JP7117980B2 - agricultural machine - Google Patents

Description

TECHNICAL FIELD The present invention relates to an agricultural work machine capable of automatically traveling.

As an agricultural working machine as described above, for example, one described in Patent Document 1 is already known. In harvesting work using this agricultural machine (“combine” in Patent Document 1), the operator manually operates the combine at the beginning of the harvesting work, and performs reaping travel around the outer circumference of the field.

The direction in which the agricultural implement should travel is recorded while traveling in this outer peripheral portion. Then, automatic traveling based on the recorded orientation is performed to reap and travel in an uncut area in the field.

Japanese Utility Model Laid-Open No. 2-107911

Patent document 1 does not describe in detail setting the target vehicle speed during automatic driving. Here, in the agricultural implement described in Patent Document 1, it is conceivable to provide a vehicle speed setting unit capable of setting an individual target vehicle speed for each state of the machine body during automatic travel.

In this case, if the vehicle speed is controlled based on the target vehicle speed set by the vehicle speed setting unit, the vehicle speed is controlled to the target vehicle speed corresponding to the state of the aircraft after the change when the state of the aircraft changes. It will happen.

However, when the state of the aircraft changes, if the target vehicle speed corresponding to the state of the aircraft before the change and the target vehicle speed corresponding to the state of the aircraft after the change differ relatively greatly, the vehicle speed tends to change suddenly. . As a result, it is assumed that an operator on board the agricultural working machine and an observer outside the agricultural working machine may feel uneasy.

SUMMARY OF THE INVENTION An object of the present invention is to provide an agricultural work machine that can avoid giving an uneasy feeling to an operator on board the agricultural work machine and an observer outside the agricultural work machine.

A feature of the present invention is an agricultural work machine capable of automatically traveling, comprising a vehicle speed setting unit capable of setting an individual target vehicle speed for each state of the machine body during automatic traveling, and a target vehicle speed set by the vehicle speed setting unit. a vehicle speed control unit for controlling a vehicle speed by means of a vehicle speed control unit, wherein the vehicle speed control unit asymptotically approaches the vehicle speed after the change, which is a target vehicle speed corresponding to the state of the aircraft after the change, when the state of the aircraft changes during automatic driving. and when the state of the machine body changes from the first state in which the vehicle travels in an unworked area to the second state in which it travels in an already-worked area, the vehicle speed control unit changes from the first state to the After the change to the second state, the vehicle speed control unit controls the vehicle speed to start asymptotically approaching the target vehicle speed corresponding to the second state, and when the state of the airframe changes from the second state to the first state, the vehicle speed control unit starts to make the vehicle speed asymptotically approach the target vehicle speed corresponding to the first state before the change from the second state to the first state, and before the change to the first state, the vehicle speed changes to the first state; To control to reach a corresponding target vehicle speed .

According to the present invention, when the state of the aircraft changes, the vehicle speed asymptotically approaches the post-change vehicle speed. Therefore, when the state of the aircraft changes, even if the target vehicle speed corresponding to the state of the aircraft before the change and the target vehicle speed corresponding to the state of the aircraft after the change differ relatively greatly, the vehicle speed suddenly changes. never do.

As a result, it is possible to realize an agricultural working machine that can avoid giving an uneasy feeling to an operator on board the agricultural working machine and an observer outside the agricultural working machine.

According to this configuration, the vehicle speed can be controlled to reach the post-change vehicle speed by the time the state of the fuselage changes by starting to asymptotically approach the vehicle speed to the post-change vehicle speed before the fuselage state changes. In addition, after the state of the aircraft changes, the vehicle speed can be controlled so that the vehicle speed is maintained until the time when the state of the aircraft changes by starting to asymptotically approach the vehicle speed after the change.

Therefore, according to the above configuration, vehicle speed control is performed so that the vehicle speed reaches the post-change vehicle speed before the state of the aircraft changes, and vehicle speed control is performed so that the vehicle speed is maintained until the state of the aircraft changes. It is possible to use them properly according to the situation.

According to this configuration, when the agricultural implement leaves the unworked area, the vehicle speed is maintained at the target vehicle speed corresponding to the first state until the agricultural implement leaves the unworked area. Further, when the agricultural implement enters the unworked area, the vehicle speed can be controlled so that the vehicle speed reaches the target vehicle speed corresponding to the first state by the time the agricultural implement enters the unworked area.

As a result, the vehicle speed when the agricultural implement is traveling in the unworked area is always the target vehicle speed corresponding to the first state. Therefore, it is possible to uniform the working speed in the unworked area.

Further, in the present invention, when the vehicle speed is lower than the post-change vehicle speed, the vehicle speed control unit changes the vehicle speed at a first rate of change to cause the vehicle speed to asymptotically approach the post-change vehicle speed. , the vehicle speed control unit preferably causes the vehicle speed to asymptotically approach the post-change vehicle speed by changing the vehicle speed at a second rate of change different from the first rate of change.

According to this configuration, it is possible to differentiate the rate of change in vehicle speed when accelerating with changes in the state of the aircraft and the rate of change in vehicle speed when decelerating with changes in the state of the aircraft.

Further, in the present invention, it is preferable that the rate of change in vehicle speed when the vehicle speed control unit causes the vehicle speed to asymptotically approach the post-change vehicle speed varies depending on the change pattern of the state of the aircraft.

According to this configuration, it is possible to realize an agricultural implement capable of changing the vehicle speed at an appropriate vehicle speed change rate according to the change pattern of the state of the machine body.

It is a left view of a combine. It is a figure which shows the go-around driving|running|working in an agricultural field. FIG. 4 shows a reaping run along a reaping run path; FIG. 4 shows a reaping run along a reaping run path; 3 is a block diagram showing the configuration of a control unit; FIG. It is a figure which shows the structure of a main transmission lever. FIG. 4 is a diagram showing a correspondence relationship between an operation position of a main shift lever and a working forward vehicle speed; It is a figure which shows the target vehicle speed setting screen displayed on the communication terminal. It is a figure which shows transition of the vehicle speed during automatic driving. It is a figure which shows transition of the vehicle speed during automatic driving.

A mode for carrying out the present invention will be described based on the drawings. In the following description, the direction of arrow F shown in FIGS. 1 and 6 is defined as "front" and the direction of arrow B is defined as "rear" unless otherwise specified. The direction of arrow U shown in FIG. 1 is defined as "up", and the direction of arrow D is defined as "down".

[Overall configuration of combine harvester]
As shown in FIG. 1, a normal combine harvester 1 (corresponding to the "agricultural machine" according to the present invention) includes a crawler type traveling device 11, an operation unit 12, a threshing device 13, a grain tank 14, a harvesting device H, A conveying device 16, a grain discharging device 18, a satellite positioning module 80, and an engine E are provided.

The travel device 11 is provided in the lower portion of the combine harvester 1 . Further, the travel device 11 is driven by power from the engine E. As shown in FIG. The combine 1 can be self-propelled by the travel device 11 .

The driving unit 12 , the threshing device 13 and the grain tank 14 are provided above the traveling device 11 . An operator who monitors the work of the combine harvester 1 can board the operation section 12 . Incidentally, the operator may monitor the work of the combine harvester 1 from outside the combine harvester 1 .

The grain discharging device 18 is provided above the grain tank 14 . Also, the satellite positioning module 80 is attached to the upper surface of the operating section 12 .

A harvesting device H is provided at the front of the combine 1 . The conveying device 16 is provided behind the harvesting device H. As shown in FIG. The harvesting device H also has a harvesting device 15 and a reel 17 .

The reaping device 15 reaps planted grain culms in a field. In addition, the reel 17 rakes in the planted culms to be harvested while being driven to rotate. With this configuration, the harvesting device H harvests the grain in the field. The combine 1 is capable of reaping travel in which the traveling device 11 travels while the reaping device 15 reaps planted grain stalks in a field.

The harvested culms harvested by the harvesting device 15 are conveyed to the threshing device 13 by the conveying device 16 . In the threshing device 13, harvested grain culms are threshed. Grains obtained by the threshing process are stored in the grain tank 14 . The grains stored in the grain tank 14 are discharged out of the machine by the grain discharging device 18 as required.

Further, as shown in FIG. 1 , the communication terminal 4 is arranged in the operating section 12 . The communication terminal 4 is configured to be able to display various information. In this embodiment, the communication terminal 4 is fixed to the operating section 12 . However, the present invention is not limited to this, and the communication terminal 4 may be configured to be detachable from the operation unit 12, or the communication terminal 4 may be positioned outside the combine harvester 1. .

Here, as shown in FIG. 2, the combine harvester 1 travels in a circular motion while harvesting grains in the outer peripheral area of the field, and then travels for reaping in the inner area of the field as illustrated in FIGS. It is configured to harvest the grain in the field by doing.

In the present embodiment, the circular travel shown in FIG. 2 is performed manually. In addition, reaping travel in the inner region shown in FIGS. 3 and 4 is performed by automatic travel.

Note that the present invention is not limited to this, and the circuit running shown in FIG. 2 may be performed by automatic running.

Moreover, as shown in FIG. The main shift lever 19 is manually operated. When the combine harvester 1 is manually traveling, the vehicle speed of the combine harvester 1 changes when the operator operates the main shift lever 19 . That is, when the combine harvester 1 is manually operated, the operator can change the vehicle speed of the combine harvester 1 by operating the main shift lever 19 .

The operator can change the rotation speed of the engine E by operating the communication terminal 4 .

Growth characteristics such as ease of shedding and lodging are different depending on the type of crop. Therefore, the appropriate working speed differs depending on the type of crop. If the operator operates the communication terminal 4 to set the rotational speed of the engine E to an appropriate rotational speed, the work can be performed at a working speed suitable for the type of crop.

[Structure related to control unit]
As shown in FIG. 5 , the combine 1 includes a hydrostatic continuously variable transmission 3 and a control section 20 . The hydrostatic continuously variable transmission 3 also has a hydraulic pump 31 and a hydraulic motor 32 .

Power output from the engine E is input to the hydrostatic continuously variable transmission 3 . Power is transmitted from the hydraulic pump 31 to the hydraulic motor 32 in the hydrostatic continuously variable transmission 3 . At this time, the power is changed between the hydraulic pump 31 and the hydraulic motor 32 . Then, the changed power is transmitted to the travel device 11 . As a result, the travel device 11 is driven.

The control unit 20 also includes a vehicle position calculation unit 21 , an area calculation unit 22 , a route calculation unit 23 and a travel control unit 24 .

As shown in FIG. 1, the satellite positioning module 80 receives GPS signals from satellites GS used in GPS (Global Positioning System). Then, as shown in FIG. 5, the satellite positioning module 80 sends positioning data indicating the position of the combine 1 to the position calculator 21 based on the received GPS signal.

The own vehicle position calculation unit 21 calculates the position coordinates of the combine harvester 1 over time based on the positioning data output from the satellite positioning module 80 . The calculated temporal positional coordinates of the combine harvester 1 are sent to the area calculation unit 22 and the travel control unit 24 .

Based on the temporal position coordinates of the combine harvester 1 received from the own vehicle position calculation unit 21, the area calculation unit 22 calculates the outer peripheral area SA and the work target area CA as shown in FIG.

More specifically, the area calculation unit 22 calculates the travel locus of the combine harvester 1 in the circular travel on the outer circumference side of the field based on the temporal position coordinates of the combine harvester 1 received from the own vehicle position calculation unit 21. . Then, based on the calculated travel locus of the combine 1, the area calculation unit 22 calculates an area on the outer peripheral side of the field where the combine 1 traveled around while harvesting the grain as an outer peripheral area SA. Further, the area calculation unit 22 calculates an area inside the agricultural field from the calculated outer peripheral area SA as the work target area CA.

For example, in FIG. 2, arrows indicate the traveling route of the combine 1 for traveling around the outer circumference of the field. In the example shown in FIG. 2, the combine 1 travels three rounds. Then, when the reaping travel along this travel route is completed, the field is in the state shown in FIG.

As shown in FIG. 3 , the area calculation unit 22 calculates an area on the outer peripheral side of the field where the combine harvester 1 traveled around while harvesting grain as an outer peripheral area SA. Further, the area calculation unit 22 calculates an area inside the agricultural field from the calculated outer peripheral area SA as the work target area CA.

Furthermore, based on the temporal position coordinates of the combine harvester 1 received from the own vehicle position calculation unit 21, the area calculation unit 22 calculates an uncut portion CA1 and an already cut portion CA2 in the work target area CA as shown in FIG. Calculate

More specifically, the area calculation unit 22 calculates the travel locus of the combine harvester 1 during reaping travel in the work target area CA based on the temporal position coordinates of the combine harvester 1 received from the own vehicle position calculation unit 21. . Based on the calculated traveling locus of the combine harvester 1, the area calculating unit 22 calculates an area in which the combine harvester 1 reaps and travels as an already harvested portion CA2. In addition, the area calculation unit 22 calculates a portion other than the cut portion CA2 in the work target area CA as the uncut portion CA1.

Then, as shown in FIG. 5 , the calculation result by the area calculation unit 22 is sent to the route calculation unit 23 .

Based on the calculation results received from the area calculation unit 22, the route calculation unit 23 calculates a reaping travel route LI, which is a travel route for reaping travel in the work target area CA, as shown in FIGS. . As shown in FIGS. 3 and 4, in the present embodiment, the reaping travel path LI is a plurality of mesh lines extending in the vertical and horizontal directions. Also, the plurality of mesh lines may not be straight, and may be curved.

As shown in FIG. 5 , the reaping travel route LI calculated by the route calculation unit 23 is sent to the travel control unit 24 .

The travel control unit 24 is configured to be able to control the travel device 11 . Then, the travel control unit 24 controls the automatic travel of the combine harvester 1 based on the position coordinates of the combine harvester 1 received from the own vehicle position calculation unit 21 and the reaping travel route LI received from the route calculation unit 23 . More specifically, as shown in FIGS. 3 and 4, the travel control unit 24 controls travel of the combine harvester 1 so that reaping travel is performed by automatic travel along the reaping travel route LI.

Further, based on the calculation result received from the area calculation unit 22, the route calculation unit 23 calculates a leaving/returning route LW, which is a traveling route for non-reaping traveling in the outer peripheral area SA, as shown in FIGS. calculate. As shown in FIGS. 3 and 4, in the present embodiment, the leaving/returning path LW is a line that follows the outline of the field.

As shown in FIG. 5 , the exit/return route LW calculated by the route calculator 23 is sent to the travel controller 24 .

The travel control unit 24 controls automatic travel of the combine harvester 1 based on the position coordinates of the combine harvester 1 received from the own vehicle position calculation unit 21 and the leaving/return route LW received from the route calculation unit 23 . More specifically, as shown in FIG. 4, when the combine harvester 1 leaves the reaping travel route LI, the travel control unit 24 automatically travels along the detachment return route LW to perform non-reaping travel. , to control the running of the combine 1.

[Flow of harvesting work using a combine]
Below, as an example of the harvesting work by the combine harvester 1, the flow in the case where the combine harvester 1 performs the harvesting work in the field shown in FIG. 2 will be described.

First, the operator manually operates the combine harvester 1, and as shown in FIG. In the example shown in FIG. 2, the combine 1 travels three rounds. When this round trip is completed, the field will be in the state shown in FIG.

Based on the temporal positional coordinates of the combine harvester 1 received from the own vehicle position calculation unit 21, the area calculation unit 22 calculates the running locus of the combine harvester 1 in the circuit running shown in FIG. Then, as shown in FIG. 3, based on the calculated running locus of the combine harvester 1, the area calculating unit 22 determines the area on the outer peripheral side of the farm field where the combine harvester 1 traveled around while reaping planted grain culms as an outer peripheral area SA. Calculate as Further, the area calculation unit 22 calculates an area inside the agricultural field from the calculated outer peripheral area SA as the work target area CA.

Next, based on the calculation result received from the area calculation unit 22, the route calculation unit 23 sets the reaping travel route LI in the work target area CA as shown in FIG. At this time, the route calculation unit 23 also calculates the leaving/return route LW in the outer peripheral area SA based on the calculation result received from the area calculation unit 22 .

When the operator presses an automatic travel start button (not shown), automatic travel along the reaping travel route LI is started as shown in FIG. At this time, the travel control unit 24 controls travel of the combine harvester 1 so that reaping travel is performed by automatic travel along the reaping travel route LI.

When the automatic traveling in the work area CA is started, as shown in FIG. 3, the combine harvester 1 reaps and travels along the outline of the work area CA in the outer peripheral portion of the work area CA. . In the example shown in FIG. 3, the combine 1 makes one lap. At this time, the combine 1 repeats traveling along the reaping travel route LI and turning by an α-turn.

When this round trip is completed, the field will be in the state shown in FIG. Then, the combine 1 repeats traveling along the reaping travel path LI and turning by a U-turn, thereby performing reaping travel so as to cover the entire work target area CA.

Here, while the combine 1 is traveling for harvesting, the harvested grain culms harvested by the harvesting device 15 are conveyed to the threshing device 13 by the conveying device 16 as described above. Then, the harvested culms are threshed in the threshing device 13 .

In this embodiment, as shown in FIGS. 2 to 4, the transport vehicle CV is parked outside the field. A stop position PP is set in the vicinity of the transport vehicle CV in the outer peripheral area SA. As shown in FIGS. 3 and 4, the stop position PP is set at a position that overlaps the exit/return route LW.

The transport vehicle CV can collect and transport the grains discharged from the grain discharging device 18 by the combine harvester 1 . When discharging the grain, the combine 1 stops at the stop position PP, and the grain discharging device 18 discharges the grain to the transport vehicle CV.

When the combine 1 continues reaping travel and the amount of grain in the grain tank 14 reaches a predetermined amount, the travel control unit 24 causes the combine 1 to depart from the reaping travel route LI as shown in FIG. control running.

After the combine harvester 1 leaves the reaping travel route LI, the travel control unit 24 controls the combine harvester 1 to travel toward the leaving return route LW. Then, when the combine harvester 1 reaches the vicinity of the detachment return route LW, the travel control unit 24 controls the travel of the combine harvester 1 so that the non-reaping travel is performed by automatic travel along the detachment return route LW.

Then, the combine harvester 1 stops at the stop position PP, and the grain discharging device 18 discharges the grain to the transport vehicle CV.

[Configuration related to vehicle speed control]
As shown in FIG. 5, the travel control unit 24 has a vehicle speed setting unit 24a and a vehicle speed control unit 24b. The vehicle speed setting unit 24a can set an individual target vehicle speed for each state of the aircraft during automatic travel.

Here, the "state of the aircraft" is, for example, a working forward state, a turning state, a backward moving state, and a non-working state. In this embodiment, the working forward state is a state in which the combine 1 is moving forward while working. More specifically, the working forward state is a state in which the combine 1 is moving forward while reaping planted grain culms in a field.

Further, in the present embodiment, the turning state is a state in which the combine 1 is turning forward.

Moreover, in this embodiment, the reverse state is a state in which the combine harvester 1 is traveling rearward.

Moreover, in this embodiment, a non-working state is a state in which the combine 1 is moving forward without working. More specifically, the non-working state is a state in which the combine harvester 1 is moving forward without performing reaping work. For example, the state in which the combine 1 is traveling straight ahead to the grain discharge location and the state in which the combine 1 is traveling straight ahead to the refueling location are both non-working states.

However, the present invention is not limited to this. For example, the state in which the combine 1 is turning and traveling forward while working may be included in the forward work state instead of the turning state. Moreover, the state in which the combine 1 is turning rearward may not be included in the backward traveling state, but may be included in the turning state. Moreover, the state in which the combine 1 is turning to the front side without working may not be included in the turning state but may be included in the non-working state. Moreover, the state in which the combine 1 is running backward without working may be included in the non-working state instead of the backward traveling state.

When the operator operates the main shift lever 19 while the combine 1 is automatically traveling, a signal corresponding to the operation is sent from the main shift lever 19 to the vehicle speed setting section 24a, as shown in FIG. Then, the vehicle speed setting unit 24a sets the work forward vehicle speed based on this signal. The work forward vehicle speed is the target vehicle speed in the work forward state during automatic travel.

That is, the vehicle speed setting unit 24a can set the work forward vehicle speed, which is the target vehicle speed in the work forward state during automatic travel. Further, during automatic travel, the vehicle speed setting unit 24a sets the working forward vehicle speed in accordance with the manual operation of the main shift lever 19. FIG.

More specifically, as shown in FIG. 6, the main shift lever 19 is configured to be steplessly swingable from the neutral position QN to the front limit position Q1. Then, as shown in FIG. 7, the vehicle speed setting unit 24a sets the working forward vehicle speed steplessly in accordance with the operating position of the main shift lever 19. FIG.

As shown in FIG. 7, when the operating position of the main shift lever 19 is the neutral position QN, the working forward vehicle speed set by the vehicle speed setting section 24a is 0 (zero). Further, when the operating position of the main shift lever 19 is the first operating position Q10, the work forward vehicle speed set by the vehicle speed setting section 24a is V10. Further, when the operating position of the main shift lever 19 is the second operating position Q11, the work forward vehicle speed set by the vehicle speed setting section 24a is V11. Further, when the operating position of the main shift lever 19 is the front limit position Q1, the work forward vehicle speed set by the vehicle speed setting section 24a is V1.

As shown in FIG. 7, the forward operation vehicle speed set by the vehicle speed setting unit 24a increases as the operating position of the main shift lever 19 moves forward.

Incidentally, as shown in FIG. 6, the first operation position Q10 is an operation position on the front side of the neutral position QN. Also, the second operating position Q11 is an operating position on the front side of the first operating position Q10.

Also, as shown in FIG. 7, V10 is lower than V11. Also, V11 is lower than V1.

Further, as shown in FIG. 8, the communication terminal 4 has a touch panel 4a that is manually operated. The touch panel 4a can display a target vehicle speed setting screen shown in FIG.

On the target vehicle speed setting screen, a turn setting portion 5, a reverse setting portion 6, and a non-work setting portion 7 are displayed.
The turning setting section 5 includes a first left button L1 and a first right button R1. The reverse setting section 6 includes a second left button L2 and a second right button R2. The non-work setting portion 7 includes a third left button L3 and a third right button R3.

When the operator presses the first left button L1 or the first right button R1, the turn setting unit 5 changes the state between the state in which the first left button L1 is pressed and the state in which the first right button R1 is pressed. is operated in two stages. Similarly, the reverse setting section 6 and the non-work setting section 7 are also operated in two stages.

Thus, when the target vehicle speed setting screen is displayed, the touch panel 4a of the communication terminal 4 can be operated in multiple steps.

When the operator operates the touch panel 4a while the combine harvester 1 is stopped, a signal corresponding to the operation is sent from the communication terminal 4 to the vehicle speed setting unit 24a, as shown in FIG. Based on this signal, the vehicle speed setting unit 24a sets the target vehicle speeds for the turning state, reverse driving state, and non-working state during automatic driving.

That is, the vehicle speed setting unit 24a sets the target vehicle speed in a state other than the forward work state during automatic travel according to the manual operation of the communication terminal 4 while the vehicle is stopped. More specifically, the vehicle speed setting unit 24a sets the target vehicle speeds for the turning state, the reverse state, and the non-working state during automatic travel according to the manual operation of the communication terminal 4 while the vehicle is stopped.

Hereinafter, the target vehicle speed in the turning state during automatic driving is referred to as "turning vehicle speed". Further, the target vehicle speed in the reverse state during automatic driving is referred to as "reverse vehicle speed". Also, the target vehicle speed in the non-working state during automatic travel is referred to as "non-working vehicle speed".

As shown in FIG. 8, when the operator presses the first left button L1, the vehicle speed setting unit 24a sets the turning vehicle speed to V2. At this time, V2 is highlighted on the target vehicle speed setting screen.

Further, when the operator presses the first right button R1, the vehicle speed setting unit 24a sets the turning vehicle speed to V3. At this time, V3 is highlighted on the target vehicle speed setting screen.

Further, when the operator presses the second left button L2, the vehicle speed setting unit 24a sets the reverse vehicle speed to V4. At this time, V4 is highlighted on the target vehicle speed setting screen.

Further, when the operator presses the second right button R2, the vehicle speed setting unit 24a sets the reverse vehicle speed to V5. At this time, V5 is highlighted on the target vehicle speed setting screen.

Further, when the operator presses the third left button L3, the vehicle speed setting unit 24a sets the non-working vehicle speed to V6. At this time, V6 is highlighted on the target vehicle speed setting screen.

Further, when the operator presses the third right button R3, the vehicle speed setting unit 24a sets the non-working vehicle speed to V7. At this time, V7 is highlighted on the target vehicle speed setting screen.

That is, the vehicle speed setting unit 24a switches the turning vehicle speed between V2 and V3 according to the manual operation of the first left button L1 and the first right button R1.

Further, the vehicle speed setting unit 24a switches the reverse vehicle speed between V4 and V5 in accordance with the manual operation of the second left button L2 and the second right button R2.

Further, the vehicle speed setting unit 24a switches the non-working vehicle speed between V6 and V7 in accordance with the manual operation of the third left button L3 and the third right button R3.

In this manner, the vehicle speed setting unit 24a sets the target vehicle speed in a state other than the forward work state during automatic travel in a plurality of stages.

Note that V2 is lower than V3 in this embodiment. Also, V4 is lower than V5. Also, V6 is lower than V7. Also, V2, V5, and V6 are the same as each other, and all of them are higher than V11 and lower than V1. Also, V1, V3, and V7 are the same.

Then, as shown in FIG. 5, the work forward vehicle speed, turning vehicle speed, reverse vehicle speed, and non-work vehicle speed set by the vehicle speed setting unit 24a are sent to the vehicle speed control unit 24b.

Here, the hydraulic pump 31 in the hydrostatic continuously variable transmission 3 has a pump swash plate 31a. The gear ratio between the hydraulic pump 31 and the hydraulic motor 32 changes according to the swash plate angle of the pump swash plate 31a. When the gear ratio between the hydraulic pump 31 and the hydraulic motor 32 changes, the vehicle speed changes.

The vehicle speed control unit 24b controls the swash plate angle of the pump swash plate 31a based on the working forward vehicle speed, turning vehicle speed, reverse vehicle speed, and non-working vehicle speed received from the vehicle speed setting unit 24a. Thereby, the vehicle speed control unit 24b controls the vehicle speed.

That is, the vehicle speed control unit 24b controls the vehicle speed during automatic driving based on the target vehicle speed set by the vehicle speed setting unit 24a.

The vehicle speed control by the vehicle speed control unit 24b will be described below with reference to FIGS. 9 and 10, taking the automatic driving shown in FIGS. 3 and 4 as an example.

In the example shown in FIG. 3, the combine 1 enters the work target area CA from the position P1 in the field. The time at this time is assumed to be time t1. Then, the combine 1 travels for reaping along the reaping travel path LI, passes through positions P2, P3, and P4, and reaches position P5. Position P5 is located in outer peripheral area SA.

Then, the combine 1 travels backward from position P5, passes positions P6 and P7, and reaches position P8. Further, the combine 1 travels forward from position P8 and enters the work area CA again from position P9.

FIG. 9 shows transition of the vehicle speed of the combine harvester 1 after time t1 in the example shown in FIG. The times when the combine 1 reaches positions P2, P3, P4, P5, P6, P7, P8 and P9 are defined as times t2, t3, t4, t5, t6, t7, t8 and t9, respectively.

That is, in the example shown in FIGS. 3 and 9, the combine harvester 1 is in the forward work state from time t1 to time t4 and after time t9. Also, the combine harvester 1 is in the reverse state from time t5 to time t8.

Here, in the examples shown in FIGS. 3 and 9, it is assumed that the operating position of the main shift lever 19 is the first operating position Q10 at time t1. Then, at time t2, the operator operates the main shift lever 19 to the second operation position Q11. After that, the operating position of the main shift lever 19 is maintained at the second operating position Q11. Also, as shown in FIG. 8, the turning vehicle speed, reverse vehicle speed, and non-working vehicle speed are set to V2, V5, and V7, respectively.

As shown in FIG. 9, at time t1, the vehicle speed of the combine harvester 1 is V10. Then, at time t2, when the operator operates the main shift lever 19 to the second operation position Q11, the work forward vehicle speed changes from V10 to V11. At the same time, the vehicle speed of the combine 1 starts asymptotically from V10 to V11 under the control of the vehicle speed control section 24b. The vehicle speed change rate at this time is the first vehicle speed change rate g1.

At time t3, the vehicle speed of the combine 1 reaches V11. After that, the vehicle speed of the combine 1 is maintained at V11 until time t4.

At time t4, combine 1 reaches position P4. The position P4 is located at the end of the work area CA. Therefore, reaping by the combine 1 is finished at time t4. Then, in order to move backward from the position P5, the vehicle speed of the combine harvester 1 starts asymptotically from V11 to 0 (zero) under the control of the vehicle speed control section 24b. The vehicle speed change rate at this time is the second vehicle speed change rate g2.

Here, the second vehicle speed change rate g2 is a value different from the first vehicle speed change rate g1. More specifically, the second vehicle speed change rate g2 is greater than the first vehicle speed change rate g1.

Note that the vehicle speed change rate in this embodiment is the absolute value of the amount of change in vehicle speed per unit time. That is, the vehicle speed change rate in this embodiment is a positive value.

At time t5, the vehicle speed of the combine harvester 1 reaches 0 (zero) and the combine harvester 1 starts moving backward. The vehicle speed of the combine 1 starts asymptotically from 0 (zero) to V5 under the control of the vehicle speed control section 24b. The vehicle speed change rate at this time is the first vehicle speed change rate g1.

At time t6, the vehicle speed of the combine 1 reaches V5. Thereafter, the vehicle speed of the combine 1 is maintained at V5 until time t7.

At time t7, combine 1 reaches position P7. Then, in order to move forward from the position P8, the vehicle speed of the combine 1 starts asymptotically from V5 to 0 (zero) under the control of the vehicle speed control section 24b. The vehicle speed change rate at this time is the second vehicle speed change rate g2.

At time t8, the vehicle speed of the combine 1 reaches 0 (zero) and the combine 1 starts moving forward. The vehicle speed of the combine harvester 1 starts asymptotically from 0 (zero) to V11 under the control of the vehicle speed control section 24b. The vehicle speed change rate at this time is the first vehicle speed change rate g1.

At time t9, the combine 1 reaches position P9 and the vehicle speed of the combine 1 reaches V11. The position P9 is located at the end of the work area CA. That is, harvesting by the combine 1 resumes at time t9. After that, the vehicle speed of the combine harvester 1 is maintained at V11, and the reaping travel is continued.

Here, from time t1 to time t4, the combine harvester 1 is in the forward work state. Also, the combine harvester 1 is in the reverse state from time t5 to time t8. Also, at time t9, the combine 1 returns to the forward work state. That is, the state of the machine body of the combine harvester 1 changes from time t4 to time t5. The state of the combine 1 also changes between time t8 and time t9.

Between time t4 and time t6, the vehicle speed control unit 24b makes the vehicle speed asymptotic to the reverse vehicle speed. The reverse vehicle speed at this time is the target vehicle speed corresponding to the reverse state, which is the state of the aircraft after the change.

Further, from time t7 to time t9, the vehicle speed control unit 24b causes the vehicle speed to asymptotically approach the working forward vehicle speed. The forward work vehicle speed at this time is the target vehicle speed corresponding to the forward work state, which is the state of the machine body after the change.

In this manner, the vehicle speed control unit 24b causes the vehicle speed to asymptotically approach the post-change vehicle speed, which is the target vehicle speed corresponding to the state of the body after the change, when the state of the body changes during automatic travel. In the following, the target vehicle speed corresponding to the state of the body after the change is referred to as "post-change vehicle speed".

In the example shown in FIG. 4, the combine harvester 1 enters the uncut portion CA1 in the work target area CA from the position P10 in the field. The time at this time is assumed to be time t10. Then, the combine harvester 1 travels for reaping along the reaping travel path LI and reaches the position P11.

The combine 1 goes out of the uncut portion CA1 from the position P11 and makes a U-turn. Then, the combine 1 passes through positions P12 and P13 and enters the uncut portion CA1 again from position P14. The combine 1 travels for reaping along the reaping travel path LI from position P14 and reaches position P15.

The combine 1 exits the uncut portion CA1 from the position P15 and starts traveling toward the stop position PP for grain discharge. The combine 1 then passes through positions P16, P17 and P18 and reaches position P19.

The combine 1 performs non-reaping travel along the detachment return route LW from the position P19. The combine 1 then passes through positions P20, P21, P22, P23, and P24 and reaches the stop position PP.

FIG. 10 shows transition of the vehicle speed of the combine harvester 1 after time t10 in the example shown in FIG. The times when the combine harvester 1 reaches positions P11, P12, P13, P14, P15, P16, P17, P18, P19, P20, P21, P22, P23, and P24 are respectively times t11, t12, t13, t14, t15, t16, t17, t18, t19, t20, t21, t22, t23, t24.

That is, in the example shown in FIGS. 4 and 10, the combine harvester 1 is in the forward work state from time t10 to time t11 and from time t14 to time t15.

The combine harvester 1 is in a turning state from time t11 to time t14, from time t18 to time t19, and from time t22 to time t23.

The combine 1 is in a non-working state from time t15 to time t18, from time t19 to time t22, and after time t23.

Here, in the examples shown in FIGS. 4 and 10, the operating position of the main shift lever 19 is maintained at the second operating position Q11. Also, as shown in FIG. 8, the turning vehicle speed, reverse vehicle speed, and non-working vehicle speed are set to V2, V5, and V7, respectively.

As shown in FIG. 10, at time t10, the vehicle speed of the combine 1 is V11. The vehicle speed of the combine 1 is maintained at V11 until time t11.

At time t11, the combine 1 reaches position P11. The position P11 is located at the end of the uncut portion CA1. Therefore, reaping by the combine 1 is finished at time t11. Then, the combine 1 starts a U-turn. The vehicle speed of the combine 1 starts asymptotically from V11 to V2 under the control of the vehicle speed control section 24b. The vehicle speed change rate at this time is the first vehicle speed change rate g1.

At time t12, the vehicle speed of the combine 1 reaches V2. Thereafter, the vehicle speed of the combine harvester 1 is maintained at V2 until time t13.

At time t13, the combine 1 reaches position P13. Then, in order to resume the reaping travel from position P14, the vehicle speed of the combine harvester 1 starts asymptotically from V2 to V11 under the control of the vehicle speed control section 24b. The vehicle speed change rate at this time is the second vehicle speed change rate g2.

At time t14, the vehicle speed of the combine harvester 1 reaches V11, and the combine harvester 1 resumes reaping travel. The vehicle speed of the combine harvester 1 is maintained at V11 until time t15.

At time t15, combine 1 reaches position P15. The position P15 is located at the end of the uncut portion CA1. Therefore, reaping by the combine 1 is once finished at time t15. Then, the combine 1 starts non-reaping travel. The vehicle speed of the combine 1 starts asymptotically from V11 to V7 under the control of the vehicle speed control section 24b. The vehicle speed change rate at this time is the third vehicle speed change rate g3.

At time t16, the vehicle speed of the combine 1 reaches V7. Thereafter, the vehicle speed of the combine harvester 1 is maintained at V7 until time t17.

At time t17, combine 1 reaches position P17. Then, in order to start turning from the position P18, the vehicle speed of the combine harvester 1 starts asymptotically from V7 to V2 under the control of the vehicle speed control section 24b. The vehicle speed change rate at this time is the fourth vehicle speed change rate g4.

At time t18, the vehicle speed of the combine 1 reaches V2 and the combine 1 starts turning. The vehicle speed of the combine harvester 1 is maintained at V2 until time t19.

At time t19, the combine 1 reaches position P19 and finishes turning. Then, the combine harvester 1 starts traveling along the leaving/returning route LW. The vehicle speed of the combine 1 starts asymptotically from V2 to V7 under the control of the vehicle speed control section 24b. The vehicle speed change rate at this time is the fifth vehicle speed change rate g5.

At time t20, the vehicle speed of combine 1 reaches V7. Thereafter, the vehicle speed of the combine harvester 1 is maintained at V7 until time t21.

At time t21, the combine 1 reaches position P21. Then, in order to start turning from the position P22, the vehicle speed of the combine harvester 1 starts asymptotically from V7 to V2 under the control of the vehicle speed control section 24b. The vehicle speed change rate at this time is the fourth vehicle speed change rate g4.

At time t22, the vehicle speed of the combine 1 reaches V2 and the combine 1 starts turning. The vehicle speed of the combine harvester 1 is maintained at V2 until time t23.

At time t23, the combine 1 reaches position P23 and finishes turning. The vehicle speed of the combine 1 starts asymptotically from V2 to V7 under the control of the vehicle speed control section 24b. The vehicle speed change rate at this time is the fifth vehicle speed change rate g5.

At time t24, the vehicle speed of the combine 1 reaches V7. Thereafter, the vehicle speed of the combine harvester 1 is maintained at V7 and continues traveling toward the stop position PP.

The fourth vehicle speed change rate g4 is greater than the second vehicle speed change rate g2. Also, the second vehicle speed change rate g2 is greater than the third vehicle speed change rate g3. Also, the third vehicle speed change rate g3 is greater than the fifth vehicle speed change rate g5. Also, the fifth vehicle speed change rate g5 is greater than the first vehicle speed change rate g1.

Here, from time t10 to time t11, the combine harvester 1 is in the forward work state. Also, the combine harvester 1 is in a turning state from time t11 to time t14. That is, at time t11, the combine 1 changes from the work forward state to the turning state.

Then, at time t11, the vehicle speed control unit 24b begins to make the vehicle speed asymptotic to the turning vehicle speed. The turning vehicle speed at this time is the target vehicle speed corresponding to the turning state, which is the state of the body after the change.

In this way, the vehicle speed control unit 24b can start to make the vehicle speed asymptotic to the post-change vehicle speed after the state of the body changes during automatic travel. It should be noted that "after the state of the aircraft has changed" means after the state of the aircraft has changed. That is, "after the change in the state of the aircraft" includes the point in time when the state of the aircraft changes.

The combine harvester 1 is in the forward work state from time t14 to time t15. That is, at time t14, the combine harvester 1 changes from the turning state to the working forward state.

At time t13, which is before time t14, the vehicle speed control unit 24b begins to make the vehicle speed asymptotic to the work forward vehicle speed. The forward work vehicle speed at this time is the target vehicle speed corresponding to the forward work state, which is the state of the machine body after the change.

In this manner, the vehicle speed control unit 24b can start the vehicle speed to asymptotically approach the post-change vehicle speed before the state of the aircraft body changes during automatic travel.

[Regarding vehicle speed change rate]
As shown in FIG. 10, the vehicle speed control unit 24b changes the vehicle speed at a first vehicle speed change rate g1 when causing the vehicle speed to gradually approach V2 from V11. Further, when the vehicle speed is gradually approached from V11 to V7, the vehicle speed control unit 24b changes the vehicle speed at the third vehicle speed change rate g3. Further, when the vehicle speed is gradually approached from V2 to V7, the vehicle speed control unit 24b changes the vehicle speed at the fifth vehicle speed change rate g5.

In this manner, when the vehicle speed is lower than the post-change vehicle speed, the vehicle speed control unit 24b changes the vehicle speed at the first vehicle speed change rate g1, the third vehicle speed change rate g3, or the fifth vehicle speed change rate g5. It is configured to make the vehicle speed asymptotic to the vehicle speed. The first vehicle speed change rate g1, the third vehicle speed change rate g3, and the fifth vehicle speed change rate g5 all correspond to the "first change rate" according to the present invention.

Further, as shown in FIG. 10, the vehicle speed control unit 24b changes the vehicle speed at the second vehicle speed change rate g2 when causing the vehicle speed to gradually approach V11 from V2. Further, when the vehicle speed is gradually approached from V7 to V2, the vehicle speed control unit 24b changes the vehicle speed at a fourth vehicle speed change rate g4.

In this manner, when the vehicle speed is higher than the post-change vehicle speed, the vehicle speed control unit 24b changes the vehicle speed at the second vehicle speed change rate g2 or the fourth vehicle speed change rate g4 so that the vehicle speed asymptotically approaches the post-change vehicle speed. is configured to As described above, the second vehicle speed change rate g2 is different from any of the first vehicle speed change rate g1, the third vehicle speed change rate g3, and the fifth vehicle speed change rate g5. Also, the fourth vehicle speed change rate g4 is different from any of the first vehicle speed change rate g1, the third vehicle speed change rate g3, and the fifth vehicle speed change rate g5. Both the second vehicle speed change rate g2 and the fourth vehicle speed change rate g4 correspond to the "second change rate" according to the present invention.

As described above, the first vehicle speed change rate g1, the third vehicle speed change rate g3, and the fifth vehicle speed change rate g5 are all smaller than the second vehicle speed change rate g2 and are smaller than the fourth vehicle speed change rate g4. is also small. Therefore, when the combine 1 accelerates during automatic travel, the vehicle speed changes relatively gently. As a result, it is possible to avoid giving the operator a sense of uneasiness due to sudden acceleration.

Further, when the combine 1 decelerates during automatic travel, the vehicle speed changes relatively quickly. As a result, it is possible to complete the change of the vehicle speed in a short period of time during deceleration.

Further, as shown in FIGS. 4 and 10, the vehicle speed change rate when the vehicle speed control unit 24b causes the vehicle speed to asymptotically approach the post-change vehicle speed varies depending on the change pattern of the state of the aircraft.

More specifically, the vehicle speed control unit 24b is configured to change the vehicle speed at a first vehicle speed change rate g1 when the state of the machine body changes from the forward work state to the turning state.

Further, the vehicle speed control section 24b is configured to change the vehicle speed at the second vehicle speed change rate g2 when the state of the machine body changes from the turning state to the working forward state.

Further, the vehicle speed control unit 24b is configured to change the vehicle speed at the third vehicle speed change rate g3 when the state of the machine body changes from the working forward state to the non-working state.

Further, the vehicle speed control section 24b is configured to change the vehicle speed at a fourth vehicle speed change rate g4 when the state of the machine body changes from the non-working state to the turning state.

Further, the vehicle speed control section 24b is configured to change the vehicle speed at a fifth vehicle speed change rate g5 when the state of the machine body changes from the turning state to the non-working state.

As described above, the first vehicle speed change rate g1, the second vehicle speed change rate g2, the third vehicle speed change rate g3, the fourth vehicle speed change rate g4, and the fifth vehicle speed change rate g5 are different.

[Regarding the first state and the second state]
In the example shown in FIG. 4, the reaping work has not yet been performed on the unreaped portion CA1 before the reaping travel is started from the position P10. That is, the uncut portion CA1 is the unworked area AR1. In addition, the reaping work has been completed for the reaping portion CA2 and the outer peripheral area SA. That is, the already cut portion CA2 and the outer peripheral area SA are the already worked area AR2.

In the example shown in FIG. 4, the work advance state is a state of traveling in the non-work area AR1. Also, the turning state and the non-working state are states of traveling in the already-worked area AR2.

Hereinafter, the state of traveling in the unworked area AR1 is referred to as "first state". Also, the state of traveling in the already-worked area AR2 is referred to as a "second state". That is, in this embodiment, the work advance state is the first state. Also, the turning state, the reverse state, and the non-working state are the second states.

Here, when the state of the airframe changes from the first state to the second state, the vehicle speed control unit 24b causes the vehicle speed to asymptotically approach the target vehicle speed corresponding to the second state after the change from the first state to the second state. configured to get started. It should be noted that "after the change from the first state to the second state" means after the state of the aircraft changes from the first state to the second state. That is, "after the change from the first state to the second state" includes the point in time when the state of the aircraft changes from the first state to the second state.

In the examples shown in FIGS. 4 and 10, the state of the aircraft changes from the first state to the second state at time t11. Therefore, at this time, the vehicle speed begins to asymptotically approach the target vehicle speed corresponding to the second state at time t11 after the change from the first state to the second state. The "target vehicle speed corresponding to the second state" in this case is the turning vehicle speed.

Also at time t15, the state of the aircraft has changed from the first state to the second state. Therefore, at this time, the vehicle speed begins to asymptotically approach the target vehicle speed corresponding to the second state at time t15 after the change from the first state to the second state. The "target vehicle speed corresponding to the second state" in this case is the non-working vehicle speed.

Further, when the state of the airframe changes from the second state to the first state, the vehicle speed control unit 24b causes the vehicle speed to asymptotically approach the target vehicle speed corresponding to the first state before the change from the second state to the first state. configured to get started.

In the examples shown in FIGS. 4 and 10, the state of the aircraft changes from the second state to the first state at time t14. Therefore, at this time, the vehicle speed begins to asymptotically approach the target vehicle speed corresponding to the first state at time t13 before the change from the second state to the first state. The "target vehicle speed corresponding to the first state" in this case is the working forward vehicle speed.

With the configuration described above, when the state of the aircraft changes, the vehicle speed asymptotically approaches the post-change vehicle speed. Therefore, when the state of the aircraft changes, even if the target vehicle speed corresponding to the state of the aircraft before the change and the target vehicle speed corresponding to the state of the aircraft after the change differ relatively greatly, the vehicle speed suddenly changes. never do.

Thereby, the combine 1 which can avoid giving a feeling of uneasiness to the operator boarding the combine 1, or the monitor of the outside of the combine 1 is realizable.

It should be noted that the embodiment described above is merely an example, and the present invention is not limited to this, and can be modified as appropriate.

[Other embodiments]
(1) The travel device 11 may be of a wheel type or a semi-crawler type.

(2) In the above embodiment, the reaping travel path LI calculated by the path calculation unit 23 is a plurality of mesh lines extending in the vertical and horizontal directions. However, the present invention is not limited to this, and the reaping travel path LI calculated by the path calculation unit 23 may not be a plurality of mesh lines extending in the vertical and horizontal directions. For example, the reaping travel route LI calculated by the route calculator 23 may be a spiral travel route. Further, the reaping travel route LI does not have to be orthogonal to another reaping travel route LI. Further, the reaping travel route LI calculated by the route calculation unit 23 may be a plurality of parallel lines parallel to each other.

(3) In the above embodiment, the operator manually operates the combine harvester 1, and as shown in FIG. However, the present invention is not limited to this, and the combine 1 may be configured to automatically travel and perform reaping travel along the boundary line of the field in the outer peripheral portion of the field. Also, the number of turns at this time may be a number other than three. For example, the number of rounds at this time may be two rounds.

(4) Some or all of the vehicle position calculation unit 21, the area calculation unit 22, the route calculation unit 23, and the travel control unit 24 may be provided outside the combine harvester 1. 1 may be provided in a management server provided outside.

(5) The vehicle speed setting unit 24a may be configured to set the non-working vehicle speed according to the manual operation of the main shift lever 19. FIG.

(6) The vehicle speed setting section 24a may be configured to set the reverse vehicle speed according to the manual operation of the main shift lever 19 .

(7) The vehicle speed setting section 24a may be configured to set the turning vehicle speed according to the manual operation of the main shift lever 19 .

(8) The communication terminal 4 may not be provided.

(9) The main shift lever 19 may be configured to be operable in multiple stages. In this case, the vehicle speed setting unit 24a may be configured to set the work forward vehicle speed in a plurality of stages.

(10) The rate of change in vehicle speed when the vehicle speed control unit 24b causes the vehicle speed to asymptotically approach the post-change vehicle speed does not have to differ depending on the change pattern of the state of the aircraft. For example, the vehicle speed control section 24b changes from the non-working state to The vehicle speed may be changed at the first vehicle speed change rate g1 in both the case of changing to the turning state and the case of changing from the turning state to the non-working state.

(11) The vehicle speed control unit 24b changes the vehicle speed at the first vehicle speed change rate g1 in both cases when the vehicle speed is lower than the post-change vehicle speed and when the vehicle speed is higher than the post-change vehicle speed. It may be configured to make the vehicle speed asymptotic to the vehicle speed.

(12) When the state of the aircraft changes from the first state to the second state, the vehicle speed control unit 24b causes the vehicle speed to asymptotically approach the target vehicle speed corresponding to the second state before the change from the first state to the second state. may be configured to initiate the

(13) When the state of the airframe changes from the second state to the first state, the vehicle speed control unit 24b causes the vehicle speed to asymptotically approach the target vehicle speed corresponding to the first state after the change from the second state to the first state. It may be configured to start.

(14) The vehicle speed control unit 24b may be configured such that it is impossible to start the vehicle speed to approach the post-change vehicle speed before the state of the body changes during automatic travel.

(15) The vehicle speed control unit 24b may be configured so that it is impossible to start the vehicle speed to approach the post-change vehicle speed after the state of the body changes during automatic travel.

(16) In the above embodiment, when causing the vehicle speed to asymptotically approach the post-change vehicle speed, the vehicle speed control unit 24b changes the vehicle speed at a constant vehicle speed change rate until the vehicle speed reaches the post-change vehicle speed. However, the present invention is not limited to this, and the vehicle speed control section 24b may be configured to gradually approach the vehicle speed after the change while changing the vehicle speed change rate. For example, when causing the vehicle speed to asymptotically approach the post-change vehicle speed, the vehicle speed control unit 24b continuously increases the vehicle speed change rate from 0 (zero) to a predetermined value, and then continuously increases the vehicle speed change rate from the predetermined value to 0 (zero). may be configured to decrease to

INDUSTRIAL APPLICABILITY The present invention is applicable not only to ordinary combine harvesters, but also to various agricultural work machines such as self-trimming combine harvesters, rice transplanters, and tractors.

1 combine (agricultural machine)
24a Vehicle speed setting unit 24b Vehicle speed control unit AR1 Unworked area AR2 Worked area g1 First vehicle speed change rate (first change rate)
g2 second rate of change in vehicle speed (second rate of change)
g3 third vehicle speed change rate (first change rate)
g4 fourth vehicle speed change rate (second change rate)
g5 Fifth rate of change in vehicle speed (first rate of change)

Claims (3)

An agricultural work machine capable of automatically traveling,
a vehicle speed setting unit capable of setting an individual target vehicle speed for each state of the aircraft during automatic driving;
a vehicle speed control unit that controls the vehicle speed based on the target vehicle speed set by the vehicle speed setting unit;
The vehicle speed control unit causes the vehicle speed to asymptotically approach a post-change vehicle speed, which is a target vehicle speed corresponding to the state of the aircraft after the change, when the state of the aircraft changes during automatic driving ,
When the state of the machine body changes from the first state of traveling in an unworked area to the second state of traveling in an already-worked area, the vehicle speed control unit changes from the first state to the second state. after the change to the state, control so that the vehicle speed begins to asymptotically approach the target vehicle speed corresponding to the second state;
When the state of the aircraft body changes from the second state to the first state, the vehicle speed control unit adjusts the vehicle speed to the target vehicle speed corresponding to the first state before the change from the second state to the first state. and reach a target vehicle speed corresponding to the first state before changing to the first state . When the vehicle speed is lower than the post-change vehicle speed, the vehicle speed control unit changes the vehicle speed at a first change rate to cause the vehicle speed to asymptotically approach the post-change vehicle speed,
2. The vehicle speed control unit according to claim 1 , wherein when the vehicle speed is higher than the post-change vehicle speed, the vehicle speed control unit causes the vehicle speed to asymptotically approach the post-change vehicle speed by changing the vehicle speed at a second change rate different from the first change rate. agricultural machinery. The agricultural work machine according to claim 1 or 2 , wherein the vehicle speed change rate when the vehicle speed control unit causes the vehicle speed to asymptotically approach the post-change vehicle speed varies depending on the change pattern of the state of the machine body.

Images