JP7652137B2 - Work vehicles - Google Patents

Description

The present invention relates to a work vehicle.

A seedling transplanter that can automatically travel without being operated by an operator is known (see, for example, Patent Document 1).

JP 2019-76056 A

However, the condition of a field can vary depending on the field, and when driving autonomously, there is a risk that the autonomous driving may not be suitable for the field, so there is room for improvement.

The present invention has been made in consideration of the above, and aims to provide a work vehicle that performs automatic driving suited to farm fields.

In order to solve the above problems and achieve the object, a work vehicle according to one aspect of the embodiment includes a traveling body, a seedling planting unit provided on the traveling body, and a control device that switches the traveling mode between a manual traveling mode in which the traveling is performed by manual operation of an operator and an automatic traveling mode in which the traveling is performed automatically without manual operation. The control device is capable of changing a predetermined reverse distance from when the traveling body starts to reverse until when it stops in the automatic traveling mode when performing a back turn in which the traveling body is caused to reverse during a turn and then the turning is started, in response to an input operation of a field state input unit in which a parameter indicating the state of the field determined by the operator is input by the operator, and the state of the field includes at least the shape of the field, and when the control device detects from an image taken by a camera provided on the work vehicle that the shape of the field is such that the ridges are farther away in the turning direction of the traveling body, the control device stops the traveling body after the turn without changing the predetermined reverse distance in the back turn.

According to one aspect of the embodiment, the work vehicle can perform automatic driving suited to the field.

FIG. 1 is a side view showing a work vehicle. FIG. 2 is a plan view showing the work vehicle. FIG. 3 is a block diagram showing a control system centered on the control device of the seedling transplanter. FIG. 4 is a diagram showing a method for setting a working area by teaching running according to the embodiment. FIG. 5 is a flowchart illustrating a back-turn process in automatic turning according to this embodiment. FIG. 6 is a diagram showing an example of mounting the display device in the seedling transplanter according to the modified example. FIG. 7 is a diagram illustrating an electric seedling harvesting amount adjusting mechanism of a seedling transplanter according to a modified example. FIG. 8 is a diagram illustrating a holding mechanism of a seedling transplanter according to a modified example.

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

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 rearward side defined as "rear." The travel direction of the work vehicle 1 is the direction from the driver's seat 41 toward the handlebars 35 (steering device) 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 facing the "forward" side. In other words, when the pilot (also called the operator) is seated in the pilot's seat 41 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 embodiment, the work vehicle 1 is described as a riding seedling transplanter 1 that is equipped with a seedling planting unit 4 as a field work device and that receives seedlings in a field. As shown in Figures 1 and 2, the seedling transplanter 1 is equipped with a seedling planting unit 4 that can be raised and lowered to plant seedlings in a field via a lifting link mechanism 3 on the rear side of the traveling body 2.

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

The traveling body 2 is a four-wheel drive vehicle equipped with left and right front wheels 10 and rear wheels 11, which are wheels and drive wheels. On the front side of the main frame 15 that constitutes the body skeleton of the traveling 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 driving 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 the front wheels 10 are attached to left and right front axles 10b that protrude outward from front wheel support parts that can change the steering direction of the left and right front wheel final cases 10a.

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

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

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

An engine 30 is mounted on the main frame 15. The rotational power of the engine 30 is transmitted to the transmission case 13 via the belt transmission device 21 and the HST 14. The rotational power transmitted to the transmission case 13 is changed in speed by the sub-transmission mechanism 16 inside the transmission case 13, and then separated into 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 88 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.

On the other hand, 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 41, on either the left or right side.

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

A bonnet 39 is provided at the top of the front of the vehicle body 2, and has a control panel 38 on top for operating each part. The control panel 38 is provided with a monitor 86 (see Figure 3) and the like.

The bonnet 39 is also provided with a handlebar 35 for steering the traveling vehicle body 2, a speed change lever 36 for operating the HST 14 and the seedling planting section 4, and an auxiliary speed change lever 37 for operating the auxiliary speed change mechanism 16.

In addition, an openable and closable 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. The front wheels 10 are, for example, steered wheels that turn in response to 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 41 where the pilot sits is provided above the engine cover 30a.

The fertilizer applicator 5 is provided behind the driver's seat 41, 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 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, on the front side of the traveling body 2, on both the left and right sides, spare seedling frames 50 are provided, on which multiple spare seedling loading platforms 52 are arranged at intervals in the vertical direction on seedling frame supports 51, and work materials such as seedlings and fertilizer bags to be replenished in the seedling planting section 4 can be placed.

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

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

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

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

As shown in Figures 1 and 2, below the seedling planting section 4, a center float 62C that slides on the ground and is in contact with the field surface, and two side floats 62L and 62R on the left and right are provided so as to be freely 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.

In addition, below the seedling planting section 4, and ahead of the float 62, a ground leveling rotor 63 is provided to level the unevenness of the field surface. Driving force is transmitted to the ground leveling rotor 63 from the rear wheel gear case 11a on the other left and right sides via the rotor transmission shaft 63a.

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

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

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

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

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

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

(Seedling transplanter control system)
Next, the control system of the seedling transplanter 1 will be described with reference to Fig. 3. Fig. 3 is a block diagram showing the control system centered on the control device 100 of the seedling transplanter 1. The seedling transplanter 1 is capable of controlling each part by electronic control, and is equipped with a control device (hereinafter referred to as a controller) 100 that controls each part.

The controller 100 is provided with a processing section having a CPU (Central Processing Unit) and the like, a storage section such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input/output section, which are interconnected and capable of transmitting signals to each other. The storage section stores computer programs and the like for controlling the seedling transplanter 1. The controller 100 performs each function by reading out the computer programs and the like stored in the storage section.

The controller 100 is connected to actuators such as a throttle motor 80, hydraulic control valves 81 and 82, a planting clutch actuation solenoid 83, a side clutch actuation solenoid 84, an HST motor 85, a line drawing marker lifting motor 87, a steering motor 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 88. 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 FIG. 1). 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, one for 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 motor 95 is a motor that drives the handle 35, which is a steering device that adjusts the steering amount (steering angle) of the front wheels 10 (see Figure 1) when automatic turning control is performed. The steering motor 95 rotates the handle 35. The line drawing marker lifting motor 87 lifts and lowers the line drawing marker 65.

The differential lock switching motor 96 is a motor that switches between operating and deactivating a differential lock mechanism 97 (hereinafter referred to as the differential lock mechanism) that rotates the left and right running wheels, specifically the left and right front wheels 10, at the same rotational speed. When the differential lock mechanism 97 is engaged, the left and right running wheels rotate at the same rotational speed.

Detection devices such as a rotation speed sensor 90, a steering amount sensor 91, and an inclination sensor 92 are connected to the controller 100. Two rotation speed sensors 90 are provided corresponding to the left and right rear wheels 11, and detect the rotation speeds of the left and right rear wheels 11, respectively. 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 amount of operation of the steering wheel 35, which is the steering device, i.e., the steering amount (steering 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. The tilt sensor 92 detects the tilt angle, which is the inclination of the traveling vehicle body 2.

In addition, signals are input to the controller 100 as operation signals from the speed change lever 36, the sub-speed change lever 37, the autonomous driving changeover switch 46, the planting unit lift switch 47, the automatic straight-line changeover switch 45, the automatic turning changeover switch 48, the field condition input unit 49, etc.

The autonomous driving changeover switch 46 is a switch that switches whether or not autonomous driving is performed. Specifically, the autonomous driving changeover switch 46 is a switch that switches the driving mode between manual driving mode and autonomous driving mode (automatic driving mode). The manual driving mode is a mode in which the vehicle drives by manual operation of the operator. The autonomous driving mode is a mode in which the vehicle drives automatically without manual operation of the operator.

For example, when the autonomous driving changeover switch 46 is "ON", the driving mode is set to the autonomous driving mode. When the autonomous driving changeover switch 46 is "OFF", the driving mode is set to the manual driving mode. When the autonomous driving changeover switch 46 is turned "ON", the automatic straight-line driving changeover switch 45 and the automatic turning changeover switch 48 are turned "ON". In other words, once the driving mode is the autonomous driving mode, the automatic straight-line driving changeover switch 45 and the automatic turning changeover switch 48 can be changed to "OFF" by the pilot's operation even if they have been turned "ON" once.

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

When the planting unit lift switch 47 is in the "up" position, the seedling planting unit 4 rises to a predetermined non-working position and the seedling planting device 55 stops, resulting in a non-working state. When the planting unit lift switch 47 is in the "down" position, the seedling planting unit 4 descends to a predetermined working position and the seedling planting device 55 operates, resulting in a working state. In other words, the planting unit lift switch 47 is a switch that detects the working state of the seedling planting unit 4. Note that a separate switch that detects the working state of the seedling planting unit 4 may also be provided.

The field condition input unit 49 includes a number of dials, a number of switches, and a number of buttons. The field condition input unit 49 receives the field condition. The field condition input unit 49 accepts an input operation indicating the field condition. The field condition includes at least one of the following conditions: field muddiness, field depth, and field shape. The field condition is input by an operator or the like via the field condition input unit 49. The field condition input unit 49 is provided, for example, on the operation panel 38.

The automatic straight-line driving changeover switch 45 is a switch that switches whether or not automatic straight-line driving is enabled. When the automatic straight-line driving changeover switch 45 is set to "ON," the driving assist function described below is enabled, and automatic straight-line driving can be executed. When the automatic straight-line driving changeover switch 45 is set to "OFF," the driving assist function is disabled, and automatic straight-line driving cannot be executed.

The automatic turning changeover switch 48 is a switch that switches whether or not automatic turning is enabled. When the automatic turning changeover switch 48 is set to "ON", the turning assist function described below is enabled, and automatic turning can be performed. When the automatic turning changeover switch 48 is set to "OFF", the turning assist function is disabled, and automatic turning cannot be performed. When the automatic turning changeover switch 48 is set to "OFF", automatic turning is not performed even if the conditions for performing automatic turning are met.

The controller 100 switches the driving mode between a manual driving mode and an autonomous driving mode in response to the operation of the autonomous driving changeover switch 46, the automatic straight-line driving changeover switch 45, and the automatic turning changeover switch 48.

In addition, the controller 100 receives current position information of the traveling vehicle body 2 from the position detection device 150. The controller 100 executes an autonomous traveling mode in which the traveling vehicle body 2 performs work while traveling automatically.

In addition, various information is input to the controller 100 from a remote control device 170 (hereinafter referred to as the "remote control"). For example, various information is input to the controller 100 from the remote control 170 via a receiver 180 (see FIG. 1). The receiver 180 is attached to, for example, the mounting stay 59 (see FIG. 1) and is disposed above the front side of the traveling vehicle body 2. Note that multiple receivers 180 may be provided. The mounting stay 59 is attached to the traveling vehicle body 2.

The remote control 170 can remotely operate the seedling transplanter 1. The remote control 170 may be a terminal device such as a smartphone. The remote control 170 transmits a control signal in response to an operation by an operator. The remote control 170 is communicatively connected to the controller 100 via short-range wireless communication such as Wi-fi (registered trademark) or BLE (Bluetooth (registered trademark) Low Energy), but is not limited thereto, and may be communicatively connected via a communication network or the like in addition to or instead of short-range wireless communication.

A plurality of remote controls 170 may be provided. In other words, the controller 100 may be capable of acquiring location information of each remote control 170 from the plurality of remote controls 170.

(Autonomous driving mode)
Here, we will explain the autonomous driving (automatic driving) in the field by the seedling transplanter 1. The controller 100 has an autonomous driving mode (automatic driving mode) in which the steering motor 95 (see FIG. 3) is controlled to operate the handle 35 (see FIG. 3) while feeding back the steering amount of the front wheels 10 (see FIG. 1). The autonomous driving mode includes an automatic straight-line mode and an automatic turning mode.

The automatic straight-line mode is a mode in which the steering motor 95 is controlled so that the traveling body 2 moves straight along a preset straight-line path. In the automatic straight-line mode, the traveling body 2 moves straight without the driver's operation while the seedling planting unit 4 plants seedlings in the field. In other words, the traveling assist function for transplanting seedlings in the field while automatically moving the traveling body 2 in a straight line is enabled, and the traveling assist function is executed.

In the automatic turning mode, when the traveling vehicle body 2 reaches a predetermined planting end position, the seedling planting unit 4 stops planting the seedlings, and the steering motor 95 is controlled to turn the traveling vehicle body 2 along a preset turning path. The predetermined planting end position is set, for example, based on the travel distance of the process where the work was performed and position information related to the process where the work was performed.

In the automatic turning mode, for example, the seedling planting unit 4 is raised and put into a non-working state, and the traveling vehicle body 2 turns without the driver's operation. In other words, the turning assist function that turns the traveling vehicle body 2 without the seedling planting unit 4 planting seedlings is enabled, and the turning assist function is executed.

As shown in FIG. 4, the working area in which the autonomous driving mode is executed is set by performing teaching driving, in which the robot travels along the three sides La to Lc of the field by the operator's operation. FIG. 4 is a diagram showing a method for setting the working area by teaching driving according to the embodiment.

For example, when a working area setting button (not shown) is operated to start traveling, the position information of the traveling body 2 is recorded as the start point of side La, and the position information of the traveling body 2 while traveling is recorded. Then, when the handlebars 35 are turned by the operator by a predetermined turning angle or more, the end point of side La is recorded and side La is set. In addition, the position information of the traveling body 2 at the start point of side Lb is recorded. The predetermined turning angle is a preset value, and is an angle at which it can be determined that the traveling body 2 has turned along the edge of the river.

Furthermore, after the traveling vehicle body 2 has traveled straight, when the driver turns the handlebars 35 by a predetermined turning angle or more, the end point of side Lb is recorded and side Lb is set. In addition, the position information of the traveling vehicle body 2 at the start point of side Lc is recorded.

When the working area setting button is operated after the traveling body 2 has traveled straight, the position information of the traveling body 2 is recorded as the end point of side Lc, and side Lc is set. The working area is set by setting the three sides La to Lc. In teaching traveling, seedlings are planted in the field by the seedling planting unit 4 while the traveling body 2 is traveling straight. Teaching traveling is a perimeter process in which planting work is performed along the perimeter of the field. The working area is the area in the field where seedlings are planted by the reciprocating process in which the traveling body 2 travels back and forth.

In a field where a work area is set, the autonomous driving mode can be executed. For example, in the field, automatic straight-line travel is possible along a straight-line travel path parallel to side La or side Lc. Automatic turning is also possible when turning near the ridge on the side Lb side. When turning near a side of the field that was not traveled during teaching travel, i.e., near the ridge opposite side Lb, turning can be performed by remote control. Note that automatic turning may be performed when turning near the ridge of the side of the field that was not traveled during teaching travel.

Even if the teaching drive is completed and the working area is set, if the drive mode is manual drive mode, the seedling transplanter 1 can be driven by the operator and the seedlings can be transplanted into the field.

When the driving mode is the manual driving mode and the seedling transplanter 1 is being driven by the operator, if the automatic straight-line movement changeover switch 45 is turned "ON", the seedling transplanter 1 performs automatic straight-line movement. In other words, the seedling transplanter 1 can execute the driving assistance function even if the driving mode is the manual driving mode.

In addition, when the driving mode is the manual driving mode and the seedling transplanter 1 is being driven by the operator, if the automatic turning switch 48 is turned "ON", the seedling transplanter 1 can perform automatic turning. In other words, the seedling transplanter 1 can perform the turning assist function even if the driving mode is the manual driving mode.

When the controller 100 executes the turning assist function and automatically turns the traveling vehicle body 2, the controller 100 executes the automatic turning in the following procedure. For example, the controller 100 executes a back turn during automatic turning. A back turn is a turn in which the traveling vehicle body 2 is first made to move backwards before starting the turn.

The controller 100 stops the traveling vehicle body 2 when the traveling vehicle body 2 reaches the end of the working area, i.e., the end of the reciprocating process.

For example, when the vehicle travels along a reciprocating process by automatic straight-line driving and seedlings are being planted in a field, the controller 100 stops the traveling vehicle body 2 when the vehicle travels to the end of the reciprocating process, which is the specified end position for planting.

The controller 100 reverses the traveling vehicle body 2 from the stopped position. Specifically, the controller 100 controls the amount of operation of the handle 35 so that the traveling vehicle body 2 is in a straight-ahead state, and reverses the traveling vehicle body 2. The controller 100 reverses the traveling vehicle body 2 based on the orientation of the traveling vehicle body 2 detected by the position detection device 150. The controller 100 controls the amount of operation of the handle 35 so that the orientation of the traveling vehicle body 2 during the reciprocating process matches the orientation of the traveling vehicle body 2 when reversing, and reverses the traveling vehicle body 2.

Then, when the traveling body 2 moves backward a first predetermined distance (predetermined reverse distance) from the stop position, the traveling body 2 is stopped. The controller 100 detects the reverse distance of the traveling body 2 based on the rotation speed of the rear wheels 11 detected by the rotation speed sensor 90. The first predetermined distance is set according to the seedling transplanter 1. For example, the first predetermined distance is set according to the number of planting rows of the seedling transplanter 1. The controller 100 stops the traveling body 2 when the reverse distance reaches the first predetermined distance. In other words, the controller 100 detects the reverse distance from when reverse starts to when it stops based on the rotation speed of the rear wheels 11 detected by the rotation speed sensor 90.

The first predetermined distance can be changed depending on the state of the field. Specifically, the first predetermined distance can be changed by operating the field state input unit 49. The first predetermined distance is set to a reference distance as the initial state. For example, the field state input unit 49 can be set to "-10" to "+10" depending on the state of the field. When the field state input unit 49 is set to "-10" to "-1", the first predetermined distance is longer than the reference distance. The first predetermined distance is longer on the "-10" side. When the field state input unit 49 is set to "+1" to "+10", the first predetermined distance is shorter than the reference distance. The first predetermined distance is shorter on the "+10" side.

For example, if the shape of the field is inclined with respect to the traveling direction in the reciprocating process and the ridge is closer in the turning direction of the traveling body 2, the field condition input unit 49 is set to increase the first predetermined distance. Also, if the shape of the field is inclined with respect to the traveling direction in the reciprocating process and the ridge is farther away in the turning direction of the traveling body 2, the field condition input unit 49 is set to decrease the first predetermined distance.

If the field is muddy, the field condition input unit 49 is set so that the first predetermined distance is long. If the field is deep, the field condition input unit 49 is set so that the first predetermined distance is long.

In this way, the controller 100 can adjust the autonomous driving control (automatic driving control) during automatic turning in response to input operations indicating the state of the field.

The controller 100 moves the traveling vehicle body 2 backward a first predetermined distance, stops the traveling vehicle body 2, and then moves the traveling vehicle body 2 forward to start turning. When the controller 100 moves the traveling vehicle body 2 forward after moving backward in a back turn, the controller 100 moves the traveling vehicle body 2 forward a second predetermined distance and then starts turning. The second predetermined distance is shorter than the first predetermined distance. The second predetermined distance is a distance that is set relative to the first predetermined distance. When the controller 100 moves the traveling vehicle body 2 forward a second predetermined distance, the controller 100 controls the amount of operation of the handle 35 based on the position of the traveling vehicle body 2 detected by the position detection device 150 and the orientation of the traveling vehicle body 2 so that the traveling vehicle body 2 moves forward along a straight traveling path (predetermined traveling path).

After the traveling vehicle body 2 has traveled a distance corresponding to the second predetermined distance, the controller 100 operates the steering wheel 35 by a predetermined amount (predetermined steering angle) to start turning the traveling vehicle body 2. The predetermined amount is a value set in advance.

The controller 100 turns the traveling vehicle body 2 based on the direction detected by the position detection device 150.

(Backturn processing)
Next, the back-turn process in the automatic turning according to the embodiment will be described with reference to Fig. 5. Fig. 5 is a flowchart for explaining the back-turn process in the automatic turning according to the embodiment. Here, it is assumed that the traveling vehicle body 2 is traveling in the automatic straight-ahead mode.

The controller 100 determines whether the traveling vehicle body 2 has traveled to the planting end position (S100). If the traveling vehicle body 2 has not traveled to the planting end position (S100: No), the controller 100 ends this processing.

When the traveling vehicle body 2 reaches the planting end position (S100: Yes), the controller 100 stops the traveling vehicle body 2 (S101).

The controller 100 reverses the traveling vehicle body 2 (S102). The controller 100 controls the steering amount of the handlebars 35 based on the direction of the traveling vehicle body 2 detected by the position detection device 150, and reverses the traveling vehicle body 2.

The controller 100 determines whether the reverse distance of the traveling body 2 has reached the first predetermined distance (S103). The first predetermined distance is set by an operator or the like through the field condition input unit 49. If the reverse distance of the traveling body 2 has not reached the first predetermined distance (S103: No), the controller 100 continues reversing until the reverse distance of the traveling body 2 reaches the first predetermined distance (S102).

When the reverse distance of the traveling vehicle body 2 reaches a first predetermined distance (S103: Yes), the controller 100 stops the traveling vehicle body 2 (S104).

The controller 100 moves the traveling vehicle body 2 forward (S105). Based on the position of the traveling vehicle body 2 detected by the position detection device 150 and the orientation of the traveling vehicle body 2, the controller 100 controls the amount of operation of the handle 35 so that the traveling vehicle body 2 moves forward along a predetermined traveling route.

The controller 100 determines whether the forward distance of the traveling vehicle body 2 has reached the second predetermined distance (S106). If the forward distance of the traveling vehicle body 2 has not reached the second predetermined distance (S106: No), the controller 100 continues the forward movement of the traveling vehicle body 2 until the forward distance reaches the second predetermined distance (S105).

When the forward distance of the traveling vehicle body 2 reaches a second predetermined distance (S105: Yes), the controller 100 starts turning (S106). The controller controls the amount of operation of the steering wheel 35 based on, for example, the orientation of the traveling vehicle body 2 and the angular velocity of the traveling vehicle body 2, to turn the traveling vehicle body 2.

The seedling transplanter 1 comprises a traveling body 2, a seedling planting unit 4, and a controller 100. The seedling planting unit 4 is provided on the traveling body 2. The controller 100 switches the traveling mode between a manual traveling mode in which the machine travels by manual operation of an operator, and an autonomous traveling mode in which the machine travels autonomously without manual operation. The controller 100 can adjust the automatic traveling control in the autonomous traveling mode in response to an input operation indicating the state of the field.

This allows the seedling transplanter 1 to travel in an autonomous driving mode suited to the field.

When turning, the controller 100 can execute a backturn in which the traveling vehicle body 2 starts moving backwards before starting to turn. When executing a backturn in the autonomous driving mode, the controller 100 can change the first predetermined distance from when the traveling vehicle body 2 starts moving backwards until when it stops, in response to an input operation that indicates the state of the field.

As a result, when the seedling transplanter 1 performs a backturn by automatic turning, it can perform a backturn that suits the field. The seedling transplanter 1 can perform a backturn that suits, for example, the muddiness of the field, the depth of the field, and the shape of the field. When performing a backturn during automatic turning, the seedling transplanter 1 can prevent the seedling transplanter 1 from hitting the ridge. When performing a backturn during automatic turning, the seedling transplanter 1 can prevent the seedling transplanter 1 from moving too far away from the ridge. When performing a backturn during automatic turning, the seedling transplanter 1 can prevent deviation from the planting start position in the next process after turning.

The seedling transplanter 1 is equipped with a position detection device 150. The position detection device 150 detects the position and orientation of the traveling body 2. When the controller 100 moves the traveling body 2 forward in the autonomous driving mode, the controller 100 executes autonomous driving based on the position of the traveling body 2 detected by the position detection device 150. When the controller 100 executes a backturn in the autonomous driving mode, the controller 100 moves the traveling body 2 backward based on the orientation of the traveling body 2 detected by the position detection device 150 when reversing, and detects the backward distance of the traveling body 2 based on the rotation speed of the rear wheel 11.

As a result, when the seedling transplanter 1 plants seedlings in a field in the autonomous driving mode, it is possible to prevent the seedlings from being spaced too close together and to prevent excessive fertilizer application, taking into consideration slippage and the like. In a back turn during automatic turning, the vehicle speed of the traveling body 2 is low, so there is a risk that the position detection accuracy of the position detection device 150 will decrease. In a back turn during automatic turning, the seedling transplanter 1 reverses the traveling body 2 based on the direction detected by the position detection device 150, and detects the reverse distance of the traveling body 2 based on the rotation speed of the rear wheel 11. In addition, the first predetermined distance, which is the distance when reversing during a back turn, is set according to the state of the field. As a result, the seedling transplanter 1 can accurately perform the reverse back turn during automatic turning in accordance with the field. Therefore, the seedling transplanter 1 can accurately perform the back turn during automatic turning. In addition, the seedling transplanter 1 can accurately perform the back turn during automatic turning using an inexpensive method.

When the traveling vehicle body 2 is caused to move forward after reversing due to a back turn during automatic turning, the controller 100 controls the steering amount of the handle 35 based on the position of the traveling vehicle body 2 detected by the position detection device 150 and the orientation of the traveling vehicle body 2 so that the traveling vehicle body 2 moves forward along a straight traveling path.

As a result, when the seedling transplanter 1 executes a back turn during automatic turning and moves the traveling body 2 forward, deviation of the traveling body 2 from the straight traveling path can be suppressed. Therefore, the seedling transplanter 1 can accurately perform a back turn during automatic turning.

The seedling transplanter 1 according to the modified example may perform a back turn in the automatic turning mode, and when moving the traveling body 2 backward, the steering amount of the handlebars 35 may be fixed to the steering amount of the handlebars 35 when the traveling body 2 moves straight. This allows the seedling transplanter 1 according to the modified example to prevent the field from being damaged when the traveling body 2 moves backward.

The seedling transplanter 1 according to the modified example may detect the state of the field. For example, the shape of the field is detected from a topographical map such as a map. The shape of the field may be detected from an image captured by a camera. When the state of the field is a field shape in which the ridges become farther in the turning direction of the traveling body 2 and a back turn is performed in the automatic driving mode, the controller 100 stops the traveling body 2 after turning without changing the first predetermined distance from the reference distance. In addition, the controller 100 may stop the traveling body 2 by moving the traveling body 2 backward after stopping the traveling body 2 after turning. The distance by which the traveling body 2 moves backward after stopping the traveling body 2 after turning is set, for example, based on the setting value (for example, "+1" to "+10") of the field state input unit 49.

In the seedling transplanter 1 according to the modified example, the controller 100 executes a back turn in the automatic driving mode, and when the traveling body 2 is moved forward a second predetermined distance, stops the traveling body 2 if the traveling body 2 deviates from the straight traveling path by a predetermined amount or more. The controller 100 determines whether the traveling body 2 has deviated from the straight traveling path by a predetermined amount or more based on at least one of the position of the traveling body 2 detected by the position detection device 150 and the orientation of the traveling body 2. Then, the controller 100 reverses the traveling body 2 again based on the orientation of the traveling body 2 detected by the position detection device 150. The controller 100 controls the amount of operation of the handle 35 so that the orientation of the traveling body 2 on the straight traveling path and the orientation of the traveling body 2 when moving backward match, and moves the traveling body 2 backward. The controller 100, for example, moves the traveling body 2 backward by the distance that the traveling body 2 has moved forward. The distance traveled by the traveling vehicle body 2 is detected, for example, based on the number of rotations of the rear wheel 11 detected by the rotation speed sensor 90. After moving the traveling vehicle body 2 backward, the controller 100 stops the traveling vehicle body 2 and moves the traveling vehicle body 2 forward again. Based on the position of the traveling vehicle body 2 detected by the position detection device 150 and the orientation of the traveling vehicle body 2, the controller 100 controls the amount of operation of the handle 35 so that the traveling vehicle body 2 moves forward again along the straight traveling path. In other words, if the traveling vehicle body 2 deviates from the straight traveling path by more than a predetermined amount when moving the traveling vehicle body 2 forward a second predetermined distance, the controller 100 redoes the back turn.

As a result, the seedling transplanter 1 according to the modified example can prevent the traveling body 2 from turning off the straight traveling path during a back turn. Therefore, the seedling transplanter 1 according to the modified example can accurately perform automatic turning.

In the seedling transplanter 1 according to the modified example, if the traveling body 2 deviates from the straight traveling path by a predetermined amount or more even after redoing the back turn as described above, the controller 100 stops the traveling body 2 and stops the automatic turning. For example, if the traveling body 2 deviates from the straight traveling path by a predetermined amount or more even after redoing the back turn a predetermined number of times (for example, twice), the controller 100 stops the traveling body 2 and stops the automatic turning.

As a result, when the seedling transplanter 1 according to the modified example is unable to perform automatic turning while moving straight along the straight travel path due to, for example, a muddy field, it can stop automatic turning and prompt the operator to turn manually.

In the seedling transplanter 1 according to the modified example, when the traveling body 2 deviates from the straight traveling path by a predetermined amount or more, the controller 100 stops the traveling body 2 and stops the automatic turning, and displays the stop of the turning due to the automatic turning on the display device 110 shown in FIG. 6. FIG. 6 is a diagram showing an example of mounting the display device 110 in the seedling transplanter 1 according to the modified example. The display device 110 is mounted, for example, on a mounting stay 59 (frame) connected to the traveling body 2. The display device 110 is mounted on the mounting stay 59 in an inclined position so that the front side of the display device 110 is located upward. A space communicating in the front-rear direction is formed below the display device 110. The bonnet 39 is disposed in the space. The mounting stay 59 is provided so that the bonnet 39 can be opened and closed. The controller 100 may notify the operator of the stop of the automatic turning by a buzzer or the like.

As a result, the seedling transplanter 1 in the modified example can inform the operator that it cannot perform automatic turning while moving straight along the straight travel path.

When the driving mode is the automatic driving mode, the display device 110 may display the deviation of the traveling vehicle body 2 from the traveling direction.

The seedling transplanter 1 according to the modified example may store the vehicle speed set in the automatic straight-line mode, and gradually increase the vehicle speed to the stored vehicle speed after the traveling body 2 turns. For example, the controller 100 gradually increases the vehicle speed at 5 m intervals after planting starts.

As a result, the seedling transplanter 1 in this modified example can suppress sudden acceleration of the traveling body 2 and stabilize planting.

When materials are replenished, the seedling transplanter 1 according to the modified example displays on the display device 110 the amount of materials required, calculated based on the length of the route to the next process (to the next replenishment point), at the timing when the work of the previous process is completed. This allows the seedling transplanter 1 according to the modified example to prevent over-filling of materials.

The seedling transplanter 1 according to the modified example also displays a warning on the display device 110 when the amount of material is less than the loadable amount. The seedling transplanter 1 according to the modified example also displays a warning on the display device 110 when the amount of material is more than the required amount of material, indicating that continuous operation is possible.

Furthermore, when the material is fertilizer, the seedling transplanter 1 according to the modified example performs calculations based on the input target value, rather than the feed opening of the fertilizer applicator 5. The seedling transplanter 1 according to the modified example performs calculations that take into account the specific gravity of the fertilizer, which is calculated at the same time as the target value is input, on the premise that a trial feed is being carried out.

The seedling transplanter 1 according to the modified example determines whether or not to replenish materials during the process, assuming that the load is full. The seedling transplanter 1 according to the modified example detects a decrease in materials when the detection sensor reacts. The seedling transplanter 1 according to the modified example determines the loadable amount to be the amount just before the sensor reacts.

As a result, the seedling transplanter 1 according to the modified example can calculate the amount of materials required depending on whether a decrease in materials is detected. If no warning is issued at the material resupply stage, a decrease in materials during the process is not reported. Even if a decrease in materials is detected due to a calculation error or slippage, or if a report is issued near the ridge, the seedling transplanter 1 according to the modified example can continue work without stopping.

The seedling transplanter 1 in this modified example continues automatic operation if the amount of materials required is equal to or less than the amount of materials detected, and stops autonomous operation if the amount of materials required is greater than the amount of materials detected, and prompts the user to perform a replenishment operation after ridge-nearing.

In the automatic straight-line mode, the seedling transplanter 1 according to the modified example disengages the planting clutch 27a and the fertilizer clutch depending on the area passed by the seedling planting unit 4 when the seedling planting unit 4 passes over the travel path multiple times, except for the final time. When switching each clutch between the on state and the off state, the traveling body 2 temporarily stops. This allows the seedling transplanter 1 according to the modified example to perform accurate planting.

The seedling transplanter 1 according to the modified example disengages the fertilizer clutch corresponding to the row that would crush the planted seedlings, even when the planting clutch 27a is engaged. The seedling transplanter 1 according to the modified example automatically switches the fertilizer clutch. The seedling transplanter 1 according to the modified example also switches the row-cutting clutch between engaged and disengaged in herbicide and insecticide applicators. This allows the seedling transplanter 1 according to the modified example to reduce the waste of materials.

The seedling transplanter 1 according to the modified example may be capable of electrically adjusting the amount of seedlings harvested by the planting rod 58 in the seedling planting device 55. As shown in FIG. 7, the seedling transplanter 1 according to the modified example is equipped with an electric seedling harvesting amount adjustment mechanism 200. FIG. 7 is a diagram illustrating the electric seedling harvesting amount adjustment mechanism 200 of the seedling transplanter 1 according to the modified example. The electric seedling harvesting amount adjustment mechanism 200 transmits the driving force of the actuator to the front plate 201 and adjusts the amount of seedlings harvested by changing the relative position of the planting frame 202 and the front plate 201. The electric seedling harvesting amount adjustment mechanism 200 includes a drive unit 203, a transmission unit 204, a drive detection unit 205, and an operation detection unit 206.

The drive unit 203 includes a motor 208 and a gear 209. The gear 209 meshes with the drive shaft of the motor 208 and rotates when the drive shaft rotates.

The transmission unit 204 includes a transmission arm 210 and a rotating shaft 211. One end of the transmission arm 210 is attached to a gear 209 of the drive unit 203, and rotates around the rotating shaft 211 by the rotation of the gear 209. The rotating shaft 211 is supported rotatably on the planting frame 202. The other end of the transmission arm 210 is connected to the front plate 201. The position of the front plate 201 is changed by the rotation of the transmission arm 210.

The transmission unit 204 may have an overload prevention function. The transmission unit 204 is configured by forming a part of the transmission arm 210 from a spring material. The transmission unit 204 has a bent part in the middle of the transmission arm 210. The bent part is formed, for example, by bending a part of the transmission arm 210 in the left-right direction, and is attached to a member on the rotating shaft 211 side with a bolt and a nut. This allows the transmission arm 210 to protect the mechanism in the event of an overload and to return to its original state.

The drive detection unit 205 detects the position of the gear 209 of the drive unit 203 to ensure operation errors and to protect the electric seedling harvesting amount adjustment mechanism 200. The drive detection unit 205 is, for example, a potentiometer. The drive detection unit 205 may also be a limit sensor.

The operation detection unit 206 detects the relative position between the planting frame 202 and the front plate 201. The operation detection unit 206 has a link mechanism. The link mechanism is provided to magnify small changes in the relative position between the planting frame 202 and the front plate 201.

The controller 100 detects the seedling harvesting amount using the operation detection unit 206, and operates the motor 208 until the target value is reached. When the seedling harvesting amount increases, the controller 100 judges more strictly whether the target value has been reached. When the seedling harvesting amount increases, the seedling tank 53 may not fully descend, resulting in unstable adjustment of the seedling harvesting amount. The seedling transplanter 1 according to the modified example can perform accurate seedling harvesting adjustment when the seedling harvesting amount increases.

When the amount of operation is small, the controller 100 judges whether the target value has been reached more strictly than in the standard state. When the amount of operation is small, the front plate 201 is difficult to move, making it difficult to reach the target value. In addition, after reaching the target value, rattling can cause the machine to return to the state before operation. The seedling transplanter 1 of the modified example can perform accurate seedling adjustments even when the amount of operation is small.

If the target value is not reached, the controller 100 replaces the position (step number) of the front panel 201 at the time when the target value is not reached with the set value and displays it.

A limit sensor is provided as the drive detection unit 205, and when the limit sensor is pressed, the controller 100 returns the seedling removal amount by 0.5 steps.

In the drive detection unit 205, the output amount is set to a value greater than the set value, taking into account the overstroke. This allows the seedling transplanter 1 in the modified example to perform accurate control that takes into account the overstroke.

The controller 100 limits the output of the motor 208 by managing the operating amount, the output amount, and the operating limit position. The output amount is set to be proportional to the operating amount (the difference between the target value and the current value). As a result, the seedling transplanter 1 relating to the modified example can manage the output amount using only a potentiometer, for example, to manage the operating amount, thereby reducing the load on the system.

The controller 100 may separately limit the output of the motor 208 by controlling the operating amount, the output amount, and the operating limit position. This allows the seedling transplanter 1 according to the modified example to reliably protect the mechanism and prevent loss of function.

The controller 100 may limit the output of the motor 208 by managing the amount of operation, the amount of output, and the amount of operation at the limit position. This allows the seedling transplanter 1 according to the modified example to perform accurate amount of operation control using multiple management items without placing a burden on the mechanism.

The seedling transplanter 1 according to the modified example may use a motor 230 to drive the seedling planting section 4 and the soil leveling rotor 63. In this case, as shown in FIG. 8, a holding mechanism 233 is provided for holding the transmission shaft 232 at the motor stay section 231 to which the motor 230 is attached, thereby dissipating axial thrust and preventing damage to the motor 230. FIG. 8 is a diagram illustrating the holding mechanism 233 of the seedling transplanter 1 according to the modified example. The holding mechanism 233 includes, for example, a holder 234, and holds the shaft with a bearing 235. The transmission shaft 232 may also be configured as a slider. The slider configuration is made of a resin part. The transmission shaft 232 may have a key or a shear pin. The key or the shear pin is made of resin.

The seedling transplanter 1 according to the modified example uses a motor to drive the seedling planting section 4, detects the motor's output current, and stops supplying power to the motor when the output current exceeds the upper current limit. This allows the seedling transplanter 1 according to the modified example to, for example, eliminate the need for a safety clutch, making it possible to reduce the weight.

In the seedling transplanter 1 according to the modified example, a motor is used to drive the seedling planting section 4, and when the seedlings are planted in the field before the planting run, the planting rotary 57 rotates only once and then the planting is stopped.

In the modified seedling transplanter 1, when a motor is used to drive the seedling planting unit 4, the spacing between plants on the edge of the field is set to a predetermined width (e.g., 30 cm).

When a motor is used to drive the seedling planting unit 4, the seedling transplanter 1 according to the modified example performs spacing control in accordance with the vehicle speed of the traveling vehicle body 2. The controller 100 corrects the rotation of the motor using a correction value obtained from the difference between the set vehicle speed and the actual vehicle speed of the traveling vehicle body 2. The controller 100 may detect the vehicle speed of the traveling vehicle body 2 without using the position information detected by the position detection device 150. When the difference between the set vehicle speed and the actual vehicle speed is equal to or greater than a predetermined difference, the controller 100 corrects the rotation of the motor using the slip ratio. When the difference between the set vehicle speed and the actual vehicle speed is less than the predetermined difference, the controller 100 controls the rotation of the motor to the default.

In the seedling transplanter 1 according to the modified example, when a motor is used to drive the seedling planting section 4, the motor is provided on the side of the link. This allows the seedling transplanter 1 according to the modified example to have smaller transmission parts without adversely affecting planting performance.

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. Seedling transplanter (work vehicle)
2 Traveling body 4 Seedling planting section 35 Handle 59 Mounting stay (frame)
91 Steering amount sensor 100 Controller (control device)
110 Display device 150 Position detection device

Claims (5)

A running vehicle body,
A seedling planting unit provided on the traveling vehicle body;
a control device that switches a driving mode between a manual driving mode in which the vehicle is driven by a manual operation of an operator and an automatic driving mode in which the vehicle is driven automatically without the manual operation;
Equipped with
the control device is capable of changing, in the automatic traveling mode, a predetermined reverse distance from when the traveling vehicle body starts to reverse until when the traveling vehicle body stops when performing a back turn in which the turning is started after the traveling vehicle body is caused to reverse during a turn, in response to an input operation of a field condition input unit in which a parameter indicating the field condition determined by the operator is input by the operator,
The state of the field includes at least a shape of the field,
The control device includes:
When an image captured by a camera mounted on the work vehicle detects that the shape of the field is such that the ridges become farther away in the turning direction of the traveling body, the work vehicle stops the traveling body after turning without changing the specified reverse distance during the back turn. a position detection device that detects the position and orientation of the traveling vehicle body,
The control device includes:
When the traveling vehicle body is moved forward in the automatic traveling mode, automatic traveling control is executed based on the position of the traveling vehicle body detected by the position detection device;
2. The work vehicle according to claim 1, wherein, when performing the back turn in the automatic driving mode, the traveling body is caused to move backward based on the orientation of the traveling body detected by the position detection device when reversing, and the reversing distance of the traveling body is detected based on the rotation speed of the traveling wheels of the traveling body. The work vehicle according to claim 2, wherein when the control device causes the traveling vehicle body to move forward after moving backward by the back turn in the automatic traveling mode, the control device controls the steering angle of the traveling vehicle body so that the traveling vehicle body moves forward along a predetermined traveling route based on the position of the traveling vehicle body detected by the position detection device and the orientation of the traveling vehicle body. The control device includes:
moving the traveling vehicle body forward after moving backward by the back turn in the automatic traveling mode, and stopping the traveling vehicle body when the traveling vehicle body deviates from the predetermined traveling route by a predetermined amount or more;
The vehicle body is caused to move backward again based on the orientation of the vehicle body detected by the position detection device.
The work vehicle according to claim 3, further comprising: a steering angle of the traveling vehicle body being controlled based on the position information of the traveling vehicle body detected by the position detection device and the orientation of the traveling vehicle body so that the traveling vehicle body moves forward again along the specified travel path. A display device is attached to a frame connected to the traveling vehicle body,
the display device is attached to the frame in an inclined position such that an upper side of the display device is positioned further forward than a lower side of the display device;
A space communicating in the front-rear direction is formed below the display device,
The display device includes:
Displaying information regarding the driving mode;
When the driving mode is the automatic driving mode, a deviation of the traveling vehicle body from a traveling direction is displayed;
3. The work vehicle according to claim 2, wherein when the vehicle body cannot travel along a predetermined travel route during the back turn in the automatic driving mode and the turning in the automatic driving mode is stopped, a display is displayed indicating that the turning in the automatic driving mode has been stopped.

Images