JP2024002632A - work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce an amount of applied fertilizer in a place where an amount of applied fertilizer needs to be reduced while keeping a good machine body layout.

SOLUTION: A work vehicle includes a position information acquisition device provided in a travelling vehicle body for receiving positioning information transmitted from a satellite positioning system by a position information reception antenna and acquiring position information on the travelling vehicle body; an antenna frame for supporting the position information acquisition device at a predetermined position; a control device for causing the travelling vehicle body to travel autonomously on the basis of the position information acquired by the position information acquisition device; a remote controller capable of remotely operating the travelling vehicle body by transmitting an operation signal to the control device; a receiver provided on the travelling vehicle body for receiving the operation signal transmitted from the remote controller; a setting part for setting an amount of fertilizer supplied to a farm field by a fertilizing device; and a remote controller for reducing an amount of applied fertilizer by a prescribed ratio from the amount of applied fertilizer set by the setting part.

SELECTED DRAWING: Figure 7

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to a work vehicle.

Conventionally, work vehicles that perform work while traveling in a field are equipped with a position information acquisition device that uses a satellite positioning system to acquire position information of the vehicle. , there are some that operate autonomously using a control device.

Such work vehicles include an antenna frame that supports a position information acquisition device and a position information receiving antenna that receives position information (signal) transmitted from a satellite in the position information acquisition device (for example, see Patent Document 1). ).

JP2020-162454A

By the way, in order to perform remote control using a remote control device in a work vehicle that performs work while traveling in a field, it is possible to further include a receiver having an operation signal receiving antenna that receives an operation signal transmitted from the remote control device. be. Furthermore, conventionally, there has been known a fertilization device that is provided at the rear of a traveling vehicle having front wheels and rear wheels and supplies fertilizer to a field.

However, in the conventional work vehicle as described above, in addition to the position information device and position information receiving antenna, a receiver and operation signal receiving antenna are added, so it is difficult to connect between each receiving antenna, each device, and the control device. Because the number of wires required for connection increases, the wiring becomes complicated and the aircraft layout sometimes deteriorates. In addition, in actual fields, the fertility of the soil and the depth of the soil vary depending on the location within the field, so if a uniform amount of fertilizer is supplied to the entire field, the fertility of the soil will change. In areas that are high up or where the soil is deep, too much fertilizer is supplied, and as a result, overgrown rice plants sometimes fall over.

The present invention has been made in view of the above, and is a work vehicle capable of maintaining a good body layout and reducing the amount of fertilizer applied by a fertilizer application device in a field where it is necessary to reduce the amount of fertilizer applied. The purpose is to provide

In order to solve the above-mentioned problems and achieve the purpose, a working vehicle (1) according to the present invention includes a traveling vehicle body (2) capable of traveling in a field, and a traveling vehicle body (2) that is provided with a traveling vehicle body (2) capable of traveling in a field. A working machine (4) that performs work within F) and a positioning information receiving antenna (151) installed on the traveling vehicle body (2) and transmitted from a satellite positioning system receive the positioning information transmitted from the satellite positioning system. 2) a location information acquisition device (150) that acquires the location information; an antenna frame (59) that supports the location information acquisition device (150) at a predetermined position; A control device (100) that causes the traveling vehicle body (2) to travel autonomously based on the position information, and a remote control device that can remotely control the traveling vehicle body (2) by transmitting an operation signal to the control device (100). (160), a receiver (140) that is provided on the traveling vehicle body (2) and receives the operation signal transmitted from the remote control device (160), and a fertilizer application device (5) to supply the fertilizer to the field (F). The present invention is characterized in that it includes a setting section for setting the amount of fertilizer to be applied, and the remote control device (160) for reducing the amount of fertilizer by a predetermined percentage from the amount of fertilizer set by the setting section.

According to the work vehicle according to the present invention, a plurality of receiving antennas can be integrated, and the complexity of wiring can be suppressed to maintain a good body layout. Furthermore, in places where it is necessary to reduce the amount of fertilizer applied, it is possible to reduce the amount of fertilizer applied by remote control.

FIG. 1 is a schematic left side view showing an example of a work vehicle according to an embodiment. FIG. 2 is a schematic plan view showing an example of the work vehicle according to the embodiment. FIG. 3 is a block diagram showing an example of a control system centered on a control device. FIG. 4 is an explanatory diagram of autonomous driving in a field. FIG. 5 is a diagram showing a mode configuration executed by the control device. FIG. 6 is a diagram showing an example of work area information acquisition in the teaching mode. FIG. 7 is a schematic perspective view showing the antenna frame and the position information acquisition device. FIG. 8 is a schematic side view showing the position information acquisition device and the operation signal receiving antenna. FIG. 9 is an explanatory diagram of the remote control device. FIG. 10 is a schematic perspective view showing the remote control holder. FIG. 11 is a schematic front view showing the arrangement of the remote control holder. FIG. 12 is a schematic side view showing the arrangement of the remote control holder. FIG. 13 is a diagram showing an example of a connection configuration of a partial clutch.

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of a work vehicle disclosed in the present application will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the embodiments described below.

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

In the following description, the front-rear direction refers to the traveling direction of the work vehicle 1 when traveling straight, and the front side in the traveling direction is defined as "front" and the rear side is defined as "rear". The traveling direction of the work vehicle 1 is a direction from a driver's seat 41a, which will be described later, to a steering handle (hereinafter referred to as a handle) 35 when traveling straight (see FIGS. 1 and 2).

Further, the left-right direction is a direction horizontally orthogonal to the front-back direction, and defines left and right toward the "front" side. That is, when an operator (also referred to as an operator) is seated in the operator's seat 41a and facing forward, the left hand side is the "left" and the right hand side is the "right".

Moreover, the up-down direction is a 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 to these directions. In the following description, the working vehicle (seedling transplanter) 1 or the traveling vehicle body 2, which will be described later, may be referred to as a "machine".

As shown in FIGS. 1 and 2, the work vehicle 1 includes a traveling vehicle body 2 and a work implement 4. As shown in FIGS. In this embodiment, the working vehicle will be described as a riding-type seedling transplanter 1 that includes a seedling planting section 4 as a working machine and plants seedlings on the soil surface of a field. The seedling transplanter 1 is provided with a seedling planting section 4 that can be raised and lowered to plant seedlings in a field via a lifting link 3 on the rear side of a traveling vehicle body 2.

A fertilizing device 5 that serves as a working device for the seedling transplanter 1 together with the seedling planting section 4 is arranged on the rear upper side of the traveling vehicle body 2. The fertilizer applicator 5 spreads fertilizer onto the field. Note that when the work vehicle 1 is not the seedling transplanter 1, it may be equipped with a seeding device or the like that supplies seeds as the work machine.

The running vehicle body 2 includes a steering wheel and a driving wheel as running wheels. The traveling vehicle body 2 includes a pair of left and right front wheels 10 and a pair of left and right rear wheels 11. In the traveling vehicle body 2, the steered wheels are a pair of left and right front wheels 10. In the traveling vehicle body 2, the drive wheels are a pair of left and right rear wheels 11, or a pair of left and right front wheels 10 and a pair of left and right rear wheels 11.

On the front side of the main frame 15 that constitutes the body frame of the traveling vehicle body 2, there is a transmission case 13 that transmits driving force to the seedling planting section 4, etc., and a driving force that is supplied from the engine 30, that is, the driving force generated by the engine 30. 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). Below, the case where the continuously variable transmission is HST14 will be explained.

A sub-transmission mechanism 16 is provided in the transmission case 13 for switching the driving mode of the vehicle body 2 when traveling on the road in a high-speed mode or when planting seedlings in a low-speed mode. Front wheel final cases 10a are provided on the left and right sides of the mission case 13, and the front wheels are mounted on left and right front axles 10b that protrude outward from front wheel supports that can change the steering direction of the left and right front wheel final cases 10a. 10 is attached.

Further, on the rear side of the main frame 15, rear wheel gear cases 11a are attached to both left and right sides of a rear frame 22 (see FIG. 2) provided laterally, and left and right rear wheel gear cases 11a respectively protrude outward from the rear wheel gear case 11a. The rear wheels 11 are respectively attached to the rear axle 11b.

Moreover, left and right link support frames 23 that support the elevating link 3 are provided on the upper part of the rear frame 22 to protrude upward. 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 links. A lift cylinder 25 operated by hydraulic pressure is provided between the left and right lower link arms 24 .

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

Further, an engine 30 is mounted on the main frame 15. Rotational power of engine 30 is transmitted to mission case 13 via belt transmission 21 and HST 14. The rotational power transmitted to the mission case 13 is shifted by the auxiliary transmission mechanism 16 inside the mission case 13, and then divided into traveling power and externally extracted power.

Further, 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 89 of the handle 35 (see FIG. 3), the lifting cylinder 25, and the like.

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

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

Note that a side clutch 44 (see FIG. 3) that turns on/off power transmission to the left and right drive shafts 42 is disposed on the upper side of the left and right drive shafts 42 in the transmission direction. As shown in FIG. 1, a side clutch pedal 43a for operating the left and right side clutches 44 on and off is provided at the front lower part of the cockpit 41a and on one side of the left and right sides.

Of the left and right side clutch pedals 43a, when the side clutch pedal 43a on the inside of the turn is depressed to disengage the side clutch 44 and the steering wheel 35 is operated to drive the turn, the drive rotation of the rear wheel 11 on the inside of the turn is completely controlled. Can be blocked.

A bonnet 39 that accommodates the engine 30 is provided in front of the floor step 33 in the traveling vehicle body 2. A control panel 38 is provided at the rear of the hood 39. The control panel 38 is provided with a meter panel 45 (see FIG. 7) and a display section (aircraft side display section) 86a that displays various information. Furthermore, a handle 35 is provided upright at the rear of the bonnet 39.

Further, the bonnet 39 is provided with a handle 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. The driver's seat 41a, the handle 35, the speed change operation lever 36, the auxiliary speed change operation lever 37, and the like constitute a control section 41 in the seedling transplanter 1 into which an operator (operator) rides.

Furthermore, 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, an interlocking mechanism is provided that rotates the lower sides of the left and right front wheels 10 and the left and right front wheel final cases 10a in response to the fuel tank, battery, and steering of the handlebar 35. The front wheel 10 is a steered wheel that steers the aircraft according to the amount of steering of the handle 35, as described above.

An engine cover 30a is provided behind the hood 39 and above the engine 30 to cover the upper and side parts of the engine 30, and a cockpit 41a in which an operator is seated is provided above the engine cover 30a. provided.

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

A substantially horizontal floor step 33 is formed on both left and right sides of the lower part of the engine cover 30a and the bonnet 39. As shown in Fig. 2, the floor step 33 has a partially grid-like shape, so that even if mud from the shoes of an operator (worker) walking on the floor step 33 falls off, the fallen mud will not reach the field. Fall.

Furthermore, a rear step 330 is connected to the rear of the floor step 33, as shown in FIG. Preferably, the surface of the rear step 330 is treated with a non-slip finish having a plurality of protrusion patterns formed thereon so that the user's feet do not easily slip during operation.

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

Furthermore, a seedling tank 53 for loading seedlings (seedling mats) to be planted in the field is attached to the rear end of the lifting link 3 along with a sliding mechanism for sliding in the left and right direction. In the seedling tank 53, seedling partition fences 54 which are long in the vertical direction are arranged at predetermined intervals in the left and right direction. A planting device 55 is arranged below the seedling tank 53 for scraping seedlings from loaded seedling mats and planting them in the field.

The planting device 55 simultaneously plants the same number of rows as the number of planting rows separated by the seedling partition fence 54, that is, 8 rows, and the planting transmission case 56 has four planting transmission cases 56 spaced apart from each other below the seedling tank 53. A planting rotary (rotary case) 57 is installed on both the left and right sides of the planting transmission case 56 to pick up seedlings and plant them in the field using a planting rod 58 while rotating.

In the fertilization device 5, a fertilization hopper 70 in which fertilizer is stored is partitioned into the same number of working rows as the seedling planting section 4 (8 rows in the example shown in FIG. 2). The fertilization hopper 70 for 8 rows is long in the left and right direction, which reduces the convenience of loading and removing fertilizer. Good too.

At the lower part of the fertilization hopper 70, a feeding device 71 is provided for supplying a set amount of fertilizer for each row. Below the feeding device 71, a ventilation duct 72 is provided in the left-right direction, through which conveying air for moving the fertilizer passes. Below the feeding device 71, a fertilizing hose 73 is provided that guides fertilizer near the seedling planting position of the seedling planting section 4. Further, a blower 74 is provided at one end of the ventilation duct 72 and is operated by a blower electric motor 76 to generate conveying air.

As shown in FIGS. 1 and 2, below the seedling planting section 4, there are a center float 62C that slides while touching the field, and two side floats 62L and 62R on the left and right sides that rotate around an axis. It is movable. Note that the center float 62C and the left and right side floats 62L, 62R may be collectively referred to as the float 62.

Furthermore, the seedling planting section 4 includes a soil leveling rotor 63 that is disposed in front of the float 62 and levels the unevenness of the field. The seedling planting section 4 plants seedlings on the soil leveled by the soil leveling rotor 63. Driving force is transmitted to the ground leveling rotor 63 from the rear gear case 11a via a rotor transmission shaft 63a. Further, the seedling planting section 4 is driven and controlled by a control device 100 (see FIG. 3), which will be described later.

In addition, as shown in FIG. 1, grooves are formed on both the left and right sides of the seedling planting section 4 so that one of the left and right sides is in contact with the field and serves as a guide for running in the next working row (next process). A line marker 65 is provided respectively. When the left and right side of the left and right line markers 65 touch the ground, the other side separates upward, and when the seedling planting section 4 is raised during turning, both the left and right sides are separated upward, and when the seedling planting section 4 is lowered after turning, One side of the left and right is separated upward and the other side is grounded.

Further, as shown in FIGS. 1 and 2, a center mascot 66 that is long in the vertical direction is provided at the left and right center portions of the vehicle body 2 and in front of the bonnet 39. As shown in FIGS. By aligning the center mascot 66 with the grooves formed in the field by the left and right line markers 65, it is possible to travel in line with the working position of the immediately preceding work strip, 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 be quickly buried, and the guide line for straight movement may disappear. In such a case, it is preferable to use the left and right side markers 19 provided in front of the left and right line markers 65. That is, by moving the left and right side markers 19 outward and positioning the side markers 19 above the planted seedlings, it becomes possible to perform the planting operation in accordance with the planting of the seedlings in the previous working row.

Further, as shown in FIGS. 1 and 2, the seedling transplanter 1 includes a position information acquisition device 150. The position information acquisition device 150 acquires the current position (and orientation) of the seedling transplanter 1. The position information acquisition device 150 acquires the current position (and orientation) of the seedling transplanter 1 using a sanitary positioning system such as GPS (Global Positioning System) or GNSS (Global Navigation Satellite System). Note that the position information acquisition device 150 may be configured by a plurality of devices.

For example, the position information acquisition device 150 receives positioning information from a sanitary positioning system, creates current position information (and azimuth information) of the traveling vehicle body 2 based on the received positioning information, and determines the current position (and azimuth). get. The position information acquisition device 150 is attached to an antenna frame 59, which will be described later, and is arranged above the traveling vehicle body 2.

Furthermore, the straight-travel control program and the turning control program, which are created based on the position information from the position information acquisition device 150, are stored in different locations. The straight-line control program is stored, for example, in a straight-line control ECU (Electronic Control Unit) within the position information acquisition device 150, and the turning control program is stored, for example, in a turning control ECU housed in the hood 39. . Note that the straight-line control ECU and the turning control ECU are included in a control device 100 (see FIG. 3), which will be described later. Note that the straight-travel control ECU and the turning control ECU may be the same ECU.

<Control system of work vehicle (seedling transplanter)>
Next, the control system of the working vehicle (seedling transplanter) 1 (see FIGS. 1 and 2) will be described with reference to FIG. 3. FIG. 3 is a block diagram showing an example of a control system centered on the control device 100. The seedling transplanter 1, which is a working vehicle, can control each part by electronic control, and includes a control device 100 that controls each part.

The control device 100 is provided with, for example, a processing unit including a CPU (Central Processing Unit), a storage unit such as a ROM (Read Only Memory), a RAM (Random Access Memory), and an input/output unit. They are connected to each other and 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 control device 100 performs each function by reading a computer program stored in a storage unit.

The control device 100 includes, for example, actuators such as a throttle motor 80, a hydraulic control valve 81, a hydraulic control valve 82, a planting clutch operating solenoid 83, a side clutch operating solenoid 84, an HST motor 85, a line drawing marker lifting motor 88, and a steering wheel. A device 95, a differential lock switching motor 96, and the like are connected.

The throttle motor 80 increases or decreases the rotational 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 operation of the lifting cylinder 25. Hydraulic control valve 82 controls power steering mechanism 89 . The planting clutch actuation solenoid 83 operates the planting 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 FIGS. 1 and 2). Note that the side clutches 44 are provided on the left and right rear wheels 11, respectively, and two side clutch actuation solenoids 84 are provided corresponding to each side clutch 44.

The HST motor 85 changes the angle of inclination of the swash plate of the HST 14 by changing the rotation angle of the trunnion of the HST 14 . The steering device 95 steers and drives left and right front wheels 10 (see FIGS. 1 and 2), which are steered wheels. Steering device 95 has a steering motor 95a. The steering motor 95a is a motor that drives the steering wheel 35 that adjusts the amount of steering (also referred to as a steering angle or turning angle) of the front wheels 10 when automatic turning control is performed. Steering motor 95a rotates handle 35. The line drawing marker elevating motor 88 raises and lowers the line drawing marker 65.

The 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 (for example, the left and right front wheels 10) at the same rotational speed. By putting the differential lock mechanism 97 into the engaged state, four-wheel drive can be forced, and the left and right running wheels rotate at the same rotational speed.

A rotation speed sensor 90, a steering amount sensor 91, a tilt sensor 92, and the like are connected to the control device 100. 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 steering of the steering wheel 35, that is, the amount of steering of the front wheels 10 (steering angle, turning angle). The steering amount sensor 91 is provided, for example, on a shaft connected to the pitman arm. Note that the steering amount is detected in each of the left and right directions, with the value when the steering wheel 35 reaches a preset straight-ahead position as a reference value.

Further, a plurality of steering amount sensors 91 may be provided. Moreover, the steering amount sensor 91 may be provided at multiple locations. By detecting the amount of steering of the front wheels 10 using the plurality of steering amount sensors 91, detection accuracy can be improved. The inclination sensor 92 detects the inclination angle, which is the inclination of the traveling vehicle body 2 .

The control device 100 also receives operation signals from a speed change operation lever 36, an auxiliary speed change operation lever 37, a mode changeover switch 46, a seedling planting section lift switch 47, an automatic rotation changeover switch 48, a line marker automatic lift switch 49, etc. A signal is input.

The mode changeover switch 46 is a switch for switching whether or not to execute autonomous driving. The mode changeover switch 46 is a switch for switching between automatic mode, manual mode, and remote control mode, which will be described later.

The seedling planting section lift switch 47 is a switch for switching whether or not to raise/lower the seedling planting section 4 . The seedling planting section lift switch 47 is changed to the "up" and "down" positions.

When the seedling planting section lift switch 47 is in the "up" position, the seedling planting section 4 rises to a predetermined non-working position, and the planting device 55 is stopped in the non-working state (the seedling planting section 4 is in the non-working state). (cut state). When the seedling planting section lift switch 47 is in the "lower" position, the seedling planting section 4 is lowered to a predetermined working position, and a working state (see FIGS. 1 and 2) in which the planting device 55 (see FIGS. 1 and 2) is activated is established. The seedling planting section 4 is in a state of entry). That is, the seedling planting section lift switch 47 is a switch that detects the working state of the seedling planting section 4.

The line drawing marker automatic elevation switch 49 is a switch that switches whether or not to automatically raise and lower the line drawing marker 65 in conjunction with the amount of steering of the handle 35 (that is, the amount of steering of the front wheels 10). When the line-drawing marker automatic raising/lowering switch 49 is "ON," control is executed to automatically raise and lower the line-drawing marker 65 in conjunction with the amount of steering. On the other hand, when the line drawing marker automatic raising/lowering switch 49 is "OFF", control for automatically raising and lowering the line drawing marker 65 in conjunction with the amount of steering is not executed.

The automatic turning changeover switch 48 is, for example, a switch for switching whether or not automatic turning is enabled in the manual travel mode. Note that when the automatic turning changeover switch 48 is turned on, automatic turning can be executed. When the automatic turning changeover switch 48 is set to "OFF", automatic turning cannot be performed.

A display section 86 and an operation section 87 are connected to the control device 100. The display unit 86 is, for example, a liquid crystal monitor, and is arranged on the control panel 38 of the control unit 41 (see FIGS. 1 and 2). The operation section 87 is, for example, a push button, and is arranged near the display section 86 on the control panel 38 of the control section 41, for example. Note that when the display section 86 is a touch panel type monitor, the operation section 87 is arranged in the screen of the display section 86.

The display section 86 includes a body side display section 86a disposed on the control section 41 and a remote control side display section 86b disposed on a remote control device 160, which will be described later. Therefore, the operator can use the machine side display section 86a when boarding and operating the machine, and can use the remote control side display section 86b when remotely controlling the machine using the remote control device 160. As described above, since the display section 86 includes the machine side display section 86a and the remote control side display section 86b, the operator can easily can easily grasp information.

Note that the display section 86 displays a setting screen for preset reference values for each section of the traveling vehicle body 2, the seedling planting section 4, and the fertilization device 5. The display section 86 displays, for example, reference values for the amount of seedlings taken and the planting depth in the seedling planting section 4, the hydraulic sensitivity in the seedling planting section 4, the on/off state of the seedling planting section 4, and the height of the soil leveling rotor 63. Display the settings screen. The operation unit 87 accepts a reference value setting operation by an operator. That is, the operator can input or change the reference value from the operation unit 87.

Further, a remote control device 160 is connected to the control device 100 so as to be able to communicate with each other, and various information is input from the remote control device 160. Various information is input to the control device 100 from the remote control device 160 via the receiver 140 (see FIG. 7). Receiver 140 is attached to antenna frame 59, for example. The receiver 140 is arranged, for example, on the front side of the traveling vehicle body 2. Note that a plurality of receivers 140 may be provided.

The remote control device 160 is operated by a worker when executing a remote control mode, which will be described later. The remote control device 160 can remotely control the seedling transplanter 1. Remote control device 160 transmits a control signal according to the operator's operation to control device 100. The remote control device 160 may be communicably connected to the control device 100 by, for example, short-range wireless communication such as Wi-fi (registered trademark) or BLE (Bluetooth (registered trademark) low energy), or In addition to communication (or instead of short-range wireless communication), the devices may be communicably connected via a communication network or the like.

Note that the remote control device 160 may be configured to transmit position information of the remote control device 160 from a satellite positioning system such as GPS or GNSS to the control device 100. In this case, the control device 100 calculates the distance between the remote control device 160 and the traveling vehicle body 2 and the direction of the remote control device 160 with respect to the traveling vehicle body 2 based on the position information of the remote control device 160 and the position information of the traveling vehicle body 2. .

The remote control device 160 includes a remote control display section 86b that constitutes the display section 86, and a remote control operation section 87b. Note that details of the remote control device 160 will be described later using FIG. 9.

In this way, by inputting the current position information of the traveling vehicle body 2 from the position information acquisition device 150 to the control device 100, the control device 100 controls the steering device 95 and also controls the traveling vehicle body 2 (see FIG. (see Figure 2) can run autonomously. The control device 100 executes an automatic driving mode, which will be described later, in which the traveling vehicle body 2 performs work while autonomously traveling.

<Automatic driving mode>
Here, with reference to FIG. 4, the autonomous driving mode (automatic driving mode) in the field by the seedling transplanter 1 will be described. FIG. 4 is an explanatory diagram of autonomous driving in a field.

The control device 100 (see FIG. 3) has an automatic mode in which the steering device 95 (see FIG. 3) is automatically controlled while feeding back the amount of steering of the front wheels 10 (see FIGS. 1 and 2). The control device 100 operates the steering wheel 35 (see FIG. 3) by controlling the steering device 95 in automatic mode. The automatic driving mode includes automatic straight-ahead control and automatic turning control.

In the automatic driving mode, the control device 100 causes the traveling vehicle body 2 to travel autonomously. The control device 100 controls the traveling direction of the traveling vehicle body 2 by controlling the steering wheel 35 during autonomous travel. Furthermore, during autonomous travel, the control device 100 controls the speed (vehicle speed) of the traveling vehicle body 2, for example, by controlling the rotation speed of the engine 30. Note that during autonomous travel, the control device 100 may control the speed of the traveling vehicle body 2 by performing a brake operation.

As shown in FIG. 4, in the automatic driving mode, the seedling transplanting machine 1 automatically performs the seedling planting work in the field while repeatedly moving straight and turning along the planned traveling route L. Note that, as described above, the control device 100 acquires the current position information of the seedling transplanter 1 and information regarding the turning position using the position information acquisition device 150 (see FIG. 1) arranged above the traveling vehicle body 2. .

The seedling transplanter 1 plants seedlings while reciprocating within a predetermined work area in the field. In this case, for straight-ahead travel, the control device 100 executes automatic straight-ahead control to autonomously travel along the straight-ahead travel route L1 of the set scheduled travel route L. Regarding turning, the control device 100 executes automatic turning control to automatically turn along the turning route L2 of the planned traveling route L.

The straight traveling route L1 is parallel to the reference line L0 that serves as a traveling reference. The reference line L0 is set within the field in accordance with the planting direction of the seedlings. For example, the control device 100 acquires the start position and end position of straight-ahead travel as a reference start point P1 and a reference end point P2, respectively, and stores a line segment connecting the reference start point P1 and reference end point P2 as a reference line L0.

The control device 100 controls the steering motor 95a (see FIG. 3) so that the amount of steering of the handle 35 becomes a predetermined amount of steering while the seedling transplanter 1 is turning. The predetermined steering amount is a preset value. The predetermined amount of steering is set depending on the type of seedling transplanter 1 and the like. Further, the predetermined steering amount is appropriately set so as to smoothly transition from automatic turning to automatic straight ahead.

Note that while the seedling transplanter 1 is turning, the control device 100 moves the seedling transplanter 1 to any desired position on the set turning travel route L2 based on the position information acquired by the position information acquisition device 150. The steering motor 95a may be controlled so as to reach this point.

The control device 100 controls the steering motor 95a so that the seedling transplanter 1 reaches the planting start position in the next process of automatic straight movement after turning by automatic turning.

When performing autonomous travel, the control device 100 controls the steering motor 95a based on the amount of steering of the steering wheel 35 detected by the amount of steering sensor 91. Specifically, the control device 100 compares the steering amount of the steering wheel 35 detected by the steering amount sensor 91 with a reference value, and controls the steering motor 95a based on the comparison result.

<Various modes>
Here, each mode including the autonomous driving mode (automatic driving mode) executed by the control device 100 will be explained. FIG. 5 is a diagram showing a mode configuration executed by the control device 100. As shown in FIG. 5, the control device 100 (see FIG. 3) has an autonomous driving mode, a manual driving mode, a teaching mode, a four-wheel drive mode, and a variable fertilization mode.

The autonomous driving mode is a mode in which the traveling vehicle body 2 (see FIGS. 1 and 2) can travel autonomously. In the autonomous driving mode, the control device 100 has the above-described automatic driving mode and a remote control mode.

The automatic driving mode is a mode in which the steering device 95 (see FIG. 3) is automatically controlled, and includes the automatic straight-ahead control and the automatic turning control described above. In the automatic driving mode, the control device 100 causes the traveling vehicle body 2 to travel along the planned traveling route L (see FIG. 4) while repeating straight forward movement and turning.

The remote control mode is a mode in which the steering device 95 is controlled based on remote control by an operator. In the remote control mode, the operator operates the machine by operating the remote control device 160 (see FIG. 3).

In this way, by having the automatic driving mode and the remote control mode in the autonomous driving mode, it is possible to move the traveling vehicle body 2 from outside the field to the work starting point in the field in the remote control mode, for example. As a result, work efficiency can be improved, such as eliminating the inconvenience of the worker having to walk inside the field and exit the field after moving the traveling vehicle body 2 by operating the machine.

If the control device 100 does not receive an operation signal from the remote control device 160 for a predetermined period of time or more during execution of the remote control mode, the control device 100 switches to the manual driving mode. This prevents long-term execution of the remote control mode and improves safety.

Note that during execution of the automatic driving mode, the control device 100 operates each section including the seedling planting section 4 described above (see FIGS. 1 and 2) based on an operation signal from the remote control device 160. Thereby, the operator can adjust each part including the seedling planting part 4 from the remote control device 160 while the automatic driving mode is being executed.

The manual traveling mode is a mode in which the operator of the traveling vehicle body 2 can manually travel. Control device 100 has a manual mode in the second mode. The manual travel mode is a mode in which the operator performs aircraft operations including steering operations and gear shifting operations.

The teaching mode is a mode in which field information (information such as the shape of the field) is acquired by driving the vehicle body 2 through the field where work is to be performed in order to execute the automatic driving mode. Note that the control device 100 executes the manual travel mode in the teaching mode. Therefore, in the teaching mode, farm field information is acquired by moving the traveling vehicle body 2 through the field where the work is to be performed by manual operation by the worker.

FIG. 6 is a diagram showing an example of work area information acquisition in the teaching mode. As shown in FIG. 6, when the work area information indicates that the field F where the work is to be performed is not rectangular but has an irregular shape such as an L-shape, the control device 100 determines the straight traveling path of the traveling vehicle body 2 from L01 to From L03, it can be determined that the lengths of the three sides E1 to E3 of the field F are different, and from the determination result, it is determined that the field is not rectangular.

If the control device 100 determines that the field F on which work is to be performed in the teaching mode is not rectangular, the control device 100 sets the area A1 (the area indicated by diagonal lines in FIG. 6) in which the traveling vehicle body 2 can autonomously travel in the automatic driving mode. After driving, shift to manual driving mode. In the example shown in FIG. 6, the control device 100 can determine, for example, an area A1 in which the traveling vehicle body 2 can autonomously travel from the straight traveling routes L01 to L05.

According to such a configuration, when the field F on which work is to be performed is an irregularly shaped field F such as an L-shape, the automatic driving mode is executed in the rectangular area A1 where the traveling vehicle body 2 can autonomously travel, and the traveling In a region A2 other than the region A1 in which the vehicle body 2 can autonomously travel, a manual travel mode is executed. Thereby, even in the irregularly shaped farm field F, work can be performed efficiently by combining the automatic travel mode and the manual travel mode.

In addition, in the teaching mode, the control device 100 determines the shape of the field F by teaching using three sides as described above, but it is also possible to determine the shape of the field F by teaching using two sides or teaching using four sides, for example. is also possible.

Teaching using two sides is teaching used when, for example, in a U-shaped field consisting of one vertically long rectangular portion and two horizontally long rectangular portions, the vertically long rectangular portion is not planted and traveled.

In addition, in teaching using two sides, full automatic turning is not performed on both ridges (sides). In addition, in the case of teaching using two sides, similar to the above-mentioned teaching using three sides, it is necessary to use the remote control device 160 to move the traveling vehicle body 2 forward to the edge of the ridge and then stop it.

Furthermore, in the teaching using four sides, for example, in a concave field, the last side is left unplanted. The fourth and final side corresponds to the line transitioning from automatic driving mode to remote control mode. If the four sides (including the concavity on the top side) of a concave field are irregular, the vehicle will be stopped (stopped) and switched to remote control mode in response to the irregular shape in the center of the field. , and rotation can be performed by operating from the remote control device 160.

Returning to FIG. 5, the four-wheel drive mode (also referred to as forced four-wheel drive mode) is a mode in which a pair of left and right front wheels 10 and a pair of left and right rear wheels 11 are driven together. In the four-wheel drive mode, the differential lock mechanism 97 (see FIG. 3) is engaged to force the aircraft into four-wheel drive. In the four-wheel drive mode, the left and right running wheels (for example, the left and right front wheels 10) rotate at the same rotational speed. In the four-wheel drive mode, for example, if the running wheels (front wheels 10) become stuck in the depth of the soil surface, the running vehicle body 2 can escape from the depth of the soil surface.

During execution of the automatic driving mode, the control device 100 shifts to the four-wheel drive mode based on an operation signal from the remote control device 160, for example. As a result, for example, if the vehicle body 2 gets stuck in the soil while the automatic driving mode is being executed, the four-wheel drive mode can be executed by operating the remote control device 160 to force the vehicle into four-wheel drive. This allows the traveling vehicle body 2 to escape from the depths of the soil surface.

The variable fertilization mode is a mode in which the amount of fertilizer applied by the fertilizer applicator 5 (see FIG. 1) is adjusted based on field information including field fertility, field water temperature, and field water depth. The variable fertilization mode includes a remote fertilization mode and a manual fertilization mode. In the remote fertilization mode, the amount of fertilizer applied can be adjusted based on remote control by an operator using the remote control device 160. In manual fertilization mode, operators and others can directly adjust the amount of fertilizer applied. In this way, by having the remote fertilization mode in addition to the manual fertilization mode, variable fertilization (remote fertilization mode) can also be executed from the remote control device 160, and workability can be improved.

<Arrangement of operation signal receiving antenna>
Next, the arrangement of the operation signal receiving antenna 141, which is the receiving antenna of the receiver 140, will be explained with reference to FIGS. 7 and 8. FIG. 7 is a schematic perspective view showing the antenna frame 59 and the position information acquisition device 150. FIG. 8 is a schematic side view showing the position information acquisition device 150 and the operation signal receiving antenna 141.

As shown in FIG. 7, the antenna frame 59 supports the position information acquisition device 150 above the front of the aircraft. The antenna frame 59 supports the position information acquisition device 150 at a predetermined position, that is, at a position above the front of the fuselage. The antenna frame 59 includes a frame member 591, a connection frame 592, a support body 593 (see FIG. 8), and a bent portion 594 (see FIG. 8).

Frame member 591 is a pipe-shaped member that forms an antenna frame. As shown in FIG. 8, a wiring W connecting between the receiver 140 and the operation signal receiving antenna 141 is routed through the frame member 591. As shown in FIG. In this way, the wiring W of the operation signal receiving antenna 141 is inserted and routed inside the pipe-shaped frame member 591, so that the wiring W is protected and breakage of the wiring W can be prevented.

As shown in FIG. 7, the connection frame 592 is a frame member that connects with the control unit 41 (see FIG. 1), and also serves as a receiver for receiving operation signals from the remote control device 160 (see FIG. 3). This is a member on which a machine 140 is provided. The connection frame 592 includes left and right frames 592a and an intermediate frame 592b that connects the left and right frames 592a in the left-right direction. Note that the receiver 140 is preferably attached to the intermediate frame 592b.

Further, one of the left and right frames 592a (for example, the right frame 592a) is provided with a remote control holder 170 in which the remote control device 160 is housed when the remote control device 160 is not in use. The remote control holder 170 is disposed on either the left or right side (for example, the right side) of the handle 35 and above the hood 39. Further, the remote control holder 170 is arranged below the meter panel 45 and below the body-side display section 86a. In this way, the remote control holder 170 is placed at a position where it does not interfere with the worker's work (operation, etc.).

Further, as shown in FIG. 8, the support body 593 is a plate-shaped member provided at the top of the antenna frame 59, on which the position information acquisition device 150 and the position information receiving antenna 151 are placed. Further, a bent portion 594 is formed at the rear portion of the support body 593 . The bent portion 594 is provided to form a space 595 at the rear of the support body 593. In a space 595 formed by the bent portion 594, an operation signal receiving antenna 141, which is a receiving antenna of the receiver 140 (see FIG. 7), is arranged.

As shown in FIG. 8, the operation signal receiving antenna 141 is supported by the antenna frame 59. More specifically, the operation signal receiving antenna 141 is supported by the support body 593 of the antenna frame 59.

In this way, since the operation signal reception antenna 141 is supported by the antenna frame 59 that supports the position information acquisition device 150, the operation signal reception antenna 141 and the position information acquisition device 150 (position information reception antenna 151) can be integrated. can. In this way, by consolidating a plurality of receiving antennas, it is possible to suppress the complexity of wiring for connecting each receiving antenna, each device, and the control device, and to maintain a good aircraft layout.

Further, since the operation signal receiving antenna 141 is arranged at a high place, good receiving sensitivity can be maintained.

Further, the operation signal receiving antenna 141 is arranged within the width of the floor step 33 in the left and right direction when the aircraft is viewed from the front. Specifically, the operation signal receiving antenna 141 is arranged above the hood 39 and within the width of the hood 39 in the left-right direction when viewed from the front of the aircraft. Further, as shown in FIG. 8, the operation signal receiving antenna 141 is arranged adjacent to the position information acquisition device 150 and at the rear of the position information acquisition device 150 when viewed from the side of the aircraft.

In this way, since the operation signal receiving antenna 141 fits within the left and right width of the floor step 33 and does not protrude from the aircraft body to either the left or right side, contact of the operation signal receiving antenna 141 with objects outside the aircraft body can be suppressed. .

Further, since the operation signal receiving antenna 141 fits within the left and right width of the hood 39 and does not protrude from the body to either the left or right side, contact of the operation signal receiving antenna 141 with objects outside the body can be further suppressed.

Further, the operation signal receiving antenna 141 and the position information acquisition device 150 (position information receiving antenna 151) can be integrated, and the wiring W can be easily routed, and the appearance is also good.

<Remote control device>
Next, the remote control device 160 will be explained with reference to FIG. FIG. 9 is an explanatory diagram of the remote control device 160, and is a diagram showing a display surface and an operation surface provided on the same surface of the remote control device 160. As described above, the remote control device 160 is capable of wireless communication with the control device 100 (see FIG. 3), and can change the running mode (mode ), remotely control the aircraft, change aircraft settings, etc.

As shown in FIG. 9, the remote control device 160 includes a display section 86 (hereinafter referred to as a remote control side display section 86b) and an operation section 87 (hereinafter referred to as a remote control side operation section 87b).

The remote control side display section 86b is, for example, a liquid crystal screen, and includes, for example, an opening screen, a home screen (top screen), a driving mode switching screen (mode screen), a menu screen, a remote control setting screen, a pairing screen, and the brightness of the liquid crystal screen. Displays the brightness adjustment screen, power saving time adjustment screen, remote control information screen, ending screen, etc.

Note that the remote control side display section 86b is configured so that the screen changes according to various button operations of a remote control side operation section 87b, which will be described later, or the passage of time.

As shown in FIG. 9, the remote control side operation unit 87b includes, for example, a mode switching operation tool (driving mode button) 8701 that switches between automatic driving mode and remote control mode, and a driving vehicle body 2 (see FIG. 8702 and 8708 to adjust the speed of the 4WD mode (forced 4WD button), a return button 8704, and a menu button 8705. A decision button 8706, a function button 8707, a start button 8709, a power button 8710, a stop operation tool (stop button) 8711 for stopping the autonomous running of the running vehicle 2, and a temporary button for temporarily stopping the autonomous running of the running vehicle 2. It has a stop operation tool (pause button) 8712.

Among these, the shift operating tools 8702 and 8708 increase the speed of the traveling vehicle body 2, and the first shift operating tool (forward button) 8702 causes the traveling vehicle body 2 to move forward, and the first shift operating tool (forward button) 8702 decreases the speed of the traveling vehicle body 2. It also includes a second speed change operation tool (reverse button) 8708 that causes the traveling vehicle body 2 to move backward.

<Remote control holder>
Next, the remote control holder 170 will be explained with reference to FIGS. 10, 11, and 12. FIG. 10 is a schematic perspective view showing the remote control holder 170. FIG. 11 is a schematic front view showing the arrangement of the remote control holder 170. FIG. 12 is a schematic side view showing the arrangement of the remote control holder 170. Note that FIGS. 11 and 12 show the front part of the vehicle body (traveling vehicle body 2) with the remote control holder 170 attached.

As shown in FIG. 10, the remote control holder 170 includes a pair of side plates 171, a bottom plate 172, and a back plate 173. The remote control holder 170 is generally a rectangular box-shaped member with an open front and top surface. The pair of side plates 171 are rectangular plates and form left and right side surfaces of the remote control holder 170. The pair of side plates 171 each have holding portions 171a bent in directions toward each other. The holding portion 171a prevents the remote control device 160 from falling off from the open front side when the remote control device 160 is in the stored state.

The bottom plate 172 has a rectangular plate shape and forms the bottom surface of the remote control holder 170. The back plate 173 has a rectangular plate shape and forms the bottom surface of the remote control holder 170. Further, the back plate 173 is provided with a cushion member 174 that cushions vibrations of the remote control device 160 and shocks to the remote control device 160 when the remote control device 160 is in the stored state.

Further, as shown in FIG. 10, the remote control holder 170 exposes the remote control side display section 86b when the remote control device 160 is in the stored state. By exposing the remote control side display section 86b in this way, the operator can visually recognize the remote control side display section 86b when the remote control device 160 is stored in the remote control holder 170.

Further, as shown in FIGS. 11 and 12, the remote control holder 170 is arranged outside either the left or right frame 592a (for example, the right frame 592a) of the connection frame 592 in the antenna frame 59 described above.

Specifically, as described above, the remote control holder 170 is disposed on either the left or right side (for example, the right side) of the handle 35 and above the hood 39 (see FIG. 7). Further, the remote control holder 170 is arranged below the meter panel 45 (see FIG. 7) and below the body-side display section 86a (see FIG. 7). Therefore, the remote control holder 170 can be placed at a position that does not interfere with the worker's work (operation, etc.), and at the same time, when the remote control device 160 is stored, the remote control side display section 86b can be viewed by the worker. A remote control holder 170 can be placed in the.

Note that, as shown in FIG. 12, the operation signal receiving antenna 141 may be placed in front of the position information acquisition device 150.

Further, as shown in FIGS. 11 and 12, a notification light 190 is provided on either the left or right frame member 591 of the antenna frame 59. The notification light 190 is supported by the support member 191 and is attached to the right frame member 591, for example. The notification light 190 is arranged, for example, at a position on the inside of the right frame member 591 (on the left side of the right frame member 591). In addition to notifying aircraft abnormalities and obstacle detection, the notification light 190 can be used to notify the type of mode currently being executed (automatic driving mode, remote control mode, manual driving mode, etc.) by changing the lighting color and position. Notify others.

<Display example of remote control device>
In the remote control device 160, the remote control side display section 86b displays, for example, information as to whether the traveling vehicle body 2 (see FIGS. 1 and 2) is currently capable of autonomous travel, information as to whether the traveling vehicle body 2 is currently traveling autonomously, Information as to whether or not the traveling vehicle body 2 is currently remotely controllable, information as to whether the traveling vehicle body 2 is being remotely controlled, etc. are displayed. In this way, by displaying various information on the remote control side display section 86b, the operator can easily understand this information, and work efficiency can be improved.

Further, the remote control side display section 86b of the remote control device 160 can also display various information on a partial row clutch (also referred to as a ridge clutch) 180 that drives and controls the planting device 55 of the seedling planting section 4 (see FIG. 1). can.

Here, the partial clutch 180 will be explained. FIG. 13 is a diagram showing an example of a connection configuration of the partial clutch 180. Note that FIG. 13 is a schematic diagram of the planting device 55 seen from the rear, and is a diagram showing a partial row clutch 180 that turns on/off power transmission to the planting device 55 every two rows.

As shown in FIG. 13, the seedling transplanter 1 (see FIGS. 1 and 2) includes an instruction section 181, a partial row clutch 180, an instruction section 181, a drive section 182, an on/off mechanism 183, and the above-mentioned A control device 100 is provided.

In the seedling transplanter 1, the plurality of planting devices 55 are arranged in the left-right direction of the traveling vehicle body 2 (see FIGS. 1 and 2). For example, four planting devices 55 are arranged in order from the left: a first planting device 55, a second planting device 55, a third planting device 55, and a fourth planting device 55.

As described above, the seedling planting section 4 (see FIGS. 1 and 2) is for planting eight rows, and includes a planting transmission case 56 that also serves as a frame. The planting transmission case 56 is branched into four parts at the rear, and a rotary case 57 and a planting claw 551, which constitute the planting device 55, are provided at the rear end of each branch.

That is, in the planting device 55, the first planting device 55 plants the first and second rows from the left, the second planting device 55 plants the third and fourth rows, and the third planting device 55 plants the third and fourth rows from the left. The 5th and 6th rows are planted, and the 7th and 8th rows are planted using the fourth planting device 55.

There are four partial row clutches 180 corresponding to the first to fourth planting devices 55 to 55, and they are arranged in the left-right direction. For example, four partial clutches 180 are arranged in order from the left: a first partial clutch 180, a second partial clutch 180, a third partial clutch 180, and a fourth partial clutch 180.

The first to fourth partial row clutches 180 to 180 turn on and off power transmission to the corresponding first to fourth planting devices 55 to 55, respectively. That is, in the partial row clutch 180, the first partial row clutch 180 turns on/off power transmission to the first planting device 55, and the second partial row clutch 180 turns on/off power transmission to the second planting device 55. The third partial row clutch 180 turns on/off power transmission to the third planting device 55, and the fourth partial row clutch 180 turns on/off power transmission to the fourth planting device 55.

There are four instruction parts 181 corresponding to the first to fourth partial clutches 180 to 180, and they are arranged in the left-right direction, for example. For example, four instruction sections 181 are arranged in order from the left: a first instruction section 181, a second instruction section 181, a third instruction section 181, and a fourth instruction section 181.

The first instruction section 181 to the fourth instruction section 181 are inputted to the control device 100, and the control device 100 operates the drive section 182 and the on/off mechanism 183, so that the first partial clutches 181 to 181 are respectively set. An on/off instruction is given to the fourth partial clutch 180.

The control device 100 is electrically connected to a link sensor 31 that detects the elevation of the elevating link 3 of the seedling planting section 4 and a handle sensor 351 that detects the turning angle of the handle 35, and receives respective detection signals. is input and outputs a control signal.

The remote control device 160 (see FIG. 9) corresponds to the first planting device 55 disposed at one end in the left and right direction among the four partial row clutches 180 in the remote control side operation section 87b (see FIG. 9). The on/off operation can be performed sequentially starting from the first partial clutch 180. Further, the remote control device 160 displays the on/off states of the four partial row clutches 180 on the remote control side display section 86b (see FIG. 9).

In this way, in the remote control device 160, the four partial clutches 180 can be remotely turned on and off, and the on/off states of the four partial clutches 180 can be confirmed on the remote control display section 86b, which improves work efficiency. can be improved.

In addition, in the seedling transplanter 1 according to the embodiment described above, the remote control mode using the remote control device 160 is automatically switched to the manual driving mode, and the predetermined operation is performed from the last operation of the remote control device 160 while the remote control device 160 is being executed. Once the time has elapsed, it will automatically switch to manual driving mode. Furthermore, after switching to the manual running mode, text is displayed on the remote control display section 87b to notify that the mode has been switched to the manual running mode.

In addition, when the vehicle body 2 is moving forward during execution of the automatic driving mode, the deceleration operation of the remote control device 160 is regulated so that the vehicle body 2 cannot be decelerated until the vehicle body 2 stops (stops) or moves backward. During execution of the running mode, when the traveling vehicle body 2 is moving backward, the speed increasing operation of the remote control device 160 is regulated so that deceleration cannot be performed until the traveling vehicle body 2 stops (stops) or moves forward.

Furthermore, in the remote control mode using the remote control device 160, it is possible to adjust the amount of seedlings taken, the planting depth, the rotor height, and the hydraulic sensitivity. Further, the remote control side display section 86b of the remote control device 160 can display the current setting values and correction values of each function. Additionally, various modes can be changed from the remote control device 160.

Further, the remote control device 160 can determine whether or not there is a malfunction in itself, and if it is determined that there is a malfunction, it automatically turns off the power. Further, in the case of a failure of the remote control device 160, after detecting that the mode has been switched to manual driving mode, the receiver 140 will not receive an operation signal unless a normal operation is performed on the remote control device 160 side. Further, in the case of a failure of the remote control device 160, after detecting that the mode has been switched to manual driving mode, the remote control device 160 does not transmit an operation signal until the power of the remote control device 160 is turned off.

Furthermore, if the simultaneous press pattern continues for a predetermined period of time (for example, 3 seconds) or more, the remote control device 160 determines that the remote control device 160 is malfunctioning. Furthermore, if an operation that is not in the simultaneous press pattern continues for a predetermined period of time (for example, 10 seconds) or more, the remote control device 160 determines that the remote control device 160 is malfunctioning.

Further, in the remote control mode using the remote control device 160, if no operation of the remote control device 160 is detected for a predetermined period of time (for example, 1 minute) or more, the control device 100 switches to the manual driving mode. This makes it possible to prevent erroneous operations.

If a limit switch (second seedling reduction switch) is further provided at a position where the remaining number of seedlings in the seedling tank 53 is 1.2, the control device 100 switches the first seedling reduction switch during execution of the manual travel mode. is pressed and the second seedling reduction switch is not pressed, the necessity of lowering the seedlings to the planting position is displayed, for example, in a pop-up display on the body side display section 86a. Note that the pop-up display is not cleared until the dial on the operation panel 38 or the enter button 8706 on the remote control side operation section 87b of the remote control device 160 is pressed.

Further, the control device 100 automatically pauses the traveling vehicle body 2 when the first seedling reduction switch is pressed and the second seedling reduction switch is not pressed during execution of the automatic driving mode, The need to lower the seedling planting section 4 to the planting position is displayed, for example, in a pop-up display on the body side display section 86a.

Further, when deleting the reference start point P1 and reference end point P2 from the remote control device 160, the fact that the operation for deleting the reference start point P1 and the reference end point P2 has been performed is displayed, for example, in a pop-up display on the body side display section 86a.

Furthermore, when the azimuth changes from a determined state to an uncertain state, the controller 100 also displays a message on the aircraft side display section 86a indicating that the azimuth is undetermined and prompts the aircraft to move forward or backward by 2 m. display in a pop-up display. In addition, the seedling transplanter 1 has a switch that, when turned OFF, refuses all communication with the remote control device 160. When this switch is turned OFF, the control device 100 automatically switches the mode to manual travel mode. , a pop-up message is displayed on the aircraft side display section 86a to request that this switch be turned on when operating with the remote control device 160.

Furthermore, when the first seedling reduction switch is no longer pressed, the control device 100 automatically pauses the traveling vehicle body 2, and displays a pop-up message on the body side display section 86a indicating that the traveling vehicle body 2 has been temporarily stopped due to a decrease in the remaining amount of seedlings. to display it. In addition, the control device 100 temporarily stops the traveling vehicle body 2 when the traveling vehicle body 2 reaches the ridge, and in this case, if the second seedling reduction switch is not pressed, the control device 100 indicates that seedlings need to be replenished. A pop-up display is displayed on the aircraft side display section 86a.

Further, when the reference starting point P1 is acquired during execution of the teaching mode, the control device 100 causes the body-side display unit 86a to display a pop-up display indicating that the reference starting point P1 has been acquired. Furthermore, if a sub-route is created during the course determination of the planned travel route L during execution of the teaching mode, the control device 100 causes the aircraft-side display unit 86a to display a pop-up display indicating that the sub-route has been created.

In addition, during execution of the teaching mode, when the controller 100 performs a teaching operation and then shifts to the automatic driving mode and the planned driving route L is determined, the control device 100 determines the length of the planned driving route L using the current remaining fuel amount. The aircraft determines whether or not it is possible to travel over the area multiplied by the number of rows in 86a in a pop-up display.

Note that in this case, the control device 100 controls so that autonomous driving cannot be started until the pop-up display is deleted. Further, the control device 100 may control the pop-up display so that it does not disappear until the dial on the operation panel 38 or the enter button 8706 on the remote control side operation section 87b of the remote control device 160 is pressed, or The pop-up display may be controlled not to be deleted until it is replenished.

Additionally, if the fuel level falls below a predetermined amount while the automatic driving mode or remote control mode is being executed, the control device 100 temporarily stops autonomous driving and displays a pop-up message on the aircraft side display section 86a to notify that the fuel is insufficient. Display. In this case, the pop-up display ends when the fuel level reaches a certain level or when the mode is switched to a driving mode other than automatic driving mode or remote control mode.

Further, the control device 100 automatically stops the traveling vehicle body 2 when the first seedling reduction switch is no longer pressed during execution of the automatic driving mode or the remote control mode, and temporarily stops the traveling vehicle body 2 due to a decrease in the amount of remaining seedlings. This is displayed in a pop-up display on the aircraft side display section 86a. Further, the control device 100 automatically controls the traveling vehicle body 2 when the second seedling reduction switch is pressed and the first seedling reduction switch is not pressed while the automatic driving mode or the remote control mode is being executed. A pop-up message is displayed on the body side display section 86a to indicate that the seedling planting section 4 needs to be temporarily stopped and lowered to the planting position.

In addition, during execution of the automatic driving mode or the remote control mode, the control device 100 automatically controls the traveling vehicle body 2 when clogging of fertilizer by one or more fertilizing hoses is detected by a sensor that detects clogging of fertilizer in the fertilizing hose discharge section. The machine is temporarily stopped due to fertilizer clogging, and a pop-up display is displayed on the machine side display section 86a to indicate that the machine has been temporarily stopped due to fertilizer clogging. In this case, the pop-up display will end if the fertilizer clogging is no longer detected or the mode is switched to a driving mode other than automatic driving mode or remote control mode. Further, the pop-up display is ended when the first seedling reduction switch is detected or when the mode is switched to a driving mode other than automatic driving mode or remote control mode.

Further, the pop-up display is displayed only when the seedling planting part is lowered and the planting clutch 27a is "on".

Further, in the control device 100, while the manual driving mode or the teaching mode is being executed, the second fertilizer reduction switch is detecting fertilizer, and the first fertilizer detection switch that detects fertilizer is in a position different from that of the second fertilizer reduction switch. If no fertilizer is detected, a pop-up message is displayed on the machine side display section 86a to inform that the seedling planting section 4 needs to be lowered to the planting position. Further, when the second seedling reduction switch is pressed and the first seedling reduction switch is not pressed while the manual running mode or teaching mode is being executed, the control device 100 controls the control device 100 to uniformly apply the fertilizer because the fertilizer is unevenly distributed. What needs to be done is displayed in a pop-up display on the aircraft side display section 86a.

In addition, in the automatic driving mode, if the second fertilizer reduction switch does not detect fertilizer when starting autonomous driving after the traveling vehicle body 2 performs the ridge movement, the control device 100 performs an autonomous driving start operation. is rejected, and a pop-up message is displayed on the display section 86a on the aircraft side to indicate that fertilizer needs to be replenished. Further, in the automatic driving mode, if the second seedling reduction switch is not pressed when starting autonomous driving after the traveling vehicle body 2 performs the ridge movement, the control device 100 rejects the starting operation of autonomous driving. Then, the need for seedling supply is displayed in a pop-up display on the machine side display section 86a.

Note that in this case, the control device 100 controls so that autonomous driving cannot be started until the pop-up display is deleted. Further, the control device 100 may control the pop-up display so that it does not disappear until the dial on the operation panel 38 or the enter button 8706 on the remote control side operation section 87b of the remote control device 160 is pressed, or The pop-up display may be controlled not to disappear until the fertilizer is replenished.

Further, in this case, the display flag for the pop-up display becomes "0" when the seedling planting section 4 is lowered.

Further, the remote control device 160 has an emergency stop button that switches from the automatic driving mode to the manual driving mode and makes an emergency stop of the traveling vehicle body 2, and the control device 100 controls the emergency stop button of the traveling vehicle body 2 when the emergency stop button is pressed. The fact that the switches are turned off due to the stoppage is displayed in a pop-up display on the aircraft side display section 86a.

Furthermore, if the traveling vehicle body 2 slips while running, the control device 100 detects the slip from the ratio of the rotation speed of the front wheels 10 and the left and right rotation speed, and automatically activates the differential lock function. While the limit switch to be confirmed is pressed, the display section 86a on the aircraft body side displays that the differential lock function is operating. Further, when the traveling vehicle body 2 cannot escape from the slip, the control device 100 executes the forced 4WD mode in which the rear wheel clutch is engaged, and indicates that the forced 4WD mode is being executed. , is displayed on the aircraft side display section 86a.

Further, while the forced four-wheel drive mode is being further executed during the execution of the automatic driving mode or the remote control mode, if the slip is not resolved even if the wheels are rotated a predetermined amount, the control device 100 automatically controls the traveling vehicle body 2. automatically stops driving and switches to manual driving mode. In this case, the aircraft body side display section 86a displays that the autonomous travel has been stopped because the slip has not been resolved. Further, in this case, the display flag becomes "0" after a predetermined period of time has elapsed.

In addition, if there is any abnormality in the aircraft during execution of the automatic driving mode or remote control mode, the control device 100 automatically stops the traveling vehicle 2, and indicates to the aircraft that it has stopped traveling due to the detection of an abnormality. It is displayed on the side display section 86a. In this case, the pop-up display ends when the abnormality is no longer detected or the mode is switched to a driving mode other than automatic driving mode or remote control mode.

Further, the control device 100 prohibits transition to the automatic driving mode or remote control mode when the HST lever is not in the neutral position, and prohibits the transition to the automatic driving mode or the remote control mode when the HST lever is not in the neutral position. In this case, a pop-up message is displayed on the aircraft side display section 86a to urge the main shift operation lever 36 to be returned to neutral.

Further, the control device 100 prohibits transition to the automatic driving mode, remote control mode, or teaching mode when the sub-shift operating lever 37 is in a state other than planting, and when the sub-shift operating lever 37 is in a state other than planting. When an operation to shift to the remote control mode or the teaching mode is performed, a pop-up message is displayed on the body side display section 86a to prompt the user to return the sub-shift operation lever 37 to the planting mode.

Further, the control device 100 prohibits transition to automatic driving mode or remote control mode when the parking brake pedal is operated, and prohibits transition to automatic driving mode or remote control mode while the parking brake pedal is operated. When the shifting operation is performed, a pop-up message is displayed on the body side display section 86a to prompt the user to release the parking brake pedal.

In this case, the control device 100 ends the pop-up display when the operation requested in the pop-up display is performed or when the mode is switched to a mode that can be transitioned to. Further, the control device 100 may end the pop-up display by pushing the dial. Further, the display flag becomes "0" after 5 seconds if the operation requested in the pop-up display is performed or the mode is switched to a mode that can be transitioned to. Note that the control device 100 does not display the pop-up display on the body side display section 86a when the tilt of the body is detected.

Further, the control device 100 automatically temporarily shifts the traveling vehicle body 2 when any of the steering wheel 35, the main shift operation lever 36, or the auxiliary shift operation lever 37 is operated during the automatic driving mode or the remote control mode. The vehicle stops, shifts to manual travel mode, and displays on the body side display section 86a that autonomous travel has been canceled by the performed operation.

Furthermore, during execution of the automatic driving mode, if the traveling vehicle body 2 deviates from the planned traveling route L or the work area set in the teaching mode, the control device 100 automatically stops the traveling vehicle body 2 and switches it to the manual driving mode. , and displays on the aircraft side display section 86a that autonomous travel has been canceled because the vehicle has deviated from the planned travel route L or the work area.

Further, in this case, the display flag becomes "0" after 5 seconds when the traveling vehicle body 2 returns to the planned traveling route L or within the work area or is switched to a traveling mode other than the automatic traveling mode.

Further, during execution of the teaching mode, if the number of acquired points exceeds the number of acquisition points or the number of routes to be created is insufficient, the control device 100 shifts to manual travel mode and cannot create a route due to insufficient capacity. This is displayed on the aircraft side display section 86a. Note that the control device 100 stops displaying that route creation is not possible due to insufficient capacity after a predetermined period of time has elapsed.

In addition, if there is no operation in the remote control mode, the control device 100 automatically shifts to the manual travel mode after a predetermined period of time, and displays on the aircraft side that there has been no operation for a predetermined period of time. 86a.

Further, the control device 100 causes the aircraft-side display unit 86a to display a message to perform an operation to confirm the azimuth when the azimuth changes from a confirmed state to an uncertain state. In addition, the control device 100 prohibits transition to automatic driving mode or teaching mode when the azimuth is uncertain, and when a button for changing the mode is pressed when the azimuth is uncertain, A message is displayed on the aircraft side display section 86a to prompt the operator to perform a confirmation operation.

Further, in this case, the display flag becomes "0" depending on whether the azimuth is determined, a predetermined time has elapsed, or the mode is shifted to the remote control mode or the manual travel mode.

Moreover, the seedling transplanter 1 according to the embodiment described above is capable of adjusting the timing of water spraying by the planting cleaning device using the remote control device 160. Moreover, the seedling transplanting machine 1 according to the above-described embodiment is capable of adjusting the amount of horizontal feeding of the seedlings in the seedling tank 53 using the remote control device 160. Moreover, the seedling transplanter 1 according to the embodiment described above is capable of changing the seedling supply stage of the seedling tank 53 using the remote control device 160.

Furthermore, the seedling transplanting machine 1 according to the embodiment described above is capable of changing the number of seedlings to be planted and the height of the line marker 65 using the remote control device 160. Moreover, the seedling transplanting machine 1 according to the embodiment described above is capable of adjusting the rolling control of the machine body using the remote control device 160. Furthermore, the seedling transplanter 1 according to the embodiment described above is capable of switching the herbicide sprayer on and off using the remote control device 160. Moreover, the seedling transplanter 1 according to the embodiment described above is capable of changing the supply stage of the seedling supply device.

The embodiment described above realizes the following work vehicle 1.

(1) A traveling vehicle body 2 that can travel within the field, a working machine (seedling planting section) 4 installed on the traveling vehicle body 2 and used for work within the field F, and a satellite positioning system installed on the traveling vehicle body 2. a position information acquisition device 150 that receives transmitted positioning information by a position information receiving antenna 151 and acquires position information of the traveling vehicle body 2; and an antenna frame 59 that supports the position information acquisition device 150 at a predetermined position. A control device 100 that causes the traveling vehicle body 2 to travel autonomously based on the position information acquired by the position information acquisition device 150, a remote control device 160 that can remotely control the traveling vehicle body 2 by transmitting an operation signal to the control device 100, and A work vehicle that includes a receiver 140 that is provided on the vehicle body 2 and receives an operation signal transmitted from a remote control device 160, and an operation signal receiving antenna 141 that is a receiving antenna of the receiver 140 and is supported by an antenna frame 59. 1.

According to such a work vehicle 1, since the operation signal reception antenna 141 that receives the operation signal from the remote control device 160 is supported by the antenna frame 59 that supports the position information acquisition device 150, the operation signal reception antenna 141 and the position Information acquisition devices 150 (location information receiving antennas 151) can be integrated. By consolidating multiple receiving antennas in this way, it is possible to maintain a good aircraft layout by reducing the complexity of wiring W for connecting each receiving antenna, each device, and the control device. .

(2) In (1) above, the antenna frame 59 has a support 593 that is disposed above the traveling vehicle body 2 and supports the position information acquisition device 150, and the operation signal receiving antenna 141 is supported by the support 593. Work vehicle 1.

According to such a work vehicle 1, in addition to the above effect (1), since the operation signal receiving antenna 141 that receives the operation signal from the remote control device 160 is arranged at a high place, good reception sensitivity can be maintained. can do.

(3) In (2) above, the traveling vehicle body 2 has a floor step 33 for a worker to board, and the operation signal receiving antenna 141 is arranged within the width of the floor step 33 in the left and right direction when viewed from the front of the aircraft. Work vehicle 1.

According to such a work vehicle 1, in addition to the effect described in (2) above, the operation signal receiving antenna 141 that receives the operation signal from the remote control device 160 fits within the left and right width of the floor step 33, so that the operation signal receiving antenna 141 receives the operation signal from the remote control device 160. Since the operation signal receiving antenna 141 does not protrude laterally, it is possible to suppress contact of the operation signal receiving antenna 141 with objects outside the aircraft body.

(4) In (3) above, the traveling vehicle body 2 has a bonnet 39 that accommodates the engine 30 in front of the floor step 33, and the operation signal receiving antenna 141 is arranged above the hood 39 and at the front of the vehicle body. The work vehicle 1 is disposed within the width of the hood 39 in the left-right direction when viewed.

According to such a work vehicle 1, in addition to the effect (3) above, the operation signal receiving antenna 141 that receives the operation signal from the remote control device 160 fits within the left and right width of the hood 39, so that the operation signal receiving antenna 141 that receives the operation signal from the remote control device 160 is accommodated within the left and right width of the hood 39, so that the operation signal receiving antenna 141 receives the operation signal from the remote control device 160. Since it does not protrude laterally, contact of the operation signal receiving antenna 141 with objects outside the aircraft body can be further suppressed.

(5) In any one of (1) to (4) above, the operation signal receiving antenna 141 is located adjacent to the position information acquisition device 150 and at the rear of the position information acquisition device 150 when viewed from the side of the aircraft. Work vehicle 1.

According to such a work vehicle 1, in addition to any one of the effects (1) to (4) above, the operation signal receiving antenna 141 that receives the operation signal from the remote control device 160 and the position information acquisition device 150 ( Location information receiving antennas 151) can be aggregated. The wiring W can be easily routed, and the appearance is also good.

(6) In (5) above, the antenna frame 59 is arranged above the traveling vehicle body 2 and has a support body 593 that supports the position information acquisition device 150, and the support body 593 is bent at the rear of the support body 593. The antenna frame 59 has a space 595 formed by the section 594 , and the operation signal receiving antenna 141 is disposed in the space 595 . The antenna frame 59 is formed of a pipe-shaped frame member 591 . The work vehicle 1 in which the wiring W connecting between the two is routed through the inside of the frame member 591.

According to such a work vehicle 1, in addition to the effect (5) above, the wiring connecting between the receiver 140 and the operation signal receiving antenna 141 is protected by the frame member 591 of the antenna frame 59, so that the wiring It is possible to prevent wire breakage and the like.

(7) In any one of (1) to (6) above, the control device 100 operates in an autonomous driving mode in which the traveling vehicle body 2 can run autonomously, and in a manual mode in which the traveling vehicle body 2 can be manually driven by an operator. The autonomous driving mode further includes an automatic driving mode in which the traveling vehicle body 2 is automatically controlled, and a remote operation mode in which the traveling vehicle body 2 is controlled based on remote control by an operator using the remote control device 160. A work vehicle 1 that has a remote control mode and switches to a manual drive mode if no operation signal is received for a predetermined period of time or more during execution of the remote control mode.

According to such a work vehicle 1, in addition to any one of the effects (1) to (6) above, execution of the remote control mode for a long time can be suppressed, and safety can be improved.

(8) In any one of the above (1) to (7), the working machine 4 is a seedling planting section 4 provided at the rear of the traveling vehicle body 2 and for planting seedlings on the soil surface of the field F. It has a plurality of planting devices 55 lined up in the direction, and a plurality of partial row clutches 180 that correspond to the plurality of planting devices 55 and drive and control the plurality of planting devices 55 by turning on and off, and a remote control device 160. has a remote control side display section 86b that can display various information, and turns on and off in order from the partial row clutch 180 corresponding to the planting device 55 disposed at one end in the left and right direction among the plurality of partial row clutches 180. The work vehicle 1 is operable and displays the on/off states of the plurality of partial clutches 180 on the remote control side display section 86b.

According to such a work vehicle 1, in addition to any one of the effects (1) to (7) above, it is possible to perform on/off operations of a plurality of partial clutches 180 using the remote control device 160, and Since the on/off state of the partial line clutch 180 can be confirmed on the remote control display section 86b, work efficiency can be improved.

(9) In the above (8), the work machine 4 further includes a fertilization device 5 that sprays fertilizer on the field F, and the control device 100 controls the fertility of the field F, the water temperature of the field F, and the water depth of the field F. It has a variable fertilization mode in which the amount of fertilizer applied by the fertilization device 5 is adjusted based on the field information contained in the field. A work vehicle 1 has a fertilization mode and a manual fertilization mode in which the amount of fertilizer applied can be manually adjusted.

According to such a work vehicle 1, in addition to the effect (8) above, variable fertilization (remote fertilization mode) can also be executed from the remote control device 160, so that workability can be improved.

(10) In any one of (1) to (9) above, the traveling vehicle body 2 includes a floor step 33 for a worker to ride on, and a control section 41 provided above the floor step 33. , the remote control device 160 has a remote control side display section 86b capable of displaying various information, and an operation section (remote control side operation section) 87b disposed below the remote control side display section 86b. 41, and a remote control holder 170 that is provided on the connection frame 592 and houses the remote control device 160. The remote control holder 170 is arranged on the remote control side when the remote control device 160 is in the stored state. Work vehicle 1 that exposes display section 86b.

According to such a work vehicle 1, in addition to any one of the effects (1) to (9) above, when the remote control device 160 is stored in the remote control holder 170, the worker can visually check the remote control side display section 86b. can do.

(11) In (10) above, the traveling vehicle body 2 includes a hood 39 housing the engine 30 in front of the floor step 33, a steering handle 35 erected at the rear of the hood 39, and a steering handle 35 provided at the rear of the hood 39. The remote control holder 170 is mounted on either the left or right side of the steering wheel 35. The work vehicle 1 is disposed above the hood 39, below the meter panel 45, and below the body side display section 86a.

According to such a work vehicle 1, in addition to the effect (10) above, the remote control holder 170 can be placed in a position that does not interfere with the work (operation, etc.) of the worker, and the remote control device 160 can be housed. In such a case, the remote control holder 170 can be placed at a position where the remote control side display section 86b can be viewed by the operator.

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

The seedling transplanter according to this embodiment is provided with a function to reduce the amount of fertilizer applied, and by operating the remote control device 160 as described below, the seedling transplanter can easily temporarily reduce the amount of fertilizer applied even while the vehicle is driving. It is configured so that the amount of fertilizer applied can be partially (partially) reduced (fertilization reduction).

When the amount of fertilizer applied is reduced by operating the remote control device 160, it is displayed on the display of the remote control device.

In this embodiment, the fertilizer application amount is reduced by 5% from the amount set by operating the remote control device 160.

Further, the remote control device 160 is configured to return the amount of fertilizer that has been reduced by operation to the amount of fertilizer that was before the reduction, that is, the amount of fertilizer that was set in advance.

For example, when the operator operates the remote control device 160 with the amount set to 50kg/10a in advance, the fertilizer amount adjustment motor moves the feeding rotation pin, and the amount of fertilizer is 47.5kg/10a. is changed to the state in which it is supplied to the field. From then on, each time the remote control device 160 is operated, the amount of fertilizer applied is reduced by 5% from the amount of fertilizer set on the display, such as 45 kg/10a, 42.5 kg/10a, 40 kg/10a. It is configured as follows.

Additionally, a rice transplanter icon button is displayed on the function selection screen. The image of the icon button changes/transitions by making a selection instruction. Alternatively, it may indicate that the machine information screen of the rice transplanter is being displayed.

Further, the method of escaping from the mud may be changed depending on the steering and vehicle speed instructions when the stuck state is detected. Further, when the amount of steering indicates a right turn, the amount of steering may be gradually decreased until the steering is neutral. Alternatively, the vehicle may be configured to return to normal autonomous driving after traveling a certain distance at the vehicle speed.

Alternatively, the total planted area, section planting time, and section planted area may be collectively displayed on one screen. Further, in the model and program display screen, the model code, program ID, and program version may be collectively displayed on one screen.

In addition, in planting work where the front wheels touch the edge of the ridge, then go straight backwards and turn, in order to make it easier to align the row spacing after turning, we use a rotation sensor installed on the shaft connected to the rear wheels. The distance may be measured and the operator may be notified by a monitor display and a buzzer when it reaches a distance that allows the robot to turn. After that, after turning the steering wheel completely, the operator may be notified by a monitor display and a buzzer when it is time to return the steering wheel.

Further, the sensor setting screen may be configured to display which position of "forward", "neutral", or "reverse" the HST lever should be set when setting the HST lever. Further, the sensor setting screen may be configured to display that the "highest" position is to be set when the link sensor value is 128 (intermediate position) or more when setting the link sensor. Furthermore, the sensor setting screen may be configured to display a message to set a "standard sensor value" when setting the rotor sensor.

Further, the sensor setting screen may be configured to display that the "full throttle" position is to be set when the accelerator sensor value is 128 (intermediate position) or more when the accelerator sensor is set. Further, the sensor setting screen may be configured to display that a "standard sensor value" is to be set when setting the HST trunnion neutral sensor.

Also, when setting the feeding position sensor on the sensor setting screen (other than variable fertilization), if the feeding position sensor value is less than the specified value (331 * sensor angle + 20 degrees from the 10kg/10a position), the "sensor value" position will be set. It may also be configured to be displayed. Further, the sensor setting screen may be configured to display that the "10kg/10a" position is to be set when setting the feeding position sensor (variable fertilization).

It may also be configured to have a function to automatically stop idling when the vehicle is not driven for a certain period of time, and to start the engine when an operation signal from the remote control device is received. If the operation signal is a signal related to driving, such as a forward operation, a reverse operation, or a signal to start automatic driving, the engine will start.

The engine may be started by switching from the current mode to automatic mode, manual mode, or remote control mode during idling stop.

1 Work vehicle (seedling transplanter)
2 Traveling vehicle body 4 Working equipment (seedling planting section)
5 Fertilizer application device 30 Engine 33 Floor step 35 Steering handle (handle)
39 Bonnet 41 Control section 45 Meter panel 55 Planting device 59 Antenna frame 591 Frame member 592 Connection frame 593 Support body 594 Bend section 595 Space 86a Aircraft side display section 86b Remote control side display section 87b Operation section (remote control side operation section)
100 Control device 140 Receiver 141 Operation signal receiving antenna 150 Position information acquisition device 151 Position information receiving antenna 160 Remote control device 170 Remote control holder 180 Partial row clutch F Farm field

Claims (3)

A running vehicle body that can run within the field,
a working machine that is installed on the traveling vehicle body and performs work in the field;
a position information acquisition device provided on the traveling vehicle body and configured to receive positioning information transmitted from a satellite positioning system using a position information receiving antenna to acquire position information of the traveling vehicle body;
an antenna frame that supports the position information acquisition device at a predetermined position;
a control device that causes the traveling vehicle body to travel autonomously based on the location information acquired by the location information acquisition device;
a remote control device capable of remotely controlling the traveling vehicle body by transmitting an operation signal to the control device;
a receiver provided on the traveling vehicle body and receiving the operation signal transmitted from the remote control device;
a setting unit that sets the amount of fertilizer supplied to the field by the fertilization device;
A work vehicle characterized in that the remote control device is provided to reduce the amount of fertilizer applied by a predetermined percentage from the amount of fertilizer applied by the setting section. It has a function that automatically stops idling if the vehicle is not driven for a certain period of time.
The work vehicle according to claim 1, wherein the engine starts when an operation signal of the remote control device is received. The control device includes:
an autonomous driving mode in which the traveling vehicle body can autonomously travel; and a manual driving mode in which the traveling vehicle body can be manually driven by an operator; and in the autonomous traveling mode, the traveling vehicle body is automatically controlled. and a remote control mode for controlling the traveling vehicle body based on remote control by an operator using the remote control device, and the engine is started when the mode is switched during the idling stop. The work vehicle according to claim 2.