CN117044466A - Work vehicle - Google Patents

Abstract

The invention provides a work vehicle, which enables an operator to easily grasp a place on a farmland where the vehicle is traveling and a traveling path thereof. The work vehicle is a work vehicle capable of automatically traveling in a farmland, and is characterized by generating a main route for performing automatic traveling and a sub-route different from the main route for performing the automatic traveling, and by including a display device for displaying the main route and the sub-route, and causing the main route and the sub-route to be displayed on the display device in different display modes.

Description

Work vehicle

Technical Field

The present invention relates to an agricultural work vehicle having an automatic travel function.

Background

Conventionally, a work vehicle capable of automatically traveling in a farmland regardless of the manipulation of an operator has been known. For example, patent document 1 discloses a work vehicle capable of performing agricultural work by combining manual travel and automatic travel that travel based on manipulation by an operator.

In a work vehicle having an automatic travel function, as shown in fig. 14 of patent document 2, a travel path during automatic travel is generally displayed on a display device such as a liquid crystal panel.

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open No. 2020-195288

Patent document 2: japanese patent laid-open No. 2021-093179

Disclosure of Invention

Problems to be solved by the invention

However, in a farmland, in a place where agricultural work is performed while automatic travel is performed, if manual travel is present, display during manual travel is not performed on a screen of a display device, and thus there is a concern that an operator may be bothered by a travel path.

In view of such a situation, an object of the present invention is to provide a work vehicle in which an operator can easily grasp a travel route even when agricultural work is performed by combining automatic travel and manual travel.

Means for solving the problems

The object of the present invention is achieved by a work vehicle according to claim 1, which is a work vehicle capable of automatically traveling in a farmland, and which generates a main route L4 for automatic traveling and a sub-route L5 different from the main route L4 for automatic traveling, and includes a display device 17 for displaying the main route L4 and the sub-route L5, wherein the main route L4 and the sub-route L5 are displayed on the display device 17 in different display manners.

The work vehicle according to claim 1 is characterized by comprising: a control mechanism 300 for controlling the operation of the working vehicle based on a predetermined control parameter; and a remote controller 400 for performing a change instruction of the value of the control parameter, wherein the remote controller 400 displays a change instruction of the value of the control parameter and a value of the control parameter different from the value of the control parameter.

The working vehicle according to claim 3 is characterized in that the instruction for changing the value of the control parameter by the remote controller 400 is reset by setting and changing the value of the control parameter.

A working vehicle according to claim 4 is characterized by including a control parameter value range in which setting of the value of the control parameter is permitted, the control parameter value range having a control parameter upper limit value and a control parameter lower limit value, when an instruction to change the value of the control parameter by the remote controller 400 is given, the control parameter upper limit value is set to the value of the control parameter when the value of the control parameter exceeds the control parameter upper limit value, the control parameter lower limit value is set to the value of the control parameter when the value of the control parameter is below the control parameter lower limit value, the instruction to change is displayed by displaying an instruction to change the value that exceeds the control parameter value range, and the control parameter is displayed by displaying a value that is actually set in the control parameter value range.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the present invention described in claim 1, since the shape of the farmland shown by the farmland shape information generated by the teaching traveling and the automatic traveling main route and the sub-route calculated based on the farmland shape information are displayed on the display device, the operator can easily grasp the place on the farmland where traveling and the traveling route thereof. Further, since the main route and the sub-route are displayed on the display device in different display modes, it is possible to prevent the operator from confusing the route.

According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, the convenience of use can be improved.

According to the invention described in claim 3, in addition to the effect of the invention described in claim 2, safety can be improved.

According to the invention described in claim 4, in addition to the effects of the invention described in claim 2 or 3, the convenience of use can be improved.

Drawings

Fig. 1 is a schematic left side view of a work vehicle according to a preferred embodiment of the present invention.

Fig. 2 is a schematic plan view of the work vehicle shown in fig. 1.

Fig. 3 is a control block diagram of the work vehicle shown in fig. 1.

Fig. 4 is a schematic plan view showing a travel path of the work vehicle under teaching travel in which the farmland shape information is acquired.

Fig. 5 is a view showing a farmland overall display screen including a display of the overall shape of the farmland and the automatic travel path, which is displayed on a display of the operation terminal.

Fig. 6 is a diagram showing a detailed display screen of a display displayed on the operation terminal.

Fig. 7 is a view showing a seedling replenishment place setting screen including a start point and an end point of automatic travel, a recommended travel route, the number of seedling pads used per 1 counter, and a display of a seedling shortage place, which are displayed on a display of an operation terminal.

Fig. 8 is a view showing a display of the operation terminal when the seedling replenishment place is selected on the seedling replenishment place setting screen shown in fig. 7.

Fig. 9 is a view showing a screen displayed on the display of the operation terminal at the time of the planting operation of the automatic traveling.

Fig. 10 is a schematic plan view showing a travel path of a work vehicle in a special-shaped agricultural field.

Fig. 11 is a view showing a screen displayed on the monitor of the operation terminal during the planting operation in the irregularly shaped farmland shown in fig. 10.

Fig. 12 shows (a) a first explanatory view of a monitor display on a remote controller side of a rice transplanter according to an embodiment of the present invention, (b) a second explanatory view of a monitor display on a remote controller side of a rice transplanter according to an embodiment of the present invention, (c) a third explanatory view of a monitor display on a remote controller side of a rice transplanter according to an embodiment of the present invention, (d) a fourth explanatory view of a monitor display on a remote controller side of a rice transplanter according to an embodiment of the present invention, (e) a fifth explanatory view of a monitor display on a remote controller side of a rice transplanter according to an embodiment of the present invention, (f) a sixth explanatory view of a monitor display on a remote controller side of a rice transplanter according to an embodiment of the present invention, (g) a seventh explanatory view of a monitor display on a remote controller side of a rice transplanter according to an embodiment of the present invention, (h) is an eighth explanatory view of a monitor display on the remote controller side of the rice transplanter according to the embodiment of the present invention, (i) is a ninth explanatory view of a monitor display on the remote controller side of the rice transplanter according to the embodiment of the present invention, (j) is a tenth explanatory view of a monitor display on the remote controller side of the rice transplanter according to the embodiment of the present invention, (k) is an eleventh explanatory view of a monitor display on the remote controller side of the rice transplanter according to the embodiment of the present invention, (l) is a twelfth explanatory view of a monitor display on the remote controller side of the rice transplanter according to the embodiment of the present invention, (m) is a thirteenth explanatory view of a monitor display on the remote controller side of the rice transplanter according to the embodiment of the present invention, (n) is a fourteenth explanatory view of a monitor display on the remote controller side of the rice transplanter according to the embodiment of the present invention, and (o) is a fifteenth explanatory view of a monitor display on the remote controller side of the rice transplanter according to the embodiment of the present invention.

Fig. 13 is a first explanatory view of a control parameter table of the rice transplanter according to the embodiment of the present invention.

Fig. 14 (a) is a first explanatory view of a control parameter display on the remote controller side of the rice transplanter according to the embodiment of the present invention, (b) is a second explanatory view of a control parameter display on the remote controller side of the rice transplanter according to the embodiment of the present invention, (c) is a third explanatory view of a control parameter display on the remote controller side of the rice transplanter according to the embodiment of the present invention, (d) is a fourth explanatory view of a control parameter display on the remote controller side of the rice transplanter according to the embodiment of the present invention, and (e) is a fifth explanatory view of a control parameter display on the remote controller side of the rice transplanter according to the embodiment of the present invention.

Fig. 15 is a second explanatory view of a control parameter table of the rice transplanter according to the embodiment of the present invention.

Fig. 16 is a sixth explanatory view of a control parameter display on the remote controller side of the rice transplanter according to the embodiment of the present invention, (b) a seventh explanatory view of a control parameter display on the remote controller side of the rice transplanter according to the embodiment of the present invention, (c) an eighth explanatory view of a control parameter display on the remote controller side of the rice transplanter according to the embodiment of the present invention, (d) a ninth explanatory view of a control parameter display on the remote controller side of the rice transplanter according to the embodiment of the present invention, and (e) a tenth explanatory view of a control parameter display on the remote controller side of the rice transplanter according to the embodiment of the present invention.

Fig. 17 is a third explanatory view of a control parameter table of the rice transplanter according to the embodiment of the present invention.

Fig. 18 is a view showing an eleventh explanatory view of a control parameter display on the remote controller side of the rice transplanter according to the embodiment of the present invention, (b) a view showing a twelfth explanatory view of a control parameter display on the remote controller side of the rice transplanter according to the embodiment of the present invention, (c) a view showing a thirteenth explanatory view of a control parameter display on the remote controller side of the rice transplanter according to the embodiment of the present invention, (d) a view showing a fourteenth explanatory view of a control parameter display on the remote controller side of the rice transplanter according to the embodiment of the present invention, and (e) a view showing a fifteenth explanatory view of a control parameter display on the remote controller side of the rice transplanter according to the embodiment of the present invention.

Fig. 19 is a fourth explanatory view of a control parameter table of the rice transplanter according to the embodiment of the present invention.

Fig. 20 is a sixteenth explanatory view of a control parameter display on the remote controller side of the rice transplanter according to the embodiment of the present invention, (b) a seventeenth explanatory view of a control parameter display on the remote controller side of the rice transplanter according to the embodiment of the present invention, (c) an eighteenth explanatory view of a control parameter display on the remote controller side of the rice transplanter according to the embodiment of the present invention, (d) a nineteenth explanatory view of a control parameter display on the remote controller side of the rice transplanter according to the embodiment of the present invention, and (e) a twentieth explanatory view of a control parameter display on the remote controller side of the rice transplanter according to the embodiment of the present invention.

Detailed Description

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Fig. 1 is a schematic left side view of a work vehicle 1 according to a preferred embodiment of the present invention, and fig. 2 is a schematic plan view of the work vehicle 1 shown in fig. 1. Fig. 3 is a control block diagram of the work vehicle 1 shown in fig. 1.

In the present specification, as indicated by arrows in fig. 1 and 2, the straight direction of the work vehicle 1 is referred to as "front", the opposite side thereof is referred to as "rear", the front side which is the traveling direction of the work vehicle 1 is referred to as "left", and the opposite side thereof is referred to as "right". In the present specification, the work vehicle 1 is simply referred to as a "body".

The work vehicle 1 includes: a traveling vehicle body 2 that travels in a farmland; a planting device 63 mounted at the rear of the traveling vehicle body 2; a preliminary seedling frame 74 that accommodates the preliminary seedlings supplied to the planting device 63; a fertilizer applicator 26 for supplying fertilizer to the farmland; a control unit 5 for controlling the whole body; and a remote controller 50 (hereinafter, referred to as a remote controller) that can communicate with the control section 5 wirelessly. The working vehicle 1 according to the present embodiment is configured as a rice seedling planting machine for planting rice seedlings in a farmland, and is capable of automatic traveling under control of the control unit 5 and manual traveling under control of an operator (operator). During automatic traveling, an operator can travel automatically in either an unmanned or manned state without having to ride on the machine body.

The traveling vehicle body 2 includes: a main frame 3 disposed substantially in the center of the vehicle body 2; a rear frame 6 mounted on a rear end portion of the main frame 3 and extending in a width direction of the machine body; a link base frame 10 fixed to the rear frame 6; a bottom plate step 60 disposed above the main frame 3; an operator pad 48 provided above the floor step 60; a manipulation section 49 for manipulating the body 1; a display unit 23 (see fig. 2) for displaying various information of the body; an engine 7 provided below the operator's seat 48; a pair of left and right front wheels 8 and a pair of left and right rear wheels 9 as running wheels; a power transmission mechanism 15 that transmits the rotational power output from the engine 7 to a pair of left and right front wheels 8 and rear wheels 9; and a front cover 47 covering the control section 5. A GNSS receiver 32 for acquiring positional information of the vehicle body is provided at the front part of the traveling vehicle body 2. The GNSS receiver 32 corresponds to a "positioning device" of the present invention.

The operating unit 49 includes: a main shift lever 35 for changing the forward/backward movement of the traveling vehicle body 2 and the vehicle speed; a brake pedal 81 for stopping travel of the traveling vehicle body 2; a brake lever 79 coupled to the brake pedal 81; and a steering mechanism 28 that steers the pair of right and left front wheels 8.

The steering mechanism 28 includes a steering wheel 56 (hereinafter referred to as "SW"), a steering shaft (not shown) supporting the SW56, a steering arm, and a tie rod (not shown). The steering mechanism 28 is configured to transmit the rotation of the SW56 to the pair of front wheels 8 and change the direction of the travel of the machine body by changing the direction of the pair of front wheels 8.

The SW56 is rotationally driven by a steering motor 57 shown in fig. 3 based on a control signal output from the control unit 5 during automatic running, and is rotated by an operator (operator) during manual running. The steering shaft is rotatably supported by a steering column 83 shown in fig. 1 and 2, and the SW56 and the steering shaft integrally rotate.

The display unit 23 includes: an operation terminal 17 (refer to fig. 2) having a display; and an instrument panel 46 that displays the operating time of the engine 7 (a so-called chronograph), the on-off state of the planting device 63, and the like. The operation terminal 17 and the dashboard 46 are disposed in a part of a dashboard (so-called "instrument panel") disposed in the vicinity of the steering column 83, respectively.

The operation terminal 17 is connected to the control unit 5, and is configured so that various information about the machine body, the farmland, and the like can be displayed on the display based on the image signal output from the control unit 5, and the control unit 5 controls the screen display of the operation terminal 17. The operation terminal 17 is an example of the "display device" of the present invention. The display of the operation terminal 17 is constituted by a touch panel, and operation information generated by a touch operation on the touch panel is input to the control section 5. In other words, the control unit 5 is configured to be able to acquire operation information of the touch panel. That is, the operation terminal 17 serves as an input device and a display device for the control unit.

The automatic operation ECU5a includes: a farmland shape generating unit 5a1 for generating farmland shape information indicating the shape of the farmland based on a plurality of pieces of position information of the machine body acquired during so-called teaching travel; a route calculation unit 5a2 for calculating an automatic travel route and a travel route from the current position of the machine body to a start point of automatic travel (a recommended travel route described in detail later) based on the obtained farmland shape information; an automatic travel unit 5a3 for controlling the steering of the front wheels 8 and the travel of the vehicle body 2 during the automatic travel; and a recording unit 5a4 for storing various information such as an automatic travel route, information on a manual travel route described in detail later, information on a work width of the planting device 63, information on a width of the machine body, information on a farmland shape, and information on a position of the vehicle body 2.

As described in detail later, the route calculation unit 5a2 calculates an automatic travel route based on the farmland shape information acquired by the farmland shape generation unit and the information of the work width of the planting device 63.

The automatic travel unit 5a3 calculates a distance between the preset automatic travel path and the position of the vehicle body 2 measured by the GNSS receiver 32, that is, a separation distance, at the time of automatic travel. After that, the automatic traveling unit 5a3 generates steering information for steering the SW56 in the direction in which the separation distance is zero (=the direction in which the separation distance is shortened), and transmits the steering information to the vehicle ECU5b. The steering information is the steering angle of the target that the SW56 should be.

When the steering information is acquired from the automatic traveling unit 5a3, the vehicle ECU5b drives a steering motor 57 that integrally rotates the steering shaft and the SW56 based on the detection signal of the encoder 44 that detects the steering angle of the SW56 and the steering information.

The steering motor 57 is driven by an operation amount corresponding to an input pulse signal from the vehicle ECU5b during automatic running, and thereby rotates the steering shaft, and rotates the steering arm, whereby the front wheels 13 are steered. As a result, the traveling vehicle body 2 moves along the automatic traveling path.

Fig. 4 is a schematic plan view showing a travel path of the work vehicle 1 under the teaching travel for acquiring the farmland shape information. In fig. 4, a travel path for teaching travel is shown by an arrow.

The work vehicle 1 travels on the inner side (=on the inner periphery of the farmland) of the other sides (e.g., S1 to S3) excluding the side (e.g., S4) arbitrarily selected from the sides S1 to S4 constituting the outline of the farmland sequentially by manual travel under so-called teaching travel. The farmland shape generating unit 5a1 is configured to generate farmland shape information based on the travel locus of the body acquired by the GNSS receiver 32 during the teaching travel of the work vehicle 1, and to record the farmland shape information in the recording unit 5a4. In other words, the travel track of the body is a plurality of pieces of position information of the body acquired by the GNSS receiver 32 during the teaching travel. The farmland shape information includes, in an associated state, the shape of the farmland and information (in more detail, latitude and longitude information) on the position of the farmland. In the present embodiment, the case where seedlings are planted on the inner periphery of the farmland other than one side during the teaching travel is described, but seedlings may be not planted during the teaching travel but may be driven.

When the farmland shape information is acquired, the route calculation unit 5a2 determines whether the farmland is substantially rectangular based on the farmland shape information. When the farmland is substantially rectangular as a result of the determination, the route calculation unit 5a2 calculates an automatic travel route. The automatic travel path is calculated so as to include a plurality of straight paths and a turning path for turning from each straight path to an adjacent straight path. On the other hand, when the result of the determination of whether or not the farmland is substantially rectangular is that the farmland is shaped in a different manner than substantially rectangular, the explanation will be made with reference to fig. 10 and 11.

On the other hand, fig. 10 is a schematic plan view showing a travel path of the work vehicle 1 in the special-shaped farmland, and fig. 11 is a view showing a screen displayed on the display of the operation terminal 17 during the planting operation in the special-shaped farmland shown in fig. 10.

When it is determined whether the farmland is a substantially rectangular shaped farmland or not based on the farmland shape information, and the result is that the farmland is a shaped farmland which is not substantially rectangular shaped, the route calculation unit 5a2 first calculates an automatic travel route for traveling on the entire farmland except for the inner peripheral portion of the farmland where traveling is taught. As a result, when the calculated automatic travel path includes a straight path shorter than a predetermined length, the path calculation unit 5a2 calculates (estimates) these short straight paths as manual travel paths, and calculates other paths as automatic travel paths. That is, when the predetermined travel path calculated temporarily for the irregular farmland includes a straight travel path shorter than a predetermined length, the path calculation unit 5a2 calculates the predetermined travel path so as to include a manual travel path for performing the planting operation while manually traveling in addition to an automatic travel path for performing the planting operation while automatically traveling. In fig. 10, the automatic travel path is shown as a "main path", and the manual travel path is shown as a "sub path" by a broken line.

When the predetermined travel route including the automatic travel route and the manual travel route is calculated in this way, the entire farmland display screen is displayed on the display of the operation terminal 17, and the first route is selected and set, and the start point and the end point of the automatic travel route are set, as in the case of the substantially rectangular farmland. Then, a recommended travel route to the start position is calculated, and a seedling shortage point is calculated, and a seedling replenishment point setting screen is displayed on a display of the operation terminal 17. When the seedling replenishment place is set on the seedling replenishment place setting screen, the screen displays an entry travel start screen, and the machine body is moved to the automatic travel start place by manual travel, and the automatic travel is started on condition that a start instruction signal from the remote controller 50 is received. That is, in the case of the special-shaped farmland, the automatic travel is started in the same order as in the substantially rectangular farmland except that a predetermined travel path including a manual travel path is calculated by the path calculation unit 5a2 based on the straight path length after the teaching travel. The screen display of the operation terminal 17 is similar to that of a substantially rectangular farmland except that the display of the manual travel path may be included.

Planting of seedlings by the planting device 63 is performed during automatic travel of the machine body on each straight path in the automatic travel path and during manual travel on the manual travel path. At the time of planting, the display of the operation terminal 17 displays the shape of the farmland by a light brown line L1 and displays an automatic travel path by a yellow line L2 and a manual travel path by a pink line L5 on the inner side thereof as shown in fig. 11. In this way, since the manual travel route and the automatic travel route are displayed differently by colors according to the display of the shape of the farmland, the place and the travel route on the farmland where the manual travel is performed can be easily grasped. Further, among a plurality of straight paths (=straight strokes) included in the automatic travel path, a straight path in which the body is currently traveling during the automatic travel is displayed as indicated by a light blue line L4 as described above.

The route calculation unit 5a2 may be configured to set a manual route in which manual travel is performed, for example, when the travel of the travel route calculated so as to bypass the obstacle is difficult to perform under automatic travel in the case where the calculated automatic travel route includes a straight route shorter than a predetermined length and the obstacle is present in the farmland.

Technical meaning of the invention

According to the present embodiment shown in fig. 1 to 11, the shape of the farmland shown by the farmland shape information generated by the so-called teaching travel in which the manual travel is performed on the inner periphery of the farmland, and the automatic travel path and the manual travel path calculated based on the farmland shape information are displayed on the display of the operation terminal 17 (see fig. 11), so that the operator can easily grasp the place on the farmland where the manual travel is performed and the travel path where the manual travel is performed.

Further, since the automatic travel route is displayed on the display of the operation terminal 17 by the pink line L5 and the manual travel route is displayed on the yellow line L2, the display modes are different from each other by the difference in color, and thus, the operator can be prevented from confusing the automatic travel route and the manual travel route.

Further, according to the present embodiment, as shown in fig. 5, the first course, which is the straight course of the first automatic travel, can be selected by performing the pressing operation on the display of the operation terminal 17 constituted by the touch panel, so that the operator can select the start point and the travel sequence of the automatic travel, which is convenient.

Further, according to the present embodiment, the control unit 5 calculates the recommended travel route when traveling manually (=for manual driving) from the current position of the machine body to the start point P1 of automatic traveling, and displays the start point P1 and the end point P2 of automatic traveling of the recommended travel route L3 on the display of the operation terminal 17 (see fig. 6), so that it is possible to easily grasp where it is preferable to move the machine body to the farmland when starting automatic traveling.

Further, according to the present embodiment, since the operation terminal 17 for displaying the recommended travel route and the like is disposed in the vicinity of the steering column 83 (see fig. 2), it is possible to manually travel to a standby place that is a start point of automatic travel while checking the display of the operation terminal 17.

Further, according to the present embodiment, as shown in fig. 9, the display of the operation terminal 17 displays a straight path of the body currently traveling in the automatic traveling mode by using a light blue line L4, and displays other straight paths by using a yellow line L2, and the display modes are different from each other by the difference in color, so that the current position of the body and the straight path of the body traveling can be grasped instantaneously.

Further, according to the present embodiment, the seedling shortage site prediction unit 5b1 calculates the seedling shortage site on the farmland by the number of seedlings used per predetermined (specifically, 1 inverse pair of 10 acres) of the farmland area and the remaining amount of seedlings on the seedling box 65, and sets the seedling replenishment site on the displayed seedling replenishment site setting screen (see fig. 7 and 8) including the seedling shortage site and the plurality of straight paths, so that the operator can set the seedling replenishment site while taking the seedling shortage site into consideration.

Further, according to the present embodiment, when the seedling replenishment place set by the machine body is reached during the automatic traveling (see the yellow pin P3 indicating the seedling replenishment place in fig. 9), the traveling of the machine body is automatically stopped, and therefore, the operator does not need to perform the automatic traveling stopping operation, and the seedling replenishment operation can be smoothly started.

Further, according to the present embodiment, since the seedling replenishment place can be set within a range of the automatic travel path that is closer to the front side than the seedling shortage place (=upper side=upstream side=start place side), it is possible to prevent the automatic travel from being continued in a state where the seedling on the seedling box is used up as a result of the seedling replenishment place being erroneously set to the front side than the seedling shortage place (=lower side=downstream side=end place side).

(2a) First, a description will be given of a mode related to calibration of a remote controller of a robot transplanting machine.

Regarding various remote controller corrections of the robotic rice transplanting machine, consider the following structure: the correction value is set only within a predetermined range indicated by the white background of the correction value table, that is, within a range where a combination of a plurality of correction values is appropriate.

Regarding remote controller correction of the planting depth, seedling taking amount, rotor height, and hydraulic sensitivity of the robotic seedling planting machine, consider the following manner: all correction values acquired within the range may be set, or a combination of correction values that are not allowed may be set, regardless of the set value at the current time. However, even if the corrected setting value is displayed on the remote controller 50 and the monitor on the vehicle body 100 side, a correction value exceeding a proper range may be input, and in this case, only the correction value is switched and the final correction value is not changed. Therefore, it is desirable to prevent setting of an inappropriate range so as to suppress behavior that appears to cause malfunction.

The control means 5 performs control based on predetermined control parameters. The remote controller 50 instructs to change the value of the control parameter.

The following will be described with reference to the display of the number of seedlings per 10 acres.

Reference is made to the value of the number of seedlings required in the CAN data. About such letters are added before the numerical values. The display range is 0.0-50.0 [ plant/10 acre ]. In the case where the value exceeds 50.0, the value is fixed at 50.0.

The following describes the lateral conveyance number control parameter display.

And displaying the transverse conveying times in the CAN data. When the number of times of lateral conveyance is 0, 18 times are displayed. When the number of times of lateral conveyance is 1, 20 times are displayed. When the number of lateral conveyance times is 2, 24 times are displayed. When the number of lateral conveyance times is 3, 28 times are displayed.

On the remote controller 50 side, an instruction of changing the value of the control parameter by the remote controller 50 is displayed, and the value of the control parameter set at the current time is displayed.

As shown in fig. 12 (a) to 12 (o) of the first to fifteenth explanatory views of the monitor display on the remote controller 50 side of the rice transplanter according to the embodiment of the present invention, the display of the planting depth, the display of the seedling amount, the display of the rotor height, the display of the hydraulic sensitivity, and the like are performed with respect to the layout of the monitor screen on the remote controller 50 side.

In fig. 12, (a) to (c) are displayed on the monitor in relation to the change in the height of the rotor, in fig. 12, (d) to (f) are displayed on the monitor in relation to the change in the planting depth, in fig. 12, (g) to (l) are displayed on the monitor in relation to the change in the amount of seedlings taken, and in fig. 12, (m) to (o) are displayed on the monitor in relation to the change in the hydraulic pressure sensitivity.

A control parameter value range in which setting of the value of the control parameter is permitted is set. The control parameter value range has a control parameter upper limit value and a control parameter lower limit value. When the remote controller 50 instructs to change the value of the control parameter, the control parameter upper limit value is set as the value of the control parameter when the value of the control parameter exceeds the control parameter upper limit value, and the control parameter lower limit value is set as the value of the control parameter when the value of the control parameter is lower than the control parameter lower limit value.

The following will explain the display of the seedling amount control parameter.

As shown in fig. 13, which is a first explanatory diagram of a control parameter table of the rice transplanter according to the embodiment of the present invention, the current value of the seedling taking amount is referred to the seedling taking amount and the seedling taking amount correction value in the CAN data. The upper limit value and the lower limit value are displayed outside the display range. Regarding the correction value of the seedling amount, the correction value of the seedling amount in the CAN data is referred to.

As shown in fig. 14 (a) and 14 (b) of the first and second explanatory diagrams of the control parameter display on the remote controller 50 side of the rice seedling transplanting machine according to the embodiment of the present invention, the icon is shown as a blue down arrow when the seedling amount correction value is 0 to 9, and as an orange up arrow when the seedling amount correction value is 11 to 20. In fig. 14 (a), the seedling amount correction value is 0, and in fig. 14 (b), the seedling amount correction value is 20.

As shown in fig. 14 (c) to 14 (e) of the third to fifth explanatory diagrams of the control parameter display on the remote controller 50 side of the rice seedling machine according to the embodiment of the present invention, when the seedling amount correction value is 10, a gray upward arrow and a white downward arrow are displayed when the seedling amount is 0, and when the seedling amount is 10, a white upward arrow and a gray upward arrow are displayed, and otherwise, gray upward arrows are displayed in both the up-down direction. In fig. 14 (c), the seedling amount correction value is 10, the seedling amount is 0, in fig. 14 (d), the seedling amount correction value is 10, the seedling amount is 10, and in fig. 14 (e), the seedling amount correction value is 10, the seedling amount is 3.

If the depth of planting control parameter display is described, the following will be described.

As shown in fig. 15, which is a second explanatory diagram of a control parameter table of the rice transplanter according to the embodiment of the present invention, the current value of the planting depth is referred to as the planting depth and the planting depth correction value in CAN data. The upper limit value and the lower limit value are displayed outside the display range. With respect to the planting depth correction value, the planting depth correction value in the CAN data is referred to.

As shown in fig. 16 (a) and 16 (b) of the sixth and seventh explanatory diagrams of the display of the control parameter on the remote controller 50 side of the rice seedling transplanting machine according to the embodiment of the present invention, a blue down arrow is displayed when the planting depth correction value is 0 to 7, and an orange up arrow is displayed when the planting depth correction value is 9 to 16. In fig. 16 (a), the plant depth correction value is 0, and in fig. 16 (b), the plant depth correction value is 10.

As shown in fig. 16 (c) to 16 (e) of the eighth to tenth explanatory diagrams of the control parameter display on the remote controller 50 side of the rice seedling transplanting machine according to the embodiment of the present invention, when the planting depth correction value is 8, a gray up arrow and a white down arrow are displayed in the case where the planting depth is 0, and when the planting depth is 8, a white up arrow and a gray down arrow are displayed, and otherwise, a gray up arrow and a gray down arrow are displayed in both the up and down directions. In fig. 16 (c), the planting depth correction value is 8, in fig. 16 (d), the planting depth correction value is 8, and in fig. 16 (e), the planting depth correction value is 8, and the planting depth is 3.

The rotor height control parameter display will be described below.

As shown in fig. 17, which is a third explanatory diagram of a control parameter table of the rice transplanter according to the embodiment of the present invention, the rotor height current value is referred to as a rotor height dial value and a rotor height correction value in CAN data. The upper limit value and the lower limit value are displayed outside the display range. Regarding the rotor height correction value, the rotor height correction value in the CAN data is referred to.

As shown in fig. 18 (a) and 18 (b) of eleventh and twelfth explanatory diagrams of control parameter display on the remote controller 50 side of the rice seedling transplanting machine according to the embodiment of the present invention, a blue down arrow is displayed when the rotor height correction value is 0 to 8, and an orange up arrow is displayed when the rotor height correction value is 10 to 18 with respect to the graph. In fig. 18 (a), the rotor height correction value is 5, and in fig. 18 (b), the rotor height correction value is 18.

As shown in fig. 18 (c) to 18 (e) of thirteenth to fifteenth explanatory views of control parameter display on the remote controller 50 side of the rice seedling transplanting machine according to the embodiment of the present invention, when the rotor height correction value is 9, a gray up arrow and a white down arrow are displayed when the rotor height dial value is 0, and when the rotor height dial value is 9, a white up arrow and a gray down arrow are displayed, and otherwise, a gray up arrow and a gray down arrow are displayed. In fig. 18 (c), the rotor height correction value is 9 and the rotor height dial value is 0, in fig. 18 (d), the rotor height correction value is 9 and the rotor height dial value is 9, and in fig. 18 (e), the rotor height correction value is 9 and the rotor height dial value is 5.

The hydraulic pressure sensitivity control parameter display will be described below.

As shown in fig. 19, which is a fourth explanatory diagram of a control parameter table of the rice transplanter according to the embodiment of the present invention, the current value of the hydraulic pressure sensitivity displayed on the key chart corresponding to the lower limit value indicated by the rice character is referred to the hydraulic pressure sensitivity dial value and the hydraulic pressure sensitivity correction value in the CAN data. The upper limit value and the lower limit value are displayed outside the display range. Regarding the hydraulic pressure sensitivity correction value, the hydraulic pressure sensitivity correction value in the CAN data is referred to.

As shown in fig. 20 (a) and 20 (b) of sixteenth and seventeenth explanatory diagrams of control parameter display on the remote controller 50 side of the rice seedling transplanting machine according to the embodiment of the present invention, a blue down arrow is displayed when the hydraulic sensitivity correction value is 0 to 6, and an orange up arrow is displayed when the hydraulic sensitivity correction value is 8 to 14 with respect to the graph. In fig. 18 (a), the hydraulic pressure sensitivity correction value is 1, and in fig. 18 (b), the hydraulic pressure sensitivity correction value is 14.

As shown in fig. 20 (c) to 20 (e) of the eighteenth to twentieth explanatory views of control parameter display on the remote controller 50 side of the rice seedling transplanting machine according to the embodiment of the present invention, when the hydraulic pressure sensitivity correction value is 7, a gray up arrow and a white down arrow are displayed when the hydraulic pressure sensitivity dial value is 0, and when the hydraulic pressure sensitivity dial value is 7, a white down arrow and a gray down arrow are displayed, and otherwise, a gray up arrow and a gray down arrow are displayed. In fig. 20 (c), the hydraulic pressure sensitivity correction value is 7 and the hydraulic pressure sensitivity dial value is 0, in fig. 20 (d), the hydraulic pressure sensitivity correction value is 7 and the hydraulic pressure sensitivity dial value is 7, and in fig. 20 (e), the hydraulic pressure sensitivity correction value is 7 and the hydraulic pressure sensitivity dial value is 4.

On the vehicle body 100 side, an instruction to change the value of the control parameter by the remote controller 50 is displayed, and the value of the control parameter set by the change instruction is displayed.

The remote controller 50 resets the instruction to change the value of the control parameter by setting and changing the value of the control parameter on the vehicle body 100 side.

For example, the following structure can be considered: in the case where the planting depth setting value, the seedling amount setting value, the rotor height setting value, and the hydraulic pressure sensitivity setting value are changed, the planting depth correction value, the seedling amount correction value, the rotor height correction value, and the hydraulic pressure sensitivity correction value by the remote controller operation are reset, respectively.

More specifically, a different manner from the above may be considered in which any correction value is accepted without setting the limit of the correction value. However, the correction value may be brought into an appropriate range by manually changing the initial setting value, or even if the current correction value is an appropriate value, the correction value may be brought into an inappropriate range by changing the initial setting value.

When the setting value is changed, for example, when the setting value is changed according to the intention of a vehicle occupant, the correction value is reset, thereby suppressing occurrence of a phenomenon that the combination of the current correction value and the changed setting value is inappropriate.

Claims (4)

1. A work vehicle capable of automatically traveling in a farmland, characterized in that,

generating a main path (L4) for automatic travel and a sub path (L5) different from the main path (L4) for automatic travel,

comprises a display device (17) for displaying the main path (L4) and the sub path (L5),

the main path (L4) and the sub path (L5) are displayed on the display device (17) in different display modes.

2. The work vehicle according to claim 1, characterized by comprising:

a control mechanism (300) for controlling the operation of the working vehicle based on a predetermined control parameter; and

a remote controller (400) for performing a change instruction of the value of the control parameter,

the remote controller (400) displays a value of the control parameter and an instruction to change the value of the control parameter different from the value of the control parameter.

3. The work vehicle of claim 2, wherein the vehicle is a vehicle,

the instruction for changing the value of the control parameter by the remote controller (400) is reset by setting and changing the value of the control parameter.

4. A work vehicle according to claim 2 or 3, characterized in that,

a control parameter value range is provided that allows setting of the values of the control parameters described above,

the control parameter value range has a control parameter upper limit value and a control parameter lower limit value,

when the remote controller (400) instructs to change the value of the control parameter, if the value of the control parameter exceeds the control parameter upper limit value, the control parameter upper limit value is set to the value of the control parameter,

when the value of the control parameter is lower than the control parameter lower limit value, the control parameter lower limit value is set to the value of the control parameter,

the display of the change instruction is to display a change instruction exceeding the control parameter value range, and the display of the control parameter is to display a value actually set in the control parameter value range.