JP2024060338A - Work vehicles - Google Patents

Abstract

[Problem] To provide a work vehicle with improved workability in automatic driving. [Solution] The vehicle comprises a traveling body having traveling wheels including a steering wheel and capable of traveling in a field, a steering device for steering the steering wheel, and a control device for controlling the steering device and causing the traveling body to travel autonomously, the control device having a first mode in which the traveling body can travel autonomously and a second mode in which the traveling body can be manually traveled by an operator, an operation device is provided which is operated by the operator and transmits an operation signal to the control device, and in the first mode, when an obstacle that hinders the autonomous traveling is close to the vehicle or the vehicle is stopped by an obstacle, an acquired image is displayed on the operation device. [Selected Figure] Figure 7

Description

The present invention relates to a work vehicle.

Conventionally, work vehicles that have an automatic mode in which the vehicle body autonomously travels within a field while performing work are known (see, for example, Patent Document 1).

JP 2020-141615 A

However, work vehicles with an automatic mode have room for improvement in terms of improving workability, for example, when an obstacle impedes automatic driving.

The present invention has been made in consideration of the above, and aims to provide a work vehicle that can improve workability.

In order to solve the above problems and achieve the object, the work vehicle according to the present invention includes a traveling vehicle body having traveling wheels including steering wheels and capable of traveling in a field;
a steering device that steers and drives the steering wheels;
The vehicle is equipped with a control device that controls the steering device and causes the traveling vehicle body to travel autonomously, and the control device has a first mode in which the traveling vehicle body can travel autonomously and a second mode in which the traveling vehicle body can be traveled manually by an operator, and is provided with an operation device that is operated by the operator and transmits an operation signal to the control device, and in the first mode, when an obstacle that hinders the autonomous travel is close to the vehicle or when the vehicle is stopped by an obstacle, the acquired image is displayed on the operation device.

The work vehicle according to the present invention can improve the workability of automatic driving.

FIG. 1 is a schematic left side view showing a work vehicle according to an embodiment. FIG. 2 is a schematic plan view showing the work vehicle according to the embodiment. FIG. 3 is a block diagram showing an example of a control system centered around a control device. FIG. 4 is an explanatory diagram of autonomous traveling in a farm field. FIG. 5 illustrates the mode configurations implemented by the controller. FIG. 6 is a diagram showing an example of obtaining work area information in the teaching mode. FIG. 7 is a front view showing the remote control device. FIG. 8 is a diagram showing a display example of the top screen (part 1) on the remote control display unit. FIG. 9 is a diagram showing a display example of the top screen (part 2) on the remote control display unit. FIG. 10 is a diagram showing a display example of the top screen (part 3) on the remote control display unit. FIG. 11 is a diagram showing a display example of the top screen (part 4) on the remote control display unit. FIG. 12 is a diagram showing an example of a mode screen displayed on the remote control display unit. FIG. 13 is a diagram showing a display example of the menu screen (part 1) on the remote control display unit. FIG. 14 is a diagram showing a display example of the menu screen (part 2) on the remote control display unit. FIG. 15 is a diagram showing a display example of the menu screen (part 3) on the remote control display unit. FIG. 16 is a diagram showing an example of a screen display on the remote control display unit during teaching. FIG. 17 is a diagram showing a display example (part 1) of the screen on the machine-side display unit. FIG. 18 is a diagram showing a display example (part 2) of the screen on the aircraft-side display unit. FIG. 19 is a diagram showing a display example (part 3) of the screen on the aircraft-side display unit. FIG. 20 is a diagram showing a display example (part 4) of the screen on the aircraft side display unit. FIG. 21 is a diagram showing a display example (part 5) of the screen on the aircraft side display unit. FIG. 22 is a diagram showing a display example (part 6) of the screen on the aircraft-side display unit. FIG. 23 is a diagram showing a display example (part 7) of the screen on the aircraft side display unit. FIG. 24 is a diagram showing a display example (part 8) of the screen on the aircraft-side display unit. FIG. 25 is a diagram showing a display example (part 9) of the screen on the aircraft-side display unit. FIG. 26 is a diagram showing a display example (part 10) of the screen on the aircraft side display unit. FIG. 27 is a diagram showing a display example (part 11) of the screen on the aircraft side display unit. FIG. 28 is a diagram showing a display example (part 12) of the screen on the aircraft side display unit. FIG. 29 is a diagram showing another example of obtaining work area information in the teaching mode. FIG. 30 is a diagram showing the standing steering assist mechanism (part 1). FIG. 31 is a diagram showing the standing steering assist mechanism (part 2).

Embodiments of the work vehicle disclosed in this application will be described in detail below with reference to the attached drawings. Note that the present invention is not limited to the embodiments described below.

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

In the following description, the forward/rearward direction refers to the direction of travel of the work vehicle 1 when traveling straight, with the forward side of the travel direction defined as "front" and the rear side defined as "rear." The travel direction of the work vehicle 1 refers to the direction from the driver's seat 41a (described later) to the steering wheel 35 when traveling straight (see Figures 1 and 2).

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

The up-down direction is the vertical direction. The front-rear direction, left-right direction, and up-down direction are perpendicular to each other. Each direction is defined for the convenience of explanation, and the present invention is not limited to these directions. In the following explanation, the work vehicle (seedling transplanter) 1 or the traveling body 2 described below may be referred to as the "machine body."

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

A fertilizer applicator 5 is located on the upper rear side of the traveling body 2. If the work vehicle 1 is not a seedling transplanter 1, it may be equipped with a sowing device that supplies seeds as a work machine.

The traveling vehicle body 2 has steering wheels and drive wheels as traveling wheels. The traveling vehicle body 2 has 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 steering wheels are the pair of left and right front wheels 10. In addition, in the traveling vehicle body 2, the drive wheels are the pair of left and right rear wheels 11, or the pair of left and right front wheels 10 and the pair of left and right rear wheels 11.

At the front of the main frame 15 that constitutes the vehicle body skeleton of the traveling vehicle body 2, there are provided a transmission case 13 that transmits driving force to the seedling planting section 4, etc., and a hydraulic continuously variable transmission 14 that outputs the driving force supplied from the engine 30, i.e., the rotation generated by the engine 30, to the transmission case 13.

The continuously variable transmission 14 is a hydrostatic continuously variable transmission known as HST (Hydro Static Transmission). The following describes the case where the continuously variable transmission is HST 14.

Inside the transmission case 13, there is provided an auxiliary transmission mechanism 16 that switches the driving mode of the traveling vehicle body 2 between high-speed mode when traveling on the road and low-speed mode when planting seedlings. Front wheel final cases 10a are provided on the left and right sides of the transmission case 13, and front wheels 10 are attached to left and right front axles 10b that protrude outward from front wheel support parts that can change the steering direction of the left and right front wheel final cases 10a.

Furthermore, rear wheel gear cases 11a are attached to the left and right sides of a rear frame 22 (see Figure 2) that is arranged horizontally at the rear side of the main frame 15, and rear wheels 11 are attached to left and right rear axles 11b that protrude outward from the rear wheel gear cases 11a.

Also, left and right link support frames 23 that support the lifting link mechanism 3 protrude upward from the upper part of the rear frame 22. A pair of left and right lower link arms 24 are provided below and between the left and right link support frames 23. A hydraulically operated lifting cylinder 25 is provided between the left and right lower link arms 24.

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

An engine 30 is mounted on the main frame 15. The rotational power of the engine 30 is transmitted to the transmission case 13 via the belt transmission device 21 and the HST 14. The rotational power transmitted to the transmission case 13 is changed in speed by the sub-transmission mechanism 16 inside the transmission case 13, and then separated into driving power and externally extracted power.

The rotational power of the engine 30 is also 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 (see FIG. 3) of the handle (also called the steering wheel) 35, the lift cylinder 25, etc.

The externally extracted power extracted 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 body 2, and is transmitted from the planting clutch case 27 to the seedling planting section 4 by the planting transmission shaft 67.

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

In addition, a side clutch 44 (see FIG. 3) that switches power transmission to the left and right drive shafts 42 is located upstream of the left and right drive shafts 42 in the transmission direction. As shown in FIG. 1, a side clutch pedal 43a that switches the left and right side clutches 44 on and off is provided at the lower front side of the cockpit 41a, on one of the left and right sides.

When the inside side clutch pedal 43a is depressed to turn off the side clutch 44 and then the steering wheel 35 is operated to make a turn, the drive rotation of the rear wheel 11 on the inside of the turn can be completely cut off.

A bonnet 39 is provided at the top of the front of the vehicle body 2, and has a control panel 38 arranged on top of it for operating each part. The control panel 38 is provided with a display unit 86 (see FIG. 3) that displays predetermined information, etc.

The bonnet 39 is also provided with a handlebar 35 for steering the traveling vehicle body 2, a speed change lever 36 for operating the HST 14 and the seedling planting unit 4, and an auxiliary speed change lever 37 for operating the auxiliary speed change mechanism 16. The operator's seat 41a, the handlebar 35, the speed change lever 36, and the auxiliary speed change lever 37 form the operation unit 41 in which the operator (worker) sits in the seedling transplanter 1.

In addition, an openable front cover 40 is provided in front of the bonnet 39. Inside the front cover 40, a fuel tank, a battery, and an interlocking mechanism that rotates the left and right front wheels 10 and the lower sides of the left and right front wheel final cases 10a in response to steering of the handlebars 35 are provided. As described above, the front wheels 10 are steering wheels that steer the aircraft according to the amount of steering of the handlebars 35.

An engine cover 30a that covers the top and sides of the engine 30 is provided behind the bonnet 39 and above the engine 30, and a pilot's seat 41a where the pilot sits is provided above the engine cover 30a.

The fertilizer applicator 5 is provided behind the driver's seat 41a, at the rear end of the main frame 15. The driving force of the fertilizer applicator 5 is transmitted by a fertilizer transmission mechanism provided facing the fertilizer applicator 5 from one of the left and right rear wheel gear cases 11a.

A roughly horizontal floor step 33 is formed on both the 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 is partially lattice-shaped, so that even if mud falls off the shoes of an operator (worker) walking on the floor step 33, the mud will fall into the field.

As shown in FIG. 2, a rear step 330 is connected to the rear of the floor step 33. It is preferable that the surface of the rear step 330 is treated with an anti-slip treatment, for example with a pattern of multiple protrusions, to prevent feet from slipping during work.

In addition, spare seedling frames 50 are provided on the front and left and right sides of the traveling vehicle body 2, with multiple spare seedling loading platforms 52 arranged at intervals in the vertical direction on seedling frame supports 51, allowing work materials such as seedlings (seedling mats) and fertilizer bags to be replenished in the seedling planting section 4 to be placed on them.

A seedling tank 53 for carrying seedlings (seedling mats) to be planted in the field is attached to the rear end of the lifting link mechanism 3, along with a sliding mechanism for sliding it left and right. Seedling partition fences 54 that are long in the vertical direction are placed on the seedling tank 53 at a predetermined interval in the horizontal direction. Below the seedling tank 53, a seedling planting device 55 is placed to scrape seedlings from the loaded seedling mats and plant them in the field.

The seedling planting device 55 plants the same number of rows as the number of rows separated by the seedling partition fence 54, i.e., eight rows at a time. Four planting transmission cases 56 are arranged at intervals below the seedling tank 53, and planting rotaries 57 are attached to both the left and right sides of the planting transmission cases 56, which rotate to pick up seedlings using planting rods 58 and plant them in the field.

The fertilizer applicator 5 has a fertilizer hopper 70 in which fertilizer is stored, which is divided into the same number of sections as the number of working rows in the seedling planting section 4 (eight rows in the example shown in FIG. 2). Note that the eight-row fertilizer hopper 70 is long in the left-right direction, which reduces the convenience of adding fertilizer and attaching and detaching it, so it may have a so-called side fertilizer structure in which four-row sections are arranged on each side.

A payout device 71 that supplies a set amount of fertilizer is provided for each row below the fertilizer hopper 70. A ventilation duct 72 is provided in the left-right direction below the payout device 71, through which the transport air that moves the fertilizer passes. A fertilizer hose 73 that guides the fertilizer to the vicinity of the seedling planting position in the seedling planting section 4 is provided below the payout device 71. A blower 74 that is operated by an electric blower motor 76 to generate transport air is provided at one end of the ventilation duct 72.

As shown in Figures 1 and 2, below the seedling planting section 4, a center float 62C that slides on the field surface and two side floats 62L and 62R are provided so as to be rotatable about their axes. Note that the center float 62C and the left and right side floats 62L and 62R are sometimes collectively referred to as floats 62.

The seedling planting unit 4 is located forward of the float 62 and has a soil leveling rotor 63 that levels the unevenness of the field surface. The seedling planting unit 4 plants seedlings on the soil surface leveled by the soil leveling rotor 63. Driving force is transmitted to the soil leveling rotor 63 from the rear wheel gear case 11a via the rotor transmission shaft 63a. The seedling planting unit 4 is driven and controlled by the control device 100 (see FIG. 3), which will be described later.

As shown in FIG. 1, a line drawing marker 65 is provided on each of the left and right sides of the seedling planting section 4, one of which comes into contact with the field surface to form a groove that serves as a guide for travel in the next work row (next process). When one of the left and right line drawing markers 65 comes into contact with the field surface, the other side moves upward, and when the seedling planting section 4 is raised during a turn, both the left and right sides move upward, and when the seedling planting section 4 is lowered after the turn, one of the left and right sides moves upward and the other side comes into contact with the field.

As shown in Figures 1 and 2, a vertically long center mascot 66 is provided in the left-right center of the traveling vehicle body 2 and in front of the bonnet 39. By aligning the center mascot 66 with the grooves formed in the field by the left and right line markers 65, it becomes possible to travel in accordance with the working position of the previous working row, improving working accuracy and preventing non-working.

Depending on the soil quality of the field, the guide lines formed by the left and right line-drawing markers 65 may quickly become buried, causing the guide for going straight to disappear. In such cases, it is a good idea to use the left and right side markers 19, which are located forward of the left and right line-drawing markers 65. In other words, by moving the left and right side markers 19 outward and positioning the side markers 19 above the planted seedlings, planting work can be performed in line with the planting of the seedlings in the previous work row.

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

The position acquisition device 150, for example, receives positioning information from a positioning means, creates current position information and orientation information of the traveling vehicle body 2 based on the received positioning information, and acquires the current position and orientation. The position acquisition device 150 is, for example, attached to the mounting stay 59 and disposed above the traveling vehicle body 2.

The straight-line control program and the turning control program, which are created based on the position information from the position 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) in the position acquisition device 150, and the turning control program is stored, for example, in a turning control ECU housed in the bonnet 39. The straight-line control ECU and the turning control ECU are included in the control device 100 (see FIG. 3), which will be described later. The straight-line control ECU and the turning control ECU may be the same ECU.

<Control system for work vehicle (seedling transplanter)>
Next, the control system of the work 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 around a control device 100. The seedling transplanter 1, which is a work vehicle, is capable of controlling each part by electronic control and is equipped with a control device 100 that controls each part.

The control device 100 is provided with a processing unit having, for example, a CPU (Central Processing Unit), a storage unit such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input/output unit, which are connected to each other and can exchange signals with each other. The storage unit stores computer programs and the like that control the seedling transplanter 1. The control device 100 performs each function by reading out the computer programs and the like stored in the storage unit.

The control device 100 is connected to actuators such as a throttle motor 80, a hydraulic control valve 81, a hydraulic control valve 82, a planting clutch actuation solenoid 83, a side clutch actuation solenoid 84, an HST motor 85, a line drawing marker lifting motor 88, a steering device 95, and a differential lock switching motor 96.

The throttle motor 80 increases or decreases the rotation speed of the output shaft of the engine 30 by operating a throttle that adjusts the amount of air intake into the engine 30. The hydraulic control valve 81 controls the extension and retraction of the lift cylinder 25. The hydraulic control valve 82 controls the power steering mechanism 89. The planting clutch operating solenoid 83 operates the planting clutch 27a.

The side clutch actuation solenoid 84 actuates the side clutch 44, which switches the power transmission state to the rear wheels 11 (see Figures 1 and 2). The side clutch 44 is provided on each of the left and right rear wheels 11, and two side clutch actuation solenoids 84 are provided corresponding to each side clutch 44.

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

The differential lock switching motor 96 is a motor that switches between the operation and deactivation of a differential lock mechanism 97 (hereinafter referred to as the differential lock mechanism), which rotates the left and right running wheels (for example, the left and right front wheels 10) at the same rotational speed. When the differential lock mechanism 97 is engaged, four-wheel drive can be forcibly established, and the left and right running wheels rotate at the same rotational speed.

The control device 100 is connected to a rotation speed sensor 90, a steering amount sensor 91, an inclination sensor 92, etc. 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 sensors 90 may also detect the rotation speeds of the left and right front wheels 10.

The steering amount sensor 91 detects the steering amount of the steering wheel 35, i.e., the steering amount (steering angle, turning angle) of the front wheels 10. The steering amount sensor 91 is mounted, for example, on a shaft connected to a pitman arm. The steering amount is detected in both the left and right directions, with the value when the steering wheel 35 is in a preset straight-ahead position being used as a reference value.

More than one steering amount sensor 91 may be provided.Moreover, the steering amount sensor 91 may be provided at more than one location. By detecting the steering amount of the front wheels 10 using more than one steering amount sensor 91, the detection accuracy can be improved.The inclination sensor 92 detects the inclination angle, which is the inclination of the traveling vehicle body 2.

In addition, signals are input to the control device 100 as operation signals from the speed change operation lever 36, the sub-speed change operation lever 37, the mode change switch 46, the seedling planting section lift switch 47, the automatic turning change switch 48, the line drawing marker automatic lift switch 49, etc.

The mode changeover switch 46 is a switch that switches whether or not autonomous driving is performed. The mode changeover switch 46 is a switch that switches between an automatic mode, a manual mode, and a remote control mode, which will be described later.

The seedling planting section lift switch 47 is a switch that switches whether or not to lift and lower the seedling planting section 4. The seedling planting section lift switch 47 can be changed to the "up" and "down" positions.

When the seedling planting unit lift switch 47 is in the "up" position, the seedling planting unit 4 rises to a specified non-working position and the seedling planting device 55 stops, entering a non-working state (seedling planting unit 4 off state). When the seedling planting unit lift switch 47 is in the "down" position, the seedling planting unit 4 descends to a specified working position and the seedling planting device 55 (see Figures 1 and 2) operates, entering a working state (seedling planting unit 4 on state). In other words, the seedling planting unit lift switch 47 is a switch that detects the working state of the seedling planting unit 4.

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

The automatic turning changeover switch 48 is a switch that switches whether or not automatic turning can be performed in manual mode, for example. When the automatic turning changeover switch 48 is set to "ON," automatic turning can be performed. When the automatic turning changeover switch 48 is set to "OFF," automatic turning cannot be performed.

The control device 100 is connected to a display unit 86 and a setting unit 87. The display unit 86 is, for example, a liquid crystal monitor, and is arranged on the operation panel 38 of the operation unit 41 (see Figures 1 and 2 for both). The setting unit 87 is, for example, a push button, and is arranged near the display unit 86 on the operation panel 38 of the operation unit 41. Note that if the display unit 86 is a touch panel monitor, the setting unit 87 will be arranged on the screen of the display unit 86.

The display unit 86 includes an aircraft-side display unit 86a disposed in the control unit 41, as well as a remote control-side display unit 86b disposed in the remote control device 160 described below. Therefore, the operator can use the aircraft-side display unit 86a when boarding the aircraft to control it, and can use the remote control-side display unit 86b when remotely operating the aircraft using the remote control device 160. In this way, the display unit 86 has the aircraft-side display unit 86a and the remote control-side display unit 86b, so that the operator can easily grasp information whether the automatic mode, remote operation mode, or manual mode is being executed.

The display unit 86 also displays a setting screen for preset reference values for each part of the traveling vehicle body 2, the seedling planting unit 4, and the fertilizer application device 5. The display unit 86 displays a setting screen for the reference values, for example, the seedling amount and planting depth in the seedling planting unit 4, the hydraulic sensitivity in the seedling planting unit 4, the on/off of the seedling planting unit 4, and the height of the soil leveling rotor 63. The setting unit 87 accepts the setting operation of the reference values by the worker. That is, the worker can input and change the reference values from the setting unit 87.

The control device 100 is also connected to a remote control device 160 so that they can communicate with each other, and various information is input from the remote control device 160. The control device 100 receives various information from the remote control device 160, for example, via a receiver 180 (see FIG. 1). The receiver 180 is attached, for example, to the mounting stay 59 (see FIG. 1), and is positioned above the front side of the traveling vehicle body 2. Note that multiple receivers 180 may be provided.

The remote control device 160 is operated by an operator when a remote operation mode, which will be described later, is executed. The remote control device 160 can remotely control the seedling transplanter 1. The remote control device 160 transmits a control signal corresponding to the operator's operation to the control device 100. The remote control device 160 may be communicatively connected to the control device 100 by short-range wireless communication, such as Wi-fi (registered trademark) or BLE (Bluetooth (registered trademark) Low Energy), or may be communicatively connected via a communication network in addition to (or instead of) short-range wireless communication.

The remote control device 160 also includes, for example, a direction sensor and a positioning means such as GPS or GNSS. The remote control device 160 transmits position information of the remote control device 160 to the control device 100. The control device 100 then calculates the distance between the remote control device 160 and the running vehicle body 2 and the direction of the remote control device 160 relative to the running vehicle body 2 based on the position information of the remote control device 160 and the position information of the running vehicle body 2. The remote control device 160 includes a remote control side display unit 86b and a remote control side operation unit 87b, which constitute the display unit 86. Details of the remote control device 160 will be described later with reference to FIG. 7.

In this way, the current position information of the traveling vehicle body 2 and the like are input from the position acquisition device 150 to the control device 100, whereby the control device 100 controls the steering device 95 and allows the traveling vehicle body 2 (see Figures 1 and 2) to travel autonomously. The control device 100 executes an automatic mode, described below, in which the traveling vehicle body 2 performs work while traveling autonomously.

<Automatic mode>
Here, referring to Fig. 4, the autonomous driving (automatic mode) in the field by the seedling transplanter 1 will be described. Fig. 4 is an explanatory diagram of the autonomous driving in the 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 steering amount of the front wheels 10 (see Figs. 1 and 2). In the automatic mode, the control device 100 operates the handle 35 (see Fig. 3) by controlling the steering device 95. The automatic mode includes automatic straight-line control and automatic turning control.

When in automatic mode, the control device 100 causes the traveling vehicle body 2 to travel autonomously. During autonomous travel, the control device 100 controls the direction of travel of the traveling vehicle body 2 by controlling the steering wheel 35. During autonomous travel, the control device 100 also controls the speed (vehicle speed) of the traveling vehicle body 2, for example, by controlling the number of revolutions 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 mode, the seedling transplanter 1 automatically performs seedling planting work in the field while repeatedly moving straight and turning along the planned travel path L. As described above, the control device 100 acquires information on the current position of the seedling transplanter 1 and information on the turning position using the position acquisition device 150 (see FIG. 1) located above the traveling body 2.

The seedling transplanter 1 plants seedlings while traveling back and forth within a specified work area in the field. In this case, for straight-line travel, the control device 100 executes automatic straight-line control, so that the machine travels autonomously along the straight-line travel path L1 of the set planned travel path L. For turning travel, the control device 100 executes automatic turning control, so that the machine turns automatically along the turning travel path L2 of the planned travel path L.

The straight-line travel path L1 is parallel to a reference line L0, which serves as the travel reference. The reference line L0 is set in the field in accordance with the planting direction of the seedlings. For example, the control device 100 obtains the start and end positions of the straight-line travel as the reference start point P1 and reference end point P2, respectively, and stores the line segment connecting the reference start point P1 and reference end point P2 as the reference line L0.

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

The control device 100 may control the steering device 95 (steering motor 95a) so that the seedling transplanter 1 reaches any desired position on the set turning travel path L2 based on the position information acquired by the position acquisition device 150 while the seedling transplanter 1 is turning.

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

When performing autonomous driving, the control device 100 controls the steering device 95 (steering motor 95a) based on the steering amount of the steering wheel 35 detected by the steering amount 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 device 95 (steering motor 95a) based on the comparison result.

<Various modes>
Here, a description will be given of each mode including the automatic mode executed by the control device 100. Fig. 5 is a diagram showing the mode configuration executed by the control device 100. As shown in Fig. 5, the control device 100 (see Fig. 3) has a first mode, a second mode, a teaching mode, and a four-wheel drive mode.

The first mode is a mode in which the traveling vehicle body 2 (see Figures 1 and 2) is capable of autonomous traveling. In the first mode, the control device 100 has an automatic mode and a remote control mode. That is, the first mode includes the automatic mode and the remote control mode.

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

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

In this way, by having an automatic mode and a remote control mode in the first mode, for example, the traveling body 2 can be moved in remote control mode from outside the field to a work start point within the field, which improves workability by eliminating the hassle of the worker operating the machine to move the traveling body 2 and then walking through the field to get out of the field.

When the remote control mode is in progress, the control device 100 stops the autonomous driving of the traveling vehicle body 2, i.e., stops the automatic mode, and only accepts vehicle operation via operation signals from the remote control device 160.

With this configuration, in the remote operation mode, remote operation by the remote control device 160 is possible. In this case, since autonomous driving is stopped, unintended driving of the traveling vehicle body 2 can be prevented during remote operation by the remote control device 160, thereby improving safety. Even when the automatic mode is being executed, the mode is switched to remote operation mode when the traveling vehicle body 2 approaches a ridge, so that autonomous driving stops at the edge of the ridge, making it possible, for example, to replenish work materials at the edge of the ridge.

In addition, even when the automatic mode is being executed, when the traveling vehicle body 2 reaches a point where turning begins, the control device 100 transitions to a remote control mode to allow an operator to operate the turning of the vehicle body. In this case, the control device 100 transitions to the remote control mode based on a mode switching operation signal from the remote control device 160.

With this configuration, erroneous operation can be suppressed by switching to the remote operation mode by operating the remote control device 160, thereby improving safety.

In addition, while the automatic mode is being executed, the control device 100 operates each section, including the seedling planting section 4 (see Figures 1 and 2), based on an operation signal from the remote control device 160. This allows the operator to adjust each section, including the seedling planting section 4, from the remote control device 160 while the automatic mode is being executed.

In this way, even in the automatic mode, remote control from the remote control device 160 is accepted, and each section, including the seedling planting section 4, can be operated remotely while the automatic mode is in operation, thereby improving workability.

In this case, the control device 100 does not accept operation signals related to the steering device 95 among the operation signals from the remote control device 160 while the automatic mode is being executed. In this way, by not accepting operation signals related to the steering device 95 from the remote control device 160 while the automatic mode is being executed, i.e., by not accepting operations of the steering device 95 from the remote control device 160, erroneous operation during driving can be prevented.

The control device 100 also performs various adjustments in response to operation signals from the remote control device 160 while the automatic mode is being executed. Specifically, the control device 100 adjusts the start, stop, and temporary stop of the traveling vehicle body 2, the speed of the traveling vehicle body 2, the seedling picking amount and planting depth in the seedling planting section 4, the hydraulic sensitivity in the seedling planting section 4, the on/off of the seedling planting section 4, and the height of the soil leveling rotor 63. The control device 100 also switches to a four-wheel drive mode (forced four-wheel drive), which will be described later, in response to operation signals from the remote control device 160 while the automatic mode is being executed.

This configuration allows various adjustments to be made remotely while the automatic mode is running, improving workability.

In addition, when the traveling vehicle body 2 reaches a point where turning ends while the automatic mode is being executed, the control device 100 returns the seedling amount and 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 to the previously set reference values described above.

With this configuration, if the straight-line movement and turning of the aircraft are treated as one process, the values changed in the previous process can be returned to the reference values when moving to the next process, making it easy to make various adjustments according to the next process and improving workability.

In addition, the standard values for the seedling amount and planting depth in the seedling planting section 4, the hydraulic sensitivity in the seedling planting section 4, turning the seedling planting section 4 on and off, and the height of the soil leveling rotor 63 can be set using the control section 41, making the setting operations easy.

In addition, the control device 100 performs adjustments such as steering the steering wheels (front wheels 10) using the steering device 95, moving the traveling body 2 forward, backward and stopping, turning the seedling planting unit 4 on and off, switching to four-wheel drive mode (forced four-wheel drive), and switching the state of the spare seedling frame (seedling rail) 50 (switching between rail state and loading state) based on operation signals from the remote control device 160 while the remote operation mode is being executed. This allows various adjustments to be performed remotely while the remote operation mode is being executed, improving workability. Note that switching the state of the spare seedling frame (seedling rail) 50 is only possible while the traveling body is stopped.

The second mode is a mode in which the traveling vehicle body 2 can be manually driven by an operator. In the second mode, the control device 100 has a manual mode. The manual mode is a mode in which the operator performs vehicle operation, including steering and gear shifting.

The teaching mode is a mode in which, in order to execute the automatic mode, the traveling vehicle body 2 travels in the field where work is to be performed, and field information (information on the shape of the field, etc.) is acquired. In the teaching mode, the control device 100 executes the manual mode. Therefore, in the teaching mode, the traveling vehicle body 2 is manually operated by the operator to travel in the field where work is to be performed, and field information is acquired.

Fig. 6 is a diagram showing an example of acquiring work area information in the teaching mode. As shown in Fig. 6, when the work area information indicates that the field F in which work is to be performed is not rectangular, for example, irregularly shaped such as L-shaped, the control device 100 can determine that the lengths of the three sides E1 to E3 of the field F are different from the straight travel paths L0 ₁ to L0 ₃ of the traveling vehicle body 2, and judges from the determination result that the field is not rectangular.

If the control device 100 determines in the teaching mode that the field F in which work is to be performed is not rectangular, it causes the traveling vehicle body 2 to travel in an area A1 (area indicated by diagonal lines in FIG. 6) in which autonomous traveling is possible in the automatic mode, and then transitions to the manual mode. In the example shown in FIG. 6, the control device 100 can, for example, determine the area A1 in which autonomous traveling is possible by the traveling vehicle body 2 from the straight traveling routes _L0-1 to _L0-5 .

According to this 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 mode is executed in the rectangular area A1 where the traveling vehicle body 2 can travel autonomously, and the manual mode is executed in the area A2 other than the area A1 where the traveling vehicle body 2 can travel autonomously. This allows work to be performed efficiently even on an irregularly shaped field F by combining the automatic mode and the manual mode.

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

Two-sided teaching is used, for example, in a U-shaped field consisting of one vertically long rectangular section and two horizontally long rectangular sections, when the vertically long rectangular section is not to be planted and traveled through.

In two-side teaching, full automatic turning is not performed on both ridges (sides). In the case of two-side teaching, as in the case of three-side teaching, 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 stop it. In addition, if you want to turn to the next process after the traveling vehicle body 2 has stopped, press the function button 8707 and start button 8709 (both see Figure 7) on the remote control device 160 to perform automatic turning to move to the next process (restart autonomous driving). In addition, when the remote control mode is switched to near the ridge on the side where teaching is not being performed, it will automatically stop (park). In addition, it is possible to turn to the next process from the stopped position. In other words, the operation of the start button 8709 is accepted.

Teaching using four sides, for example, in a concave field, the last side is traveled without planting. The last side corresponds to the line at which the automatic mode is switched to remote control mode. If the fourth side (including the top side) of a concave field is irregular, the traveling vehicle can stop (park) in response to the irregularity around the center of the field, switch to remote control mode, and turn by operating the remote control device.

The four-wheel drive mode (also called forced four-wheel drive mode) is a mode in which both the pair of left and right front wheels 10 and the pair of left and right rear wheels 11 are driven. In the four-wheel drive mode, the differential lock mechanism 97 (see FIG. 3) is engaged, making the vehicle into a forced four-wheel drive mode. 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) are stuck deep in the soil, it is possible for the running body 2 to escape from the soil.

When the automatic mode is being executed, the control device 100 transitions to four-wheel drive mode based on an operation signal from the remote control device 160. As a result, for example, if the traveling vehicle body 2 becomes stuck in deep soil while the automatic mode is being executed, the traveling vehicle body 2 can be extricated from the deep soil by forcibly switching to four-wheel drive by executing the four-wheel drive mode through operation from the remote control device 160.

<Remote control device>
The remote control device 160 will be described with reference to Fig. 7. Fig. 7 is a front view showing 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 is capable of changing the running mode (mode) of the machine (seedling transplanter 1), remotely controlling the machine, changing the settings of the machine, and the like, by accepting operations by an operator.

As shown in FIG. 7, the remote control device 160 includes a display unit 86 (hereinafter, remote control side display unit 86b) and a setting unit 87 (hereinafter, remote control side operation unit 87b).

The remote control display unit 86b is, for example, an LCD screen, and displays 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, a brightness adjustment screen for adjusting the brightness of the LCD screen, a power saving time adjustment screen, a remote control information screen, an ending screen, etc.

The remote control display unit 86b is configured to transition between screens in response to various button operations on the remote control operation unit 87b (described later) or the passage of time.

As shown in FIG. 7, the remote control side operation unit 87b has a mode switching operation device (driving mode button) 8701 for switching between automatic mode and remote operation mode, gear change operations 8702, 8708 for adjusting the speed of the traveling vehicle body 2 (see FIG. 1 and FIG. 2) while the automatic mode is being executed, a four-wheel drive mode switching operation device (forced four-wheel drive button) 8703 for switching to four-wheel drive mode, a back button 8704, a menu button 8705, a decision button 8706, a function button 8707, a start button 8709, a power button 8710, a stop operation device (stop button) 8711 for stopping the autonomous traveling of the traveling vehicle body 2, and a pause operation device (pause button) 8712 for temporarily suspending the autonomous traveling of the traveling vehicle body 2.

In this way, by having the mode switching operation device (driving mode button) 8701 and the speed change operation devices 8702, 8708 in the remote control side operation unit 87b, it is possible to switch between automatic mode and remote control mode with the remote control device 160, and when the remote control mode is being executed, the driving speed can be changed with the remote control device 160. This improves remote operability.

In addition, by providing the remote control side operation unit 87b with a stop operation tool (stop button) 8711 and a pause operation tool (pause button) 8712, the traveling vehicle body can be stopped and paused by the remote control device 160 while the remote control mode is being executed. This improves remote operability. In addition, by providing the four-wheel drive mode switching operation tool (forced four-wheel drive button) 8703 on the remote control side operation unit 87b, if the traveling vehicle body 2 becomes stuck deep in the soil surface while the automatic mode is being executed, the traveling vehicle body 2 can be extricated from the deep soil surface by executing the four-wheel drive mode by operation from the remote control device 160 and forcibly switching to four-wheel drive.

The remote control operation unit 87b can adjust the forward and reverse movement of the traveling body 2 while the remote control mode is being executed by using the gearshift controls 8702 and 8708. The gearshift controls 8702 and 8708 have a first gearshift control (forward button) 8702 that increases the speed of the traveling body 2 and moves the traveling body 2 forward, and a second gearshift control (reverse button) 8708 that decreases the speed of the traveling body 2 and moves the traveling body 2 backward.

In this way, the speed of the traveling body 2 can be increased and the traveling body 2 can move forward using the same operating tool, the forward button 8702, and the speed of the traveling body 2 can be decreased and the traveling body 2 can move backward using the same operating tool, the reverse button, thereby improving remote operability.

The remote control side operation unit 87b also enables adjustment of the steering of the front wheels 10, which are the steered wheels, by the steering device 95 (see FIG. 3) while the remote operation mode is being executed. For this reason, the remote control device 160 has a left steering operation tool that is an operation tool for steering the front wheels 10 to the left, and a right steering operation tool that is an operation tool for steering the front wheels 10 to the right. In the example shown in FIG. 7, the left steering operation tool is a back button 8704 that is an operation tool for returning to the previous item among the various setting items, and the right steering operation tool is a decision button 8706 that is an operation tool for deciding on the various setting items.

In this way, by giving the right steering operation tool, which is an operation tool for steering the front wheels 10, which are the steered wheels, to the right, the function of an operation tool for deciding various setting items (decision button 8706), and giving the left steering operation tool, which is an operation tool for steering the front wheels 10, which are the steered wheels, to the left, the function of an operation tool for returning to the previous setting item (back button 8704), it is possible to reduce the types and number of operation tools and simplify the remote control device 160.

The remote control display unit 86b displays information on whether the traveling vehicle body 2 (see Figures 1 and 2) is currently capable of autonomous driving. The remote control display unit 86b also displays information on whether the traveling vehicle body 2 is currently in autonomous driving. The remote control display unit 86b also displays information on whether the traveling vehicle body 2 is currently capable of remote control. The remote control display unit 86b also displays information on whether the traveling vehicle body 2 is currently being remotely controlled.

In this way, by displaying information on the remote control side display unit 86b as to whether the traveling vehicle body 2 is currently capable of autonomous traveling, whether it is currently in autonomous traveling, whether it is currently capable of remote control, and whether it is currently in remote control, the worker can easily grasp this information. This can improve workability.

The above information displayed by the remote control side display unit 86b (information on whether the traveling vehicle body 2 is currently capable of autonomous driving, whether it is currently in autonomous driving, whether it is currently capable of remote control, and whether it is currently being remotely controlled) can also be displayed on the machine side display unit 86a (see FIG. 3), which, together with the remote control side display unit 86b, constitutes the display unit 86 of this embodiment.

The remote control display unit 86b also displays information on whether the teaching mode is in progress and whether field information has been acquired. When the teaching mode is in progress and field information has been acquired, the remote control display unit 86b displays a display indicating that autonomous driving is possible throughout the field and a display indicating that autonomous driving and manual driving are required within the field. Note that whether the teaching mode is in progress and whether field information has been acquired are determined by the control device 100 (see FIG. 3).

In this way, by displaying on the remote control display unit 86b a display indicating that autonomous driving is possible throughout the field, and a display indicating that both autonomous driving and manual driving are required within the field, the operator can easily understand whether autonomous driving is possible throughout the field, or whether autonomous driving and manual driving are required. This can improve workability.

The above information displayed by the remote control display unit 86b (information on whether the teaching mode is being executed, information on whether field information has been acquired, and information on whether the vehicle can travel autonomously throughout the field or whether autonomous and manual travel is required within the field) can also be displayed on the machine-side display unit 86a, which, together with the remote control display unit 86b, constitutes the display unit 86 of this embodiment.

In addition, during execution of the remote control mode, the remote control display unit 86b displays the forward and reverse movement of the traveling vehicle body 2 and the steering angle of the steering wheels (front wheels 10) by the steering device 95. In this case, in the remote control operation unit 87b, the forward button 8702, which is the first gearshift operation device, moves the traveling vehicle body 2 forward only while the forward button 8702 is being operated. In addition, the reverse button 8708, which is the second gearshift operation device, moves the traveling vehicle body 2 backward only while the reverse button 8708 is being operated. In addition, the decision button 8706, which is the right steering operation device, steers the steering wheels (front wheels 10) to the right depending on the amount of operation (pressing time) of the decision button 8706, and the back button 8704, which is the left steering operation device, steers the steering wheels (front wheels 10) to the left depending on the amount of operation (pressing time) of the back button 8704.

This configuration allows the operator to easily feel the operation of moving the traveling vehicle body 2 forward and backward and steering the steering wheels (front wheels 10) left and right, thereby improving remote operability.

When the control device 100 (see FIG. 3) detects that the remote control device 160 has lost power, it immediately stops the seedling transplanter 1 and switches to manual mode. The control device 100 also restricts the speed of the traveling body 2 from first gear by the forward button 8702 or reverse button 8708 while the remote control mode is in progress. The control device 100 also restricts the traveling body 2 from changing gear by the forward button 8702 or reverse button 8708 when the traveling body 2 is temporarily stopped while the remote control mode is in progress. In this case, the control device 100 accepts the operation signal of the forward button 8702 or reverse button 8708 only when it is pressed simultaneously with the start button 8709.

The control device 100 also changes the speed (increases or decreases the speed) of the traveling body 2 when the forward button 8702 or reverse button 8708 is pressed simultaneously with the function button 8707. The control device 100 also controls the buzzer or the like to sound when it receives an operation signal from the remote control device 160, thereby confirming communication between the machine (seedling transplanter 1, traveling body 2) and the remote control device 160.

<Example of display on the remote control display>
Display examples of the remote control display unit 86b (see FIG. 7) will be described with reference to Fig. 8 to Fig. 16. Fig. 8 to Fig. 11 are diagrams showing display examples of the top screen on the remote control display unit 86b. Fig. 8 shows a display example of the teaching screen among the top screens, Fig. 9 shows a display example of the remote control screen among the top screens, Fig. 10 shows a display example of the automatic driving screen among the top screens, and Fig. 11 shows a display example of the manual driving screen among the top screens.

Figure 12 is a diagram showing an example of a mode screen displayed on the remote control display unit 86b. Figures 13 to 15 are diagrams showing examples of menu screens displayed on the remote control display unit 86b. Note that Figure 13 shows an example of a function setting screen displayed on the menu screen, Figure 14 shows an example of a planting section operation screen displayed on the menu screen that allows the user to operate the seedling planting section 4 (see Figures 1 and 2), and Figure 15 shows an example of a seedling rail operation screen displayed on the menu screen that allows the user to operate the spare seedling frame (seedling rail) 50 (see Figure 1). Figure 16 is a diagram showing an example of a screen displayed on the remote control display unit 86b during teaching.

As shown in Figures 8(A) to (D), the remote control display unit 86b displays the remaining battery level, the GNSS level (positioning method), and the communication connection status at the top of the teaching screen, displays the current mode (teaching mode) in the upper area below the top, displays area determination information (work area information) and the current status in the middle area below the upper area, and displays various messages in the lower area below the middle area.

As shown in Figures 9 (A) to (L), the remote control display unit 86b displays the remaining battery level, the GNSS level (positioning means), and the communication connection status at the top of the remote operation screen, displays the current mode (remote operation mode) in the upper area below the top, displays area determination information (work area information) and the current status in the middle area below the upper area, and displays the steering angle (turning angle) status and the status of the gear shift operating device indicating the forward/reverse lever in the lower area below the middle area.

As shown in FIG. 9, the steering angle status display uses an arrow to indicate the direction of travel of the aircraft. The steering angle status display also uses three types of icon displays to show the steering angle of the front wheel 10 (see FIG. 1 and FIG. 2), which is the steered wheel, in three levels: "small," "large," and "maximum."

As shown in Figures 10 (A) to (H), the remote control display unit 86b displays the remaining battery level, the GNSS level (positioning means), and the communication connection status at the top of the automatic driving screen, displays the current mode (automatic mode) in the upper area below the top, displays area determination information (work area information) and the current status in the middle area below the upper area, and displays the driving status ('forward' or 'neutral'), the status of the gear shift operating device indicating the forward/reverse lever, and various messages in the lower area below the middle area.

As shown in Figures 11 (A) to (G), on the manual driving screen, the remote control display unit 86b displays the remaining battery level, the GNSS level (positioning method), and the communication connection status at the top, displays the current mode (manual mode) in the upper area below the top, displays area determination information (work area information) and whether or not it is possible to switch to automatic mode in the lower area below the middle area, and displays various messages in the lower area below the middle area.

As shown in Figs. 12(A) to (H), the remote control display unit 86b displays the remaining battery level, the GNSS level (positioning means), and the communication connection status at the top of the mode screen, and displays multiple menus in the area below the top. In the example shown in Fig. 12, the currently open item "Drive mode switch" is displayed below the "Teaching", "Automatic driving", "Manual driving", and "Remote operation" modes. Also, in the example shown in Fig. 12, below the mode items (at the bottom), "Long press to confirm" is displayed along with the operation button display icon of the remote control device 160 (see Fig. 7) as an operation instruction for confirming the item. The operator can proceed to the selected item by selecting and confirming the desired item from the multiple menus displayed on the mode screen.

As shown in Figures 13 (A) to (O), the remote control display unit 86b displays the remaining battery level, the GNSS level, which is the positioning means, and the communication connection status at the top of the function setting screen, and in the area below the top, the currently open item "Function Settings" and selection items (such as "Seedling Amount", "Planting Depth", and "Rotor Height") are displayed. Below that, the seedling amount display icon, the current seedling amount, and the seedling amount correction value are displayed. Below that, the planting depth display icon, the current planting depth, and the planting depth correction value are displayed. Below that, the rotor height display icon, the current rotor height, and the rotor height correction value are displayed. Below that, the hydraulic sensitivity display icon, the current hydraulic sensitivity, and the hydraulic sensitivity correction value are displayed. In the example shown in Figure 13, the bottom part displays "Long press Confirm" along with the operation button display icon of the remote control device 160 as an operation explanation for adjusting the seedling amount, planting depth, rotor height, and hydraulic sensitivity.

As shown in Figures 14 (A) to (H), the remote control display unit 86b displays the remaining battery level, the GNSS level (positioning means), and the communication connection status at the top of the planting unit operation screen, and in the area below the top, it displays the currently open item "Planting", and below that, it displays "Planting unit up" which is selected when raising the seedling planting unit 4, and below that, it displays "Planting unit down" which is selected when lowering the seedling planting unit 4, and below that, it displays the on/off state of "Planting". Also, in the example shown in Figure 14, "Long press to confirm" is displayed at the bottom along with the operation button display icon of the remote control device 160 as an operation instruction for the seedling planting unit 4.

As shown in Figures 15(A) and (B), the remote control display unit 86b displays the remaining battery level, the GNSS level (positioning means), and the communication connection status at the top of the seedling rail operation screen, and in the area below the top, it displays the currently open item "Seedling Rail", and below that it displays "Extend", which is selected when extending the spare seedling frame (seedling rail) 50, and below that it displays "Reducing", which is selected when reducing the spare seedling frame (seedling rail) 50. Also, in the example shown in Figure 15, at the bottom, "Pressed - Operated" is displayed along with the operation button display icon of the remote control device 160 as an operation instruction for the spare seedling frame (seedling rail) 50.

As shown in Figure 16, the remote control display unit 86b displays the remaining battery level, the GNSS level (positioning means), and the communication connection status at the top of the screen during teaching of the traveling body 2 (see Figures 1 and 2), and below that, a "Menu" column, and below that, in order from top to bottom, a menu screen displaying "Function settings," "Seedling rail," "Planting section," and "Remote control settings," with "Remote control settings" selected. Also, in the example shown in Figure 16, "Select" is displayed at the bottom along with the operation button display icon of the remote control device 160 as an operation explanation for menu selection.

The remote control display unit 86b also displays an interruption screen that is displayed preferentially when each part is in a specified state. The interruption screen displays, for example, the state of each part, a message, and "OK" that the operator selects when checking the state.

As examples of displays on the interrupt screen, for example, when the traveling vehicle body 2 is in a "tilt stop" state, a message such as "The vehicle is stopping because it has tilted too much" is displayed. Also, for example, when the traveling vehicle body 2 is in an "automatic driving paused" state, messages such as "Driving will be paused due to a deterioration in GNSS status", "Parking brake pedal is applied", "Driving will be paused", "Driving will be paused due to an abnormal condition detected", "Obstacle detected and paused", and "Please check for safety" are displayed.

For example, if the battery level is low, a message such as "Please replace the battery" will be displayed. For example, if teaching is in progress, messages such as "Sub-route created" or "Acquired points erased" will be displayed. For example, if mode switching is in progress, messages such as "Switched to manual driving", "Switched to automatic driving", "Switched to remote control mode", or "Switched to teaching mode" will be displayed.

<Example of display on the aircraft side display>
Display examples of the machine-side display unit 86a will be described with reference to Figures 17 to 28. Figures 17 to 28 are diagrams showing display examples of the screen on the machine-side display unit 86a. The seedling transplanter 1 (see Figures 1 and 2) also displays various information on the machine-side display unit 86a of the control unit 41 (see Figures 1 and 2).

As shown in FIG. 17, the aircraft side display unit 86a displays a display icon 8601 of the GNSS level, which is the positioning means, a display icon 8602 of the robot mode (automatic mode) switching state, a display icon 8603 of the remote control connection state, a display icon 8604 of the work area information acquisition state, a mode display icon 8605, and a mode state display icon 8606.

In addition, the machine-side display unit 86a displays the adjusted values (information) of each part, including the seedling planting unit 4 (see Figures 1 and 2), during execution of any of the automatic mode, remote control mode, and manual mode. Specifically, the machine-side display unit 86a displays the speed of the traveling vehicle body 2 (see Figures 1 and 2), the seedling amount and seedling planting depth in the seedling planting unit 4, the hydraulic sensitivity in the seedling planting unit 4, and the height of the soil leveling rotor 63 (see Figure 1), which are adjusted during execution of any of the automatic mode, remote control mode, and manual mode. In addition, the machine-side display unit 86a displays the number of times the seedling mats are fed sideways in the seedling planting unit 4, and the number of seedling mats required per 10 ares. As shown in FIG. 17, the machine-side display unit 86a displays the number of seedling mats required per 10 ares at the upper left, the seedling removal amount at the seedling planting section 4 at the middle left, the number of times the seedling mats are fed sideways at the seedling planting section 4 at the lower left, the seedling planting depth at the seedling planting section 4 at the upper right, the height of the soil leveling rotor 63 at the middle right, and the hydraulic sensitivity at the seedling planting section 4 at the lower right.

In this way, by displaying the adjusted values of each part, including the seedling planting unit 4, during execution of any of the automatic mode, remote control mode, and manual mode on the machine-side display unit 86a, the worker can easily grasp these adjusted values. This can improve workability. In addition, by displaying the values of the speed of the traveling vehicle body 2, the seedling amount and planting depth in the seedling planting unit 4, the hydraulic sensitivity in the seedling planting unit 4, and the height of the soil leveling rotor 63, which are adjusted during execution of any of the automatic mode, remote control mode, and manual mode, on the machine-side display unit 86a, the worker can easily grasp these adjusted values. This can improve workability.

In addition, the machine-side display unit 86a displays the number of times the seedling mats are fed sideways in the seedling planting section 4 and the number of seedling mats required per 10 ares, allowing the worker to easily grasp this information. This improves workability.

Also, as shown in FIG. 18, when the connection with the remote control device 160 (see FIG. 7) is disconnected, the machine-side display unit 86a does not display the remote control connection status display icon 8603 (displays it in a darkened state).

In addition, as shown in FIG. 19, when the automatic mode is being executed, the aircraft side display unit 86a displays the mode display icon 8605, and as shown in FIG. 20, when the automatic mode is not being executed, the mode display icon 8605 is displayed in a darkened state and the display content is changed.

When area determination information (work area information) has been acquired, as shown in FIG. 21, the machine-side display unit 86a displays the work area information acquisition status display icon 8604, and when area determination information (work area information) has been acquired, as shown in FIG. 22, the machine-side display unit 86a does not display the work area acquisition status display icon 8604 (displays it dark). When area determination information (work area information) indicating that the field is irregular has been acquired, as shown in FIG. 23, the machine-side display unit 86a changes the display content and displays the work area information acquisition status display icon 8604.

In addition, as shown in FIG. 24, when the traveling vehicle body 2 is traveling autonomously, that is, when the automatic mode is being executed, the vehicle body display unit 86a displays the mode display icon 8605, and as shown in FIG. 25, when the traveling vehicle body 2 is in a state where autonomous traveling is possible, the mode display icon 8605 is displayed with its display content changed, and as shown in FIG. 26, when the traveling vehicle body 2 is in a state where autonomous traveling is not possible, the mode display icon 8605 is displayed in a darkened state and its display content is changed.

The machine-side display unit 86a also displays a screen for adjusting the seedling amount, as shown in FIG. 27. The screen for adjusting the seedling amount shown in FIG. 27 is displayed by switching from the main screen shown in FIG. 17, etc. The machine-side display unit 86a also displays a screen for adjusting the planting depth, as shown in FIG. 28. The screen for adjusting the planting depth shown in FIG. 28 is displayed by switching from the main screen shown in FIG. 17, etc.

<Another example of obtaining work area information>
Fig. 29 is a diagram showing another example of acquiring work area information in the teaching mode. As shown in Fig. 29, in this example of acquiring work area information in the teaching mode, the control device 100 (see Fig. 3) erases the latest information (position information Pa4) one by one from among the position information _Pa1 to _Pa4 of points acquired in the process of recognizing the work area by operating the remote control device 160 (see Fig _{. 7} ) or the seedling transplanter 1 side.

Until now, if an error was made during the work area recognition process, there was no way to correct the mistake, and the only way was to reset the acquired work area information. However, by configuring it in this way, corrections can be made during the work area recognition process.

The position information _Pa4 of the point acquired in the process of recognizing the work area may be erased by simultaneously pressing at least two or more operation buttons of the remote control device 160. By configuring in this way, it is possible to prevent erroneous operation. Also, for example, by pressing a dedicated button on the seedling transplanter 1, a confirmation information screen of the position information of the point may be displayed on the machine side display unit 86a (see FIG. 3), and the position information _Pa4 of the point acquired in the process of recognizing the work area may be erased by using a jog dial or the like when the confirmation information screen is displayed. By configuring in this way, it is possible to prevent erroneous operation.

<Standing steering assist mechanism>
30 and 31 are diagrams showing the standing steering assist mechanism. In the seedling transplanter 1, for example, when seedlings are loaded in the seedling tank 53 (see Figs. 1 and 2), the operator may steer while standing on the floor step 33. As shown in Fig. 30, by providing a recess 33a on the floor step 33 into which the operator can place his/her feet, the operator who stands while steering can brace himself/herself on the floor step 33, thereby improving safety.

As shown in FIG. 31, a guard section 33b is provided on the floor step 33, and its tip protects the worker's waist, preventing the worker from being thrown off the machine (seedling transplanter 1), thereby improving safety.

The above-described embodiment realizes the following work vehicle 1.

(1) A work vehicle 1 comprising a traveling body 2 having traveling wheels (front wheels 10, rear wheels 11) including a steering wheel and capable of traveling within a field, a steering device 95 for steering the steering wheels (front wheels 10), and a control device 100 for controlling the steering device 95 and causing the traveling body 2 to travel autonomously, the control device 100 having a first mode in which the traveling body 2 can travel autonomously and a second mode in which the traveling body 2 can be manually traveled by an operator, and in the first mode having an automatic mode in which the steering device 95 is automatically controlled, and a remote control mode in which the steering device 95 is controlled based on remote operation by the operator.

With such a work vehicle 1, in the first mode in which the traveling body 2 can travel autonomously, by having an automatic mode and a remote control mode, for example, the traveling body 2 can be moved in the remote control mode from outside the field to a work start point within the field. This improves workability by eliminating the hassle of a worker having to manually (operate the machine) move the traveling body 2 and then walk through the field to get out of the field.

(2) In the above (1), the work vehicle 1 is equipped with a remote control device 160 that is operated by an operator when the remote control mode is being executed and transmits an operation signal to the control device 100, and the control device 100 stops the autonomous traveling of the traveling vehicle body 2 while the remote control mode is being executed and only accepts vehicle operation by the operation signal from the remote control device 160.

In addition to the effect of (1) above, such a work vehicle 1 allows remote operation by the remote control device 160 in the remote operation mode. In this case, since autonomous driving is stopped, unintended driving of the traveling vehicle body 2 can be prevented during remote operation by the remote control device 160, thereby improving safety.

(3) In the above (1) or (2), the control device 100, in the automatic mode, drives the traveling body 2 while repeatedly moving straight and turning along a predetermined planned traveling route L, and even while the automatic mode is being executed, when the traveling body 2 reaches a point where it starts to turn, the work vehicle 1 transitions to the remote control mode.

In addition to the effects of (1) or (2) above, such a work vehicle 1 switches to remote control mode when the traveling body 2 approaches a ridge even while in automatic mode, so that autonomous traveling stops at the edge of the ridge, making it possible, for example, to replenish work materials at the edge of the ridge.

(4) In any one of (1) to (3) above, the work vehicle 1 is provided with a remote control device 160 that is operated by an operator when the remote control mode is executed and transmits an operation signal to the control device 100, and when the control device 100 transitions to the remote control mode, the control device 100 transitions to the remote control mode based on the operation signal from the remote control device 160.

In addition to any one of the effects (1) to (3) above, such a work vehicle 1 can switch to the remote control mode by operating the remote control device 160, thereby preventing erroneous operation and thereby improving safety.

(5) In any one of (1) to (4) above, a work vehicle 1 includes a remote control device 160 that is operated by an operator when a remote operation mode is being executed and transmits an operation signal to the control device 100, and a work implement 4 that is attached to the traveling vehicle body 2 and performs work in a field, the work implement 4 has a soil leveling rotor 63 that levels the soil surface in the field, and is a seedling planting unit 4 that plants seedlings in the soil surface leveled by the soil leveling rotor 63, and the control device 100 controls the seedling planting unit 4 and operates each unit including the seedling planting unit 4 based on an operation signal sent from the remote control device 160 to the control device during execution of the automatic mode.

In addition to any one of the effects (1) to (4) above, such a work vehicle 1 can accept remote control from the remote control device 160 even in the automatic mode, and each section, including the seedling planting section 4, can be operated remotely while the automatic mode is running, thereby improving workability.

(6) In the above (5), the control device 100 does not accept an operation signal related to the steering device 95 from the remote control device 160 to the control device while the automatic mode is being executed.

In addition to the effect of (5) above, with such a work vehicle 1, while the automatic mode is being executed, no operation signal related to the steering device 95 from the remote control device 160 is accepted, i.e., no operation of the steering device 95 from the remote control device 160 is accepted, thereby preventing erroneous operation during driving.

(7) In the above (5) or (6), the control device 100 performs various adjustments including starting, stopping and pausing the traveling body 2, the speed of the traveling body 2, the amount of seedlings and planting depth in the seedling planting section 4, the hydraulic sensitivity in the seedling planting section 4, turning the seedling planting section 4 on and off, and the height of the soil leveling rotor 63, in response to operation signals sent from the remote control device 160 to the control device while the automatic mode is being executed, in the work vehicle 1.

In addition to the effects of (5) or (6) above, such a work vehicle 1 allows various adjustments to be made remotely while the automatic mode is running, improving workability.

(8) In the above (7), the control device 100, in the automatic mode, drives the traveling body 2 while repeatedly moving straight and turning along a predetermined planned traveling route L, and even while the automatic mode is being executed, when the traveling body 2 reaches a point where it starts turning, the control device 100 switches to a remote control mode, and when the traveling body 2 reaches a point where it ends turning while the automatic mode is being executed, the control device 100 returns the seedling amount and planting depth in the seedling planting unit 4, the hydraulic sensitivity in the seedling planting unit 4, the on/off of the seedling planting unit 4, and the height of the soil leveling rotor 63 to the preset reference values, the work vehicle 1.

In addition to the effect of (7) above, with such a work vehicle 1, if the vehicle's straight-line movement and turning are treated as one process, by returning the value changed in the previous process to the reference value when moving to the next process, various adjustments according to the next process can be easily made, improving workability.

(9) In the above (8), the work vehicle 1 includes a control unit 41 into which a worker rides, a display unit 86 arranged on the control unit 41, and a setting unit 87 arranged on the control unit 41, the display unit 86 displays a setting screen for the reference value, and the setting unit 87 accepts the setting operation of the reference value by the worker.

In addition to the effect of (8) above, with such a work vehicle 1, the seedling amount and planting depth in the seedling planting section 4, the hydraulic sensitivity in the seedling planting section 4, the on/off of the seedling planting section 4, and the reference values for the height of the soil leveling rotor 63 can be set using the control section 41, making the setting operations easy.

(10) In any one of (5) to (9) above, the control device 100 performs various adjustments including steering the steering wheels (front wheels 10) using the steering device 95, moving the traveling body 2 forward, backward, and stopping, and turning the seedling planting unit 4 on and off, in response to an operation signal sent to the control device from the remote control device 160 while the remote operation mode is being executed, in a work vehicle 1.

In addition to any one of the effects (5) to (9) above, such a work vehicle 1 allows various adjustments to be made remotely while the remote operation mode is in progress, improving workability.

(11) In any one of (1) to (10) above, the control device 100 has a manual mode in the second mode in which the operator manually operates the vehicle, including steering and gear shifting, and the control device 100 further has a teaching mode in which field information is acquired by driving the traveling body 2 in the manual mode in the field in which work is to be performed, and if it is determined in the teaching mode that the field in which work is to be performed is not rectangular, the work vehicle 1 transitions to the manual mode after driving the traveling body 2 in an area in which autonomous driving is possible in the automatic mode.

In addition to any one of the effects (1) to (10) above, such a work vehicle 1 can achieve the following effects: if the field on which work is to be performed is not rectangular (for example, an irregularly shaped field such as an L-shape), the automatic mode is executed in rectangular areas where the traveling body 2 can travel autonomously, and the manual mode is executed in areas other than those where the traveling body 2 can travel autonomously. This allows work to be performed efficiently by combining the automatic mode and the manual mode, even on irregularly shaped fields.

(12) In any one of (1) to (11) above, the work vehicle 1 includes a remote control device 160 that is operated by an operator when a remote operation mode is being executed and transmits an operation signal to the control device 100, the running wheels include a pair of left and right front wheels 10 and a pair of left and right rear wheels 11, the control device 100 has a four-wheel drive mode in which both the pair of left and right front wheels 10 and the pair of left and right rear wheels 11 are driven, and when the automatic mode is being executed, the work vehicle 1 transitions to the four-wheel drive mode based on the operation signal from the remote control device 160.

In addition to any one of the effects (1) to (11) above, with this type of work vehicle 1, for example, if the traveling body 2 becomes stuck in deep soil while the automatic mode is being executed, the traveling body 2 can be extricated from the deep soil by forcibly switching to four-wheel drive by executing the four-wheel drive mode through the operation of the remote control device 160.

It is also possible to attach a rotating shaft to the front of the robotic rice transplanter and attach a distance sensor to the shaft, or to rotate the rotating shaft clockwise when the handle is rotated clockwise, or to rotate the rotating shaft counterclockwise when the handle is rotated counterclockwise.

A rotating shaft is attached to the planting section of the robotic rice planter, and a distance sensor is attached to the shaft. Obstacle detection can be performed based on information from the distance sensor attached to the front when moving forward, and from the distance sensor attached to the rear when moving backward.

If the distance sensor detects an obstacle within 5 m, it may be configured to sound an alarm, or to display a pop-up on the meter panel if the distance sensor detects an obstacle within 5 m.

In addition, it is considered best to have the remote control display a warning if the distance sensor detects an obstacle within 5 m.

If the distance sensor detects an obstacle within 2 meters, it will stop the vehicle, and when an obstacle is detected within 2 meters and the vehicle is stopped, an alarm will sound.

It may be configured to display a pop-up on the meter panel when an obstacle is detected within 2 m and the vehicle is stopped, or to display a warning on the remote control when an obstacle is detected within 2 m and the vehicle is stopped.

A rotating shaft is attached to the front of the robotic rice transplanter, and a stereo camera is attached to the shaft. When the handle is rotated clockwise, the shaft to which the camera is attached can be rotated clockwise. When the handle is rotated counterclockwise, the shaft to which the camera is attached can also be rotated counterclockwise.

The system is designed to rotate the axis of rotation only when the angle of the handlebars changes by a certain amount or more. Obstacle detection is performed based on information from a camera mounted on the front when moving forward, and from a camera mounted on the rear when moving backward.

Calculate the distance to the obstacle using the following formula: Z = (B x f) / D
Here, Z: distance to obstacle, B: distance between cameras, f: focal length, D: parallax. If the distance sensor detects an obstacle within 5 m, an alarm will sound, and if the distance sensor detects an obstacle within 5 m, a pop-up will be displayed on the meter panel.

If the distance sensor detects an obstacle within 5 m, a warning may be displayed on the remote control. Also, if the distance sensor detects an obstacle within 5 m, the remote control displays the acquired image and displays the obstacle in a yellow frame (WK).

If the distance sensor detects an obstacle within 2 meters, the vehicle can be stopped. When an obstacle is detected within 2 meters and the vehicle is stopped, an alarm can be sounded. Also, when an obstacle is detected within 2 meters and the vehicle is stopped, a pop-up can be displayed on the meter panel.

When an obstacle is detected within 2 m and the vehicle is stopped, a warning may be displayed on the remote control. Also, when an obstacle is detected within 2 m and the vehicle is stopped, the remote control may display the acquired image and display the obstacle surrounded by a red frame (WK).

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

If the field entrance/exit is on both sides of the supply side, the configuration may be such that the round trip can begin from a position close to the end position of the teaching run. In addition, when the robot starts running, it can first scan the cultivated soil depth within the turning range, and generate a route that does not turn at points deeper than a certain level. In addition, when running on the second teaching side, it can scan the cultivated soil depth with an ultrasonic sensor, and generate a route that does not turn around points deeper than a certain level.

In addition, when the robotic rice transplanter detects a worker within the warning area, it displays on the monitor that the worker is entering the warning area. It warns, "A person is approaching. Please be careful."

The effectiveness of the auto-differential that is activated when turning can be judged without GNSS, based on whether the rotation pulse of the rear wheel on the inside of the turn is above a certain level. In addition, the steering is optimized while evaluating the automatic driving trajectory. In fields where the vehicle makes wide turns (understeer), the steering can be adjusted to be slightly oversteered, and in the opposite case, the steering can be adjusted to be slightly understeered.

1. Work vehicle (seedling transplanter)
2 Traveling vehicle body 4 Working machine (seedling planting section)
10. Driving wheels (steering wheels, front wheels)
11 Running wheels (rear wheels)
41: Control unit 63: Ground leveling rotor 86: Display unit 87: Setting unit 95: Steering device 100: Control device 160: Remote control device L: Planned travel route

Claims (4)

A traveling vehicle body having traveling wheels including steering wheels and capable of traveling in a farm field;
a steering device that steers and drives the steering wheels;
a control device that controls the steering device and causes the traveling vehicle body to travel autonomously;
The control device includes:
A first mode allows the traveling vehicle body to travel autonomously, and a second mode allows the traveling vehicle body to be manually traveled by an operator,
an operating device that is operated by an operator and transmits an operating signal to the control device;
A work vehicle characterized in that, in the first mode, when an obstacle that hinders the autonomous driving is close to the vehicle or when the vehicle is stopped by an obstacle, the acquired image is displayed on the operating device. The work vehicle according to claim 1, characterized in that the acquired image is displayed on the operating device so as to show the location of the obstacle. The work vehicle according to claim 1 or 2, characterized in that the display state showing the location of the obstacle changes depending on the distance between the obstacle and the vehicle. The work vehicle according to claim 1, characterized in that the first mode has an automatic mode in which the steering device is automatically controlled, and a remote control mode in which the steering device is controlled based on remote control by an operator.