CN118401095A

CN118401095A - Work vehicle and control system for work vehicle

Info

Publication number: CN118401095A
Application number: CN202280082531.2A
Authority: CN
Inventors: 久保田祐树; 太田一辉
Original assignee: Kubota Corp
Current assignee: Kubota Corp
Priority date: 2021-12-28
Filing date: 2022-12-21
Publication date: 2024-07-26

Abstract

The work vehicle of the present invention includes: a traveling device capable of steering; a display device; a steering control unit configured to perform automatic steering for controlling the traveling device to automatically travel the body along the traveling reference; and a display control unit that controls the display device so as to selectively display either a first screen (50) and a second screen (51), wherein the first screen (50) is a screen in which information relating to at least one of travel and work is displayed in the entire screen, the second screen (51) is a screen in which information relating to at least one of travel and work is displayed in a first divided screen (51A) that is one of a plurality of divided screens in which the entire screen is divided, and information relating to automatic steering is displayed in a second divided screen (51B) that is different from the first divided screen (51A) among the plurality of divided screens.

Description

Work vehicle and control system for work vehicle

Technical Field

The present invention relates to a work vehicle and a control system for the work vehicle.

Background

For example, the work vehicle (in the literature, "rice seedling transplanting machine") disclosed in japanese patent application laid-open No. 2019-097533 (patent literature 1) is configured to be capable of running by an automatic steering (in the literature, "automatic steering mode") system based on a preset running reference (in the literature, "target azimuth"), and by a manual steering (in the literature, "manual steering mode") system. In this work vehicle, information on the state of the body (state related to work/travel) is displayed on the screen of the display device (in the literature, "display unit"), and in particular, information on automatic steering is displayed on the screen of the display device.

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open publication No. 2019-097533

Disclosure of Invention

Problems to be solved by the invention

However, if the operator performs an operation related to the automatic steering, the operator is likely to pay attention to the information related to the automatic steering when confirming the display device. In order to cause the working vehicle to perform work or travel, it is preferable that the operator can check information on the state of the machine body at any time. However, in the screen of the display device of the work vehicle disclosed in japanese patent application laid-open No. 2019-097533, information related to the state of the machine body is displayed largely, and information related to the state of the machine body is displayed at the end of the screen in a dispersed manner, so that there is a display imbalance between the information related to the automatic steering and the information related to the state of the machine body.

The present invention provides a work vehicle and a control system for the work vehicle, wherein information on the state of a machine body and information on automatic steering are displayed in a balanced manner on a display device.

Technical proposal for solving the problems

The work vehicle according to the present invention is a work vehicle for traveling while switching between manual steering and automatic steering, the work vehicle comprising: a traveling device capable of steering; a display device; a steering control unit configured to execute the automatic steering for controlling the traveling device to automatically travel the body along a traveling reference; and a display control unit that controls the display device to selectively display either one of a first screen in which information relating to at least one of traveling and work is displayed on the entire screen, or a second screen in which information relating to at least one of traveling and work is displayed on a first divided screen that is one of a plurality of divided screens in which the entire screen is divided into a plurality of divided screens, and information relating to the automatic steering is displayed on a second divided screen that is different from the first divided screen among the plurality of divided screens.

According to the present invention, the display control unit is configured to be able to select and display one of the first screen and the second screen on the display device. In order to display the first screen as a whole screen with information related to at least one of traveling and work, when the operator does not use automatic steering, the first screen is displayed on the display device, and the information related to at least one of traveling and work can be reliably checked. The second screen has a first divided screen and a second divided screen, and information related to at least one of traveling and work is displayed in the first divided screen in a concentrated manner, and information related to automatic steering is displayed in the second divided screen in a concentrated manner. Thus, when the operator uses the automatic steering, the second screen is displayed on the display device, and the information relating to at least one of the traveling and the work can be reliably checked while the information relating to the automatic steering is checked. Thus, the work vehicle can be realized in which information on the state of the body and information on the automatic steering are displayed in balance on the display device.

The present invention is also applicable to a control system for a work vehicle that travels while switching between manual steering and automatic steering by using a general-purpose steering-capable travel device. The control system is characterized by comprising: a display device; a steering control unit configured to execute the automatic steering for controlling the traveling device to automatically travel the body along a traveling reference; and a display control unit that controls the display device to selectively display either one of a first screen in which information relating to at least one of traveling and work is displayed on the entire screen, or a second screen in which information relating to at least one of traveling and work is displayed on a first divided screen that is one of a plurality of divided screens in which the entire screen is divided into a plurality of divided screens, and information relating to the automatic steering is displayed on a second divided screen that is different from the first divided screen among the plurality of divided screens.

In the present invention, preferably, the display control unit controls the display device to display the start condition of the automatic steering on the second divided screen.

According to this configuration, when starting the automatic steering, the operator can cause the display device to display the second screen, and can reliably confirm information related to at least one of the traveling and the work while confirming the starting condition of the automatic steering.

In the present invention, it is preferable that the display control unit controls the display device to display at least one of the vehicle body orientation and the travel reference orientation on the second divided screen.

According to this structure, the operator can reliably confirm whether or not the vehicle body is actually oriented along the travel reference.

In the present invention, it is preferable to have: a riding section on which a rider can ride; a steering operation tool provided in a region on one of left and right ends of the riding section, the steering operation tool receiving the manual steering by the rider; and a switching operation tool provided on a side of the riding section where the steering operation tool is located, the switching operation tool receiving a manual operation for switching the display of the display device to the second screen.

According to this configuration, when the operator (rider) operates the switching operation tool, the second screen is displayed on the display device, and therefore, only one operation is required for the operation when the operator causes the display device to display the second screen. Further, according to this configuration, the operator can easily visually recognize the front from the riding section, as compared with a configuration in which the steering operation tool and the switching operation tool are provided in the left and right central regions of the riding section. In this configuration, the steering operation tool and the switching operation tool are provided in a concentrated manner in the region on the left and right one end sides of the riding section. Therefore, the operator can use the steering operation tool and the switching operation tool separately by only one hand, compared with a configuration in which the steering operation tool and the switching operation tool are provided separately on one of the left and right sides and the other of the left and right sides in the riding section.

In the present invention, it is preferable that the switching operation tool is provided above the steering operation tool.

According to this configuration, the steering operation tool and the switching operation tool are arranged vertically, and the switching operation tool is located above the steering operation tool. Therefore, the operator can operate the switching operation tool by moving only one hand upward from the steering operation tool.

In the present invention, preferably, the steering control unit is configured to be capable of switching a plurality of control modes including a first automatic steering mode in which the automatic steering is performed based on the travel reference set in advance and a second automatic steering mode in which the automatic steering is performed after the travel reference is determined by the manual steering travel, the switching operation tool including: a first operation unit configured to receive a manual operation for switching the control mode to the first automatic steering mode; and a second operation unit that receives a manual operation for switching the control mode to the second automatic steering mode.

According to this configuration, for example, when automatic steering based on a travel reference set in advance is desired, the operator can switch the control mode to the first automatic steering mode by operating the first operation unit. Further, when it is desired to perform temporary automatic steering based on a reference different from a travel reference set in advance, the operator can operate the second operation unit to switch the control mode to the second automatic steering mode. That is, the operator can perform temporary automatic steering based on a reference different from the travel reference set in advance by merely operating the second operation unit. Therefore, it is not necessary to reset an excessive travel reference for temporary automatic steering, and the operator can easily handle the function of automatic steering.

In the present invention, it is preferable that the first operation portion and the second operation portion are respectively push-button switches represented by different colors.

According to this configuration, since the first operation portion and the second operation portion are respectively represented by different colors, the possibility of an operator pressing any one of the first operation portion and the second operation portion by mistake is reduced.

In the present invention, preferably, the switching operation tool has: a first instruction operation tool for receiving a manual operation for setting a start point in teaching traveling in which the traveling reference used in the first automatic steering mode is set in advance; and a second instruction operation tool for receiving a manual operation for setting an end point during the teaching traveling.

According to this configuration, the start point and the end point during teaching can be set by the operations of the first instruction operation tool and the second instruction operation tool, and the first instruction operation tool and the second instruction operation tool are concentrated on the switching operation tool. Therefore, compared with a configuration in which the first instruction operation tool and the second instruction operation tool are not provided in a concentrated manner in the switching operation tool, the operator or the manager can easily memorize the arrangement places of the first instruction operation tool and the second instruction operation tool.

In the present invention, it is preferable that the switching operation means has an orientation setting operation means that accepts a manual operation for setting in advance an orientation of the travel reference used in the first automatic steering mode.

According to this configuration, the operator, manager, or the like can determine the travel reference by setting the travel reference azimuth in advance while operating the azimuth operation tool. Therefore, the operator, manager, or the like can easily set the travel reference without performing the teaching travel.

In the present invention, preferably, the first automatic steering mode includes: a main mode in which the automatic steering is performed based on the preset travel reference; and a sub-mode for performing the automatic steering based on the preset travel reference or sub-travel reference, the sub-travel reference being automatically generated based on the travel reference; the switching operation tool has a change operation tool that accepts a manual operation for switching the main mode and the sub mode.

According to this configuration, a different travel reference is regenerated based on a travel reference set in advance. Therefore, the time and effort for running the machine body to set a new running standard can be saved, and the setting of a plurality of running standards becomes easy. In addition, regarding whether or not to use the plurality of travel criteria as described above, the operator can select by operating the change operation tool, and therefore, the operator can easily select various types of automatic steering.

Drawings

Fig. 1 is a top view of a combine harvester.

Fig. 2 is a side view showing a steering operation tool and a switching operation tool of a steering section provided in the combine harvester.

Fig. 3 is a block diagram showing an input relationship between the switching operation tool and the control section.

Fig. 4 is a diagram showing a control mode of the steering control unit.

Fig. 5 is a diagram of setting a main reference azimuth using a switching operation tool.

Fig. 6 is a diagram of setting a main reference azimuth using a switching operation tool.

Fig. 7 is a diagram for shifting from the manual steering mode to the first automatic steering mode using the switching operation tool.

Fig. 8 is a diagram for shifting from the manual steering mode to the second automatic steering mode using the switching operation tool.

Fig. 9 is a diagram of switching the display of the display device to information related to automatic steering using a screen switching button.

Fig. 10 is a diagram showing a display of a display device that displays information related to automatic steering.

Fig. 11 is a diagram showing a display of a display device that displays information related to automatic steering.

Detailed Description

Specific embodiments of the present invention will be described based on the drawings. In the following description, unless otherwise specified, the direction of arrow F shown in fig. 1 and 2 is referred to as "front", and the direction of arrow B is referred to as "rear". The direction of arrow L shown in fig. 1 is set to "left", and the direction of arrow R is set to "right". The direction of arrow U shown in fig. 2 is set to "up", and the direction of arrow D is set to "down".

[ Integral Structure of combine harvester ]

As shown in fig. 1, a general combine 1 as an example of a work vehicle will be described. The combine 1 has a body 10 having a crawler-type travel device 11, a riding section 12, a threshing device 13, a grain box 14, a harvesting section 15, a conveying section 16, and a grain discharging device 18.

The traveling device 11 is driven by power from an engine (not shown). The traveling device 11 may be a wheel. An operator (rider) who operates or monitors the combine harvester 1 can ride on the riding section 12. The boarding section 12 has a seat 12A, and an operator can sit on the seat 12A. Furthermore, the operator can also remotely operate the combine harvester 1 from outside the combine harvester 1.

The harvesting part 15 is provided at the front of the body 10. The conveying section 16 is disposed behind the harvesting section 15. The harvesting unit 15 and the conveying unit 16 are configured to be capable of being lifted and lowered relative to the main body portion (the traveling device 11, the riding unit 12, the threshing device 13, the grain box 14, and the like) of the machine body 10 via a cylinder (not shown). That is, the harvesting unit 15 and the conveying unit 16 are configured to be capable of being lifted up and down between an operating position where crops in the farmland can be harvested while being lowered onto the surface of the farmland, and a non-operating position where crops in the farmland cannot be harvested while being separated upward from the surface of the farmland.

The harvesting unit 15 harvests farm crops. The combine 1 is capable of harvesting the plant-raised grain stalks of the farmland by the harvesting unit 15 while traveling by the traveling device 11. The "work travel" in the present embodiment is specifically a harvesting travel. Further, the "work travel" may be a travel operation in which work other than harvesting of the plant-raised grain stalks is performed.

The harvesting stalks harvested by the harvesting section 15 are transported to the rear of the machine body by the transport section 16. Thereby, the harvested grain stalks are conveyed to the threshing device 13. The harvested grain stalks are subjected to threshing by a threshing device 13. The grains obtained by the threshing treatment are stored in a grain tank 14. The grains stored in the grain tank 14 are discharged outside the machine by the grain discharge device 18 as needed. Further, the threshing device 13, the grain box 14, and the like may be included in the machine body 10.

As shown in fig. 1 and 2, the display device 4 is disposed in the riding section 12. The display device 4 is, for example, a liquid crystal monitor or an organic LED monitor, and is configured to be capable of displaying various information. In the present embodiment, the display device 4 is fixed to the riding section 12. However, the present invention is not limited thereto, and the display device 4 may be detachable from the riding section 12, or the display device 4 may be located outside the combine harvester 1.

Here, the combine harvester 1 is configured to be capable of manual steering travel and automatic steering travel. The manual steering travel means travel by manual steering by an operator. Further, the auto steering running means running by auto steering. The automatic steering means that steering is automatically performed.

The auto steering travel may or may not include a large direction change such as an α -turn or a U-turn. The automatic steering may or may not include backward travel.

The riding portion 12 is provided with a main shift lever 40 and a sub shift switch 41 (see fig. 3). The main shift lever 40 is provided in the left side region in the riding portion 12. When the combine harvester 1 performs manual steering travel or automatic steering travel, if the operator operates the main shift lever 40, the vehicle speed of the combine harvester 1 changes. That is, when the combine harvester 1 is manually steered or automatically steered, the operator can change the vehicle speed of the combine harvester 1 by operating the main shift lever 40. The operator can operate the main shift lever 40 to a forward operation position for changing the vehicle speed of the combine harvester 1 and advancing the same, a neutral position for stopping the combine harvester 1, and a reverse operation position for changing the vehicle speed of the combine harvester 1 and reversing the same.

The sub-transmission switch 41 is configured to be capable of switching a sub-transmission (for example, a multi-stage transmission) not shown to a traveling transmission state and a working transmission state. The sub-shift switch 41 is provided at the free end portion of the main shift lever 40, but may be provided at a position other than the main shift lever 40. The sub-shift switch 41 may be, for example, a lever-type operating tool.

As shown in fig. 1 and 2, a steering lever 42 and a switching tool 43 are provided in the riding section 12. The steering rod 42 is supported by a right front pillar in the riding section 12. The steering lever 42 is adjacent to the front of the lifting door in the riding section 12. That is, the steering lever 42 is provided in the right side region in the riding section 12. The switching operation tool 43 is provided in a right side region (side of the steering lever 42) of the riding section 12, and is provided above the steering lever 42. The steering rod 42 corresponds to a "steering operation tool" of the present invention.

The steering lever 42 is a rod-like (stick) that swings back and forth and left and right, and is manually steered (artificially steered) by an operator. When the combine harvester 1 is manually steered, if the operator operates the steering lever 42 in the left-right direction, a speed difference occurs between the left and right crawler belts of the traveling device 11. Thereby, the body 10 rotates. That is, when the combine harvester 1 is manually steered, the operator can steer the body 10 by operating the steering lever 42.

When the operator operates the steering lever 42 in the front-rear direction of the machine body 10, the harvesting unit 15 and the conveying unit 16 are lifted up and down. The harvesting unit 15 is lowered to the working position if the operator operates the lever 42 in the forward direction, and the harvesting unit 15 is raised to the non-working position if the operator operates the lever 42 in the rearward direction.

As shown in fig. 3, the switching operation tool 43 includes a first operation button 43A, a second operation button 43B, a first instruction operation button 43C, a second instruction operation button 43D, an orientation setting operation button 43E, a change operation button 43F, a sensitivity switching button 43G, and a screen switching button 43H. In the present embodiment, eight buttons are provided on the switching operation tool 43. The first operation button 43A corresponds to a "first operation portion" of the present invention, and the second operation button 43B corresponds to a "second operation portion" of the present invention.

In the present embodiment, the characters and graphics described in the first operation button 43A, the first instruction operation button 43C, the second instruction operation button 43D, the azimuth setting operation button 43E, and the change operation button 43F are the same in color and are green. The color of the characters and graphics described in the second operation button 43B is blue, which is different from the color of the characters and graphics described in the first operation button 43A. That is, the first operation button 43A and the second operation button 43B are button switches respectively indicated by different colors. The colors of the characters and graphics described in the sensitivity switching button 43G and the screen switching button 43H are different from the colors of the characters and graphics described in the first operation button 43A and the second operation button 43B, and are white or gray. The first instruction operation button 43C corresponds to "a first instruction operation tool" of the present invention, and the second instruction operation button 43D corresponds to "a second instruction operation tool" of the present invention. The orientation setting operation button 43E corresponds to the "orientation setting operation tool" of the present invention. The change operation button 43F is a "change operation tool" according to the present invention.

The combine 1 has a satellite positioning device 80 shown in fig. 2 and an inertial measurement device 81 shown in fig. 3. The satellite positioning device 80 receives positioning signals from an artificial satellite (not shown) using a GNSS (global satellite navigation system, such as GPS, GLONASS, galileo, QZSS, beiDou). The inertial measurement device 81 is, for example, a gyro acceleration sensor or a magnetic orientation sensor, and detects in real time the angular velocity of the yaw angle of the body 10 of the combine harvester 1 and the acceleration in the three axial directions orthogonal to each other. That is, the inertial measurement unit 81 supplements satellite navigation by the satellite positioning unit 80. The inertial measurement unit 81 may be incorporated into the satellite positioning unit 80 or may be disposed at a different location from the satellite positioning unit 80.

[ Structure for control section ]

As shown in fig. 3, the combine harvester 1 has a control unit 20. The control unit 20 includes a detection unit 21, a vehicle position calculation unit 22, a vehicle azimuth calculation unit 23, a display control unit 24, and a steering control unit 30. Each element such as the control unit 20 and the steering control unit 30 included in the control unit 20 may be a physical device such as a microcomputer, a module in software, or a combination of a device and software.

Although not shown, the control unit 20 has a storage device. Preferably, the storage device is a non-volatile memory (e.g., flash memory). The storage device temporarily or permanently stores data generated by each functional unit of the control unit 20.

The positioning signal from the satellite positioning device 80 and the detection result from the inertial measurement device 81 are input to the control unit 20. The positioning signal from the satellite positioning device 80 is sent to the vehicle position calculating unit 22. The detection result of the inertial measurement unit 81 is sent to the host vehicle azimuth calculation unit 23.

The main shift lever 40, the auxiliary shift switch 41, the steering lever 42, the harvest lift Gu Lige unit 44, and the harvest height sensor 45 are configured to output signals when operated, and the signals are input to the detection unit 21 of the control unit 20. That is, the detection unit 21 detects signals of the main shift lever 40, the sub-shift switch 41, the steering lever 42, the harvest clutch Gu Lige, and the harvest height sensor 45. These signals are sent from the detection unit 21 to the steering control unit 30.

The harvesting and threshing Gu Lige unit 44 is configured to be able to transmit power to each of the threshing device 13 and the harvesting unit 15. The harvesting thresher Gu Lige is configured to be switchable between a power transmission state in which power is transmitted to the threshing device 13 and the harvesting unit 15, and a power non-transmission state in which power is not transmitted to the threshing device 13 and the harvesting unit 15.

The harvest height sensor 45 detects the height of the harvest section 15. Therefore, the harvest height sensor 45 is configured to be able to detect a state in which the harvest unit 15 is located at the working position or the non-working position.

The vehicle position calculating unit 22 calculates the position coordinates of the vehicle body 10 in real time based on the positioning data output from the satellite positioning device 80. Thereby, the vehicle position calculating unit 22 obtains the position coordinates of the body 10.

The vehicle azimuth calculating unit 23 receives the position coordinates of the body 10 from the vehicle position calculating unit 22. Then, the host vehicle orientation calculation unit 23 calculates the orientation of the body 10 based on the detection result of the inertial measurement unit 81 and the position coordinates of the body 10. The posture orientation of the body 10 is an orientation in which the body 10 advances or retreats in a state where the speed difference between the left and right crawler belts of the traveling device 11 is zero or substantially zero.

More specifically, first, during traveling of the body 10, the own-vehicle-azimuth calculating unit 23 calculates the initial attitude azimuth based on the position coordinates of the current body 10 and the position coordinates of the body 10 at the point where the vehicle has previously traveled. Next, when the body 10 travels for a certain period of time after the initial posture orientation is calculated, the own-vehicle orientation calculating unit 23 calculates the amount of change in orientation by integrating the angular velocity detected by the inertial measuring unit 81 during the travel for the certain period of time.

Then, the vehicle azimuth calculation unit 23 updates the azimuth calculation result by adding the change amount of the azimuth thus calculated to the initial attitude azimuth. Then, the amount of change in the attitude orientation is similarly calculated at regular intervals, and the calculation results of the attitude orientation are sequentially updated. With the above configuration, the host vehicle azimuth calculating unit 23 calculates the azimuth of the body 10.

The display control unit 24 controls the display device 4 so that the display device 4 displays various screens according to the state of the combine harvester 1. In the present embodiment, the display control unit 24 is configured to be able to perform control for switching the screen displayed on the display device 4 based on the control mode of the steering control unit 30 and the operation signal from the switching operation tool 43.

The steering control unit 30 is configured to be capable of executing an automatic steering that controls the traveling device 11 to automatically travel the machine body 10 along an automatic steering target line GL, which will be described later. As shown in fig. 4, steering control unit 30 has a plurality of control modes for steering control traveling device 11. The control mode can be switched between a plurality of modes including a manual steering mode that is a mode in which automatic steering is not performed and an automatic steering mode that is a mode in which automatic steering is performed.

As shown in fig. 4, the first and second modes exist among the modes. In the present embodiment, the plurality of types of automatic steering modes include a first automatic steering mode and a second automatic steering mode.

When the control mode of steering control unit 30 is the manual steering mode, a control signal corresponding to the operation of steering lever 42 is input to steering control unit 30. The steering control unit 30 controls the traveling device 11 based on the control signal of the manual steering, thereby controlling traveling of the body 10. Thus, when the control mode of steering control unit 30 is the manual steering mode, combine harvester 1 performs manual steering running.

When the control mode of steering control unit 30 is the first automatic steering mode or the second automatic steering mode, steering control unit 30 controls traveling device 11 based on the control signal of the automatic steering so that combine harvester 1 performs the automatic steering traveling. The first automatic steering mode is a control mode for performing automatic steering based on a main reference azimuth TA1 set in advance. The second automatic steering mode is a control mode in which, after the reference direction TB is determined by running straight by manual steering, automatic steering is performed based on the reference direction TB. The main reference azimuth TA1 and the reference azimuth TB correspond to "travel reference" of the present invention. The sub-reference azimuth TA2 and the automatic steering target line GL described later also correspond to "travel reference" of the present invention. The term "straight running" also includes a running mode in which the vehicle runs substantially straight.

Further, at the time of engine start or power-on of the combine harvester 1, the control mode of the steering control unit 30 is initially set to the manual steering mode. The control mode of the steering control unit 30 may be initially set to the first automatic steering mode or the second automatic steering mode at the time of starting the engine of the combine harvester 1 or at the time of turning on the power supply.

As shown in fig. 3, steering control unit 30 includes a mode switching unit 31, a straight travel determination unit 32, an azimuth determination unit 33, a route generation unit 34, and a travel control unit 35.

The mode switching unit 31 is configured to be able to switch the control mode of the steering control unit 30. The mode switching unit 31 switches the control mode of the steering control unit 30 based on the operation signal from the switching operation tool 43 and the state of the harvesting unit 15. The switching operation tool 43 receives a manual operation (manual operation) for switching the control mode of the steering control unit 30. The first operation button 43A receives a manual operation for switching the control mode of the steering control section 30 to the first automatic steering mode. The second operation button 43B receives a manual operation for switching the control mode of the steering control section 30 to the second automatic steering mode.

The straight travel determination unit 32 determines whether or not the body 10 is traveling straight in the same direction by a predetermined distance.

When steering control unit 30 is in the first automatic steering mode, azimuth determining unit 33 determines main reference azimuth TA1 for performing automatic steering. In addition, when the steering control unit 30 is in the second automatic steering mode, the azimuth determination unit 33 determines the reference azimuth TB for performing automatic steering. The route generation unit 34 generates an automatic steering target line GL that extends in a straight line along a specified travel reference (main reference direction TA1, reference direction TB, etc.). The automatic steering target line GL is a path that serves as a reference for performing automatic steering. The travel control unit 35 is configured to be able to control the travel device 11 to travel straight along the automatic steering target line GL. The travel control unit 35 controls travel of the machine body 10 by controlling the travel device 11.

[ Method for determining reference azimuth ]

In the present embodiment, the azimuth determining unit 33 can determine the main reference azimuth TA1 when the body 10 is manually steered to travel straight in the same direction by a predetermined distance. The main reference azimuth TA1 is an azimuth serving as a reference for performing automatic steering. The case where the body 10 is caused to travel straight in the same direction for a predetermined distance in order to set the main reference azimuth TA1 is referred to as "teaching travel".

The teaching traveling in the present embodiment is described with reference to fig. 5. When the operator presses the first instruction operation button 43C, the position of the body 10 at the operation timing of the first instruction operation button 43C is registered as the first point Y1. The first point Y1 is a start point of teaching travel. That is, the first instruction operation button 43C receives a manual operation for setting the first point Y1 during teaching travel in which the main reference azimuth TA1 used in the first automatic steering mode is set in advance.

However, in order to prevent the operator from operating the first instruction operation button 43C by mistake, for example, when the operator presses the first instruction operation button for a long time, the position of the body 10 at the start time point of the long press or at the time point when one second passes may be registered as the first point Y1. When the first location Y1 is registered, a lamp 43C (see fig. 3) indicating the operation button 43C is turned on.

After registering the first place Y1, the operator moves the machine body 10 straight (or substantially straight) from the first place Y1 by a manual operation. At this time, the straight travel determination unit 32 shown in fig. 3 determines whether or not the body 10 has traveled straight in the same direction by the predetermined distance D1 in the manual steering mode. Specifically, a signal indicating the operation state of the steering lever 42 is transmitted from the steering lever 42 to the steering control unit 30 via the detection unit 21. The straight travel determination unit 32 determines whether or not the steering lever 42 is operated in the left-right direction in real time based on the signal. The predetermined distance D1 is not particularly limited, and may be, for example, 1 meter.

The position coordinates of the body 10 are sent from the vehicle position calculating unit 22 to the steering control unit 30. Then, the straight travel determination unit 32 calculates the movement distance of the machine body 10 during the non-operation of the steering lever 42 based on the position coordinates of the machine body 10 received from the vehicle position calculation unit 22. When the calculated movement distance reaches the predetermined distance D1, the straight-travel determination unit 32 determines that the machine body 10 has traveled straight in the same direction by the predetermined distance D1. When the calculated movement distance does not reach the predetermined distance D1, the straight travel determination unit 32 determines that the body 10 does not travel straight by the predetermined distance D1.

After the straight travel determination unit 32 determines that the body 10 has traveled straight in the same direction by the predetermined distance D1, when the operator presses the second instruction operation button 43D, the position of the body 10 at the operation timing of the second instruction operation button 43D is registered as the second point Y2. The second point Y2 is an end point of teaching traveling. That is, the second instruction operation button 43D receives a manual operation for setting the second point Y2 during the teaching travel.

In order to prevent an erroneous operation by the operator, when the operator presses the second instruction operation button 43D for a long time, for example, one second, the position of the body 10 at the start time point of the long press or at the time point when one second passes may be registered as the second point Y2. When the second location Y2 is registered, a lamp 43D (see fig. 3) indicating the second operation button 43D is turned on. However, if the operator presses the second instruction operation button 43D in a state where the first place Y1 is not set, neither the first place Y1 nor the second place Y2 is set.

Then, the azimuth determining unit 33 determines the main reference azimuth TA1 based on the direction of the line connecting the first location Y1 and the second location Y2.

In addition, in a state where the main reference azimuth TA1 is determined based on the direction of the line connecting the first location Y1 and the second location Y2, if the operator presses at least one of the first instruction operation button 43C and the second instruction operation button 43D for a long time, for example, one second, the setting of the main reference azimuth TA1 is released. At this time, the lamps 43c, 43d are turned off.

In this way, the lamps 43c and 43d are turned on in a state where the main reference azimuth TA1 is determined based on the direction of the line connecting the first place Y1 and the second place Y2, and are turned off in a state where the main reference azimuth TA1 is not determined based on the direction of the line connecting the first place Y1 and the second place Y2.

The main reference azimuth TA1 may be set by the method shown in fig. 6. When the operator presses the azimuth setting operation button 43E of the switching operation tool 43, the display control section 24 controls the display device 4 so as to display the azimuth setting screen 52 based on the operation signal from the azimuth setting operation button 43E. That is, the azimuth setting operation button 43E receives a manual operation for setting the azimuth of the main reference azimuth TA1 used in the first automatic steering mode in advance. The azimuth setting screen 52 may be displayed by an operator operating a button (not shown, for example, a cross button) provided on the display device 4.

The azimuth setting screen 52 displayed on the display device 4 is a screen for setting a numerical value in the clockwise direction in the range of 0 to 360 degrees with the north of 0 degrees. The operator can set a numerical value in the range of 0 to 360 degrees by a manual operation. When the operator completes the setting, the azimuth determining section 33 determines the main reference azimuth TA1 based on the numerical value set by the operator in the range of 0 to 360 degrees. At this time, the lamp 43E (see fig. 3) of the azimuth setting operation button 43E is turned on.

The lamp 43e is turned on in a state where the main reference azimuth TA1 is determined based on the value set by the operator in the azimuth setting screen 52, and is turned off in a state where the main reference azimuth TA1 is not determined based on the value set by the operator in the azimuth setting screen 52.

The azimuth setting screen 52 is not limited to the configuration in which the north and north are set to 0 degrees, and may be configured to display either the south and north or the east and west at 0 degrees. The azimuth setting screen 52 may set a range of 0 to 360 degrees in the counterclockwise direction.

In this way, the main reference azimuth TA1 can be set by the operator operating the first instruction operation button 43C and the second instruction operation button 43D, or can be set by the azimuth displayed on the operator-numerical-value-setting azimuth setting screen 52. The control mode of steering control unit 30 when main reference azimuth TA1 is set may be a manual steering mode or an automatic steering mode.

As described above, the control unit 20 has a storage device not shown. If the primary reference azimuth TA1 is determined, the primary reference azimuth TA1 is stored in the storage means. The storage device may temporarily store the main reference azimuth TA1, or may permanently store the main reference azimuth TA 1.

If the main reference azimuth TA1 is determined, the azimuth determining unit 33 also sets the sub-reference azimuth TA2 as shown in fig. 5. The sub-reference azimuth TA2 is directed to an azimuth offset by 90 degrees from the main reference azimuth TA 1. That is, the sub-reference azimuth TA2 is automatically set to an azimuth deviated from the main reference azimuth TA1 by 90 degrees. As shown in fig. 4, the first automatic steering mode of the present embodiment includes a main mode and a sub mode, and the sub reference azimuth TA2 is used in the sub mode, which will be described in detail later. The azimuth determining unit 33 may be configured to set the sub-reference azimuth TA2 when the control mode of the steering control unit 30 is switched to the sub-mode. The set sub-reference azimuth TA2 is stored in a storage device not shown. The sub-reference azimuth TA2 corresponds to the "sub-travel reference" of the present invention.

[ Concerning the first automatic steering mode ]

The first automatic steering mode will be described with reference to fig. 3,4, and 7. The first operation button 43A receives a manual operation for switching the control mode of the steering control section 30 to the first automatic steering mode. In fig. 4 and 7, the operation of pressing the first operation button 43A is denoted as "operation #01". When operation #01 is performed, mode switching unit 31 switches the control mode of steering control unit 30 from the manual steering mode to the first automatic steering mode. At this time, the lamp 43A (see fig. 3) of the first operation button 43A is turned on.

As shown in fig. 4, in the first automatic steering mode, there are a ready state and an automatic steering state. The ready state is a state in which preparation is made for starting the automatic steering, and in this ready state, the operator continues the manual steering. The automatic steering state is a state in which automatic steering is actually performed. When the control mode of steering control unit 30 is switched from the manual steering mode to the first automatic steering mode, the state is first set to the first automatic steering mode. That is, the first automatic steering mode starts from the ready state.

Further, if operation #01 is performed in a state where the control mode of steering control unit 30 is the first automatic steering mode, mode switching unit 31 switches the control mode of steering control unit 30 from the first automatic steering mode to the manual steering mode as shown in fig. 4. Further, if operation #01 is performed in a state where the control mode of steering control unit 30 is the second automatic steering mode, mode switching unit 31 switches the control mode of steering control unit 30 to the first automatic steering mode as shown in fig. 4. In this case, the first automatic steering mode also starts from the ready state.

In the case where the first automatic steering mode is in the ready state and the main reference azimuth TA1 is not set (specified), a guidance screen prompting the operator to set (specify) the main reference azimuth TA1 may be displayed on the display device 4.

Fig. 7 shows a state in which operation #01 is performed at point P1 so that the control mode of steering control unit 30 is switched from the manual steering mode to the first automatic steering mode. From point P1, the first automatic steering mode is set in preparation.

When the first automatic steering mode is in the ready state, steering control unit 30 determines whether or not condition #01 or condition #02 for shifting to the automatic steering state is satisfied. At the same time, the display control unit 24 displays a guide screen for prompting the operator to perform an operation for shifting to the automatic steering state on the display device 4. At this time, in order to prepare for the condition for shifting to the automatic steering state, the operator manually operates the combine harvester 1. That is, based on the preparation state of the first automatic steering mode, the operator manually steers so that the azimuth posture of the body 10 coincides with the main reference azimuth TA1 or the sub-reference azimuth TA 2. Fig. 7 shows a state in which the machine body 10 travels between the point P1 and the point P3 based on manual steering in a state in which the first automatic steering mode is in the ready state.

The condition #01 and the condition #02 for shifting the first automatic steering mode from the ready state to the automatic steering state include the following condition items nos. 1 to 5.

Condition item No.1: based on the calculation result of the vehicle position calculating unit 22, the machine body 10 is in a forward state.

Condition item No.2: the main shift lever 40 provided in the riding portion 12 is set to the above-described forward operating position.

Condition item No.3: the sub-shift switch 41 is in the above-described shift state for work (a sub-shift device not shown is in the shift state for work).

Condition item No.4: the clutch for transmitting power to the harvesting unit 15 is in a power transmission state.

Condition item No.5: the harvesting unit 15 is lowered to the above-described working position.

The first automatic steering mode of the present embodiment includes a main mode and a sub mode. The main mode is a mode in which automatic steering is performed based on a main reference azimuth TA1 set in advance. The sub-mode is a mode in which automatic steering is performed based on the main reference azimuth TA1 or the sub-reference azimuth TA2 automatically generated based on the main reference azimuth TA 1.

The switching operation tool 43 has a change operation button 43F. The change operation button 43F accepts a manual operation for switching between the main mode and the sub mode. In fig. 4, the operation of pressing the change operation button 43F is denoted as "operation #03". That is, the main mode and the sub-mode are alternately switched every time operation #03 is performed. In addition, the operation #03 can be accepted even in the manual steering mode. The lamp 43F (see fig. 3) of the change operation button 43F is turned on when the control mode of the steering control unit 30 is set to the sub-mode, and turned off when the control mode of the steering control unit 30 is set to the main mode.

When the control mode of steering control unit 30 is set to the main mode, main reference azimuth TA1 is used for the automatic steering in the first automatic steering mode. The condition #01 for shifting the first automatic steering mode to the automatic steering state includes the following condition item No.6.

Condition item No.6: the difference between the posture orientation of the body 10 calculated by the own-vehicle-orientation calculating unit 23 and the main reference orientation TA1 is within a preset angle (for example, 3 degrees).

That is, in the present embodiment, condition #01 for shifting the first automatic steering mode to the automatic steering state is a condition item satisfying condition items nos. 1 to 6.

When the control mode of steering control unit 30 is set to the sub-mode, one of main reference azimuth TA1 and sub-reference azimuth TA2 is used for the automatic steering in the first automatic steering mode. In the sub-mode, the steering control unit 30 selects one of the main reference azimuth TA1 and the sub-reference azimuth TA2 having smaller deviation of the attitude azimuth with respect to the body 10 calculated by the own-vehicle azimuth calculating unit 23.

That is, only the main reference azimuth TA1 is selected in the main mode, and the minor mode is selected so that the deviation of the azimuth of the attitude of the main reference azimuth TA1 and the minor reference azimuth TA2 from the body 10 is smaller.

When the control mode of steering control unit 30 is set to the sub-mode, condition #02 for shifting the first automatic steering mode to the automatic steering state includes the following condition item No.7.

Condition item No.7: the difference between the posture orientation of the body 10 calculated by the own-vehicle-orientation calculating unit 23 and the selected one of the main reference orientation TA1 and the sub-reference orientation TA2 is within a predetermined angle (for example, 3 degrees).

That is, in the present embodiment, condition #02 for shifting the first automatic steering mode to the automatic steering state is a condition item satisfying condition items nos. 1 to 5 and No.7.

When the first automatic steering mode is in the ready state and the condition #01 or the condition #02 is satisfied, the state can be switched to the automatic steering state. If the body 10 travels the predetermined distance D2 in this state, the route generation unit 34 generates the automatic steering target line GL, and the first automatic steering mode is changed from the ready state to the automatic steering state.

Fig. 7 shows a state in which condition #01 or condition #02 is satisfied at point P3, and body 10 travels a predetermined distance D2 between point P3 and point P4. The predetermined distance D2 is not particularly limited, and may be, for example, 1 meter.

As shown in fig. 7, when the first automatic steering mode is changed to the automatic steering state, the route generation unit 34 generates the automatic steering target line GL. The automatic steering target line GL passes through a specific reference point K in the machine body 10 in a plan view, and extends in a direction along a selected one of the main reference direction TA1 and the sub reference direction TA 2. Further, information indicating the automatic steering target line GL is transmitted from the route generation unit 34 to the travel control unit 35.

When the control mode of steering control unit 30 is the first automatic steering mode and the first automatic steering mode is the automatic steering state, travel control unit 35 controls the travel of combine 1 based on the position coordinates of body 10 received from vehicle position calculating unit 22, the attitude and orientation of body 10 received from vehicle orientation calculating unit 23, and the information indicating automatic steering target line GL received from route generating unit 34. More specifically, the travel control unit 35 controls travel of the machine body 10 to perform harvesting travel by using the auto steering travel along the auto steering target line GL. At this time, the travel control unit 35 controls the travel of the body 10 so that, for example, the reference point K is located on the automatic steering target line GL. At this time, if the operator fine-adjusts the main shift lever 40 within the above-described range of the forward operation position, the vehicle speed of the combine 1 is changed while continuing to perform the automatic steering.

In this way, steering control unit 30 executes automatic steering to automatically travel along a selected one of main reference azimuth TA1 and sub-reference azimuth TA 2.

A method for canceling the auto steering state will be described. In the case where the detection unit 21 detects the "state #01" shown in fig. 4 during execution of the automatic steering, the steering control unit 30 ends the automatic steering. "state #01" is a state related to the stop of the job. That is, the detection unit 21 detects the stop of the job. State #01 includes the following state items No.1 to No.6.

Status item No.1: the main shift lever 40 is operated to an operation position other than the forward operation position.

Status item No.2: the sub-shift switch 41 is not in a shift state for work (a sub-shift device not shown is not in a shift state for work).

Status item No.3: the harvester-harvester Gu Lige is in a power-off state with respect to the harvesting portion 15.

Status item No.4: the harvesting unit 15 moves to the non-working position (the non-working position is detected by the harvest height sensor 45).

Status item No.5: an operation (operation of the steering lever 42 in the backward direction) for moving the harvesting unit 15 to the non-working position is performed.

Status item No.6: the steering lever 42 is operated in the left-right direction by a predetermined operation amount or more.

That is, the state #01 is that the detection unit 21 detects any one of the state items No.1 to No. 6. In other words, the state #01 refers to an operation performed by the operator for any one of the state items No.1 to No. 6. When the detection unit 21 detects the state #01, the automatic steering is released, and the first automatic steering mode is changed from the automatic steering state to the ready state. That is, when the detection unit 21 detects that the operation is stopped during execution of the automatic steering in the first automatic steering mode, the steering control unit 30 ends the automatic steering while maintaining the control mode in the first automatic steering mode. At this time, the lamp 43A of the first operation button 43A remains on.

Thus, for example, when the operator temporarily stops the automatic steering by performing an operation corresponding to the state #01 on the ridge side of the farmland, and turns the machine body 10 by 90 degrees or 180 degrees and runs the machine body in a selected one of the main reference direction TA1 and the sub-reference direction TA2, the above-described condition #01 or condition #02 can be satisfied. Thus, after the automatic steering is temporarily stopped, the automatic steering is directly restarted.

In this way, the detection unit 21 is configured to detect the stop of the job based on satisfaction of a predetermined stop condition. The stop condition includes at least one of an operation position other than the forward operation position in which the main shift lever 40 is operated, a shift state in which the auxiliary shift device, not shown, is not for work, a harvest device Gu Lige for transmitting power to the harvest section 15 is in a power non-transmission state, the harvest section 15 is moved to the non-work position, an operation for moving the harvest section 15 to the non-work position is performed, and the steering lever 42 is operated.

Further, if the operator presses the first operation button 43A (operation # 01) while the steering control unit 30 is performing the automatic steering in the first automatic steering mode, the mode switching unit 31 switches the control mode of the steering control unit 30 from the first automatic steering mode to the manual steering mode as shown in fig. 4, and the automatic steering of the steering control unit 30 ends. That is, when the first operation button 43A of the switching operation tool 43 is operated during execution of the automatic steering in the first automatic steering mode, the steering control unit 30 ends the automatic steering, and the control mode is switched to the manual steering mode. At this time, the lamp 43A of the first operation button 43A is turned off.

The lamp 43a is turned on when the control mode of the steering control unit 30 is the first automatic steering mode, and is turned off when the control mode of the steering control unit 30 is not the first automatic steering mode.

When the automatic steering is released, the steering amount output from the steering control unit 30 to the running device 11 becomes zero, and the speed difference between the left and right crawler tracks in the running device 11 becomes zero or substantially zero. Thus, the traveling device 11 is always in the straight-traveling state. That is, at the end of the automatic steering, steering control unit 30 controls traveling device 11 to a straight traveling state.

In this way, when the farmland is quadrangular, the automatic steering in the first automatic steering mode is particularly easy to apply. In the case where the combine 1 reciprocates inside the farmland and performs harvesting travel, since the straight direction at the time of performing harvesting travel is uniform, even when the operator is novice, the operator can easily move the machine body 10 straight (or substantially straight) at the time of performing harvesting travel. When the combine 1 performs middle-divided traveling (harvesting traveling while advancing with unharvested crop present on both left and right sides of the combine 1) in the farmland, the operator can travel along the automatic steering target line GL with high accuracy by the automatic steering in the first automatic steering mode even when the front is covered with crop and the operator has difficulty in visually checking the front of the body 10.

[ Concerning the second automatic steering mode ]

The second automatic steering mode is described with reference to fig. 3, 4, and 8. As described above, the second automatic steering mode is a control mode in which, after the reference direction TB is determined by running straight by manual steering, automatic steering is performed based on the reference direction TB. Therefore, even if the main reference azimuth TA1 is not set in advance, the automatic steering in the second automatic steering mode can be performed. In addition, even when the main reference azimuth TA1 is set in advance, the stored main reference azimuth TA1 is not deleted, and the automatic steering can be performed based on the reference azimuth TB different from the main reference azimuth TA 1.

The second operation button 43B receives a manual operation for switching the control mode of the steering control section 30 to the second automatic steering mode. In fig. 4 and 8, the operation of pressing the second operation button 43B is denoted as "operation #02". Fig. 8 shows a state in which operation #02 is performed at point P5, so that the control mode of steering control unit 30 is switched from the manual steering mode to the second automatic steering mode. From point P5, the second automatic steering mode is set. That is, when operation #02 is performed, mode switching unit 31 switches the control mode of steering control unit 30 from the manual steering mode to the second automatic steering mode. At this time, the lamp 43B (see fig. 3) of the second operation button 43B is turned on.

As shown in fig. 4, in the second automatic steering mode, the ready state and the automatic steering state are present as in the first automatic steering mode. The ready state is a state in which preparation is made for starting the automatic steering, and in this ready state, the operator continues the manual steering. The automatic steering state is a state in which automatic steering is actually performed. When the control mode of steering control unit 30 is switched from the manual steering mode to the second automatic steering mode, the state is first switched to the ready state of the second automatic steering mode. That is, the second automatic steering mode starts from the ready state.

When the second automatic steering mode is in the ready state, steering control unit 30 determines whether or not condition #03 for shifting to the automatic steering state is satisfied. At the same time, the display control unit 24 displays a guide screen for prompting the operator to perform an operation for shifting to the automatic steering state on the display device 4. At this time, in order to prepare for the condition for shifting to the automatic steering state, the operator manually operates the combine harvester 1.

Further, if operation #02 is performed in a state where the control mode of steering control unit 30 is the second automatic steering mode, mode switching unit 31 switches the control mode of steering control unit 30 from the second automatic steering mode to the manual steering mode as shown in fig. 4. If operation #02 is performed in a state where the control mode of steering control unit 30 is the first automatic steering mode, mode switching unit 31 switches the control mode of steering control unit 30 to the second automatic steering mode as shown in fig. 4. In this case, the second automatic steering mode also starts from the ready state.

The condition #03 for switching the second automatic steering mode from the ready state to the automatic steering state includes the following condition item No.8 in addition to the condition items nos. 1 to 5.

Condition item No.8: the straight travel determination unit 32 determines that the body 10 has traveled straight in the same direction by the predetermined distance D3.

That is, in the present embodiment, condition #03 for shifting the second automatic steering mode from the ready state to the automatic steering state is a condition item No.1 to No.5, no.8 satisfied. The predetermined distance D3 is not particularly limited, and may be, for example, 1 meter.

When the second automatic steering mode is in the ready state, the azimuth determining unit 33 stores the trend of change in the position coordinates of the body 10 during the operation of the steering lever 42 in the left-right direction, based on the position coordinates of the body 10 received from the vehicle position calculating unit 22. When the straight travel determination unit 32 determines that the body 10 has traveled straight in the same direction by the predetermined distance D3, the azimuth determination unit 33 determines two points among the stored position coordinates as the first point Y3 and the second point Y4.

At this time, the azimuth determining unit 33 determines the position coordinates of the machine body 10 at the time point when the straight travel determining unit 32 determines that the machine body 10 has traveled straight in the same direction by the predetermined distance D3 as the second point Y4. The azimuth determining unit 33 determines the position coordinates of the body 10 at the start time point of the straight movement performed within the predetermined distance D3 as the first point Y3.

In other words, the start point and the end point of the straight run performed within the predetermined distance D3 are determined as the first point Y3 and the second point Y4, respectively.

Then, the azimuth determining section 33 determines the reference azimuth TB for automatic steering based on the first location Y3 and the second location Y4.

More specifically, the azimuth determining unit 33 calculates the direction of the straight line from the first point Y3 toward the second point Y4. Here, the direction of the straight line from the first point Y3 to the second point Y4 is the same as the direction in which the straight line is performed within the predetermined distance D3. That is, the azimuth determining unit 33 calculates the direction of straight travel within the predetermined distance D3. Then, the azimuth determining unit 33 determines the calculated direction as the reference azimuth TB.

Fig. 8 shows a state in which condition #03 is satisfied at second point Y4, and body 10 travels a predetermined distance D3 between first point Y3 and second point Y4. In a state where the second automatic steering mode is in the ready state and condition #03 for switching to the second automatic steering mode is satisfied, the route generation unit 34 generates the automatic steering target line GL, and the second automatic steering mode is shifted from the ready state to the automatic steering state.

At this time, as shown in fig. 8, the route generation unit 34 generates an automatic steering target line GL that passes through a specific reference point K in the machine body 10 in a plan view and extends in a direction along the reference direction TB. Further, information indicating the automatic steering target line GL is transmitted from the steering control unit 30 to the travel control unit 35. That is, steering control unit 30 performs automatic steering to automatically travel straight along reference direction TB.

The control method of the travel control unit 35 when the control mode of the steering control unit 30 is the second automatic steering mode is the same as the control method of the travel control unit 35 when the control mode of the steering control unit 30 is the first automatic steering mode. That is, the travel control unit 35 controls the travel of the combine 1 based on the position coordinates of the body 10 received from the vehicle position calculating unit 22, the attitude and orientation of the body 10 received from the vehicle orientation calculating unit 23, and the information indicating the automatic steering target line GL received from the steering control unit 30.

A method of canceling the second automatic steering mode will be described. When the detection unit 21 detects the "state #01" shown in fig. 4 during execution of the automatic steering, the steering control unit 30 ends the automatic steering. "state #01" is a state related to the stop of the job, and means any one of the above-described state items No.1 to No.6 is detected by the detection section 21. In other words, the state #01 refers to an operation performed by the operator for any one of the state items No.1 to No. 6. That is, the detection unit 21 detects the stop of the job.

When the detection unit 21 detects the state #01, the automatic steering is released, and the second automatic steering mode is changed from the automatic steering state to the ready state. That is, when the detection unit 21 detects that the operation is stopped during execution of the automatic steering in the second automatic steering mode, the steering control unit 30 ends the automatic steering while maintaining the control mode in the second automatic steering mode. At this time, the lamp 43B of the second operation button 43B remains on.

Thus, for example, when the operator temporarily stops the automatic steering by performing an operation corresponding to the state #01 on the ridge side of the farmland, and then turns the machine body 10, and runs straight, the above-described condition #03 can be satisfied. Thus, after the automatic steering is temporarily stopped, the automatic steering is directly restarted.

Further, if the operator presses the second operation button 43B (operation # 02) while the steering control unit 30 is executing the automatic steering in the second automatic steering mode, the mode switching unit 31 switches the control mode of the steering control unit 30 from the second automatic steering mode to the manual steering mode as shown in fig. 4, and the automatic steering of the steering control unit 30 ends. That is, when the second operation button 43B of the switching operation tool 43 is operated during execution of the automatic steering in the second automatic steering mode, the steering control unit 30 ends the automatic steering, and the control mode is switched to the manual steering mode. At this time, the lamp 43B of the second operation button 43B is turned off.

The lamp 43b is turned on when the control mode of the steering control unit 30 is the second automatic steering mode, and is turned off when the control mode of the steering control unit 30 is not the second automatic steering mode.

In this way, in the second automatic steering mode, even if the reference azimuth such as the main reference azimuth TA1 is not set in advance, if the vehicle travels straight at this position, the reference azimuth TB can be specified and automatic steering can be performed. Thus, the second automatic steering mode can achieve simpler automatic steering than the first automatic steering mode.

The second automatic steering mode can be easily applied to, for example, triangular farmland, pentagonal farmland or polygonal farmland or more. The operator may apply the first automatic steering mode to the middle split traveling described in the description of the first automatic steering mode, and may apply the second automatic steering mode to traveling other than the middle split traveling. In this way, in the present embodiment, the operator can use the first automatic steering mode and the second automatic steering mode separately.

In the second automatic steering mode, one reference azimuth TB is set, but the reference azimuth TB and another reference azimuth orthogonal to the reference azimuth TB may be set. For example, when the steering is performed along the reference direction TB and then the steering is expected to be turned 90 degrees, the reference direction TB and the other reference direction may be set. In this configuration, after performing the automatic steering along the reference direction TB, the operator turns the body 10 by 90 degrees, and then easily matches the posture direction of the body 10 with the direction orthogonal to the reference direction TB, so that the automatic steering in the second automatic steering mode is easily restarted directly along the other reference direction.

[ Concerning the frame related to automatic steering ]

In the present embodiment, as shown in fig. 9, the display control unit 24 can perform control for causing the display device 4 to select and display a plurality of screens including a status screen 50, a guidance screen 51 for displaying information related to automatic steering, and the like. The switching operation tool 43 in the present embodiment has a screen switching button 43H, and the screen switching button 43H receives a manual operation for switching the display of the display device 4 to the guide screen 51. In a state in which the status screen 50 is displayed on the display device 4, if the operator presses the screen switching button 43H, the display of the display device 4 is switched to the screen 51 for guidance. The status screen 50 corresponds to a "first screen" of the present invention, and the guidance screen 51 corresponds to a "second screen" of the present invention. The state display area 51A corresponds to the "first divided screen" of the present invention, and the automatic steering area 51B corresponds to the "second divided screen" of the present invention.

In addition, in a state in which the guide screen 51 is displayed on the display device 4, if the operator presses the screen switching button 43H, the display of the display device 4 may be switched to the status screen 50. That is, each time the operator presses the screen switching button 43H, the display of the display device 4 may be alternately switched to the status screen 50 and the guidance screen 51. In this case, a lamp 43H (see fig. 3) provided in the screen switching button 43H may be configured to be linked with the display and non-display of the guide screen 51. The guide screen 51 may be displayed by an operator operating a button (not shown, for example, a cross button) provided on the display device 4.

In the status screen 50, for example, information on the vehicle speed of the combine harvester 1, the engine speed, the position of the harvesting unit 15 (working position or non-working position), the remaining amount of fuel and/or urea water, the opening degree of a chaff sieve (not shown), the storage amount of the grain tank 14, and the like is displayed in the entire screen. That is, the status screen 50 displays information related to traveling and work in the entire screen.

Further, a mode display portion 50A is provided at the left and right central portions of the upper portion of the status screen 50. The current control mode of steering control unit 30 is displayed on mode display unit 50A. That is, any one of the manual steering mode, the first automatic steering mode, and the second automatic steering mode is displayed on the mode display unit 50A according to the current control mode.

The guide screen 51 has two areas divided up and down. A state display area 51A is displayed in a lower area of the guide screen 51. In the state display area 51A, information related to the vehicle speed, the engine speed, the position of the harvesting unit 15, the remaining amount of fuel, the opening degree of the chaff sieve, the storage amount of the grain bin 14, and the like of the combine harvester 1 is displayed similarly to what is displayed on the guidance screen 51. An automatic steering area 51B is displayed in an upper area of the guide screen 51. Information related to the automatic steering is displayed in the area 51B for the automatic steering. That is, the display control unit 24 displays information related to traveling and work in the lower state display area 51A of the guide screen 51, which is divided into two, and displays information related to automatic steering in the automatic steering area 51B.

The automatic steering area 51B is displayed in an upper area of the guide screen 51. Therefore, the operator is more likely to pay attention to the region 51B for automatic steering than the structure in which the region 51B for automatic steering is displayed in the lower region of the guide screen 51.

A mode display portion 51C is provided at the upper left of the auto steering area 51B. The mode display unit 51C displays the same information as the information displayed on the mode display unit 50A.

In addition, a farmland state display 51D is provided at the upper right of the auto steering area 51B. The farmland state display unit 51D displays information related to the state of the farmland, and displays either "normal" or "wet field". The display is switched in conjunction with the operation of the sensitivity switching button 43G of the switching operation tool 43. That is, each time the operator presses the sensitivity switching button 43G, the display of the farmland state display portion 51D is alternately switched between "normal" and "wet field". When the travel control unit 35 of the steering control unit 30 performs steering control on the travel device 11, the control gain of the automatic steering is switched between the case where the state of the farmland is "normal" and the case where the state of the farmland is "wet". That is, the sensitivity switching button 43G receives a manual operation for switching the control gain of the automatic steering.

The lamp 43G (see fig. 3) of the sensitivity switch button 43G is turned off in a state where the control gain is selected when the state of the farmland is "normal", and is turned on in a state where the control gain is selected when the state of the farmland is "wet".

The background colors of the mode display unit 50A and the mode display unit 51C are different between the first automatic steering mode and the second automatic steering mode. The background color is green in the first automatic steering mode, and blue in the second automatic steering mode. Note that the character colors of the mode display unit 50A and the mode display unit 51C may be different between the first automatic steering mode and the second automatic steering mode. The state display area 51A, the automatic steering area 51B, and the farmland state display unit 51D may be configured such that the background color and the character color are different between the first automatic steering mode and the second automatic steering mode.

For example, when the control mode of the steering control unit 30 is one of the first and second automatic steering modes and the one automatic steering mode is in the ready state, condition information indicating the start condition of the automatic steering is displayed in the automatic steering region 51B. For example, the condition information is at least one of the above-described condition items No.1 to No.8, and the display is switched according to the above-described condition #01 to condition # 03. Items that satisfy the condition are displayed in a different color from items that do not satisfy the condition, or are displayed in an on-off manner. Thus, the operator easily recognizes the item satisfying the condition.

When the control mode of the steering control unit 30 is the first automatic steering mode and the first automatic steering mode is the ready state, the above-described condition item No.6 or condition item No.7 is displayed in the automatic steering region 51B. Condition item No.6 is displayed if the above-described main mode is set, and condition item No.7 is displayed if the above-described sub mode is set. In the present embodiment, when the condition item No.7 is displayed in the automatic steering area 51B, the selected one of the main reference azimuth TA1 and the sub reference azimuth TA2 is displayed on the screen, and the main reference azimuth TA1 and the sub reference azimuth TA2 are not displayed at the same time. Thus, the operator can easily recognize which of the main reference azimuth TA1 and the sub-reference azimuth TA2 the posture azimuth of the body 10 approaches.

Further, if the condition item No.7 is always displayed in the region 51B for automatic steering, the operator may feel troublesome. In order to prevent such a problem, the display control unit 24 may be configured to display the above-described condition item No.7 in the automatic steering area 51B when the difference between the posture orientation of the body 10 and the main reference orientation TA1 (or the sub-reference orientation TA 2) is equal to or less than a preset threshold value. The threshold is set to 10 degrees, for example.

In addition, the display control unit 24 displays a guide for urging the operator to operate the steering lever 42 in the automatic steering area 51B according to the positional deviation of the machine body 10. For example, in fig. 7, when the body 10 at the point P1 is displaced to the left with respect to the main reference azimuth TA1 or the sub-reference azimuth TA2, the display control unit 24 displays a message or the like for urging the turning operation to the right in the region 51B for automatic steering. When the body 10 at the point P2 is shifted to the right with respect to the main reference azimuth TA1 or the sub-reference azimuth TA2, the display control unit 24 displays a turning operation message or the like for urging the left side in the automatic steering area 51B.

The posture direction of the body 10, the main reference direction TA1, and the sub-reference direction TA2 are not particularly limited, and may be, for example, a direction based on north and south (for example, "north", "27 degrees east of north", or the like), or may be a unit vector in a coordinate system.

If the condition #01, the condition #02, or the condition #03 is satisfied and the condition for starting the automatic steering is satisfied, the state of the first automatic steering mode or the second automatic steering mode is changed from the ready state to the automatic steering state. As shown in fig. 10, while the machine body 10 is traveling a predetermined distance D2 or a predetermined distance D3, the display control unit 24 displays a screen indicating the start of the automatic steering in the automatic steering area 51B. The display format of the screen for predicting the start of the automatic steering is not particularly limited, and may be displayed by a progress bar extending from one of the left and right sides to the other side over time, or may be displayed by a numerical value (for example, seconds).

As shown in fig. 11, when the automatic steering is actually started, the display control unit 24 displays that the vehicle is being automatically steered in the automatic steering region 51B. The screen during the automatic steering displays guidance for canceling the operation method of the automatic steering. For example, in fig. 11, "lift the harvesting unit to stop the automatic steering" is displayed, which corresponds to the above-mentioned state item No.5. On the screen during automatic steering, it is possible to display "stop the automatic steering when the main shift lever is in the neutral position", to display "stop the automatic steering when the sub shift switch is in the running mode", to display "stop the automatic steering when the harvesting clutch is disengaged", and to display "stop the automatic steering when the steering lever is operated to the left and right".

When the automatic steering is completed in the first automatic steering mode or the second automatic steering mode and the state is changed from the automatic steering state shown in fig. 4 to the ready state, the automatic steering area 51B displays an automatic steering completion message.

Another example is a message displayed in the automatic steering area 51B. In a state in which the display device 4 displays the region 51B for automatic steering, if the operator presses the first operation button 43A, a message indicating the start or end of the first automatic steering mode is displayed in the region 51B for automatic steering. In a state where the display device 4 displays the region 51B for automatic steering, if the operator presses the second operation button 43B, a message indicating the start or end of the second automatic steering mode is displayed in the region 51B for automatic steering. In addition, if the operator presses the change operation button 43F while the display device 4 is displaying the region 51B for automatic steering and while the control mode of the steering control unit 30 is the first automatic steering mode, a message for switching to the main mode or the sub mode is displayed in the region 51B for automatic steering.

An icon 53 is displayed at the lower right end of each of the status screen 50 and the guide screen 51, and the icon 53 indicates the control mode of the steering control unit 30. The icons 53 are displayed in different patterns when the control mode is the manual steering mode, when the control mode is the ready state of the automatic steering mode (first automatic steering mode, second automatic steering mode), and when the control mode is the automatic steering state of the automatic steering mode. In addition, when the control mode is the first automatic steering mode and when the control mode is the second automatic steering mode, the icon 53 is displayed in a different color.

With the configuration in which the icon 53 is displayed at the lower right end portion of the screen, the operator can confirm the current control mode of the steering control unit 30 by the icon 53 even when the automatic steering region 51B is not displayed on the display device 4.

[ Other embodiments ]

The present invention is not limited to the configuration described in the above embodiment, and a representative other embodiment of the present invention is described below.

(1) In the above-described embodiment, the two divided screens exist in the guide screen 51, and the state display area 51A and the automatic steering area 51B are displayed, but the present invention is not limited to this embodiment. The guidance screen 51 may have three or more divided screens. That is, the guiding screen 51 may be configured to display information related to at least one of traveling and work in a state display area 51A which is one of a plurality of divided screens in which the entire screen is divided into a plurality of divided screens, and to display information related to automatic steering in an automatic steering area 51B which is different from the state display area 51A in the plurality of divided screens.

The state display area 51A and the automatic steering area 51B may be configured to be displayed in the left-right direction.

(2) The status display area 51A of the status screen 50 and the guidance screen 51 displays information related to traveling and work. For example, the state display area 51A of the state screen 50 and the guidance screen 51 may be configured to display information related to one of traveling and work.

(3) The display control unit 24 controls the display device 4 to display the posture direction of the body 10 and the travel reference (the main reference direction TA1, the sub-reference direction TA2, and the reference direction TB) in the region 51B for automatic steering. The display control unit 24 may control the display device 4 to display at least one of the posture direction of the body 10 and the travel reference (the main reference direction TA1, the sub-reference direction TA2, and the reference direction TB) in the region 51B for automatic steering, not limited to this embodiment.

(4) In the above-described embodiment, the steering lever 42 is provided at the right front portion in the riding portion 12, but is not limited to this embodiment. For example, the steering lever 42 may be provided in the left front portion of the riding portion 12. That is, the steering rod 42 may be provided in the left and right one end regions of the riding section 12. The steering lever 42 may be provided in the left and right central regions of the riding section 12. The switching tool 43 may not be provided on the side of the riding section 12 where the steering lever 42 is located. In addition, the steering lever 42 may be a steering wheel. The steering wheel may be provided at the left and right central portions of the riding portion 12, or may be provided at the left and right end portions of the riding portion 12.

(5) In the above embodiment, the switching operation tool 43 is provided above the steering lever 42, but may be provided below or on the left and right sides of the steering lever 42.

(6) The control modes of steering control unit 30 include a first automatic steering mode and a second automatic steering mode, but there may be an automatic steering mode different from the first automatic steering mode and the second automatic steering mode.

(7) In the above embodiment, the first operation button 43A and the second operation button 43B are represented by mutually different colors, but the first operation button 43A and the second operation button 43B may be represented by the same color. The first operation button 43A, the second operation button 43B, the first instruction operation button 43C, the second instruction operation button 43D, the azimuth setting operation button 43E, the change operation button 43F, the sensitivity switch button 43G, and the screen switch button 43H may not be buttons, and may be, for example, lever switches.

(8) In the above embodiment, the first instruction operation button 43C and the second instruction operation button 43D are provided to the switching operation tool 43, but the first instruction operation button 43C and the second instruction operation button 43D may be disposed at different places from the switching operation tool 43. The first instruction operation button 43C and the second instruction operation button 43D may not be buttons, and may be, for example, lever switches. Further, the first instruction operation button 43C and the second instruction operation button 43D may be configured as one operation tool (for example, a lever switch). Further, the first instruction operation button 43C and the second instruction operation button 43D may not be provided, and the first instruction operation tool and the second instruction operation tool may be constituted by a sound input device.

(9) The azimuth setting operation button 43E may not be provided.

(10) The first automatic steering mode includes a main mode and a sub-mode, but may be configured such that only the main mode is present and no sub-mode is present. In this case, the change operation button 43F may not be provided.

(11) In the above embodiment, the second automatic steering mode is a control mode in which, after the reference direction TB is determined by straight running by manual steering, automatic steering is performed based on the reference direction TB. For example, the second automatic steering mode may be configured to determine the reference azimuth TB, and then, after other conditions are satisfied, perform automatic steering based on the reference azimuth TB. The second automatic steering mode may be configured to determine the reference direction TB by traveling straight by manual steering, and then to perform automatic steering based on the reference direction TB.

(12) In the above-described embodiment, in a state in which the status screen 50 is displayed on the display device 4, when the operator presses the screen switching button 43H, the display of the display device 4 is switched to the screen 51 for guidance, but the present invention is not limited to this embodiment. For example, in a state in which the status screen 50 is displayed on the display device 4, when the operator presses at least one of the first operation button 43A and the second operation button 43B, the display of the display device 4 may be switched to the guidance screen 51.

(13) In a state in which the status screen 50 is displayed on the display device 4, the display of the display device 4 may be switched to the guidance screen 51 even if the operator does not press the screen switching button 43H. For example, when the control mode of steering control unit 30 is the first automatic steering mode and the azimuth posture of body 10 approaches main reference azimuth TA1 or sub-reference azimuth TA2, the display of display device 4 may be switched from status screen 50 to guide screen 51.

(14) If the control mode of steering control unit 30 is the first or second automatic steering mode, the information displayed in automatic steering area 51B may be displayed in state screen 50 by being sprung out of state screen 50 even when state screen 50 is displayed on display device 4.

(15) In the embodiment shown in fig. 10, while the machine body 10 is traveling a predetermined distance D2 or a predetermined distance D3, the display control unit 24 displays a screen indicating the start of the automatic steering in the automatic steering area 51B. The present invention is not limited to this embodiment, and for example, the icon 53 may be displayed as a progress bar or a moving image, for example, as a display for predicting the start of the automatic steering.

(16) The first operation button 43A and the second operation button 43B may be configured as one operation tool (for example, a lever switch). The first operation button 43A and the second operation button 43B may not be provided, and the first operation unit and the second operation unit may be configured as devices or functions for inputting sound.

(17) As shown in fig. 9, the display control unit 24 can perform control for causing the display device 4 to select and display a plurality of screens including a status screen 50, a guidance screen 51 for displaying information related to automatic steering, and the like. "selection display" includes both automatic switching that does not rely on manual operation and automatic switching that relies on indirect manual operation.

(18) The combine harvester 1 may not include the display device 4, the steering control unit 30, and the display control unit 24. In this case, as a control system of the combine harvester 1, the display device 4 may be a remote monitor, and the steering control unit 30 and the display control unit 24 may be provided in a computer that is not mounted on the combine harvester 1.

The structures disclosed in the above embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with the structures disclosed in the other embodiments, as long as no contradiction occurs. The embodiments disclosed in the present specification are merely examples, and the embodiments of the present invention are not limited thereto, and may be appropriately modified within a range not departing from the object of the present invention.

Industrial applicability

The present invention can be applied to a work vehicle. Therefore, the present invention is not limited to the general-purpose combine described in the present embodiment, and can be applied to a combine for self-threshing, various types of harvesters (for example, corn harvester, sugarcane harvester, potato harvester, beet harvester, carrot harvester, etc.), a tractor, a rice transplanter, a fertilizer manager, a self-propelled spreader, a self-propelled mower, etc. The present invention is also applicable to a control system for a work vehicle that travels while switching between manual steering and automatic steering by a steerable travel device.

Description of the reference numerals:

4: display device

11: Driving device

12: Riding part

24: Display control unit

30: Steering control unit

42: Steering rod (steering operation tool)

43: Switching operation tool

43A: first operation button (first operation part)

43B: second operation button (second operation part)

43C: first instruction operation buttons (first instruction operation tools) 43D: a second instruction operation button (second instruction operation tool) 43E: azimuth setting operation button (azimuth setting operation tool) 43F: change operation button (Change operation tool)

43H: picture switching button (switching operation tool)

50: Status frame (first frame)

51: Guiding picture (second picture)

51A: status display area (first split picture)

51B: automatic steering region (second divided screen)

GL: automatic steering target line (traveling standard)

TA1: main reference azimuth (running reference)

TA2: sub-reference azimuth (travel reference, sub-travel reference) TB: reference azimuth (travel reference)

Y1: first place (starting point)

Y2: second place (end point)

Claims

1. A working vehicle which runs while switching between manual steering and automatic steering, wherein,

The work vehicle includes:

a traveling device capable of steering;

A display device;

A steering control unit configured to execute the automatic steering for controlling the traveling device to automatically travel the body along a traveling reference; and

And a display control unit that controls the display device to selectively display either one of a first screen on which information relating to at least one of traveling and work is displayed on an entire screen, or a second screen on which information relating to at least one of traveling and work is displayed on a first divided screen which is one of a plurality of divided screens in which the entire screen is divided, and information relating to automatic steering is displayed on a second divided screen which is different from the first divided screen.

2. The work vehicle of claim 1, wherein,

The display control unit controls the display device to display the start condition of the automatic steering on the second divided screen.

3. The working vehicle according to claim 1 or 2, wherein,

The display control unit controls the display device to display at least one of the vehicle body orientation and the travel reference orientation on the second divided screen.

4. The working vehicle according to claim 1 to 3, wherein,

The device comprises:

a riding section on which a rider can ride;

a steering operation tool provided in a region on one of left and right ends of the riding section, the steering operation tool receiving the manual steering by the rider; and

And a switching operation tool provided on a side of the riding section where the steering operation tool is located, and configured to receive a manual operation for switching the display of the display device to the second screen.

5. The work vehicle of claim 4, wherein,

The switching operation tool is provided above the steering operation tool.

6. The work vehicle according to claim 4 or 5, wherein,

The steering control unit is configured to be capable of switching a plurality of control modes including a first automatic steering mode in which the automatic steering is performed based on the preset travel reference and a second automatic steering mode in which the automatic steering is performed after the travel reference is determined by the manual steering travel,

The switching operation tool has:

A first operation unit configured to receive a manual operation for switching the control mode to the first automatic steering mode; and

And a second operation unit configured to receive a manual operation for switching the control mode to the second automatic steering mode.

7. The work vehicle of claim 6, wherein,

The first operation unit and the second operation unit are button switches respectively indicated by different colors.

8. The work vehicle according to claim 6 or 7, wherein,

The switching operation tool has:

a first instruction operation tool for receiving a manual operation for setting a start point in teaching traveling in which the traveling reference used in the first automatic steering mode is set in advance; and

And a second instruction operation tool for receiving a manual operation for setting an end point during the teaching traveling.

9. The work vehicle according to any one of claims 6 to 8, wherein,

The switching operation tool has an orientation setting operation tool that receives a manual operation for setting in advance an orientation of the travel reference used in the first automatic steering mode.

10. The work vehicle according to any one of claims 6 to 9, wherein,

The first automatic steering mode includes:

a main mode in which the automatic steering is performed based on the preset travel reference; and

A sub-mode in which the automatic steering is performed based on the preset travel reference or a sub-travel reference, the sub-travel reference being automatically generated based on the travel reference;

The switching operation tool has a change operation tool that accepts a manual operation for switching the main mode and the sub mode.

11. A control system for a working vehicle which runs while switching between manual steering and automatic steering by using a running device capable of steering,

The control system has:

A display device;