JP2023005883A - work vehicle - Google Patents

Abstract

To provide a work vehicle for notifying people around of an operation status.SOLUTION: A work vehicle according to the embodiment performs work in a field. The work vehicle includes: a traveling vehicle body; a seedling planting part provided for the traveling vehicle body; a position information acquisition part acquiring position information about the traveling vehicle body; a controller which controls a steering angle of a steering wheel of the traveling vehicle body and causes the traveling vehicle body to autonomous travel; and a notification light showing an operation status of the work vehicle at least about autonomous travelling. The notification light is supported by the antenna frame supporting the position acquisition information.SELECTED DRAWING: Figure 1

Description

The present invention relates to work vehicles.

2. Description of the Related Art Conventionally, a work vehicle is known in which an operating device is held in a straight-ahead position and a traveling vehicle body is automatically made to travel straight-ahead (see, for example, Patent Document 1).

JP 2016-24541 A

When the work vehicle performs autonomous travel such as automatic straight travel, it is desirable to notify the surroundings of the operating state of the work vehicle.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a work vehicle that notifies the surroundings of its operating state.

In order to solve the above problems and achieve the object, a work vehicle (1) according to one aspect of an embodiment performs work in a field. The work vehicle (1) includes a traveling vehicle body (2), a seedling planting section (4) provided on the traveling vehicle body (2), and a position acquisition device (150) for acquiring position information of the traveling vehicle body (2). , a control device (100) for controlling the rudder angle of a steering wheel (10) of a traveling vehicle body (2) to allow the traveling vehicle body (2) to travel autonomously; and a light (200). The notification light (200) is supported by an antenna frame (59) that supports the position acquisition device (150).

According to one aspect of the embodiment, the work vehicle can notify the surroundings of the driving state.

FIG. 1 is a side view showing the work vehicle according to the first embodiment. FIG. FIG. 2 is a plan view showing the working vehicle according to the first embodiment. FIG. 3 is a block diagram showing a control system centering on the control device of the seedling transplanter. FIG. 4 is a diagram showing a method of setting a work area by teaching travel according to the first embodiment. FIG. 5 is a side view of the seedling transplanter according to the second embodiment. FIG. 6 is a side view showing a state in which the guard portion is in the fall prevention position. FIG. 7 is a plan view showing a state in which the guard portion is in the fall prevention position. FIG. 8 is a side view of a seedling transplanter according to a modification. FIG. 9 is a side view of a seedling transplanter according to a modification. FIG. 10 is a side view of a seedling transplanter according to a modification. FIG. 11 is a plan view of a seedling transplanter according to a modification. FIG. 12 is a plan view of a seedling transplanter according to a modification. FIG. 13 is a side view of a seedling transplanter according to a modification. FIG. 14 is a plan view of a seedling transplanter according to a modification. FIG. 15 is a diagram showing the arrangement of notification lights of the seedling transplanter according to the modification. FIG. 16 is a diagram showing the arrangement of notification lights of the seedling transplanter according to the modification. FIG. 17 is a diagram showing the arrangement of notification lights of the seedling transplanter according to the modification.

<First embodiment>
(Overview of work vehicle)
First, an outline of a work vehicle 1 according to a first embodiment will be described with reference to FIGS. 1 and 2. FIG. FIG. 1 is a side view showing a working vehicle 1 according to the first embodiment. FIG. 2 is a plan view showing the work vehicle 1 according to the first embodiment.

In the following description, the front-rear direction is the traveling direction of the work vehicle 1 when the work vehicle 1 travels straight. The traveling direction of the work vehicle 1 is the direction from the cockpit 41 toward the steering wheel 35 (steering device) when traveling straight (see FIGS. 1 and 2).

The left-right direction is a direction that is horizontally perpendicular to the front-rear direction, and defines left and right toward the "front" side. That is, when an operator (also called an operator) is seated in the operator's seat 41 and faces forward, the left hand side is "left" and the right hand side is "right".

The vertical direction is the vertical direction. The front-back direction, the left-right direction, and the up-down direction are orthogonal to each other. Each direction is defined for convenience of explanation, and the present invention is not limited by these directions.

In the present embodiment, the work vehicle 1 is described as a riding-type seedling transplanter 1 that includes a seedling planting unit 4 as a field working device and receives seedlings in a field. As shown in FIGS. 1 and 2 , the seedling transplanter 1 includes an elevating seedling planting section 4 for planting seedlings in a field on the rear side of a traveling vehicle body 2 via an elevating link mechanism 3 .

A body portion of the fertilizing device 5 is arranged on the rear upper side of the traveling vehicle body 2 . If the working vehicle 1 is not the seedling transplanter 1, it may be provided with a seeding device for supplying seeds as a working device.

The traveling vehicle body 2 is a four-wheel drive vehicle including left and right front wheels 10 and rear wheels 11 which are wheels and driving wheels. A transmission case 13 for transmitting driving force to the seedling planting portion 4 and the like and a driving force supplied from the engine 30, that is, the driving force generated by the engine 30, are provided on the front side of the main frame 15 constituting the vehicle body frame of the traveling vehicle body 2. A hydraulic continuously variable transmission 14 that outputs rotation to the mission case 13 is provided.

The continuously variable transmission 14 is a hydrostatic continuously variable transmission called HST (Hydro Static Transmission). A case where the continuously variable transmission is the HST 14 will be described below.

Inside the transmission case 13, an auxiliary transmission mechanism 16 is provided for switching the traveling mode of the traveling vehicle body 2, such as when traveling on the road in high speed mode or when planting seedlings in low speed mode. Front wheel final cases 10a are provided on the left and right sides of the transmission case 13, and front wheels 10 are mounted on left and right front axles 10b projecting outward from front wheel support portions capable of changing the steering direction of the left and right front wheel final cases 10a. is attached.

On the rear side of the main frame 15, a rear wheel gear case 11a is attached to both left and right sides of a rear frame 22 (see FIG. 2) provided in the lateral direction. The rear wheels 11 are attached to the rear axles 11b, respectively.

Left and right link support frames 23 for supporting the lifting link mechanism 3 project upward from the upper portion of the rear frame 22 . A pair of left and right lower link arms 24 are provided on the lower side of the left and right link support frames 23 and between the left and right. An elevating cylinder 25 that operates hydraulically is provided between the left and right lower link arms 24 .

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

An engine 30 is mounted on the main frame 15 . Rotational power of engine 30 is transmitted to mission case 13 via belt transmission device 21 and HST 14 . The rotational power transmitted to the mission case 13 is shifted by the sub-transmission mechanism 16 in the mission case 13, and then divided into running power and external power.

Also, the rotational power of the engine 30 is transmitted to a hydraulic pump (not shown). The hydraulic pressure generated by the hydraulic pump is supplied to the HST 14, the power steering mechanism 88 (see FIG. 3) of the steering wheel 35, the lifting cylinder 25, and the like.

The external extraction power extracted from the rotational power transmitted to the transmission case 13 is transmitted to the planting clutch case 27 provided at the rear part of the traveling vehicle body 2, and the seedlings are planted from the planting clutch case 27 by the planting transmission shaft 67. It is transmitted to the part 4.

On the other hand, left and right drive shafts 42 are provided in the rear portion of the transmission case 13 . Rotational power from the engine 30 is transmitted to the left and right rear wheel gear cases 11 a via the transmission case 13 and the drive shaft 42 .

A side clutch 44 (see FIG. 3) for switching power transmission to the left and right drive shafts 42 is arranged on the upper side of the left and right drive shafts 42 in the power transmission direction. As shown in FIG. 1, a side clutch pedal 43a for turning on and off the left and right side clutches 44 is provided at the front lower portion of the operator's seat 41 and on one of the left and right sides.

Of the right and left side clutch pedals 43a, the side clutch pedal 43a on the inner side of the turn is depressed to disengage the side clutch 44, and then the handle 35 is operated to make the turn. can be blocked.

A bonnet 39 is provided on the upper front side of the traveling vehicle body 2. A control panel 38 for operating each part is arranged on the upper part. The control panel 38 is provided with a monitor 86 (see FIG. 3) and the like.

Further, the bonnet 39 is provided with a steering wheel 35 for steering the traveling vehicle body 2, a shift operation lever 36 for operating the HST 14 and the seedling planting section 4, an auxiliary shift operation lever 37 for operating the auxiliary transmission mechanism 16, and the like.

A front cover 40 that can be opened and closed is provided on the front side of the bonnet 39 . Inside the front cover 40, there are provided a fuel tank, a battery, and an interlocking mechanism for rotating the left and right front wheels 10 and the lower portions of the left and right front wheel final cases 10a in response to the steering operation of the steering wheel 35. The front wheels 10 are, for example, steerable wheels that are steered according to the steering of the steering wheel 35 .

An engine cover 30a is provided behind the bonnet 39 and above the engine 30 to cover the upper and side portions of the engine 30. Above the engine cover 30a is a cockpit 41 on which an operator sits. be provided.

A fertilizing device 5 is provided on the rear side of the cockpit 41 and on the rear end side of the main frame 15 . The driving force of the fertilizing device 5 is transmitted by a fertilizing transmission mechanism provided so as to face the fertilizing device 5 from one of the left and right sides of the left and right rear wheel gear cases 11a.

Approximately horizontal floor steps 33 are formed on both left and right sides of the lower portion of the engine cover 30a and the bonnet 39 . As shown in FIG. 2, the floor step 33 is partially lattice-shaped, and for example, even if mud adheres to the shoes of the operator walking on the floor step 33, the mud and the like fall onto the field.

A rear step 330 is connected to the rear of the floor step 33 as shown in FIG. The surface of the rear step 330 is preferably provided with anti-slip processing, for example, with a plurality of projection patterns formed thereon so that feet do not slip easily during work.

In addition, on the front side of the traveling vehicle body 2 and on both the left and right sides, there are provided preliminary seedling frames 50 on which a plurality of preliminary seedling mounting bases 52 are arranged on seedling frame supports 51 at intervals in the vertical direction. Work materials such as seedlings and fertilizer bags to be replenished on the attached portion 4 can be placed.

The spare seedling frame 50 is switched between an accommodated state and an expanded state. As shown in FIG. 1, the storage state is a state in which a plurality of preliminary seedling placement tables 52, for example, three preliminary seedling placement tables 52 are arranged in the upward direction. The unfolded state is a state in which a plurality of spare seedling placement tables 52 are arranged in a straight line in the front-rear direction, and is a state in which working materials such as spare seedlings can be transported. It should be noted that switching between the housed state and the expanded state of the spare seedling frame 50 may be performed electrically or manually.

A seedling tank 53 for loading seedlings to be planted in the field is mounted on the rear end of the lifting link mechanism 3 together with a sliding mechanism for sliding in the left-right direction. Seedling partition fences 54 elongated in the vertical direction are arranged in the seedling tank 53 at predetermined intervals in the horizontal direction. Below the seedling tank 53, a seedling planting device 55 for scraping the loaded seedlings and planting them in the field is arranged.

The seedling planting device 55 has the same number of planting rows as the number of planting rows separated by the seedling partition fence 54, that is, plants eight rows at the same time. A planting rotary 57 is mounted on each of the right and left sides of the planting transmission case 56 to pick up seedlings by a planting rod 58 and plant them in the field while rotating.

In the fertilizing device 5, a fertilizing hopper 70 in which fertilizer is stored is divided into the same number of working rows as the seedling planting section 4 (eight rows in the example shown in FIG. 2). In addition, since the fertilizing hoppers 70 for eight rows are long in the left-right direction, the convenience of putting in and removing fertilizer is reduced. good too.

Below the fertilizing hopper 70, a delivery device 71 for supplying a set amount of fertilizer for each row is provided. Below the delivery device 71, a ventilation duct 72 through which the conveying air for moving the fertilizer passes is provided in the left-right direction. A fertilizing hose 73 for guiding fertilizer to the vicinity of the seedling planting position of the seedling planting section 4 is provided below the delivery device 71 . A blower 74 is provided at one end of the ventilation duct 72 and is operated by a blower electric motor 76 to generate a carrier air.

As shown in FIGS. 1 and 2, below the seedling planting unit 4, there are a center float 62C that slides in contact with the field surface, and two left and right side floats 62L and 62R that rotate about their axes. It is provided movably. Note that the center float 62C and the left and right side floats 62L and 62R may be collectively referred to as the floats 62 in some cases.

Further, below the seedling planting unit 4 and in front of the float 62, a leveling rotor 63 for leveling unevenness in the field is provided. Driving force is transmitted to the ground leveling rotor 63 from the rear wheel gear case 11a on the other side of the right and left through the rotor transmission shaft 63a.

Further, as shown in FIG. 1, on both the left and right sides of the seedling planting part 4, one of the left and right sides is in contact with the field, and a groove is formed as a guideline for running in the next work row (next process). A delineation marker 65 is provided respectively. The left and right line markers 65 move upward when one of the left and right sides touches the ground, and when the seedling planting unit 4 is raised during rotation, both left and right sides move upward. One of the left and right sides is spaced upward and the other side is grounded.

Further, as shown in FIGS. 1 and 2 , a center mascot 66 that is elongated in the vertical direction is provided at the left-right central portion of the traveling vehicle body 2 and in front of the bonnet 39 . By aligning the center mascot 66 with the groove formed in the field by the left and right line drawing markers 65, it is possible to travel in line with the working position of the immediately preceding work line, improving work accuracy and preventing the occurrence of non-work. be able to.

Note that depending on the soil quality of the field, the guide line formed by the left and right line markers 65 may quickly become buried, and the guideline for straight running may disappear. In such a case, it is preferable to use the left and right side markers 19 provided on the front side of the left and right delineation markers 65 . That is, by moving the left and right side markers 19 outward and positioning the side markers 19 above the planted seedlings, the planting operation can be performed in accordance with the planting of the seedlings of the previous working row.

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

For example, the position acquisition device 150 receives positioning information from the positioning means, creates current position information and direction information of the traveling vehicle body 2 based on the received positioning information, and acquires the current position and direction. The position acquisition device 150 is attached to, for example, the antenna frame 59 and arranged above the traveling vehicle body 2 . The antenna frame 59 is, for example, attached to the main frame 15 and supported by the main frame 15 .

The straight line control program and the turning control program, which are created based on the position information obtained by the position acquisition device 150, are stored in separate locations. The straight running control program is stored, for example, in a straight running control ECU (Electronic Control Unit) 100 a in the position acquisition device 150 , and the turning control program is stored, for example, in a turning control ECU 100 b housed in the bonnet 39 . . The straight running control ECU 100a and the turning control ECU 100b are included in a control device 100 (see FIG. 3), which will be described later. The straight running control ECU 100a and the turning control ECU 100b may be housed in the same ECU.

In addition, the seedling transplanter 1 is provided with a notification light 200. - 特許庁The notification light 200 is supported by the antenna frame 59 . The notification light 200 is provided above the floor step 33 . Specifically, the notification light 200 is provided on the upper side of the antenna frame 59 . Further, the notification light 200 is provided within the width of the floor step 33 in the left-right direction. Specifically, the notification light 200 is provided within the width of the antenna frame 59 in the horizontal direction.

The notification light 200 is provided behind the position acquisition device 150 . The notification light 200 may be provided in front of the position acquisition device 150 .

The notification light 200 is provided at a position lower than the position acquisition device 150 . Specifically, the notification light 200 is provided such that the upper end of the notification light 200 is lower than the upper end of the position acquisition device 150 .

The notification light 200 may be provided below the position acquisition device 150 . As a result, the seedling transplanter 1 can prevent the notification light 200 from coming into contact with an obstacle. In addition, the seedling transplanter 1 can stabilize the visibility of the notification light 200, for example, in fine weather.

The notification light 200 includes a plurality of lamps 200a. The notification light 200 can light up in a plurality of colors. Lighting of the notification light 200 may include blinking of the notification light 200 . For example, the notification light 200 includes three lamps 200a. The three lamps 200a are provided side by side in the vertical direction. The three lamps 200a are, for example, lamps 200a that light pink, green, and blue from above.

The notification light 200 indicates at least the operating state of the seedling transplanter 1 regarding autonomous travel. The notification light 200 switches the lighting state of a plurality of lamps 200a according to the operating state of the seedling transplanter 1. FIG.

For example, the notification light 200 lights all three lamps 200a when the seedling transplanter 1 can autonomously travel. The notification light 200 turns on a pink lamp 200a when an abnormality occurs in the seedling transplanter 1. - 特許庁When an abnormality occurs in the seedling transplanter 1, the cause of the abnormality is displayed on the monitor of the remote control device 170 and the monitor 86 of the control panel 38, which will be described later. Further, an abnormality in which the pink lamp 200a lights up is an abnormality that makes it difficult to continue the work or an abnormality that makes it preferable to stop the work.

Further, the notification light 200 turns on the blue lamp 200a when the seedling transplanter 1 is autonomously traveling. The notification light 200 turns on a green lamp 200a when a minor error occurs in the seedling transplanter 1. - 特許庁A minor error is an abnormality that is milder than the occurrence of an abnormality that causes the pink lamp 200a to light up, and is, for example, the occurrence of a slip. As for the notification light 200, a blue lamp 200a lights up when the seedling transplanter 1 is manually running.

(Control system of seedling transplanter)
Next, the control system of the seedling transplanter 1 will be described with reference to FIG. FIG. 3 is a block diagram showing a control system centering on the control device 100 of the seedling transplanter 1. As shown in FIG. The seedling transplanter 1 can control each part by electronic control, and includes a control device (hereinafter referred to as a controller) 100 for controlling each part.

The controller 100 includes a processing unit including a CPU (Central Processing Unit), a storage unit such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input/output unit, which are connected to each other. can exchange signals with each other. A computer program for controlling the seedling transplanter 1 and the like are stored in the storage unit. The controller 100 performs each function by reading a computer program or the like stored in the storage unit.

The controller 100 includes, for example, actuators such as a throttle motor 80, hydraulic control valves 81 and 82, a planting clutch actuation solenoid 83, a side clutch actuation solenoid 84, an HST14 motor 85, a drawing marker lifting motor 87, a steering motor 95, a differential lock, and a A switching motor 96 and the like are connected.

The throttle motor 80 increases or decreases the rotation speed of the output shaft of the engine 30 by operating a throttle that adjusts the intake air amount of the engine 30 . The hydraulic control valve 81 controls the expansion and contraction of the elevating cylinder 25 . A hydraulic control valve 82 controls a power steering mechanism 88 . The planted clutch actuating solenoid 83 operates the planted clutch 27a.

The side clutch actuation solenoid 84 actuates the side clutch 44 that switches the state of power transmission to the rear wheels 11 (see FIG. 1). The side clutches 44 are provided for the left and right rear wheels 11 respectively, and two side clutch actuation solenoids 84 are provided corresponding to the respective side clutches 44 .

The HST 14 motor 85 changes the tilt angle of the swash plate of the HST 14 by changing the rotation angle of the trunnion of the HST 14 . The steering motor 95 is a motor that drives the steering wheel 35, which is a steering device that adjusts the steering amount (steering angle) of the front wheels 10 (see FIG. 1) when automatic turning control is performed. A steering motor 95 rotates the steering wheel 35 . The drawing marker lifting motor 87 raises and lowers the drawing marker 65 .

A differential lock switching motor 96 is a motor that switches between activation and deactivation of a differential lock mechanism 97 (hereinafter referred to as a differential lock mechanism) that rotates the left and right running wheels, specifically, the left and right front wheels 10 at the same rotational speed. be. When the differential lock mechanism 97 is engaged, the left and right traveling wheels rotate at the same rotational speed.

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

The steering amount sensor 91 detects the amount of operation of the steering wheel 35 , that is, the steering angle of the front wheels 10 . The steering amount sensor 91 is provided, for example, on a shaft connected to the pitman arm. The amount of operation is detected in each of the left and right directions using the value when the steering wheel 35 is in a preset straight-ahead position as a reference value. The tilt sensor 92 detects the tilt angle, which is the tilt of the traveling vehicle body 2 .

In addition, the controller 100 includes, as operation signals, a shift operation lever 36, an auxiliary shift operation lever 37, an autonomous travel changeover switch 46, a planting section elevation switch 47, an automatic straight changeover switch 45, an automatic turn changeover switch 48, an automatic line-drawing marker A signal is input from the lift switch 49 or the like.

The autonomous travel changeover switch 46 is a switch that switches whether to execute autonomous travel. Specifically, the autonomous driving changeover switch 46 is a switch that switches the driving mode to the autonomous driving mode or the manual driving mode. For example, when the autonomous driving changeover switch 46 is "ON", the driving mode is set to the autonomous driving mode. When the autonomous travel changeover switch 46 is "OFF", the travel mode is set to the manual travel mode. When the autonomous traveling changeover switch 46 is turned "ON", the automatic straight changeover switch 45 and the automatic turning changeover switch 48 are turned "ON". That is, when the traveling mode becomes the autonomous traveling mode, even if the automatic straight changeover switch 45 and the automatic turning changeover switch 48 are once turned "ON", they are turned "OFF" by the operator's operation. It is possible.

The planting part raising/lowering switch 47 is a switch for switching whether or not the seedling planting part 4 is raised/lowered. The planting section lift switch 47 is changed to the "raise" and "lower" positions.

When the planting section lift switch 47 is at the "up" position, the seedling planting section 4 rises to a predetermined non-working position, and the seedling planting device 55 is in a non-working state. When the planting part lifting switch 47 is at the "down" position, the seedling planting part 4 is lowered to a predetermined working position, and the seedling planting device 55 is in a working state. That is, the planting part lifting switch 47 is a switch for detecting the working state of the seedling planting part 4 . A switch for detecting the working state of the seedling planting unit 4 may be provided separately.

The drawing marker automatic elevation switch 49 is a switch for switching whether the drawing marker 65 is automatically raised or lowered in conjunction with the operation amount of the steering wheel 35 , that is, the steering amount of the front wheels 10 . When the drawing marker automatic elevation switch 49 is "ON", control is executed to automatically raise and lower the drawing marker 65 in conjunction with the steering amount. On the other hand, when the drawing marker automatic elevation switch 49 is "OFF", the control for automatically raising and lowering the drawing marker 65 in conjunction with the steering amount is not executed.

The automatic straight changeover switch 45 is a switch for switching whether to enable execution of automatic straight travel. When the automatic straight changeover switch 45 is turned "ON", a travel assist function, which will be described later, is enabled, and automatic straight travel can be executed. When the automatic straight changeover switch 45 is set to "OFF", the driving assist function is disabled and the automatic straight travel cannot be executed.

The automatic turning changeover switch 48 is a switch for switching whether to enable execution of automatic turning. When the automatic turning changeover switch 48 is turned "ON", a turning assist function, which will be described later, is enabled, and automatic turning can be executed. When the automatic turning changeover switch 48 is "OFF", the turning assist function is disabled and automatic turning cannot be executed. When the automatic turning changeover switch 48 is "OFF", automatic turning is not executed even if the conditions for executing automatic turning are satisfied.

Further, current position information of the traveling vehicle body 2 and the like are input to the controller 100 from the position acquisition device 150 . The controller 100 executes an autonomous traveling mode in which the traveling vehicle body 2 automatically travels while performing work.

Various information is input to the controller 100 from a remote operation device 170 (hereinafter referred to as a “remote controller”). For example, the controller 100 receives various information from the remote controller 170 via the receiver 180 (see FIG. 1). The receiver 180 is attached to, for example, the antenna frame 59 (see FIG. 1) and arranged above the front side of the traveling vehicle body 2 . A plurality of receivers 180 may be provided.

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

The remote control 170 may include, for example, an orientation sensor and positioning means such as GPS and GNSS. Remote controller 170 may transmit the location information of remote controller 170 to controller 100 .

A plurality of remote controllers 170 may be provided. That is, the controller 100 may be able to acquire the position information of each remote controller 170 from a plurality of remote controllers 170 .

The controller 100 also generates a signal for controlling the lighting state of the notification light 200 according to the operating state of the seedling transplanter 1 and transmits the signal to the notification light 200 .

(autonomous driving mode)
Here, autonomous traveling (automatic traveling) in a field by the seedling transplanter 1 will be described. The controller 100 (see FIG. 3) has an autonomous driving mode in which the steering motor 95 (see FIG. 3) is operated while feeding back the steering amount of the front wheels 10 (see FIG. 1) to operate the steering wheel 35 (see FIG. 3). . The autonomous driving mode includes an automatic straight driving mode and an automatic turning mode.

The automatic straight driving mode is a mode in which the steering motor 95 is controlled so that the traveling vehicle body 2 follows a preset straight driving route and the vehicle moves straight. In the automatic straight mode, the seedling planting unit 4 plants the seedlings in the field while the vehicle body 2 moves straight without being operated by the operator. That is, while the traveling vehicle body 2 is automatically traveling straight, the traveling assist function of transplanting the seedlings into the field becomes effective, and the traveling assist function is executed.

In the automatic turning mode, when the traveling vehicle body 2 reaches a predetermined turning position, the seedling planting unit 4 stops planting seedlings, and the steering motor 95 controls the traveling vehicle body 2 to follow a preset turning path. It is a mode in which the The predetermined turning position is set according to, for example, the traveling distance of the process in which the work was performed, position information related to the process in which the work was performed, and the like.

In the automatic turning mode, for example, the seedling planting section 4 is lifted to a non-working state, and the traveling vehicle body 2 turns regardless of the operator's operation. That is, the turning assist function for turning the traveling vehicle body 2 is enabled without planting seedlings by the seedling planting section 4, and the turning assist function is executed.

As shown in FIG. 4, a work area in which the autonomous travel mode is executed is set by performing teaching travel in which the robot travels along three sides La to Lc of the field by the operator's operation. FIG. 4 is a diagram showing a method of setting a work area by teaching travel according to the first embodiment.

For example, when a work area setting button (not shown) is operated to start traveling, the position information of the traveling vehicle body 2 is recorded as the starting point of the side La, and the position information of the traveling vehicle body 2 during traveling is recorded. Then, when the handle 35 is turned by the operator by a predetermined turning angle or more, the end point of the side La is recorded and the side La is set. Also, the position information of the traveling vehicle body 2 at the starting point of the side Lb is recorded. The predetermined turning angle is a value set in advance, and is an angle at which it can be determined that the traveling vehicle body 2 has turned along the ridge.

Further, when the steering wheel 35 is turned by the operator by a predetermined turning angle or more after the traveling vehicle body 2 moves straight, the end point of the side Lb is recorded and the side Lb is set. Also, the position information of the traveling vehicle body 2 at the starting point of the side Lc is recorded.

When the work area setting button is operated after the traveling vehicle body 2 moves straight, the position information of the traveling vehicle body 2 is recorded as the end point of the side Lc, and the side Lc is set. A work area is set by setting three sides La to Lc.

The autonomous driving mode can be executed in the field where the work area is set. For example, in a field, automatic straight travel is possible along a straight travel route parallel to side La or side Lc. In addition, automatic turning becomes possible when turning in the vicinity of the ridge on the side Lb side. When turning in the vicinity of the side of the farm field that is not traveled in the teaching run, ie, the vicinity of the ridge on the side facing the side Lb, it is possible to turn by remote control operation.

Further, even when the teaching travel is finished and the work area is set, if the travel mode is the manual travel mode, the seedling transplanter 1 travels according to the operation of the operator to plant the seedlings in the field. can be transplanted.

When the running mode is the manual running mode and the seedling transplanter 1 is running by the operator's operation, when the automatic straight changeover switch 45 is turned "ON", the seedling transplanter 1 automatically runs straight. do. That is, the seedling transplanter 1 can execute the running assist function even when the running mode is the manual running mode.

Further, when the running mode is the manual running mode and the seedling transplanter 1 is running by the operation of the operator, when the automatic turning changeover switch 48 is turned "ON", the seedling transplanting machine 1 automatically turns. can be executed. That is, the seedling transplanter 1 can execute the turning assist function even when the running mode is the manual running mode.

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

The seedling transplanter 1 includes a traveling vehicle body 2 , a seedling planting section 4 , a position acquisition device 150 , a controller 100 and an alarm light 200 . The seedling planting unit 4 is provided on the traveling vehicle body 2 . The position acquisition device 150 acquires position information of the traveling vehicle body 2 . The controller 100 controls the steering angle of the front wheels 10 of the traveling vehicle body 2 to allow the traveling vehicle body 2 to travel autonomously. The notification light 200 indicates at least the operating state of the seedling transplanter 1 regarding autonomous travel. The notification light 200 is supported by the antenna frame 59 that supports the position acquisition device 150 .

As a result, the seedling transplanter 1 can notify the surroundings of the operation state of the seedling transplanter 1 by means of the notification light 200 . Therefore, the seedling transplanter 1 can notify the current state of the seedling transplanter 1 to a person around the seedling transplanter 1, for example, a remote control operator.

The notification light 200 is provided above the antenna frame 59 and at a position lower than the position acquisition device 150 .

As a result, the operation state of the seedling transplanter 1 can be easily visually recognized by a person around the seedling transplanter 1. - 特許庁That is, the seedling transplanter 1 can improve the visibility of the notification light 200 . In addition, it is possible to prevent the height of the seedling transplanter 1 provided with the notification light 200 from increasing. Therefore, when the seedling transplanter 1 is housed in a hut or the like, it is possible to prevent the notification light 200 from coming into contact with the outside.

The notification light 200 is provided above the floor step 33 of the traveling vehicle body 2 and within the width of the floor step 33 in the lateral direction of the traveling vehicle body 2 .

Thereby, when an operator sits in the operator's seat 41, the seedling transplanter 1 can improve visibility from an operator. For example, the operator can easily confirm the lighting state of the notification light 200 . In addition, the seedling transplanter 1 can suppress the notification light 200 from coming into contact with the outside in the left-right direction. In addition, the seedling transplanter 1 can prevent the notification light 200 from contacting the worker when the worker moves on the floor step 33 .

<Second embodiment>
Next, a seedling transplanter 1 according to a second embodiment will be described with reference to FIG. Here, differences from the first embodiment will be mainly described, and descriptions of configurations and processes that are the same as those of the first embodiment will be omitted. FIG. 5 is a side view of the seedling transplanter 1 according to the second embodiment.

The seedling transplanter 1 has a handrail 210. - 特許庁Handrail 210 is attached to at least one of floor step 33 and rear step 330 . The handrail 210 is provided in order to facilitate the ascending and descending of the seedling transplanter 1 by the operator and to improve the safety during the ascending and descending. The handrail 210 is formed in a frame shape, for example.

The seedling transplanter 1 also includes a guard section 211 . The guard part 211 is provided so as to prevent a worker from falling from the floor step 33 of the traveling vehicle body 2 to the outside of the traveling vehicle body 2 . The guard portion 211 is rotatable between a liftable position and a fall prevention position. The ascendable/descendable position is a position where the worker can ascend/descend to the floor step 33 . The fall prevention position is a position that surrounds at least a portion of the floor step 33 and restricts lateral movement of the cockpit 41 . For example, at the fall prevention position, the guard portion 211 restricts the operator's lateral movement from the cockpit 41 . It should be noted that "surrounding part of the floor step 33" includes surrounding part of the floor step 33 as well as other configurations.

The guard part 211 is provided on the preliminary seedling platform 52, for example. The guard portion 211 is provided on the inner preliminary seedling placement table 52 . The guard part 211 is provided so as to extend upward from the rear end of the preliminary seedling platform 52 and further extend forward.

As shown in FIG. 6 , when the spare seedling frame 50 is in the unfolded state, part of the guard part 211 is connected to the handrail 210 and surrounds at least part of the floor step 33 . Specifically, part of the guard portion 211 engages with a holding portion 210a provided on the handrail 210, as shown in FIG. The spare seedling frame 50 is rotatable around a vertical axis. Therefore, by rotating the preliminary seedling frame 50 in the unfolded state, the engagement state with respect to the holding portion 210a is switched. Since the guard part 211 is engaged with the holding part 210a, the operator is restricted from moving sideways from the operator's seat 41. As shown in FIG. That is, the worker is prevented from falling from the floor step 33 to the outside of the traveling vehicle body 2 . FIG. 6 is a side view showing a state in which the guard portion 211 is in the fall prevention position. FIG. 7 is a plan view showing a state in which the guard portion 211 is at the fall prevention position.

If the spare seedling frame 50 is electrically operated and the guard portion 211 is engaged with the holding portion 210a, the spare seedling frame 50 may be prohibited from entering the accommodated state.

In addition, when the spare seedling frame 50 is in the unfolded state, the guard part 211 at the front end may be attached between the antenna frame 59 and the spare seedling platform 52 . The preliminary seedling placement table 52 positioned farthest forward in the unfolded state may be rotatable with respect to the other preliminary seedling placement tables 52 . The preliminary seedling placement table 52 positioned farthest forward may have a function as the guard section 211 on the front side by rotating inward.

In addition, the guard part 211 may have a function as a handrail when the operator moves in the front-rear direction in the unfolded state.

The seedling transplanter 1 has a guard section 211 . The guard portion 211 prevents the worker from falling from the floor step 33 of the traveling vehicle body 2 to the outside of the traveling vehicle body 2 . The guard part 211 can move between a liftable position where the operator can lift the floor step 33 and a fall prevention position where the operator's seat 41 is restricted from moving to the side.

Thereby, the seedling transplanter 1 can improve the safety of the operator during traveling.

The guard part 211 is provided so as to surround at least part of the floor step 33 . As a result, the seedling transplanter 1 can prevent the worker from falling outside the floor step 33 while the seedling transplanter 1 is running.

The guard part 211 is provided on the preliminary seedling placing table 52 . When the spare seedling mounting table 52 is in the unfolded state, the guard portion 211 is at the fall prevention position. As a result, the seedling transplanter 1 prevents the worker from falling from the floor step 33 of the traveling vehicle body 2 to the outside of the traveling vehicle body 2 while using the existing configuration of the preliminary seedling placement table 52 and the preliminary seedling frame 50. can do.

<Modification>
In the seedling transplanter 1, as shown in FIG. 8, the guard part 215 may be rotatably attached to the handrail 210. As shown in FIG. FIG. 8 is a side view of the seedling transplanter 1 according to the modification. The guard part 215 is provided in a frame shape, for example. The guard portions 215 are provided in the left and right directions with respect to the cockpit 41 and can rotate independently. The guard portion 215 is rotatably supported by the handrail 210 at its rear end. The guard part 215 rotates about the shaft at the rear end, thereby rotating between the liftable position and the fall prevention position. FIG. 8 shows the guard portion 215 in the fall prevention position.

For example, the guard part 215 is provided at a height of 1 m or more from the floor step 33 at the fall prevention position. This further suppresses the worker from falling. Moreover, the guard part 215 may be provided so that the lower end of the guard part 215 is positioned below the lower end of the preliminary seedling platform 52 at the fall prevention position.

In addition, the guard part 215 may have a U-shape in which the bottom part is located on the front end side in the fall prevention position.

The guard part 215 may rotate according to the operation of the plate provided on the floor step 33 . For example, when the plate is stepped on, the guard portion 215 is in the up-and-down position, and when the plate is not stepped on, it is in the drop prevention position.

The guard part 215 has a function as a handrail at the liftable position. The guard part 215 may be provided with an auxiliary plate for holding fertilizer and a tube. The tube is a tube that suppresses manure synchronized with the contact sensor of the door and the seat sensor. When an operator sits in the cockpit 41, the tube may be locked from movement. When the door is open, the position of the tube is fixed regardless of the presence or absence of fertilizer.

In the seedling transplanter 1, as shown in FIG. 9, the guard part 220 may be rotatably attached to the handrail 210. As shown in FIG. FIG. 9 is a side view of the seedling transplanter 1 according to the modification. Guard portion 220 includes a first guard portion 220a and a second guard portion 220b. The first guard portion 220a is rotatably attached to the handrail 210. As shown in FIG. The first guard portion 220a is rotatably supported by the handrail 210 at its rear end. The second guard portion 220b is rotatably attached to the first guard portion 220a. The second guard portion 220b is rotatably supported by the front end of the first guard portion 220a. That is, the guard part 220 rotates in two steps, thereby rotating between the up-and-down position and the fall prevention position. FIG. 9 shows the guard portion 220 in the fall prevention position.

In addition, the guard part 220 may be supported by the fertilizing hopper 70 in the up-and-down position.

Also, the guard section may be supported by the handrail 210 so as to rotate about the vertical axis. Also, the guard portion may be provided so as to be foldable with respect to the floor step 33 . The guard part can be accommodated in a folded state in an accommodation part provided in the floor step 33, for example. The guard section rotates from the storage section and stands upright from the floor step 33 to be in the fall prevention position.

In the seedling transplanter 1, as shown in FIGS. 10 and 11, the guard section 225 may be rotatably attached to the antenna frame 59. As shown in FIGS. That is, guard part 225 is connected to antenna frame 59 . FIG. 10 is a side view of the seedling transplanter 1 according to the modification. FIG. 11 is a plan view of the seedling transplanter 1 according to the modification.

Guard part 225 is rotatably attached to the lower end of antenna frame 59 . By connecting the guard part 225 to the antenna frame 59, it is possible to increase the workable area for the operator.

The guard portion 225 is engageable with the handrail 210 at its rear end. The guard part 225 extends in the front-rear direction so as to pass through the inner side of the preliminary seedling platform 52 in the left-right direction. The seedling transplanter 1 encloses a work space with guards 225 , handrails 210 , rear protection frames 226 and antenna frames 59 . The rear protection frame 226 is provided in front of the fertilizer application hopper 70 and extends in the left-right direction. Both ends of the rear protective frame 226 are attached to the handrail 210 . A rear protective frame 226 may be provided on the fertilizing hopper 70 . The rear protection frame 226 may be provided behind the fertilizing hopper 70 .

The seedling transplanter 1 may be provided with the rear protection frame 226 so as to be vertically movable. The rear protection frame 226 may move vertically in synchronization with the sliding operation of the lid of the fertilizing hopper 70 . For example, when the lid of the fertilizing hopper 70 is opened, the rear protection frame 226 moves downward and is accommodated. When the lid of the fertilizing hopper 70 is closed, the rear protection frame 226 moves upward and is deployed. When the lid of the fertilizing hopper 70 is closed, the lid of the fertilizing hopper 70 is at a height of 50 cm or more from the floor step 33 and is located between the rear protection frame 226 and the floor step 33 . The fertilizing hopper 70 is provided so that the switch of the fertilizing device 5 is pressed while the lid is closed. When the operator stands up from the operator's seat 41 when the switch of the fertilizing device 5 is not pressed, the traveling vehicle body 2 decelerates and stops.

A rear protection frame 226 may be provided above the lid of the fertilizer application hopper 70 . The rear protection frame 226 may be pivoted rearward. The lid of the fertilizing hopper 70 can be opened by rotating the rear protection frame 226 rearward.

The guard part 225 may be attached to the main frame 15 . The guard section 225 is attached to the main frame 15 via the support section. The guard portion 225 is rotatably supported by the strut portion. The forward guard portion 225 may be attached to the preliminary seedling frame 50 . The front guard portion 225 may be provided above the bonnet 39 .

As shown in FIG. 12, the seedling transplanter 1 may be provided with a guard section 230 so as to surround part of the replenishment work area. FIG. 12 is a plan view of the seedling transplanter 1 according to the modification. The guard part 230 is attached to the handrail 210 so as to be vertically rotatable about an axis. The replenishment work area is an area including the sides of the cockpit 41 . The rotation shaft of guard portion 230 is provided on the outside in the left-right direction. Therefore, for example, the operator can easily move from the cockpit 41 to the replenishment work area. Also, the guard part 230 is attached to the handrail 210 so as to open outward when the guard part 230 is opened from the state surrounding the replenishment work area so that the worker does not fall from the reinforcement work area. Thereby, for example, even when an empty box or the like is placed in the replenishment work area, the operator can open the guard section 230 .

In the seedling transplanter 1, as shown in FIG. 13, the guard part 232 may be hung from the antenna frame 59 in a rearward extended state. FIG. 13 is a side view of the seedling transplanter 1 according to the modification. The height of the rear end of the guard portion 232 is lower than the upper surface of the fertilizing hopper 70 at the fall prevention position. Note that the guard part 232 may be attached to the handrail 210 in a foldable manner without being suspended from the antenna frame 59 .

In the seedling transplanter 1, as shown in FIG. 14, the guard part 235 may be rotatably attached to the preliminary seedling placing table 52. As shown in FIG. FIG. 14 is a plan view of the seedling transplanter 1 according to the modification. The guard portion 235 is attached to the preliminary seedling placement table 52 so as to be rotatable about a vertical axis. For example, a magnet sensor or a switch is provided at the rear end of the guard portion 235 or the front end of the handrail 210 . When the guard section 235 is at the fall prevention position, the magnet sensor and the like are turned "ON". When the magnet sensor or the like is turned "ON", the seat switch of the operator's seat 41 is disabled, and even if the worker leaves the operator's seat 41 during traveling, the traveling vehicle body 2 does not stop. As a result, the worker can perform replenishment work during autonomous travel.

The seedling transplanter 1 may stop the traveling vehicle body 2 when it is detected that the traveling vehicle body 2 is near the bank, the seat switch is turned "OFF", and seating on the operator's seat 41 is not detected. In the seedling transplanter 1, the guard part 235 may be opened when the seat switch is "ON" and the traveling vehicle body 2 stops. The seedling transplanter 1 may automatically open the guard part 235 when the traveling vehicle body 2 stops.

The seedling transplanter 1 may be provided with a guard portion on the front side so as to be rotatable on the preliminary seedling placing table 52 . The guard section may be provided in a plurality of stages in the vertical direction. The uppermost step of the spare seedling placing table 52 is at least 1 m above the floor step 33 . An operable switch may be provided when the spare seedling placement table 52 is in the unfolded state. When the operator leaves the operator's seat 41 while the switch is not pressed, the traveling vehicle body 2 decelerates and stops.

The seedling transplanter 1 may be provided with a pair of toe plates on the floor step 33 so as to sandwich the operator's seat 41 . The toe board is provided so as to protrude upward from the floor step 33 . The toeboard can be accommodated in the floor step 33. The toe board is provided so as to automatically protrude from the floor step 33 during autonomous driving, for example. The toe plate is provided so as to be automatically housed in the floor step 33, for example, when the HST 14 is in the neutral state and the traveling vehicle body 2 is stopped.

In the seedling transplanter 1, the notification light 200 may be supported by a support frame 240 provided on the antenna frame 59, as shown in FIG. FIG. 15 is a diagram showing the arrangement of notification lights 200 of the seedling transplanter 1 according to the modification. The support frame 240 is provided above the bonnet 39, for example. The support frame 240 extends in the left-right direction and has both ends attached to the antenna frame 59 . Also, the notification light 200 is provided within the width of the bonnet 39 in the left-right direction. Thereby, when an operator sits in the operator's seat 41, the seedling transplanter 1 can improve visibility from an operator.

The notification light 200 may be vertically rotatable around the base end side attached to the support frame 240, for example. Accordingly, when the operator does not need to check the notification light 200, the visibility of the surroundings can be improved by rotating the notification light 200 downward.

The support frame 240 may be provided so as to extend forward from the antenna frame 59 . Thereby, the seedling transplanter 1 can improve the visibility of the notification light 200 .

The seedling transplanter 1 may be provided with a notification light 200 near the straight assist monitor. For example, the notification light 200 is provided in front of the straight-ahead assist monitor and at the center of the straight-ahead monitor in the horizontal direction. This makes it easier for the operator to confirm the center position when traveling straight.

The seedling transplanter 1 may be provided with the notification light 200 on the upper side of the preliminary seedling frame 50 . The seedling transplanter 1 may be provided with a notification light 200 behind the operator's seat 41 . The seedling transplanter 1 may be provided with a notification light 200 in the seedling planting section 4 . The notification lights 200 are provided at the left and right ends of the seedling planting section 4 .

The seedling transplanter 1 may be provided with a notification light 200 on the upper surface of the bonnet 39 . Specifically, the notification light 200 is provided at the center of the bonnet 39 in the left-right direction. The seedling transplanter 1 may be provided with a notification light 200 on the upper surface of the fertilization hopper 70 . Specifically, the notification light 200 is provided at the center of the fertilization hopper 70 in the left-right direction. The seedling transplanter 1 may be provided with a notification light 200 on the center mascot 66 .

As shown in FIGS. 16 and 17, the seedling transplanter 1 may be provided with a support frame 250 on one antenna frame 59 in the horizontal direction (for example, the right antenna frame 59). FIG. 16 is a diagram showing the arrangement of notification lights 200 of the seedling transplanter 1 according to the modification. FIG. 17 is a diagram showing the arrangement of notification lights 200 of the seedling transplanter 1 according to the modification. The support frame 250 is provided so as to protrude forward from the antenna frame 59 . The notification light 200 is supported by one of the left and right antenna frames 59 via a support frame 250 .

The notification light 200 is vertically movable. For example, the notification light 200 can be moved vertically by a moving mechanism that expands and contracts upward. The notification light 200 may be vertically rotatable about the base end side attached to the seedling planting section 4 .

The seedling transplanter 1 may provide a flag on the delineation marker 65 . The seedling transplanter 1 provides, for example, a red flag for the right delineation marker 65 and a green flag for the left delineation marker 65 . As a result, the seedling transplanter 1 can notify people around the seedling transplanter 1 of the state of the seedling transplanter 1 by means of the flag. For example, when it is difficult for a person at a long distance from the seedling transplanter 1 to check the color of the lamp 200a in sunny outdoors, the status of the seedling transplanter 1 can be visually recognized by the flag.

Further effects and modifications can be easily derived by those skilled in the art. Therefore, the broader aspects of the invention are not limited to the specific details and representative embodiments so shown and described. Accordingly, various changes may be made without departing from the spirit or scope of the general inventive concept defined by the appended claims and equivalents thereof.

1 seedling transplanter (work vehicle)
2 Traveling vehicle body 4 Seedling planting unit 10 Front wheel (steering wheel)
11 Rear Wheel 33 Floor Step 35 Handle 50 Spare Seedling Frame 52 Spare Seedling Mounting Table 59 Antenna Frame 100 Controller (Control Device)
150 position acquisition device 200 notification light 200a lamp 210 handrails 211, 215, 220, 225, 230, 232, 235 guards 240, 250 support frame

Claims (10)

A working vehicle for working in a field,
a running vehicle;
a seedling planting section provided on the traveling vehicle body;
a position acquisition device for acquiring position information of the traveling vehicle body;
a control device that controls the rudder angle of the steered wheels of the traveling vehicle body and causes the traveling vehicle body to travel autonomously;
a notification light that indicates at least the operating state of the work vehicle related to the autonomous travel;
The work vehicle, wherein the notification light is supported by an antenna frame that supports the position acquisition device. The work vehicle according to claim 1, wherein the notification light is provided above the antenna frame and at a position lower than the position acquisition device. The work vehicle according to claim 1 or 2, wherein the notification light is provided above a floor step of the traveling vehicle body and within a width of the floor step in the lateral direction of the traveling vehicle body. The work vehicle according to claim 1, wherein the notification light is provided above a hood of the traveling vehicle body and provided within a width of the bonnet in the lateral direction of the traveling vehicle body. a support frame extending from the antenna frame toward the front side of the traveling vehicle body and supporting the notification light;
The work vehicle according to any one of claims 1 to 4, wherein the notification light is provided within a width of the antenna frame in the lateral direction of the traveling vehicle body. The notification light includes a plurality of lamps,
The work vehicle according to any one of claims 1 to 5, wherein the notification light switches lighting states of the plurality of lamps according to the operating state of the work vehicle. a guard portion that prevents a worker from falling from the floor step of the traveling vehicle body to the outside of the traveling vehicle body;
The guard part is movable between a liftable position in which the operator can ascend and descend the floor step and a fall prevention position in which lateral movement of the cockpit 41 is restricted. A work vehicle according to any one of the preceding claims. The work vehicle according to claim 7, wherein the guard portion is provided so as to surround at least part of the floor step. The guard part is provided on a preliminary seedling mounting table on which a preliminary seedling is placed,
The work vehicle according to claim 7 or 8, wherein when the preliminary seedling placement table is in an unfolded state for conveying the preliminary seedling, the guard portion assumes the fall prevention position. The work vehicle according to claim 7 or 8, wherein the guard section is connected to the antenna frame.

Images