JP2023101319A - Automatic travel method, work vehicle, and automatic travel system - Google Patents

Abstract

To provide an automatic travel method, a work vehicle, and an automatic travel system capable of appropriately selecting a reference line of automatic travel from a plurality of reference lines to improve workability.SOLUTION: A combine-harvester 1 includes a controller 50 which functions as a reference line selection control part 60, a start point setting control part 61, an end point setting control part 62, a reference line setting control part 63, and a travel control part 66. The start point setting control part 61 sets a start point, the end point setting control part 62 sets an end point, and the reference line setting control part 63 sets a reference line based on the start point and the end point, which makes it possible to set a plurality of reference lines. The reference line selection control part 60 selects the reference line subjected to automatic travel from among the plurality of reference lines. The travel control part 66 performs automatic travel based on the selected reference line. The reference line selection control part 60 selects the reference line subjected to the automatic travel based on at least one of: an angle of an advance direction of the combine harvester 1 for each of the plurality of reference lines; and a distance of the combine-harvester 1 from each of the plurality of reference lines.SELECTED DRAWING: Figure 2

Description

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

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

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

Japanese Patent Application Laid-Open No. 2020-135802

By the way, even if the work vehicle sets the reference line consisting of the points A and B for the field, it is necessary to change the reference line during the work depending on the shape of the field and the working conditions. However, with conventional work vehicles, only one reference line can be set for a field, so in order to change the reference line, the previously set reference line must be deleted and a new reference line created. must be set. Therefore, each time the reference line is changed, it is necessary to repeat the erasing and creation of the reference line. In addition, conventional work vehicles do not consider setting a plurality of reference lines corresponding to various situations in a field and selecting an appropriate reference line from the plurality of reference lines.

An object of the present invention is to provide an automatic traveling method, a work vehicle, and an automatic traveling system capable of appropriately selecting a reference line for automatic traveling from a plurality of reference lines to improve workability.

In order to solve the above problems, an automatic traveling method of the present invention is an automatic traveling method for a work vehicle that automatically travels based on a set reference line, comprising: a starting point setting step of setting a starting point of the reference line; an end point setting step of setting the end point of the reference line; setting a reference line based on the start point set in the start point setting step and the end point set in the end point setting step; a reference line setting step for setting a reference line, a selection step for selecting the reference line to be automatically traveled from a plurality of the reference lines, an automatic traveling step for automatically traveling based on the selected reference line, wherein the selecting step is based on at least one of an angle of the traveling direction of the work vehicle with respect to each of the plurality of reference lines and a distance of the work vehicle with respect to each of the plurality of reference lines It is characterized in that the reference line for automatic driving is selected.

Further, in order to solve the above problems, a work vehicle according to the present invention is a work vehicle that automatically travels based on a set reference line, comprising: a starting point setting control unit for setting a starting point of the reference line; an end point setting control unit for setting an end point of a reference line; setting a reference line based on the start point set by the start point setting control unit and the end point set by the end point setting control unit; A reference line setting control unit that can set a line, a reference line selection control unit that selects the reference line for automatic driving from the plurality of reference lines, and performs automatic driving based on the selected reference line. and a travel control unit, wherein the reference line selection control unit selects an angle of the traveling direction of the work vehicle with respect to each of the plurality of reference lines and a distance of the work vehicle with respect to each of the plurality of reference lines. , the reference line for automatic driving is selected based on at least one of them.

Further, in order to solve the above problems, an automatic traveling system of the present invention is an automatic traveling system for a work vehicle that automatically travels based on a set reference line, wherein a starting point setting for setting a starting point of the reference line A control unit, an end point setting control unit that sets the end point of the reference line, and a reference line based on the start point set by the start point setting control unit and the end point set by the end point setting control unit. a reference line setting control unit that can set a plurality of the reference lines; a reference line selection control unit that selects the reference line to be automatically driven from the plurality of reference lines; and based on the selected reference line, and a travel control unit that automatically travels by means of a vehicle, wherein the reference line selection control unit controls the angle of the traveling direction of the work vehicle with respect to each of the plurality of reference lines, and the work vehicle with respect to each of the plurality of reference lines. The reference line for automatic driving is selected based on at least one of the distance of .

ADVANTAGE OF THE INVENTION According to this invention, the automatic driving|running method, working vehicle, and automatic driving|running system which can improve workability|operativity by appropriately selecting the reference line of automatic driving|running|working from several reference lines are provided.

BRIEF DESCRIPTION OF THE DRAWINGS It is a side view which shows the example of the combine which concerns on embodiment of this invention. It is a block diagram of a combine according to an embodiment of the present invention. It is a top view which shows the example of the agricultural field which operate|works in the combine which concerns on embodiment of this invention. It is a top view which shows the example of the agricultural field which operate|works in the combine which concerns on embodiment of this invention. FIG. 3 is a plan view showing an example of a case where no reference line is set in any of a plurality of reference line setting units in the automatic straight operation device for a combine harvester according to the embodiment of the present invention. FIG. 4 is a plan view showing an example in which a first reference line and a second reference line are set in the automatic straight operation device for a combine harvester according to the embodiment of the present invention; FIG. 4 is a plan view showing an example of a case where the first reference line is selected as an automatic travel target before starting automatic straight travel in the automatic straight travel operation device for a combine harvester according to the embodiment of the present invention; FIG. 10 is a plan view showing an example of a case where the automatic straight operation device for a combine harvester according to the embodiment of the present invention is executing automatic straight travel with a first reference line as an automatic travel target. FIG. 5 is a plan view showing an example of a case where a second reference line is selected as an automatic travel target before starting automatic straight travel in the automatic straight operation device for a combine harvester according to the embodiment of the present invention; FIG. 10 is a plan view showing an example of a case where the automatic straight operation device for a combine harvester according to the embodiment of the present invention is executing automatic straight travel with a second reference line as an automatic travel target. FIG. 5 is a plan view showing an example of a case in which a selection operation is performed to select the first reference line as an automatic travel target before starting automatic straight travel in the automatic straight operation device for a combine harvester according to the embodiment of the present invention. FIG. 10 is a plan view showing an example in which the first reference line is selected as an automatic travel target in response to a selection operation in the automatic straight operation device for a combine harvester according to the embodiment of the present invention; FIG. 10 is a plan view showing an example of a case where the automatic straight-travel operation device for a combine harvester according to the embodiment of the present invention executes automatic straight-travel traveling with a first reference line as an automatic travel target in response to a selection operation. In the combine according to the embodiment of the present invention, a plane showing an example of a comparison angle between the first reference line and the second reference line, and an evaluation angle formed by the first reference line and the second reference line and the traveling direction of the combine. It is a diagram. In the combine according to the embodiment of the present invention, a plane showing an example of a comparison angle between the first reference line and the second reference line, and an evaluation angle formed by the first reference line and the second reference line and the traveling direction of the combine. It is a diagram. It is a flowchart which shows the reference line selection in the combine which concerns on embodiment of this invention, and the operation example of an automatic driving|running|working. It is a flowchart which shows the reference line selection in the combine which concerns on embodiment of this invention, and the operation example of an automatic driving|running|working. It is a top view which shows the example of the farm field which operate|works in the combine which concerns on other embodiment of this invention. It is a top view which shows the example of the farm field which operate|works in the combine which concerns on other embodiment of this invention. It is a top view which shows the example of the farm field which operate|works in the combine which concerns on other embodiment of this invention. It is a top view which shows the example of the farm field which operate|works in the combine which concerns on other embodiment of this invention. It is a top view which shows the example of the farm field which operate|works in the combine which concerns on other embodiment of this invention. It is a top view which shows the example of the farm field which operate|works in the combine which concerns on other embodiment of this invention.

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

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

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

Particularly in this embodiment, as shown in FIGS. 3 and 4, the combine 1 is configured to be able to set a plurality of reference lines L with respect to the field H, has a plurality of reference line setting units 55, A reference line L is associated with each reference line setting portion 55 and set. The combine 1 creates a reference line L from the start point A to the end point B by setting a start point A and an end point B in the field H for each reference line L. The combine 1 also creates an automatic travel route P based on the reference line L of the reference line setting unit 55 selected from the plurality of reference line setting units 55, and automatically travels straight along the automatic travel route P.

In this embodiment, the combine 1 sets the first reference line L1 and the second reference line L2 as the plurality of reference lines L, and the plurality of reference line setting units 55 correspond to the first reference line L1. and a reference line setting portion 55b corresponding to the second reference line L2. The first reference line L1 is created by connecting a straight line from the first start point A1 to the first end point B1, and the second reference line L2 is created by connecting the second start point A2 to the second end point B2 with a straight line. there is Note that FIGS. 3 and 4 show the automatic travel route P created based on the first reference line L1.

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

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

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

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

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

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

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

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

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

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

Next, the automatic straight operation device 30 will be described with reference to FIGS. 5 to 13. FIG. The automatic straight operation device 30 is attached near the steering wheel, for example, so that it can be operated by a worker sitting in the driver's seat. The automatic straight operation device 30 includes an automatic straight movement instruction unit 31, an automatic straight movement display unit 32, a plurality of reference line operation units 33, a plurality of reference line display units 34, a start point setting unit 35, and an end point setting unit 36. , a start point setting display section 37 and an end point setting display section 38 .

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

5 shows the automatic straight operation device 30 when no reference line is set in any of the plurality of reference line setting units 55, and FIG. 6 shows the first reference line and the second reference line set. The automatic straight-ahead operation device 30 is illustrated in this case. FIG. 7 shows the automatic straight driving operation device 30 when the first reference line is selected as the automatic driving target before the start of automatic straight driving in a state where the first reference line and the second reference line are set. FIG. 8 shows the automatic straight driving operation device 30 when automatic straight driving is executed with the first reference line as the automatic driving target. FIG. 9 shows the automatic straight driving operation device 30 when the first reference line and the second reference line are set and the second reference line is selected as the automatic driving target before the automatic straight driving is started. FIG. 10 illustrates the automatic straight driving operation device 30 when automatic straight driving is executed with the second reference line as the automatic driving target. In FIG. 11 , the automatic straight operation device 30 is used when the first reference line is selected as the target of automatic traveling before the start of automatic straight traveling in a state where the first reference line and the second reference line are set. , FIG. 12 illustrates the automatic straight operation device 30 when the first reference line is selected as an automatic travel target in accordance with the selection operation, and FIG. 13 illustrates the first reference line in response to the selection operation. The automatic straight driving operation device 30 is illustrated when automatic straight driving, which is the object of automatic driving, is being executed.

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

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

The automatic straight running display unit 32 is composed of LEDs, lamps, and the like that indicate the state of automatic straight running by the combine harvester 1, and is controlled by the control device 50 to provide different displays depending on whether or not conditions for starting automatic straight running are satisfied. displayed in the state. The automatic straight display section 32 is formed, for example, in a ring shape surrounding the automatic straight display section 31 . 5 to 13 show an example in which the automatic straight-travel display unit 32 is configured separately from the automatic straight-travel instruction unit 31. In other examples, the automatic straight-travel display unit 32 may may be configured integrally with the

For example, when the start condition is not satisfied, the automatic straight display unit 32 is turned off as shown in FIG. On the other hand, when the start condition is satisfied, the automatic straight running display unit 32 blinks before the automatic straight running is started, as shown in FIGS. is being executed, it is illuminated as shown in FIGS. In FIGS. 5 to 13, lights out are not filled, lights are filled with black, and blinking are shown with hatching. When there are a plurality of start conditions, the automatic straight display unit 32 may display whether or not each start condition is met so as to be identifiable. It may be configured to correspond to the conditions. Further, the automatic straight driving display unit 32 may use other display states to identify the automatic straight driving state.

The plurality of reference line operation sections 33 are for operating the selection of each reference line corresponding to each of the plurality of reference line setting sections 55, and are configured to be able to accept pressing operations with circular operation buttons or the like. . Each reference line operation unit 33 transmits a selection instruction to the control device 50 to select the corresponding reference line setting unit 55 (reference line) as an automatic travel target in response to a selection operation such as a pressing operation. Note that each reference line operation unit 33 issues a selection cancellation instruction to the control device 50 to cancel the selection of the corresponding reference line setting unit 55 (reference line) as the object of automatic travel in response to a cancellation operation such as a pressing operation again. can be sent to

For example, according to the selection operation of the reference line operation unit 33, the corresponding reference line of the reference line setting unit 55 is selected as an automatic traveling target, and when the automatic straight advance instruction unit 31 is pressed, An automatic travel route is created, and the combine harvester 1 automatically travels straight along the automatic travel route. Note that after selecting the reference line setting unit 55 corresponding to the reference line operation unit 33 as an object for automatic traveling according to the selection operation of the reference line operation unit 33, according to the selection cancellation instruction of the reference line operation unit 33, The reference line setting unit 55 may be canceled from the automatic travel target.

The plurality of reference line display units 34 correspond to the plurality of reference line setting units 55, respectively, and are composed of LEDs, lamps, etc. that indicate the state of each reference line setting unit 55. Different display states are displayed according to the setting state and selection state of the reference line of the line setting unit 55 . The plurality of reference line display units 34 also correspond to the plurality of reference line operation units 33. In FIGS. 5 to 13, each reference line display unit 34 and each reference line operation unit 33 However, in another example, each reference line display section 34 may be configured separately from each reference line operation section 33 .

For example, when no reference line is set in the corresponding reference line setting section 55, the reference line display section 34 is turned off as shown in FIG. On the other hand, when a reference line is set in the corresponding reference line setting section 55, the reference line display section 34 is lit as shown in FIG.

Also, when the corresponding reference line of the reference line setting unit 55 is selected as an object for automatic driving, the reference line display unit 34 blinks as shown in FIGS. 7 to 10, 12, and 13. At this time, when the reference line is automatically selected according to the own vehicle position and traveling direction of the combine 1 (see FIGS. 7 to 10), the reference line is selected according to the selection operation of the reference line operation unit 33. The reference line display section 34 may be displayed in a different blinking state (for example, a different blinking interval) depending on the case (FIGS. 12 and 13). Note that the reference line display section 34 may be displayed in the same display state, for example, blinking at the same intervals, or may be displayed in different display states, such as blinking at different intervals, before the start of automatic straight running and during execution. good too.

The starting point setting section 35 is for operating the setting of the starting point (point A) of each reference line corresponding to each reference line setting section 55, and is configured to be capable of receiving a pressing operation with an operation button or the like. The start point setting unit 35 transmits a start point setting instruction to the control device 50 in response to a setting operation such as a pressing operation. At this time, the control device 50 sets the position of the own vehicle of the combine harvester 1 as the starting point of the reference line corresponding to the reference line setting section 55 .

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

The starting point setting display section 37 is composed of LEDs, lamps, etc. that indicate the setting state of the starting point, and is controlled by the control device 50 to display different display states according to the operation of the starting point setting section 35 . 5 to 13 show an example in which the starting point setting display section 37 is integrated with the starting point setting section 35. In other examples, the starting point setting display section 37 is separate from the starting point setting section 35. It may consist of a body.

Basically, the starting point setting display section 37 is turned off as shown in FIG. 6 to 13, when the starting point setting operation is disabled, that is, when the starting point is set.

The end point setting display unit 38 is composed of LEDs, lamps, or the like that indicate the setting state of the end point, and is controlled by the control device 50 to display different display states according to the operation of the end point setting unit 36 . 5 to 13 show an example in which the end point setting display unit 38 is configured integrally with the end point setting unit 36. In other examples, the end point setting display unit 38 is separate from the end point setting unit 36. It may consist of a body.

The end point setting display section 38 is basically extinguished as shown in FIG. 6 to 13, when the end point cannot be set, that is, when the end point is set.

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

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

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

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

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

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

The reference line selection control unit 60 selects the reference line setting unit 55 to be automatically traveled when the combine harvester 1 automatically travels straight.

For example, when automatically selecting the reference line setting unit 55 to be automatically driven, the reference line selection control unit 60 selects from the plurality of reference line setting units 55 based on the own vehicle position and traveling direction of the combine 1. Select the line setting section 55 . At this time, the reference line selection control unit 60 determines the angle of the traveling direction of the combine harvester 1 with respect to the plurality of reference lines respectively set in the plurality of reference line setting units 55 and the distance of the combine harvester 1 with respect to each of the plurality of reference lines. A reference line for automatic driving is selected based on at least one of them.

Specifically, the reference line selection control unit 60 compares the angle formed by the reference lines of the plurality of reference line setting units 55 (that is, the comparison angle) with a predetermined angle threshold value (for example, 30 degrees). do. At this time, if the reference lines intersect, the reference line selection control unit 60 calculates an acute angle formed at the intersection as a comparison angle. On the other hand, when the reference lines do not intersect, the reference line selection control unit 60 calculates an acute angle at the intersection point where the reference lines or their extension lines intersect as a comparative angle, or determines the state in which the reference lines intersect. The acute angle at the hypothetical intersection point is calculated as the comparative angle. For example, the combine 1 may have an angle threshold set in advance, or may be arbitrarily settable according to the operator's operation.

For example, in the example of the first reference line L1 and the second reference line L2 shown in FIG. 3, the first reference line L1 and the second reference line L2 do not intersect in the field H, but as indicated by the dashed lines in FIG. , the comparative angle D between the first reference line L1 and the second reference line L2 is equal to or greater than the angle threshold. On the other hand, in the example of the first reference line L1 and the second reference line L2 shown in FIG. 4, although they do not intersect in the field H, the first reference line L1 and the second reference line L2 are shown by broken lines in FIG. crossed, the comparison angle D between the first reference line L1 and the second reference line L2 is less than the angle threshold.

Then, when the comparison angle between the reference lines is equal to or greater than the angle threshold, the reference line selection control unit 60 determines the angle formed by each of the plurality of reference lines and the extension line extending in the traveling direction of the combine harvester 1 (that is, the evaluation angle), the reference line for automatic driving is selected. At this time, when each reference line intersects with an extension line in the traveling direction of the combine 1, the reference line selection control unit 60 calculates an acute angle formed at the intersection as an evaluation angle. On the other hand, when each reference line and the extension line of the combine 1 in the traveling direction do not intersect, the reference line selection control unit 60 controls the intersection point where the extension line of each reference line and the extension line of the combine 1 in the traveling direction intersect. The formed acute angle is calculated as the evaluation angle, or the acute angle at the point of intersection when it is assumed that each reference line intersects the extension line of the traveling direction of the combine 1 is calculated as the evaluation angle. In addition, the reference line selection control unit 60 selects a reference line having a smaller evaluation angle with respect to the traveling direction of the combine harvester 1 as a reference line for automatic travel.

For example, in the present embodiment, an evaluation value conversion means such as a table or formula for converting an evaluation angle into an evaluation value is defined in advance and stored in the storage unit 51, and the evaluation value conversion means converts the evaluation angle into Defined so that the smaller the number, the higher the evaluation value. The reference line selection control unit 60 converts the evaluation angle of each reference line into an evaluation value using the evaluation value conversion means, and selects the reference line with the higher evaluation value as the reference line to be automatically traveled.

On the other hand, when the comparison angle between the respective reference lines of the plurality of reference line setting units 55 is less than the angle threshold, the reference line selection control unit 60 extends in the traveling direction of the combine 1 with each of the plurality of reference lines. A reference line to be automatically driven is selected based on the angle formed by the extension line (i.e., evaluation angle) and the distance (i.e., evaluation distance) between each of the plurality of reference lines and the position of the combine harvester 1. do. At this time, the reference line selection control unit 60 selects a reference line having a smaller evaluation angle with respect to the traveling direction of the combine harvester 1, and is drawn from the own vehicle position of the combine harvester 1 to each reference line or its extension line. The distance of the perpendicular line is used as the evaluation distance, and the reference line with the shorter evaluation distance is selected as the reference line for automatic driving.

For example, in the present embodiment, in addition to the evaluation value conversion means for converting the evaluation angle into the evaluation value, the evaluation value conversion means such as tables and formulas for converting the evaluation distance into the evaluation value are defined and stored in advance. It is stored in the unit 51 and defined in the evaluation value conversion means such that the shorter the evaluation distance, the higher the evaluation value. In the evaluation value conversion means, the evaluation values are defined so that the evaluation angle and the evaluation distance can be evaluated to the same degree. Either can be given higher priority. The reference line selection control unit 60 uses the evaluation value conversion means to convert the evaluation angle and evaluation distance of each reference line into evaluation values, and selects the reference line with the higher evaluation value as the reference line for automatic driving. .

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

By the way, in the automatic straight operating device 30, when the first reference line and the second reference line are not set, as shown in FIG. And the reference line display portion 34b corresponding to the reference line setting portion 55b of the second reference line is turned off. On the other hand, when the first reference line and the second reference line are set, before the automatic driving target is selected, as shown in FIG. The reference line display portion 34a and the reference line display portion 34b corresponding to the reference line setting portion 55b of the second reference line are lit. Furthermore, when the reference line selection control unit 60 selects a reference line for automatic traveling, the reference line selection control unit 60 displays the automatic traveling reference line for the reference line display unit 34 corresponding to the reference line for automatic traveling. It is controlled to display in a display state indicating that it is selected as an object, for example, to blink as shown in FIGS. At this time, the reference line selection control unit 60 automatically selects the reference line for automatic travel according to the position and traveling direction of the combine harvester 1 (see FIGS. 7 to 10), and the reference line operation The reference line display unit 34 is displayed in different blinking states (for example, different blinking intervals) when the reference line for automatic driving is selected according to the selection operation of the unit 33 (FIGS. 12 and 13). to control.

Here, FIGS. 7 and 8 show an example in which the reference line setting portion 55a for the first reference line is automatically selected and the reference line display portion 34a for the first reference line blinks. 10 shows an example in which the reference line setting portion 55b for the second reference line is automatically selected and the reference line display portion 34b for the second reference line blinks. 12 and 13, the reference line setting portion 55a for the first reference line is selected in accordance with the selection operation of the reference line operation portion 33a for the first reference line, and the reference line display portion 34a for the first reference line is selected. shows an example in which is blinking.

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

The starting point setting control unit 61 controls the setting of the starting point when setting the reference line for the field. Upon receiving the start point setting instruction from the start point setting unit 35 , the start point setting control unit 61 acquires the own vehicle position of the combine harvester 1 from the positioning unit 28 and sets it as the start point of the reference line of the reference line setting unit 55 . Before the start point is set, the start point setting display section 37 is turned off as shown in FIG. The display in the display state indicating the setting, for example, as shown in FIGS. 6 to 13, is controlled to be lit.

The end point setting control unit 62 controls the setting of the end point when setting the reference line for the field. When the end point setting control unit 62 receives the end point setting instruction from the end point setting unit 36 when the start point of the reference line of the reference line setting unit 55 is set, the end point setting control unit 62 acquires the own vehicle position of the combine harvester 1 from the positioning unit 28. , and set as the end point of the reference line of the reference line setting unit 55 . Before setting the end point, the end point setting display section 38 is turned off as shown in FIG. The display in the display state indicating the setting, for example, as shown in FIGS. 6 to 13, is controlled to be lit.

When a starting point is set by the starting point setting control unit 61 and an end point is set by the end point setting control unit 62 for the reference line setting unit 55, the reference line setting control unit 63 controls the distance from the starting point to the end point. , is set in association with the reference line setting unit 55 and stored in the storage unit 51 .

Before the reference line is set, the reference line display unit 34 is turned off as shown in FIG. The reference line display section 34 corresponding to the reference line setting section 55 is controlled to display in a display state indicating the setting of the reference line, for example, to light up as shown in FIGS.

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

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

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

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

At this time, when the automatic straight traveling is started, the traveling control unit 66 causes the automatic straight traveling display unit 32 to display in a display state indicating that the automatic straight traveling is being executed. As shown in FIG. 13, control is performed to perform lighting. When the automatic straight running is stopped, the running control unit 66 displays the automatic straight running display unit 32 that the automatic straight running is being stopped, that is, the automatic straight running is possible even before the start of the automatic straight running. It is controlled to display in a display state indicating that, for example, to blink. Further, when the automatic straight running is finished, the traveling control unit 66 controls the automatic straight traveling display unit 32 to display in a display state indicating that the automatic straight traveling is finished, for example, to turn off the light.

Next, an operation example of reference line selection and automatic traveling in the combine harvester 1 of this embodiment will be described with reference to the flowchart of FIG. 16 . Note that the harvesting operation of the combine 1 is performed in an uncut area of the field as necessary, but the description thereof will be omitted below.

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

The reference line selection control unit 60 first determines whether the comparison angle between the reference lines of the plurality of reference line setting units 55, that is, the comparison angle formed by the first reference line L1 and the second reference line L2, reaches a predetermined angle threshold value. It is determined whether or not the above is satisfied (step S2).

For example, in the example of the first reference line L1 and the second reference line L2 shown in FIG. 3, assuming a state in which the first reference line L1 and the second reference line L2 intersect as shown in FIG. A comparison angle D formed by the reference line L1 and the second reference line L2 is equal to or greater than the angle threshold (step S2: Yes). At this time, the reference line selection control unit 60 selects a reference line having a smaller evaluation angle based on the evaluation angles E1 and E2 formed by the first reference line L1 and the second reference line L2, respectively, and the traveling direction of the combine harvester 1. , is selected as a reference line for automatic driving (step S3). In the example shown in FIG. 3, the evaluation angle E1 (see FIG. 14) of the first reference line L1 with respect to the traveling direction of the combine harvester 1 is greater than the evaluation angle E2 (see FIG. 14) of the second reference line L2 with respect to the traveling direction of the combine harvester 1. is smaller, the evaluation value of the first reference line L1 becomes higher than the evaluation value of the second reference line L2, and the reference line selection control unit 60 selects the first reference line L1 as the reference line for automatic driving. .

On the other hand, in the example of the first reference line L1 and the second reference line L2 shown in FIG. 4, when it is assumed that the first reference line L1 and the second reference line L2 intersect as shown in FIG. A comparison angle D formed by the reference line L1 and the second reference line L2 is less than the angle threshold (step S3: No). At this time, the reference line selection control unit 60 controls the evaluation angles E1 and E2 formed by the traveling direction of the combine harvester 1 and the first reference line L1 and the second reference line L2, and the first reference line L1 and the second reference line Based on the evaluation distance between each of L2 and the own vehicle position of the combine harvester 1, the reference line with the smaller evaluation angle and the shorter evaluation distance is selected as the reference line for automatic driving (step S4). In the example shown in FIG. 4, the evaluation angle E1 (see FIG. 15) of the first reference line L1 with respect to the traveling direction of the combine harvester 1 is greater than the evaluation angle E2 (see FIG. 15) of the second reference line L2 with respect to the traveling direction of the combine harvester 1. is small, but the evaluation distance from the combine harvester 1 to the first reference line L1 is longer than the evaluation distance from the combine harvester 1 to the second reference line L2. It is not possible to select a reference line for Therefore, the reference line selection control unit 60 selects a reference line to be automatically traveled based on the evaluation values including the evaluation angle and the evaluation distance of each of the first reference line L1 and the second reference line L2.

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

Then, the travel control unit 66 controls the travel unit 2 and the reaping unit 3 so as to automatically travel along the straight route of the automatic travel route created by the route creation unit 64 and perform automatic straight travel for automatic reaping ( step S6).

As described above, according to the present embodiment, the combine 1, which is an example of a work vehicle, includes the control device 50. The control device 50 includes the reference line selection control section 60, the start point setting control section 61, the end point setting control section 62 , a reference line setting control unit 63 , and a travel control unit 66 . The starting point setting control section 61 sets the starting point of the reference line, and the end point setting control section 62 sets the ending point of the reference line. The reference line setting control unit 63 sets a reference line based on the start point set by the start point setting control unit 61 and the end point set by the end point setting control unit 62, and can set a plurality of reference lines. The reference line selection control unit 60 selects a reference line for automatic travel from a plurality of reference lines. The travel control unit 66 automatically travels based on the selected reference line. Then, the reference line selection control unit 60 selects the automatic traveling object based on at least one of the angle of the traveling direction of the combine harvester 1 with respect to each of the plurality of reference lines and the distance of the combine harvester 1 with respect to each of the plurality of reference lines. Select the reference line of

In other words, in the present invention, the automatic traveling method for a work vehicle such as a combine harvester 1 that automatically travels based on a set reference line includes a starting point setting step of setting the starting point of the reference line, and setting the end point of the reference line. a reference line setting step for setting a reference line based on the end point setting step, the start point set in the start point setting step, and the end point set in the end point setting step, and allowing a plurality of reference lines to be set; a selecting step of selecting a reference line to be automatically driven from the reference lines; and an automatic driving step of automatically driving based on the selected reference line, wherein the selecting step includes combining for each of the plurality of reference lines. A reference line to be automatically traveled is selected based on at least one of the angle of the traveling direction of 1 and the distance of the combine harvester 1 with respect to each of the plurality of reference lines.

As a result, when a plurality of reference lines are set in the field, the combine 1 has the angle of the traveling direction of the combine 1 with respect to each of the plurality of reference lines and the distance of the combine 1 with respect to each of the plurality of reference lines. By selecting the reference line for automatic driving based on at least one of them, the appropriate reference line can be automatically selected according to the shape of the field and the work situation, etc., without imposing a burden on the worker. It can be applied to automatic straight traveling and work can be done. Therefore, it is possible to appropriately select a reference line for automatic straight running from a plurality of reference lines, thereby improving workability.

In the combine 1 of the present embodiment, the reference line selection control unit 60 determines the angle of the traveling direction of the combine 1 with respect to each of the plurality of reference lines when the mutual angle of the plurality of reference lines is equal to or greater than a predetermined angle threshold. , the reference line for automatic driving is selected.

As a result, when the mutual angle of the plurality of reference lines is equal to or greater than the angle threshold, the straight traveling direction of the automatic straight traveling based on each reference line is greatly different. By judging, it is possible to select a reference line in the straight direction that is closer to the traveling direction of the combine harvester 1 . For example, when forming a middle division in a field, even if the combine 1 is positioned closer to another reference line than the reference line in the same direction as the middle division, the traveling direction of the combine 1 is set in the same direction as the middle division. By setting the direction, it is possible to select the reference line in the same direction as the middle division. Therefore, a more appropriate reference line can be selected, and automatic straight traveling can be performed based on the reference line, thereby improving workability.

Further, in the combine 1 of the present embodiment, the reference line selection control unit 60 determines the traveling direction of the combine 1 with respect to each of the plurality of reference lines when the mutual angle of the plurality of reference lines is less than a predetermined angle threshold. and the distance of the combine harvester 1 to each of the plurality of reference lines, the reference line to be automatically traveled is selected.

As a result, when the mutual angles of the plurality of reference lines are less than the angle threshold, the straight directions of the automatic straight traveling based on the respective reference lines are similar. In addition, by determining the distance between the combine harvester 1 and each reference line, the reference line can be selected according to the situation of the combine harvester 1 . Therefore, a more appropriate reference line can be selected, and automatic straight traveling can be performed based on the reference line, thereby improving workability.

In the above-described embodiment, the combine 1 is controlled by the reference line selection control unit 60 according to whether or not the mutual angle of the plurality of reference lines is equal to or greater than the angle threshold. and the distance of the combine 1 with respect to each reference line, and based on the determination result, the first selection means is applied to select the reference line to be automatically traveled. Not limited. For example, in another embodiment, in the combine 1, in addition to the first selection means, the reference line selection control unit 60 determines whether the distance (comparative distance) between the plurality of reference lines is equal to or greater than a predetermined distance threshold. Depending on whether or not, the distance of the combine harvester 1 to each reference line may be determined, and a second selection means may be applied to select the reference line for automatic travel based on the determination result. For example, the combine 1 may have a distance threshold set in advance, or may be arbitrarily settable according to the operator's operation.

Specifically, as second selection means, the reference line selection control unit 60 determines whether or not the comparative distance between the reference lines of the plurality of reference line setting units 55 is equal to or greater than the distance threshold. Then, if the comparison distance is equal to or greater than the distance threshold, the reference line selection control unit 60 determines the distance from the combine harvester 1 to each of the plurality of reference lines (that is, the evaluation distance) regardless of the evaluation angle of each reference line. to select the reference line for automatic driving. For example, the reference line selection control unit 60 selects a reference line with a shorter evaluation distance as a reference line for automatic travel. At this time, the reference line selection control unit 60 uses the evaluation value conversion means to convert the evaluation distance of each reference line into an evaluation value, and selects the reference line with the higher evaluation value as the reference line for automatic driving. .

The reference line selection control unit 60 preferably performs the second selection before performing the first selection, and performs the first selection when the comparison distance is less than the distance threshold in the second selection. . For example, an operation example of reference line selection and automatic travel in the combine harvester 1 of another embodiment to which the second selection means is added will be described with reference to the flowchart of FIG. 17 . Description of the same operations as those in the flowchart of FIG. 16 will be omitted.

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

The reference line selection control unit 60 first determines that the comparison distance between the reference lines of the plurality of reference line setting units 55, that is, the comparison distance between the first reference line L1 and the second reference line L2 is a predetermined distance. It is determined whether or not it is equal to or greater than the threshold (step S12). Here, when the comparative distance between the first reference line L1 and the second reference line L2 is equal to or greater than the distance threshold (step S12: Yes), the reference line selection control unit 60 moves the combine 1 from the position of the own vehicle to the first distance. Based on the evaluation distances to each of the reference line L1 and the second reference line L2, the reference line with the shorter evaluation distance is selected as the reference line for automatic travel (step S13).

On the other hand, if the comparative distance between the first reference line L1 and the second reference line L2 is less than the distance threshold (step S12: No), the process proceeds to step S14 corresponding to step S2 in the flowchart of FIG. The first selection means as in the embodiment is performed, that is, steps S14, S15, and S16 corresponding to steps S2, S3, and S4 in the flowchart of FIG. 14 are performed.

Then, the route creation unit 64 creates an automatic travel route based on the reference line of the reference line setting unit 55 selected by the reference line selection control unit 60 (step S17). Automatic straight traveling is performed to automatically reap while automatically traveling along the straight traveling route of the created automatic traveling route (step S18).

As described above, according to another embodiment, when the mutual distance between a plurality of reference lines is equal to or greater than the distance threshold, it is desired to perform automatic straight traveling in a different straight traveling direction for each region near each reference line. Sometimes, by determining the distance between the combine 1 and each reference line, the reference line closer to the combine 1 can be selected. Therefore, a more appropriate reference line can be selected, and automatic straight traveling can be performed based on the reference line, thereby improving workability.

In the above-described embodiment, the combine 1 is controlled by the reference line selection control unit 60 to determine the angle of the traveling direction of the combine 1 and the combine Although an example of determining a distance of 1 and selecting a reference line for automatic driving based on the determination result has been described, the present invention is not limited to this example. For example, in another embodiment, in the combine harvester 1, the reference line selection control unit 60 selects not only a plurality of reference lines in the first selection means or the second selection means, but also The angle of the direction of travel of the combine harvester 1 and the distance of the combine harvester 1 may be determined with respect to the straight route (already traveled route), and the reference line for automatic travel may be selected based on the determination result.

Specifically, as a premise, when the combine 1 automatically travels straight by the travel control unit 66 according to the straight travel route of the automatic travel route set based on the reference line, the control device 50 of the combine 1 (for example, the reference line The setting control unit 63 or the travel control unit 66) stores the straight route in the storage unit 51 as a traveled route. That is, the control device 50 implements a storage step of storing the straight route that has already been traveled as a traveled route in the automatic travel method according to the present invention. When storing the traveled route, the control device 50 preferably stores the traveled route in association with the reference line that is the base of the straight route corresponding to the traveled route. It is preferable to store the route already traveled.

For example, as shown in FIG. 18, when the combine 1 automatically travels straight along the straight routes M1 to M4 based on the first reference line L1, the control device 50 sets the straight routes M1 to M4 as the traveled route as the first route. It is stored in association with the reference line L1. Further, when the combine 1 automatically travels straight along the straight routes N1 to N3 based on the second reference line L2, the control device 50 associates the straight routes N1 to N3 with the second reference line L2 as traveled routes. Remember.

After that, when the reference line is selected by the first selection means or the second selection means, the reference line selection control section 60 controls the progress of the combine harvester 1 with respect to each of the plurality of reference lines of the plurality of reference line setting sections 55 and the traveled route. A reference line to be automatically traveled is selected based on at least one of the angle of the direction and the distance of the combine 1 with respect to each of the plurality of reference lines and traveled routes. In other words, the reference line selection control unit 60 uses not only the plurality of reference lines but also the traveled route as targets for determining the angle of the traveling direction of the combine harvester 1 and the distance of the combine harvester 1 . It should be noted that the combine 1 may arbitrarily set whether or not to use the traveled route as a target for determining the angle of the traveling direction of the combine 1 and the distance of the combine 1 according to the operation of the operator. .

Further, in this embodiment, the control device 50 of the combine harvester 1 stores the straight traveling route (traveled route) already automatically traveling straight ahead in association with the reference line that is the basis of the straight traveling route. If there are multiple already traveled routes on which automatic straight travel has already been performed on the line, only the traveled route that is located on the outermost side (the farthest side) in the direction of intersection with the reference line is stored. , the traveled route located between (inside) the reference line and the outermost traveled route is deleted. In other words, the control device 50 stores only the two outermost traveled routes in the left-right direction as viewed from each reference line. For example, when a plurality of straight paths are arranged while being separated from the reference line in the intersecting direction, when the combine 1 automatically travels straight on each straight path while gradually separating from the reference line, the control device 50: Every time automatic straight travel is performed on each straight route, the straight route is updated as the outermost traveled route with respect to the reference line. Therefore, as shown in FIG. 19, the control device 50 stores the two outermost traveled routes Ma and Mb with respect to the first reference line L1, and the two outermost routes with respect to the second reference line L2. Book traveled routes Na and Nb can be stored.

Alternatively, in this embodiment, the reference line selection control unit 60 selects a reference line (arbitrary reference line) to be automatically traveled according to the selection operation of the reference line operation unit 33 of the automatic straight operation device 30, and the arbitrary reference line is selected. When the travel control unit 66 automatically travels straight along the straight travel route of the automatic travel route set based on the line, the control device 50 of the combine harvester 1 sets the straight travel route (traveled route) to the arbitrary reference line. are associated with and stored. After that, when the reference line is selected by the first selection means or the second selection means, the reference line selection control section 60 selects the traveled route corresponding to the plurality of reference lines of the plurality of reference line setting sections 55 and the arbitrary reference line. A reference line to be automatically driven is selected based on at least one of the angle of the direction of travel of the combine harvester 1 relative to each and the distance of the combine harvester 1 relative to each of the traveled routes corresponding to the plurality of reference lines and the arbitrary reference line. do.

For example, as shown in FIG. 20 , when a first reference line L1 and a second reference line L2 are set in the field H, the reference line selection control unit 60 changes to the first reference line according to the selection operation of the reference line operation unit 33. When the first reference line L1 is selected as an arbitrary reference line and the traveling control unit 66 automatically travels straight along the straight route Mc based on the first reference line L1, the control device 50 regards the straight route Mc as a traveled route. , is stored in association with the first reference line L1. After that, the reference line selection control unit 60 controls the advance of the combine harvester 1 on each of the first reference line L1, the second reference line L2, and the straight route Mc, which is the traveled route corresponding to the first reference line L1, which is an arbitrary reference line. A reference line for automatic travel is selected based on at least one of the angle of direction and the distance of the combine harvester 1 to each of the first reference line L1, the second reference line L2, and the straight path Mc.

As described above, according to another embodiment, not only the reference line set by the operator, but also the already traveled route based on the reference line can be used as the reference line for automatic straight traveling. A more appropriate reference line can be automatically selected and applied to automatic straight-ahead traveling according to the situation of work and work.

In still another embodiment, when the combine 1 automatically travels straight along a straight route set based on the reference line, the automatic straight travel of the straight route ends at an end position different from that of the straight route. In this case, the control device 50 of the combine harvester 1 may add, as a reference line (additional reference line), a straight line connecting the start position of automatic straight travel on the straight route and the different end position described above. After that, when the reference line selection control unit 60 selects a reference line in the first selection means or the second selection means, the traveling direction of the combine harvester 1 relative to the plurality of reference lines of the plurality of reference line setting units 55 and the additional reference line is determined. A reference line to be automatically driven is selected based on at least one of the angle and the distance of the combine 1 to the plurality of reference lines and the additional reference line.

The combine 1 can change the position of the combine 1 in the lateral direction of the machine body in response to a predetermined route shift operation while the combine 1 is automatically traveling straight on the straight route. It is possible to move from a straight path to a parallel shift path by performing a shift travel in which the vehicle is obliquely moved forward left or forward right. In this case, the combine 1 starts automatic straight travel at the start position on the straight travel route and ends automatic straight travel at the end position of the shift route.

Specifically, as shown in FIG. 21, when the first reference line L1 and the second reference line L2 are set in the field H, the combine 1 automatically follows the straight route Md based on the first reference line L1. While traveling straight, the vehicle may shift traveling in response to a predetermined route shift operation and move from the straight route Md to the shift route R that is translated. In this case, the control device 50 creates an additional reference line La (in FIG. 21, indicated by a dashed line) and stored in the storage unit 51 . After that, the reference line selection control unit 60 determines the angle of the traveling direction of the combine harvester 1 with respect to the first reference line L1, the second reference line L2, and the additional reference line La, the first reference line L1, the second reference line L2, and the additional reference line. A reference line to be automatically driven is selected based on at least one of the distance of the combine 1 to each of the lines La.

It should be noted that the combine 1 may be arbitrarily set whether or not to use the additional reference line as a target for determining the angle of the traveling direction of the combine 1 and the distance of the combine 1 according to the operation of the operator. . Further, the combine 1 may delete the original reference line when adding an additional reference line based on the shift route corresponding to the route shift operation to the straight route based on the original reference line, or Whether or not to erase may be arbitrarily set according to the operator's operation.

As described above, according to another embodiment, not only the reference line set by the operator but also the additional reference line based on the shift route corresponding to the route shift operation can be used as the reference line for automatic straight travel. Therefore, it is possible to automatically select a more appropriate reference line according to the shape of the field, the situation of the work, etc., and apply it to the automatic straight traveling to perform the work.

In the above-described other embodiments, the case where the combine 1 ends automatic travel at an end position different from the straight route due to the route shift operation has been described. Additional reference lines may also be added in the same manner.

In the above-described embodiment, the combine 1 has two reference line setting units 55 (reference line setting unit 55a and reference line setting unit 55b) as a plurality of reference line setting units 55, and two reference lines (second Although an example in which one reference line L1 and a second reference line L2) can be set has been described, the present invention is not limited to this example. For example, in another example, the combine 1 may be capable of setting three or more reference lines, and may have three or more reference line setting units 55 corresponding to the three or more reference lines, respectively.

Even in this case, the reference line selection control unit 60 compares the comparison angle formed by the reference lines of the plurality of reference line setting units 55 with a predetermined angle threshold. Then, when the comparison angle between the plurality of reference lines is equal to or greater than the angle threshold, the reference line selection control unit 60 determines the evaluation angle formed by each of the plurality of reference lines and the extension line extending in the traveling direction of the combine harvester 1. Based on this, the reference line with the smaller evaluation angle is selected as the reference line for automatic driving. Further, when the comparison angle between the plurality of reference lines is less than the angle threshold, the reference line selection control unit 60 determines the evaluation angle formed by each of the plurality of reference lines and the extension line extending in the traveling direction of the combine harvester 1, And, based on the evaluated distance between each of the plurality of reference lines and the position of the own vehicle of the combine harvester 1, the reference line to be automatically traveled is selected.

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

At this time, the reference line selection control unit 60 compares the evaluation value of one reference line with the evaluation value of another reference line, determines the magnitude relationship of the evaluation values of each reference line, and uses the determination result. Based on this, the reference line with the highest evaluation value can be determined by repeating the determination of the magnitude relationship of the evaluation value of each reference line.

Specifically, as shown in FIG. 22 and FIG. 23, the combine 1, when the first reference line L1, the second reference line L2 and the third reference line L3 are set in the field H, the reference line First, the selection control unit 60 determines the comparison angle between each of the plurality of reference lines, that is, the comparison angle between the first reference line L1 and the second reference line L2, the second reference line L2 and the third reference line L3. is equal to or greater than a predetermined angle threshold.

As shown in FIG. 22, the comparison angle between the first reference line L1 and the second reference line L2, the comparison angle between the second reference line L2 and the third reference line L3, and the comparison between the third reference line L3 and the first reference line L1 If the angle is equal to or greater than the angle threshold, the reference line selection control unit 60 determines the evaluation angle formed by each of the first reference line L1, the second reference line L2, and the third reference line L3 and the traveling direction of the combine harvester 1. , the reference line with the smaller evaluation angle is selected as the reference line for automatic driving. In the example shown in FIG. 22, the evaluation angle of the first reference line L1 with respect to the traveling direction of the combine harvester 1 is smaller than the evaluation angle of the second reference line L2 and the evaluation angle of the third reference line L3 with respect to the traveling direction of the combine harvester 1. , the reference line selection control unit 60 selects the first reference line L1 as the reference line to be automatically traveled.

On the other hand, as shown in FIG. 23, when at least one comparison angle, for example, the comparison angle of the first reference line L1 and the second reference line L2 is less than the angle threshold, the reference line selection control unit 60 selects the first reference The evaluation angle formed by each of the line L1, the second reference line L2 and the third reference line L3 and the traveling direction of the combine harvester 1, and each of the first reference line L1, the second reference line L2 and the third reference line L3 and the combine harvester Based on the evaluation distance from one own vehicle position, the reference line with the smaller evaluation angle and the smaller evaluation distance is selected as the reference line for automatic driving. At this time, the reference line selection control unit 60 compares the evaluation values including the evaluation angles and evaluation distances of the first reference line L1, the second reference line L2, and the third reference line L3.

For example, the reference line selection control unit 60 sets the evaluation value of the first reference line L1 and the evaluation value of the second reference line L2 to the reference line having the smallest evaluation angle with respect to the traveling direction of the combine harvester 1, for example, the first reference line L1. Also, the evaluation value of the first reference line L1 and the evaluation value of the third reference line L3 are compared. For example, when the evaluation value of the second reference line L2 is higher than the evaluation value of the first reference line L1 and the evaluation value of the first reference line L1 is higher than the evaluation value of the third reference line L3, the second reference Since it can be determined that the line L2 has the highest evaluation value, the reference line selection control unit 60 selects the second reference line L2 as the reference line for automatic travel. On the other hand, when the evaluation value of the second reference line L2 is higher than the evaluation value of the first reference line L1 and the evaluation value of the third reference line L3 is higher than the evaluation value of the first reference line L1, the second reference Since it cannot be determined which of the evaluation value of the line L2 and the evaluation value of the third reference line L3 is higher, the reference line selection control unit 60 selects the evaluation value of the second reference line L2 and the evaluation value of the third reference line L3. Compare with When the evaluation value of the third reference line L3 is higher than the evaluation value of the second reference line L2, it can be determined that the evaluation value of the third reference line L3 is the highest. The third reference line L3 is selected as the reference line for automatic travel.

22 and 23 exemplify a state in which three reference lines L1, L2 and L3 are set in the field H, and the reference line selection control unit 60 controls the automatic travel object. Although the selection of the reference line has been described, the reference line selection control unit 60 can similarly select the reference line to be automatically traveled even when four or more reference lines are set in the field. .

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

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

It should be noted that the present invention can be modified as appropriate within a range that does not contradict the gist or idea of the invention that can be read from the scope of claims and the entire specification, and an automatic traveling method, work vehicle, and automatic traveling system that accompany such modifications. is also included in the technical idea of the present invention.

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

Claims (10)

An automatic traveling method for a work vehicle that automatically travels based on a set reference line,
a starting point setting step of setting the starting point of the reference line;
an end point setting step of setting the end point of the reference line;
a reference line setting step of setting a reference line based on the start point set in the start point setting step and the end point set in the end point setting step, and allowing a plurality of the reference lines to be set;
a selection step of selecting the reference line to be automatically driven from the plurality of reference lines;
and an automatic driving step of automatically driving based on the selected reference line,
In the selecting step, an automatic traveling target is selected based on at least one of an angle of the traveling direction of the work vehicle with respect to each of the plurality of reference lines and a distance of the work vehicle with respect to each of the plurality of reference lines. An automatic driving method, wherein the reference line is selected.
In the selecting step, when the mutual angle of the plurality of reference lines is equal to or greater than a predetermined angle threshold, the automatic traveling object is selected based on the angle of the traveling direction of the work vehicle with respect to each of the plurality of reference lines. 2. The automatic driving method according to claim 1, wherein the reference line is selected.
In the selecting step, when the mutual angle of the plurality of reference lines is less than a predetermined angle threshold value, the angle of the traveling direction of the work vehicle with respect to each of the plurality of reference lines, and the angle of the plurality of reference lines. 3. The automatic traveling method according to claim 1, wherein the reference line to be automatically traveled is selected based on both the distance of the work vehicle with respect to each.
In the selecting step, when the distance between the plurality of reference lines is equal to or greater than a predetermined distance threshold, the reference line to be automatically traveled is selected based on the distance of the work vehicle to each of the plurality of reference lines. 2. The automatic driving method according to claim 1, wherein
a storage step of storing the straight route as a traveled route when the vehicle automatically travels along the straight route set based on the reference line;
In the selecting step, of the angle of the traveling direction of the work vehicle with respect to each of the traveled route and the plurality of reference lines, and the distance of the work vehicle with respect to each of the traveled route and the plurality of reference lines, The automatic driving method according to any one of claims 1 to 4, wherein the reference line for automatic driving is selected based on at least one.
The storing step stores the outermost traveled route for each of the plurality of reference lines, and deletes the traveled route between the reference line and the outermost traveled route. 6. The automatic driving method according to claim 5.
The selection step selects the reference line to be automatically traveled according to the operation of the reference line operation unit and sets it as an arbitrary reference line,
In the storing step, when the vehicle automatically travels along a straight route set based on the arbitrary reference line, the straight route is stored as the traveled route;
In the selecting step, of the angle of the traveling direction of the work vehicle with respect to each of the traveled route and the plurality of reference lines, and the distance of the work vehicle with respect to each of the traveled route and the plurality of reference lines, 6. The automatic driving method according to claim 5, wherein the reference line for automatic driving is selected based on at least one.
When automatically traveling along a straight route set based on the reference line, if the work vehicle ends automatic traveling at an end position different from the straight route, the start position of the straight route and the different end position 8. The automatic driving method according to any one of claims 1 to 7, wherein a straight line connecting and is added as a reference line.
A work vehicle that automatically travels based on a set reference line,
a starting point setting control unit for setting the starting point of the reference line;
an end point setting control unit for setting the end point of the reference line;
a reference line setting control unit that sets a reference line based on the start point set by the start point setting control unit and the end point set by the end point setting control unit, and is capable of setting a plurality of the reference lines;
a reference line selection control unit that selects the reference line to be automatically driven from the plurality of reference lines;
A travel control unit that automatically travels based on the selected reference line,
The reference line selection control unit automatically selects the reference line based on at least one of an angle of the traveling direction of the work vehicle with respect to each of the plurality of reference lines and a distance of the work vehicle with respect to each of the plurality of reference lines. A work vehicle characterized by selecting the reference line to be traveled.
An automatic traveling system for a work vehicle that automatically travels based on a set reference line,
a starting point setting control unit for setting the starting point of the reference line;
an end point setting control unit for setting the end point of the reference line;
a reference line setting control unit that sets a reference line based on the start point set by the start point setting control unit and the end point set by the end point setting control unit, and is capable of setting a plurality of the reference lines;
a reference line selection control unit that selects the reference line to be automatically driven from the plurality of reference lines;
A travel control unit that automatically travels based on the selected reference line,
The reference line selection control unit automatically selects the reference line based on at least one of an angle of the traveling direction of the work vehicle with respect to each of the plurality of reference lines and a distance of the work vehicle with respect to each of the plurality of reference lines. An automatic driving system characterized by selecting the reference line to be driven.

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