JP2023101318A - Reference line setting method, working vehicle, and automatic traveling system - Google Patents

Abstract

To provide a reference line setting method, a working vehicle, and an automatic traveling system that can improve workability by efficiently setting a reference line for automatic traveling.SOLUTION: A combine harvester 1 comprises a control device 50. The control device 50 functions as a reference line selection control unit 60, a start point setting control unit 61, an end point setting control unit 62, and a reference line setting control unit 63. The reference line selection control unit 60 selects a reference line setting unit 55 to be set, from a plurality of reference line setting units 55. The start point setting control unit 61 sets a start point of a reference line according to operation of a start point setting unit 35. The end point setting control unit 62 sets an end point of the reference line according to operation of an end point setting unit 36. The reference line setting control unit 63 sets the reference line based on the start point set by the start point setting control unit 61, and the end point set by the end point setting control unit 62, in association with the reference line setting unit 55 selected by the reference line selection control unit 60.SELECTED DRAWING: Figure 2

Description

The present invention relates to a reference line setting method for a work vehicle that automatically travels based on the set reference line, a work vehicle, and an automatic travel system.

Conventionally, a work vehicle such as a combine harvester is configured to be able to automatically travel along a preset automatic travel route. Create automated driving routes based on lines.

For example, Patent Document 1 discloses a work vehicle that automatically travels using a satellite positioning system, and a rice transplanter, which is an example of the work vehicle, generates a linear reference route (reference line) that serves as a reference for straight traveling. By doing so, the vehicle autonomously travels straight along the target route that is generated parallel to the reference route. At this time, as the straight-ahead assist work by automatic driving, register the starting point of the reference route called point A, register the end point of the reference route called point B, and turn on (start) / off (stop) automatic driving. I need.

Japanese Patent Application Laid-Open No. 2020-135802

By the way, even if the work vehicle sets the reference line consisting of the points A and B for the field, it is necessary to change the reference line during the work depending on the shape of the field and the working conditions. However, with conventional work vehicles, only one reference line can be set for a field, so in order to change the reference line, the previously set reference line must be deleted and a new reference line created. must be set. Therefore, each time the reference line is changed, it is necessary to repeat the erasing and creation of the reference line.

An object of the present invention is to provide a reference line setting method, a working vehicle, and an automatic traveling system that can efficiently set a reference line for automatic traveling to improve workability.

In order to solve the above-described problems, a reference line setting method of the present invention is a reference line setting method for a work vehicle that automatically travels based on a set reference line, wherein a reference line to be set is selected from a plurality of reference line setting units. a selection step of selecting the reference line setting section of; a start point setting step of setting the starting point of the reference line according to the operation of the start point setting section; and setting the end point of the reference line according to the operation of the end point setting section A reference line based on an end point setting step, the start point set in the start point setting step, and the end point set in the end point setting step is associated with the reference line setting portion selected in the selection step. and a reference line setting step for setting.

In order to solve the above-described problems, a work vehicle according to the present invention is a work vehicle that automatically travels based on a set reference line, wherein the reference line to be set is set by a plurality of reference line setting units. a reference line selection control unit that selects a reference line, a start point setting control unit that sets the starting point of the reference line according to the operation of the start point setting unit, and an end point that sets the end point of the reference line according to the operation of the end point setting unit setting a reference line selected by the reference line selection control unit based on a setting control unit, the start point set by the start point setting control unit, and the end point set by the end point setting control unit; and a reference line setting control unit that is set in association with the unit.

Further, in order to solve the above-described problems, an automatic traveling system of the present invention is an automatic traveling system for a work vehicle that automatically travels based on a set reference line, wherein a setting target is selected from a plurality of reference line setting units. a reference line selection control unit that selects the reference line setting unit of; a start point setting control unit that sets the start point of the reference line according to the operation of the start point setting unit; an end point setting control unit for setting an end point; and a reference line based on the start point set by the start point setting control unit and the end point set by the end point setting control unit is selected by the reference line selection control unit. and a reference line setting control section for setting in association with the reference line setting section.

ADVANTAGE OF THE INVENTION According to this invention, the reference line setting method, working vehicle, and automatic traveling system which can set the reference line of automatic traveling efficiently and can improve workability are provided.

BRIEF DESCRIPTION OF THE DRAWINGS It is a side view which shows the example of the combine which concerns on embodiment of this invention. It is a block diagram of a combine according to an embodiment of the present invention. It is a top view which shows the example of the agricultural field which operate|works in the combine which concerns on embodiment of this invention. FIG. 3 is a plan view showing an example of a case where no reference line is set in any of a plurality of reference line setting units in the automatic straight operation device for a combine harvester according to the embodiment of the present invention. FIG. 4 is a plan view showing an example in which a start point is set to set a first reference line in the automatic straight operation device for a combine harvester according to the embodiment of the present invention; FIG. 4 is a plan view showing an example in which an end point is set in order to set a first reference line in the automatic straight operation device for a combine harvester according to the embodiment of the present invention; FIG. 10 is a plan view showing an example of a case where the second reference line is not set while the first reference line is set in the automatic straight operation device for the combine harvester according to the embodiment of the present invention. FIG. 5 is a plan view showing an example of a case where a starting point is set for setting a second reference line in the automatic straight operation device for a combine harvester according to the embodiment of the present invention; FIG. 10 is a plan view showing an example in which an end point is set to set a second reference line in the automatic straight operation device for a combine harvester according to the embodiment of the present invention; FIG. 10 is a plan view showing an example of a case where the operation for erasing the first reference line is performed in the automatic straight operation device for the combine harvester according to the embodiment of the present invention. FIG. 10 is a plan view showing an example of a case where the first reference line is erased in the automatic straight operation device for the combine harvester according to the embodiment of the present invention; FIG. 4 is a plan view showing an example of a case where the first reference line is selected as an automatic travel target before starting automatic straight travel in the automatic straight travel operation device for a combine harvester according to the embodiment of the present invention; FIG. 10 is a plan view showing an example of a case where the automatic straight operation device for a combine harvester according to the embodiment of the present invention is executing automatic straight travel with a first reference line as an automatic travel target. FIG. 5 is a plan view showing an example of a case where a second reference line is selected as an automatic travel target before starting automatic straight travel in the automatic straight operation device for a combine harvester according to the embodiment of the present invention; FIG. 10 is a plan view showing an example of a case where the automatic straight operation device for a combine harvester according to the embodiment of the present invention is executing automatic straight travel with a second reference line as an automatic travel target. FIG. 5 is a plan view showing an example of a case in which a selection operation is performed to select the first reference line as an automatic travel target before starting automatic straight travel in the automatic straight operation device for a combine harvester according to the embodiment of the present invention. FIG. 10 is a plan view showing an example in which the first reference line is selected as an automatic travel target in response to a selection operation in the automatic straight operation device for a combine harvester according to the embodiment of the present invention; FIG. 10 is a plan view showing an example of a case where automatic straight travel is executed with the first reference line as the automatic travel target in response to a selection operation in the automatic straight travel operation device for a combine harvester according to the embodiment of the present invention.

As an example of a work vehicle according to an embodiment of the present invention, a combine harvester 1 will be described with reference to FIG. 1 and the like. The combine 1 runs in a field to be worked by automatic operation or manual operation, and performs work such as reaping to harvest crops from stalks planted in the field. For example, the combine 1 is configured to perform automatic work in which the steering direction is controlled by automatic operation and the travel speed is controlled in response to manual operation, and unmanned work in which the steering direction and travel speed are controlled by automatic operation. It can run, turn and work autonomously in the field.

The combine 1 performs the reaping work for a plurality of rows of grain culms while traveling in a linear row process with a reaping width of a predetermined number of rows within the number of reapable rows. The combine 1 is set to either a manual running mode or an automatic running mode. The combine harvester 1 is configured to perform manual traveling according to the operation of the operating section 9 by the operator when the manual traveling mode is set.

On the other hand, when the automatic traveling mode is set, the combine harvester 1 is configured to automatically travel along an automatic traveling route parallel to a predetermined reference line and automatically perform straight traveling for automatically reaping. The combine 1 is provided with a control device 50 as shown in FIG. 2, and the control device 50 creates a reference line and an automatic travel route.

Especially in this embodiment, as shown in FIG. A reference line L is associated with the setting unit 55 and set. The combine 1 creates a reference line L from the start point A to the end point B by setting a start point A and an end point B in the field H for each reference line L. The combine 1 also creates an automatic travel route P based on the reference line L of the reference line setting unit 55 selected from the plurality of reference line setting units 55, and automatically travels straight along the automatic travel route P.

In this embodiment, the combine harvester 1 is configured such that the first reference line L1 and the second reference line L2 can be set as the plurality of reference lines L, and the plurality of reference line setting units 55 are the first reference line L1 and a reference line setting portion 55b corresponding to the second reference line L2. The first reference line L1 is created by connecting a straight line from the first start point A1 to the first end point B1, and the second reference line L2 is created by connecting the second start point A2 to the second end point B2 with a straight line. there is FIG. 3 shows an automatic travel route P created based on the first reference line L1.

As shown in FIG. 1, the combine 1 includes a traveling section 2, a reaping section 3, a threshing section 4, a sorting section 5, a storage section 6, a waste straw processing section 7, a power section 8, and a control section. 9, and is composed of a so-called self-threshing combine. The combine 1 threshes the culms harvested by the reaping unit 3 in the threshing unit 4 while traveling by the traveling unit 2 , sorts the grains in the sorting unit 5 , and stores them in the storage unit 6 . The combine 1 processes the waste straw after threshing by the waste straw processing unit 7 . The combine 1 drives the traveling section 2 , the reaping section 3 , the threshing section 4 , the sorting section 5 , the storage section 6 and the waste straw processing section 7 by the power supplied by the power section 8 .

The traveling unit 2 is provided below the body frame 10 and includes a pair of left and right crawler type traveling devices 11 and a transmission (not shown). The traveling unit 2 rotates the crawler of the crawler-type traveling device 11 by power (for example, rotational power) transmitted from the engine 27 of the power unit 8, thereby causing the combine 1 to travel in the front-rear direction and in the left-right direction. or rotate it. The transmission transmits the power (rotational power) of the power section 8 to the crawler type travel device 11, and can also change the speed of the rotational power.

The reaping unit 3 is provided in front of the traveling unit 2, and reaps rows within the number of reapable rows. The reaping unit 3 includes a divider 13 , a lifting device 14 , a cutting device 15 and a conveying device 16 . The divider 13 divides the grain culms in the field for each row and guides the grain culms for a predetermined number of rows within the number of reapable rows to the raising device 14 . A lifting device 14 lifts the culm guided by the divider 13 . The cutting device 15 cuts the culms raised by the raising device 14 . The conveying device 16 conveys the culms cut by the cutting device 15 to the threshing section 4 .

The threshing part 4 is provided behind the reaping part 3 . The threshing section 4 includes a feed chain 18 and a threshing cylinder 19 . The feed chain 18 conveys the culms conveyed from the conveying device 16 of the reaping unit 3 for threshing, and further conveys the culms after threshing, that is, the removed straw to the removed straw processing unit 7 . The threshing cylinder 19 threshes the culms being conveyed by the feed chain 18 .

The sorting section 5 is provided below the threshing section 4 . The sorting unit 5 includes a swing sorting device 21, an air sorting device 22, a grain conveying device (not shown), and a straw waste discharging device (not shown). The swing sorting device 21 sieves the threshed grains dropped from the threshing section 4 to sort them into grains, straw scraps, and the like. The air blow sorting device 22 further sorts the degrained grains sorted by the swing sorting device 21 into grains, straw scraps, and the like by blowing air. The grain conveying device conveys the grains sorted by the swing sorting device 21 and the air sorting device 22 to the storage section 6 . The straw waste discharging device discharges straw waste and the like sorted by the swing sorting device 21 and the air sorting device 22 to the outside of the machine.

The storage section 6 is provided on the right side of the threshing section 4 . The reservoir 6 includes a grain tank 24 and a discharge device 25 . The grain tank 24 stores grains conveyed from the sorting section 5 . The discharging device 25 is composed of an auger or the like, and discharges the grains stored in the grain tank 24 to an arbitrary place.

The discharged straw processing unit 7 is provided behind the threshing unit 4 . The waste straw processing unit 7 includes a waste straw conveying device (not shown) and a waste straw cutting device (not shown). The straw conveying device conveys the straw conveyed from the feed chain 18 of the threshing section 4 to the straw cutting device. The waste straw cutting device cuts the waste straw conveyed by the waste straw conveying device and discharges it out of the machine.

The power section 8 is provided above the traveling section 2 and in front of the storage section 6 . The power unit 8 includes an engine 27 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 27 to the traveling unit 2 , the reaping unit 3 , the threshing unit 4 , the sorting unit 5 , the storage unit 6 and the waste straw processing unit 7 .

The control section 9 is provided above the power section 8 . The operation unit 9 includes operation tools for operating the combine 1 around the operator's seat, which is a seat on which the operator sits. The operating unit 9 includes, as operation tools, a handle for instructing turning of the machine body of the combine harvester 1, a main shift lever and an auxiliary shift lever for instructing changes in speed of the combine harvester 1 in forward and backward movement, and the like. The manual travel of the combine harvester 1 is performed by the travel section 2 that receives the operation of the steering wheel of the control section 9, the main gear shift lever, and the sub gear shift lever. Further, the control unit 9 includes a mechanism for operating the harvesting work by the harvesting unit 3, the threshing work by the threshing unit 4, the discharge work by the discharge device 25 of the storage unit 6, and the like. Further, the control unit 9 includes an automatic straight driving operation device 30 for operating automatic straight driving along an automatic driving route parallel to the reference line.

The combine 1 includes a positioning unit 28 that acquires the position of the combine 1 using a satellite positioning system such as GPS. The positioning unit 28 receives positioning signals from positioning satellites via a positioning antenna, and acquires position information of the positioning unit 28, that is, the own vehicle position of the combine 1 based on the positioning signals.

Next, the automatic straight operation device 30 will be described with reference to FIGS. 4 to 18. FIG. The automatic straight operation device 30 is attached near the steering wheel, for example, so that it can be operated by a worker sitting in the driver's seat. The automatic straight operation device 30 includes an automatic straight movement instruction unit 31, an automatic straight movement display unit 32, a plurality of reference line operation units 33, a plurality of reference line display units 34, a start point setting unit 35, and an end point setting unit 36. , a start point setting display section 37 and an end point setting display section 38 .

In this embodiment, the automatic straight operation device 30 includes a reference line operation unit 33a and a reference line display unit 34a corresponding to the reference line setting unit 55a capable of setting the first reference line, and a reference line display unit 34a capable of setting the second reference line. An example including a reference line operation section 33b and a reference line display section 34b corresponding to the line setting section 55b will be described.

FIG. 4 illustrates the automatic straight operation device 30 when no reference line is set in any of the plurality of reference line setting units 55 . FIG. 5 shows the automatic straight operation device 30 when the start point is set for setting the first reference line in a state where no reference line is set, and FIG. The automatic steer manipulator 30 is illustrated when an end point has been set to set. FIG. 7 illustrates the automatic straight operation device 30 when the first reference line is set and the second reference line is not set. FIG. 8 shows the automatic straight operation device 30 when the start point is set for setting the second reference line in a state where the first reference line is set, and FIG. The automatic steer manipulator 30 is illustrated when an end point has been set to set. FIG. 10 shows the automatic straight operation device 30 when the first reference line is erased in a state in which the first reference line and the second reference line are set, and FIG. The automatic straight operation device 30 is illustrated when it is erased. FIG. 12 shows the automatic straight driving operation device 30 when the first reference line is selected as an automatic driving target before starting automatic straight driving in a state where the first reference line and the second reference line are set. FIG. 13 illustrates the automatic straight driving operation device 30 when automatic straight driving is executed with the first reference line as the automatic driving target. FIG. 14 shows the automatic straight driving operation device 30 in a state where the first reference line and the second reference line are set and the second reference line is selected as an automatic driving target before starting automatic straight driving. FIG. 15 illustrates the automatic straight driving operation device 30 when automatic straight driving is executed with the second reference line as the automatic driving target. In FIG. 16 , the automatic straight operation device 30 is used when the first reference line and the second reference line are set and the first reference line is selected as the target of automatic traveling before the automatic straight traveling is started. , FIG. 17 illustrates the automatic straight operation device 30 when the first reference line is selected as an automatic travel target in accordance with the selection operation, and FIG. 18 illustrates the first reference line in response to the selection operation. The automatic straight driving operation device 30 is illustrated when automatic straight driving, which is the object of automatic driving, is being executed.

The automatic straight running instruction unit 31 is for operating an instruction to start automatic straight running by the combine harvester 1, and is configured to be capable of receiving a pressing operation with a circular operation button or the like. The automatic straight-travel instruction unit 31 transmits an automatic straight-travel start instruction to the control device 50 in response to the pressing operation when the automatic straight-travel start condition is satisfied.

The automatic straight-ahead instruction unit 31 may be capable of being pressed only when the start condition is satisfied, or may be always capable of being pressed and is automatically activated only when the start condition is satisfied and the pressing operation is performed. An instruction to start straight running may be transmitted. Alternatively, the automatic straight running instruction unit 31 can always be pressed, and always transmits an automatic straight running start instruction in response to the pressing operation. You may decide to accept it.

The automatic straight running display unit 32 is composed of LEDs, lamps, and the like that indicate the state of automatic straight running by the combine harvester 1, and is controlled by the control device 50 to provide different displays depending on whether or not conditions for starting automatic straight running are satisfied. displayed in the state. The automatic straight display section 32 is formed, for example, in a ring shape surrounding the automatic straight display section 31 . 4 to 18 show examples in which the automatic straight-travel display unit 32 is configured separately from the automatic straight-travel instruction unit 31, but in other examples, the automatic straight-travel display unit 32 may may be configured integrally with the

For example, when the start condition is not satisfied, the automatic straight display unit 32 is turned off as shown in FIGS. 4 and 5 . On the other hand, when the start condition is satisfied, the automatic straight running display unit 32 blinks before the automatic straight running is started, as shown in FIGS. is being executed, it lights up as shown in FIGS. In FIGS. 4 to 18, lights out are not filled in, lit lights are filled in black, and flashing lights are hatched. When there are a plurality of start conditions, the automatic straight display unit 32 may display whether or not each start condition is met so as to be identifiable. It may be configured to correspond to the conditions. Further, the automatic straight driving display unit 32 may use other display states to identify the automatic straight driving state.

The plurality of reference line operation sections 33 are for operating the setting and selection of each reference line corresponding to each of the plurality of reference line setting sections 55, and are configured to be able to accept pressing operations with circular operation buttons or the like. be done. Each reference line operation unit 33 transmits a selection instruction for selecting the corresponding reference line setting unit 55 (reference line) as a setting target or an automatic driving target to the control device 50 in response to a selection operation such as a pressing operation. In addition, each reference line operation unit 33 erases (resets) the reference line set in the corresponding reference line setting unit 55 in response to an erasing operation such as a long press operation (for example, pressing operation for several seconds or longer). A reference line erasing instruction is transmitted to the control device 50 . Note that each reference line operation unit 33 issues a selection cancellation instruction for canceling the selection of the corresponding reference line setting unit 55 (reference line) as a setting target or an automatic driving target in response to a release operation such as a pressing operation again. You may transmit to the control apparatus 50. FIG.

For example, when a reference line is not set in the reference line setting unit 55 corresponding to the reference line operation unit 33, the reference line setting unit 55 is set as a reference line target according to the selection operation of the reference line operation unit 33. , and the reference line set by the combine harvester 1 is associated with the reference line setting unit 55 . After the reference line setting unit 55 corresponding to the reference line operation unit 33 is selected as the reference line setting target according to the selection operation of the reference line operation unit 33, Then, the reference line setting unit 55 may be canceled from the setting target.

When a reference line is set in the reference line setting unit 55 corresponding to the reference line operation unit 33, the reference line setting unit 55 is selected as an automatic traveling target in accordance with the selection operation of the reference line operation unit 33, When the automatic straight-travel instructing portion 31 is pressed, an automatic travel route based on the reference line is created, and the combine harvester 1 automatically travels straight along the automatic travel route. Note that after selecting the reference line setting unit 55 corresponding to the reference line operation unit 33 as an object for automatic traveling according to the selection operation of the reference line operation unit 33, according to the selection cancellation instruction of the reference line operation unit 33, The reference line setting unit 55 may be canceled from the automatic travel target.

Further, when a reference line is set in the reference line setting section 55 corresponding to the reference line operation section 33, the reference set in the reference line setting section 55 is deleted in response to the deletion operation of the reference line operation section 33. Lines are erased.

The plurality of reference line display units 34 correspond to the plurality of reference line setting units 55, respectively, and are composed of LEDs, lamps, etc. that indicate the state of each reference line setting unit 55. Different display states are displayed according to the setting state and selection state of the reference line of the line setting unit 55 . The plurality of reference line display sections 34 also correspond to the plurality of reference line operation sections 33, respectively. In FIGS. However, in another example, each reference line display section 34 may be configured separately from each reference line operation section 33 .

For example, when no reference line is set in the corresponding reference line setting section 55, the reference line display section 34 is turned off as shown in FIGS. On the other hand, when a reference line is set in the corresponding reference line setting section 55, the reference line display section 34 is lit as shown in FIGS. When the correspondence between the reference line setting section 55 and the reference line is canceled and the reference line is erased, the reference line display section 34 lit as shown in FIG. It will be turned off.

Further, when a reference line is set and the reference line is selected as a target for automatic driving, the reference line display unit 34 blinks as shown in FIGS. be done. At this time, when the reference line is automatically selected according to the own vehicle position and traveling direction of the combine harvester 1 (see FIGS. 12 to 15), the reference line is selected according to the selection operation of the reference line operation unit 33. It is preferable that the reference line display section 34 is displayed in different blinking states (for example, different blinking intervals) depending on the case (FIGS. 17 and 18). Note that the reference line display section 34 may be displayed in the same display state, for example, blinking at the same intervals, or may be displayed in different display states, such as blinking at different intervals, before the start of automatic straight running and during execution. good too.

The starting point setting section 35 is for operating the setting of the starting point (point A) of each reference line corresponding to each reference line setting section 55, and is configured to be capable of receiving a pressing operation with an operation button or the like. The start point setting unit 35 transmits a start point setting instruction to the control device 50 in response to a setting operation such as a pressing operation. At this time, in the control device 50, the position of the own vehicle of the combine harvester 1 is set as the starting point of the reference line corresponding to the reference line setting section 55 selected as the setting target. Further, even if the start point has already been set, the start point setting unit 35 may transmit a start point setting instruction for resetting the start point to the control device 50 in accordance with the setting operation. Note that when the start point is set, the start point setting unit 35 issues a start point cancellation instruction to cancel the setting of the start point in response to a cancellation operation such as a long press operation (for example, a pressing operation for several seconds or more). can be sent to

Note that the starting point setting unit 35 may be capable of being pressed only when the reference line setting unit 55 is selected as a setting target, or may be always capable of being pressed and the reference line setting unit 55 is selected as a setting target. The start point setting instruction may be transmitted only when 55 is selected. Alternatively, the starting point setting unit 35 can always be pressed, and always transmits a starting point setting instruction in response to the pressing operation. , may be determined to accept the start point setting instruction.

The end point setting section 36 is for operating the setting of the end point (point B) of each reference line corresponding to each reference line setting section 55, and is configured to be capable of receiving a pressing operation with an operation button or the like. The end point setting unit 36 transmits an end point setting instruction to the control device 50 in response to a setting operation such as a pressing operation. At this time, in the control device 50, the position of the own vehicle of the combine harvester 1 is set as the end point of the reference line corresponding to the reference line setting section 55 selected as the setting target.

The end point setting portion 36 can be operated by pressing only when the reference line setting portion 55 is selected as a setting target and the start point of the reference line corresponding to the reference line setting portion 55 is set. Alternatively, the end point can be set only when the pressing operation is always possible, the reference line setting section 55 is selected as a setting target, and the start point of the reference line corresponding to the reference line setting section 55 is set. Configuration instructions may be sent. Alternatively, the end point setting unit 36 can always be pressed, and always transmits an end point setting instruction in response to the pressing operation. Only when the starting point of the reference line corresponding to the reference line setting unit 55 is set, it may be determined to accept the end point setting instruction.

The starting point setting display section 37 is composed of LEDs, lamps, etc. that indicate the setting state of the starting point, and is controlled by the control device 50 to display different display states according to the operation of the starting point setting section 35 . 4 to 18 show an example in which the starting point setting display unit 37 is integrated with the starting point setting unit 35. In other examples, the starting point setting display unit 37 is separate from the starting point setting unit 35. It may consist of a body.

Basically, the starting point setting display section 37 is displayed in FIGS. 4 and 7 when the starting point setting operation is possible for the reference line setting section 55 to be set, that is, when the starting point is not set. , as shown in FIG. 11, is turned off, and on the other hand, when the start point setting operation is disabled, that is, when the start point is set, FIGS. is illuminated as shown.

For example, when the reference line setting portion 55 is not selected as a setting target, the starting point setting display portion 37 is turned off regardless of the pressing operation of the starting point setting portion 35 . When the reference line setting unit 55 is selected as a setting target, the start point setting display unit 37 lights up as shown in FIGS. be done. Further, after the start point of the reference line is set and the start point setting display section 37 is turned on, when a predetermined time elapses after the end point of the reference line is set (that is, when the reference line is established), the reference line is set. If there remains a reference line setting portion 55 that has not been set, the start point setting display portion 37 is extinguished as shown in FIG. The starting point setting display unit 37 may also identify the state of starting point setting using another display state.

The end point setting display unit 38 is composed of LEDs, lamps, or the like that indicate the setting state of the end point, and is controlled by the control device 50 to display different display states according to the operation of the end point setting unit 36 . 4 to 18 show an example in which the end point setting display unit 38 is configured integrally with the end point setting unit 36. In other examples, the end point setting display unit 38 is separate from the end point setting unit 36. It may consist of a body.

Basically, the end point setting display section 38 displays the lines shown in FIGS. 4 and 5 when the end point setting operation is possible for the reference line setting section 55 to be set, that is, when the end point is not set. , FIG. 7, FIG. 8, and FIG. 11, the light is turned off, and if the end point setting operation is disabled, that is, if the end point is set, then FIGS. 18 are illuminated.

For example, when the reference line setting portion 55 is not selected as a setting target, or when the reference line starting point of the reference line setting portion 55 is not set even if the reference line setting portion 55 is selected as a setting target, Regardless of the setting operation of the end point setting section 36, the end point setting display section 38 is turned off. When the reference line setting unit 55 is selected as a setting target and the starting point of the reference line of the reference line setting unit 55 is set, according to the pressing operation of the end point setting unit 36 when setting the end point , the end point setting display section 38 is illuminated as shown in FIGS. Further, after the end point of the reference line is set and the end point setting display section 38 is turned on, when a predetermined time elapses after the end point of the reference line is set (that is, when the reference line is established), the reference line is set. If there remains a reference line setting portion 55 that has not been set, the end point setting display portion 38 is extinguished at the same time as the start point setting display portion 37, as shown in FIG. Alternatively, the end point setting display unit 38 may identify the state of the end point setting using another display state.

Next, the control device 50 of the combine 1 will be described with reference to FIG. The control device 50 is composed of a computer such as a CPU, and is connected to a storage unit 51 such as ROM, RAM, hard disk drive, flash memory, etc., and a communication unit 52 that communicates with external devices. In the present invention, an automatic traveling system is configured by the automatic straight operation device 30 and the control device 50 .

The storage unit 51 stores programs and data for controlling various components and functions of the combine 1, and the control device 50 executes arithmetic processing based on the programs and data stored in the storage unit 51. controls various components and functions. The control device 50 acquires the position information of the combine harvester 1 by controlling the positioning unit 28, for example.

The storage unit 51 stores the field information of the field to be worked by the combine harvester 1 and the plurality of reference line setting units 55 described above. The farm field information includes, for example, the shape, size, and position information (coordinates, etc.) of the farm field edge that constitutes the outer circumference of the farm field, and the shape, size, position information (coordinates, etc.) of the work area of the farm field. The field information also includes information such as the shape, size, and position information (coordinates, etc.) of unworked land that has not yet been worked on, and already worked land that has already been worked on. Each reference line setting section 55 includes position information of the set start point (point A) and end point (point B), and position information of a reference line connecting the start point and the end point with a straight line. In this embodiment, the storage unit 51 stores, as the plurality of reference line setting units 55, a reference line setting unit 55a corresponding to the first reference line and a reference line setting unit 55b corresponding to the second reference line.

The communication unit 52 can wirelessly communicate with an external device such as the portable terminal 40 owned by the worker via a wireless communication antenna. The control device 50 controls the communication unit 52 to wirelessly communicate with the mobile terminal 40 to transmit and receive various types of information to and from the mobile terminal 40 .

The portable terminal 40 is one of the constituent elements of the combine harvester 1, and is a terminal capable of remotely controlling the combine harvester 1. For example, the portable terminal 40 is configured by a tablet terminal having a touch panel, a notebook personal computer, or the like.

Further, by executing the programs stored in the storage unit 51, the control device 50 controls the reference line selection control unit 60, the start point setting control unit 61, the end point setting control unit 62, the reference line setting control unit 63, the route creation unit 64 , a start condition determination unit 65 and a travel control unit 66 . Note that the reference line selection control unit 60, the start point setting control unit 61, the end point setting control unit 62, the reference line setting control unit 63, the route creation unit 64, the start condition determination unit 65, and the travel control unit 66 are based on the reference line according to the present invention. It implements a line setting method selection process, a start point setting process, an end point setting process, a reference line setting process, a route creation process, a start condition determination process, and an automatic driving process.

The reference line selection control unit 60 includes a reference line setting unit 55 to be set when setting a reference line for a field, and a reference line setting unit 55 to be automatically traveled when the combine 1 automatically travels straight. to select.

For example, when automatically selecting the reference line setting section 55 to be set, the reference line selection control section 60 sets the priority order in advance to the plurality of reference line setting sections 55. For example, the first reference line is set higher than the second reference line. Then, when neither the first reference line nor the second reference line is set, the reference line selection control unit 60 sets the reference line setting unit 55a for the first reference line having the higher priority. Further, when the first reference line is not set but the second reference line is set, the reference line selection control section 60 sets the reference line setting section 55a of the first reference line as the setting target. On the other hand, when the first reference line is set and the second reference line is not set, the reference line selection control unit 60 sets the reference line setting unit 55b for the second reference line as the setting target. Note that when reference lines are set in all of the plurality of reference line setting units 55, the reference line selection control unit 60 does not set any reference line setting unit 55 as a setting target.

Alternatively, when the reference line setting portion 55 to be set is selected according to the selection operation of the reference line operation portion 33, the reference line selection control portion 60 receives a selection instruction from the reference line operation portion 33, and the selection is performed. The reference line setting portion 55 indicated in the instruction is set as a setting target. Specifically, when no reference line is set in the reference line setting unit 55 indicated by the selection instruction received from the reference line operation unit 33, the reference line selection control unit 60 responds to the selection instruction. The reference line setting portion 55 indicated in the instruction is set as a setting target. When the reference line selection control unit 60 receives a deselection instruction from the reference line operation unit 33 when the reference line setting unit 55 corresponding to the selection instruction from the reference line operation unit 33 is set as a setting target, the reference line selection control unit 60 selects the reference line. The selection of the line setting portion 55 to be set is canceled, and the reference line setting portion 55 to be set is automatically selected based on the order of priority.

Further, when automatically selecting the reference line setting unit 55 to be automatically driven, the reference line selection control unit 60 selects the reference line when the reference line is set only in one reference line setting unit 55. The line setting section 55 is selected as an automatic travel target. On the other hand, when a reference line is set in each of the plurality of reference line setting units 55, the reference line selection control unit 60 selects the reference line setting unit 55 based on the vehicle position and traveling direction of the combine harvester 1, for example. to select. Alternatively, the reference line selection control unit 60 selects the reference line setting unit 55 having a higher priority as an automatic travel target. Note that when reference lines are not set in all of the plurality of reference line setting units 55, the reference line selection control unit 60 does not select any of the reference line setting units 55 as an automatic travel target.

Alternatively, when the reference line setting unit 55 of the reference line to be automatically driven is selected according to the selection operation of the reference line operation unit 33, the reference line selection control unit 60 receives a selection instruction from the reference line operation unit 33. Then, the reference line of the reference line setting unit 55 indicated by the selection instruction is set as the automatic travel target. Specifically, when a reference line is set in the reference line setting unit 55 indicated by the selection instruction received from the reference line operation unit 33, the reference line selection control unit 60 responds to the selection instruction. The reference line of the reference line setting unit 55 indicated in the instruction is set as the object of automatic travel.

Before the automatic driving target is selected, the reference line display section 34 corresponding to the reference line setting section 55 in which the reference line is set is lit as shown in FIGS. The reference line selection control unit 60 causes the reference line display unit 34 corresponding to the reference line setting unit 55 set as the target of automatic travel to display in a display state indicating that the reference line is selected as the target of automatic travel. 12, as shown in FIGS. 14 and 17, it is controlled to blink. At this time, the reference line selection control unit 60 automatically selects the reference line setting unit 55 for automatic travel according to the vehicle position and traveling direction of the combine harvester 1 (see FIGS. 12 to 15), The reference line display unit 34 is set to a different blinking state (for example, a different blinking interval).

Here, FIGS. 12 and 13 show an example in which the reference line setting portion 55a for the first reference line is automatically selected and the reference line display portion 34a for the first reference line blinks. 15 shows an example in which the reference line setting portion 55b for the second reference line is automatically selected and the reference line display portion 34b for the second reference line blinks. 17 and 18, the reference line setting portion 55a for the first reference line is selected in accordance with the selection operation of the reference line operation portion 33a for the first reference line, and the reference line display portion 34a for the first reference line is selected. shows an example in which is blinking.

Note that the reference line selection control unit 60 receives a deselection instruction from the reference line operation unit 33 when the reference line of the reference line setting unit 55 corresponding to the selection instruction from the reference line operation unit 33 is set as the object of automatic driving. Then, the reference line setting unit 55 is canceled from the selection as the object of automatic travel. At this time, the reference line selection control unit 60 causes the reference line display unit 34 corresponding to the reference line setting unit 55 that has been canceled from the object of automatic travel to display in a display state indicating cancellation from the object of automatic travel. Blinking is canceled, that is, control is performed so that lighting is performed.

The starting point setting control unit 61 controls the setting of the starting point when setting the reference line for the field. Upon receiving the start point setting instruction from the start point setting unit 35, the start point setting control unit 61 acquires the vehicle position of the combine harvester 1 from the positioning unit 28, and sets the reference line of the reference line setting unit 55 selected as a setting target. Set as starting point. Further, when the start point setting control unit 61 receives the start point setting instruction again from the start point setting unit 35 when the start point is set, the start point setting control unit 61 newly acquires the own vehicle position of the combine harvester 1 from the positioning unit 28 and uses it as the start point. Reset. Before the start point is set, the start point setting display section 37 is turned off as shown in FIGS. Then, the display in the display state indicating the start point setting, for example, as shown in FIGS. 5 and 8, is controlled to be lit.

In addition, when the start point setting control unit 61 receives a start point cancellation instruction from the start point setting unit 35 when the start point is set, the set start point is canceled. When canceling the starting point, the starting point setting control unit 61 controls the starting point setting display unit 37 to display in a display state indicating cancellation of the starting point, for example, to turn off the light.

The end point setting control unit 62 controls the setting of the end point when setting the reference line for the field. When the end point setting control unit 62 receives an end point setting instruction from the end point setting unit 36 when the start point of the reference line of the reference line setting unit 55 selected as a setting target is set, the end point setting control unit 62 controls the combine 1 from the positioning unit 28. , and set it as the end point of the reference line of the reference line setting unit 55 . Before setting the end point, the end point setting display unit 38 is turned off as shown in FIGS. 4 and 5 and FIGS. The setting display unit 38 is controlled to display in a display state indicating the end point setting, for example, lighting as shown in FIGS. 6 and 9 .

With the above-described configuration, the start point setting control unit 61 and the end point setting control unit 62 can set a reference line in all of the plurality of reference line setting units 55, or when at least one of the plurality of reference line setting units 55 The start point setting display section 37 and the end point setting display section 38 are controlled to be displayed in different display states depending on whether or not the reference line is set.

When the start point setting control unit 61 sets the starting point and the end point setting control unit 62 sets the end point for the reference line setting unit 55 selected as a setting target, the reference line setting control unit 63 , a reference line connecting the start point to the end point with a straight line is created, set in association with the reference line setting unit 55 , and stored in the storage unit 51 . Note that the reference line setting control unit 63 automatically sets the name of the reference line when setting the reference line in the reference line setting unit 55, or accepts input of the name of the reference line, and sets the name of the reference line. The name of the reference line may be associated with the reference line setting section 55 and stored in the storage section 51 .

Before the reference line is set, the reference line display section 34 is turned off as shown in FIGS. controls the reference line display unit 34 corresponding to the reference line setting unit 55 to display in a display state indicating the setting of the reference line, for example, to light up as shown in FIGS. do. In addition, the reference line setting control unit 63 sets the reference line when a predetermined time has elapsed after the reference line is set by setting the end point (that is, when the reference line is determined). When the setting portion 55 remains, the display in the display state indicating that the start point setting and the end point setting are possible for the start point setting display portion 37 and the end point setting display portion 38, for example, as shown in FIG. control to turn off the light.

Further, when the reference line setting control unit 63 receives a reference line deletion instruction from the reference line operation unit 33 corresponding to the reference line setting unit 55 in which the reference line is set, the reference line setting unit 55 and the reference line are set. , and deletes the reference line from the storage unit 51 . At this time, the reference line setting control unit 63 causes the reference line display unit 34 corresponding to the reference line setting unit 55 whose reference line has been erased to display in a display state indicating cancellation from the object of automatic driving. As shown in 11, control is performed to turn off the light.

The route creation unit 64 determines the reference line of the reference line setting unit 55 by the reference line selection control unit 60 in accordance with the selection operation of the reference line operation unit 33 corresponding to the reference line setting unit 55 in which the reference line is set. When selected as an automatic travel target, an automatic travel route based on the reference line is created and stored in the storage unit 51 in association with the field and the reference line. For example, the route creation unit 64 creates an automatic travel route, which is a straight line parallel to the reference line and is composed of a plurality of straight routes arranged at working width intervals from the reference line, over the entire field. create. Alternatively, the route generating unit 64 may be a straight line parallel to the reference line and pass through the position of the own vehicle of the combine harvester 1, and a plurality of straight routes arranged at working width intervals from the straight route. An automatic driving route consisting of is created over the entire field. Alternatively, the route creation unit 64 may create an automatic travel route that is a straight line parallel to the reference line and that includes only a straight route passing through the position of the combine harvester 1 .

The start condition determination unit 65 determines whether or not the combine harvester 1 satisfies the conditions for starting automatic straight traveling. The start condition determination unit 65 determines, for example, that a reference line is set in at least one of the plurality of reference line setting units 55, and that the reference line setting unit 55 with the reference line set is selected as an automatic travel target. and that an automatic travel route is created based on the reference line of the reference line setting unit 55 for automatic travel.

For example, when the start condition is not satisfied, the start condition determination unit 65 causes the automatic straight-running display unit 32 to display a display state indicating that automatic straight-running is impossible even before the start of automatic straight-running. For example, as shown in FIGS. 4 and 5, control is performed to turn off the light. On the other hand, when the start condition is satisfied, the start condition determining unit 65 causes the automatic straight running display unit 32 to display a display state indicating that the automatic straight running is possible even before the automatic straight running is started. , for example, control to blink as shown in FIGS.

The travel control unit 66 is set in advance including an automatic straight travel for automatically reaping while automatically traveling along the straight travel route of the automatic travel route created based on the reference line for the field, and a straight travel route and a turning route. The traveling unit 2 and the reaping unit 3 are controlled so as to perform automatic reaping traveling for automatically reaping while automatically traveling along the determined traveling route. In this embodiment, an example in which automatic straight travel is performed will be described. For example, the travel control unit 66 receives an automatic straight travel start instruction in response to the pressing operation of the automatic straight travel instruction unit 31 when the combine harvester 1 satisfies the automatic straight travel start condition. Then, the travel control unit 66 acquires the automatic travel route in response to this start instruction, and based on the position information of the combine harvester 1 measured by the positioning unit 28, the combine 1 passes through the straight route of the automatic travel route. The power section 8, the traveling section 2, and the reaping section 3 are controlled so as to perform automatic straight traveling.

At this time, when the automatic straight traveling is started, the traveling control unit 66 causes the automatic straight traveling display unit 32 to display in a display state indicating that the automatic straight traveling is being executed. As shown in FIG. 18, control is performed to perform lighting. When the automatic straight driving is stopped, the driving control unit 66 indicates to the automatic straight driving display unit 32 that the automatic straight driving is being stopped. It is controlled to display in a display state indicating that, for example, to blink. Further, when the automatic straight running is finished, the traveling control unit 66 controls the automatic straight traveling display unit 32 to display in a display state indicating that the automatic straight traveling is finished, for example, to turn off the light.

With the above-described configuration, the start condition determination unit 65 and the travel control unit 66 can determine whether a reference line is set in at least one of the plurality of reference line setting units 55 and when all of the plurality of reference line setting units 55 Control is performed so that the automatic straight traveling display section 32 is displayed in a different display state depending on whether the reference line is set or not.

As described above, according to the present embodiment, the combine 1, which is an example of a work vehicle, includes the control device 50. The control device 50 includes the reference line selection control section 60, the start point setting control section 61, the end point setting control section 62, functions as a reference line setting control unit 63; The reference line selection control section 60 selects the reference line setting section 55 to be set from the plurality of reference line setting sections 55 . The starting point setting control section 61 sets the starting point of the reference line according to the operation of the starting point setting section 35 . The end point setting control section 62 sets the end point of the reference line according to the operation of the end point setting section 36 . The reference line setting control unit 63 sets the reference line based on the start point set by the start point setting control unit 61 and the end point set by the end point setting control unit 62 to the reference line setting selected by the reference line selection control unit 60. It is set in association with the part 55 .

In other words, in the present invention, the reference line setting method for a work vehicle such as a combine harvester 1 that automatically travels based on the set reference line is to select a reference line setting unit 55 to be set from a plurality of reference line setting units 55. a starting point setting step of setting the starting point of the reference line according to the operation of the starting point setting unit 35; an end point setting step of setting the ending point of the reference line according to the operation of the end point setting unit 36; a reference line setting step of setting a reference line based on the start point set in the setting step and the end point set in the end point setting step in association with the reference line setting part 55 selected in the selection step.

As a result, the combine 1 sets a reference line in association with each of the plurality of reference line setting units 55, so that the reference line can be set from the plurality of reference line setting units 55 in accordance with the shape of the field, work conditions, and the like. can be selected and applied to automatic straight running. Therefore, even if the shape of the field or the work situation changes during the work, the reference line can be changed without erasing the previously set reference line, and the burden on the operator can be reduced. . Therefore, it is possible to efficiently set the reference line for automatic straight traveling and improve workability.

In the combine 1 of the present embodiment, the reference line selection control section 60 selects the reference line setting section 55 to be set according to the operation of the reference line operation section 33 .

Thereby, the reference line setting portion 55 to be set can be selected according to the operator's thinking, and the operability can be improved.

Further, in the combine 1 of the present embodiment, the reference line setting control unit 63 controls the reference line setting control unit 63 to set the reference line among the plurality of reference line display units 34 corresponding to the plurality of reference line setting units 55 respectively. The reference line display portion 34 corresponding to the portion 55 and the reference line display portion 34 corresponding to the reference line setting portion 55 in which no reference line is set are displayed in different display states.

As a result, by changing the display state of the reference line display section 34, the operator can recognize whether or not a reference line is set in each reference line setting section 55, and change the reference line to be set. A setting section 55 can be selected.

Further, in the combine 1 of the present embodiment, the reference line setting control unit 63 controls the reference line setting control unit 63 to set the reference line among the plurality of reference line display units 34 corresponding to the plurality of reference line setting units 55 respectively. In the section 55, the reference line display section 34 corresponding to the reference line setting section 55 selected as an automatic driving target and the other reference line display sections 34 are displayed in different display states.

As a result, by changing the display state of the reference line display section 34, the operator can recognize whether or not the reference line is set in each reference line setting section 55, and the reference line setting section to be automatically traveled. 55 can be selected.

In addition, in the combine 1 of the present embodiment, the control device 50, in response to the operation of the reference line operation unit 33 corresponding to the reference line setting unit 55 in which the reference line is set, the automatic traveling route based on the reference line It functions as a route creation unit 64 that creates the .

As a result, only by the operator selecting a reference line, an automatic traveling route for automatic straight traveling is created based on the reference line, so that the operator can perform work according to his or her thoughts.

In addition, in the combine 1 of the present embodiment, the reference line setting control section 63 erases the reference line set for each reference line setting section 55 according to a predetermined erasing operation.

Thereby, the reference line can be erased for each reference line setting section 55 according to the operator's thinking, and the operability can be improved.

In addition, in the combine 1 of the present embodiment, the reference line setting control unit 63 sets the reference line to all of the plurality of reference line setting units 55, or sets the reference line to at least one of the plurality of reference line setting units 55. The start point setting display portion 37 corresponding to the start point setting portion 35 and the end point setting display portion 38 corresponding to the end point setting portion 36 are displayed in different display states depending on whether the reference line is set in the .

Accordingly, by changing the display state of the start point setting display section 37 and the end point setting display section 38, the operator can recognize whether the start point and the end point are set, and can set the reference line. It is possible to set the start point and the end point by operating the start point setting section 35 and the end point setting section 36 while recognizing whether or not.

In addition, in the combine 1 of the present embodiment, the control device 50 functions as a travel control unit 66 that starts automatic travel based on the reference line in response to the operation of the automatic straight travel instruction unit 31 . The travel control unit 66 determines whether a reference line is set in at least one of the plurality of reference line setting units 55 and when the reference line is not set in all of the plurality of reference line setting units 55. An automatic straight-ahead display section 32 corresponding to the automatic straight-ahead instruction section 31 is displayed in a different display state.

Thus, by changing the display form of the automatic straight traveling display section 32, the operator can recognize whether or not the reference line is set in at least one reference line setting section 55 and the automatic straight traveling can be started. While the vehicle is moving, the automatic straight-ahead traveling can be started by operating the automatic straight-ahead instruction section 31 .

In the above-described embodiment, the combine 1 has two reference line setting units 55 (reference line setting unit 55a and reference line setting unit 55b) as a plurality of reference line setting units 55, and two reference lines (second 1 reference line and a second reference line) has been described, but the present invention is not limited to this example. For example, in another example, the combine 1 may be capable of setting three or more reference lines, and may have three or more reference line setting units 55 corresponding to the three or more reference lines, respectively. In this case, the automatic straight operation device 30 includes three or more reference line operation units 33 and three or more reference line display units 34 corresponding to the three or more reference line setting units 55 respectively.

In the above-described embodiment, the control unit 9 of the combine harvester 1 is provided with the automatic straight operation device 30 for performing the reference line setting operation and the instruction to start automatic straight traveling, and a plurality of reference lines are set. An example has been described in which the reference line setting unit 55 is stored in the storage unit 51 provided in the combine harvester 1, and the control device 50 provided in the combine harvester 1 controls the setting of the reference line and the execution of automatic straight travel, but the present invention is limited to this example. Not limited. For example, in another example, an operation display device such as a touch panel provided in the mobile terminal 40 is provided with a function similar to that of the automatic straight operation device 30, and a plurality of reference line setting units 55 in which a plurality of reference lines are set are provided in the mobile terminal. The data may be stored in a storage unit provided in the mobile terminal 40, and a control device provided in the portable terminal 40 may control the setting of the reference line and the execution of automatic straight running.

Although an example of the combine 1 configured as a self-threshing combine has been described in the above-described embodiment, the present invention is not limited to this example, and the combine 1 may be configured as a normal combine. Moreover, in the above-described embodiment, an example in which the work vehicle is configured by the combine harvester 1 has been described, but the present invention is not limited to this example. For example, the working vehicle of the present invention may be composed of other agricultural machinery such as a tractor, a rice transplanter, a grass cutter, or may be composed of a working vehicle other than the agricultural machinery.

It should be noted that the present invention can be modified as appropriate within a range that does not contradict the gist or idea of the invention that can be read from the scope of claims and the entire specification. A system is also included in the technical idea of the present invention.

1 combine (work vehicle)
2 Traveling Unit 9 Control Unit 30 Automatic Straight Operation Device 31 Automatic Straight Direction Indicating Part 32 Automatic Straight Direction Display Part 33, 33a, 33b Reference Line Operation Section 34, 34a, 34b Reference Line Display Section 35 Start Point Setting Section 36 End Point Setting Section 37 Starting Point Setting Display unit 38 End point setting display unit 50 Control device 51 Storage unit 55, 55a, 55b Base line setting unit 60 Base line selection control unit 61 Start point setting control unit 62 End point setting control unit 63 Base line setting control unit 64 Route creation unit 65 Start Condition determination unit 66 Travel control unit

Claims (10)

A reference line setting method for a work vehicle that automatically travels based on the set reference line, comprising:
a selection step of selecting the reference line setting part to be set from a plurality of reference line setting parts;
a starting point setting step of setting the starting point of the reference line according to the operation of the starting point setting unit;
an end point setting step of setting the end point of the reference line according to the operation of the end point setting unit;
Reference line setting for setting a reference line based on the start point set in the start point setting step and the end point set in the end point setting step in association with the reference line setting section selected in the selection step. process and
A reference line setting method, comprising:
2. The reference line setting method according to claim 1, wherein the selection step selects the reference line setting section to be set according to an operation of a reference line operation section.
In the reference line setting step, among a plurality of reference line display portions corresponding to the plurality of reference line setting portions, the reference line display portion corresponding to the reference line setting portion to which the reference line is set; 3. The reference line setting method according to claim 1, wherein the reference line display portions corresponding to the reference line setting portions in which the reference line is not set are displayed in different display states.
In the reference line setting step, among a plurality of reference line display portions corresponding to each of the plurality of reference line setting portions, the reference line setting portion in which the reference line is set is selected as an automatic driving target. 3. The reference line setting according to claim 1 or 2, wherein the reference line display portion corresponding to the reference line setting portion that is set and the other reference line display portions are displayed in different display states. Method.
2. A route creation step of creating an automatic driving route based on the reference line in response to operation of a reference line operation unit corresponding to the reference line setting unit in which the reference line is set. 5. The reference line setting method according to any one of 1 to 4.
6. The method according to any one of claims 1 to 5, wherein the reference line setting step erases the reference line set for each of the reference line setting units in accordance with a predetermined erasing operation. Reference line setting method.
In the reference line setting step, the reference line is set in all of the plurality of reference line setting units, and the reference line is not set in at least one of the plurality of reference line setting units. 7. The start point setting display section corresponding to the start point setting section and the end point setting display section corresponding to the end point setting section are displayed in different display states. reference line setting method.
Having an automatic traveling step of starting automatic traveling based on the reference line in response to the operation of the automatic straight ahead instruction unit,
When the reference line is set in at least one of the plurality of reference line setting units and when the reference line is not set in all of the plurality of reference line setting units, the automatic straight advance instruction 8. The reference line setting method according to any one of claims 1 to 7, wherein the automatic straight display portions corresponding to the portions are displayed in different display states.
A work vehicle that automatically travels based on a set reference line,
a reference line selection control unit that selects the reference line setting unit to be set from a plurality of reference line setting units;
a starting point setting control unit that sets the starting point of the reference line according to the operation of the starting point setting unit;
an end point setting control unit that sets the end point of the reference line according to the operation of the end point setting unit;
A reference line based on the start point set by the start point setting control unit and the end point set by the end point setting control unit is associated with the reference line setting unit selected by the reference line selection control unit. a reference line setting control unit to be set;
A work vehicle comprising:
An automatic traveling system for a work vehicle that automatically travels based on a set reference line,
a reference line selection control unit that selects the reference line setting unit to be set from a plurality of reference line setting units;
a starting point setting control unit that sets the starting point of the reference line according to the operation of the starting point setting unit;
an end point setting control unit that sets the end point of the reference line according to the operation of the end point setting unit;
A reference line based on the start point set by the start point setting control unit and the end point set by the end point setting control unit is associated with the reference line setting unit selected by the reference line selection control unit. a reference line setting control unit to be set;
An automatic driving system comprising:

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