JP7601081B2 - Work vehicles - Google Patents

Description

This invention relates to work vehicles such as rice transplanters and tractors.

In a riding rice transplanter that can be selectively equipped with a seedling planting device (20) or a weeding device (40) as a work machine among work vehicles such as rice transplanters and tractors, a technology is known that, in order to regulate the maximum speed when a lightweight work machine is attached, detects the engine speed when no work machine is attached or when a weeding device (40) is attached, issues an alarm when the engine speed exceeds an allowable value, and does not detect the engine speed when the seedling planting device (20) is attached (Patent Document 1).

JP 2008-79515 A

In a work vehicle in which work equipment can be attached, detached, and replaced, as with the technology described in Patent Document 1, there are cases where the connector connecting the work equipment to the vehicle body is forgotten to be connected or is not connected completely, resulting in the work equipment being incompletely attached, or the vehicle being erroneously driven with the work equipment detached.
If autonomous driving (automated driving, unmanned driving) is performed with the work implement incompletely attached or detached, the work implement may descend into the field but not rotate or drive, resulting in no work being performed or damage to the work implement. In particular, in autonomous driving technology, before creating an autonomous driving path, an operation (reference data acquisition mode, teaching mode) is generally performed in which the work vehicle is driven along the periphery of the field to obtain the range of the field that serves as a reference for autonomous driving. However, even if it is found that the work implement is not fully attached after the teaching mode is executed with the work implement incompletely connected, the teaching mode must be executed again after the incomplete attachment of the work implement is resolved, resulting in a waste of time and effort.

The technical objective of the present invention is to reduce the waste of time and effort compared to when autonomous driving is started with the work equipment incompletely attached.

The above-mentioned problems of the present invention are solved by the following means.
The invention described in claim 1 includes a vehicle body (4) to which a work machine (10, 150, 160, 170, 180) that performs work on a farm field can be detached, and a control means (300) that switches between a reference data acquisition mode in which the vehicle body (4) travels along reference points on the periphery of the farm field to acquire reference data, an automatic driving mode in which the vehicle body (4) is automatically driven based on the reference data, and a remote operation mode in which the vehicle body (4) is driven based on an input from a remote operation device (102) that can remotely control the travel of the vehicle body (4). When the work machine (10, 150, 160, 170, 180) is detached, the control means (300) switches between the reference data acquisition mode, the automatic driving mode, and the remote operation mode. and a control means (300) for regulating the transition to the operation mode , wherein the vehicle body (4) can be equipped with any one of the following work machines as the work machine: a direct sowing device (150) that sows seeds in a field, a planting device (10) that plants seedlings in a field from a mat-like seedling, a weeder (160) that removes weeds in the field, a furrow cutter (170) that forms a water flow path in the field, and a cultivation machine (180) that sprays pesticides, and the control means (300) regulates the transition between the reference data acquisition mode, the automatic driving mode, and the remote operation mode when any one of the weeder (160), the furrow cutter (170), and the cultivation machine (180) is equipped.

The invention described in claim 2 is a work vehicle as described in claim 1 , characterized in that it comprises: a vehicle body (4) having a seat (28) on which an operator can sit and a driving operation device (32) by which the operator sitting in the seat (28) operates the driving; and a control means (300) that switches and controls between the reference data acquisition mode, the automatic driving mode, the remote operation mode, and a manual driving mode in which the vehicle body (4) is driven based on the operation of the driving operation device (32), and when the direct seeding device (150) or the planting device (10) is attached as the work machine (10, 150, 160, 170, 180) and any of the reference data acquisition mode, the automatic driving mode, and the remote operation mode is being executed, the control means (300) forcibly transitions to the manual driving mode when the work machine (10, 150 ) is removed.

The invention described in claim 3 is a work vehicle as described in claim 1, characterized in that it is equipped with a control means (300) that causes the remote control device (102) to notify of a decrease in seeds when a decrease in the amount of seeds to be sown is detected during operation with the direct sowing device (150) attached.

The invention described in claim 4 is the work vehicle described in claim 1, characterized in that it is equipped with a control means (300) that notifies the remote control device (102) of an abnormality when an abnormality is detected in the seed-sending member (151) during operation with the direct sowing device (150 ) attached.

The invention described in claim 5 is a work vehicle described in claim 2, characterized in that the control means (300) controls the on-off of a clutch (152) to which the direct seeding device (150) is attached and which operates the direct seeding device (150), and when the clutch (152) is kept in a disengaged state for a predetermined period during work, in the manual driving mode, the control means (300) notifies the remote controlled device (102) that the clutch (152) has been forgotten to be engaged, and in the automatic driving mode and the remote control mode, the control means (300) does not notify the remote controlled device (102) even if the clutch (152) is kept in a disengaged state for a predetermined period during work.

The invention described in claim 6 is the work vehicle described in claim 1, characterized in that it comprises the planting device (10) having an electric herbicide spraying device (61) that sprays herbicide on a field and an electric insecticide spraying device (66) that sprays an insecticide and fungicide on seedlings, and the control means (300) that displays the power on/off state of the herbicide spraying device (61) and the insecticide spraying device (66) on a display unit (31a) provided on the vehicle body (4) .

According to the invention described in claim 1, by restricting the transition to the reference data acquisition mode, the automatic driving mode, and the remote operation mode when the work machine (10, 150, 160, 170, 180) is detached, it is possible to reduce waste of time and effort compared to when autonomous driving is started with the work machine (10, 150, 160, 170, 180) not fully attached.

Furthermore, according to the invention described in claim 1 , when a work machine other than the direct seeding device (150) and the planting device (10) is attached, autonomous traveling can be restricted.
According to the invention described in claim 2 , in addition to the effects of the invention described in claim 1 , when the work machine (10, 150) is removed while any of the reference data acquisition mode, the automatic driving mode, and the remote operation mode is being executed, the manual driving mode is forcibly switched to, thereby suppressing the occurrence of work defects and accidents.
According to the invention described in claim 3 , in addition to the effect of the invention described in claim 1 , it is possible to notify the operator of a decrease in seeds.

According to the fourth aspect of the invention, in addition to the effect of the first aspect, an operator can be notified of an abnormality in the member (151) for sending out seeds.
According to the invention described in claim 5 , in addition to the effects of the invention described in claim 2 , in the automatic driving mode and the remote control mode, the remote control device (102) does not notify the operator even if the clutch (152) continues to be disengaged, thereby reducing unnecessary notifications to the operator.
According to the invention described in claim 6 , in addition to the effects of the invention described in claim 1 , the power on/off status of the herbicide spraying device (61) and the insecticide spraying device (66) can be displayed to notify the operator of the status.

FIG. 1 is a side view of a seedling transplanter according to an embodiment of the present invention. FIG. 2 is a front view of the seedling transplanter. FIG. 3 is a plan view of the seedling transplanter. FIG. 4 is a functional block diagram of the control unit according to the embodiment. FIG. 5 is an explanatory diagram of an example of a display panel according to the embodiment.

An embodiment of the present invention will be described below.
FIG. 1 is a side view of a seedling transplanter according to an embodiment of the present invention.
FIG. 2 is a front view of the seedling transplanter.
FIG. 3 is a plan view of the seedling transplanter.

The seedling transplanter 1, which is an example of a work vehicle according to an embodiment of the present invention, is attached to the rear of the vehicle body 4 in a high-floor riding mode via a parallel link lift link mechanism 11 that is raised, lowered and rotated by the hydraulic expansion and contraction of a lift cylinder (not shown). The seedling planting unit 10 is an example of a work machine and an example of a planting device, and is attached to the rear of the vehicle body 4 in a high-floor riding mode via a parallel link lift link mechanism 11 that is raised, lowered and rotated by the hydraulic expansion and contraction of a lift cylinder (not shown). The seedling planting unit 10 has multiple floats 6, such as a center float that glides and levels the soil surface, and side floats, arranged on the underside of the seedling transplanter body 5 that is connected to the lift link mechanism 11. The seedling transplanting machine 5 mainly consists of a transmission case, a seedling tank 8 that lays out a number of mat-like seedlings (mat seedlings) on top of it, guides them along the downward sloping surface at the rear end, and then delivers them to the seedling outlet 7 formed at the lower end, and a planting device 9 that separates and holds the mat seedlings delivered to the seedling outlet 7 and inserts the planting claws into the leveled soil surface below, along a planting trajectory that is elliptical in side view, allowing the machine to perform a multi-row planting operation.

An engine (internal combustion engine) 30 is mounted under an engine cover 29 below the driver's seat 28 of the vehicle body 4, and a steering board 31, a steering handle 32 as an example of a travel operating tool, and other operating mechanisms 33 for operating the seedling transplanter 1 are arranged in front of the driver's seat 28. A display panel as an example of a display unit and various buttons and knobs as examples of an input unit are arranged on the steering board 31.
A long and wide side floor 2 is formed continuously from the front end of the vehicle body 4 to the rear fender 24 on the rear end on both the left and right sides of the driver's seat 28, steering board 31, and center floor 34 between them. The driver and assistant workers can move back and forth on the top surface of this side floor 2 to easily perform tasks such as supplying mat seedlings and supplying fertilizer.

In the seedling transplanter 1 shown in Figures 1 to 3, the number of seedling rows is eight and the width is set to a wide standard, so a sub-floor 35 of an appropriate width is added along the outside of the side floor 2 to correspond to the width range of the seedling planting section 10. It is also possible to configure the machine without providing the sub-floor 35. On the front end of this sub-floor 35, a support frame 36 erected from the side of the vehicle body 4 is provided with multiple auxiliary seedling shelves 26, which can be used to load and store mat seedlings to be replenished to the seedling tank 8 at the rear. A step 37 for the driver to get on and off is provided on the outer side of this sub-floor 35.
A pair of left and right line drawing markers 41 are arranged on the sides of the subfloor 35. Of the left and right line drawing markers 41, the one on the side where seedlings have not yet been planted is deployed to draw a line on the surface of the field as a reference for traveling.

A rear floor 3 with a wide step shape is formed behind the driver's seat 28, extending to the rear end of the side floor 2, and the front end edge of this rear floor 3 is connected to the rear end edge of the side floor 2 by an inclined plate 38 that slopes downwards at the front, making it easy to move your feet. A short operating lever mechanism 39 is arranged at the lower end of this inclined plate 38, making it easy to operate from the driver's seat 28. At the upper position of the rear floor 3, a rear edge portion 50 along the rear edge and side edges 51 along the left and right edges form a U-shaped guard rail 52, allowing the driver to safely maintain a working position when refueling on the rear floor 3.

A rear fender 24 is configured above the rear wheels 27 of the vehicle body 4, and the left and right ends of the rear floor 3 are configured above this rear fender 24. The front wheels 40 and rear wheels 27 are positioned within the width of the side floor 2 and rear floor 3, but depending on the shape of the tread of the rear wheels 27, they may protrude outward from the width of the rear floor 3. For this reason, the rear fender 24 can be configured to protrude outward more widely than the outer end of the rear floor 3, and it is also possible to use the underside of the rear floor 3 itself as the rear fender 24.

A seedling planting section 10 is attached to the rear of the vehicle body 4 via a lift link mechanism 11 that can be raised and lowered. The seedling planting section 10 is made up of a float 6 that slides along the soil surface to support the seedling transplanting machine body 5, a seedling tank 8 that receives mat seedlings and delivers them to the seedling outlet 7 at the bottom of the rear, and a planting device 9 that separates and holds the mat seedlings delivered to the seedling outlet 7 and plants them on the soil surface leveled by the float 6. A number of fertilizer applicators 12 are arranged along the outer side of the rear floor 3 in the front-to-rear direction.

When the seedling transplanter 1 is planting seedlings, the seedling planting section 10 is lowered and the planting device 9 operates on the soil surface leveled by each float 6, separating and holding the appropriate number of mat seedlings delivered to the seedling outlet 7 of the seedling tank 8, and planting them at a certain depth on the leveled soil surface. When fertilizing the planting section with each planting device 9, granular fertilizer that has been previously supplied to the fertilizer hopper 19 is delivered to the delivery outlet section by the delivery device 15, and fertilizer is applied to the planting position near the planting position on the planting soil surface leveled by each float 6 through the fertilizer hose 25 for each fertilizer row by the air force blown from the blower 13 through the duct 14 under the rear floor 3.

When the seedling planting section 10 is raised, the upper end of the seedling tank 8 can be raised so as to approach an upper position of the rear floor 3, making it easy for an operator to supply mat seedlings from above the rear floor 3, and enabling quick and accurate supply of seedlings.

The left and right end portions of the rear floor 3 are configured as rear fenders 24 or as the upper portion of the rear fenders 24, and the multiple fertilizer applicators 12 are arranged above the rear fenders 24.

The left and right side ends of the rear floor 3 formed at the rear end of the side floor 2 beside the driver's seat 28 are positioned above the rear fender 24 that covers the upper part of the rear wheels 27 of the raised-floor vehicle body 4, so they are unlikely to interfere with stepping on and moving about when replenishing mat seedlings in the seedling tank 8 as described above, and the foot area at the lateral end of the rear floor 3 at the rear position of the side floor 2 is formed wide, making it easy to replenishing seedlings in the rear seedling tank 8 and replenishing fertilizer to the fertilizer hopper 19 on the side.

In the seedling planting section 10 of the embodiment, a herbicide spraying device 61 is installed below the seedling tank 8. In the embodiment, multiple herbicide spraying devices 61 are arranged at intervals in the left-right direction. The herbicide spraying device 61 has a herbicide hopper 62 that stores herbicide. At the outlet of the herbicide hopper 62, a dispensing member 63 is arranged that rotates when activated to dispense and disperse the herbicide into the field. In the embodiment, the dispensing member 63 is electrically powered, and the operation/non-operation and dispensing speed of the dispensing member 63 can be controlled by controlling the supply of electricity.

In addition, an insecticide spraying device 66 is installed on the outside (upper rear) of the seedling tank 8. The insecticide spraying device 66 has an insecticide hopper 68 that can move left and right along a guide member 67 extending left and right. The insecticide hopper 68 contains an insecticide and fungicide to be sprayed on the seedlings (mat seedlings) loaded in the seedling tank 8. An insecticide delivery member 69 is disposed at the outlet of the insecticide hopper 68. The insecticide delivery member 69 in the embodiment has the same configuration as the delivery member 63, is electrically driven, and when activated, the insecticide and fungicide in the insecticide hopper 68 is sprayed on the mat seedlings. In addition, the insecticide hopper 68 is equipped with an electric movement motor (not shown), and the insecticide hopper 68 moves back and forth along the guide member 67 by the operation of the movement motor. Therefore, by moving the insecticide hopper 68 back and forth while the insecticide delivery member 69 is operating, the insecticide and fungicide can be sprayed over the entire area of the mat seedlings on the seedling tank 8.

In the seedling planting section 10 of the embodiment, a herbicide spraying device 61 and an insecticide spraying device 66 are installed, but the herbicide spraying device 61 and the insecticide spraying device 66 are detachable from the seedling planting section 10. In other words, the herbicide spraying device 61 and the insecticide spraying device 66 are so-called optional units, and it is possible to install only one of them or neither of them depending on the operator's request.

In the embodiment, the seedling planting unit 10 is shown as an example of a planting device that plants seedlings in a field from a mat seedling using planting claws, but is not limited to this. As a work machine that can be attached to and detached from the lift link mechanism 11, various conventionally known work machines can be used, such as a direct seeding device that sows seeds in a field, a weeder that removes weeds from the field, a furrow cutter that forms water flow paths in the field, and a management machine that sprays pesticides.

The seedling transplanter 1 of the embodiment can transmit and receive information to and from a tablet terminal 102 as an example of a remote control device via a wireless communication line 101. The tablet terminal 102 has a touch panel 102a as an example of a display unit and an example of an input unit, and a plurality of input buttons 102b such as a power button. The seedling transplanter 1 can be remotely controlled by an operator inputting data into the tablet terminal 102. Therefore, the operator can remotely control the seedling transplanter 1 from a position away from the seedling transplanter 1 (for example, outside the field), or the operator can operate the tablet terminal 102 while sitting in the driver's seat 28 to drive the seedling transplanter 1 or perform planting work without operating the steering wheel 32 or the like.

(Explanation of the control unit)
FIG. 4 is a functional block diagram of the control unit according to the embodiment.
(Explanation of the control unit of the seedling transplanter)
The seedling transplanter 1 of the embodiment has a control unit 300 as an example of a control means for controlling each function. The control unit 300 has an input/output interface I/O for inputting and outputting signals with the outside. The control unit 300 also has a ROM (read-only memory) in which programs and information for performing necessary processing are stored. The control unit 300 also has a RAM (random access memory) for temporarily storing necessary data. The control unit 300 also has a CPU (central processing unit) for performing processing according to the programs stored in the ROM or the like. Therefore, the control unit 300 of the embodiment is composed of a small information processing device, a so-called microcomputer. Therefore, the control unit 300 can realize various functions by executing the programs stored in the ROM or the like.

The control unit 300 receives signals from signal input elements such as various buttons and knobs on the steering board 31, the operating mechanism 33, the steering angle sensor SN1, the right rear wheel rotation sensor SN2a, the left rear wheel rotation sensor SN2b, the implement connection sensor SN3, the remaining amount sensor SN4, the abnormality detection sensor SN5, the GNSS, the differential switch SW1, and various other sensors not shown (for example, the remaining amount sensor in the herbicide hopper 62).

The turning angle sensor SN1 detects the amount of operation (turning angle) of the steering wheel 32.
The right rear wheel rotation sensor SN2a detects the rotation speed of the right rear wheel 27R.
The left rear wheel rotation sensor SN2b detects the rotation speed of the left rear wheel 27L.
The work machine connection sensor SN3 detects the connection and detachment of a work machine (such as the seedling planting unit 10).
When the working machine is the direct seeding device 150, the remaining amount sensor SN4 detects the remaining amount of seeds to be sown from the direct seeding device 150. In the embodiment, the remaining amount sensor SN4 detects the weight in the hopper of the direct seeding device 150 to detect the remaining amount of seeds.
When the working machine is the direct seeding device 150, the abnormality detection sensor SN5 detects an abnormality in the direct seeding device 150. In the embodiment, the abnormality detection sensor SN5 is disposed downstream of a member (delivery roll 151) that delivers seeds from the direct seeding device 150, and detects the amount of seeds delivered from the delivery roll 151 and passing through.
The current position of the vehicle body 4 is obtained using a Global Navigation Satellite System (GNSS).
The differential switch SW1 is a switch for inputting whether or not to perform a differential lock, which automatically creates a difference between the inner and outer wheels when turning, in the differential (operating device) of the seedling transplanter 1.
Furthermore, information transmitted from the tablet terminal 102 is input to the control unit 300 .

The control unit 300 can send control signals to a lift cylinder, a planting clutch, and the like, as examples of controlled elements, to control the lifting and lowering of the work machine (seedling planting unit 10) and the operation/stopping of the work machine (seedling planting unit 10).
In addition, when the seedling planting unit 10 is attached as a working machine, the control unit 300 controls the feed member 63 of the electric herbicide spraying device 61, the insecticide feed member 69 of the electric insecticide spraying device 66, and the movement motor 70 by sending control signals to them.
Furthermore, when a direct seeding device 150 is attached as a working machine, the control unit 300 controls the payout roll 151 (having the same configuration as the payout member 63) of the direct seeding device 150 and the clutch 152 that switches the payout roll 151 on and off by sending control signals to them.
The control unit 300 also outputs a control signal to a monitor 31a of the steering board 31, which is an example of a display unit.
Furthermore, the control unit 300 outputs information to the tablet terminal 102 .

The control unit 300 according to the embodiment has the following functional means (program modules).
The work machine discrimination means 301 discriminates the type of connected work machine (seedling planting unit 10, direct seeding device 150, weeder 160, furrow cutter 170, cultivator 180, etc.) via the work machine connection sensor SN3.

The teaching mode control means 302 executes a teaching mode as an example of a reference data acquisition mode in which reference data (teaching data, teacher data) is acquired by driving the vehicle body 4 along a reference point on the periphery of the field (the outer edge of the field in the embodiment). In the teaching mode control means 302 of the embodiment, after the start of the teaching mode is input from the steering board 31 or the tablet terminal 102, the operator manually operates the steering handle 32 or the like or remotely operates it from the tablet terminal 102 to drive the seedling transplanter 1, and acquires, as reference data, the travel trajectory until the end of the teaching mode is input from the steering board 31 or the like, that is, the temporal history data of the GNSS position information along the travel route.

The automatic driving mode control means 303 automatically drives the vehicle body 4 based on the reference data. In the embodiment, the automatic driving mode control means 303 automatically calculates the driving route of the vehicle body 4 from the reference data obtained in the teaching mode, and after an input to start the automatic driving mode is input from the steering board 31 or the tablet terminal 102, controls the driving of the vehicle body 4 and the operation of the work machine (seedling planting unit 10, etc.) to drive the vehicle body 4 along the driving route while causing the work machine to work.

The remote operation mode control means 304 controls the vehicle body 4 based on the input from the tablet terminal 102 to drive the vehicle body 4. In the embodiment, when the remote operation mode is input from the steering board 31 or the tablet terminal 102, the remote operation mode control means 304 controls the driving of the vehicle body 4 and the operation of the work machine in response to the input from the tablet terminal 102.

The manual operation mode control means 305 drives the vehicle body 4 based on the operation of the steering wheel 32. When an input to start the manual operation mode is input from the steering board 31 or the tablet terminal 102, the manual operation mode control means 305 in the embodiment controls the driving of the vehicle body 4 in response to the operation of the driving operation tools such as the steering wheel 32, the accelerator pedal, and the brake pedal, and also controls the operation of the work equipment in response to input from various buttons on the steering board, etc.
In the seedling transplanter 1 of the embodiment, the seedling transplanter 1 is set to enter manual operation mode when the power is turned on (at startup, initial state, default state), but this can be changed depending on the design, specifications, etc.

The mode transition means 306 switches between teaching mode, automatic driving mode, remote operation mode, and manual operation mode in response to input from the steering board 31 or tablet terminal 102. In the embodiment, the mode transition means 306 restricts transition to teaching mode, automatic driving mode, and remote operation mode when the work machine is removed based on the detection result of the work machine connection sensor SN3. In other words, when the work machine is removed, mode transition is restricted so that only control in manual operation mode or stopping of the vehicle body 4 is possible (it is not possible to transition to teaching mode, etc.).

In addition, the mode transition means 306 of the embodiment restricts transition to the teaching mode, automatic travel mode, and remote operation mode when the attached working machine is a weeder 160, a furrow cutter 170, or a cultivator 180, based on the discrimination result of the working machine discrimination means 301. That is, in the embodiment, the teaching mode, automatic travel mode, and remote operation mode can be executed only when the attached working machine is the seedling planting unit 10 or the direct seeding device 150, and it is configured not to be possible to transition to the teaching mode, etc., when a working machine other than the seedling planting unit 10 and the direct seeding device 150 is attached.

Furthermore, in the embodiment, the mode transition means 306 forcibly terminates the teaching mode, etc., and forcibly transitions to the manual driving mode when the seedling planting unit 10 or the direct seeding device 150 is attached and the teaching mode, automatic driving mode, or remote operation mode is being executed and it is determined from the detection result of the working machine connection sensor SN3 that the working machine has been removed.

The remaining amount detection means 307 detects the remaining amount of seeds in the direct seeding device 150 by the working machine. The remaining amount detection means 307 in the embodiment determines whether the remaining amount of seeds in the direct seeding device 150 is equal to or greater than a predetermined amount based on the detection result of the remaining amount sensor SN4.
The working machine abnormality detection means 308 detects an abnormality in the working machine. In the embodiment, when the working machine is the direct seeding device 150, the working machine abnormality detection means 308 determines that an abnormality has occurred in the delivery roll 151 when a control signal for operating the delivery roll 151 is sent to the delivery roll 151 but the delivery of seeds is not detected by the abnormality detection sensor SN5.

The clutch-on failure detection means 309 detects the failure to engage the clutch that switches the working machine between operation and non-operation. In the embodiment, the clutch-on failure detection means 309 detects the failure to engage the clutch when the working machine is the direct seeding device 150, the direct seeding device 150 descends, the float 6 touches the ground, and the clutch 152 is in the disengaged state and the machine travels a predetermined distance.
The power on/off detection means 310 detects whether the electrically-operated members and devices of the working machine are on or off. In the seedling planting unit 10 of the embodiment, when the electrically-operated herbicide spraying device 61 or insecticide spraying device 66 is operating, the power is determined to be "on", and when the device is stopped, the power is determined to be "off".

The notification control means 311 controls the notification of the operating status of the seedling transplanter 1 to the operator. In the embodiment, the notification control means 311 controls the notification by controlling the image display on the display panel of the steering board 31 and the transmission and reception of information to be displayed on the tablet terminal 102. The notification is not limited to image display, and any notification method can be adopted, such as audio guidance, turning on a lamp, or activating an alarm buzzer. The notification control means 311 displays the active mode when switching to each mode such as teaching mode, and displays a message if the remaining amount of seeds in the direct seeding device 150 becomes low, if an abnormality occurs in the working machine, or if it is determined that the clutch 152 has been left on.

In this embodiment, when the automatic driving mode or remote operation mode is being executed, no notification is given even if it is determined that the clutch 152 has been left on. In the automatic driving mode or remote operation mode, if thread count adjustments are performed during the mode, the conditions for determining that the clutch 152 has been left on are often met. Therefore, if the operator is notified every time the clutch 152 has been left on, unnecessary notifications and warnings will be issued. Therefore, in the embodiment, no notification is given even if it is determined that the clutch 152 has been left on in the automatic driving mode or remote operation mode. On the other hand, if the conditions for the clutch 152 having been left on are met during execution of the manual operation mode, a notification is given.

FIG. 5 is an explanatory diagram of an example of a display panel according to the embodiment.
The panel display control means 311a controls image display on the display panel of the steering board 31. In Fig. 5, as an example, an option power display screen 401 of the display panel of the embodiment has a weeding on/off display section 401a that displays the on/off state of the power of the herbicide spraying device 61, an insecticide on/off display section 401b that displays the on/off state of the power of the insecticide spraying device 66, a weeding on/off input button 401c for inputting on/off of the power of the herbicide spraying device 61, an insecticide on/off input button 401d for inputting on/off of the power of the insecticide spraying device 66, a fuel display section 401e that displays the remaining amount of fuel in the vehicle body 4, and a GNSS display section 401f that displays the reception level of the GNSS. The weeding on/off input button 401c and the insecticide on/off input button 401d can be switched between "on" and "off" each time the display panel is touched with a finger or the like, and the display on the weeding on/off display section 401a and the insecticide on/off display section 401b are also changed to "on" and "off" according to the input with the weeding on/off input button 401c and the insecticide on/off input button 401d. Note that the input is not limited to the operation of touching the display panel with a finger, and it is also possible to provide input buttons on the steering board 31.

The optional power supply display screen 401 can be a screen that is constantly displayed, or can be configured to be displayed when a specific button is pressed, a knob is rotated, a flick input is performed, or the like. Furthermore, the optional power supply display screen 401 can be configured to be displayed even if one or both of the herbicide spraying device 61 and the insecticide spraying device 66 are not installed, but it is also possible to omit unnecessary image display by displaying it only when they are installed.

The terminal display control means 311b transmits a control signal to display a notification image to the tablet terminal 102. A control signal is transmitted to the touch panel 102a of the tablet terminal 102 to display the currently running mode, notify that the remaining amount of seeds is low, notify that an abnormality has occurred in the working machine, notify that the clutch 152 has been left on, display the optional power supply display screen 401, etc.

The wheel rotation detection means 312 detects the rotation speeds of the right rear wheel 27R and the left rear wheel 27L based on the detection results of the right rear wheel rotation sensor SN2a and the left rear wheel rotation sensor SN2b, respectively.
The steering angle detection means 313 detects the steering angle (direction of travel, orientation) of the vehicle body 4 corresponding to the turning angle of the steering wheel 32 based on the detection result of the turning angle sensor SN1. The differential switch input discrimination means 314 discriminates whether the input of the differential switch SW1 is "on" or "off".

When the differential switch SW1 is "on", the auto-differential control means 315 performs auto-differential control to create a difference between the inner and outer wheels when turning. In other words, when the steering wheel 32 is operated to turn, the auto-differential control means 315 controls the rotation speed of the inner wheel to be less than the rotation speed of the outer wheel according to the steering angle when turning. In the embodiment, the auto-differential control means 315 does not perform auto-differential control when the differential switch SW1 is "off".

The slip monitoring means 316 monitors slippage (freewheeling) of the vehicle body 4. When the differential switch SW1 is "off," the slip monitoring means 316 of the embodiment monitors slippage by setting the vehicle speed of the seedling transplanter 1 to a certain level or higher if the sum of the detection counts of the right rear wheel 27R and the left rear wheel 27L at a slip sampling interval (e.g., every second) is equal to or greater than a certain value (30 counts, for example). Slippage during turning can be determined to have occurred, for example, when the difference between the detection counts of the right rear wheel 27R and the left rear wheel 27L reaches a predetermined slippage determination value (e.g., 450 counts).

In the embodiment, the slip monitoring means 316 stops the movement of the vehicle body 4 and notifies the tablet terminal 102 when a slip is detected, but is not limited to this, and it is also possible to notify the tablet terminal 102 or the like of the occurrence of a slip without stopping the movement.
The slip monitoring means 316 starts monitoring the slip when the steering angle of the steering wheel 32 becomes constant, and ends (resets, initializes) the slip monitoring when the vehicle moves straight ahead. The slip monitoring also ends when the differential switch SW1 is turned "ON."

When slippage is detected by the slippage monitoring means 316, the slippage monitoring means 316 of the embodiment forcibly turns on the differential switch SW1 to perform auto-differential control in order to suppress slippage. When auto-differential control is forcibly started, if the sum of the detection numbers of the right rear wheel 27R and the left rear wheel 27L at the effect confirmation sampling interval (for example, every 2 seconds) is equal to or greater than a certain value (142 counts as an example) after a certain time has elapsed (for example, after 1 second), it is preferable to set the vehicle speed of the seedling transplanter 1 to a certain value or higher and check whether the slippage has been eliminated, that is, whether the auto-differential has been effective. For example, when the detection number of the left rear wheel 27L reaches 500 counts during a right turn, if the detection number of the right rear wheel 27R is less than 50 counts, it is possible to determine that slippage has occurred (slippage has not been eliminated), and if the detection number reaches 50 counts, it is possible to determine that slippage has not occurred (slippage has been eliminated). The confirmation of the effect of the auto-differential can be ended when the steering angle becomes straight (auto-differential control ends).

In the embodiment, the slip monitoring means 316 is configured to monitor slip only when turning, but is not limited to this. When the rear right wheel 27R and the rear left wheel 27L reach a predetermined value (e.g., a count value equivalent to 1 m) while traveling straight, if the GNSS detection results indicate that the vehicle body has moved less than a predetermined distance (e.g., 1 m), it is possible to determine that the slip has not been resolved and to stop the vehicle body 4 from traveling. When the slip has been resolved, it is possible to suspend slip monitoring until the next turn is detected, or to configure the device to continue slip monitoring while traveling straight.

In the embodiment, the automatic differential control is forcibly turned on when slippage is detected, but this is not limiting. For example, in the case of a work vehicle that can switch between four-wheel drive and two-wheel drive, it is also possible to configure the vehicle to forcibly switch to four-wheel drive.

In the seedling transplanter 1 of the embodiment having the above configuration, when the working machine is not attached, the transition to the teaching mode, automatic travel mode, and remote operation mode is restricted. When the working machine is not attached, the control unit 300 of the vehicle body 4 does not recognize the working machine, and the working machine is incompletely attached or detached. In this state, if the automatic travel mode or remote operation mode is executed, the working machine may descend to the field but not rotate or drive, and work may not be performed or the working machine may be damaged. In addition, even if the teaching mode, which is a prerequisite for the automatic travel mode, is executed, even if it is found that the working machine is not completely attached after the teaching mode, the teaching mode will be executed again after the incomplete attachment of the working machine is resolved, which will waste time and effort. In contrast, in the embodiment, when the working machine is not attached, the transition to the teaching mode, automatic travel mode, and remote operation mode is restricted, and compared to when autonomous driving is started with the working machine incompletely attached, the work may not be performed, the working machine may be damaged, and time and effort may be reduced.

In the embodiment, the working machine is not shifted to the automatic driving mode or the like when it is other than the seedling planting unit 10 or the direct seeding device 150. Therefore, only in the case of the seedling planting unit 10 or the direct seeding device 150, autonomous driving or remote control without the need for an operator to ride on the machine is possible.
In addition, in the embodiment, when the working machine is removed during work in the automatic travel mode or the like, the mode is forcibly switched to the manual travel mode. As a practical matter, situations in which the working machine is recognized as being removed during work include a state in which the working machine is not fully attached and is removed midway, a state in which the cable connecting the working machine and the vehicle body 4 is broken, or a state in which the connector connecting the cable is disconnected. If the work is continued in a state in which it is determined that the working machine has been removed during work, the work may be incomplete or an accident may occur. Therefore, in the embodiment, in such a case, the mode is forcibly switched to the manual travel mode, thereby restricting further automatic travel and suppressing the occurrence of accidents, etc.

In the embodiment, when the amount of seeds remaining in the direct sowing device 150 becomes small or an abnormality is detected in the delivery roll 151, the information is displayed on the tablet terminal 102. Therefore, the operator can be notified of a decrease in the amount of seeds remaining, etc.
Furthermore, in the embodiment, in the automatic driving mode or the remote control mode, the driver is not notified that the clutch 152 has been left engaged, thereby reducing unnecessary notifications.
In addition, in this embodiment, the option power supply display screen 401 displays the power on/off status of the herbicide spraying device 61 and the insecticide spraying device 66, allowing the operator to easily check the status.

The work vehicle of the present invention is not limited to seedling transplanters, but can also be applied to various work vehicles such as tractors, chemical spraying vehicles, snowplows, and lawnmowers. The work machines are not limited to those exemplified, and can be applied to any work machine such as a land leveler or harvester.

1...Work vehicle,
4...Vehicle body,
10...planting device,
10, 150, 160, 170, 180...Work machine,
28…seats,
31a...display unit,
32...Travel control device,
61... herbicide spraying device,
66...insecticide spraying device,
102... remote control device,
150...Direct seeding device,
151...Seed delivery member,
152...Clutch,
160...weeder,
170...Groove cutter,
180...management machine,
300...control means.

Claims (6)

a vehicle body (4) to which a work machine (10, 150, 160, 170, 180) for performing work on a farm field can be detachably attached;
a control means (300) for switching and controlling a reference data acquisition mode in which reference data is acquired by driving the vehicle body (4) along reference points on the periphery of a farm field, an automatic driving mode in which the vehicle body (4) is automatically driven based on the reference data, and a remote operation mode in which the vehicle body (4) is driven based on an input from a remote operation device (102) capable of remotely controlling the driving of the vehicle body (4), the control means (300) restricting a transition to the reference data acquisition mode, the automatic driving mode, and the remote operation mode when the working machine (10, 150, 160, 170, 180) is detached;
Equipped with
The vehicle body (4) can be equipped with any one of the following working machines: a direct sowing device (150) for sowing seeds in a field, a planting device (10) for planting seedlings in a field from a mat-like seedling, a weeder (160) for removing weeds in the field, a furrow cutter (170) for forming water flow paths in the field, and a cultivation machine (180) for spraying pesticides;
The control means (300) regulates the transition of modes among the reference data acquisition mode, the automatic travel mode, and the remote control mode when any one of the weeder (160), the furrow cutter (170), and the cultivator (180) is attached.
A work vehicle characterized by : The vehicle body (4) has a seat (28) on which an operator can sit, and a travel operation tool (32) with which the operator sitting on the seat (28) operates the travel;
the control means (300) for switching and controlling the reference data acquisition mode, the automatic travel mode, the remote operation mode, and a manual travel mode for traveling the vehicle body (4) based on the operation of the travel operation tool (32), wherein when the direct seeding device (150) or the planting device (10) is attached as the working machine (10, 150, 160, 170, 180) and the working machine (10, 150) is detached while the reference data acquisition mode, the automatic travel mode, or the remote operation mode is being executed, the control means (300) forcibly transitions to the manual travel mode;
The work vehicle according to claim 1, further comprising: the control means (300) for informing the remote control device (102) of a decrease in seeds when a decrease in the number of seeds to be sown is detected during operation with the direct sowing device (150) attached;
The work vehicle according to claim 1, further comprising: the control means (300) for informing the remote control device (102) of an abnormality when an abnormality is detected in the member (151) for sending out seeds while the direct seeding device (150) is in operation with the device attached;
The work vehicle according to claim 1, further comprising: the control means (300) for controlling the on/off of a clutch (152) to which the direct seeding device (150) is attached and which operates the direct seeding device (150), the control means (300) notifying the remote control device (102) that the clutch (152) has been forgotten to be engaged in the manual travel mode when the clutch (152) is disengaged for a predetermined period during work, and not notifying the remote control device (102) that the clutch (152) has been disengaged for a predetermined period during work in the automatic travel mode and the remote control mode;
The work vehicle according to claim 2, further comprising: The planting device (10) has an electric herbicide spraying device (61) for spraying a herbicide on a field, and an electric insecticide spraying device (66) for spraying an insecticide and a fungicide on seedlings;
the control means (300) for displaying the power on/off state of the herbicide spraying device (61) and the insecticide spraying device (66) on a display unit (31a) provided on the vehicle body (4);
The work vehicle according to claim 1, further comprising:

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