KR20230159265A - Work support method, work vehicle, and work support system - Google Patents

Abstract

(Task) Provide a work support method, a work vehicle, and a work support system that can prevent mud or debris from entering an unworked area by placing it on the work area.
(Solution means) The combine 1 is provided with a harvesting unit 3 that performs harvesting work while traveling on the pavement, a control device 30, and a portable terminal 40, and the control device 30 is A first forward run 53 that performs work while moving forward from the unworked work site 51 in the first direction D1, and a first forward run 53 that moves backward on the finished work site 52 formed by the first forward run 53. 1 backward travel 54 and moving forward in a direction intersecting with the first direction D1 toward the unworked work site 51 adjacent to the machined work site 52 in a direction perpendicular to the first direction D1. It functions as a travel control unit 35 that performs the second forward travel 55 to perform work. When performing the second forward travel 55, the travel control unit 35 automatically inclines the reaping unit 3 so that one side of the reaping unit 3 is raised in the body width direction of the combine 1. .

Description

Work support method, work vehicle, and work support system {WORK SUPPORT METHOD, WORK VEHICLE, AND WORK SUPPORT SYSTEM}

The present invention relates to a work support method for a work vehicle that performs work while traveling on a pavement, the work vehicle, and a work support system.

A work vehicle such as a combine forms a working area by carrying out predetermined work such as harvesting work (harvesting of grain stems) while driving on an unworked area of the field. Conventionally, the work area is formed by placing crops in the corners of the field. To ensure that there are no work residues such as harvest residues (remnants of harvesting from the grain stem), forward driving involving work on unworked areas and backward driving on existing work areas are repeated.

For example, in the automatic travel path generation system disclosed in Patent Document 1, a corner travel path that is a path for automatic harvesting travel at a corner of the field is generated. The corner driving path is a first path that moves forward while harvesting crops along one of the sides forming the corner, a second path that moves backwards along the first path, and leaves unworked land between the first path. A third path moves forward while harvesting crops in a direction intersecting the first path, a fourth path moves backwards along the third path, and moves forward while harvesting crops in the unworked area between the first path and the third path. The path includes a fifth path that proceeds in a direction between the first path and the third path, turns, and reaches a state where it proceeds along the other side of the sides forming the corner portion.

Japanese Patent Publication No. 2021-83387

When a work vehicle travels forward, including turning, from an existing work site to a non-work site, the ground may be raised on one side of the body width direction of the work vehicle or the ship may be separated. At this time, if the work vehicle enters the unworked area with mud or debris raised on the ground caught on the work area, the stuck mud or debris may push the grain culms of the unworked area to the ground, making a mess of the unworked area. There are concerns. In this way, if the grain stem in the unworked field is pushed down, the harvesting operation (reaping operation) cannot proceed smoothly, and there is a risk that work efficiency may be reduced.

The purpose of the present invention is to provide a work support method, a work vehicle, and a work support system capable of suppressing entry into an unworked area by placing mud or sandbags on a work area.

In order to solve the above problems, the work support method of the present invention is a work support method of a work vehicle having a work unit that performs work while traveling on a pavement, and the work is performed while advancing in a first direction from an unworked area of the pavement. A first forward run that moves backwards on a pre-worked workpiece formed by the first forward run, and a first backward run that moves backward toward the unworked workpiece adjacent to the pre-worked workpiece in a direction perpendicular to the first direction. and a traveling process of performing a second forward travel in which work is performed while advancing in an intersecting direction, wherein the traveling process includes: when performing the second forward travel, the work unit in the body width direction of the work vehicle; It is characterized in that the working part is automatically tilted so that one side is raised.

In addition, in order to solve the above problems, the work vehicle of the present invention is a work vehicle, which includes a work unit that performs work while traveling on the pavement, and a section that performs work while advancing in a first direction on the unworked area of the pavement. 1 forward run, a first backward run for reversing the base work area formed by the first forward run, and a direction perpendicular to the first direction toward the unworked area adjacent to the base work area, in the first direction. and a travel control unit that performs a second forward travel to perform work while advancing in an intersecting direction, wherein the travel control unit controls one side of the work unit in the body width direction of the work vehicle when performing the second forward travel. It is characterized by automatically tilting the working part so that it becomes higher.

In addition, in order to solve the above problems, the work support system of the present invention is a work support system for a work vehicle having a work unit that performs work while traveling on a pavement, and performs work while advancing in a first direction from an unworked area of the pavement. A first forward run that performs a first forward run, a first backward run that moves backwards on the machined workpiece formed by the first forward run, and the It is provided with a travel control unit that performs a second forward travel to perform work while moving forward in a direction intersecting with the first direction, and when performing the second forward travel, the travel control unit is configured to: It is characterized by automatically tilting the working part so that one side of the working part is raised.

According to the present invention, a work support method, a work vehicle, and a work support system are provided that can prevent the work area from entering an unworked area by hanging mud or sandbags on a work area.

Fig. 1 is a side view of a combine according to the first embodiment of the present invention.
Fig. 2 is a front view of the combine according to the first embodiment of the present invention.
FIG. 3 is a front view showing the inclined state of the combine according to the first embodiment of the present invention.
Fig. 4 is a block diagram of a combine according to the first embodiment of the present invention.
Fig. 5 is a top view showing an example of a pavement on which the combine according to the first embodiment of the present invention runs.
FIG. 6 is a top view showing an example of pavement on which the combine according to the first embodiment of the present invention performs the first forward travel.
FIG. 7 is a top view showing an example of pavement on which the combine according to the first embodiment of the present invention performs the first backward run and the second forward run.
FIG. 8 is a top view showing another example of pavement on which the combine according to the first embodiment of the present invention performs the first backward run and the second forward run.
FIG. 9 is a top view showing an example of a support screen displayed on the portable terminal of the combine according to the first embodiment of the present invention.
FIG. 10 is a top view showing an example of a work screen displayed on the portable terminal of the combine according to the first embodiment of the present invention.
FIG. 11 is a top view showing an example of pavement on which the combine according to the second embodiment of the present invention performs the second backward run and the third forward run.
FIG. 12 is a top view showing an example of pavement on which the combine according to the third embodiment of the present invention performs the first forward run, the first backward run, and the second forward run.
FIG. 13 is a top view showing an example of pavement on which the combine according to the third embodiment of the present invention performs the second backward run and the third forward run.

The work vehicle of the present invention performs work while traveling on paving, and as an example of a work vehicle related to the embodiment of the present invention, the combine 1 is explained with reference to FIG. 1 and the like. The combine 1, by automatic operation or manual operation, travels the field to be worked on and performs work such as mowing in order to harvest crops from grain stalks planted in the field. The combine 1 is, for example, configured to perform automatic work in which steering is controlled by automatic operation and travel speed is controlled by manual operation, or unmanned work is performed in which steering and travel speed are controlled by automatic operation. It can drive, turn and work autonomously within the pavement.

The combine 1 performs reaping work on a plurality of rows in a grain stem while running along a straight row with a predetermined number of rows within the reapable number of rows as the reaping width. The combine 1 is set to either a manual travel mode or an automatic travel mode. When the manual travel mode is set, the combine 1 is configured to perform manual travel with only running or manual reaping travel with reaping work in accordance with the operation of the control unit 9 by the operator.

On the other hand, when the automatic driving mode is set, the combine 1 is configured to perform an automatic reaping drive that automatically reaps while automatically driving along the automatic driving path set in the pavement. Reciprocating cutting in which a plurality of straight paths are made on unworked land (unworked land) having fine grain stems in the field, or rotational cutting in which the circumference of the straight path along the inner circumference of the rice field is repeated while shifting toward the center. Automatic mowing driving with driving patterns such as: In addition, before performing the automatic reaping run, the combine 1 performs an outer reaping run in which it travels around and reaps along the outer circumference of the pavement, thereby forming a gap in the pavement, and the inside of the gap is covered by the automatic reaping run. Make it a work area.

In the first embodiment, the combine 1 is provided with a running part 2 and a reaping part 3 (working part), as shown in FIG. 1 or FIG. 2, and as shown in FIG. 1 Likewise, it is provided with a threshing unit (4), a sorting unit (5), a storage unit (6), a waste processing unit (7), a power unit (8), and a control unit (9), and is a so-called self-driving combine. It consists of The combine (1), while traveling by the traveling unit (2), threshes the grain stalks harvested by the reaping unit (3) in the threshing unit (4), and selects the grains in the sorting unit (5) to the storage unit (6). ) and save it. The combine 1 processes the germ after threshing by the germ processing unit 7 . The combine (1) uses the power supplied by the power unit (8) to operate the driving unit (2), the reaping unit (3), the threshing unit (4), the sorting unit (5), the storage unit (6), and the waste processing unit. (7) Run.

The traveling section 2 is formed below the fuselage 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 using power (for example, rotational power) transmitted from the engine 27 of the power unit 8, thereby rotating the combine 1. It can be driven forward and backward, or turned left and right. The transmission transmits the power (rotational power) of the power unit 8 to the crawler-type traveling device 11, and can also change the rotational power.

The running unit 2 is a horizontal control mechanism that controls the harvesting unit 3 horizontally in the width direction of the body with respect to the pavement surface (ground), for example, one pair of rolling mechanisms 12 on the left and right, respectively, on the left and right. It is equipped with a pair of crawler-type traveling devices (11). Each rolling mechanism 12 has a rolling cylinder, and adjusts the height of the body frame 10 for each crawler-type traveling device 11 by expanding and contracting the rolling cylinder to adjust the height of the harvesting unit 3. When the combine 1 performs normal harvesting work, each rolling mechanism 12 adjusts the height of the body frame 10 so that the harvesting unit 3 is at a normal harvesting height horizontal to the pavement surface. In the case where the combine 1 performs a mobile run without performing harvesting work, each rolling mechanism 12 adjusts the height of the body frame 10 so that the harvesting unit 3 is at the height of the standby position. do.

In addition, the left and right pair of rolling mechanisms 12 can adjust the inclination angle (height of the left and right ends from the pavement surface) of the left and right sides of the body frame 10 with respect to the horizontal direction of the pavement surface, and the body frame ( 10) According to the left-right inclination angle, the left-right inclination angle (height of the left end and right end from the pavement surface) of the reaping unit 3 is adjusted. Each rolling mechanism 12 raises one side of the reaping unit 3 in the body width direction (left and right directions), that is, tilts the reaping unit 3 so that one side is raised, or The other side of (3) can be raised, that is, the harvesting unit (3) can be inclined so that the other side is raised.

For example, the rolling mechanism 12 on the right side raises the body frame 10 with respect to the crawler-type traveling device 11 on the right side, thereby inclining the reaping unit 3 so that the right side is raised, while the rolling mechanism on the left side The mechanism 12 raises the body frame 10 with respect to the crawler-type traveling device 11 on the left side, thereby inclining the harvesting unit 3 so that the left side is raised. As shown in FIG. 3, the left front of the aircraft is an unworked area 51 (see FIG. 5, etc.), but the right front of the aircraft is a finished work area 52 (see FIG. 5, etc.), and when a ship is placed, the combine ( 1) What is necessary is just to incline the reaping part 3 so that the right side becomes high by the pair of left and right rolling mechanisms 12.

The harvesting unit 3 is formed on the body frame 10 in front of the traveling unit 2, and performs a harvesting operation of the rough water within the tidal range that can be harvested. The harvesting unit 3 is provided with a divider 13, a pulling device 14, a cutting device 15, and a conveying device 16. The divider 13 separates the grain stems in the field into each set, and guides the grain stems of a predetermined number of grains within the harvestable number of grains to the harvesting device 14. The device 14 raises the grain stem guided by the divider 13. The cutting device 15 cuts the grain stem raised by the cutting device 14. The conveying device 16 conveys the grain stem cut by the cutting device 15 to the threshing unit 4. In addition, when the reaping unit 3 is configured so that driving and stopping can be controlled for each row, the pair of rolling mechanisms 12 on the left and right sides of the traveling unit 2 tilt one side of the reaping unit 3 highly. The operation of the side may be stopped.

The threshing unit 4 is formed behind the reaping unit 3. The threshing unit 4 is provided with a feed chain 18 and a barrel 19. The feed chain 18 conveys the grain stems conveyed from the conveyance device 16 of the reaping unit 3 for threshing, and further conveys the threshed grain stems, that is, the grains, to the threshing processing unit 7. The barrel 19 threshes the grain culm being transported by the feed chain 18.

The sorting unit 5 is formed below the threshing unit 4. The sorting unit 5 is provided with a rocking sorting device 21, a blowing sorting device 22, a grain conveying device (not shown), and a straw waste discharge device (not shown). The shaking sorting device 21 sieves the threshed grain that has fallen from the threshing unit 4 and sorts it into grains, straw scraps, etc. The blowing sorting device 22 further sorts the threshed grains sorted by the shaking sorting device 21 into grains, straw scraps, etc. by blowing. The grain conveying device conveys the grains sorted by the shaking sorting device 21 and the blowing sorting device 22 to the storage unit 6. The straw waste discharge device discharges the straw waste etc. sorted by the rocking sorting device 21 and the blowing sorting device 22 to the outside of the device.

The storage section 6 is formed in the right side of the threshing section 4. The storage unit 6 is provided with a grain tank 24 and a discharge device 25. The grain tank 24 stores the grains conveyed from the sorting unit 5. The discharge device 25 is comprised of an auger etc. and discharges the grains stored in the grain tank 24 to an arbitrary location.

The threshing processing unit 7 is formed behind the threshing unit 4. The embryo processing unit 7 is equipped with an embryo conveyance device (not shown) and an embryo cutting device (not shown). The embryo conveying device conveys the embryo conveyed from the feed chain 18 of the threshing unit 4 to the embryo cutting device. The pear cutting device cuts the pears conveyed by the pear conveying device and discharges them out of the machine.

The power unit 8 is formed above the traveling unit 2 and in front of the storage unit 6. The power unit 8 includes an engine 27 that generates rotational power. The power unit 8 uses the rotational power generated by the engine 27 to drive the traveling unit 2, the reaping unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the waste processing unit. Deliver to (7).

The control unit 9 is formed above the power unit 8. The control unit 9 is a travel control unit for controlling the travel of the combine 1 around the driver's seat, which is the seat where the operator sits, and is a handle for instructing the turning of the body of the combine 1 or the combine 1. It is equipped with a main gear shift lever and a sub-shift lever to indicate change in forward and backward speed. In addition, the control unit 9 is used for the lifting and lowering operation of the reaping unit 3, the reaping operation by the reaping unit 3, the threshing operation by the threshing unit 4, and the discharge device 25 of the storage unit 6. A work operation unit is provided to operate the discharge operation, etc. When the manual travel mode is set, the power unit 8 and the travel unit 2 are driven according to the operation of the travel operation unit of the control unit 9 to perform manual travel of the combine 1, and the work operation unit According to the operation of , the power unit (8) and the reaping unit (3) are driven to perform manual work of the combine (1).

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

Next, the control device 30 of the combine 1 is explained with reference to FIG. 4. The control device 30 is comprised of a computer such as a CPU, and is connected to a storage unit 31 such as ROM, RAM, hard disk drive, and flash memory, and a communication unit 32 that communicates with external devices.

The storage unit 31 stores programs and data for controlling various components and various functions of the combine 1, and the control device 30 operates based on the programs and data stored in the storage unit 31. By executing computational processing, various components and various functions are controlled. For example, the control device 30 acquires the own vehicle position of the combine 1 from the positioning unit 28, and also acquires the traveling direction in the own vehicle position of the combine 1.

The communication unit 32 is capable of wireless communication with an external device, such as a mobile terminal 40 owned by an operator, via a wireless communication antenna. The control device 30 controls the communication unit 32 to perform wireless communication with the portable terminal 40 and transmits and receives various types of information to and from the portable terminal 40 . For example, the communication unit 32 receives packaging information set for the packaging, the automatic driving route 79 (see FIG. 10), and support information from the mobile terminal 40 and stores them in the storage unit 31. .

For example, a pavement has an unworked paper 51 on which work such as harvesting has not yet been performed, and an existing work paper 52 on which work has already been completed, within the outer shape of the pavement, which is a shape along the outer circumference of the pavement. The packaging information includes information such as the shape, size, and position information (coordinates, etc.) of the packaging exterior, and the shape, size, and position information (coordinates, etc.) of the unworked sheet 51 and the finished work sheet 52. The automatic travel route 79 includes driving information about driving and work information about tasks such as automatic mowing. In addition to the driving position on the pavement, the driving information includes the traveling direction and set vehicle speed at each driving position. The work information includes information about the operation or stop of various operations such as reaping work at each traveling position, and information about the lifting and lowering operation of the reaping unit 3.

Additionally, the control device 30 operates as a travel control unit 35 by executing the program stored in the storage unit 31. Additionally, the travel control unit 35 realizes the travel process of the work support method related to the present invention.

The running control unit 35 controls the automatic reaping running of the combine 1 when the automatic running mode is set. For example, the travel control unit 35 acquires pavement information and automatic travel route 79 set for the pavement from the mobile terminal 40. When the automatic reaping run is started, the travel control unit 35 acquires the own vehicle position of the combine 1 from the positioning unit 28, and based on the own vehicle position, packaging information, and the automatic travel route 79, combine 1 ) Controls the power unit (8), the traveling unit (2), and the reaping unit (3) to perform automatic reaping travel along this automatic travel path (79).

The running control unit 35 is a running unit ( 2) A pair of left and right rolling mechanisms 12 are controlled to automatically tilt the harvesting unit 3. Moreover, the running control part 35 controls a pair of left and right rolling mechanisms 12 so that the other side of the reaping part 3 is set to a normal reaping height.

For example, when the manual travel mode is set, the travel control unit 35 operates through the communication unit 32 when the combine 1 travels the slope start position 56 based on the support information in the pavement. An incline instruction based on the support information is received from the mobile terminal 40, and a pair of left and right rolling mechanisms 12 of the traveling unit 2 are controlled to raise one side (left or right) indicated by the incline instruction. . In addition, when the automatic travel mode is set, the travel control unit 35 operates when the combine 1 travels the slope start position 56 on the pavement based on the assistance information input to the automatic travel path 79. , a pair of left and right rolling mechanisms 12 of the traveling unit 2 are controlled to raise one side (left or right) indicated by the supporting information.

The support information may include a predetermined cancellation condition for canceling the tilt state of the reaping unit 3. For example, the support information may be set as a release condition when the entry of the reaping unit 3 into the unworked land 51 on the slope side is detected. Specifically, in the case where one side of the harvesting section 3 passes through the machined work paper 52 and the other side passes the unworked paper 51 in the body width direction of the combine 1, e.g. One side of the mounting unit 3 is set to be high, and when one side of the harvesting unit 3 is detected to be entering the unworked land 51, the travel control unit 35 controls the harvesting unit 3. The inclination is automatically returned to its original state, and the harvesting part 3 is made horizontal in the width direction of the aircraft with respect to the pavement surface (ground). In addition, when making the harvesting part 3 into an inclined state and turning the combine 1, the support information may set the case of finishing turning and traveling straight ahead as a cancellation condition of an inclined state.

The running control unit 35 is provided with, for example, grain stem sensors that detect the grain stem in front of the reaping unit 3 on both sides of the body width direction of the combine 1, and based on the detection results of the grain stem sensors, e.g. Entry into the unworked area 51 on one side of the installation 3 is detected. Alternatively, the position of the combine 1 acquired by the positioning unit 28 by the work support unit 47 of the mobile terminal 40 and the packaging information about the unworked work site 51 and the finished work site 52 Based on this, the position of the combine 1 with respect to the unworked area 51 and the previously worked area 52 is acquired, and based on the position of the combine 1, the unworked area on one side of the harvesting unit 3 is obtained. Entry into the area 51 may be detected, and the travel control unit 35 receives the detection result from the portable terminal 40 via the communication unit 32. In addition, the running control unit 35 detects the state of the combine 1 just before one side of the reaping unit 3 enters the unworked land 51, and at the time of this detection, the inclination of the reaping unit 3 You can automatically return it to its original state.

The portable terminal 40 is one of the components of the combine 1 and is a terminal capable of remotely operating the combine 1, and is comprised, for example, of a tablet terminal provided with a touch panel, a laptop-type personal computer, etc. . Additionally, the same operating device as that of the portable terminal 40 may be provided in the operating unit 9. In the present invention, a work support system is comprised of the combine 1 and the portable terminal 40.

As shown in FIG. 4, the portable terminal 40 is provided with a terminal-side control device 41 comprised of a computer such as a CPU, and the terminal-side control device 41 includes ROM, RAM, a hard disk drive, It is connected to a terminal-side storage unit 42 such as flash memory and a terminal-side communication unit 43 that communicates with external devices. In addition, the portable terminal 40 is provided with a display unit 44 such as a touch panel or monitor for displaying various information and outputting it to the operator, and also includes a touch panel or a monitor for receiving input operations of various information from the operator. It is provided with an input unit 45 such as operation keys.

The terminal-side storage unit 42 stores programs and data for controlling various components and various functions of the portable terminal 40, and the terminal-side control device 41 stores them in the terminal-side storage unit 42. Various components and various functions of the portable terminal 40 are controlled by executing calculation processing based on the generated program or data. The terminal side storage unit 42 stores the pavement information and the automatic travel route 79 of the pavement that is the work target of the combine 1.

The terminal side communication part 43 is connected to the communication part 32 of the combine 1 via a wireless communication antenna so that communication is possible. The terminal side control device 41 controls the terminal side communication unit 43, performs wireless communication with the combine 1, and transmits and receives various types of information between the combine 1 and the combine 1.

The terminal side control device 41 of the portable terminal 40 executes the program stored in the terminal side storage section 42, thereby controlling the packaging selection section 46, the work support section 47, the route creation section 48, It operates as a display control unit 49. In addition, the route creation unit 48 realizes the route creation process of the work support method related to the present invention, and the work support unit 47 and the display control unit 49 respectively implement the travel process of the work support method related to the present invention. is to support.

The pavement selection unit 46 manually or automatically selects the pavement to be the work target for automatic travel, sets the outer circumferential shape of the pavement, that is, the pavement external shape, and stores it in the terminal-side storage unit 42. For example, the packaging selection unit 46 displays a packaging selection screen (not shown) on the display unit 44 for selecting the packaging to be worked on. In the package selection screen, when package information including the package appearance is already stored in the terminal side storage unit 42, a package corresponding to the package information can be selected. When a package is selected through manual operation on the package selection screen, the package selection unit 46 selects the selected package as the work target and reads the package information corresponding to the selected package from the terminal storage unit 42. pay it out

Additionally, the packaging selection screen makes it possible to create a new packaging. When creation of a new pavement is operated on the pavement selection screen, the pavement selection unit 46 selects the new pavement at the own vehicle position of the combine 1 as a work target. And, the pavement selection unit 46 is configured to perform an outer harvesting run by rotating the combine 1 along the outer circumferential shape of the new pavement, and the position of the combine 1 measured by the positioning unit 28 of the combine 1. The position of the own vehicle is received from the combine 1, and the positional information of the outer circumference shape of the new pavement and the positional information of the route of the outer reaping run are recorded. The pavement selection unit 46 creates the pavement outline of the new pavement based on the positional information acquired during the outsourcing harvesting run, creates pavement information including the pavement outline, and stores it in the terminal side storage unit 42.

As shown in FIG. 5 , the work support unit 47 performs a harvesting run in the predetermined first direction D1 on the unworked site 51 such as the corner of the field 50 by the combine 1. Afterwards, when the harvesting drive in the second direction (D2) perpendicular to the first direction (D1) is continued, forward travel and backward travel are performed so that there are no work residues such as crop harvest residues (remnants of harvesting of grain stems). Set support information for multi-stage reaping driving including driving. 5 to 13, the unworked sheet 51 is indicated by hatching slanting downward to the left, and the pre-worked sheet 52 is indicated by a blank space. In addition, the work support unit 47 may set support information for multi-stage reaping driving, regardless of whether the driving mode is a manual driving mode or an automatic driving mode.

For example, the work support unit 47 includes a first forward travel 53 (see FIG. 6) that performs a mowing operation while moving forward from the unworked area 51 of the pavement 50 in the first direction D1. , a first backward run 54 (see FIGS. 7 and 8) that moves backward on the base work area 52a formed by the first forward run 53, and a base work area 52a in the second direction D2. ) Supports carrying out the second forward travel 55 (see FIGS. 7 and 8), which performs cutting work while advancing in the direction intersecting with the first direction D1, toward the unworked land 51a adjacent to ). Set the information. Moreover, when performing the 2nd forward travel 55, the work support part 47 sets support information so that one side of the reaping part 3 may be inclined highly in the body width direction of the combine 1.

Additionally, the travel control unit 35 of the control device 30 performs the first forward travel 53, the first backward travel 54, and the second forward travel 55 in this order according to the supporting information. This is carried out, and the running part 2 is controlled so that one side of the reaping part 3 is inclined highly at the time of the second forward running 55. In the case of the manual travel mode, the work support unit 47 transmits a slope instruction to the combine 1 based on the support information when the combine 1 performs the second forward travel 55, so that the reaping unit 3 ) Incline one side of the. For example, the combine 1 performs the second forward travel 55 at a predetermined direction change position, such as a corner or middle section of the pavement, and the positioning unit 28 determines the combine 1. ) When detection is made based on the position of the own vehicle, or when a predetermined direction change operation of the control unit 9 (e.g., operation of the direction change switch, a series of shift operations, steering wheel operation, etc.) is detected, the operation The support unit 47 transmits a slope instruction to the combine 1. In the case of the automatic travel mode, when the combine 1 performs the second forward travel 55 by inputting support information into the automatic travel path 79 by the route preparation unit 48 described later, the reaping unit 3 ) is tilted on one side.

Specifically, when the combine 1 changes direction at a predetermined direction change position such as a corner or middle part of the pavement, the work support unit 47 performs a first forward run in relation to the direction change position. (53), set support information including the first backward travel (54) and the second forward travel (55). At this time, the support information may include positional information on the starting and ending points of the first forward travel (53), the first backward travel (54), and the second forward travel (55). The starting point of the first backward travel 54 is set to the end point of the first forward travel 53, and the starting point of the second forward travel 55 is set to the end point of the first backward travel 54. The direction of intersection with the first direction D1 in which the second forward travel 55 is performed is set at an acute angle with respect to the first direction D1.

In the supporting information, the first forward travel 53 is set to straight travel, as shown in FIG. 6 . As shown in FIG. 7 , when the direction change with respect to the unworked workpiece 51a is performed in the second forward travel 55, the first backward travel 54 is set to only straight travel, and the second forward travel ( 55) is set in combination to drive straight ahead after turning to change direction. In addition, the second forward travel 55 in this case may be set only as a turning run that gradually changes direction, or may be set by combining a slow turn that changes direction and straight travel.

Alternatively, as shown in FIG. 8 , when the direction change with respect to the unworked work site 51a is performed in the first backward travel 54, the first backward travel 54 is a turning run in which the direction is changed after the straight travel. The second forward travel 55 is set to be a straight travel only. In this case, the ridge or the like forming the outer shape of the pavement 50 is formed low, and the combine 1 may travel to the outside of the pavement by the first reverse running 54. In addition, the first backward run 54 in this case may be set only with a turning run that gradually changes direction, or may be set by a combination of straight run and a slow turn that changes direction, or the second forward run in this case. The travel 55 may be set by combining straight travel and turning travel with a change in direction, or may be set only with turning travel with a gradual change in direction.

In addition, the work support unit 47 is an inclination of the reaping unit 3 when performing the second forward travel 55, and the reaping unit 3 is positioned between the left and right sides in the body width direction of the combine 1. Support information is set to automatically tilt the reaping unit 3 so that one side of is raised. At this time, the work support unit 47 may be set on the side of the existing work paper 52 on one side that raises the harvesting unit 3, that is, on the inclined side. In addition, the work support unit 47 controls the reaping unit 3 to a normal harvesting height in the first forward travel 53 that performs the reaping operation, and the first backward travel 54 in which the reaping operation is not performed. In this case, support information may be set to control the harvesting unit 3 to the height of the waiting position.

Specifically, as support information, the work support unit 47 sets the slope start position 56 of the reaping unit 3 at the starting point of the second forward travel 55, as shown in FIG. 7 or FIG. 8. , the reaping unit 3 is automatically inclined at the timing of switching from the first backward travel 54 to the second forward travel 55. In addition, the work support unit 47 provides, as support information, a predetermined work area 52a moving backward in the first backward travel 54 as seen from a predetermined unworked area 51a heading in the second forward travel 55. The side of is set to one side (slope side) that makes the reaping section 3 higher.

Additionally, the work support unit 47 sets, as support information, a tilt angle (or tilt height) that raises one side of the reaping unit 3. For example, when changing direction toward the unworked site 51a in the second forward travel 55, the work support unit 47 moves the second forward travel 55 so as to face the unworked site 51a. ) The inclination angle of the reaping unit 3 is set based on the turning angle when turning, and at this time, the larger the turning angle is, the larger the inclination angle (or inclination height) is set.

Alternatively, when the work support unit 47 performs a change in direction toward the unworked site 51a in the first reverse travel 54, the work support unit 47 moves in the first reverse travel 54 to face the unworked site 51a. The inclination angle (or inclination height) of the reaping unit 3 is set based on the turning angle when turning, and at this time, the larger the turning angle is, the larger the inclination angle (or inclination height) is. Additionally, the work support unit 47 may set the vehicle speed of the combine 1 (travel unit 2) based on the turning angle in the first reverse travel 54, and at this time, the larger the turning angle, the vehicle speed. You can set it to slow down. In addition, the work support unit 47 may set both the inclination angle of the reaping unit 3 and the vehicle speed of the combine 1 based on the turning angle in the first reverse travel 54. Alternatively, the work support unit 47 sets the inclination angle (or inclination height) of the reaping unit 3 based on the length of the reaping unit 3 in the body width direction of the combine 1, and at this time, The longer the length of the reaping unit 3, the larger the inclination angle (or inclination height) may be set.

The route creation unit 48 creates an automatic travel route 79 (see FIG. 10, etc.) for automatically harvesting and driving the pavement selected in the pavement selection unit 46, stores it in the terminal-side storage unit 42, and stores it in the terminal-side storage unit 42. It is transmitted to the combine 1 via the communication unit 43. The route creation unit 48 creates a plurality of straight paths for harvesting while traveling in the forward direction according to the travel pattern (round-trip cutting or rotational cutting) selected by the operation of the mobile terminal 40 for the pavement, , an automatic travel path 79 is created by combining a plurality of straight paths and a plurality of turning paths connecting each straight path.

Additionally, the route creation unit 48 creates an automatic travel route 79 so that support information set by the operation support unit 47 is input. That is, the work support unit 47 provides support information including the first forward travel 53, the first backward travel 54, and the second forward travel 55 at direction change positions such as each corner of the pavement. When set, the route creation unit 48 creates the first forward travel 53 of the support information with respect to the direction change position (for example, with the direction change position as the end point of the first forward travel 53). A first forward path 53b for automatically performing, a first reverse path 54b for automatically performing the first backward travel 54, and a first forward path 54b for automatically performing the second forward travel 55. The automatic travel path 79 is created to include the second forward path 55b (see FIG. 10). Additionally, in order to automatically incline the reaping unit 3, the route creation unit 48 sets the incline start position 56 of the support information set by the work support unit 47 to the corresponding location of the automatic travel route 79. Set in location. In addition, the path creation unit 48 sets the incline side of the support information as to which side is the left or right side to incline the reaping unit 3, in relation to the incline start position 56. , Also, set the tilt angle of the supporting information.

When the manual running mode is set, the display control unit 49 controls the display unit 44 to display a support screen 60 for performing a manual harvesting run of the field to be worked, as shown in FIG. 9 . The display control unit 49 displays at least a map column 61 in the support screen 60, and in the map column 61, based on the packaging information of the package selected in the packaging selection unit 46, The pavement outline 65 is displayed on the map, and the own vehicle mark 66 of the combine 1 is displayed at the location of the own vehicle of the combine 1 determined by the positioning unit 28 of the combine 1. The display control unit 49 may display the unworked paper 67 and the finished paper 68 within the range of the packaging outline 65 so that they can be identified by changing the display method such as line type, line color, and background color. . In addition, the display control unit 49 updates the position of the own vehicle display 66 and the ranges of the unworked area 67 and the already-worked area 68 according to the progress of the harvesting run of the combine 1.

Additionally, the display control unit 49 displays the support information set by the job support unit 47 in the map column 61 of the support screen 60. For example, the work support unit 47 provides support including a first forward run 53, a first backward run 54, and a second forward run 55 at direction change positions such as each corner of the pavement. When information is set, the display control unit 49 displays the first forward travel 53 and the first forward travel 53 with respect to the direction change position (for example, with the direction change position being the end point of the first forward travel 53). The support routes 53a, 54a and 55a corresponding to the first backward run 54 and the second forward run 55 are identifiably displayed in the map field 61. In addition, the display control unit 49 displays the tilt position display 56a corresponding to the tilt start position 56 of the support information set by the work support unit 47 in order to tilt the reaping unit 3 in the map column 61. ) is displayed.

When the automatic travel mode is set, the display control unit 49 controls the display unit 44 to display a work screen 70 for performing an automatic reaping drive of the field to be worked, as shown in FIG. 10 . The display control unit 49 displays at least the map column 71 on the work screen 70 and displays the work start button 72 so that it can be operated.

The display control unit 49 displays the pavement external shape 75 on the map in the map column 71 based on the pavement information of the pavement selected in the pavement selection unit 46, and also displays the pavement outline 75 on the map. The positioning unit 28 displays the own vehicle mark 76 of the combine 1 at the location of the own vehicle of the combine 1. The display control unit 49 may display the unworked sheet 77 and the finished sheet 78 within the range of the packaging outline 75 so that they can be identified by changing the display method such as line type, line color, and background color. . In addition, the display control unit 49 updates the position of the own vehicle display 76 and the ranges of the unworked area 77 and the already-worked area 78 according to the progress of the harvesting run of the combine 1.

The display control unit 49 displays the automatic driving route 79 created in the route creation unit 48 over the pavement outline 75 in the map field 71. Additionally, when the support information set by the work support unit 47 is input to the automatic travel path 79, the display control unit 49 displays the support information input to the automatic travel path 79 on the work screen 70. It is indicated in the map column (71). For example, based on the support information including the first forward run 53, the first backward run 54, and the second forward run 55 set by the operation support unit 47, the route creation unit 48 a first forward path (53b) corresponding to the first forward travel (53), a first backward path (54b) corresponding to the first backward travel (54), and a first forward path (54b) corresponding to the second forward travel (55). When an automatic driving path 79 including two forward paths 55b is created, the display control unit 49 selects the first forward path 53b in the automatic driving path 79 displayed in the map field 71. ) and the first backward path 54b and the second forward path 55b are displayed for identification. In addition, the display control unit 49 displays the tilt position display 56b corresponding to the tilt start position 56 of the support information set by the work support unit 47 in order to tilt the reaping unit 3 in the map column 71. ) is displayed.

As above, according to the first embodiment, the combine 1 is provided with a harvesting unit 3 (working unit) that performs a harvesting operation while traveling in the field, a control device 30, and a mobile terminal 40. I'm doing it. The control device 30 includes a first forward travel 53 that performs work while moving forward from the unworked area 51 of the pavement in the first direction D1, and a group formed by the first forward travel 53. A first reverse run 54 that moves backwards from the work site 52, and an unworked site 51 adjacent to the existing work site 52 in a direction perpendicular to the first direction D1 (second direction D2) ), and functions as a travel control unit 35 that performs a second forward travel 55 that performs work while moving forward in a direction intersecting with the first direction D1. When performing the second forward travel 55, the travel control unit 35 automatically inclines the reaping unit 3 so that one side of the reaping unit 3 is raised in the body width direction of the combine 1. . The portable terminal 40 is provided with a terminal side control device 41, and the terminal side control device 41 controls a first forward travel 53, a first backward travel 54, and a second forward travel ( 55) functions as a work support unit 47 that sets support information to perform in this order.

In other words, in the present invention, the work support method of a work vehicle such as a combine 1 having a harvesting unit 3 (working unit) that performs work while traveling on a pavement is carried out in the unworked area 51 of the pavement. A first forward run 53 that performs work while moving forward in the first direction D1, and a first backward run 54 that moves backward on the work site 52 formed by the first forward run 53. , advances in a direction intersecting with the first direction D1 toward the unworked work paper 51 adjacent to the machined work paper 52 in a direction perpendicular to the first direction D1 (second direction D2). There is a traveling process of performing a second forward traveling 55 while performing work. When performing the 2nd forward travel 55, a running process automatically inclines the harvesting part 3 so that one side of the harvesting part 3 becomes high in the body width direction of the combine 1.

As a result, the combine 1, even when the ground is raised on one side of the body width direction or the ship is apart, when performing the second forward travel 55, the combine 1 is kept in the body width direction of the harvesting unit 3. By raising one side, it is possible to suppress the ground or soil from being caught on the reaping section 3. Therefore, when the combine 1 enters the unworked field 51 in the second forward travel 55, the harvesting unit 3 pushes over the grain culm of the unworked field 51 due to the dried mud or sand. It is possible to suppress making a mess of the unworked paper (51), such as dropping it.

Moreover, according to the first embodiment, the travel control unit 35 performs the first forward travel 53 to the corner of the pavement.

Accordingly, when the combine 1 performs the first forward travel 53 at the corner of the field and then the second forward travel 55, one side of the body width direction of the harvesting unit 3 is raised. , it is possible to prevent ground or soil from entering the unworked area (51) by hanging it on the harvesting area (3) at the corner of the pavement.

According to the first embodiment, when the travel control unit 35 detects entry into the unworked land 51 on one side of the raised reaping unit 3 when performing the second forward travel 55, yes. The inclination of mounting (3) is automatically reversed. Alternatively, the running control unit 35 may automatically return the inclination of the harvesting unit 3 to the original just before one side of the harvesting unit 3 enters the unworked field 51.

Thereby, after inclining one side of the reaping part 3, the unworked land 51 can be returned to the normal harvesting height, and reaping work can be performed at an appropriate inclination angle.

According to the first embodiment, the travel control unit 35, when performing the second forward travel 55 from the predetermined work area 52 to the predetermined unwork area 51, As seen from (51), the harvesting unit (3) is automatically tilted so that the predetermined work area (52) is raised on one side.

As a result, it is possible to suppress the ground that has risen during the first forward movement 53 or the back of the harvested crops from being caught on the reaping unit 3 and entering the unworked area 51.

According to the first embodiment, the travel control unit 35 sets the inclination angle of the reaping unit 3 based on the turning angle when turning in the second forward travel 55 so as to face the unworked land 51. do.

As a result, the inclination angle of the reaping unit 3 is set based on the range into which the reaping unit 3 is drawn by the turning of the second forward travel 55, so the reaping unit 3 can be inclined by the required angle. there is.

Alternatively, according to the first embodiment, the travel control unit 35 adjusts the inclination angle of the harvesting unit 3 based on the turning angle when turning in the first reverse travel 54 so as to face the unworked land 51. Set .

As a result, the inclination angle of the reaping unit 3 is set based on the range into which the reaping unit 3 is drawn by the turning of the first backward travel 54, so the reaping unit 3 can be inclined by the required angle. there is.

Or, according to 1st Embodiment, the running control part 35 sets the inclination angle of the harvesting part 3 based on the length of the harvesting part 3 in the body width direction of the combine 1.

As a result, the inclination angle of the reaping unit 3 is set based on the range that the reaping unit 3 draws in according to the length of the reaping unit 3, so the reaping unit 3 can be inclined by the required angle.

Moreover, according to the first embodiment, the terminal side control device 41 of the portable terminal 40 includes a first forward path 53b for automatically performing the first forward travel 53 and a first backward travel. It functions as a path creation unit 48 that creates a first backward path 54b for automatically performing the second forward travel 54 and a second forward path 55b for automatically performing the second forward travel 55. . The path creation unit 48 creates the second forward path 55b so as to leave the unworked paper 51 between the first forward path 53b and the second forward path 55b. The running control unit 35 automatically inclines the reaping unit 3 so that one side becomes higher at the timing of switching from the first backward path 54b to the second forward path 55b.

Accordingly, when the combine 1 performs the automatic reaping run, the reaping unit 3 is inclined so that one side is raised when starting the automatic run of the second forward path 55b, so the combine 1 is Even when the ground is raised on one side in the width direction or the sacks are separated, it is possible to more reliably suppress the ground or the sacks from being caught on the reaping section 3. Therefore, in the automatic reaping run, when the combine 1 enters the unworked land 51 in the second forward travel 55, the reaping unit 3 moves into the unworked land 51 due to dried mud or sand. ) can be more reliably prevented from making a mess of the unworked paper 51, such as pushing over the grain stem.

In addition, in the above-described first embodiment, the work support unit 47 is formed by a first forward travel 53 that performs a harvesting operation while moving forward in the first direction D1, and a first forward travel 53. A first backward travel 54 that moves backwards from the pre-work site 52a, and in the second direction D2 toward the unwork site 51a adjacent to the pre-work site 52a in the first direction D1. An example of setting support information for performing the second forward travel 55, which performs reaping work while moving forward in the intersecting direction, has been described, but the present invention is not limited to this example.

For example, in the second embodiment, the work support unit 47, as shown in FIGS. 6 and 7, includes a first forward travel 53, a first backward travel 54, and a second forward travel ( 55), as shown in FIG. 11, the second backward travel 57 for moving backward the base work area 52b formed by the second forward travel 55 and the first forward travel 53 are performed. A harvesting operation is carried out while moving forward in the direction intersecting with the first direction D1 toward the unworked work site 51b left between the work site 52a and the pre-work site 52b of the second forward travel 55. Support information may be set to perform the third forward travel 58. In addition, when the work support unit 47 performs not only the second forward travel 55 but also the third forward travel 58, one side of the harvesting unit 3 in the body width direction of the combine 1 Set the supporting information to slope highly. In the second embodiment, description of the same configuration as that of the first embodiment is omitted.

In the second embodiment, the travel control unit 35 operates the third forward travel 58 inside the first forward travel 53 and outside the second forward travel 55 according to the supporting information. The running unit 2 is controlled to incline one side of the reaping unit 3 highly during the second forward travel 55 and the third forward travel 58. In the case of the manual travel mode, the work support unit 47 provides a slope instruction to the combine 1 based on the support information when the combine 1 performs the second forward travel 55 and the third forward travel 58. By transmitting to , one side of the harvesting unit 3 is inclined. For example, the positioning unit 28 performs the positioning when the combine 1 performs the second forward travel 55 and the third forward travel 58 at a predetermined direction change position such as a corner or middle section of the pavement. When detection is made based on the own vehicle position of one combine 1, or when a predetermined direction change operation of the control unit 9 (e.g., operation of a direction change switch, a series of shift operations, steering wheel operation, etc.) is detected. In this case, the work support unit 47 transmits a slope instruction to the combine 1. In the case of the automatic travel mode, support information is input into the automatic travel path 79 by the path creation unit 48, which will be described later, so that the combine 1 performs the second forward travel 55 and the third forward travel 58. When carrying out the operation, one side of the harvesting unit 3 is inclined.

In the supporting information, as shown in FIG. 11, the second backward travel 57 is set by combining straight travel and turning travel, and the third forward travel 58 is set by combining straight travel and the unworked area 51b. It is set by combining a turning drive with a change in direction. In addition, in this case, the second backward travel 57 may be set only as straight travel, and the third forward travel 58 may be set as only a turning run that gradually changes direction, or a slow turn that changes direction. It may be set by combining and straight driving.

In addition, when the work support unit 47 performs the third forward travel 58, the harvesting unit ( 3) Set the support information to automatically incline. At this time, the work support unit 47 provides, as support information, the side of the finished work site 52a formed by the first forward travel 53 as seen from the unworked site 51b toward the third forward travel 58. Just set it on one side (slope side) that makes the harvesting part 3 higher.

As support information, the work support unit 47 sets the incline start position 59 of the reaping unit 3 at the starting point of the third forward run 58 in addition to the incline start position 56, and sets the incline start position 59 of the reaping unit 3 for the second backward run. The reaping unit 3 is automatically inclined at the timing of switching from 57 to the third forward travel 58. In addition, the third forward travel 58 may be performed with the end of the unworked paper 51b aligned with the other side of the harvesting unit 3. In addition, the work support unit 47 sets support information so as to control the reaping unit 3 to the height of the waiting position in the second reverse travel 57 that does not perform the reaping run.

Also in the second embodiment, the route creation unit 48 creates the automatic travel route 79 to input the support information set by the operation support unit 47, that is, the first forward travel 53 of the support information. , a first forward path 53b, a first backward path for automatically performing the first backward travel 54, the second forward travel 55, the second backward travel 57, and the third forward travel 58. The automatic travel path 79 is created to include 54b, the second forward path 55b, the second backward path (not shown), and the third forward path (not shown). In addition, the route creation unit 48 sets the incline start positions 56 and 59 of the support information set by the work support unit 47 to the automatic travel route 79 in order to automatically incline the reaping unit 3. Set at the corresponding location. Additionally, the path creation unit 48 sets the slope side of the support information for tilting the reaping unit 3 in relation to the slope start positions 56 and 59, and also sets the slope angle of the support information.

Also, in the second embodiment, the display control unit 49 displays the support information set by the work support unit 47 in the map column 61 of the support screen 60 when the manual driving mode is set. do. For example, the display control unit 49 displays the first forward run 53, the first backward run 54, and the second direction change positions in the map column 61, such as each corner of the pavement. Support paths corresponding to the forward travel (55), the second backward travel (57), and the third forward travel (58) are displayed for identification. Additionally, the display control unit 49 displays a tilt corresponding to the tilt start position 56, 59 of the support information set by the work support unit 47 to tilt the reaping unit 3 in the map field 61. Displays the position indicator (56a), etc.

Also, in the second embodiment, the display control unit 49 displays the support information set by the work support unit 47 in the map column 71 of the work screen 70 when the automatic driving mode is set. do. For example, the display control unit 49 controls the first forward travel 53, the first backward travel 54, and the second forward travel 55 in the automatic travel route 79 displayed in the map column 71. ), the first forward path (53b), the first backward path (54b), the second forward path (55b), the second backward path and the 3 Mark the forward path for identification. In addition, the display control unit 49, in the map field 71, sets a slope corresponding to the slope start position 56, 59 of the support information set by the work support unit 47 for tilting the reaping unit 3. Displays the position indicator (56b), etc.

As mentioned above, according to the second embodiment, in the combine 1, the path creation unit 48 is configured to automatically perform the second reverse run 57 moving backward along the second forward path 55b. A second backward path (not shown) and a third forward drive 58 that performs work while moving forward from the unworked area 51 between the first forward path 53b and the second forward path 55b are automatically performed. Create a third forward route (not shown) to be implemented. The running control part 35 automatically inclines the reaping part 3 so that one side becomes high at the timing when it switches from a 2nd backward path to a 3rd forward path.

Accordingly, when the combine 1 performs an automatic reaping run, the reaping unit 3 is inclined so that one side is raised when starting the automatic run of the third forward path, so the combine 1 moves in the width direction of the body. Even in the case where the ground is raised on one side or the pears are separated, it is possible to more reliably prevent the ground or the pears from being caught on the reaping section 3. Therefore, in the automatic reaping run, when the combine 1 enters the unworked land 51 in the third forward travel 58, the reaping unit 3 moves into the unworked land 51 due to dried mud or sand. ) can be more reliably prevented from making a mess of the unworked paper 51, such as pushing over the grain stem.

Moreover, in the above-described second embodiment, the combine 1 performs the first forward travel 53, the second forward travel 55, and the third at a predetermined direction change position such as a corner or mid-section of the pavement. Although an example in which the unworked land 51 is harvested by three forward runs 58 has been described, the present invention is not limited to this example. For example, in another example, the combine 1 is, in the direction change position of the pavement, in the first forward run 53, the second forward run 55, and the third forward run 58, the fourth forward run. In addition to the running or the fifth forward running, the cutting operation of the unworked land 51 may be performed by running four or more times.

On the other hand, in the third embodiment, the work support unit 47 performs the first forward travel 53 and the first backward travel 54, and then performs the first forward travel 53, as shown in FIG. 12. A second forward travel 55 that performs a reaping operation while moving forward in the direction intersecting the first direction D1 from the prepared work site 52a formed by leaving a gap to the adjacent unworked site 51c. You can also set up support information to implement it. In addition, as shown in FIG. 13, after the second forward travel 55, the work support unit 47 performs a second backward travel to move backward the base work area 52c formed by the second forward travel 55. (57) is carried out, and a third advance movement is performed while advancing in the direction intersecting with the first direction D1 from the prepared work site 52c toward the adjacent unworked site 51d without leaving a gap. Support information may be set to perform driving (58). In addition, when the work support unit 47 performs not only the second forward travel 55 but also the third forward travel 58, one side of the harvesting unit 3 in the body width direction of the combine 1 Set the supporting information to slope highly. In the third embodiment, description of the same configuration as that of the first embodiment is omitted.

In the third embodiment, the travel control unit 35 performs the second forward travel 55 inside the first forward travel 53 and further inside the second forward travel 55 according to the supporting information. The third forward travel 58 is performed, and the travel unit 2 is controlled to incline one side of the reaping unit 3 highly during the second forward travel 55 and the third forward travel 58. . In the case of the manual travel mode, the work support unit 47 provides a slope instruction to the combine 1 based on the support information when the combine 1 performs the second forward travel 55 and the third forward travel 58. By transmitting to , one side of the harvesting unit 3 is inclined. For example, the positioning unit 28 performs the positioning when the combine 1 performs the second forward travel 55 and the third forward travel 58 at a predetermined direction change position such as a corner or middle section of the pavement. When detection is made based on the own vehicle position of one combine 1, or when a predetermined direction change operation of the control unit 9 (e.g., operation of a direction change switch, a series of shift operations, steering wheel operation, etc.) is detected. In this case, the work support unit 47 transmits a slope instruction to the combine 1. In the case of the automatic travel mode, support information is input into the automatic travel path 79 by the path creation unit 48, which will be described later, so that the combine 1 performs the second forward travel 55 and the third forward travel 58. When carrying out the operation, one side of the harvesting unit 3 is inclined.

In the supporting information, as shown in FIG. 12, the second forward travel 55 is set in combination to drive straight ahead after the turning run to change direction to the unworked work site 51c. In addition, the second forward travel 55 in this case may be set only as a turning run that gradually changes direction, or may be set by combining a slow turn that changes direction and straight travel.

In addition, as shown in FIG. 13, the second backward travel 57 is set by combining straight travel and turning travel, and the third forward travel 58 is a turning drive that changes direction to the unworked area 51d. It is set in combination to drive straight after . In addition, in this case, the second backward travel 57 may be set only as straight travel, and the third forward travel 58 may be set as only a turning run that gradually changes direction, or a slow turn that changes direction. It may be set by combining and straight driving.

In addition, when performing the second forward travel 55 and the third forward travel 58, the work support unit 47 operates on the left and right sides of the harvesting unit 3 in the body width direction of the combine 1. Set the support information to automatically tilt the reaping section (3) so that one side is raised. At this time, in the case of the second forward travel 55, the work support unit 47 supports the existing work area formed by the first forward travel 53 as seen from the unworked area 51c toward the second forward travel 55. The side of the land 52a is set on one side (slope side) that elevates the harvesting unit 3, and in the case of the third forward travel 58, the unworked land 51d faces from the third forward travel 58. ), the side of the base work area 52c formed by the first forward travel 53 can be set to the inclined side.

As support information, the work support unit 47 sets the inclination start position 56 of the reaping unit 3 at the starting point of the second forward travel 55, and sets the inclination start position 56 of the reaping unit 3 from the first backward travel 54 to the second forward travel ( 55) The reaping unit 3 is automatically inclined at the timing of the transition, and the incline start position 59 of the reaping unit 3 is set at the starting point of the third forward travel 58, so that the second backward travel is performed. The reaping unit 3 is automatically inclined at the timing of switching from 57 to the third forward travel 58. In addition, the work support unit 47 sets support information so as to control the reaping unit 3 to the height of the waiting position in the second reverse travel 57 that does not perform the reaping run.

Also in the third embodiment, the route creation unit 48 creates the automatic travel route 79 to input the support information set by the operation support unit 47, that is, the first forward travel 53 of the support information. , a first forward path 53b, a first backward path for automatically performing the first backward travel 54, the second forward travel 55, the second backward travel 57, and the third forward travel 58. The automatic travel path 79 is created to include 54b, the second forward path 55b, the second backward path (not shown), and the third forward path (not shown). In addition, the route creation unit 48 sets the incline start positions 56 and 59 of the support information set by the work support unit 47 to the automatic travel route 79 in order to automatically incline the reaping unit 3. Set at the corresponding location. Additionally, the path creation unit 48 sets the slope side of the support information for tilting the reaping unit 3 in relation to the slope start positions 56 and 59, and also sets the slope angle of the support information.

Also, in the third embodiment, the display control unit 49 displays the support information set by the work support unit 47 in the map column 61 of the support screen 60 when the manual driving mode is set. do. For example, the display control unit 49 displays the first forward run 53, the first backward run 54, and the second direction change positions in the map column 61, such as each corner of the pavement. Support paths corresponding to the forward travel (55), the second backward travel (57), and the third forward travel (58) are displayed for identification. Additionally, the display control unit 49 displays a tilt corresponding to the tilt start position 56, 59 of the support information set by the work support unit 47 to tilt the reaping unit 3 in the map field 61. Displays the position indicator (56a), etc.

Also, in the third embodiment, the display control unit 49 displays the support information set by the work support unit 47 in the map column 71 of the work screen 70 when the automatic driving mode is set. do. For example, the display control unit 49 controls the first forward travel 53, the first backward travel 54, and the second forward travel 55 in the automatic travel route 79 displayed in the map column 71. ), the paths corresponding to the second backward travel (57) and the third forward travel (58) are displayed to be identifiable. In addition, the display control unit 49, in the map field 71, sets a slope corresponding to the slope start position 56, 59 of the support information set by the work support unit 47 for tilting the reaping unit 3. Displays the position indicator (56b), etc.

Moreover, in the above-described third embodiment, the combine 1 performs the first forward travel 53, the second forward travel 55, and the third at a predetermined direction change position such as a corner or mid-section of the pavement. Although an example in which the unworked land 51 is harvested by three forward runs 58 has been described, the present invention is not limited to this example. For example, in another example, the combine 1 is, in the direction change position of the pavement, in the first forward run 53, the second forward run 55, and the third forward run 58, the fourth forward run. In addition to the running or the fifth forward running, the cutting operation of the unworked land 51 may be performed by running four or more times.

In addition, in each of the above-described embodiments, the first direction ( In the second forward run 55 or the third forward run 58, which carries out harvesting work while moving forward in the direction intersecting with D1), the bag is separated from the starting work area 52 or the ground is raised. Assuming, an example has been described in which the work support unit 47 sets the side of the work paper 52 to one side (slant side) that raises the reaping unit 3 higher, but the present invention is not limited to this example. . For example, in the second forward travel 55 or the third forward travel 58, the ground is raised in the unworked area 51, and the reaping unit 3 is raised above the unworked area 51. If it is necessary, the work support unit 47 may be set on the side of the unworked land 51 on one side (slope side) that raises the harvesting unit 3 higher.

In each of the above-described embodiments, in the second forward travel 55 or the third forward travel 58, the work support unit 47 sets one side of the reaping unit 3 to be higher, and the travel control unit 35 Although an example in which one side of the harvesting unit 3 is raised and tilted has been described, the present invention is not limited to this example. For example, in the second forward travel 55 or the third forward travel 58, the work support unit 47 sets a predetermined height to raise the entire reaping unit 3, and the travel control unit 35 The entire reaping section 3 may be raised to a predetermined height.

In each of the above-described embodiments, an example in which the harvesting unit 3 is inclined with respect to the pavement surface by a pair of left and right rolling mechanisms 12 of the running unit 2 has been described, but the present invention is not limited to this example. For example, in another example, the combine 1 is operated by a device that operates the harvesting unit 3, such as a lifting device that raises and lowers the harvesting unit 3 with respect to the body frame 10. may be inclined with respect to the pavement surface. For example, when the lifting device is configured to simultaneously drive a pair of left and right hydraulic cylinders to raise and lower the reaping unit 3, one side of the hydraulic cylinder is driven to raise one side of the reaping unit 3 higher. It is controlled to raise the other side of the reaping unit 3 by driving the hydraulic cylinder on the other side.

In the above-mentioned embodiment, the example of the combine 1 comprised by a self-removing type combine was demonstrated, but this invention is not limited to this example, and the combine 1 may be comprised by a normal type combine.

In addition, in the above-described embodiment, an example in which the work vehicle is comprised of the combine 1 has been described, but the present invention is not limited to this example. For example, the work vehicle of the present invention may be composed of other agricultural work machines that harvest crops, or may be composed of work vehicles other than agricultural machines.

In addition, the present invention can be appropriately modified to the extent that it does not conflict with the gist or idea of the invention as can be understood from the claims and the entire specification, and the automatic driving method, work vehicle, and automatic driving method accompanying such changes can also be modified according to the present invention. Included in the technical idea of the invention.

〔Notice of invention〕

Hereinafter, an outline of the invention extracted from the above-described embodiment will be added. In addition, each configuration and each processing function described in the appendix below can be selected and combined arbitrarily.

＜Appendix 1＞

A work support method for a work vehicle having a work unit that performs work while traveling on a pavement, comprising:

A first forward movement in which work is performed while moving forward in a first direction on an unworked area of the pavement;

A first backward run for reversing the workpiece formed by the first forward run,

A traveling step of performing a second forward travel in which work is performed while moving forward in a direction intersecting with the first direction toward an unworked work site adjacent to the machined work site in a direction perpendicular to the first direction,

The work support method is characterized in that, in the traveling process, when performing the second forward travel, the work section is automatically inclined so that one side of the work section is raised in the width direction of the body of the work vehicle.

＜Book 2＞

The work support method according to Appendix 1, wherein the traveling step includes performing the first forward traveling to a corner of the pavement.

＜Book 3＞

The traveling process is described in appendix 1 or 2, wherein, when performing the second forward travel, the inclination of the working part is automatically restored when one side of the raised working part is detected to be entering the unworked work area. How to apply for a job.

＜Book 4＞

The traveling process is such that, when performing the second forward travel from a predetermined work site to a predetermined unwork site, the side of the predetermined work site is raised as the one side when viewed from the predetermined unwork site. The work support method according to any of Appendices 1 to 3, characterized in that the working part is automatically tilted.

＜Book 5＞

The work support method according to any of Appendices 1 to 4, wherein the traveling step sets an inclination angle of the working part based on a turning angle when turning in the second forward travel so as to face an unworked work site.

＜Book 6＞

The work support method according to any of Supplementary Notes 1 to 4, wherein the traveling step sets an inclination angle of the working section based on a turning angle when turning in the first reverse travel so as to face an unworked work site.

＜Book 7＞

The work support method according to any of Appendices 1 to 4, wherein the traveling step sets an inclination angle of the work section based on the length of the work section in the width direction of the work vehicle.

＜Book 8＞

A first forward path for automatically performing the first forward travel, a first reverse path for automatically performing the first backward travel, and a second forward path for automatically performing the second forward travel. There is an additional process for creating a route,

The path creation process creates the second forward path so as to leave unworked paper between the first forward path and the second forward path,

The work support method according to any of Appendices 1 to 7, wherein the traveling process automatically tilts the working part so that the one side is elevated at the timing of switching from the first backward path to the second forward path. .

＜Book 9＞

The path creation process includes: a second backward path for automatically performing a second backward travel that moves backward along the second forward path; and forward movement in an unworked area between the first forward path and the second forward path. Create a third forward path to automatically perform the third forward movement while performing the work,

The work support method according to Supplementary Note 8, wherein the traveling process automatically tilts the working part so that the one side is elevated at the timing of switching from the second backward path to the third forward path.

＜Book 10＞

As a work vehicle,

A work department that performs work on the pavement while driving,

A first forward movement in which work is performed while moving forward in a first direction on an unworked area of the pavement;

A first backward run for reversing the workpiece formed by the first forward run,

A travel control unit that performs a second forward travel to perform work while moving forward in a direction intersecting with the first direction toward an unworked work site adjacent to the machine work site in a direction orthogonal to the first direction,

A work vehicle characterized in that, when performing the second forward travel, the travel control unit automatically tilts the work section so that one side of the work section is raised in the width direction of the body of the work vehicle.

＜Book 11＞

The work vehicle according to Supplementary Note 10, wherein the travel control unit performs the first forward travel to a corner of the pavement.

＜Book 12＞

The travel control unit automatically returns the inclination of the working unit when one side of the raised working unit detects entry into the unworked area when performing the second forward travel. work vehicle.

＜Book 13＞

When performing the second forward travel from a predetermined work site to a predetermined unwork site, the travel control unit is configured to raise the side of the preset work site as the one side when viewed from the preset unwork site. The work vehicle according to any of Appendices 10 to 12, characterized in that the working part is automatically inclined.

＜Book 14＞

The work vehicle according to any of Appendices 10 to 13, wherein the travel control unit sets an inclination angle of the work unit based on a turning angle when turning in the second forward travel so as to face a non-work site.

＜Book 15＞

The work vehicle according to any of Supplementary Notes 10 to 13, wherein the travel control unit sets an inclination angle of the work section based on a turning angle when turning in the first reverse run so as to face an unworked work site.

＜Book 16＞

The work vehicle according to any of Appendices 10 to 13, wherein the travel control unit sets an inclination angle of the work section based on the length of the work section in the width direction of the body of the work vehicle.

＜Book 17＞

A first forward path for automatically performing the first forward travel, a first reverse path for automatically performing the first backward travel, and a second forward path for automatically performing the second forward travel. It additionally has a path creation section to create,

The path creation unit creates the second forward path so as to leave unworked paper between the first forward path and the second forward path,

The work vehicle according to any of Supplementary Notes 10 to 16, wherein the travel control unit automatically tilts the working unit so that the one side is elevated at a timing when the first reverse path is switched to the second forward path.

＜Book 18＞

The path creation unit includes a second reverse path for automatically performing a second reverse run traveling backwards along the second forward path, and a second forward path for automatically performing a second reverse run while moving forward in an unworked area between the first forward path and the second forward path. Create a third forward path to automatically perform the third forward travel to perform the work,

The work vehicle according to Supplementary Note 17, wherein the travel control unit automatically tilts the working unit so that the one side is elevated at the timing of switching from the second backward path to the third forward path.

＜Book 19＞

A work support system for a work vehicle having a work section that performs work while traveling on the pavement, comprising:

A first forward movement in which work is performed while moving forward in a first direction on an unworked area of the pavement;

A first backward run for reversing the workpiece formed by the first forward run,

A travel control unit that performs a second forward travel to perform work while moving forward in a direction intersecting with the first direction toward an unworked work site adjacent to the machine work site in a direction orthogonal to the first direction,

A work support system wherein the travel control unit automatically tilts the work section so that one side of the work section is raised in the width direction of the body of the work vehicle when performing the second forward travel.

＜Book 20＞

The work support system according to Supplementary Note 19, wherein the travel control unit performs the first forward travel to a corner of the pavement.

＜Book 21＞

The travel control unit automatically returns the inclination of the working unit when one side of the raised working unit detects entry into the unworked area when performing the second forward travel. Job support system.

＜Book 22＞

When performing the second forward travel from a predetermined work site to a predetermined unwork site, the travel control unit is configured to raise the side of the preset work site as the one side when viewed from the preset unwork site. The work support system according to any of Appendices 19 to 21, characterized in that it automatically tilts the working part.

＜Book 23＞

The work support system according to any of Supplementary Notes 19 to 22, wherein the travel control unit sets an inclination angle of the work section based on a turning angle when turning in the second forward travel so as to face an unworked work site.

＜Boogie 24＞

The work support system according to any of Supplementary Notes 19 to 22, wherein the travel control unit sets an inclination angle of the work unit based on a turning angle when turning in the first reverse travel so as to face an unworked work site.

＜Book 25＞

The work support system according to any of Appendices 19 to 22, wherein the travel control unit sets an inclination angle of the work section based on the length of the work section in the width direction of the work vehicle.

＜Book 26＞

A first forward path for automatically performing the first forward travel, a first reverse path for automatically performing the first backward travel, and a second forward path for automatically performing the second forward travel. It additionally has a path creation section to create,

The path creation unit creates the second forward path so as to leave unworked paper between the first forward path and the second forward path,

The work support system according to any of Appendices 19 to 25, wherein the travel control unit automatically inclines the work unit so that the one side is elevated at the timing of switching from the first backward path to the second forward path. .

＜Book 27＞

The path creation unit includes a second reverse path for automatically performing a second reverse run traveling backwards along the second forward path, and a second forward path for automatically performing a second reverse run while moving forward in an unworked area between the first forward path and the second forward path. Create a third forward path to automatically perform the third forward travel to perform the work,

The work support system according to Supplementary Note 26, wherein the travel control unit automatically tilts the work unit so that the one side is elevated at the timing of switching from the second backward path to the third forward path.

1: Combine (work vehicle)
2: Running part
3: Harvesting department
30: control device
35: Travel control unit
40: mobile terminal
41: control device
46: packaging selection unit
47: Work Support Department
48: path creation unit
51, 51a, 51b, 51c, 51d: Unworked paper
52, 52a, 52b, 52c: Basic worksheet
53: 1st forward drive
54: 1st reverse drive
55: 2nd forward drive
57: 2nd reverse drive
58: 3rd forward drive
53b: first forward path
54b: first backward path
55b: second forward path
79: Automatic driving route

Claims (11)

A work support method for a work vehicle having a work unit that performs work while traveling on a pavement, comprising:
A first forward movement in which work is performed while moving forward in a first direction on an unworked area of the pavement;
A first backward run for reversing the workpiece formed by the first forward run,
A traveling step of performing a second forward travel in which work is performed while moving forward in a direction intersecting with the first direction toward an unworked work site adjacent to the machined work site in a direction perpendicular to the first direction,
The work support method is characterized in that, in the traveling process, when performing the second forward travel, the work section is automatically inclined so that one side of the work section is raised in the width direction of the body of the work vehicle. According to claim 1,
A work support method characterized in that the traveling step includes performing the first forward traveling to a corner of the pavement. The method of claim 1 or 2,
The work support method is characterized in that the traveling process automatically returns the inclination of the working section when one side of the raised working section detects entry into the unworked work area when performing the second forward travel. The method of claim 1 or 2,
The traveling process is such that, when performing the second forward travel from a predetermined work site to a predetermined unwork site, the side of the predetermined work site is raised as the one side when viewed from the predetermined unwork site. A work support method characterized by automatically tilting the working part. The method of claim 1 or 2,
A work support method characterized in that, in the traveling process, an inclination angle of the working part is set based on a turning angle when turning in the second forward travel so as to face the unworked work area. The method of claim 1 or 2,
A work support method characterized in that, in the traveling process, an inclination angle of the working part is set based on a turning angle when turning in the first reverse travel so as to face the unworked work area. The method of claim 1 or 2,
A work support method characterized in that the traveling step sets an inclination angle of the work section based on the length of the work section in the width direction of the body of the work vehicle. The method of claim 1 or 2,
A first forward path for automatically performing the first forward travel, a first reverse path for automatically performing the first backward travel, and a second forward path for automatically performing the second forward travel. There is an additional process for creating a route,
The path creation process creates the second forward path so as to leave unworked paper between the first forward path and the second forward path,
The work support method is characterized in that the traveling process automatically tilts the working part so that the one side is raised at a timing when switching from the first backward path to the second forward path. According to claim 8,
The path creation process includes a second reverse path for automatically performing a second reverse travel in reverse along the second forward path;
Creating a third forward path for automatically performing a third forward travel in which work is performed while moving forward on an unworked area between the first forward path and the second forward path,
The work support method is characterized in that the traveling process automatically tilts the work unit so that the one side is raised at a timing when switching from the second backward path to the third forward path. As a work vehicle,
A work department that performs work on the pavement while driving,
A first forward movement in which work is performed while moving forward in a first direction on an unworked area of the pavement;
A first backward run for reversing the workpiece formed by the first forward run,
A travel control unit that performs a second forward travel to perform work while moving forward in a direction intersecting with the first direction toward an unworked work site adjacent to the machine work site in a direction orthogonal to the first direction,
A work vehicle characterized in that, when performing the second forward travel, the travel control unit automatically tilts the work section so that one side of the work section is raised in the width direction of the body of the work vehicle. A work support system for a work vehicle having a work section that performs work while traveling on the pavement, comprising:
A first forward movement in which work is performed while moving forward in a first direction on an unworked area of the pavement;
A first backward run for reversing the workpiece formed by the first forward run,
A travel control unit that performs a second forward travel to perform work while moving forward in a direction intersecting with the first direction toward an unworked work site adjacent to the machine work site in a direction orthogonal to the first direction,
A work support system wherein the travel control unit automatically tilts the work section so that one side of the work section is raised in the width direction of the body of the work vehicle when performing the second forward travel.