JP7537558B2 - Work vehicles - Google Patents

Description

The present invention relates to a work vehicle.

Conventionally, some work vehicles that perform work while traveling within a field are equipped with a position information acquisition device that acquires the vehicle's position information using a satellite positioning system, and perform autonomous traveling using a control device based on the position information acquired by the position information acquisition device.

Such a work vehicle is equipped with an antenna frame that supports a position information acquisition device and a position information receiving antenna that receives position information (signals) transmitted from a satellite by the position information acquisition device (see, for example, Patent Document 1).

JP 2020-162454 A

By the way, a work vehicle that performs work while traveling in a farm field may further be equipped with a receiver having an operation signal receiving antenna that receives an operation signal transmitted from a remote device in order to remotely operate the work vehicle using the remote device.

However, in conventional work vehicles such as those described above, because a remote device is placed on the vehicle body and a receiver and an operation signal receiving antenna are added in addition to the position information device and position information receiving antenna, the amount of wiring required to connect each receiving antenna, each device, and each control device increases, making the wiring complicated and deteriorating the vehicle layout.

The present invention has been made in consideration of the above, and aims to provide a work vehicle in which the remote device can be placed in a position that does not interfere with the work of the worker, multiple receiving antennas can be consolidated, and the complexity of wiring is reduced, allowing the vehicle layout to be maintained in a good condition.

In order to solve the above-mentioned problems and achieve the object, a work vehicle (1) according to the present invention comprises a control device (100) that controls a traveling body (2), a remote device (160) that can remotely operate the traveling body (2) by transmitting an operation signal to the control device (100), and a receiver that is provided on the traveling body (2) and receives the operation signal transmitted from the remote device (160), the remote device (160) has a remote device-side display unit (86b) that can display various information and an operation unit that is arranged on the remote device (160), and a remote device holder (170) that is provided on the traveling body (2) and supports the remote device (160), the remote device holder (170) exposes the remote device-side display unit (86b) when the remote device (160) is in a supported state ,
a position information acquisition device (150) provided on the traveling vehicle body (2) for receiving positioning information transmitted from a satellite positioning system by a position information receiving antenna (151) and acquiring position information of the traveling vehicle body (2);
An antenna frame (59) is provided to support the position information acquisition device (150) at a predetermined position,
A receiver (140) for receiving the operation signal transmitted from the remote device (160), a receiving antenna (141) of the receiver (140), and the remote device holder (170) are supported by the antenna frame (59);
The antenna frame (59)
A support (593) is disposed above the traveling vehicle body (2) and supports the position information acquisition device (150),
The support (593) is
A space is formed by a bent portion at the rear of the support (593), and a receiving antenna (141) of the receiver (140) is disposed in the space;
The antenna frame (59)
It is formed of a pipe-shaped frame member (591), and the wiring connecting the receiver (140) and the receiving antenna (141) of the receiver (140) is routed through the inside of the frame member (591) .

According to the work vehicle of the present invention, a worker working on the traveling vehicle body can visually confirm the remote device side display unit (86b). In addition, multiple receiving antennas can be consolidated, which reduces the complexity of wiring arrangement and maintains a good vehicle body layout.

FIG. 1 is a schematic left side view showing an example of a work vehicle according to an embodiment. FIG. 2 is a schematic plan view showing an example of a work vehicle according to an 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 shows the mode configurations implemented by the controller. FIG. 6 is a diagram showing an example of work area information acquisition in the teaching mode. FIG. 7 is a schematic perspective view showing the antenna frame and the position information acquisition device. FIG. 8 is a schematic side view showing the position information acquisition device and the operation signal receiving antenna. FIG. 9 is an explanatory diagram of a remote control device. FIG. 10 is a schematic perspective view showing the remote control holder. FIG. 11 is a schematic front view showing the arrangement of the remote control holder. FIG. 12 is a schematic side view showing the arrangement of the remote control holder. FIG. 13 is a diagram showing an example of a connection configuration of a partial-row clutch.

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 operator's seat 41a (described below) to the steering wheel (hereinafter referred to as the "handle") 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-back 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 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 of the traveling vehicle body 2, which, together with the seedling planting unit 4, serves as the working equipment of the seedling transplanter 1. The fertilizer applicator 5 spreads fertilizer in the field. Note that if the work vehicle 1 is not the seedling transplanter 1, it may be equipped with a sowing device that supplies seeds or the like as a working equipment.

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 lift links 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 lift 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 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 running 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 of the handle 35 (see FIG. 3), 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 that houses the engine 30 is provided in front of the floor step 33 of the traveling vehicle body 2. A control panel 38 is provided at the rear of the bonnet 39. The control panel 38 is provided with a meter panel 45 (see FIG. 7) and a display unit (body-side display unit) 86a that displays various information. In addition, a handle 35 is provided in an upright position at the rear of the bonnet 39.

The bonnet 39 is also provided with a handlebar 35 for steering the traveling vehicle body 2, a main 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, handlebar 35, main speed change lever 36, and auxiliary speed change lever 37 form the operator's section 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 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 is a planting device 55 that scrapes seedlings from the loaded seedling mats and plants them in the field.

The 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 rotary (rotary case) 57 is 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 Figs. 1 and 2, the seedling transplanter 1 is also equipped with a position information acquisition device 150. The position information acquisition device 150 acquires the current position (and orientation) of the seedling transplanter 1. The position information acquisition device 150 acquires the current position (and orientation) of the seedling transplanter 1 by using a satellite positioning system such as the Global Positioning System (GPS) or the Global Navigation Satellite System (GNSS). Note that the position information acquisition device 150 may be composed of multiple devices.

The position information acquisition device 150 receives positioning information, for example, from a satellite positioning system, 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 information acquisition device 150 is attached to an antenna frame 59, which will be described later, and is positioned 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 information acquisition device 150, are stored in different locations. The straight-line control program is stored, for example, in a straight-line control ECU (Electronic Control Unit) in the position information 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 section having a central processing unit (CPU) or the like, a storage section such as a read only memory (ROM) and a random access memory (RAM), and further an input/output section, which are connected to each other and capable of transmitting signals to each other. The storage section stores a computer program for controlling the seedling transplanter 1, and the like. The control device 100 performs each function by reading out the computer program stored in the storage section.

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 main 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 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 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 driving 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 an operation 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 operation 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 operation 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 riding in 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 driving mode, the remote control mode, or the manual driving mode is being executed.

The display unit 86 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. For example, the display unit 86 displays a setting screen for reference values for the seedling amount and planting depth in the seedling planting unit 4, the hydraulic sensitivity in the seedling planting unit 4, the on/off state of the seedling planting unit 4, and the height of the soil leveling rotor 63. The operation 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 operation unit 87.

A remote control device 160 is also connected to the control device 100 so that they can communicate with each other, and various information is input from the remote control device 160. Various information is input from the remote control device 160 to the control device 100 via a receiver 140 (see FIG. 7). The receiver 140 is attached to the antenna frame 59, for example. The receiver 140 is disposed, for example, on the front side of the traveling vehicle body 2. Note that multiple receivers 140 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 may be configured to transmit position information of the remote control device 160 from a satellite positioning system such as GPS or GNSS to the control device 100. In this case, the control device 100 calculates the distance between the remote control device 160 and the traveling vehicle body 2 and the orientation of the remote control device 160 relative to the traveling vehicle body 2 based on the position information of the remote control device 160 and the position information of the traveling vehicle body 2.

The remote control device 160 includes a remote control side display unit 86b and a remote control side operation unit 87b that constitute the display unit 86. Details of the remote control device 160 will be described later with reference to FIG. 9.

In this way, the current position information of the traveling vehicle body 2 and the like are input from the position information 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 travel mode, described later, in which the traveling vehicle body 2 travels autonomously while performing work.

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

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

When in the automatic driving mode, the control device 100 causes the traveling vehicle body 2 to travel autonomously. During autonomous driving, the control device 100 controls the direction of travel of the traveling vehicle body 2 by controlling the steering wheel 35. During autonomous driving, 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 driving, the control device 100 may control the speed of the traveling vehicle body 2 by performing a brake operation.

As shown in FIG. 4, in the automatic driving mode, the seedling transplanter 1 automatically performs seedling planting work in the field while repeatedly moving straight and turning along the planned driving 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 by using the position information acquisition device 150 (see FIG. 1) arranged 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 motor 95a (see FIG. 3) 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. Also, 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 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 information acquisition device 150 while the seedling transplanter 1 is turning.

After turning automatically, the control device 100 controls the steering motor 95a so that 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 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 motor 95a based on the comparison result.

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

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

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

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 driving mode and a remote control mode in the autonomous driving mode, for example, the traveling vehicle 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 an operator operating the machine to move the traveling vehicle body 2 and then walking through the field to get out of the field.

When the control device 100 does not receive an operation signal from the remote control device 160 for a predetermined period of time while the remote control mode is in operation, the control device 100 switches to the manual driving mode. This prevents the remote control mode from being used for a long period of time, improving safety.

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

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

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

Figure 6 is a diagram showing an example of obtaining work area information in teaching mode. As shown in Figure 6, when the work area information indicates that the field F on which work is to be performed is not rectangular, for example, has an irregular shape such as an L-shape, 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-line travel paths L01 to L03 of the traveling vehicle body 2, and determines from the determination result that the field is not rectangular.

If the control device 100 determines in 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 automatic traveling mode, and then transitions to manual traveling mode. Note that 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 L01 to L05.

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 driving mode is executed in the rectangular area A1 where the traveling vehicle body 2 can travel autonomously, and the manual driving 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 driving mode and the manual driving 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.

Note that when teaching using two sides, full automatic turning is not performed on both ridges (sides). Also, when teaching using two sides, as with the teaching using three sides described above, it is necessary to use the remote control device 160 to operate the traveling vehicle body 2 forward to the edge of the ridge and stop it.

In addition, in 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 travel mode is switched to remote control mode. If the fourth side (including the top side with a concave edge) in a concave field is irregular, the traveling vehicle can be stopped (parked) to switch to remote control mode in response to the irregular shape around the center of the field, and turning can be performed by operating the remote control device 160.

Returning to FIG. 5, 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, putting the vehicle into 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) become stuck deep in the soil surface, it is possible for the running vehicle body 2 to escape from the soil surface.

When the automatic driving mode is being executed, the control device 100 transitions to the four-wheel drive mode, for example, 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 driving mode is being executed, the traveling vehicle body 2 can be forced into four-wheel drive by executing the four-wheel drive mode through operation from the remote control device 160, thereby allowing the traveling vehicle body 2 to escape from the deep soil.

The variable fertilization mode is a mode in which the amount of fertilizer applied by the fertilizer application device 5 (see FIG. 1) is adjusted based on field information including the fertility of the field, the water temperature of the field, and the water depth of the field. The variable fertilization mode has a remote fertilization mode and a manual fertilization mode. In the remote fertilization mode, the amount of fertilizer applied can be adjusted based on remote operation by an operator using the remote control device 160. In the manual fertilization mode, an operator or the like can directly adjust the amount of fertilizer applied manually. In this way, by having the remote fertilization mode in addition to the manual fertilization mode, variable fertilization (remote fertilization mode) can be performed from the remote control device 160 as well, improving workability.

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

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

The frame member 591 is a pipe-shaped member that forms the antenna frame. As shown in FIG. 8, the wiring W that connects the receiver 140 and the operation signal receiving antenna 141 is routed through the inside of the frame member 591. In this way, the wiring W of the operation signal receiving antenna 141 is inserted and routed through the inside of the pipe-shaped frame member 591, thereby protecting the wiring W and preventing breakage of the wiring W.

As shown in FIG. 7, the connection frame 592 is a frame member that connects with the control unit 41 (see FIG. 1), and is also a member in which the receiver 140 is provided to receive operation signals from the remote control device 160 (see FIG. 3). The connection frame 592 has left and right frames 592a and an intermediate frame 592b that connects the left and right frames 592a in the left-right direction. It is preferable that the receiver 140 is attached to the intermediate frame 592b.

In addition, a remote control holder 170 is provided on one of the left and right frames 592a (for example, the right frame 592a) to store the remote control device 160 when not in use. The remote control holder 170 is positioned on either the left or right side of the handlebars 35 (for example, the right side), and above the bonnet 39. The remote control holder 170 is also positioned below the aircraft side display unit 86a. In this way, the remote control holder 170 is positioned in a position that does not interfere with the operator's work (piloting, etc.).

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

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

In this way, since the operation signal receiving antenna 141 is supported by the antenna frame 59 that supports the position information acquisition device 150, the operation signal receiving antenna 141 and the position information acquisition device 150 (position information receiving antenna 151) can be consolidated. By consolidating multiple receiving antennas in this way, the complexity of the wiring for connecting each receiving antenna, each device, and the control device can be reduced, and the aircraft layout can be maintained in a good condition.

In addition, since the operation signal receiving antenna 141 is placed at a high position, good reception sensitivity can be maintained.

The operation signal receiving antenna 141 is also positioned within the left-right width of the floor step 33 when viewed from the front of the aircraft. Specifically, the operation signal receiving antenna 141 is positioned above the bonnet 39 and within the left-right width of the bonnet 39 when viewed from the front of the aircraft. As shown in FIG. 8, the operation signal receiving antenna 141 is also positioned adjacent to the position information acquisition device 150 and behind the position information acquisition device 150 when viewed from the side of the aircraft.

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

In addition, the operation signal receiving antenna 141 fits within the left-right width of the bonnet 39 and does not protrude to either the left or right side of the aircraft, further reducing contact between the operation signal receiving antenna 141 and objects outside the aircraft.

In addition, the operation signal receiving antenna 141 and the location information acquisition device 150 (location information receiving antenna 151) can be consolidated, making it easier to route the wiring W and improving the appearance.

<Remote control device>
Next, the remote control device 160 will be described with reference to Fig. 9. Fig. 9 is an explanatory diagram of the remote control device 160, showing a display surface and an operation surface provided on the same surface of the remote control device 160. As described above, the remote control device 160 is capable of wireless communication with the control device 100 (see Fig. 3), and is capable of changing the running mode (mode) of the machine (seedling transplanter 1), remotely operating the machine, changing the settings of the machine, etc., by accepting operations by the operator.

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

The remote control side display unit 86b is, for example, an LCD screen, and displays, for example, an opening screen, a home screen (top screen), a driving mode switching screen (mode screen), a menu screen, a remote control setting screen, a pairing screen, 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. 9, the remote control side operation unit 87b has, for example, a mode switching operation device (driving mode button) 8701 for switching between the automatic driving mode and the remote control 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 driving 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 driving of the traveling vehicle body 2, and a pause operation device (pause button) 8712 for temporarily suspending the autonomous driving of the traveling vehicle body 2.

Of these, the gearshift operating devices 8702, 8708 include a first gearshift operating device (forward button) 8702 that increases the speed of the traveling body 2 and moves the traveling body 2 forward, and a second gearshift operating device (reverse button) 8708 that decreases the speed of the traveling body 2 and moves the traveling body 2 backward.

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

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

The bottom plate 172 is a rectangular plate and forms the bottom surface of the remote control holder 170. The back plate 173 is a rectangular plate and forms the bottom surface of the remote control holder 170. In addition, the back plate 173 is provided with a cushion member 174 that reduces vibrations of the remote control device 160 and impacts on the remote control device 160 when the remote control device 160 is stored.

As shown in FIG. 10, the remote control holder 170 exposes the remote control side display 86b when the remote control device 160 is stored. By exposing the remote control side display 86b in this manner, the worker can view the remote control side display 86b when the remote control device 160 is stored in the remote control holder 170.

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

Specifically, as described above, the remote control holder 170 is positioned on either the left or right side of the handlebars 35 (for example, on the right side), and above the bonnet 39 (see FIG. 7). The remote control holder 170 is also positioned below the aircraft side display unit 86a (see FIG. 7). This allows the remote control holder 170 to be positioned in a location that does not interfere with the operator's work (piloting, etc.), and when the remote control device 160 is stored, the remote control holder 170 can be positioned in a location where the operator can see the remote control side display unit 86b.

As shown in FIG. 12, the operation signal receiving antenna 141 may be disposed in front of the location information acquisition device 150.

Also, as shown in Figs. 11 and 12, a notification light 190 is provided on either the left or right frame member 591 of the antenna frame 59. The notification light 190 is attached to the right frame member 591, for example, by being supported by the support member 191. The notification light 190 is disposed, for example, at a position inside the aircraft body of the right frame member 591 (the left side of the right frame member 591). In addition to notifying of aircraft abnormalities and obstacle detection, the notification light 190 notifies the operator, etc. of the type of mode currently being executed (automatic driving mode, remote control mode, manual driving mode, etc.) by changing the color and position of the light that is lit.

<Example of remote control device display>
In the remote control device 160, the remote control side display unit 86b displays, for example, information on whether the traveling vehicle body 2 (see Figs. 1 and 2) is currently capable of autonomous driving, information on whether the traveling vehicle body 2 is currently autonomous driving, information on whether the traveling vehicle body 2 is currently capable of remote control, information on whether the traveling vehicle body 2 is currently being remote controlled, etc. In this way, by displaying various pieces of information on the remote control side display unit 86b, the worker can easily grasp this information, and workability can be improved.

In addition, the remote control side display unit 86b of the remote control device 160 can also display various information on the partial row clutch (also called the ridge clutch) 180, which drives and controls the planting device 55 of the seedling planting unit 4 (see Figure 1).

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

As shown in FIG. 13, the seedling transplanter 1 (see FIG. 1 and FIG. 2) includes a command unit 181, a partial row clutch 180, a command unit 181, a drive unit 182, an on/off mechanism 183, and the control device 100 described above.

In the seedling transplanter 1, the multiple planting devices 55 are lined up in the left-right direction of the traveling body 2 (see Figures 1 and 2). For example, the planting devices 55 are lined up in the order of the first planting device 55, the second planting device 55, the third planting device 55, and the fourth planting device 55 from the left.

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

That is, the first planting device 55 plants rows 1 and 2 from the left, the second planting device 55 plants rows 3 and 4, the third planting device 55 plants rows 5 and 6, and the fourth planting device 55 plants rows 7 and 8.

There are four partial row clutches 180, corresponding to the first planting device 55 to the fourth planting device 55, and they are lined up in the left-right direction. For example, the partial row clutches 180 are lined up in the order of the first partial row clutch 180, the second partial row clutch 180, the third partial row clutch 180, and the fourth partial row clutch 180 from the left.

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

There are four indicators 181 corresponding to the first partial thread clutch 180 to the fourth partial thread clutch 180, and they are lined up, for example, in the left-right direction. For example, the indicators 181 are lined up in the order of the first indicator 181, the second indicator 181, the third indicator 181, and the fourth indicator 181 from the left.

The first instruction unit 181 to the fourth instruction unit 181 are input to the control device 100, which operates the drive unit 182 and the on/off mechanism 183 to issue on/off instructions to the first partial thread clutch 180 to the fourth partial thread clutch 180 that have been set, respectively.

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

The remote control device 160 (see FIG. 9) can turn on and off the four partial row clutches 180 in order, starting with the first partial row clutch 180 corresponding to the first planting device 55 located at one of the left and right ends, on the remote control side operation unit 87b (see FIG. 9). The remote control device 160 also displays the on/off states of the four partial row clutches 180 on the remote control side display unit 86b (see FIG. 9).

In this way, the remote control device 160 can remotely turn on and off the four partial-row clutches 180, and the on/off states of the four partial-row clutches 180 can be confirmed on the remote control display unit 86b, improving operability.

In addition, in the seedling transplanter 1 according to the embodiment described above, the remote operation mode using the remote control device 160 is automatically switched to the manual driving mode, and when a predetermined time has elapsed since the last operation of the remote control device 160 while the remote operation mode is being executed, the mode is automatically switched to the manual driving mode. After switching to the manual driving mode, a message is displayed on the remote control side display unit 86b to notify the user that the mode has been switched to the manual driving mode.

In addition, when the automatic driving mode is being executed, if the traveling vehicle body 2 is moving forward, the remote control device 160 is regulated so that the deceleration operation cannot cause the traveling vehicle body 2 to decelerate until it stops (stops) or moves backwards, and when the automatic driving mode is being executed, the remote control device 160 is regulated so that the speed increase operation cannot cause the traveling vehicle body 2 to decelerate until it stops (stops) or moves forwards.

In addition, in the remote operation mode using the remote control device 160, it is possible to adjust the seedling removal amount, planting depth, rotor height, and hydraulic sensitivity. In addition, the remote control side display unit 86b of the remote control device 160 can display the current setting values and correction values of each function. In addition, various modes can be changed from the remote control device 160.

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

In addition, if an operation that is part of a simultaneous press pattern continues for a predetermined time (e.g., 3 seconds) or more, remote control device 160 determines that remote control device 160 has failed.In addition, if an operation that is not part of a simultaneous press pattern continues for a predetermined time (e.g., 10 seconds) or more, remote control device 160 determines that remote control device 160 has failed.

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

If a limit switch (second seedling reduction switch) is further provided at a position where the seedling remaining amount in the seedling tank 53 is 1.2 sheets, and the first seedling reduction switch is pressed and the second seedling reduction switch is not pressed during execution of the manual driving mode, the control device 100 will display, for example, a pop-up display on the machine side display unit 86a, indicating that the seedlings need to be lowered to the planting position. Note that the pop-up display will not be cleared until the dial on the control panel 38 or the decision button 8706 on the remote control side operation unit 87b of the remote control device 160 is pressed.

In addition, when the automatic travel mode is being executed, if the first seedling reduction switch is pressed and the second seedling reduction switch is not pressed, the control device 100 automatically pauses the travel vehicle body 2 and displays, for example, a pop-up display on the vehicle body display unit 86a, a message indicating that the seedling planting unit 4 needs to be lowered to the planting position.

In addition, when the reference start point P1 or the reference end point P2 is erased from the remote control device 160, the operation of erasing the reference start point P1 or the reference end point P2 is displayed, for example, as a pop-up on the aircraft display unit 86a.

In addition, when the azimuth angle changes from a confirmed state to an uncertain state, the control device 100 also displays a pop-up on the machine-side display unit 86a to inform the user that the azimuth angle is unconfirmed and to prompt the user to move the machine forward or backward by 2 m. The seedling transplanter 1 also has a switch that, when turned OFF, will reject all communication with the remote control device 160, and when this switch is turned OFF, the control device 100 automatically switches the machine to manual driving mode, and displays a pop-up on the machine-side display unit 86a to request that the switch be turned ON if the machine is to be operated using the remote control device 160.

When the first seedling reduction switch is no longer pressed, the control device 100 automatically pauses the traveling body 2 and causes the machine-side display unit 86a to display a pop-up message indicating that the traveling body 2 has been paused due to a decrease in the remaining number of seedlings. When the traveling body 2 reaches the edge of a field, the control device 100 also pauses the traveling body 2, and in this case, if the second seedling reduction switch is not pressed, causes the machine-side display unit 86a to display a pop-up message indicating that seedlings need to be replenished.

When the control device 100 acquires the reference start point P1 while the teaching mode is being executed, the control device 100 causes the machine-side display unit 86a to display a pop-up to indicate that the reference start point P1 has been acquired. When the control device 100 acquires a sub-route when the planned travel route L is confirmed while the teaching mode is being executed, the control device 100 causes the machine-side display unit 86a to display a pop-up to indicate that the sub-route has been created.

In addition, when the teaching mode is being executed, the control device 100 performs a teaching operation, then transitions to the automatic driving mode and when the planned driving route L is finalized, it determines whether or not the area multiplied by the length of the planned driving route L by the number of rows can be driven with the current remaining fuel, and if driving is not possible (insufficient fuel), it rejects the operation to start the autonomous driving and displays a pop-up on the aircraft side display unit 86a indicating the need for refueling.

In this case, the control device 100 controls the vehicle so that autonomous driving cannot begin until the pop-up display is cleared. The control device 100 may also control the pop-up display so that it is not cleared until the dial on the operation panel 38 or the decision button 8706 on the remote control side operation unit 87b on the remote control device 160 is pressed, or may control the pop-up display so that it is not cleared until fuel is replenished.

In addition, if the fuel falls below a predetermined amount while the automatic driving mode or remote control mode is being executed, the control device 100 will temporarily suspend the autonomous driving and display a pop-up message on the aircraft side display unit 86a indicating a fuel shortage. In this case, the pop-up message will end when the fuel level reaches a certain level or the mode is switched to a driving mode other than the automatic driving mode or remote control mode.

In addition, when the automatic travel mode or remote operation mode is being executed, if the first seedling reduction switch is no longer pressed, the control device 100 automatically pauses the traveling body 2 and causes the machine-side display unit 86a to display a pop-up message indicating that the traveling body 2 has been paused due to a decrease in the remaining seedlings.In addition, when the automatic travel mode or remote operation mode is being executed, if the second seedling reduction switch is pressed and the first seedling reduction switch is not pressed, the control device 100 automatically pauses the traveling body 2 and causes the machine-side display unit 86a to display a pop-up message indicating that the seedling planting unit 4 needs to be lowered to the planting position.

In addition, when the control device 100 is in automatic driving mode or remote operation mode and a sensor that detects fertilizer clogging in the fertilizer hose discharge section detects fertilizer clogging in one or more fertilizer hoses, it automatically pauses the traveling vehicle body 2 and displays a pop-up on the vehicle body display unit 86a to inform the user that the traveling vehicle body 2 has been paused due to a fertilizer clogging. In this case, the pop-up display ends when the fertilizer clogging is no longer detected or when the mode is switched to a traveling mode other than the automatic driving mode or remote operation mode. In addition, the pop-up display ends when the first seedling reduction switch is detected or when the mode is switched to a traveling mode other than the automatic driving mode or remote operation mode.

The pop-up display will only be displayed when the seedling planting section is lowered and the planting clutch 27a is "on."

In addition, when the second fertilizer reduction switch detects fertilizer while the manual driving mode or teaching mode is being executed, but the first fertilizer detection switch, which detects fertilizer at a position different from the second fertilizer reduction switch, does not detect fertilizer, the control device 100 causes the machine-side display unit 86a to display a pop-up message indicating that the seedling planting unit 4 needs to be lowered to the planting position.In addition, when the second seedling reduction switch is pressed while the manual driving mode or teaching mode is being executed, but the first seedling reduction switch is not pressed, the control device 100 causes the machine-side display unit 86a to display a pop-up message indicating that the fertilizer is unevenly distributed and needs to be made uniform.

In addition, in the automatic driving mode, if the second fertilizer reduction switch does not detect fertilizer when the traveling vehicle body 2 starts autonomous driving after performing a ridge-pushing operation, the control device 100 rejects the start of autonomous driving and causes the machine-side display unit 86a to display a pop-up display indicating the need for fertilizer replenishment.In addition, in the automatic driving mode, if the second seedling reduction switch is not pressed when the traveling vehicle body 2 starts autonomous driving after performing a ridge-pushing operation, the control device 100 rejects the start of autonomous driving and causes the machine-side display unit 86a to display a pop-up display indicating the need for seedling replenishment.

In this case, the control device 100 controls the vehicle so that autonomous driving cannot begin until the pop-up display is cleared. The control device 100 may also control the pop-up display so that it is not cleared until the dial on the operation panel 38 or the decision button 8706 on the remote control side operation unit 87b on the remote control device 160 is pressed, or may control the pop-up display so that it is not cleared until seedlings or fertilizer are replenished.

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

In addition, the remote control device 160 has an emergency stop button that switches from automatic driving mode to manual driving mode and brings the traveling vehicle body 2 to an emergency stop, and when the emergency stop button is pressed, the control device 100 displays a pop-up on the vehicle side display unit 86a to indicate that the switches have been turned OFF due to an emergency stop of the traveling vehicle body 2.

In addition, if the traveling vehicle body 2 slips while traveling, the control device 100 detects the slip from the ratio of the rotation speed of the front wheels 10 and the left and right rotation speeds, automatically activates the differential lock function, and displays on the vehicle-side display unit 86a that the differential lock function is activated while the limit switch that confirms the activation of the differential lock function is pressed.In addition, if the traveling vehicle body 2 cannot escape from the slip, the control device 100 executes a forced four-wheel drive mode that engages the rear wheel clutch, and displays on the vehicle-side display unit 86a that the forced four-wheel drive mode is being executed and that the forced four-wheel drive mode is being executed.

In addition, while the forced four-wheel drive mode is being executed while the automatic driving mode or remote control mode is being executed, if slippage is not resolved even after rotating the wheels a specified number of times, the control device 100 automatically stops the traveling vehicle body 2 and switches to manual driving mode. In this case, the vehicle body display unit 86a displays that autonomous traveling has been stopped because slippage has not been resolved. In this case, the display flag becomes "0" after a specified time has elapsed.

In addition, if any abnormality occurs in the vehicle while the control device 100 is in the automatic driving mode or remote control mode, the control device 100 automatically pauses the traveling vehicle body 2 and causes the vehicle body display unit 86a to display that traveling has been stopped due to the detection of an abnormality. In this case, the pop-up display ends when the abnormality is no longer detected or when the mode is switched to a driving mode other than the automatic driving mode or remote control mode.

The control device 100 also prohibits transition to the automatic driving mode or remote control mode when the HST lever is not in neutral, and displays a pop-up on the aircraft display unit 86a urging the user to return the main transmission control lever 36 to neutral if an operation to transition to the automatic driving mode or remote control mode is performed while the HST lever is not in neutral.

The control device 100 also prohibits the sub-transmission lever 37 from switching to the automatic travel mode, remote control mode, or teaching mode when the sub-transmission lever 37 is in a state other than planting, and displays a pop-up on the machine-side display unit 86a urging the user to switch the sub-transmission lever 37 back to planting when an operation to switch to the automatic travel mode, remote control mode, or teaching mode is performed when the sub-transmission lever 37 is in a state other than planting.

The control device 100 also prohibits transition to the automatic driving mode or remote control mode when the parking brake pedal is operated, and displays a pop-up message on the aircraft-side display unit 86a urging the user to release the parking brake pedal if an operation to transition to the automatic driving mode or remote control mode is performed while the parking brake pedal is operated.

In this case, the control device 100 ends the pop-up display when the operation requested in the pop-up display is performed or when the mode is switched to a transferable mode. The control device 100 may also end the pop-up display by pressing the dial. The display flag becomes "0" after 5 seconds, when the operation requested in the pop-up display is performed or when the mode is switched to a transferable mode. Note that the control device 100 does not display the pop-up display on the aircraft side display unit 86a if it detects tilt of the aircraft.

In addition, when the handlebars 35, the main shift lever 36, or the sub-shift lever 37 are operated while the automatic driving mode or the remote control mode is in progress, the control device 100 automatically pauses the traveling vehicle body 2 and transitions to the manual driving mode, and displays on the vehicle body display unit 86a that the autonomous driving has been cancelled by the operation performed.

In addition, if the traveling vehicle body 2 deviates from the planned traveling route L or working area set in the teaching mode while the automatic traveling mode is being executed, the control device 100 automatically pauses the traveling vehicle body 2 and switches to the manual traveling mode, and displays on the vehicle body display unit 86a that the autonomous traveling has been canceled due to deviation from the planned traveling route L or working area.

In this case, the display flag will become "0" after 5 seconds, either when the traveling vehicle body 2 returns to the planned traveling route L or the working area, or when the traveling mode is switched to a traveling mode other than the automatic traveling mode.

In addition, when the control device 100 is in the teaching mode and the number of acquired points exceeds the number that can be acquired, or the number of routes to be created is insufficient, the control device 100 transitions to the manual driving mode and displays on the vehicle-side display unit 86a that a route cannot be created due to insufficient capacity. Note that the control device 100 stops displaying the fact that a route cannot be created due to insufficient capacity after a predetermined time has elapsed.

In addition, if the control device 100 remains in the remote control mode without any operation, it automatically switches to the manual driving mode after a predetermined time has elapsed, and displays on the aircraft side display unit 86a that no operation has been performed for the predetermined time.

In addition, the control device 100 causes the aircraft-side display unit 86a to display a message to the effect that an operation to confirm the azimuth angle should be performed if the azimuth angle changes from a confirmed state to an uncertain state. In addition, the control device 100 prohibits transition to the automatic driving mode or teaching mode when the azimuth angle is in a confirmed state, and causes the aircraft-side display unit 86a to display a message to the effect that an operation to confirm the azimuth angle should be performed if a button to change modes is pressed when the azimuth angle is in a confirmed state.

In this case, the display flag becomes "0" when the azimuth angle is determined, a predetermined time has elapsed, or the mode switches to remote control mode or manual driving mode.

The seedling transplanter 1 according to the embodiment described above is capable of adjusting the timing of water spraying by the planting cleaning device using the remote control device 160. The seedling transplanter 1 according to the embodiment described above is capable of adjusting the lateral feed amount of the seedlings in the seedling tank 53 using the remote control device 160. The seedling transplanter 1 according to the embodiment described above is capable of changing the seedling supply level of the seedling tank 53 using the remote control device 160.

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

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

(1) A work vehicle 1 including a traveling body 2 capable of traveling within a field, a work machine (seedling planting unit) 4 mounted on the traveling body 2 and performing work within the field F, a position information acquisition device 150 mounted on the traveling body 2 and receiving position information transmitted from a satellite positioning system by a position information receiving antenna 151 to acquire position information of the traveling body 2, an antenna frame 59 supporting the position information acquisition device 150 at a predetermined position, a control device 100 that causes the traveling body 2 to travel autonomously based on the position information acquired by the position information acquisition device 150, a remote control device 160 that can remotely control the traveling body 2 by transmitting an operation signal to the control device 100, a receiver 140 mounted on the traveling body 2 and receiving an operation signal transmitted from the remote control device 160, and an operation signal receiving antenna 141 that is a receiving antenna of the receiver 140 and is supported by the antenna frame 59.

In this type of work vehicle 1, the operation signal receiving antenna 141 that receives an operation signal from the remote control device 160 is supported by the antenna frame 59 that supports the position information acquisition device 150, so the operation signal receiving antenna 141 and the position information acquisition device 150 (position information receiving antenna 151) can be consolidated. In this way, by consolidating multiple receiving antennas, the complexity of the wiring W for connecting each receiving antenna, each device, and the control device can be reduced, and the vehicle layout can be maintained in a good condition.

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

In addition to the effect of (1) above, with such a work vehicle 1, the operation signal receiving antenna 141 that receives the operation signal from the remote control device 160 is positioned at a high position, so that good reception sensitivity can be maintained.

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

In addition to the effect of (2) above, with this type of work vehicle 1, the operation signal receiving antenna 141 that receives the operation signal from the remote control device 160 fits within the left-right width of the floor step 33 and does not protrude to the left or right from the vehicle body, thereby reducing contact of the operation signal receiving antenna 141 with objects outside the vehicle body.

(4) In the above (3), the traveling body 2 has a bonnet 39 that houses the engine 30 in front of the floor step 33, and the operation signal receiving antenna 141 is positioned above the bonnet 39 and within the left-right width of the bonnet 39 when viewed from the front of the vehicle. A work vehicle 1.

In addition to the effect of (3) above, with this type of work vehicle 1, the operation signal receiving antenna 141 that receives the operation signal from the remote control device 160 fits within the left-right width of the bonnet 39 and does not protrude to the left or right side from the vehicle body, further reducing contact of the operation signal receiving antenna 141 with objects outside the vehicle body.

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

In addition to any one of the effects (1) to (4) above, such a work vehicle 1 can consolidate the operation signal receiving antenna 141 that receives the operation signal from the remote control device 160 and the position information acquisition device 150 (position information receiving antenna 151). This makes it easy to route the wiring W and also improves the appearance.

(6) In the above (5), the antenna frame 59 is disposed above the traveling vehicle body 2 and has a support 593 that supports the position information acquisition device 150, the support 593 has a space 595 formed by a bent portion 594 at the rear of the support 593, the operation signal receiving antenna 141 is disposed in the space 595, the antenna frame 59 is formed of a pipe-shaped frame member 591, and the wiring W connecting the receiver 140 and the operation signal receiving antenna 141 is routed through the inside of the frame member 591, a work vehicle 1.

In addition to the effect of (5) above, with such a work vehicle 1, the wiring connecting the receiver 140 and the operation signal receiving antenna 141 is protected by the frame member 591 of the antenna frame 59, so that breakage of the wiring W can be prevented.

(7) In any one of (1) to (6) above, the control device 100 has an autonomous driving mode in which the traveling body 2 can travel autonomously, and a manual driving mode in which the traveling body 2 can be manually driven by an operator, and in the autonomous driving mode, further has an automatic driving mode in which the traveling body 2 is automatically controlled, and a remote control mode in which the traveling body 2 is controlled based on remote control by an operator using a remote control device 160, and switches to the manual driving mode when an operation signal is not received for a predetermined period of time or more while the remote control mode is being executed.

In addition to any one of the effects (1) to (6) above, such a work vehicle 1 can suppress the remote control mode from being operated for long periods of time, thereby improving safety.

(8) In any one of (1) to (7) above, the work machine 4 is a seedling planting unit 4 provided at the rear of the traveling body 2, which plants seedlings on the soil surface of the field F, and has a plurality of planting devices 55 lined up in the left-right direction, and a plurality of partial row clutches 180 that correspond to the plurality of planting devices 55 and drive and control the plurality of planting devices 55 by turning them on and off, the remote control device 160 has a remote control side display unit 86b that can display various information, and the partial row clutches 180 can be turned on and off in order from the partial row clutch 180 that corresponds to the planting device 55 located at one end in the left-right direction among the plurality of partial row clutches 180, and the on/off state of the plurality of partial row clutches 180 is displayed on the remote control side display unit 86b.

In addition to any one of the effects (1) to (7) above, such a work vehicle 1 allows the multiple partial-row clutches 180 to be turned on and off using the remote control device 160, and the on and off states of the multiple partial-row clutches 180 can be confirmed on the remote control display unit 86b, improving workability.

(9) In the above (8), the work machine 4 further has a fertilizer applicator 5 that spreads fertilizer on the field F, and the control device 100 has a variable fertilization mode that adjusts the amount of fertilizer spread by the fertilizer applicator 5 based on field information including the fertility of the field F, the water temperature of the field F, and the water depth of the field F, and in the variable fertilization mode, the work vehicle 1 has a remote fertilization mode in which the amount of fertilizer spread can be adjusted based on remote operation by the worker using the remote control device 160, and a manual fertilization mode in which the amount of fertilizer spread can be manually adjusted.

In addition to the effect of (8) above, such a work vehicle 1 can also perform variable fertilization (remote fertilization mode) from the remote control device 160, thereby improving workability.

(10) In any one of (1) to (9) above, the traveling vehicle body 2 has a floor step 33 for a worker to board and a control unit 41 provided on the upper part of the floor step 33, the remote control device 160 has a remote control side display unit 86b capable of displaying various information and an operation unit (remote control side operation unit) 87b provided below the remote control side display unit 86b, the antenna frame 59 has a connection frame 592 connecting with the control unit 41 and a remote control holder 170 provided on the connection frame 592 and storing the remote control device 160, and the remote control holder 170 exposes the remote control side display unit 86b when the remote control device 160 is stored.

In addition to any one of the effects (1) to (9) above, such a work vehicle 1 allows the worker to view the remote control side display unit 86b when the remote control device 160 is stored in the remote control holder 170.

(11) In the above (10), the traveling vehicle body 2 has a bonnet 39 that houses the engine 30 in front of the floor step 33, a steering wheel 35 that is erected at the rear of the bonnet 39, a meter panel 45 that is provided at the rear of the bonnet 39, and a machine-side display unit 86a that is provided at the rear of the bonnet 39 adjacent to the meter panel 45 and displays various information, and the remote control holder 170 is located to the left or right of the steering wheel 35, above the bonnet 39, and below the machine-side display unit 86a.

In addition to the effect of (10) above, such a work vehicle 1 allows the remote control holder 170 to be positioned so as not to interfere with the worker's work (driving, etc.), and when the remote control device 160 is stored, the remote control holder 170 can be positioned so that the remote control side display unit 86b is visible to the worker.

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.

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

Claims (3)

A control device for controlling a traveling vehicle body;
A remote control device capable of remotely controlling the traveling vehicle body by transmitting an operation signal to the control device;
a receiver provided on the traveling vehicle body for receiving the operation signal transmitted from the remote device;
Equipped with
The remote device comprises:
A remote device-side display unit capable of displaying various information and an operation unit disposed on the remote device,
a remote device holder provided on the traveling vehicle body and supporting the remote device;
The remote device holder includes:
In a supporting state of the remote device, exposing the remote device display unit ;
a position information acquisition device provided on the traveling vehicle body, receiving positioning information transmitted from a satellite positioning system by a position information receiving antenna and acquiring position information of the traveling vehicle body;
an antenna frame that supports the location information acquisition device at a predetermined position;
a receiver for receiving the operation signal transmitted from the remote device, a receiving antenna of the receiver, and the remote device holder are supported by the antenna frame;
The antenna frame includes:
A support body is disposed above the traveling vehicle body and supports the position information acquisition device,
The support is
a space formed by a bent portion at a rear portion of the support, the space being a receiving antenna of the receiver;
The antenna frame includes:
A work vehicle formed of a pipe-shaped frame member, wherein wiring connecting said receiver and the receiving antenna of said receiver is routed through an interior of said frame member . 2. The work vehicle according to claim 1, further comprising a meter panel provided on the traveling vehicle body, and a vehicle-side display unit that displays various information on the meter panel, and the remote device-side display unit is positioned in the vicinity of the vehicle-side display unit when the remote device is in a supported state. 3. The work vehicle according to claim 1 or 2, further comprising a front cover in front of the running body, a steering handle provided upright at the rear of the front cover, a meter panel provided at the rear of the front cover, and a vehicle-side display unit at the rear of the front cover that displays various information on the meter panel, and the remote device holder is positioned to the left or right of the steering handle and above the front cover.