CN116414122A

CN116414122A - Reference line setting method, automatic travel method, work vehicle, and automatic travel system

Info

Publication number: CN116414122A
Application number: CN202310015374.XA
Authority: CN
Inventors: 斋藤雅史; 李昇圭; 村山昌章; 佐藤昇一
Original assignee: Yanmar Holdings Co Ltd
Current assignee: Yanmar Holdings Co Ltd
Priority date: 2022-01-07
Filing date: 2023-01-05
Publication date: 2023-07-11
Also published as: KR20230107127A

Abstract

The invention provides a reference line setting method, an automatic running method, a working vehicle and an automatic running system. A combine harvester (1) is provided with a control device (50) which functions as a reference line selection control unit (60), a starting point setting control unit (61), an ending point setting control unit (62), a reference line setting control unit (63) and a travel control unit (66). The start point setting control unit sets a start point, the end point setting control unit sets an end point, and the reference line setting control unit sets a reference line based on the start point and the end point, and can set a plurality of reference lines. The reference line selection control unit selects a reference line of the automatic travel target from among the plurality of reference lines. The travel control unit automatically travels based on the selected reference line. The reference line selection control unit selects a reference line of the automatic travel target based on at least one of an angle of a travel direction of the combine harvester with respect to each of the plurality of reference lines and a distance of the combine harvester with respect to each of the plurality of reference lines.

Description

Reference line setting method, automatic travel method, work vehicle, and automatic travel system

Technical Field

The present invention relates to a reference line setting method for an automatic traveling work vehicle, an automatic traveling method, an automatic traveling work vehicle, and an automatic traveling system.

Background

Conventionally, a work vehicle such as a combine harvester is configured to be capable of automatically traveling along a preset automatic travel path, and for example, an automatic travel path is created based on a linear reference line obtained by connecting predetermined 2 points (points a and B) in a field.

For example, patent document 1 discloses a work vehicle that automatically travels by a satellite positioning system, and a rice transplanter that is one example of the work vehicle generates a linear reference path (reference line) that is a reference for straight travel, and thereby autonomously straight travels on a target path that is generated parallel to the reference path. At this time, as the straight assist work for the automatic travel, it is necessary to register the start point of the reference route called the point a, the end point of the reference route called the point B, and the on (start)/off (stop) of the operation automatic travel.

Patent document 1: japanese patent laid-open No. 2020-135802

However, even if the working vehicle sets the reference line composed of the points a and B with respect to the field, the reference line needs to be changed in the middle of the work, depending on the shape of the field and the working condition. However, in the conventional work vehicle, only one reference line can be set with respect to the field, and therefore, in order to change the reference line, it is necessary to create and set a new reference line after the reference line set before the elimination. Therefore, each time the reference line is changed, elimination and production of the reference line need to be repeated, and a burden is imposed on the operator, and there is a concern that workability may be lowered. In addition, in the conventional work vehicle, it is not considered to set a plurality of reference lines corresponding to various conditions with respect to the field, and to select an appropriate reference line from the plurality of reference lines.

Disclosure of Invention

The present invention aims to provide a reference line setting method capable of efficiently setting a reference line for automatic traveling to thereby improve workability, an automatic traveling method capable of appropriately selecting a reference line for automatic traveling from a plurality of reference lines to thereby improve workability, a working vehicle, and an automatic traveling system.

In order to solve the above-described problems, a reference line setting method of the present invention is a reference line setting method of a work vehicle that automatically travels based on a set reference line, comprising: a selection step of selecting the reference line setting unit to be set from among the plurality of reference line setting units; a start point setting step of setting a start point of the reference line in accordance with an operation of a start point setting unit; an end point setting step of setting an end point of the reference line according to an operation of an end point setting unit; and a reference line setting step of setting a reference line based on the start point set in the start point setting step and the end point set in the end point setting step, in correspondence with the reference line setting unit selected in the selecting step, wherein the automatic traveling method of the present invention is an automatic traveling method of a work vehicle that performs automatic traveling based on the set reference line, and is characterized by comprising: a start point setting step of setting a start point of the reference line; an end point setting step of setting an end point of the reference line; a reference line setting step of setting a reference line based on the start point set in the start point setting step and the end point set in the end point setting step, and capable of setting a plurality of reference lines; a selection step of selecting the reference line of the automatic travel target from among the plurality of reference lines; and an automatic travel step of automatically traveling based on the selected reference line, wherein the selection step selects the reference line to be automatically traveled based on at least one of an angle of a traveling direction of the work vehicle with respect to each of the plurality of reference lines and a distance of the work vehicle with respect to each of the plurality of reference lines.

In order to solve the above problem, a working vehicle according to the present invention is a working vehicle for automatically traveling based on a set reference line, comprising: a reference line selection control unit that selects the reference line setting unit to be set from among the plurality of reference line setting units; a start point setting control unit that sets a start point of the reference line in accordance with an operation of the start point setting unit; an end point setting control unit that sets an end point of the reference line according to an operation of the end point setting unit; and a reference line setting control unit that sets a reference line based on the start point set by the start point setting control unit and the end point set by the end point setting control unit, in correspondence with the reference line setting unit selected by the reference line selection control unit, wherein the working vehicle of the present invention is a working vehicle that automatically travels based on the set reference line, and is characterized by comprising: a start point setting control unit that sets a start point of the reference line; an end point setting control unit that sets an end point of the reference line; a reference line setting control unit configured to set a reference line based on the start point set by the start point setting control unit and the end point set by the end point setting control unit, and to be capable of setting a plurality of reference lines; a reference line selection control unit that selects the reference line of the automatic travel target from among the plurality of reference lines; and a travel control unit that performs automatic travel based on the selected reference line, wherein the reference line selection control unit selects the reference line to be automatically traveled based on at least one of an angle of a travel direction of the work vehicle with respect to each of the plurality of reference lines and a distance of the work vehicle with respect to each of the plurality of reference lines.

In order to solve the above-described problems, an automatic traveling system of the present invention is an automatic traveling system for a work vehicle that automatically travels based on a set reference line, comprising: a reference line selection control unit that selects the reference line setting unit to be set from among the plurality of reference line setting units; a start point setting control unit that sets a start point of the reference line in accordance with an operation of the start point setting unit; an end point setting control unit that sets an end point of the reference line according to an operation of the end point setting unit; and a reference line setting control unit that sets a reference line based on the start point set by the start point setting control unit and the end point set by the end point setting control unit, in correspondence with the reference line setting unit selected by the reference line selection control unit, wherein the automatic travel system of the present invention is an automatic travel system of a work vehicle that performs automatic travel based on the set reference line, and is characterized by comprising: a start point setting control unit that sets a start point of the reference line; an end point setting control unit that sets an end point of the reference line; a reference line setting control unit configured to set a reference line based on the start point set by the start point setting control unit and the end point set by the end point setting control unit, and to be capable of setting a plurality of reference lines; a reference line selection control unit that selects the reference line of the automatic travel target from among the plurality of reference lines; and a travel control unit that performs automatic travel based on the selected reference line, wherein the reference line selection control unit selects the reference line to be automatically traveled based on at least one of an angle of a travel direction of the work vehicle with respect to each of the plurality of reference lines and a distance of the work vehicle with respect to each of the plurality of reference lines.

According to the present invention, there are provided a reference line setting method capable of efficiently setting a reference line for automatic traveling to thereby improve workability, an automatic traveling method capable of appropriately selecting a reference line for automatic traveling from a plurality of reference lines to thereby improve workability, a work vehicle, and an automatic traveling system.

Drawings

Fig. 1 is a side view showing an example of a combine harvester according to an embodiment of the present invention.

Fig. 2 is a block diagram of a combine harvester according to an embodiment of the invention.

Fig. 3 is a plan view showing an example of a field in which work is performed in the combine according to the embodiment of the present invention.

Fig. 4 is a plan view showing an example in which a reference line is not set in any of the plurality of reference line setting units in the automatic straight operation device for a combine according to the embodiment of the present invention.

Fig. 5 is a plan view showing an example of setting a starting point for setting a first reference line in the automatic straight operation device of the combine according to the embodiment of the present invention.

Fig. 6 is a plan view showing an example of setting a final point for setting a first reference line in the automatic straight operation device of the combine according to the embodiment of the present invention.

Fig. 7 is a plan view showing an example of a case where the second reference line is not set in a state where the first reference line is set in the automatic straight operation device of the combine according to the embodiment of the present invention.

Fig. 8 is a plan view showing an example of setting a starting point for setting the second reference line in the automatic straight operation device of the combine according to the embodiment of the present invention.

Fig. 9 is a plan view showing an example of setting a destination point for setting a second reference line in the automatic straight operation device of the combine according to the embodiment of the present invention.

Fig. 10 is a plan view showing an example of the case where the first reference line canceling operation is performed in the automatic straight operation device of the combine according to the embodiment of the present invention.

Fig. 11 is a plan view showing an example in which the first reference line is eliminated in the automatic straight operation device of the combine according to the embodiment of the present invention.

Fig. 12 is a plan view showing an example of a case where the first reference line is selected as the automatic travel target before the start of the automatic straight travel in the automatic straight travel operation device for a combine according to the embodiment of the present invention.

Fig. 13 is a plan view showing an example of the case where the automatic straight travel using the first reference line as the automatic travel target is performed in the automatic straight travel operation device of the combine according to the embodiment of the present invention.

Fig. 14 is a plan view showing an example of a case where the second reference line is selected as the automatic travel target before the start of the automatic straight travel in the automatic straight travel operation device for a combine according to the embodiment of the present invention.

Fig. 15 is a plan view showing an example of the case where the automatic straight travel using the second reference line as the automatic travel target is performed in the automatic straight travel operation device for a combine according to the embodiment of the present invention.

Fig. 16 is a plan view showing an example of a case where a selection operation for the first reference line as an automatic travel object is performed before the start of the automatic straight travel in the automatic straight travel operation device for the combine according to the embodiment of the present invention.

Fig. 17 is a plan view showing an example of a case where the first reference line is selected as an automatic traveling target according to a selection operation in the automatic straight operation device of the combine according to the embodiment of the present invention.

Fig. 18 is a plan view showing an example of the case where the automatic straight travel operation device for the combine according to the embodiment of the present invention executes the automatic straight travel with the first reference line as the automatic travel target according to the selection operation.

Fig. 19 is a plan view showing an example of a field in which work is performed in the combine according to the other embodiment of the present invention.

Fig. 20 is a plan view showing an example of a field in which work is performed in the combine according to the other embodiment of the present invention.

Fig. 21 is a plan view showing an example of a comparison angle between the first reference line and the second reference line and an evaluation angle between the first reference line and the second reference line and a traveling direction of the combine in the combine according to another embodiment of the present invention.

Fig. 22 is a plan view showing an example of a comparison angle between the first reference line and the second reference line and an evaluation angle between the first reference line and the second reference line and a traveling direction of the combine in the combine according to another embodiment of the present invention.

Fig. 23 is a flowchart showing an example of operation of the combine harvester according to the other embodiment of the present invention for selecting a reference line and automatically traveling.

Fig. 24 is a flowchart showing an example of operation of the combine harvester according to the other embodiment of the present invention for selecting a reference line and automatically traveling.

Fig. 25 is a plan view showing an example of a field in which work is performed in the combine according to the other embodiment of the present invention.

Fig. 26 is a plan view showing an example of a field in which work is performed in the combine according to the other embodiment of the present invention.

Fig. 27 is a plan view showing an example of a field in which work is performed in the combine according to the other embodiment of the present invention.

Fig. 28 is a plan view showing an example of a field in which work is performed in the combine according to the other embodiment of the present invention.

Fig. 29 is a plan view showing an example of a field in which work is performed in the combine according to the other embodiment of the present invention.

Fig. 30 is a plan view showing an example of a field in which work is performed in the combine according to the other embodiment of the present invention.

Description of the reference numerals

1 … combine harvester (work vehicle); 2 … travel section; 9 … operator; 30 … automatic straight operation device; 31 … automatic straight running indication part; 32 … automatic straight display section; 33. 33a, 33b … reference line operating section; 34. 34a, 34b … reference line display unit; 35 … start point setting unit; 36 … end point setting unit; 37 … start point setting display unit; a 38 … end point setting display unit; 50 … control means; 51 … storage; 55. 55a, 55b … reference line setting unit; 60 … reference line selection control unit; 61 … start point setting control unit; 62 … end point setting control unit; 63 … reference line setting control unit; 64 … path creation unit; 65 … start condition judgment section; 66 … travel control section.

Detailed Description

As an example of the work vehicle according to the embodiment of the present invention, a combine harvester 1 will be described with reference to fig. 1 and the like. The combine harvester 1 travels on a field of an operation target by automatic driving or manual operation, and performs operations such as harvesting for harvesting crops from stalks planted in the field. The combine harvester 1 is configured to perform, for example, an automatic operation in which the steering direction is controlled by automatic driving and the traveling speed is controlled by manual operation, and an unmanned operation in which the steering direction and the traveling speed are controlled by automatic driving, so that traveling, turning, and operation can be performed autonomously in the field.

The combine 1 performs harvesting operations of a plurality of rows and columns of straw while traveling on a straight row and column travel path having a harvesting width of a predetermined number of rows and columns within a number of rows that can be harvested. The combine 1 is set to an arbitrary travel mode of the manual travel mode and the automatic travel mode. When the manual travel mode is set, the combine 1 is configured to manually travel in accordance with the manipulation of the manipulation unit 9 by the operator.

On the other hand, when the automatic travel mode is set, the combine 1 is configured to perform automatic straight travel for automatic harvesting while performing automatic travel along an automatic travel path parallel to a predetermined reference line. As shown in fig. 2, the combine 1 includes a control device 50, and a reference line and an automatic travel path are created by the control device 50.

In the present embodiment, in particular, as shown in fig. 3, 19 and 20, the combine harvester 1 is configured to be able to set a plurality of reference lines L for the field H, and has a plurality of reference line setting units 55, whereby the reference lines L are set in correspondence with the reference line setting units 55. The combine 1 sets a start point a and an end point B for each reference line L in the field H, and thereby creates a reference line L from the start point a to the end point B. The combine 1 creates an automatic travel path P based on the reference line L of the reference line setting unit 55 selected from the plurality of reference line setting units 55, and performs automatic straight travel according to the automatic travel path P.

In the present embodiment, an example will be described in which the combine harvester 1 is configured to be able to set the first reference line L1 and the second reference line L2 as the plurality of reference lines L, and has, as the plurality of reference line setting units 55, the reference line setting unit 55a corresponding to the first reference line L1 and the reference line setting unit 55b corresponding to the second reference line L2. The first reference line L1 is formed by connecting the first start point A1 to the first end point B1 with a straight line, and the second reference line L2 is formed by connecting the second start point A2 to the second end point B2 with a straight line. Fig. 3, 19 and 20 illustrate the automatic travel path P created based on the first reference line L1.

As shown in fig. 1, the combine harvester 1 includes: the travel unit 2, harvesting unit 3, threshing unit 4, selecting unit 5, storage unit 6, waste straw treatment unit 7, power unit 8, and operating unit 9 are configured by a so-called self-threshing combine harvester. The combine harvester 1 travels through the travel unit 2, and the threshing unit 4 threshes the stalks harvested by the harvesting unit 3, and the selecting unit 5 selects grains and stores the grains in the storage unit 6. The combine harvester 1 processes the threshed waste straws by a waste straw processing part 7. The combine 1 drives the traveling unit 2, the harvesting unit 3, the threshing unit 4, the selecting unit 5, the storage unit 6, and the waste straw treating unit 7 by power supplied from the power unit 8.

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

The harvesting unit 3 is provided in front of the traveling unit 2, and performs harvesting of rows and columns within the number of rows that can be harvested. The harvesting unit 3 includes: a crop divider 13, a lifting device 14, a cutting device 151 and a conveying device 16. The crop divider 13 divides the crop straw in each row, and guides the crop straw having a predetermined number of rows within the number of rows that can be harvested to the lifting device 14. The lifting device 14 lifts the straw guided by the crop divider 13. The cutting device 15 cuts off the straw lifted by the lifting device 14. The conveyor 16 conveys the straw cut by the cutter 15 to the threshing unit 4.

The threshing part 4 is arranged behind the harvesting part 3. The threshing unit 4 includes a feed chain 18 and a threshing cylinder 19. The feed chain 18 conveys the straw conveyed from the conveyor 16 of the harvesting unit 3 for threshing, and conveys the threshed straw, that is, waste straw, to the waste straw treatment unit 7. The threshing cylinder 19 performs threshing on the straw conveyed by the feed chain 18.

The selecting section 5 is provided below the threshing section 4. The selecting unit 5 includes: swing selecting device 21, air blowing selecting device 22, grain conveying device (not shown) and straw chip discharging device (not shown). The swing selecting device 21 screens the threshing objects falling from the threshing unit 4 to select the objects as grains, straw chips, and the like. The air-blowing selecting device 22 further selects the threshing objects selected by the swing selecting device 21 as grains, straw chips, and the like by blowing. The grain conveying apparatus conveys grains picked up by the swing pick device 21 and the air-blown pick device 22 to the storage unit 6. The straw scrap discharging device discharges the straw scraps and the like picked up by the swing pick device 21 and the air supply pick device 22 to the outside of the machine.

The storage unit 6 is provided on the right side of the threshing unit 4. The storage unit 6 includes a grain tank 24 and a discharge device 25. The grain box 24 stores grains sent from the sorting unit 5. The discharge device 25 is constituted by an auger or the like, and discharges grains stored in the grain tank 24 to an arbitrary place.

The waste straw treatment part 7 is arranged behind the threshing part 4. The waste straw treating section 7 includes a waste straw transporting device (not shown) and a waste straw cutting device (not shown). The waste straw conveying device conveys the waste straw conveyed from the feed chain 18 of the threshing unit 4 to the waste straw cutting device. The waste straw cutting device cuts off the waste straw conveyed by the waste straw conveying device and discharges the waste straw to the outside of the machine.

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

The operating portion 9 is provided above the power portion 8. The operating unit 9 includes an operating element for operating the combine harvester 1 to travel around a driver's seat, which is a seat on which an operator sits. The operating unit 9 includes, as operating elements, a steering wheel for indicating turning of the body of the combine harvester 1, a main shift lever and a sub shift lever for indicating a change in the forward and backward speed of the combine harvester 1, and the like. The manual travel of the combine harvester 1 is performed by the travel unit 2 that receives the operation of the steering wheel, the main shift lever, and the sub shift lever of the operation unit 9. The operating unit 9 is provided with a mechanism for operating the harvesting operation of the harvesting unit 3, the threshing operation of the threshing unit 4, the discharging operation of the discharging device 25 of the storage unit 6, and the like. The manipulator 9 further includes an automatic straight operation device 30 for operating the automatic straight running along the automatic running path parallel to the reference line.

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

Next, the automatic straight operation device 30 will be described with reference to fig. 4 to 18. The automatic straight operation device 30 is installed, for example, in the vicinity of a steering wheel so that an operator sitting in a driver's seat can operate the device. The automatic straight operation device 30 includes: an automatic straight-movement instruction unit 31, an automatic straight-movement display unit 32, a plurality of reference line operation units 33, a plurality of reference line display units 34, a start point setting unit 35, an end point setting unit 36, a start point setting display unit 37, and an end point setting display unit 38.

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

Fig. 4 illustrates the automatic straight operation device 30 in a case where none of the plurality of reference line setting units 55 sets a reference line. Fig. 5 illustrates the automatic straight operation device 30 in the case where the start point is set for setting the first reference line in a state where an arbitrary reference line is not set, and fig. 6 illustrates the automatic straight operation device 30 in the case where the end point is set for setting the first reference line. Fig. 7 illustrates the automatic straight operation device 30 in a case where the second reference line is not set in a state where the first reference line is set. Fig. 8 illustrates the automatic straight operation device 30 in the case where the start point is set for setting the second reference line in the state where the first reference line is set, and fig. 9 illustrates the automatic straight operation device 30 in the case where the end point is set for setting the second reference line. Fig. 10 illustrates the automatic straight operation device 30 in the case where the first reference line is eliminated in a state where the first reference line and the second reference line are set, and fig. 11 illustrates the automatic straight operation device 30 in the case where the first reference line is eliminated. Fig. 12 illustrates the automatic straight running operation device 30 in the case where the first reference line is selected as the automatic running target before the start of the automatic straight running in the state where the first reference line and the second reference line are set, and fig. 13 illustrates the automatic straight running operation device 30 in the case where the automatic straight running in which the first reference line is the automatic running target is executed. Fig. 14 illustrates the automatic straight running operation device 30 in the case where the second reference line is selected as the automatic running target before the start of the automatic straight running in the state where the first reference line and the second reference line are set, and fig. 15 illustrates the automatic straight running operation device 30 in the case where the automatic straight running in which the second reference line is the automatic running target is executed. Fig. 16 illustrates an automatic straight operation device 30 in the case where a selection operation is performed to set the first reference line as an automatic traveling object before the start of the automatic straight traveling in a state where the first reference line and the second reference line are set, fig. 17 illustrates an automatic straight operation device 30 in the case where the first reference line is selected as an automatic traveling object according to the selection operation, and fig. 18 illustrates an automatic straight operation device 30 in the case where the automatic straight traveling is performed to set the first reference line as an automatic traveling object according to the selection operation.

The automatic straight travel instruction unit 31 is configured to be able to receive a pressing operation by a circular operation button or the like for operating an instruction to start automatic straight travel of the combine 1. When the start condition of the automatic straight running is satisfied, the automatic straight running instruction unit 31 transmits a start instruction of the automatic straight running to the control device 50 in accordance with the pressing operation.

The automatic straight travel instruction unit 31 may be configured to be able to perform the pressing operation only when the start condition is satisfied, or may be configured to be able to perform the pressing operation all the time, and to transmit the start instruction of the automatic straight travel only when the start condition is satisfied and the pressing operation is performed. Alternatively, the automatic straight travel instruction unit 31 may always be capable of performing the pressing operation and always transmit the start instruction of the automatic straight travel in accordance with the pressing operation, and the control device 50 may determine that the start instruction is accepted only when the start condition is satisfied.

The automatic straight travel display unit 32 is configured by an LED, a lamp, or the like that indicates the state of automatic straight travel of the combine 1, and is controlled by the control device 50 to display in different display states depending on whether or not the start condition of automatic straight travel is satisfied. The automatic straight-movement display unit 32 is formed in a ring shape surrounding the automatic straight-movement instruction unit 31, for example. In fig. 4 to 18, the example in which the automatic straight-movement display unit 32 and the automatic straight-movement instruction unit 31 are separately configured is shown, but in other examples, the automatic straight-movement display unit 32 may be integrally configured with the automatic straight-movement instruction unit 31.

For example, when the start condition is not satisfied, the automatic straight display unit 32 is turned off as shown in fig. 4 and 5. On the other hand, when the start condition is satisfied, the auto straight display unit 32 blinks as shown in fig. 6 to 12, 14, 16, and 17 before the start of the auto straight running, and lights up as shown in fig. 13, 15, and 18 during the execution of the auto straight running. In fig. 4 to 18, the blanking is not performed, the lighting is performed with black filling, and the blinking is performed with hatched filling. When there are a plurality of start conditions, the automatic straight display unit 32 may display whether or not each start condition is satisfied as being identifiable, and may be configured to be divided into a plurality of sections, each of which corresponds to each start condition, for example. The automatic straight running display unit 32 may recognize the state of the automatic straight running by using other display states.

The plurality of reference line operation units 33 correspond to the plurality of reference line setting units 55, respectively, and are configured to be able to receive a pressing operation by a circular operation button or the like for setting and selecting each reference line. Each reference line operation unit 33 transmits a selection instruction to the control device 50 to select the corresponding reference line setting unit 55 (reference line) as a setting target or an automatic travel target, in response to a selection operation such as a pressing operation. Further, each of the reference line operation units 33 transmits a reference line cancel instruction to cancel (reset) the reference line set by the corresponding reference line setting unit 55 to the control device 50 in response to a cancel operation such as a long press operation (for example, a pressing operation of several seconds or more). Further, each reference line operation unit 33 may transmit a selection release instruction for releasing the selection of the automatic travel object to be set by the corresponding reference line setting unit 55 (reference line) to the control device 50 in response to a release operation such as a pressing operation again.

For example, when the reference line setting unit 55 corresponding to the reference line operation unit 33 does not set the reference line, the reference line setting unit 55 is selected as a setting target of the reference line according to a selection operation of the reference line operation unit 33, and the reference line set by the combine harvester 1 corresponds to the reference line setting unit 55. Further, after the reference line setting unit 55 corresponding to the reference line operation unit 33 is selected as the setting target of the reference line according to the selection operation of the reference line operation unit 33, the reference line setting unit 55 may be released from the setting target according to the selection release instruction of the reference line operation unit 33.

When the reference line is set by the reference line setting unit 55 corresponding to the reference line operation unit 33, the reference line setting unit 55 is selected as an automatic travel target in accordance with a selection operation of the reference line operation unit 33, and when the automatic straight travel instruction unit 31 is pressed, an automatic travel route based on the reference line is created, and the automatic straight travel of the combine 1 is performed along the automatic travel route. Further, after the reference line setting unit 55 corresponding to the reference line operation unit 33 is selected as the automatic travel target according to the selection operation of the reference line operation unit 33, the reference line setting unit 55 may be released from the automatic travel target according to the selection release instruction of the reference line operation unit 33.

When the reference line is set in the reference line setting unit 55 corresponding to the reference line operation unit 33, the reference line set in the reference line setting unit 55 is eliminated according to the elimination operation of the reference line operation unit 33.

The plurality of reference line display units 34 correspond to the plurality of reference line setting units 55, are configured by LEDs, lamps, and the like, which indicate the states of the reference line setting units 55, and are controlled by the control device 50, and are displayed in different display states according to the setting states and the selection states of the reference lines of the reference line setting units 55. The plurality of reference line display units 34 also correspond to the plurality of reference line operation units 33, and in fig. 4 to 18, an example is shown in which each reference line display unit 34 is integrally formed with each reference line operation unit 33, but in other examples, each reference line display unit 34 may be formed separately from each reference line operation unit 33.

For example, when the corresponding reference line setting unit 55 does not set the reference line, the reference line display unit 34 is turned off as shown in fig. 4 and 5. On the other hand, when the corresponding reference line setting unit 55 sets the reference line, the reference line display unit 34 is turned on as shown in fig. 6 to 18. When the correspondence between the reference line setting unit 55 and the reference line is released and the reference line is eliminated, the reference line display unit 34 that is turned on as shown in fig. 10 is turned off as shown in fig. 11.

When the reference line is set and the reference line is selected as the automatic travel target, the reference line display unit 34 blinks as shown in fig. 12 to 15, 17, and 18. At this time, the reference line display unit 34 may display the reference line in a different blinking state (for example, a different blinking interval) when the reference line is automatically selected according to the vehicle position and the traveling direction of the combine 1 (see fig. 12 to 15) and when the reference line is selected according to the selection operation of the reference line operation unit 33 (fig. 17 and 18). The reference line display unit 34 may be in the same display state, for example, may flash at the same intervals, or may be in different display states, for example, may flash at different intervals, before and during the start and execution of the automatic straight running.

The start point setting unit 35 is configured to be able to receive a pressing operation by an operation button or the like, for setting the start point (point a) of each reference line corresponding to each reference line setting unit 55. The start point setting unit 35 transmits a start point setting instruction to the control device 50 in response to a setting operation such as a pressing operation. At this time, in the control device 50, the vehicle position of the combine 1 is set as the start point of the reference line corresponding to the reference line setting unit 55 selected as the setting target. In addition, even when the start point has been set, the start point setting unit 35 may transmit a start point setting instruction for resetting the start point to the control device 50 in accordance with the setting operation. When the start point is set, the start point setting unit 35 may transmit a start point release instruction to release the setting of the start point to the control device 50 in response to a release operation such as a long press operation (for example, a pressing operation for several seconds or more).

The start point setting unit 35 may be capable of performing the pressing operation only when the reference line setting unit 55 is selected as the setting target, or may be capable of performing the pressing operation all the time, and may transmit the start point setting instruction only when the reference line setting unit 55 is selected as the setting target. Alternatively, the start point setting unit 35 may always be able to perform the pressing operation and always transmit the start point setting instruction in response to the pressing operation, and the control device 50 may determine to accept the start point setting instruction only when the reference line setting unit 55 is selected as the setting target.

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

The end point setting unit 36 may be capable of performing the pressing operation only when the reference line setting unit 55 is selected as the setting target and the start point of the reference line corresponding to the reference line setting unit 55 is set, or may be capable of performing the pressing operation all the time, and may transmit the end point setting instruction only when the reference line setting unit 55 is selected as the setting target and the start point of the reference line corresponding to the reference line setting unit 55 is set. Alternatively, the end point setting unit 36 may be always capable of performing the pressing operation and always transmit the end point setting instruction in response to the pressing operation, and the control device 50 may determine to accept the end point setting instruction only when the reference line setting unit 55 is selected as the setting target and the start point of the reference line corresponding to the reference line setting unit 55 is set.

The start point setting display unit 37 is configured by an LED, a lamp, or the like that indicates the setting state of the start point, and is controlled by the control device 50 to display in different display states according to the operation of the start point setting unit 35. In fig. 4 to 18, the example in which the origin setting display unit 37 is integrally formed with the origin setting unit 35 is shown, but in other examples, the origin setting display unit 37 may be formed separately from the origin setting unit 35.

The start point setting display unit 37 is turned off as shown in fig. 4, 7, and 11 basically when the start point setting operation can be performed with respect to the reference line setting unit 55 as the setting target, i.e., when the start point is not set, and is turned on as shown in fig. 5, 6, 8 to 10, and 12 to 18 when the start point setting operation cannot be performed, i.e., when the start point is set.

For example, when the reference line setting unit 55 is not selected as the setting target, the start point setting display unit 37 is turned off regardless of the pressing operation of the start point setting unit 35. When the reference line setting unit 55 is selected as the setting target, the start point setting display unit 37 is turned on as shown in fig. 5 and 8 according to the setting operation of the start point setting unit 35 at the time of setting the start point. When the start point of the reference line is set and the start point setting display unit 37 is turned on, and a predetermined time elapses after the end point of the reference line is set (that is, when the reference line is determined), and when the reference line setting unit 55 that does not set the reference line remains, the start point setting display unit 37 is turned off as shown in fig. 7. The start point setting display unit 37 may recognize the state of the start point setting by using another display state.

The end point setting display unit 38 is configured by an LED, a lamp, or the like that indicates the setting state of the end point, and is controlled by the control device 50 to display in different display states according to the operation of the end point setting unit 36. In fig. 4 to 18, the end point setting display unit 38 is shown as an example of the integral structure of the end point setting unit 36, but in other examples, the end point setting display unit 38 may be formed separately from the end point setting unit 36.

The end point setting display unit 38 basically turns off as shown in fig. 4, 5, 7, 8, and 11 when the end point setting operation is possible with respect to the reference line setting unit 55 as the setting target, that is, when the end point is not set, and turns on as shown in fig. 6, 9, 10, and 12 to 18 when the end point setting operation is not possible, that is, when the end point is set.

For example, when the reference line setting unit 55 is not selected as the setting target, and when the start point of the reference line setting unit 55 is not set even if the reference line setting unit 55 is selected as the setting target, the end point setting display unit 38 is turned off regardless of the setting operation of the end point setting unit 36. When the reference line setting unit 55 is selected as the setting target and the start point of the reference line setting unit 55 is set, the end point setting display unit 38 is turned on as shown in fig. 6 and 9 according to the pressing operation of the end point setting unit 36 when the end point setting is performed. When the end point of the reference line is set and the end point setting display unit 38 is turned on, and then a predetermined time has elapsed after the end point of the reference line is set (that is, when the reference line is determined), and when the reference line setting unit 55, which has not set the reference line, remains, the end point setting display unit 38 is turned off simultaneously with the start point setting display unit 37 as shown in fig. 7. The end point setting display unit 38 may recognize the state of the end point setting by using another display state.

Next, the control device 50 of the combine harvester 1 will be described with reference to fig. 2. The control device 50 is composed of a computer such as a CPU, and is connected to a storage unit 51 such as a ROM, a RAM, a hard disk drive, and a flash memory, and a communication unit 52 for communicating with an external device. In the present invention, the automatic travel system is constituted by the automatic straight operation device 30 and the control device 50.

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

The storage unit 51 stores field information of a field to be operated by the combine harvester 1 and the plurality of reference line setting units 55. The field information includes, for example, the shape, size, and position information (coordinates, etc.) of the field end constituting the field periphery, the shape, size, and position information (coordinates, etc.) of the work area of the field, and the like. The field information includes information such as the shape, size, and position information (coordinates, etc.) of the non-work place where the work has not been performed, and the work place where the work has been completed. Each reference line setting unit 55 includes positional information of a set start point (point a) and end point (point B), and positional information of a reference line obtained by connecting the start point to the end point by a straight line. In the present embodiment, the storage unit 51 stores, as the plurality of reference line setting units 55, a reference line setting unit 55a corresponding to the first reference line and a reference line setting unit 55b corresponding to the second reference line.

The communication unit 52 can perform wireless communication with an external device such as the portable terminal 40 held by the operator via a wireless communication antenna. The control device 50 controls the communication unit 52 to perform wireless communication with the mobile terminal 40, and transmits and receives various information to and from the mobile terminal 40.

The portable terminal 40 is one of the constituent elements of the combine harvester 1, and is a terminal capable of remotely operating the combine harvester 1, and is constituted by, for example, a tablet terminal provided with a touch panel, a notebook personal computer, or the like.

The control device 50 executes a program stored in the storage unit 51, and thereby operates as a reference line selection control unit 60, a start point setting control unit 61, an end point setting control unit 62, a reference line setting control unit 63, a route creation unit 64, a start condition determination unit 65, and a travel control unit 66. The reference line selection control unit 60, the start point setting control unit 61, the end point setting control unit 62, the reference line setting control unit 63, the route creation unit 64, the start condition determination unit 65, and the travel control unit 66 implement the reference line setting method and the selection step, the start point setting step, the end point setting step, the reference line setting step, the route creation step, the start condition determination step, and the automatic travel step of the automatic travel method of the present invention.

The reference line selection control unit 60 selects the reference line setting unit 55 to be set when setting the reference line for the field and the reference line setting unit 55 to be the automatic travel target when the combine 1 travels straight automatically.

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

For example, when the reference line setting unit 55 to be automatically driven is automatically selected, the reference line selection control unit 60 selects the reference line setting unit 55 from the plurality of reference line setting units 55 based on the vehicle position and the traveling direction of the combine 1. At this time, the reference line selection control unit 60 selects the reference line to be automatically driven based on at least one of the angle of the traveling direction of the combine harvester 1 with respect to the plurality of reference lines set by the plurality of reference line setting units 55 and the distance of the combine harvester 1 with respect to each of the plurality of reference lines.

Specifically, the reference line selection control unit 60 compares the angle (i.e., the comparison angle) formed by the reference lines of each of the plurality of reference line setting units 55 with a predetermined angle threshold (e.g., 30 degrees). At this time, when the reference lines intersect, the reference line selection control unit 60 calculates an acute angle formed at the intersection as a comparison angle. On the other hand, when the reference lines do not intersect, the reference line selection control unit 60 calculates an acute angle at the intersection point at which the reference lines or their extended lines intersect as a comparison angle, or calculates an acute angle at the intersection point when a state in which the reference lines intersect is assumed as a comparison angle. The combine harvester 1 may set an angle threshold in advance, for example, or may set an angle threshold arbitrarily according to an operation by an operator.

For example, in the example of the first reference line L1 and the second reference line L2 shown in fig. 19, the first reference line L1 and the second reference line L2 do not intersect in the field H, but as shown by a broken line in fig. 21, when a state in which the first reference line L1 and the second reference line L2 intersect is assumed, the comparison angle D between the first reference line L1 and the second reference line L2 becomes equal to or greater than the angle threshold. On the other hand, in the example of the first reference line L1 and the second reference line L2 shown in fig. 20, the first reference line L1 and the second reference line L2 do not intersect in the field H, but as shown by a broken line in fig. 22, when a state in which the first reference line L1 and the second reference line L2 intersect is assumed, the comparison angle D between the first reference line L1 and the second reference line L2 is less than the angle threshold.

When the comparison angle between the reference lines is equal to or greater than the angle threshold, the reference line selection control unit 60 selects the reference line to be automatically driven based on the angle (i.e., the evaluation angle) formed by each of the plurality of reference lines and the extension line extending in the traveling direction of the combine harvester 1. At this time, when each reference line intersects with an extension line of the traveling direction of the combine harvester 1, the reference line selection control unit 60 calculates an acute angle formed at the intersection as an evaluation angle. On the other hand, when each reference line does not intersect with the extension line of the traveling direction of the combine harvester 1, the reference line selection control unit 60 calculates an acute angle formed by an intersection point of the extension line of each reference line and the extension line of the traveling direction of the combine harvester 1 as an evaluation angle, or calculates an acute angle at the intersection point in a state where each reference line and the extension line of the traveling direction of the combine harvester 1 are assumed to intersect as an evaluation angle. The reference line selection control unit 60 selects a reference line having a smaller evaluation angle with respect to the traveling direction of the combine harvester 1 as a reference line to be automatically traveled.

For example, in the present embodiment, evaluation value conversion means for converting an evaluation angle into a table, a mathematical expression, or the like is defined in advance and stored in the storage unit 51, and the evaluation value conversion means defines such that the evaluation value becomes higher as the evaluation angle becomes smaller. The reference line selection control unit 60 converts the evaluation angle of each reference line into an evaluation value by an evaluation value conversion means, and selects a reference line having a higher evaluation value as a reference line of the automatic travel target.

On the other hand, when the comparison angle between the reference lines of each of the plurality of reference line setting units 55 is less than the angle threshold, the reference line selection control unit 60 selects the reference line to be automatically driven based on the angle (i.e., the evaluation angle) formed by each of the plurality of reference lines and the extension line extending in the traveling direction of the combine 1, and the distance (i.e., the evaluation distance) between each of the plurality of reference lines and the vehicle position of the combine 1. At this time, the reference line selection control unit 60 selects a reference line having a smaller evaluation angle with respect to the traveling direction of the combine 1, and selects a reference line having a shorter evaluation distance as the reference line to be automatically traveled when the distance from the host vehicle position of the combine 1 to the vertical line that is suspended from each reference line or the extension line thereof is set as the evaluation distance.

For example, in the present embodiment, not only the evaluation value conversion means for converting the evaluation angle into the evaluation value, but also the evaluation value conversion means for converting the evaluation distance into a table, a mathematical expression, or the like for converting the evaluation distance into the evaluation value are defined in advance and stored in the storage unit 51, and the evaluation value conversion means is defined so that the evaluation value becomes higher as the evaluation distance becomes shorter. In addition, the evaluation value conversion means defines an evaluation value so that the evaluation angle and the evaluation distance can be evaluated to the same extent, and sets a weight with respect to the evaluation angle and the evaluation distance, thereby improving the priority of either one of the evaluation angle and the evaluation distance. The reference line selection control unit 60 converts the evaluation angle and the evaluation distance of each reference line into an evaluation value by an evaluation value conversion means, and selects a reference line having a higher evaluation value as a reference line of the automatic travel target.

Alternatively, when the reference line setting unit 55 to be set is selected in response to the selection operation of the reference line operation unit 33, the reference line selection control unit 60 sets the reference line setting unit 55 indicated by the selection instruction as the setting target when receiving the selection instruction from the reference line operation unit 33. Specifically, when the reference line is not set by the reference line setting unit 55 indicated by the selection instruction received from the reference line operation unit 33, the reference line selection control unit 60 sets the reference line setting unit 55 indicated by the selection instruction as the setting target in accordance with the selection instruction. When the reference line setting unit 55 corresponding to the selection instruction from the reference line operation unit 33 is set as the setting target, the reference line selection control unit 60 releases the reference line setting unit 55 from the selection of the setting target upon receiving the selection release instruction from the reference line operation unit 33, and automatically selects the reference line setting unit 55 as the setting target based on the priority order.

When the reference line setting unit 55 to be automatically driven is automatically selected, the reference line selection control unit 60 selects the reference line setting unit 55 to be automatically driven when the reference line is set in only one reference line setting unit 55. On the other hand, when the reference line is set in each of the plurality of reference line setting units 55, the reference line selection control unit 60 selects the reference line setting unit 55 based on, for example, the vehicle position and the traveling direction of the combine 1. Alternatively, the reference line selection control unit 60 selects the reference line setting unit 55 having a higher priority order as the automatic travel target. Further, when none of the plurality of reference line setting units 55 has a reference line set, the reference line selection control unit 60 does not select any of the reference line setting units 55 as an automatic traveling target.

Alternatively, when the reference line setting unit 55 that is the reference line of the automatic traveling object is selected according to the selection operation of the reference line operation unit 33, the reference line selection control unit 60 sets the reference line of the reference line setting unit 55 indicated by the selection instruction as the automatic traveling object upon receiving the selection instruction from the reference line operation unit 33. Specifically, when the reference line is set by the reference line setting unit 55 indicated by the selection instruction received from the reference line operation unit 33, the reference line selection control unit 60 sets the reference line of the reference line setting unit 55 indicated by the selection instruction as the automatic travel target in accordance with the selection instruction.

However, in the automatic straight operation device 30, when the first reference line and the second reference line are not set, as shown in fig. 4, the reference line display portion 34a corresponding to the reference line setting portion 55a of the first reference line and the reference line display portion 34b corresponding to the reference line setting portion 55b of the second reference line are turned off. In contrast, when the first reference line and the second reference line are set, the reference line display unit 34a corresponding to the reference line setting unit 55a of the first reference line and the reference line display unit 34b corresponding to the reference line setting unit 55b of the second reference line are turned on as shown in fig. 9 before the automatic traveling object is selected. When the reference line of the automatic traveling object is selected by the reference line selection control unit 60, the reference line selection control unit 60 controls the reference line display unit 34 corresponding to the reference line of the automatic traveling object so as to display the selected automatic traveling object in the display state, for example, as shown in fig. 12 to 15, 17, and 18. At this time, the reference line selection control unit 60 controls the reference line display unit 34 to be displayed in different blinking states (for example, different blinking intervals) when the reference line of the automatic traveling object is automatically selected according to the vehicle position and traveling direction of the combine harvester 1 (see fig. 12 to 15) and when the reference line of the automatic traveling object is selected according to the selection operation of the reference line operation unit 33 (fig. 17 and 18).

Here, fig. 12 and 13 illustrate an example in which the reference line setting unit 55a of the first reference line is automatically selected, and the reference line display unit 34a of the first reference line blinks, and fig. 14 and 15 illustrate an example in which the reference line setting unit 55b of the second reference line is automatically selected, and the reference line display unit 34b of the second reference line blinks. Fig. 17 and 18 show an example in which the reference line display unit 34a of the first reference line blinks by selecting the reference line setting unit 55a of the first reference line in response to a selection operation of the reference line operation unit 33a of the first reference line.

When the reference line of the reference line setting unit 55 corresponding to the selection instruction from the reference line operation unit 33 is set as the automatic travel target, the reference line selection control unit 60 releases the reference line setting unit 55 from the selection of the automatic travel target upon receiving the selection release instruction from the reference line operation unit 33. At this time, the reference line selection control unit 60 controls the reference line display unit 34 corresponding to the reference line setting unit 55 released from the automatic traveling object so as to perform display in a display state indicating release from the automatic traveling object, for example, to perform blinking release, that is, to perform lighting.

The start point setting control unit 61 controls setting of a start point when setting a reference line with respect to the field. Upon receiving the start setting instruction from the start setting unit 35, the start setting control unit 61 acquires the vehicle position of the combine harvester 1 from the positioning unit 28, and sets the vehicle position as the start point of the reference line setting unit 55 selected as the setting target. When the start point is set, the start point setting control unit 61 re-acquires the vehicle position of the combine harvester 1 from the positioning unit 28 and re-sets the vehicle position as the start point if the start point setting instruction is received again from the start point setting unit 35. Before setting the start point, the start point setting display unit 37 is turned off as shown in fig. 4 and 7, and when setting the start point, the start point setting control unit 61 controls the start point setting display unit 37 so as to perform display in a display state showing the start point setting, for example, as shown in fig. 5, 8, 9, and 12 to 18.

When the start point is set, the start point setting control unit 61 releases the set start point upon receiving a start point release instruction from the start point setting unit 35. When the start point is released, the start point setting control unit 61 controls the start point setting display unit 37 so as to perform display in a display state indicating the release of the start point, for example, to turn off.

The end point setting control unit 62 controls setting of an end point when setting a reference line with respect to the field. When the start point of the reference line setting unit 55 selected as the setting target is set, the end point setting control unit 62 acquires the vehicle position of the combine harvester 1 from the positioning unit 28 and sets the vehicle position as the end point of the reference line setting unit 55 upon receiving the end point setting instruction from the end point setting unit 36. Before setting the end point, the end point setting display unit 38 is turned off as shown in fig. 4, 5, 7, and 8, and when setting the end point, the end point setting control unit 62 controls the end point setting display unit 38 so as to perform display in a display state indicating the end point setting, for example, as shown in fig. 6, 9, 12 to 18.

With the above-described configuration, the start point setting control unit 61 and the end point setting control unit 62 control to display the start point setting display unit 37 and the end point setting display unit 38 in different display states when the reference lines are set in all of the plurality of reference line setting units 55 and when the reference line is not set in at least one of the plurality of reference line setting units 55.

When the start point is set by the start point setting control unit 61 and the end point is set by the end point setting control unit 62 with respect to the reference line setting unit 55 selected as the setting target, the reference line setting control unit 63 connects the start point to the reference line of the end point with a straight line for production, and sets and stores the reference line in the storage unit 51 in correspondence with the reference line setting unit 55. The reference line setting control unit 63 may automatically set the name of the reference line when the reference line is set in the reference line setting unit 55, or may receive an input of the name of the reference line and store the name of the reference line in the storage unit 51 in association with the reference line setting unit 55.

Before setting the reference line, the reference line display unit 34 is turned off as shown in fig. 4 and 5, and when the reference line is set in the reference line setting unit 55, the reference line setting control unit 63 controls the reference line display unit 34 corresponding to the reference line setting unit 55 so as to perform display in a display state showing the setting of the reference line, for example, as shown in fig. 6 to 10 and 12 to 18. When the reference line setting unit 55 does not set the reference line remains after the reference line is set by the reference line setting control unit 63 to set the reference line after the end point is set, the start point setting display unit 37 and the end point setting display unit 38 are controlled so as to display a display state indicating that the start point setting and the end point setting are possible, for example, to turn off as shown in fig. 7.

When receiving a reference line elimination instruction from the reference line operation unit 33 corresponding to the reference line setting unit 55 in which the reference line is set, the reference line setting control unit 63 releases the correspondence between the reference line setting unit 55 and the reference line and eliminates the reference line from the storage unit 51. At this time, the reference line setting control unit 63 controls the reference line display unit 34 corresponding to the reference line setting unit 55 from which the reference line is eliminated so as to display the display state in which the display is released from the automatic traveling object, for example, to turn off as shown in fig. 11.

When the reference line of the reference line setting unit 55 is selected as the automatic travel target by the reference line selection control unit 60 in accordance with the selection operation of the reference line operation unit 33 corresponding to the reference line setting unit 55 in which the reference line is set, the route creation unit 64 creates an automatic travel route based on the reference line, and stores the route in the storage unit 51 in association with the land and the reference line. For example, the route creation unit 64 creates a straight line parallel to the reference line, that is, an automatic travel route including a plurality of straight routes arranged at intervals with a work width from the reference line, over the entire field. Alternatively, the route creation unit 64 creates a straight line parallel to the reference line over the entire field, that is, an automatic travel route including a straight route passing through the vehicle position of the combine 1 and a plurality of straight routes arranged at intervals with a work width from the straight route. Alternatively, the route creation unit 64 may create a straight line parallel to the reference line, that is, an automatic travel route constituted only by a straight route passing through the vehicle position of the combine 1.

The start condition determination unit 65 determines whether or not the combine 1 satisfies the start condition for the automatic straight travel. The start condition determination unit 65 sets, for example, a reference line in at least one of the plurality of reference line setting units 55, selects the reference line setting unit 55 in which the reference line is set as an automatic travel target, creates an automatic travel path based on the reference line of the reference line setting unit 55 of the automatic travel target, and the like as a start condition.

For example, when the start condition is not satisfied, the start condition determination unit 65 controls the automatic straight running display unit 32 so as to perform display in a display state in which the automatic straight running is not possible before the start of the automatic straight running, for example, to turn off as shown in fig. 4 and 5. On the other hand, when the start condition is satisfied, the start condition determination unit 65 controls the automatic straight running display unit 32 so as to perform display indicating that the automatic straight running is possible before the start of the automatic straight running, for example, blinking as shown in fig. 6 to 12, 14, 16, and 17.

The travel control unit 66 controls the travel unit 2 and the harvesting unit 3 so as to perform automatic harvesting travel in which automatic harvesting is performed while performing automatic straight travel along an automatic travel path that is created based on a reference line with respect to the field, and automatic harvesting travel in which automatic harvesting is performed while performing automatic travel along a travel path that is set in advance including the straight travel path and the turning path. In this embodiment, an example of performing automatic straight running will be described. For example, when the combine 1 satisfies the start condition of the automatic straight travel, the travel control unit 66 receives a start instruction of the automatic straight travel in accordance with the pressing operation of the automatic straight travel instruction unit 31. The travel control unit 66 controls the power unit 8, the travel unit 2, and the harvesting unit 3 to perform automatic straight travel so that the automatic straight travel of the combine 1 through the straight travel path of the automatic travel path is performed based on the positional information of the combine 1 located by the locating unit 28 while acquiring the automatic travel path based on the start instruction.

At this time, when the automatic straight traveling is started, the traveling control unit 66 controls the automatic straight traveling display unit 32 so as to perform display indicating a display state in the process of executing the automatic straight traveling, and for example, as shown in fig. 13, 15, and 18, the display is turned on. When stopping the automatic straight running, the running control unit 66 controls the automatic straight running display unit 32 to display, for example, to flash, in a display state indicating that the automatic straight running is possible during the stop of the automatic straight running, that is, before the start of the automatic straight running. When the automatic straight running is finished, the running control unit 66 controls the automatic straight running display unit 32 so as to display, for example, to turn off, a display state indicating that the automatic straight running is finished.

With the above-described configuration, the start condition determination unit 65 and the travel control unit 66 control to display the automatic straight-travel display unit 32 in different display states in a case where at least one of the plurality of reference line setting units 55 sets the reference line and in a case where all of the plurality of reference line setting units 55 does not set the reference line.

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

In other words, the present invention provides a reference line setting method for a work vehicle such as a combine 1 that automatically travels based on a set reference line, the method including: a selection step of selecting a setting target reference line setting unit 55 from the plurality of reference line setting units 55; a start point setting step of setting a start point of the reference line in accordance with an operation of the start point setting unit 35; an end point setting step of setting an end point of the reference line according to an operation of the end point setting unit 36; and a reference line setting step of setting a reference line based on the start point set in the start point setting step and the end point set in the end point setting step, in correspondence with the reference line setting unit 55 selected in the selecting step.

Thus, the combine harvester 1 can match the shape of the field, the working condition, and the like by setting the reference line for each of the plurality of reference line setting portions 55, a reference line is selected from the plurality of reference line setting units 55 and applied to the automatic straight running to perform work. Therefore, even if the shape of the field, the status of the work, or the like changes during the work, the reference line can be changed without eliminating the previously set reference line, and the burden on the operator can be reduced. Therefore, the reference line for the automatic straight running can be efficiently set, and workability can be improved.

In the combine harvester 1 of the present embodiment, the reference line selection control unit 60 selects the reference line setting unit 55 to be set in accordance with the operation of the reference line operation unit 33.

This allows the reference line setting unit 55 to be selected in accordance with the operator's thinking, thereby improving operability.

In the combine harvester 1 according to the present embodiment, the reference line setting control unit 63 displays, in different display states, the reference line display unit 34 corresponding to the reference line setting unit 55 in which the reference line is set and the reference line display unit 34 corresponding to the reference line setting unit 55 in which the reference line is not set, among the plurality of reference line display units 34 corresponding to each of the plurality of reference line setting units 55.

By changing the display state of the reference line display unit 34, the operator can select the reference line setting unit 55 to be set as the reference line while recognizing whether the reference line is set in each of the reference line setting units 55.

In the combine harvester 1 according to the present embodiment, the reference line setting control unit 63 displays, in different display states, the reference line display unit 34 corresponding to the reference line setting unit 55, which sets the reference line and is selected as the automatic travel target, and the other reference line display unit 34 among the plurality of reference line display units 34 corresponding to each of the plurality of reference line setting units 55.

By changing the display state of the reference line display unit 34, the operator can select the reference line setting unit 55 to be automatically driven while recognizing whether or not the reference line is set in each of the reference line setting units 55.

In the combine harvester 1 according to the present embodiment, the control device 50 functions as a route creation unit 64, and the route creation unit 64 creates an automatic travel route based on the reference line according to the operation of the reference line operation unit 33 corresponding to the reference line setting unit 55 in which the reference line is set.

Accordingly, the operator can perform work in accordance with the operator's thought by merely selecting the reference line and creating an automatic travel path for automatic straight travel based on the reference line.

In the combine harvester 1 according to the present embodiment, the reference line setting control unit 63 eliminates the reference line set for each reference line setting unit 55 according to a predetermined elimination operation.

This eliminates the reference line for each reference line setting unit 55 in accordance with the operator's thought, and improves operability.

In the combine harvester 1 according to the present embodiment, the reference line setting control unit 63 displays the start point setting display unit 37 corresponding to the start point setting unit 35 and the end point setting display unit 38 corresponding to the end point setting unit 36 in different display states, when the reference lines are set in all of the plurality of reference line setting units 55 and when the reference line is not set in at least one of the plurality of reference line setting units 55.

By changing the display states of the start point setting display unit 37 and the end point setting display unit 38, the operator can recognize whether the start point and the end point are set, and can set the start point and the end point by operating the start point setting unit 35 and the end point setting unit 36 while recognizing whether the reference line can be set.

In the combine harvester 1 according to the present embodiment, the control device 50 functions as the travel control unit 66, and the travel control unit 66 starts the automatic travel based on the reference line in response to the operation of the automatic straight travel instruction unit 31. The travel control unit 66 displays the automatic straight travel display unit 32 corresponding to the automatic straight travel instruction unit 31 in different display states when at least one of the plurality of reference line setting units 55 sets a reference line and when all of the plurality of reference line setting units 55 do not set a reference line.

By changing the display mode of the automatic straight running display unit 32, the operator can start the automatic straight running by operating the automatic straight running instruction unit 31 while recognizing whether or not the automatic straight running is started in the state in which the reference line is set in the at least one reference line setting unit 55.

In the above-described embodiment, the combine harvester 1 has been described as having two reference line setting units 55 (the reference line setting unit 55a and the reference line setting unit 55 b) as the plurality of reference line setting units 55, and can set two reference lines (the first reference line and the second reference line). For example, in another example, the combine harvester 1 may be configured to set three or more reference lines, and to have three or more reference line setting units 55 corresponding to the three or more reference lines, respectively. In this case, the automatic straight operation device 30 includes three or more reference line operation units 33 and three or more reference line display units 34 corresponding to the three or more reference line setting units 55, respectively.

Next, an example of the operation of the combine 1 according to the present embodiment in reference line selection and automatic traveling will be described with reference to a flowchart of fig. 23. The harvesting operation of the combine 1 is performed in the non-harvested area of the field as needed, but the description thereof will be omitted below.

In the combine 1, an automatic travel mode is set, and a first reference line L1 and a second reference line L2 are set in the reference line setting unit 55a and the reference line setting unit 55b, respectively (step S1). Hereinafter, an operation example in which the reference line selection control unit 60 automatically selects the reference line of the automatic traveling object according to the vehicle position and the traveling direction of the combine harvester 1 will be described.

The reference line selection control unit 60 first determines whether or not the comparison angle between the reference lines of each of the plurality of reference line setting units 55, that is, the comparison angle formed by the first reference line L1 and the second reference line L2 is equal to or greater than a predetermined angle threshold (step S2).

For example, in the case of the first reference line L1 and the second reference line L2 shown in fig. 19, when a state in which the first reference line L1 and the second reference line L2 intersect is assumed as shown in fig. 21, the comparison angle D formed by the first reference line L1 and the second reference line L2 is equal to or greater than the angle threshold (step S2: yes). At this time, the reference line selection control unit 60 selects a reference line having a smaller evaluation angle as the reference line of the automatic traveling object based on the evaluation angles E1 and E2 formed by each of the first reference line L1 and the second reference line L2 and the traveling direction of the combine 1 (step S3). In the example shown in fig. 19, since the evaluation angle E1 (see fig. 21) of the first reference line L1 with respect to the traveling direction of the combine 1 is smaller than the evaluation angle E2 (see fig. 21) of the second reference line L2 with respect to the traveling direction of the combine 1, the evaluation value of the first reference line L1 is higher than the evaluation value of the second reference line L2, and the reference line selection control unit 60 selects the first reference line L1 as the reference line of the automatic traveling target.

On the other hand, in the example of the first reference line L1 and the second reference line L2 shown in fig. 20, when a state in which the first reference line L1 and the second reference line L2 intersect is assumed as shown in fig. 22, the comparison angle D formed by the first reference line L1 and the second reference line L2 is smaller than the angle threshold (step S3: no). At this time, the reference line selection control unit 60 selects, as the reference line to be automatically driven, the reference line having the smaller evaluation angle and the shorter evaluation distance, based on the evaluation angles E1 and E2 formed by each of the first reference line L1 and the second reference line L2 and the traveling direction of the combine 1, and the evaluation distance between each of the first reference line L1 and the second reference line L2 and the vehicle position of the combine 1 (step S4). In the example shown in fig. 20, the evaluation angle E1 (see fig. 22) of the first reference line L1 with respect to the traveling direction of the combine 1 is smaller than the evaluation angle E2 (see fig. 22) of the second reference line L2 with respect to the traveling direction of the combine 1, but since the evaluation distance from the combine 1 to the first reference line L1 is longer than the evaluation distance from the combine 1 to the second reference line L2, the reference line of the automatic traveling object cannot be selected only according to one of the evaluation angle and the evaluation distance. Accordingly, the reference line selection control unit 60 selects the reference line of the automatic traveling object based on the evaluation value composed of the evaluation angle and the evaluation distance of each of the first reference line L1 and the second reference line L2.

Next, the route creation unit 64 creates an automatic travel route based on the reference line of the reference line setting unit 55 selected by the reference line selection control unit 60 (step S5).

The travel control unit 66 controls the travel unit 2 and the harvesting unit 3 to perform automatic straight travel for automatic harvesting while performing automatic travel along the straight travel path of the automatic travel path created by the path creation unit 64 (step S6).

As described above, according to the present embodiment, the combine 1 as an example of the working vehicle includes the control device 50, and the control device 50 functions as the reference line selection control unit 60, the start point setting control unit 61, the end point setting control unit 62, the reference line setting control unit 63, and the travel control unit 66. The start point setting control unit 61 sets the start point of the reference line, and the end point setting control unit 62 sets the end point of the reference line. The reference line setting control unit 63 sets a reference line based on the start point set by the start point setting control unit 61 and the end point set by the end point setting control unit 62, and can set a plurality of reference lines. The reference line selection control unit 60 selects a reference line to be automatically driven from among a plurality of reference lines. The travel control unit 66 automatically travels based on the selected reference line. The reference line selection control unit 60 selects a reference line to be automatically driven based on at least one of the angle of the traveling direction of the combine harvester 1 with respect to each of the plurality of reference lines and the distance of the combine harvester 1 with respect to each of the plurality of reference lines.

In other words, the automatic travel method of the present invention for a work vehicle such as the combine 1 that automatically travels based on the set reference line includes: a start point setting step of setting a start point of the reference line; an end point setting step of setting an end point of the reference line; a reference line setting step of setting a reference line based on the start point set in the start point setting step and the end point set in the end point setting step, and capable of setting a plurality of reference lines; a selection step of selecting a reference line of an automatic travel target from a plurality of reference lines; and an automatic travel step of automatically traveling based on the selected reference line, wherein the selection step selects the reference line of the automatic travel target based on at least one of the angle of the travel direction of the combine harvester 1 with respect to each of the plurality of reference lines and the distance of the combine harvester 1 with respect to each of the plurality of reference lines.

Accordingly, when a plurality of reference lines are set for the field, the combine 1 selects the reference line to be automatically driven based on at least one of the angle of the traveling direction of the combine 1 with respect to each of the plurality of reference lines and the distance of the combine 1 with respect to each of the plurality of reference lines, and thereby can automatically select an appropriate reference line to be applied to the automatic straight driving to perform the work in accordance with the shape of the field, the condition of the work, and the like without burdening the operator. Therefore, the reference line for the automatic straight running can be appropriately selected from the plurality of reference lines, thereby improving workability.

In the combine harvester 1 of the present embodiment, the reference line selection control unit 60 selects the reference line to be automatically driven based on the angle of the travel direction of the combine harvester 1 with respect to each of the plurality of reference lines when the mutual angle of the plurality of reference lines is equal to or greater than a predetermined angle threshold.

Thus, when the mutual angle of the plurality of reference lines is equal to or greater than the angle threshold, the straight direction of the automatic straight travel based on each reference line is greatly different, and therefore, by determining the angle between the traveling direction of the combine 1 and each reference line, it is possible to select the reference line closer to the straight direction of the traveling direction of the combine 1. For example, in the case of the inner division Tian Dexing, even when the combine harvester 1 is located in the vicinity of the other reference line than the reference line in the same direction as the inner division, the traveling direction of the combine harvester 1 is set to the same direction as the inner division, and the reference line in the same direction as the inner division can be selected. Therefore, a more appropriate reference line can be selected, and the automatic straight running can be performed based on the reference line, so that workability improves.

In the combine harvester 1 of the present embodiment, the reference line selection control unit 60 selects the reference line to be automatically driven based on both the angle of the traveling direction of the combine harvester 1 with respect to each of the plurality of reference lines and the distance of the combine harvester 1 with respect to each of the plurality of reference lines when the mutual angle of the plurality of reference lines is less than a predetermined angle threshold value.

Accordingly, when the angles of the plurality of reference lines are less than the angle threshold value, the straight direction of the automatic straight travel of each reference line is approximated, and therefore, not only the angle between the travel direction of the combine 1 and each reference line but also the distance between the combine 1 and each reference line are determined, and the reference line can be selected in accordance with the situation of the combine 1. Therefore, a more appropriate reference line can be selected, and the automatic straight running can be performed based on the reference line, so that workability improves.

In the above-described embodiment, the description has been made of the example in which the combine harvester 1 uses the first selection means for determining the angle of the traveling direction of the combine harvester 1 with respect to each reference line and the distance of the combine harvester 1 with respect to each reference line based on whether or not the angle of each of the plurality of reference lines is equal to or greater than the angle threshold value by the reference line selection control unit 60, and the reference line to be automatically traveled is selected based on the determination result. For example, in another embodiment, in addition to the first selecting means, the combine harvester 1 may be provided with second selecting means for determining the distance of the combine harvester 1 from each reference line by the reference line selection control unit 60 based on whether or not the mutual distance (comparison distance) between the plurality of reference lines is equal to or greater than a predetermined distance threshold value, and selecting the reference line to be automatically driven based on the determination result. The combine 1 may set a distance threshold in advance, for example, or may set a distance threshold arbitrarily according to an operation by an operator.

Specifically, as the second selecting means, the reference line selection control unit 60 determines whether or not the comparison distance between the reference lines of each of the plurality of reference line setting units 55 is equal to or greater than the distance threshold. When the comparison distance is equal to or greater than the distance threshold, the reference line selection control unit 60 selects the reference line to be automatically driven based on the distance from the combine 1 to each of the plurality of reference lines (i.e., the evaluation distance), regardless of the evaluation angle of each reference line. For example, the reference line selection control unit 60 selects a reference line having a shorter evaluation distance as the reference line of the automatic traveling object. At this time, the reference line selection control unit 60 converts the evaluation distance of each reference line into an evaluation value by the evaluation value conversion means, and selects a reference line having a higher evaluation value as the reference line of the automatic travel target.

The reference line selection control unit 60 may execute the second selection means before executing the first selection means, and in the second selection means, if the comparison distance is smaller than the distance threshold value, the first selection means may be executed. For example, an operation example of the reference line selection and the automatic travel in the combine 1 according to the other embodiment to which the second selection means is added will be described with reference to the flowchart of fig. 24. Note that the same operations as those of the flowchart of fig. 23 are not described.

In the combine 1, an automatic travel mode is set, and a first reference line L1 and a second reference line L2 are set in the reference line setting unit 55a and the reference line setting unit 55b, respectively (step S11).

The reference line selection control unit 60 first determines whether or not the comparison distance between the reference lines of each of the plurality of reference line setting units 55, that is, the comparison distance between the first reference line L1 and the second reference line L2, is equal to or greater than a predetermined distance threshold (step S12). Here, when the comparison distance between the first reference line L1 and the second reference line L2 is equal to or greater than the distance threshold (yes in step S12), the reference line selection control unit 60 selects a reference line having a shorter evaluation distance as the reference line to be automatically driven based on the evaluation distance from the vehicle position of the combine 1 to each of the first reference line L1 and the second reference line L2 (step S13).

On the other hand, when the comparison distance between the first reference line L1 and the second reference line L2 is smaller than the distance threshold (no in step S12), the flow advances to step S14 corresponding to step S2 of the flowchart in fig. 21, and the first selection means as in the above embodiment, that is, steps S14, S15, and S16 corresponding to steps S2, S3, and S4 of the flowchart in fig. 21 are executed.

Then, the route creation unit 64 creates an automatic travel route based on the reference line of the reference line setting unit 55 selected by the reference line selection control unit 60 (step S17), and the travel control unit 66 performs automatic straight travel in which automatic harvesting is performed while performing automatic travel along the straight travel route of the automatic travel route created by the route creation unit 64 (step S18).

As described above, according to another embodiment, when the distance between the plurality of reference lines is equal to or greater than the distance threshold, when the automatic straight travel is to be performed in different straight travel directions for each region in the vicinity of each reference line, the distance between the combine 1 and each reference line is determined, and thus the reference line closer to the combine 1 can be selected. Therefore, a more appropriate reference line can be selected, and the automatic straight running can be performed based on the reference line, so that workability improves.

In the above-described embodiment, the example in which the combine harvester 1 determines the angle of the traveling direction of the combine harvester 1 and the distance of the combine harvester 1 with respect to each of the plurality of reference lines by the reference line selection control unit 60 in the first selection means and the second selection means, and selects the reference line to be automatically driven based on the determination result has been described, but the present invention is not limited to this example. For example, in another embodiment, in the combine harvester 1, the reference line selection control unit 60 may determine the angle of the traveling direction of the combine harvester 1 and the distance of the combine harvester 1 with respect to not only the plurality of reference lines but also the straight path (the path that has been traveled) that is referred to when the automatic straight traveling has been performed in the first selection means or the second selection means, and select the reference line to be automatically traveled based on the determination result.

Specifically, if the combine 1 is automatically traveling straight along a straight path of an automatic travel path set based on a reference line by the travel control unit 66, the control device 50 (for example, the reference line setting control unit 63 or the travel control unit 66) of the combine 1 stores the straight path in the storage unit 51 in advance as a traveled path. That is, in the automatic travel method of the present invention, the control device 50 realizes a storage step of storing the travel-completed straight route as the travel-completed route. When storing the already-traveled path, the control device 50 may store the already-traveled path in association with a reference line that is a base of the straight-traveling path corresponding to the already-traveled path, or may store the already-traveled path for each of the plurality of reference lines.

For example, as shown in fig. 25, when the combine 1 performs automatic straight travel based on the straight paths M1 to M4 of the first reference line L1, the control device 50 stores the straight paths M1 to M4 as paths that have traveled in association with the first reference line L1. When the combine 1 performs the automatic straight travel based on the straight paths N1 to N3 of the second reference line L2, the control device 50 stores the straight paths N1 to N3 as the already traveled paths in association with the second reference line L2.

Thereafter, when the reference line is selected in the first selecting means and the second selecting means, the reference line selection control unit 60 selects the reference line to be automatically driven based on at least one of the angle of the traveling direction of the combine harvester 1 with respect to each of the plurality of reference lines and the path that has been driven, and the distance of the combine harvester 1 with respect to each of the plurality of reference lines and the path that has been driven. In other words, the reference line selection control unit 60 uses not only the plurality of reference lines but also the already-traveled path as a target for determining the angle of the traveling direction of the combine 1 and the distance of the combine 1. The combine harvester 1 may be a target for determining the angle of the traveling direction of the combine harvester 1 and the distance of the combine harvester 1, and whether to use the traveling path may be arbitrarily set according to the operation of the operator.

In this embodiment, the control device 50 of the combine 1 stores a straight path (a path that has been traveled) in which automatic straight travel has been performed in association with a reference line that is a base of the straight path, and when there are a plurality of paths that have been traveled in which automatic straight travel has been performed with respect to each reference line, stores only the path that has been traveled that is located on the outermost side (the farthest side) in the intersecting direction with the reference line, and eliminates the path that has been traveled that is located between (on the inner side) the reference line and the path that has been traveled that is located on the outermost side. In other words, the control device 50 stores only the two paths that have traveled on the outermost side in the left-right direction as viewed from each reference line. For example, when a plurality of straight paths are arranged while being separated from the reference line in the intersecting direction, when the combine harvester 1 performs automatic straight travel of each straight path while gradually moving away from the reference line, the control device 510 updates the straight path to a traveled path that is outermost with respect to the reference line every time the automatic straight travel of each straight path is performed. Therefore, as shown in fig. 26, the control device 50 can store the two traveling paths Ma and Mb that are outermost with respect to the first reference line L1, and can store the two traveling paths Na and Nb that are outermost with respect to the second reference line L2.

Alternatively, in this embodiment, the reference line selection control unit 60 selects the reference line (arbitrary reference line) to be automatically driven in accordance with the selection operation of the reference line operation unit 33 of the automatic straight travel operation device 30, and when the travel control unit 66 performs the automatic straight travel in accordance with the straight travel path of the automatic travel path set based on the arbitrary reference line, the control device 50 of the combine harvester 1 stores the straight travel path (the path that has been traveled) in association with the arbitrary reference line. Thereafter, when the reference line is selected in the first selecting means and the second selecting means, the reference line selection control unit 60 selects the reference line to be automatically driven based on at least one of the angle of each of the plurality of reference lines of the plurality of reference line setting units 55 and the already-driven path corresponding to the arbitrary reference line in the traveling direction of the combine 1 and the distance of each of the plurality of reference lines and the already-driven path corresponding to the arbitrary reference line in the combine 1.

For example, as shown in fig. 27, when the first reference line L1 and the second reference line L2 are set in the field H, the reference line selection control unit 60 selects the first reference line L1 as an arbitrary reference line in accordance with a selection operation of the reference line operation unit 33, and the travel control unit 66 performs automatic straight travel in accordance with the straight travel path Mc based on the first reference line L1, the control device 50 stores the straight travel path Mc as a travel path corresponding to the first reference line L1. Thereafter, the reference line selection control unit 60 selects the reference line of the automatic travel target based on at least one of the angle of each of the traveling directions of the combine harvester 1 with respect to the first reference line L1, the second reference line L2, and the straight path Mc that is the already-traveled path corresponding to the first reference line L1 as an arbitrary reference line, and the distance of each of the combine harvester 1 with respect to the first reference line L1, the second reference line L2, and the straight path Mc.

As described above, according to the other embodiments, not only the reference line set by the operator but also the path already traveled based on the reference line can be used as the reference line for the automatic straight travel, and therefore, a more appropriate reference line can be automatically selected and applied to the automatic straight travel to perform the work in accordance with the shape of the field, the status of the work, and the like.

In still another embodiment, when the combine 1 performs the automatic straight travel along the straight travel path set based on the reference line, if the automatic straight travel along the straight travel path is ended at an end position different from the end position of the straight travel path, the control device 50 of the combine 1 may add a straight line connecting the start position of the automatic straight travel along the straight travel path and the above-described different end position as the reference line (addition reference line). Thereafter, when the reference line is selected by the first selecting means and the second selecting means, the reference line selection control unit 60 selects the reference line to be automatically driven based on at least one of the angles of the traveling direction of the combine harvester 1 with respect to the plurality of reference lines and the additional reference line of the plurality of reference line setting units 55 and the distances of the combine harvester 1 with respect to the plurality of reference lines and the additional reference line.

The combine 1 can change the position of the combine 1 in the left-right direction according to a predetermined path shift operation while the combine 1 is traveling along the straight path along the automatic straight path, and for example, by performing shift travel in which the combine 1 is moved obliquely to the left or right in front of the straight path, the combine 1 can be moved along a shift path that has been moved in parallel from the straight path. In this case, the combine harvester 1 starts the automatic straight travel at the start position on the straight travel path, and ends the automatic straight travel at the end position of the shift path.

Specifically, as shown in fig. 28, when the first reference line L1 and the second reference line L2 are set in the field H, the combine 1 may perform shift travel according to a predetermined path shift operation while performing automatic straight travel according to the straight travel path Md based on the first reference line L1, and may move from the straight travel path Md to the parallel shift path R. In this case, the control device 50 adds a straight line connecting the start position at which the automatic straight travel starts on the straight line M and the end position at which the automatic straight travel ends on the shift line R as an additional reference line La (indicated by a one-dot chain line in fig. 28), and stores the additional reference line La in the storage unit 51. Thereafter, the reference line selection control unit 60 selects the reference line to be automatically driven based on at least one of the angle of the traveling direction of the combine 1 with respect to the first reference line L1, the second reference line L2, and the additional reference line La, and the distance of the combine 1 with respect to each of the first reference line L1, the second reference line L2, and the additional reference line La.

The combine harvester 1 may be a target for determining the angle of the traveling direction of the combine harvester 1 and the distance of the combine harvester 1, and whether or not to use the additional reference line may be arbitrarily set according to the operation of the operator. In addition, in the case where an additional reference line based on a displacement path corresponding to a path displacement operation is added to a straight path based on a base reference line, the combine harvester 1 can cancel the base reference line or can arbitrarily set whether or not to cancel the displacement operation according to an operation by an operator.

As described above, according to the other embodiments, not only the reference line set by the operator but also the additional reference line based on the shift path corresponding to the path shift operation can be used as the reference line for the automatic straight running, and therefore, a more appropriate reference line can be automatically selected and applied to the automatic straight running to perform the work in accordance with the shape of the field, the status of the work, and the like.

In the above-described other embodiments, the case where the combine harvester 1 ends the automatic travel at the end position different from the straight travel path by the path shift operation has been described, but even in the case where the automatic travel ends at the end position different from the straight travel path by the other operation, the additional reference line may be similarly added.

In the above-described embodiment, the combine harvester 1 has been described as having two reference line setting units 55 (the reference line setting unit 55a and the reference line setting unit 55 b) as the plurality of reference line setting units 55, and can set two reference lines (the first reference line L1 and the second reference line L2). For example, in another example, the combine harvester 1 may be configured to set three or more reference lines, and to have three or more reference line setting units 55 corresponding to the three or more reference lines, respectively.

Even in this case, the reference line selection control unit 60 compares the comparison angle formed by the reference lines of each of the plurality of reference line setting units 55 with a predetermined angle threshold. When the comparison angle between the plurality of reference lines is equal to or greater than the angle threshold, the reference line selection control unit 60 selects a reference line having a smaller evaluation angle as the reference line of the automatic travel target, based on the evaluation angle formed by each of the plurality of reference lines and the extension line extending in the travel direction of the combine 1. When the comparison angle between the plurality of reference lines is smaller than the angle threshold, the reference line selection control unit 60 selects the reference line to be automatically driven based on the evaluation angle formed by each of the plurality of reference lines and the extension line extending in the traveling direction of the combine 1 and the evaluation distance between each of the plurality of reference lines and the vehicle position of the combine 1.

For example, the reference line selection control unit 60 selects, as the reference line to be automatically driven, the reference line having a smaller evaluation angle with respect to the traveling direction of the combine 1 and a smaller evaluation distance from the combine 1. For example, the reference line selection control unit 60 calculates an evaluation angle with respect to the traveling direction of the combine 1 and an evaluation distance from the combine 1 for each reference line, converts these evaluation angles and evaluation distances into evaluation values, and selects the reference line having the highest evaluation value as the reference line of the automatic traveling target.

At this time, the reference line selection control unit 60 compares the evaluation value of one reference line with the evaluation values of other reference lines to determine the magnitude relation of the evaluation values of the reference lines, and further repeats the determination of the magnitude relation of the evaluation values of the reference lines based on the determination result, whereby the reference line having the highest evaluation value can be obtained.

Specifically, as shown in fig. 29 and 30, when the first reference line L1, the second reference line L2, and the third reference line L3 are set in the field H, the reference line selection control unit 60 first determines whether or not the comparison angle between the reference lines of each of the plurality of reference lines, that is, the comparison angle between the first reference line L1 and the second reference line L2, the comparison angle between the second reference line L2 and the third reference line L3, and the comparison angle between the third reference line L3 and the first reference line L1 are equal to or greater than a predetermined angle threshold.

As shown in fig. 29, when the comparison angle between the first reference line L1 and the second reference line L2, the comparison angle between the second reference line L2 and the third reference line L3, and the comparison angle between the third reference line L3 and the first reference line L1 are equal to or greater than the angle threshold, the reference line selection control unit 60 selects, as the reference line to be automatically driven, the reference line having the smaller evaluation angle based on the evaluation angle formed by each of the first reference line L1, the second reference line L2, and the third reference line L3 and the travelling direction of the combine harvester 1. In the example shown in fig. 29, the evaluation angle of the first reference line L1 with respect to the traveling direction of the combine 1 is smaller than the evaluation angle of the second reference line L2 with respect to the traveling direction of the combine 1 and the evaluation angle of the third reference line L3 with respect to the traveling direction of the combine 1, and therefore the reference line selection control unit 60 selects the first reference line L1 as the reference line to be automatically traveled.

On the other hand, as shown in fig. 30, when at least one comparison angle, for example, the comparison angle between the first reference line L1 and the second reference line L2 is smaller than the angle threshold, the reference line selection control unit 60 selects, as the reference line to be automatically driven, the reference line having the smaller evaluation angle and the smaller evaluation distance based on the evaluation angle formed by each of the first reference line L1, the second reference line L2, and the third reference line L3 and the traveling direction of the combine harvester 1 and the evaluation distance between each of the first reference line L1, the second reference line L2, and the third reference line L3 and the vehicle position of the combine harvester 1. At this time, the reference line selection control unit 60 compares the evaluation values including the evaluation angles and the evaluation distances of each of the first reference line L1, the second reference line L2, and the third reference line L3.

For example, the reference line selection control unit 60 sets a reference line having the smallest evaluation angle with respect to the traveling direction of the combine harvester 1, for example, the first reference line L1 as a reference, compares the evaluation value of the first reference line L1 with the evaluation value of the second reference line L2, and compares the evaluation value of the first reference line L1 with the evaluation value of the third reference line L3. For example, when the evaluation value of the second reference line L2 is higher than the evaluation value of the first reference line L1 and the evaluation value of the first reference line L1 is higher than the evaluation value of the third reference line L3, it can be determined that the evaluation value of the second reference line L2 is highest, and therefore the reference line selection control unit 60 selects the second reference line L2 as the reference line of the automatic traveling target. On the other hand, when the evaluation value of the second reference line L2 is higher than the evaluation value of the first reference line L1 and the evaluation value of the third reference line L3 is higher than the evaluation value of the first reference line L1, it is impossible to determine which of the evaluation values of the second reference line L2 and the third reference line L3 is higher, and therefore the reference line selection control unit 60 compares the evaluation value of the second reference line L2 with the evaluation value of the third reference line L3. When the evaluation value of the third reference line L3 is higher than the evaluation value of the second reference line L2, it can be determined that the evaluation value of the third reference line L3 is highest, and therefore the reference line selection control unit 60 selects the third reference line L3 as the reference line of the automatic traveling target.

In fig. 29 and 30, the case where the reference line selection control unit 60 selects the reference line of the automatic traveling object is illustrated by illustrating the state where three lines, that is, the first reference line L1, the second reference line L2, and the third reference line L3, are set in the field H, but the reference line selection control unit 60 can similarly select the reference line of the automatic traveling object even in the state where four or more reference lines are set in the field.

In the above-described embodiment, the example in which the automatic straight travel operation device 30 for performing the setting operation of the reference line and the start instruction of the automatic straight travel is provided in the operating unit 9 of the combine 1, the plurality of reference line setting units 55 for setting the plurality of reference lines are stored in the storage unit 51 provided in the combine 1, and the setting of the reference line and the execution of the automatic straight travel are controlled by the control device 50 provided in the combine 1 has been described, but the present invention is not limited to this example. For example, in another example, the same function as the automatic straight running operation device 30 may be provided in an operation display device such as a touch panel provided in the mobile terminal 40, and a plurality of reference line setting units 55 for setting a plurality of reference lines may be stored in a storage unit provided in the mobile terminal 40, and the setting of the reference lines and the execution of the automatic straight running may be controlled by a control device provided in the mobile terminal 40.

In the above-described embodiment, the example of the combine 1 constituted by the self-threshing combine has been described, but the present invention is not limited to this example, and the combine 1 may be constituted by a general combine. In the above-described embodiment, the example in which the work vehicle is constituted by 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 configured by other agricultural machines such as a tractor, a rice transplanter, and a mower, or may be configured by other work vehicles other than agricultural machines.

The present invention can be appropriately modified within a range not departing from the gist or the idea of the invention that can be read from the claims and the entire specification, and the reference line setting method, the automatic traveling method, the working vehicle, and the automatic traveling system that accompany the modification described above are also included in the technical idea of the present invention.

Claims

1. A reference line setting method for a work vehicle that automatically travels based on a set reference line, comprising:

a selection step of selecting the reference line setting unit to be set from among a plurality of reference line setting units;

A start point setting step of setting a start point of the reference line in accordance with an operation of a start point setting unit;

an end point setting step of setting an end point of the reference line in accordance with an operation of an end point setting unit; and

and a reference line setting step of setting a reference line based on the start point set in the start point setting step and the end point set in the end point setting step, in correspondence with the reference line setting unit selected in the selecting step.

2. The method of setting a reference line according to claim 1, wherein,

in the selecting step, the reference line setting unit to be set is selected in accordance with an operation of the reference line operation unit.

3. The method for setting a reference line according to claim 1 or 2, characterized in that,

in the reference line setting step, the reference line display unit corresponding to the reference line setting unit in which the reference line is set, and the reference line display unit corresponding to the reference line setting unit in which the reference line is not set, among the plurality of reference line display units corresponding to each of the plurality of reference line setting units, are displayed in different display states.

4. The method for setting a reference line according to claim 1 or 2, characterized in that,

in the reference line setting step, the reference line display unit corresponding to the reference line setting unit, which sets the reference line and is selected as the automatic traveling target, and the other reference line display unit among the plurality of reference line display units corresponding to each of the plurality of reference line setting units are displayed in different display states.

5. The method for setting a reference line according to any one of claims 1 to 4, wherein,

the method includes a route creation step of creating an automatic travel route based on the reference line according to an operation of a reference line operation unit corresponding to the reference line setting unit in which the reference line is set.

6. The method for setting a reference line according to any one of claims 1 to 5, wherein,

in the reference line setting step, the reference line set for each reference line setting unit is eliminated according to a predetermined elimination operation.

7. The method for setting a reference line according to any one of claims 1 to 6, wherein,

in the reference line setting step, when the reference line is set in all of the plurality of reference line setting units and when the reference line is not set in at least one of the plurality of reference line setting units, a start point setting display unit corresponding to the start point setting unit and an end point setting display unit corresponding to the end point setting unit are displayed in different display states.

8. The method for setting a reference line according to any one of claims 1 to 7, wherein,

an automatic travel step of starting the automatic travel based on the reference line in accordance with an operation of the automatic straight travel instruction unit,

and an automatic straight-movement display unit that displays an automatic straight-movement instruction unit corresponding to the automatic straight-movement instruction unit in different display states when at least one of the plurality of reference line setting units sets the reference line and when none of the plurality of reference line setting units sets the reference line.

9. A work vehicle that automatically travels based on a set reference line,

the work vehicle is characterized by comprising:

a reference line selection control unit that selects the reference line setting unit to be set from among a plurality of reference line setting units;

a start point setting control unit that sets a start point of the reference line in accordance with an operation of the start point setting unit;

an end point setting control unit that sets an end point of the reference line in accordance with an operation of the end point setting unit; and

and a reference line setting control unit that sets a reference line based on the start point set by the start point setting control unit and the end point set by the end point setting control unit, in correspondence with the reference line setting unit selected by the reference line selection control unit.

10. An automatic travel system for a work vehicle that automatically travels based on a set reference line, comprising:

11. An automatic travel method for a work vehicle that performs automatic travel based on a set reference line, the method comprising:

a start point setting step of setting a start point of the reference line;

An end point setting step of setting an end point of the reference line;

a reference line setting step of setting a reference line based on the start point set in the start point setting step and the end point set in the end point setting step, and capable of setting a plurality of reference lines;

a selection step of selecting the reference line of the automatic travel target from among the plurality of reference lines; and

an automatic travel step of automatically traveling based on the selected reference line,

in the selecting step, the reference line of the automatic traveling object is selected based on at least one of an angle of a traveling direction of the working vehicle with respect to each of the plurality of reference lines and a distance of the working vehicle with respect to each of the plurality of reference lines.

12. The automatic traveling method according to claim 11, characterized in that,

in the selecting step, when the mutual angle of the plurality of reference lines is equal to or greater than a predetermined angle threshold, the reference line to be automatically driven is selected based on the angle of the traveling direction of the work vehicle with respect to each of the plurality of reference lines.

13. The automatic traveling method according to claim 11 or 12, characterized in that,

in the selecting step, when the mutual angles of the plurality of reference lines are smaller than a predetermined angle threshold value, the reference line of the automatic traveling object is selected based on both the angle of the traveling direction of the working vehicle with respect to each of the plurality of reference lines and the distance of the working vehicle with respect to each of the plurality of reference lines.

14. The automatic traveling method according to claim 11, characterized in that,

in the selecting step, when the distance between the plurality of reference lines is equal to or greater than a predetermined distance threshold, the reference line to be automatically driven is selected based on the distance between the work vehicle and each of the plurality of reference lines.

15. The automatic traveling method according to any one of claims 11 to 14, characterized in that,

the method includes a storage step of storing a straight-through path set based on the reference line as a path that has been traveled when the vehicle is automatically traveling along the straight-through path,

in the selecting step, the reference line of the automatic traveling object is selected based on at least one of an angle of a traveling direction of the working vehicle with respect to each of the traveling path and the plurality of reference lines, and a distance of the working vehicle with respect to each of the traveling path and the plurality of reference lines.

16. The automatic driving method according to claim 15, wherein,

in the storing step, the travel path that is outermost with respect to each of the plurality of reference lines is stored, and the travel path that is between the reference line and the travel path that is outermost is eliminated.

17. The automatic driving method according to claim 15, wherein,

in the selecting step, the reference line of the automatic traveling object is selected as an arbitrary reference line according to the operation of the reference line operation unit,

in the storing step, when the vehicle is automatically driven according to a straight path set based on the arbitrary reference line, the straight path is stored as the already driven path,

18. The automatic traveling method according to any one of claims 11 to 17, characterized in that,

When the automatic travel is performed in accordance with the straight travel path set based on the reference line, if the automatic travel of the work vehicle ends at an end position different from the straight travel path, a straight line connecting the start position of the straight travel path and the different end position is added as the reference line.

19. A work vehicle that automatically travels based on a set reference line,

the work vehicle is characterized by comprising:

a start point setting control unit that sets a start point of the reference line;

an end point setting control unit that sets an end point of the reference line;

a reference line setting control unit that sets a reference line based on the start point set by the start point setting control unit and the end point set by the end point setting control unit, and is capable of setting a plurality of the reference lines;

a reference line selection control unit that selects the reference line of the automatic travel target from among a plurality of reference lines; and

a travel control unit that performs automatic travel based on the selected reference line,

The reference line selection control unit selects the reference line of the automatic traveling object based on at least one of an angle of a traveling direction of the work vehicle with respect to each of the plurality of reference lines and a distance of the work vehicle with respect to each of the plurality of reference lines.

20. An automatic travel system for a work vehicle that automatically travels based on a set reference line, comprising:

an end point setting control unit that sets an end point of the reference line;