the side where the seedlings are supplied to the subsequent raised position as the seedling planting section for subsequent automatic travel along the side where the seedlings are supplied.

[0013] The present invention makes it possible to realize a work vehicle that can easily identify a location to replenish work materials.

[0014] 1A, 1B, and 1C are plan views showing various shapes of fields; 2A and 2B are plan views of a field showing a modified embodiment of the present invention; 3A and 3B are plan views showing a driving situation of another embodiment of the present invention; 4A and 4B are plan views showing a driving situation of another embodiment of the present invention; 5A and 5B are plan views showing a driving situation of another embodiment of the present invention; 6A and 6B are plan views showing a driving situation of another embodiment of the present invention; 7A and 7B are plan views showing a driving situation of another embodiment of the present invention; 8A and 8B are plan views showing a driving situation of another embodiment of the present invention; 9A and 9B are plan views showing a driving situation of another embodiment of the present invention; 10A and 10B are plan views showing a driving situation of another embodiment of the present invention; 11A and 11B are plan views showing a driving situation of another embodiment of the present invention; 12A and 12B are plan views showing a driving situation of another embodiment of the present invention; 13A and 13B are plan views showing a driving situation of another embodiment of the present invention; 14A and 14B are plan views showing a driving situation of another embodiment of the present invention; 15A and 15B are plan views showing a driving situation of another embodiment of the present invention; 16A and 16B are plan views showing a driving situation of another embodiment of the present invention;

[0015] As shown in Figures 1 and 2, the rice transplanter (1) has a seedling planting unit (9) mounted on the rear of a traveling body (7) via a lifting link device (8) so that it can be raised and lowered, and the main body of the fertilizer applicator (6) is provided on the upper rear part of the traveling body (7). The seedling planting unit (9) is an example of a supplying device of the present invention that plants seedlings in a field (H). The seedlings are also an example of a material of the present invention.

[0016] The lifting link device (8) has a parallel link structure and includes one upper link (40) and a pair of left and right lower links (41, 41). The bases of these links (40, 41, 41) are rotatably attached to a link base frame (42) that is shaped like a portal in rear view and erected at the rear end of the main frame (15). A vertical link (43) is connected to the tip of each link. A connecting shaft (44) rotatably supported on the seedling planting unit (9) is inserted and connected to the lower end of the vertical link (43). The seedling planting unit (9) is connected to the connecting shaft (44) so ​​that it can roll freely around the connecting shaft (44). A lifting hydraulic cylinder (46) is provided between the link base frame (42) and the vertical link (43). By hydraulically extending and retracting the cylinder (46), the lifting link device (8) rotates up and down, lifting and lowering the seedling planting unit (9) while maintaining a substantially constant posture.

[0017] The base of a front frame (47) is fixed to the front end of the traveling vehicle body (7), and a GNSS device (3) is mounted on the top of the front frame (47). This GNSS device (3) is an example of a satellite positioning unit of the present invention that can detect the position of the traveling vehicle body (7). In addition, (A) in Figure 1 indicates a ridge. Left and right spare seedling carriers (48, 48) are provided on both the left and right sides of the front of the traveling vehicle body (7).

[0018] 3 shows a control system centered on the control unit (50) of the present invention. Here, (51) is an axle rotation sensor (left) that detects the rotation of the axle, and (52) is an axle rotation sensor (right) that detects the rotation of the axle, and their output signals are input to the vehicle ECU 1, which is part of the control unit (50). A signal from the GNSS device (3) is also input. Furthermore, a steering angle sensor (54), a steering motor (69), and an alarm device (53) are connected to the vehicle ECU 1.

[0019] Signals are input from a work mechanism lifting / lowering and planting drive sensor (63) and a group of travel drive sensors (61) to a vehicle ECU 2, which is part of a control unit (50) connected to the vehicle ECU 1 via CAN communication. The vehicle ECU 2 is also connected to a work mechanism lifting / lowering drive device (65), a planting unit drive device (64), and a travel drive device (62).

[0020] A vehicle monitor (56) is connected to the CAN communication, and an engine ECU (58) is also connected to the CAN communication, and the engine ECU (58) is connected to an engine drive device (59) and a group of engine drive sensors (60).

[0021] Furthermore, an external communication ECU (57) is connected to the CAN communication, and communication with a tablet terminal (66) is possible through this external communication ECU (57), and this tablet terminal (66) is able to communicate with a remote monitoring center (67) via the cloud (68).

[0022] Figure 4 is a plan view of the field (H) on which the vehicle body (7) of the present invention travels. Here, (70) indicates the outermost part of the field (H). (71) is a waterway, and (72) is an entrance road and an exit road for the vehicle body (7) to enter and exit.

[0023] In this embodiment, the field (H) has a rectangular shape, i.e., the entire periphery of the outermost part (70) is made up of four sides (left side (70a), top side (70b), right side (70c), and bottom side (70d) in FIG. 4).

[0024] The operation of running the traveling vehicle body (7) in the field (H) will be described below.

[0025] <Teaching Travel> First, the operator causes the traveling vehicle body (7) to enter the field (H) from the entrance / exit road (72) at the lower right of Fig. 4. Then, the operator moves the traveling vehicle body (7) forward along the right side (70c) of the field (H) while manually planting seedlings, turns 90 degrees at the upper right corner of Fig. 4, then moves the traveling vehicle body (7) forward along the upper side (70b) of Fig. 4 while manually planting seedlings, turns 90 degrees at the upper left corner of Fig. 4, then moves the traveling vehicle body (7) forward along the left side (70a) of Fig. 4 while manually planting seedlings, and turns 90 degrees at the lower left corner of Fig. 4. During the above turns, the seedling planting unit (9) is raised.

[0026] Thereafter, the operator manually drives the tractor along the lower side (70d) in FIG. 4 without planting.

[0027] During this free-running operation, the seedling planting section (9) is lowered at a predetermined position. In this state, the vehicle is allowed to run free along the lower side (70d), and at a predetermined position the seedling planting section (9) is raised, and the vehicle reaches the entrance / exit road (72).

[0028] In this way, even when the vehicle is running idle, the seedling planting section (9) is lowered, but this lowering is in the same state as when the seedlings are actually planted. This is to simulate the case when the vehicle will later plant seedlings by automatic running along the lower edge (70d). In other words, the bank has a protruding part at a low position, such as the miter gate (M), which must be avoided when the vehicle will later plant seedlings by automatic running. For this reason, when running idle, the seedling planting section (9) must be lowered in advance in the same state as when actually planting seedlings, and the operator must perform a teaching run of the idle running to simulate this.

[0029] Furthermore, this lowering and raising operation of the seedling planting unit (9) also makes it possible to accurately specify the section for automatic planting travel along the lower side (70d) later. Note that when the seedling planting unit (9) is lowered and running idle at the lower side (70d), the control unit (50) ignores any instructions to plant seedlings, since this is the travel route that should be run idle.

[0030] As the traveling vehicle (7) travels around each side of the field (H) in this way, the GNSS device (3) grasps its position, and the control unit (50) memorizes the position and shape of each side of the field (H), completing the teaching travel. For example, if the GNSS device (3) is attached to the center of the traveling vehicle (7) as shown in Figure 2, the actual outermost position of the entire circumference will be located half the width of the traveling vehicle (7) outside the obtained traveling trajectory. Alternatively, the traveling trajectory obtained by the GNSS device (3) may be used as the shape of the field (H), and half may be added each time the traveling vehicle travels back and forth and approaches the supply ridge. Furthermore, when the trajectory is obtained by the GNSS device (3), it may be obtained discretely. In such cases, it is desirable to link the data and store it as a traveling line.

[0031] In addition, the data resulting from teaching runs is stored on a tablet or server for each field and can be used the following year.

[0032] During the teaching run, in this embodiment, planting work is performed on the right side (70c), top side (70b), and left side (70a), but not on the bottom side (70d). Therefore, the control unit (50) can identify the bottom side (70d), where planting work is not being performed, as the area (edge, ridge) to which materials are to be supplied. Here, planting work is an example of the supply state of the supply device of the present invention. That is, by changing the supply state of the supply device (9) during teaching run so that a portion of the outermost circumference is different from the other portions, it is possible to identify the portion of the outermost circumference of the field (H) to which materials are to be supplied. Examples of changing the supply state include whether or not to supply, as well as changing the amount of supply.

[0033] In this embodiment, the bottom edge (70d) is set as the material supply side ridge, but it is also possible to specify the left, right, or top edge depending on whether or not planting work is being performed. Note that specifying the material supply side by changing the supply state also specifies the direction of the target route for subsequent automatic round trips.

[0034] In another embodiment, the fertilizer applicator (6) may be used as the supply device, and the supply state may be changed to apply or not apply fertilizer. Furthermore, other supply devices may be used. <Automatic Planting Travel> Then, as described below, travel is performed without an operator on board in the inner area (I) of the travel paths (the right-side travel path (80c), upper travel path (80b), left-side travel path (80a), and lower travel path (80d) in FIG. 4) of the travel vehicle body (7) around the outermost perimeter (70) of the field (H).

[0035] That is, the control unit (50) generates a target travel route for the automatic straight-line reciprocating process based on the position information of the entire outermost periphery obtained by the teaching travel. In the target travel route for the straight-line reciprocating process, the straight-line travel on the side of the lower side (70d) where materials are supplied is set to a predetermined distance, for example, 3 m, from the lower side (70d).

[0036] A more detailed example will be described below. After the vehicle body (7) has reached the entrance / exit road (72) while running idle, it moves backward along the lower travel path (80d) with the seedling planting section (9) raised, and moves to the lower left corner in FIG. 4.

[0037] Here, the worker gets off the traveling vehicle body (7) and, taking the remote control (55) in hand, moves the traveling vehicle body (7) to the straight traveling path (80f) which is one path further inward from the straight traveling path (80e) which is one path inside the left traveling path (80a). Since these paths (80) have already been generated by the control unit (50), the worker only needs to give instructions to the remote control (55) so that the traveling vehicle body (7) can automatically move forward while turning and move to the straight traveling path (80f), and furthermore, can continue to travel straight along that straight traveling path (80f) while automatically planting seedlings.

[0038] Furthermore, when it reaches the upper traveling path (80b), it turns, raising the seedling planting section (9) and automatically turns, then moves to the next adjacent straight traveling path (80g), automatically traveling straight while planting seedlings in the same way, and automatically stops 3 m before the bottom edge (70d) (just one lap of the subsequent headland traveling).Unlike conventional systems, the position and shape of the bottom edge (70d) on the seedling supply side are accurately known through teaching, so it is possible to plant at just the right position and automatically stop.

[0039] In addition, the control unit (50) knows the supply capacity in advance from numerical values ​​such as the amount of seedlings loaded and the remaining amount, so it can calculate which of the routes (80) should be used for seedling supply, and can determine whether seedlings should be supplied when traveling along that straight travel route (80g).

[0040] For example, if it is known in advance that seedling supply is not necessary on that straight travel path (80g), the control unit (50) will automatically plant seedlings up to the point where there is exactly one revolution remaining on the rear headland travel at the lower side (70d), stop once, then automatically raise the seedling planting unit (9), move backward a predetermined distance, stop, then automatically move forward while turning, move to the next adjacent straight travel path (80h), and continue traveling straight toward the upper side (70b) while automatically planting seedlings. Note that when turning, if there is enough space, the seedling planting unit (9) may be automatically raised and the machine may continue turning without stopping or moving backward.

[0041] The robot then travels straight ahead on the next adjacent straight travel path (80i) toward the lower edge (70d) while automatically planting seedlings, automatically planting seedlings until there is exactly one full lap of the headland travel remaining at the lower edge (70d) and then automatically stopping. As described above, the control unit (50) calculates in advance which of the straight travel paths should be used for seedling replenishment based on numerical values ​​such as the remaining seedling amount, so it can determine whether seedling replenishment is necessary when traveling along that straight travel path (80h). For example, if it is determined that seedling replenishment is necessary along that straight travel path (80h), the control unit (50) will automatically stop, then travel straight ahead to the edge of the lower edge (70d) where seedlings will be replenished without planting any seedlings, and then stop there. Alternatively, the robot may continue straight ahead to the edge of the lower edge (70d) without automatically stopping and planting any seedlings.

[0042] The operator then supplies new seedlings from the ridges on the lower side (70d) to the traveling vehicle body (7). When the supply is complete, the operator uses the remote control (55) to instruct the traveling vehicle body to resume traveling. In response to this instruction, the control unit (50) moves backward a predetermined distance, turns, and moves to the next adjacent straight traveling route (80j), and thereafter similarly travels back and forth in a straight line while automatically planting seedlings.

[0043] In the embodiment of Figure 4, on the straight travel path (80p) just inside the right-side travel path (80c) on the right side (70c), the travel vehicle body (7) automatically travels straight toward the upper side (70b) while planting seedlings, but makes a 90-degree left turn just before the upper travel path (80b), travels straight along the inner upper inner path (80q) adjacent to the upper travel path (80b), then turns 90 degrees, moves to the straight travel path (80e) just inside the left-side travel path (80a), which is one path skipped as described above, and automatically travels straight toward the lower side (70d) while planting seedlings.When it reaches the lower travel path (80d), it makes a 90-degree turn, and automatically travels straight along the lower travel path (80d) that it has run idle on while planting seedlings, until it reaches the entrance / exit road (72) and exits the field (H). In this case, the seedling planting section (9) is lowered and raised during the teaching run to identify the planting section, so that section data can be used to accurately perform automatic planting. After that, the seedlings are manually planted in the corners and other areas where no seedlings have been planted.

[0044] As mentioned above, in the above embodiment, depending on the conditions such as the size of the vehicle body, if it is possible to turn without moving backward, then this may be done.

[0045] In this way, except for manual planting, the operator can automatically plant seedlings except for the operation of restarting travel using the remote control (55), and even if seedlings are not replenished at the ridge side where seedlings are replenished each time as in the conventional method, there is no need to move the tractor forward a certain distance while planting seedlings and then turn using the remote control, and seedling planting in the field (H) can be achieved almost fully automatically. That is, the shape of the field (H) is such that the shape of the lower farm road (N) (ridge) side is not straight but curves inward or has an inward protrusion, so in the conventional case where the position of the ridge on the supply side is unknown, the tractor is automatically stopped far in advance for safety reasons, and then the operator checks and moves the tractor forward while planting so that one headland travel distance remains, even if replenishment is not required, using the remote control, and then turns. However, in the present invention, the shape of the lower side is accurately known in advance through teaching travel, so that fully automatic turning is possible.

[0046] Figure 6 shows a modified example of this embodiment, in which the position data for the entire circumference of the outermost part (70) of the field (H) obtained by teaching travel as described above is set at a predetermined distance inside on the safe side, taking into account errors in positioning accuracy and long-term crustal movements.

[0047] It is also possible to set the predetermined distance shorter only for the bottom edge (70d) on the material supply side. This is because, while the seedlings have already been planted manually on the three sides (70a), (70b), and (70c) during teaching travel, precision is not required, but the seedlings will be planted later by automatic travel on the bottom edge (70d) on the material supply side, so it is better to set the position information for that edge a little further inward from the standpoint of safety.

[0048] Alternatively, when traveling toward the lower side (70d) on the material supply side during automatic straight-line travel for planting, the robot may stop a predetermined distance shorter each time.

[0049] FIG. 7 and subsequent figures show another embodiment of the present invention.

[0050] In Figure 7, three sides (70a), (70b), and (70c) are planted manually by teaching travel. The starting position SP on the left side (70a) is set two laps above the headland travel on the lower side (70d) of the rear ridge (upper side in the drawing). The travel routes are designated as the left side travel route (90a), the upper side travel route (90b), and the right side travel route (90c).

[0051] In Figure 8, on the right side (70c), the robot travels up to the lower edge of the ridge (70d), but a target travel path for straight-ahead round-trip travel is generated in this area (first area) (S1) surrounded by the three sides of this teaching travel.

[0052] In FIG. 9, the corners are manually planted and the planter manually travels along the edge of the field while running idle (lower travel path (90d1)).

[0053] In Figure 10, due to the ridge travel, a buffer travel path (90d2) is formed inside the lower travel path (90d1), and the target travel path for the second area (S2) is generated by this lower travel path (90d1) and the buffer travel path (90d2). Therefore, the target travel path formed at this time is two processes.

[0054] In Figure 11, the automatic planting reciprocating travel is performed in the first area (S1). That is, after one straight travel path (90e) is cleared, the automatic planting travel starts from the position where the final travel distance remains along the automatic straight travel paths ((90f), (90g) ...).

[0055] In Figure 12, during such automatic planting travel, the vehicle automatically stops two travel strokes before the start of each round trip to allow the user to choose between automatic restart or ridge alignment. Because the position of the lower edge of the ridge side (70d) is taught during travel, automatic stopping can be achieved exactly two travel strokes before the start of each round trip. Furthermore, to plant all the way to the bottom edge of the first area (S1), the vehicle may also be automatically stopped when it enters the second area (S2).

[0056] In Figure 13, if there is no seedling transplant (90g), the operator automatically restarts the machine by remote control, turns, and repeats the back-and-forth process. During this turn, there are two processes, the buffer travel path (90d2) and the lower travel path (90d1), so there is no need to worry about interference even if the shape of the supply ridge is like a cliff. Furthermore, if it is known in advance that there will be multiple round trips when there is no seedling transplant, it is possible to have the machine perform the set number of continuous operations without operating the remote control each time. This reduces the number of times the remote control is operated.

[0057] In Figure 14, if there is seedling transplanting (90i), the forward button is pressed to move forward to the edge of the field and transplant the seedlings. That is, the machine automatically stops two strokes before the end, and the machine moves forward by pressing the button on the remote control.

[0058] In Figure 15, after seedling transplantation, the machine automatically restarts, turns backward, and moves to the automatic straight travel route (90k) of the next process. At that time, in order to align the rows, the machine idles on the automatic straight travel route (90k) of the process after that, rather than the automatic straight travel route (90j) of the next process.

[0059] In FIG. 16, the planter performs row-aligned planting travel to enter the inner peripheral process (turns and travels to the automatic straight travel path 90j).

[0060] In Fig. 17, after traveling along the automatic straight traveling path (90j), the inner peripheral process is automatically planted. That is, the robot travels from the automatic straight traveling path (90k) to the traveling path (90l) adjacent to the inside of the upper traveling path (90b), and then travels along the automatic straight traveling path (90e) while planting seedlings.

[0061] In Figure 18, when the planter approaches the lower edge (70d), it is called into the ridge by remote control and the operator gets on to check.The planter then automatically plants on the lower traveling path (90d1) of the second area (S2), and then changes direction to head inward.

[0062] In FIG. 19, the robot then automatically travels straight along a buffered travel path (90d2) while planting seedlings.

[0063] Figure 20 shows the surface of the remote control, which moves forward only while one button is pressed. Pressing two buttons simultaneously will automatically move forward to the edge. This remote control can be divided into two operations: one to move forward only while the forward button is pressed, and one to automatically travel to the edge of the second area (S2) by pressing auto start and forward. This allows for manual adjustments if the ridge on the supply side is high and the traveling machine is likely to interfere.

[0064] As explained above, in the inner area (I) inside the travel path of the traveling vehicle (7) around the entire outermost periphery of the field (H), travel is carried out without a worker riding on the traveling vehicle (7) in the first area (S1) excluding the buffer travel path (90d2) one step inside that is adjacent and parallel to the lower travel path (90d1) along the lower edge (70d) where materials are replenished.

[0065] In addition, the target travel route for the automatic straight-line round trip performed in the first area (S1) is generated by the control unit (50) based on position information of the entire outermost circumference, and at that time, the target travel route can be set to travel straight for a predetermined distance from the lower edge (70d) where materials are replenished.

Claims

1. A work vehicle comprising: a traveling body; a satellite positioning unit capable of detecting the position of the traveling body; a supply device for supplying materials to a field; and a control unit for acquiring position information of the entire outermost circumference using data from the satellite positioning unit while an operator causes the traveling body to perform a teaching driving along the entire outermost circumference of the field, wherein a target driving path for a straight-line reciprocating process to be performed in an inner area inside the driving path of the traveling body around the entire outermost circumference of the field is generated, and the operator changes the supply state of the supply device performed during the teaching driving so that one part of the outermost circumference is different from other parts, thereby identifying the part of the straight-line reciprocating process to replenish the materials.

2. A work vehicle as described in claim 1, wherein the entire outermost perimeter of the field is made up of a plurality of sides, and the supply device does not supply materials to the sides where the materials are replenished, and the supply device supplies materials to other sides where the materials are not replenished.

3. A work vehicle as described in claim 1 or 2, wherein the supply device is a seedling planting unit, the materials are seedlings, and when performing the teaching travel, an operator lowers the seedling planting unit and plants the seedlings on sides where the seedlings are not supplied, and drives the vehicle with the seedling planting unit lowered but without planting on sides where the seedlings are supplied.

4. A work vehicle as described in claim 3, wherein the control unit designates and records the section from the lowered position of the seedling planting unit on the side where the seedlings are supplied to the subsequent raised position as the seedling planting section for subsequent automatic driving along the side where the seedlings are supplied.

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