TW202406450A - Work vehicle - Google Patents

Abstract

The present invention provides a work vehicle capable of reducing waste of time and labor compared to a case where autonomous travel starts while the installation of the work machine is incomplete. The working vehicle is provided with: a vehicle body 4, which can be connected with an work machine that performs work in a field; a manual driving mode, which is based on manual operation; and an automatic driving mode, which drives the vehicle body 4 based on the reference data of the field, wherein the automatic driving mode is prohibited when the work machine is disconnected.

Description

work vehicle

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

There is a known technology that allows a seedling planting device (20) and a weeding device (40) to be selectively connected to work vehicles such as a rice transplanter and a tractor as a working machine, and is limited to those connected to a lightweight working machine. The maximum speed in the state, when the working machine is not equipped and when the weeding device (40) is equipped, the engine speed is detected, and an alarm is issued when the engine speed exceeds the allowable value; when the seedling planting device (20) is equipped, no The engine speed is detected (Patent Document 1). [Prior technical literature] [Patent Document]

[Patent Document 1] Japanese Patent Application Publication No. 2008-79515.

[Problem to be solved by the invention]

In a work vehicle that can attach, detach, and replace a work machine like the technology described in Patent Document 1, there are cases where the work machine is not completely connected to the connector for connecting the work machine to the vehicle body. The connection is incomplete; or the work machine travels incorrectly while being removed. If autonomous driving (autonomous driving, unmanned driving) is performed when the work machine is not completely connected or the work machine is removed, there is a risk that the work may not be performed normally or the work machine may be damaged. In particular, in the technology for autonomous driving, usually before creating an autonomous driving route, an operation is performed to drive the work vehicle along the outer periphery of the farmland to obtain the range of the farmland as a reference for autonomous driving (reference data acquisition mode, Teaching mode), however, even if the teaching mode is executed when the connection of the working machine is incomplete and the connection of the working machine is found to be incomplete, the teaching mode must be executed again after the incomplete connection of the working machine is eliminated. There is a problem of wasting time and labor.

A technical subject of the present invention is to reduce the waste of time and labor compared with the case of starting autonomous driving in a state where the connection of the work machine is incomplete. [Means used to solve problems]

The above-mentioned problems of the present invention are solved by the following solutions. Scheme 1 is a work vehicle, which is equipped with: a vehicle body (4) that can be connected to a working machine used to work on farmland; a manual driving mode that is based on manual operation; and an automatic driving mode that is based on the aforementioned farmland conditions. The aforementioned vehicle body (4) is driven according to the reference data; when the aforementioned working machine is disconnected, the aforementioned automatic traveling mode is prohibited.

Option 2 is a working vehicle as described in Option 1, wherein the vehicle body (4) can be connected to any of the following three as the working machine, and the weeder (160) is used to remove grass in the farmland. ; The grooving machine (170) is used to form the flow path of water in the farmland; and the management machine (180) is used to spread chemicals; the aforementioned work vehicle is equipped with a control unit (300), and when connected to the aforementioned When any one of the lawnmower (160), the grooving machine (170), and the management machine (180) is used, the control unit (300) is restricted from being able to shift to the automatic driving mode.

Aspect 3 is a work vehicle as described in Aspect 2, which is provided with a monitor, and the monitor displays items related to the working machine being connected and the setting values of the items; when a device other than a planting device is connected to When the vehicle body (4) is used, items related to the planting device are displayed without displaying at least a part of the setting values of the items.

Aspect 4 is a work vehicle as described in Aspect 2, which is provided with a monitor that displays items related to the connected working machine and setting values of the items, and has a planting device (10) as a In the aforementioned work machine, the aforementioned planting device (10) is used to plant seedlings from mat-shaped seedlings to the farmland. When a direct seeding device (150) is connected to the aforementioned vehicle body (4) instead of the aforementioned planting device (10), the planting depth will be displayed. The setting value does not display the setting value related to the aforementioned mat-shaped seedlings.

Option 5 is a working vehicle as described in any one of Option 1 to 4, which is equipped with: a reference data acquisition mode, which is used to obtain the reference data of the aforementioned farmland. When the aforementioned operating machine is disconnected, the aforementioned reference data is prohibited. Get mode.

Aspect 6 is a work vehicle as described in any one of Aspects 1 to 4, which is provided with: a remote operation mode based on a remote operation member (102) capable of remotely operating the vehicle body (4) from traveling. The aforementioned vehicle body (4) is driven by the input, and when the aforementioned working machine is disconnected, the aforementioned remote operation mode is prohibited. [Invention effect]

According to the invention described in claim 1, by prohibiting the automatic driving mode when the working machine is not connected, it is possible to reduce waste of time and labor compared with starting autonomous driving in a state where the working machine is incompletely connected.

According to the invention described in claim 2, in addition to the effects of the invention described in claim 1, it is provided with a control unit. When any one of a weeder, a grooving machine, and a management machine is connected, the control unit is limited to: Unable to shift to autonomous driving mode; autonomous driving can be restricted by having a control unit.

According to the invention described in claim 3, in addition to the effects of the invention described in claim 2, it is possible to improve usability.

According to the invention described in claim 4, in addition to the effects of the invention described in claim 2, usability can be improved.

According to the invention described in claim 5, in addition to the effect of the invention described in any one of claims 1 to 4, when the working machine is disconnected, the reference data acquisition mode is prohibited, thereby limiting autonomous driving.

According to the invention described in claim 6, on the basis of the effect of the invention described in any one of claims 1 to 4, the remote operation mode is prohibited when the operating machine is not connected, thereby preventing the failure of normal operation. Homework.

In the embodiment, the working machine is the seedling planting unit 10 which is an example of a planting device for planting seedlings from mat-shaped seedlings to farmland using planting claws, but the work machine is not limited to this. Examples of the working machine that can be attached to and detached from the elevating mechanism 11 include a direct sowing device for sowing farmland, a weeder for removing grass from farmland, and a cutter for forming a flow path for water in farmland. Various conventionally known operating machines such as machines and management machines for dispersing medicines.

The seedling transplanting machine 1 according to the embodiment can transmit and receive information via the wireless communication line 101 with the tablet terminal 102 which is an example of a remote operating device. The tablet terminal 102 has a touch panel 102a which is 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. By the operator performing input operations on the tablet terminal 102, the seedling transplanting machine 1 can be remotely operated. Therefore, the operator can perform remote operation from a position far away from the seedling transplanting machine 1 , for example, from outside the farmland, or the operator can operate the tablet terminal 102 without operating the steering wheel 32 or the like while sitting on the driver's seat 28 . To carry out the driving and planting operations of the seedling transplanting machine 1.

[Explanation of the Control Department] FIG. 4 is a functional block diagram of the control unit of the embodiment. [Explanation of the control part of the seedling transplanting machine] The seedling transplanting machine 1 according to the embodiment includes a control unit 300 as an example of a control unit for controlling each function. The control unit 300 has an input/output interface I/O, and the input/output interface I/O is used for inputting and outputting signals with the outside, and the like. In addition, the control unit 300 has a ROM (read-only memory), which is used to store programs and information for performing necessary processing. In addition, the control unit 300 has a RAM (random access memory; random access memory), which is used to temporarily store necessary data. In addition, the control unit 300 has a CPU (Central Processing Unit) and performs processing corresponding to a program stored in ROM or the like. Therefore, the control unit 300 in 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 programs stored in ROM or the like.

The signal from the signal input component is input to the control part 300. The signal input component may be: various buttons or knobs of the steering panel 31, the operating mechanism 33, the steering angle sensor SN1, the right rear wheel rotation sensor SN2a, the left Rear wheel rotation sensor SN2b, work machine connection sensor SN3, margin sensor SN4, anomaly detection sensor SN5, GNSS (Global Navigation Satellite System: Global Positioning Satellite System), differential switch SW1 and other unknown Various sensors shown in the figure (such as the remaining amount sensor in the herbicide hopper 62), etc.

The steering angle sensor SN1 detects the operation amount (steering 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 working machine connection sensor SN3 detects the connection and disconnection of the working machine (seedling planting part 10, etc.). The remaining amount sensor SN4 detects the remaining amount of seeds sown from the live broadcasting device 150 when the working machine is the live broadcasting device 150 . The remaining amount sensor SN4 of the embodiment detects the weight in the hopper of the live broadcast device 150 to detect the remaining amount of seeds.

When the operating machine is the live broadcast device 150, the abnormality detection sensor SN5 detects the abnormality of the live broadcast device 150. The abnormality detection sensor SN5 of the embodiment is disposed on the downstream side of the member (feed roller 151) that feeds seeds from the live broadcast device 150 to detect the amount of seeds that pass through the feed roller 151. The GNSS system obtains the current position of the vehicle body 4. The differential switch SW1 is a switch for inputting whether to perform differential locking that automatically correlates the inner and outer wheel differences during turning through the differential (actuating device) of the seedling transplanting machine 1 . In addition, the information transmitted from the tablet terminal 102 is input to the control unit 300 .

The control unit 300 sends a control signal to a lifting cylinder or a planting clutch, which are examples of controlled elements, so as to control the lifting and lowering of the working machine (seedling planting unit 10) and the operation/stopping of the working machine (seedling planting unit 10). In addition, when the seedling planting unit 10 is installed as a working machine, the control unit 300 controls the feeding member 63 of the electric herbicide spreading device 61 and the insecticide feeding member 69 of the electric insecticide spreading device 66. , the moving motor 70 sends a control signal for control. Further, when the live broadcast device 150 is installed as a working machine, the control unit 300 switches the feed roller 151 (the same structure as the feed member 63) in the live broadcast device 150 to switch the feed roller 151 on/off. The disconnected clutch 152 sends a control signal for control. In addition, the control unit 300 outputs a control signal to the monitor 31a in the steering panel 31 as an example of the display unit. Further, the control unit 300 outputs information to the tablet terminal 102 .

The control unit 300 in the embodiment has the following functional units (program modules). The working machine identification unit 301 determines the type of connected working machine (seedling planting part 10, direct seeding device 150, weeder 160, grooving machine 170, management machine 180, etc.) through the working machine connection sensor SN3.

The teaching mode control unit 302 executes a teaching mode as an example of a reference data acquisition mode, that is, the vehicle body 4 travels along a reference position serving as the outer periphery of the farmland (the outer edge of the farmland in the embodiment) to acquire the reference data. (Teaching materials, teacher materials). After the teaching mode control unit 302 of the embodiment inputs the start of the teaching mode based on the input from the steering panel 31 or the tablet terminal 102, the operator manually operates the steering wheel 32 or the like or remotely operates the steering wheel using the tablet terminal 102. 32, etc., the seedling transplanting machine 1 is driven, and the driving path until the end of the teaching mode is input using the steering wheel 31, etc., that is, the temporal history data of the GNSS position information along the driving path is obtained as a reference. material.

The automatic traveling mode control unit 303 causes the vehicle body 4 to automatically travel based on the reference data. The automatic driving mode control unit 303 of the embodiment automatically calculates the driving route of the vehicle body 4 based on the reference data obtained through the teaching mode, and inputs the automatic driving mode based on the input from the steering panel 31 or the tablet terminal 102 After the start, the movement of the vehicle body 4 and the operation of the working machine (seedling planting unit 10 etc.) are controlled so that the vehicle body 4 travels along the travel path, while the working machine performs the work.

The remote operation mode control unit 304 controls the vehicle body 4 according to the input from the tablet terminal 102 so that the vehicle body 4 moves. When the remote operation mode is input based on the input from the steering panel 31 or the tablet terminal 102, the remote operation mode control unit 304 of the embodiment controls the travel and operation of the vehicle body 4 based on the input from the tablet terminal 102. The action of the machine.

The manual operation mode control unit 305 drives the vehicle body 4 according to the operation of the steering wheel 32 . When the manual operation mode is input based on the input from the steering panel 31 or the tablet terminal 102, the manual operation mode control unit 305 of the embodiment controls based on the operation of the steering wheel 32, accelerator pedal, brake pedal and other driving operating elements. The vehicle body 4 travels, and the movement of the working machine is controlled based on inputs from various buttons on the steering panel. In addition, in the seedling transplanting machine 1 of the embodiment, the seedling transplanting machine 1 is set to the manual operation mode when the power is turned on (at startup, initial state, default state), but it can be changed according to the design or specifications.

The mode transfer unit 306 switches between the teaching mode, the automatic driving mode, the remote operation mode, and the manual operation mode according to the input from the steering panel 31 or the tablet terminal 102 . The mode transition unit 306 of the embodiment restricts the mode transition to the teaching mode, the automatic traveling mode, and the remote operation mode when the working machine is detached based on the detection result of the working machine connection sensor SN3. That is, when the working machine is detached, the mode transition is restricted so that only control in the manual operation mode or the vehicle body 4 can be stopped (transition to the teaching mode, etc. cannot be performed).

In addition, based on the determination result of the work machine determination unit 301, when the work machine being assembled is any one of the weeder 160, the grooving machine 170, and the management machine 180, the mode transfer unit 306 of the embodiment is restricted to be unable to Shift to teaching mode, automatic driving mode and remote operation mode. That is, in the embodiment, when the only working machine being assembled is the seedling planting part 10 or the live broadcast device 150, it can execute the teaching mode, the automatic driving mode and the remote operation mode. When the seedling planting part 10 is being assembled, When using a working machine other than the live broadcast device 150, it cannot be transferred to the teaching mode.

Furthermore, while any one of the teaching mode, the automatic driving mode, and the remote operation mode is executed with the seedling planting unit 10 or the live broadcast device 150 installed, the work machine connection sensor SN3 detects When it is determined that the working machine is detached, the mode transition unit 306 of the embodiment forcibly ends the teaching mode and the like and forcibly transitions to the manual travel mode.

In the seedling transplanting machine 1 of the embodiment having the above-mentioned structure, when the working machine is not installed, there is a restriction that it cannot transfer to the teaching mode, the automatic traveling mode, or the remote operation mode. The uninstalled working machine refers to a state in which the control unit 300 of the vehicle body 4 does not recognize the working machine, and is a state in which the working machine is incompletely assembled or has been removed. When the automatic driving mode or remote operation mode is executed in this state, there is a risk that the operation may not be performed normally or the work machine may be damaged. In addition, even if the teaching mode based on the automatic driving mode is executed, even if the assembly of the working machine is found to be incomplete after the teaching mode, after the incomplete assembly of the working machine is removed, the teaching mode must be executed again, which wastes time. and labor. On the other hand, in the embodiment, when the work machine is not installed, there is a limitation that it is impossible to transfer to the teaching mode, the automatic travel mode, and the remote operation mode, which is in contrast to the case where the work machine is not completely assembled and starts autonomous travel. Compared with this, it is possible to reduce the waste of time and labor such as inability to perform work and damage to the work machine.

In addition, in the embodiment, when the working machine is other than the seedling planting unit 10 or the live broadcast device 150, the operation mode is not shifted to the automatic driving mode or the like. Therefore, the operator can perform autonomous driving or remote operation without riding on the seedling planting unit 10 or the live broadcast device 150 . In addition, in the embodiment, when the working machine is detached during work in the automatic travel mode or the like, the vehicle is forcibly shifted to the manual travel mode. As a practical problem, regarding the situation where it is recognized that the working machine has been detached during the operation, it can be imagined that the installation of the working machine is incomplete and the working machine is detached on the way; the cable used to connect the working machine to the vehicle body 4 The cable is disconnected; or the connector used to connect the cable is detached. If you continue to operate with the judgment that the operating machine has been removed during the operation, there is a risk that the operation will be incomplete or an accident will occur. Therefore, in the embodiment, in such a situation, the automatic driving mode is forcibly shifted to the manual driving mode to limit the continuation of the automatic driving, thereby suppressing the occurrence of accidents and the like.

The monitor display when attaching a live broadcast unit etc. to the robot rice transplanter which concerns on embodiment of this invention is demonstrated.

On the monitor 800 of at least one of the vehicle body 100 and the remote controller 700 in FIG. 5 , predetermined necessary items related to the work machine being assembled are displayed, and at the same time, items related to at least one unassembled work machine are displayed. When necessary items are reserved, a display deformation is performed on an item related to at least one unassembled work machine, and the display deformation shows that it is not assembled.

When the robot rice transplanter is equipped with units such as a direct seeding unit, a weeding machine unit, or a grooving machine unit, the following configuration may be considered: monitoring by the monitor 800 provided on the vehicle body 100 and the remote controller 700 respectively. In the Explorer panel, control not to display the contents of items that are not related to these units and are used for the mat unit. Considering that if a live broadcast unit, etc. is installed, there will be no data reference source for items such as the number of times of horizontal transfer of mats as items of the mat unit, and even if the monitor display is updated with the program restart operation, etc., it will not be performed. The display is easy to cause misunderstanding by users, so usability is improved.

The display transformation is performed based on the fact that the content of the item is not displayed regardless of whether the name of the item is displayed.

That is, the display transformation can be performed by adding a mark such as a check mark, or by changing the display text color or the display background color.

The working machine being assembled can be identified by the controller 600 of the vehicle body 100 by using a wired connection or a wireless connection with the working machine.

It is also conceivable that a unit such as a seedling mat unit is coupled to the main body of the rice transplanter using a harness or the like, and the type of the unit is recognized by the controller 600 provided on the front side or the rear side of the rice transplanter. .

At least one unassembled work machine is a seedling mat unit. Display deformation is performed on items related to the number of transverse transfers of seedling mats and the number of used seedling mats related to the seedling mat unit.

As shown in FIG. 6 , which is the first explanatory diagram of the monitor 800 of the rice transplanter according to the embodiment of the present invention, the items of the number of transverse transfers of seedling mats and the item of the number of seedling mats used are marked by adding horizontal bars. display deformation.

As shown in FIG. 7 which is the second explanatory diagram of the monitor 800 of the rice transplanter according to the embodiment of the present invention, the items of the number of transverse transfers of seedling mats and the item of the number of seedling mats used are performed by changing the display brightness. Display distortion.

It is also conceivable that in the above-mentioned aspect, when a unit other than the seedling mat unit is detected, the item of the number of times of seedling mat transverse transportation is not displayed on the monitor panel or a text string indicating that there is no data is displayed.

It is also conceivable that when the item of the number of times of horizontal output of the mat on the monitor panel is not displayed or a text string indicating that there is no data is displayed, the display area of the panel is not displayed or a text indicating that there is no data is displayed. Column, this panel displays the fauna to display the number of seedling mats used per 10 acres calculated based on the number of transverse transfers of seedling mats, the amount of seedlings taken, and the number of plants.

For items related to the seedling planting depth of the seedling mat unit and the seedling removal amount, the setting of the content of the items can be adjusted without display deformation. When fitted with a seedling mat unit, the adjusted settings will be reflected.

As shown in FIG. 8 which is the third explanatory diagram of the monitor 800 of the rice transplanter according to the embodiment of the present invention, the setting of the seedling planting depth item can be adjusted.

As shown in FIG. 9 which is the fourth explanatory diagram of the monitor 800 of the rice transplanter according to the embodiment of the present invention, regarding the seedling amount item, the setting of the content of the item can be adjusted.

That is, the items of the frequently used standard seedling mat unit with the seedling planting device 240, such as the seedling planting depth and the amount of seedlings taken, are better than the items of the seeding amount related to the direct seeding unit and the trough cutting machine unit. The grooving depth item is also important, so it can also be specially processed to improve convenience.

It is also conceivable that even when a unit other than the seedling mat unit is detected, the item of the seedling planting depth is displayed on the function setting screen so that the setting can be adjusted, and the changed setting is reflected when the seedling mat unit is mounted.

It is also conceivable that even when a unit other than the seedling mat unit is detected, the item of the seedling amount is displayed on the function setting screen so that the settings can be adjusted, and the changed settings are reflected when the seedling mat unit is attached.

It is also conceivable that even when a unit other than the seedling mat unit is detected, the item of the seedling planting depth is displayed on the function setting screen of the remote control 700 so that the correction value can be adjusted and reflected when the seedling mat unit is assembled. Changed settings.

It is also conceivable that even if a unit other than the seedling mat unit is detected, the item of seedling amount is displayed on the function setting screen of the remote control 700 so that the correction value can be adjusted, so that the change is reflected when the seedling mat unit is attached. settings later.

It is also conceivable that the pattern in the item of the number of transverse transfers of seedling mats is displayed on the monitor panel function setting screen so that it can be adjusted so that the changed setting is also reflected in the number of seedling mats used per 10 acres. .

The remote control operation of the robot rice transplanter according to the embodiment of the present invention will be described.

The setting of the live soil covering can be adjusted through the remote control 700 according to user instructions.

The following structure is conceivable: in a passenger rice transplanter, the soil covering adjustment function of the live broadcast unit is realized through the operation of a portable terminal such as the remote control 700 that can perform wireless communication with the rice transplanter. Even during automatic driving, the soil cover can be adjusted from outside the machine, so planting accuracy is improved.

It is also conceivable that the remote control function setting screen in the portable terminal is provided with a soil cover adjustment item.

It is also conceivable that the following configuration is adopted: when it is recognized in the type determination of the planting part unit that the assembled unit is a live broadcast unit, the soil covering adjustment item in the above aspect is selectable and active.

The following configuration is also conceivable: when it is recognized in the type determination of the planting part unit that the assembled unit is not a direct seeding unit, the soil covering adjustment item in the above aspect cannot be selected and is in an inactive state.

The following configuration is also conceivable: when it is recognized in the type determination of the planting part unit that the installed unit is not a direct seeding unit, the soil cover adjustment item in the above aspect is not displayed and is in an inactive state.

1: Seedling transplanting machine 4: Car body 10: Seedling planting department (operating machine, planting device) 28: Driver's seat 31: Steering plate 31a:Monitor 32: Steering wheel 33: Operating mechanism 61: Dispersion device 62: Herbicide hopper 63: Feed component 66:Pesticide dispersion device 69:Pesticide feeding component 70:Moving motor 100:Car body 101:Wireless communication line 102: Remote operating parts (tablet computer terminal) 102a:Touch panel 102b:Input button 150: Live broadcast device 151: Feed roller 152:Clutch 160:Weeder 170: Grooving machine 180: Management machine 300:Control Department 301: Work machine identification unit 302: Teaching mode control unit 303: Automatic driving mode control unit 304: Remote operation mode control unit 305: Manual operation mode control unit 306: Mode transfer unit 600:Controller 700:Remote control 800:Monitor SN1: Steering angle sensor SN2a: Right rear wheel rotation sensor SN2b: Left rear wheel rotation sensor SN3: Work machine connection sensor SN4: remaining sensor SN5: Anomaly detection sensor SW1: Differential switch

[Fig. 1] It is a side view of the seedling transplanting machine according to the embodiment. [Figure 2] Front view of the seedling transplanting machine. [Fig. 3] A top view of the seedling transplanting machine. [Fig. 4] is a functional block diagram of the control unit according to the embodiment. [Fig. 5] It is a left side view of the rice transplanter according to the embodiment of the present invention. [Fig. 6] It is a first explanatory diagram of the monitor of the rice transplanter according to the embodiment of the present invention. [Fig. 7] It is a second explanatory diagram of the monitor of the rice transplanter according to the embodiment of the present invention. [Fig. 8] It is a third explanatory diagram of the monitor of the rice transplanter according to the embodiment of the present invention. [Fig. 9] It is a fourth explanatory diagram of the monitor of the rice transplanter according to the embodiment of the present invention.

1: Seedling transplanting machine

10:Seedling planting department

31: Steering plate

31a:Monitor

32: Steering wheel

33: Operating mechanism

61: Dispersion device

63: Feed component

66:Pesticide dispersion device

69:Pesticide feeding component

70:Moving motor

102: Remote operating parts (tablet computer terminal)

102a:Touch panel

102b:Input button

150: Live broadcast device

151: Feed roller

152:Clutch

160:Weeder

170: Grooving machine

180: Management machine

300:Control Department

301: Work machine identification unit

302: Teaching mode control unit

303: Automatic driving mode control unit

304: Remote operation mode control unit

305: Manual operation mode control unit

306: Mode transfer unit

SN1: Steering angle sensor

SN2a: Right rear wheel rotation sensor

SN2b: Left rear wheel rotation sensor

SN3: Work machine connection sensor

SN4: remaining sensor

SN5: Anomaly detection sensor

SW1: Differential switch

Claims (6)

A kind of work vehicle, which is equipped with: The vehicle body (4) can be connected to a working machine used for working on farmland; Manual driving mode is based on manual operation; and The automatic driving mode is to drive the aforementioned vehicle body (4) based on the reference data of the aforementioned farmland; When the aforementioned working machine is disconnected, the aforementioned automatic driving mode is prohibited. The work vehicle as described in claim 1, wherein the vehicle body (4) can be connected to any one of the following three as the work machine: a lawn mower (160) used to remove grass from the farmland; The tank machine (170) is used to form the flow path of the water in the farmland; and the management machine (180) is used to spread the chemicals; The aforementioned work vehicle is equipped with a control unit (300). When any one of the aforementioned lawnmower (160), the aforementioned grooving machine (170), and the aforementioned management machine (180) is connected, the aforementioned control unit (300) controls It is impossible to transfer to the aforementioned automatic driving mode. The work vehicle according to claim 2, which is provided with a monitor, and the monitor displays items related to the connected work machine and the setting values of the above items; When a device other than a planting device is connected to the vehicle body (4), items related to the planting device are displayed without displaying at least a part of the setting values of the items. The work vehicle according to claim 2, which is provided with a monitor, the monitor displays items related to the connected work machine and the setting values of the aforementioned items, and has a planting device (10) as the work machine, The aforementioned planting device (10) is used to plant seedlings from mat-shaped seedlings to farmland. When a direct seeding device (150) is connected to the aforementioned vehicle body (4) instead of the aforementioned planting device (10), the setting value of the planting depth is displayed. The setting values related to the mat-shaped seedlings are not displayed. For example, the operating vehicle described in any one of claims 1 to 4 is equipped with: a reference data acquisition mode, which is used to obtain the reference data of the aforementioned farmland. When the aforementioned operating machine is disconnected, the aforementioned reference data acquisition mode is prohibited. The work vehicle as described in any one of claims 1 to 4, which is provided with: a remote operation mode, which is based on input from a traveling remote operating component (102) capable of remotely operating the vehicle body (4). When the vehicle body (4) is driven and the working machine is disconnected, the remote operation mode is prohibited.