JP2023077649A - work vehicle - Google Patents

Abstract

To solve the following problem: there has been known a conventional work vehicle such as a rice-planting machine having a seedling planting machine mounted to be liftable on a vehicle body, a steering motor for driving a steering wheel and a controller for executing direct advance control of the vehicle body by making the steering motor drive the steering wheel; however, in such a conventional work vehicle, reduction in burden on a user with revolution of the vehicle body has not been always achieved.SOLUTION: A rice-planting machine includes a vehicle body angular velocity detection device 510 for detecting a vehicle body angular velocity concerning a change in the orientation of a vehicle body 100 and a controller 500 for revolution control of revolving the vehicle body 100. The controller 500 controls a steering angle on the basis of the vehicle body angular velocity detected by the vehicle body angular velocity detection device 510 when revolving the vehicle body 100.SELECTED DRAWING: Figure 2

Description

The present invention relates to a work vehicle such as a rice planter.

A rice transplanter or the like having a seedling planting device attached to a vehicle body so as to be able to move up and down, a steering motor for driving a steering handle, and a control device for controlling the straight movement of the vehicle body by causing the steering motor to drive the steering handle. Such work vehicles are known (see Patent Documents 1 and 2, for example).

JP 2016-24541 A JP-A-2002-335720

By the way, the inventor of the present invention believes that it is important to reduce the user's burden from various points of view.

However, with regard to work vehicles such as the above-described conventional rice planter, it is not always possible to sufficiently reduce the user's burden associated with the turning of the vehicle body.

SUMMARY OF THE INVENTION An object of the present invention is to provide a work vehicle that can reduce the burden on a user that accompanies turning of the vehicle body in consideration of the conventional problems described above.

A first aspect of the present invention comprises a vehicle body angular velocity detection device (510) for detecting a vehicle body angular velocity related to a change in orientation of a vehicle body (100);
a control device (500) that performs turning control for turning the vehicle body (100);
with
The control device (500) is a work vehicle characterized by controlling a steering angle based on the vehicle body angular velocity detected by the vehicle body angular velocity detection device (510) when the vehicle body (100) is turned. .

A second aspect of the present invention comprises a vehicle body position information acquisition device (520) for acquiring vehicle body position information of the vehicle body (100),
The work vehicle according to the first aspect of the present invention, wherein the vehicle body angular velocity detection device (510) detects the vehicle body angular velocity based on the vehicle body position information acquired by the vehicle body position information acquisition device (520). be.

In the third aspect of the present invention, the control device (500) adjusts the detected vehicle body angular velocity so that the steering angle coincides with a predetermined target turning steering angle when turning the vehicle body (100). controlling the steering angle based on a comparison between a predetermined ideal turning vehicle body angular velocity;
The work vehicle according to the first or second aspect of the present invention is characterized in that the target turning steering angle is adjustable.

The 4th aspect of the present invention is the work vehicle according to the 3rd aspect of the present invention, wherein the target turning steering angle is adjustable according to at least one of the wheelbase and tread of the vehicle body (100). be.

The fifth present invention comprises a seedling planting device (240) for planting seedlings,
The work vehicle according to the third aspect of the present invention is characterized in that the target turning steering angle is adjustable according to the number of seedling planting rows of the seedling planting device (240).

A sixth aspect of the present invention comprises a remote controller (530) for remotely operating the vehicle body (100),
The control device (500) supports a selectable manual control mode and an automatic control mode,
Even if the manual control mode is selected, the transmission of radio waves from the remote controller (530) to the surroundings is performed when a predetermined condition is satisfied,
5. Any one of the first to fifth characterized in that, even if the automatic control mode is selected, the remote controller (530) does not transmit radio waves to the surroundings when a predetermined condition is satisfied. is the work vehicle of the present invention.

According to the first aspect of the present invention, it is possible to reduce the user's burden caused by turning the vehicle body.

According to the second aspect of the invention, in addition to the effect of the first aspect of the invention, it is possible to improve the accuracy of control of the work vehicle.

According to the third invention, in addition to the effects of the first or second invention, it is possible to improve the convenience of controlling the work vehicle.

According to the fourth aspect of the present invention, in addition to the effect of the third aspect of the present invention, it is possible to improve flexibility regarding the specifications of the work vehicle.

According to the fifth aspect of the present invention, in addition to the effect of the third aspect of the present invention, it is possible to improve flexibility regarding specifications of the work vehicle.

According to the sixth aspect of the present invention, in addition to the effect of any one of the first to fifth aspects of the present invention, it is possible to improve energy saving and safety of the work vehicle.

1 is a left side view of a rice transplanter according to an embodiment of the present invention; FIG. 1 is a block diagram of a rice transplanter according to an embodiment of the present invention; BRIEF DESCRIPTION OF THE DRAWINGS The top view of the rice transplanter of embodiment in this invention Explanatory drawing of the robot rice transplanter simple operation guide of the embodiment of the invention related to the present invention (No. 1) Explanatory drawing of the robot rice transplanter simple operation guide of the embodiment of the invention related to the present invention (part 2) Explanatory drawing of the robot rice transplanter simple operation guide of the embodiment of the invention related to the present invention (No. 3) Explanatory drawing (part 4) of the robot rice transplanter simple operation guide of the rice transplanter according to the embodiment of the invention related to the present invention Explanatory drawing of the robot rice transplanter simple operation guide of the embodiment of the invention related to the present invention (No. 5) Explanatory drawing of the robot rice transplanter simple operation guide of the embodiment of the invention related to the present invention (No. 6) Explanatory drawing of the robot rice transplanter simple operation guide of the embodiment of the invention related to the present invention (No. 7) Explanatory drawing of the robot rice transplanter simple operation guide of the embodiment of the invention related to the present invention (No. 8) Explanatory drawing of the robot rice transplanter simple operation guide of the embodiment of the invention related to the present invention (No. 9) Explanatory drawing of the robot rice transplanter simple operation guide of the embodiment of the invention related to the present invention (No. 10) Explanatory drawing of the robot rice transplanter simple operation guide of the embodiment of the invention related to the present invention (No. 11)

Embodiments of the present invention and embodiments of the invention related to the present invention will be described in detail with reference to the drawings.

Likewise, some components may not be shown in the drawings, or may be shown in perspective or in an abbreviated manner.

(1) First, the configuration and operation of a rice transplanter according to an embodiment of the present invention will be specifically described with reference to FIGS. 1 to 3. FIG.

1 is a left side view of the rice transplanter according to the embodiment of the present invention, FIG. 2 is a block diagram of the rice transplanter according to the embodiment of the present invention, and FIG. It is a top view of a rice planter.

While explaining the operation of the rice transplanter of the present embodiment, the work vehicle operation control method of the invention related to the present invention, which is realized by the control device 500 and the like, will also be explained.

The rice transplanter of the present embodiment is a traveling device 220 having a pair of left and right front wheels 221 and rear wheels 222 according to the control of the control device 500 for manual steering operation or automatic steering operation in the control device 230 of the vehicle body 100. While traveling, a field is leveled by a leveling device 260 having a leveling rotor member 261 and a leveling float member 262, and seedlings are planted in the field by a seedling planting device 240 having a seedling planting tool 241 and a seedling mounting base 242, and fertilization is applied. It is a rice transplanter for fertilizing a field with a device 250 .

Traveling device 220, seedling planting device 240, fertilizing device 250, and ground leveling device 260 are driven by the power of engine 210 transmitted via main transmission 300 and sub-transmission 400, which are HSTs.

The rice transplanter of the present embodiment is an example of the work vehicle of the present invention.

The control device 500 that performs turning control for turning the vehicle body 100 adjusts the steering angle based on the vehicle body angular velocity detected by the vehicle body angular velocity detection device 510 that detects the vehicle body angular velocity related to the change in the orientation of the vehicle body 100 when the vehicle body 100 is turned. Control.

(1A) The steering angle control based on the vehicle body angular velocity will be described in detail as follows.

When the vehicle body 100 turns with a turning radius r around the turning center O, a change in the turning angle θ with respect to the turning center O represents a change in the direction of the vehicle body 100 . Desirably, when the vehicle body 100 turns like this, the deviation δ from the target line λ becomes zero by controlling the steering angle based on the vehicle body angular velocity.

For example, with the aim of improving the turning assist function, it is judged from the vehicle body angular velocity during turning that a slip has occurred, and steering return control is performed.

The steering angular velocity at the start of turning may also be varied in consideration of the vehicle speed. The vehicle orientation that changes until the steering operation is completed often differs depending on the vehicle speed. However, by properly adjusting the steering angular velocity, the vehicle orientation that changes until the steering operation is completed can be stabilized.

Specifically, when the vehicle speed and the vehicle body angular velocity decrease due to slippage, and an inner turning occurs in which the turning radius r decreases, the steering angle is controlled so that the steering return timing is delayed to reduce the turning radius r It is often desirable to compensate for Instead of controlling the steering angle so that the steering return timing is delayed, the target turning steering angle given by the prescribed steering position during turning may be adjusted to be smaller. The steering angular velocity may be adjusted to decrease when the turning start vehicle speed is low, and may be adjusted to increase when the turning start vehicle speed is high.

The vehicle body angular velocity detection device 510 detects the vehicle body angular velocity based on the vehicle body position information acquired by the vehicle body position information acquisition device 520 that acquires the vehicle body position information of the vehicle body 100 .

The vehicle speed may be detected using the lever operation position of the HST lever of the main transmission 300, and the steering angular velocity may be changed in consideration of the detected vehicle speed.

Based on the comparison between the detected vehicle body angular velocity and a predetermined ideal turning vehicle body angular velocity, the controller 500 controls the steering angle to match a predetermined target turning steering angle when the vehicle body 100 is turned. to control the steering angle.

The target turn steering angle is adjustable.

For example, the prescribed steering position during turning that gives the target turning steering angle can be arbitrarily set by a dial on the liquid crystal monitor of the control device 230 . By rotating the dial, the operator can optionally adjust the turning radius r, also called turning width.

The target turn steering angle is adjustable according to at least one of the wheelbase and tread of the vehicle body 100 .

For example, the prescribed steering position during a turn that provides the target turn steering angle is changed according to both the wheelbase and tread of the vehicle body 100 to achieve derivative compatibility.

The idea of adjusting the target turning steering angle as a steering target value during turning according to the steering angle, vehicle azimuth, vehicle angular velocity and vehicle speed, and the values that can be set on the LCD monitor is the gist of improving the turning assist function. It can also be said that Such adjustments may be made in advance prior to turning or may be made in real time during turning.

Variation compatibility is realized by changing the calculation formula used for determining the target turning steering angle during turning according to the wheelbase and tread of the vehicle body 100 .

The target turning steering angle can be adjusted according to the number of seedling planting rows of the seedling planting device 240 that plants the seedlings.

By changing the calculation formula used for determining the target turning steering angle according to the number of seedlings planted on the vehicle body 100, it is possible to correspond to a derivative model suitable for a model with 7 or 6 seedlings planted. be done.

(1B) The steering angle control based on the vehicle body angular velocity will be described in more detail below.

The ideal turning vehicle body angular velocity described above is theoretically predicted as an ideal vehicle body angular velocity during turning, given the steering angle and vehicle speed in an ideal model assuming that no slip occurs.

The difference between the predicted vehicle body angular velocity and the measured vehicle body angular velocity is determined as a pseudo slip of the vehicle body 100, and it is assumed that the greater the difference, the more the slip occurs.

By adjusting the target turn steering angle according to the difference between the predicted vehicle body angular velocity and the measured vehicle body angular velocity, the steering is controlled as slip occurs. The target turning steering angle itself, which is a constant value, may be adjusted, or, for example, the steering angle may be controlled so that the steering return timing is delayed.

Adjustment of the target turn steering angle from the steering default position during a turn may only be permitted in the direction in which the target turn steering angle is decreased such that the turn radius r, also called steering turn radius, is increased. . This is because it is often desirable to control the steering angle so that the turning radius r increases when the vehicle body 100 enters the inside of the turn due to the occurrence of slippage.

The adjustment amount of the target turning steering angle may be increased according to the target turning steering angle set by using the turning assist adjustment screen of the liquid crystal monitor. That is, the adjustment amount of the target turning steering angle may be increased so that the larger the set target turning steering angle, the larger the steering operation amount such as the steering handle return amount.

When the value of the target turning steering angle set in this way is the minimum value, the adjustment amount of the target turning steering angle may be zero. For example, when the target turning steering angle set by using the turn assist adjustment screen of the LCD monitor is "-10 (narrow)", the steering angle is not controlled based on the vehicle body angular velocity, and the target turning The steering angle is maintained to be a constant value.

When the steering state is returned to the straight running state for the end of turning, the steering return start timing may be adjusted according to the vehicle body angular velocity.

By changing the calculation formula used for determining the steering return start timing according to the wheelbase and tread of the vehicle body 100, support for derivative models is realized.

By changing the calculation formula used for determining the steering return start timing according to the number of seedlings planted on the vehicle body 100, it is possible to correspond to the derivative model suitable for the model with the number of seedlings planted 7 or 6. be done.

The steering return start timing may be adjusted according to a value set by using the turning assist adjustment screen of the liquid crystal monitor. This is because in the model with the number of seedling planting rows of 7 or 6, the target bearing line at the end of turning is not parallel to the seedling planting line, and the vehicle body 100 may enter the inside of the turning. be.

(1C) The control of the steering angle based on the vehicle body angular velocity will be described more specifically as follows.

The turning assist is canceled when the steering is manually operated during the turning assist.

The measured steering angular velocity during turns is monitored. It is possible to think of a judgment method that simply uses how much the value of the steering angle deviates from the prescribed angle, which indicates the deviation of the steering wheel from the prescribed position during turning. First, by observing the actually measured value of the steering angular velocity, it is possible to recognize the manual operation even when the steering motor is operating, in order to find out that it is also changed by the manual operation.

When the difference between the target turn steering angular velocity, which is the target value of the steering angular velocity, and the measured steering angular velocity, which is the actual value of the steering angular velocity, continues to exceed a predetermined level for a predetermined period of time, manual operation is performed. deemed to have taken place.

If such a difference between the target turning steering angular velocity and the measured steering angular velocity is greater than, for example, the maximum value of the target turning steering angular velocity, it may be determined that a manual operation has been performed. A determination method using the maximum motor operating speed is also conceivable, but even if steering cannot be performed due to a wheel stuck in the middle of a turn, the value of the motor operating speed does not reach the maximum motor operating speed. , turn assist is often unintentionally canceled. To avoid such unintended cancellation of turn assist, manual maneuvers can be recognized, for example, by observing steering maneuvers exceeding the motor operating speed maximum.

(2) Next, mainly referring to FIG. 2, the configuration and operation of the rice transplanter according to the embodiment of the present invention will be described more specifically.

The controller 500 supports a manual control mode and an automatic control mode which are selectably provided.

Such mode selection is performed, for example, using remote controller 530 that remotely operates vehicle body 100 . In order to ensure reliable wireless communication between the remote controller 530 and the control device 500 or the like, it is desirable that the remote controller 530 at least periodically transmit radio waves to the surroundings.

However, in order to promote a power saving program for the remote controller 530 aiming at energy saving, transmission of such radio waves from the remote controller 530 to the surroundings may be suppressed while considering safety.

Transmission of radio waves from the remote controller 530 that remotely operates the vehicle body 100 to the surroundings will be described in detail as follows.

Even if the manual control mode is selected, the remote controller 530 that remotely operates the vehicle body 100 transmits radio waves to the surroundings when a predetermined condition is satisfied.

Although the possibility of requiring emergency wireless communication or the like decreases as the manual control mode is selected, the transmission of radio waves from the remote controller 530 to the surroundings may be performed if necessary. Because.

Even if the automatic control mode is selected, the remote controller 530 that remotely operates the vehicle body 100 does not transmit radio waves to the surroundings when a predetermined condition is satisfied.

Although the possibility that an emergency wireless communication or the like is required increases with the selection of the automatic control mode, the transmission of radio waves from the remote controller 530 to the surroundings is not necessary unless necessary. for good.

When the "manual running mode" that allows normal operation of the rice transplanter is selected, control is performed so that radio waves are not transmitted when the remote controller 530 is not operated. However, when an operation such as an operation to change the settings of the rice transplanter is performed with the remote controller 530, control is performed to transmit radio waves for one cycle, and control is performed to transmit radio waves only for the changed block of data. is done.

When the "manual running mode" is selected in which normal operation of the rice transplanter is possible, control is performed so that radio waves are not transmitted when the rice transplanter is not operated. However, when an operation such as an operation to change the data to be transmitted to the remote controller 530 is performed on the rice transplanter, control is performed to transmit radio waves for one cycle, and only the blocks of changed data are transmitted. control is performed.

When the "remote operation mode" is selected in which the normal operation of the rice transplanter is possible, control is performed so that radio waves are not transmitted when the remote controller 530 is not operated. However, when an operation such as an operation to change the settings of the rice transplanter is performed with the remote controller 530, control is performed to transmit radio waves for one cycle, and control is performed to transmit radio waves only for the changed block of data. is done.

When the "remote control mode" is selected in which the rice transplanter can be operated normally, control is performed so that radio waves are not transmitted when the rice transplanter is not operated. However, when an operation such as an operation to change the data to be transmitted to the remote controller 530 is performed on the rice transplanter, control is performed to transmit radio waves for one cycle, and only the blocks of changed data are transmitted. control is performed.

When the "automatic running mode" is selected in which the normal operation of the rice transplanter is possible, control is performed so that no radio wave is transmitted in the ridge operation area when the remote controller 530 is not operated. However, when an operation such as an operation to change the settings of the rice planter or an operation to move the rice planter is performed with the remote controller 530, control is performed to transmit radio waves for one cycle. When an operation such as an operation to change the setting of or an operation to move the rice transplanter is performed, control is performed to transmit radio waves only for the changed block of data.

(3) Next, with reference to FIGS. 4 to 14, the configuration and operation of the rice transplanter according to the embodiment of the invention related to the present invention will be specifically described.

4 to 14 are explanatory diagrams (parts 1 to 11) of the robot rice transplanter simple operation guide of the embodiment of the invention related to the present invention.

[A] Device name and function Remote control (see Fig. 4)
You can check the status of the rice transplanter on the LCD screen. Perform operations such as changing the driving mode and starting/stopping automatic driving. It is also possible to perform remote control and change function settings while getting off the rice transplanter.

● Robot mode switch (see Fig. 5)
Switch robot mode ON/OFF.

Always turn this switch ON when operating with the remote control. In the OFF state, all operations from the remote control are rejected.

● 3-color light (see Fig. 6)
Displays the state of automatic driving.

● GNSS antenna (see Fig. 7)
GNSS reception sensitivity and working accuracy are shown in the figure.

[B-1] Flow of rice planting work with a robot rice transplanter (Circled number 3) Headland work (manual planting) is performed in this order. The simple guide introduces the operating procedure for the basic field shape.

[1] Preparation (see Fig. 8)
Make it ready to start teaching.

(Circled number 1) Replenish seedlings and fertilizer, and set appropriate values for planting depth, amount of seedlings, hydraulic sensitivity and rotor height. (Refer to “Remote control/monitor panel simple operation guide”)

(Circled number 2) Turn on the robot mode switch.

(Circled number 3) Turn on the power of the remote control.

(Circled number 4) Confirm that the GNSS reception level is "2" or higher.

(Circled number 5) Go straight for 2m. Determine the azimuth angle. * If you do this before entering the field, you can start teaching without disturbing the field.

[2] Teaching (see Fig. 9)
Manually plant the perimeter of the field to make it ready for automatic running.

(Circled number 1) Enter the field and press the running mode button on the remote control to switch to teaching mode.

(Circled number 2) The starting point is obtained when the planting part is lowered or planted "on". If you get the wrong starting point, press and hold the F button to erase the starting point and get it again.

(Circled number 3) Manually plant and travel along the three sides of the outer circumference, and let the machine recognize the range of automatic travel. *Travel along 3 sides (2 or more sides) of the outer circumference, excluding the 1 side where seedlings and materials are supplied.

(Circled number 4) When the planting of the three sides of the outer circumference is completed, press the running mode button on the remote control to switch to the automatic running mode. Teaching is completed as described above, and an automatic driving route is generated.

[B-2] Flow of rice planting work with a robot rice transplanter

[3] Automatic driving (see Fig. 10)
It automatically travels for planting. Replenish seedlings and fertilizer as needed.

[Return trip] (See Fig. 11)

(Circled number 1) After replenishing the seedlings and fertilizer, confirm that it is in automatic running mode, and press and hold the (circled alphabet F) + start button on the remote control to start automatic running.

(Circled number 2) After reciprocating by automatic driving, the rice transplanter temporarily stops 3m before the ridge. Press the forward button and run to the ridge.

(Circled number 3) After clearing the ridges, seedlings and fertilizer are supplied as necessary.

(Circled number 4) (Circled alphabet F) + Press and hold the start button to resume automatic running.

(Circled number 5) (Circled number 1) ~ (Circled number 4) are repeated. *When the remote controller displays "row number adjustment", the planting width is adjusted by automatically stopping the rows and running idle.

[Inner circumference process]

(Circled number 6) Adjust the seedling amount, planting depth, rotor height, and hydraulic pressure sensitivity as necessary. (Refer to “Remote control/monitor panel simple operation guide”)

(Circled number 7) (Circled alphabet F) + Press and hold the start button to start automatic running of the inner circumference process.

(Circled number 8) When the inner circumference process is completed, the automatic running ends 3 m before the ridge. We clean the ridges and replenish seedlings and fertilizers as needed.

[4] Headland work The rice-transplanting work is completed by manually planting the outer perimeter of the seedlings supplied.

(Circled number 1) Press the running mode button on the remote controller to switch to manual running mode. * You can also switch to manual mode by operating the main shift lever.

(Circled number 2) The headland is planted manually to complete the rice planting operation.

[C] Teaching method considering the shape of the field Since the reciprocating process is created based on the last traveled side, it is necessary to pay attention to the direction of teaching.

[1] Trapezoidal field (see Fig. 12)
When the trapezoidal field as shown in the figure is taught counterclockwise, the reciprocating process is created diagonally. By teaching clockwise, it is possible to create a reciprocating process that is perpendicular to the seedling supply side.

[2] Fields where sub-paths are created (see Fig. 13)
A sub-path is created by teaching as shown in the figure. Since the sub-route does not travel in the reciprocating process, it is necessary to switch to the automatic travel mode after moving to the sub-route start position in the manual travel mode or the remote control mode.

The following countermeasures prevent the creation of sub-routes and enable continuous work.

(1) Change the teaching direction so that the portion enclosed by the outer circumference stroke does not appear.

(2) First, lower the planting part with the overhanging part, and teach by idling recognition with the planting button turned off.

[3] A field with an overhang on the seedling supply side (see Fig. 14)
If teaching is performed normally in a field with an overhang, the rice transplanter may collide with an obstacle. First, by teaching the seedling supply side with the planting button turned off by idling recognition, it is possible to recognize the overhang shape.

The program of the invention related to the present invention causes a computer to execute all or part of the steps (or processes, operations, actions, etc.) of the work vehicle motion control method of the invention related to the invention described above. It is a program for operating in cooperation with a computer.

In addition, the recording medium of the invention related to the present invention is the recording medium of all or part of the steps (or processes, operations, actions, etc.) of the above-described work vehicle motion control method of the invention related to the present invention. It is a recording medium recording a program for causing a computer to execute an operation, and is a computer-readable recording medium in which the read program is used in cooperation with the computer.

It should be noted that "some of the steps (or processes, operations, actions, etc.)" mentioned above mean one or some of those steps.

Also, the "operations of steps (or processes, operations, actions, etc.)" mentioned above mean the operations of all or part of the steps mentioned above.

In addition, one usage form of the program of the invention related to the present invention is a form in which it is transmitted in a transmission medium such as the Internet, light, radio waves or sound waves, read by a computer, and operates in cooperation with the computer. may be

Further, the recording medium includes a ROM (Read Only Memory) and the like.

In addition, the computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may also include firmware, an OS (Operating System), and peripheral devices.

It should be noted that, as described above, the configuration of the present invention may be implemented in software or in hardware.

INDUSTRIAL APPLICABILITY The work vehicle according to the present invention can reduce the user's burden caused by turning the vehicle body, and is useful for the purpose of being used as a work vehicle such as a rice planter.

Reference Signs List 100 vehicle body 210 engine 220 running device 221 front wheel 222 rear wheel 230 control device 240 seedling planting device 241 seedling planting tool 242 seedling placement table 250 fertilizing device 260 ground leveling device 261 ground leveling rotor member 262 ground leveling float member 300 main transmission 400 auxiliary transmission 500 Control device 510 Vehicle body angular velocity detection device 520 Vehicle position information acquisition device 530 Remote controller λ Target line O Turning center r Turning radius θ Turning angle δ Deviation

Claims (6)

a vehicle body angular velocity detection device (510) for detecting vehicle body angular velocity related to changes in orientation of the vehicle body (100);
a control device (500) that performs turning control for turning the vehicle body (100);
with
A work vehicle, wherein the control device (500) controls a steering angle based on the vehicle body angular velocity detected by the vehicle body angular velocity detection device (510) when the vehicle body (100) is turned. A vehicle body position information acquisition device (520) for acquiring vehicle body position information of the vehicle body (100),
The work vehicle according to claim 1, wherein the vehicle body angular velocity detection device (510) detects the vehicle body angular velocity based on the vehicle body position information acquired by the vehicle body position information acquisition device (520). When the vehicle body (100) is turned, the control device (500) controls the detected vehicle body angular velocity and a predetermined ideal turning vehicle body so that the steering angle coincides with a predetermined target turning steering angle. controlling the steering angle based on a comparison between angular velocity;
The work vehicle according to claim 1 or 2, wherein the target turning steering angle is adjustable. The work vehicle of claim 3, wherein the target turn steering angle is adjustable depending on at least one of a wheelbase and tread of the vehicle body (100). A seedling planting device (240) for planting seedlings is provided,
The work vehicle according to claim 3, wherein the target turning steering angle is adjustable according to the number of seedling planting rows of the seedling planting device (240). A remote controller (530) for remotely operating the vehicle body (100),
The control device (500) supports a selectable manual control mode and an automatic control mode,
Even if the manual control mode is selected, the transmission of radio waves from the remote controller (530) to the surroundings is performed when a predetermined condition is satisfied,
6. The method according to any one of claims 1 to 5, wherein, even if the automatic control mode is selected, the remote controller (530) does not transmit radio waves to the surroundings when a predetermined condition is satisfied. Work vehicle described in .

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