WO2022071493A1 - Farm machine, system, method, program, and recording medium - Google Patents

Farm machine, system, method, program, and recording medium Download PDF

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Publication number
WO2022071493A1
WO2022071493A1 PCT/JP2021/036154 JP2021036154W WO2022071493A1 WO 2022071493 A1 WO2022071493 A1 WO 2022071493A1 JP 2021036154 W JP2021036154 W JP 2021036154W WO 2022071493 A1 WO2022071493 A1 WO 2022071493A1
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WO
WIPO (PCT)
Prior art keywords
mode
automatic steering
control unit
traveling
unit
Prior art date
Application number
PCT/JP2021/036154
Other languages
French (fr)
Japanese (ja)
Inventor
中林隆志
渡邉俊樹
佐野友彦
吉田脩
川畑翔太郎
堀内真幸
齊藤直
山岡京介
奥平淳人
Original Assignee
株式会社クボタ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社クボタ filed Critical 株式会社クボタ
Priority to CN202180067689.8A priority Critical patent/CN116249441A/en
Priority to KR1020237010160A priority patent/KR20230079056A/en
Publication of WO2022071493A1 publication Critical patent/WO2022071493A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A01D41/127—Control or measuring arrangements specially adapted for combines
    • A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/007—Switching between manual and automatic parameter input, and vice versa

Definitions

  • the present invention relates to agricultural work machines, systems, methods, programs, and recording media.
  • Patent Document 1 describes a rice transplanter capable of traveling in an automatic straight-ahead mode. Running in the self-propelled straight-ahead mode is performed as follows. First, the operator operates the steering wheel to drive the rice transplanter straight ahead, and the operator operates the registration switch at two points on the way. The teaching direction is calculated based on the satellite positioning data at the two points. A linear target line parallel to the calculated teaching direction is generated. The steering unit is controlled so that the aircraft moves along the target line, and the vehicle travels in the automatic straight-ahead mode (automatic steering).
  • the straight running from one end to the other end of the field is repeated.
  • the automatic steering running since the straight running can be performed by the automatic steering running, the manual steering of the operator becomes unnecessary and the work load is reduced.
  • the automatic steering running is interrupted due to an abnormality during the straight running, it is preferable that the automatic steering running can be started along the same teaching direction or the target line because the work load can be further reduced. In the rice transplanter of Patent Document 1, the restart after the interruption of the automatic steering running is not considered.
  • An object of the present invention is to provide a means capable of reducing the work load related to automatic steering running.
  • the agricultural work machine of the present invention executes automatic steering running by using a reference direction in a running control unit that controls the running of the machine having a traveling device and a control mode of the traveling control unit.
  • Information on the mode switching unit that switches between the possible first mode and the second mode in which the automatic steering travel is not performed, and the reference direction when the control mode of the travel control unit is the first mode.
  • a storage unit for storing a certain direction-related information is provided, and the mode switching unit switches the control mode of the traveling control unit from the first mode to the second mode, and further from the second mode to the first mode.
  • the travel control unit is capable of executing automatic steering travel using the reference direction based on the direction-related information stored in the storage unit.
  • the direction-related information which is the information about the reference direction when the control mode of the travel control unit is the first mode is stored in the storage unit, and the control mode of the travel control unit is changed to the first mode again.
  • the direction-related information is stored in the storage unit, and the control mode of the travel control unit is changed to the first mode again.
  • work such as regeneration of the reference direction becomes unnecessary, and it is possible to reduce the work load when restarting the automatic steering running.
  • an input device capable of accepting an artificial operation
  • the mode switching unit changes the control mode of the travel control unit from the first mode to the above.
  • the mode switching unit waits for an artificial operation from the input device, and receives an artificial operation from the input device to continue automatic steering running.
  • the mode switching unit switches the control mode of the traveling control unit from the second mode to the first mode, and the traveling control unit automatically steers using the reference orientation based on the orientation-related information stored in the storage unit. It is preferable to carry out running.
  • the automatic steering running is restarted based on the artificial operation. Therefore, it is possible to select whether or not to restart the automatic steering running according to the working conditions in the field, and it is possible to improve the convenience of the agricultural work machine.
  • the mode switching unit keeps the control mode of the traveling control unit in the second mode and the mode switching unit receives the human operation to the effect that the automatic steering operation is not continued from the input device.
  • the mode switching unit sets the control mode of the traveling control unit. It is preferable that the second mode is switched to the first mode and the traveling control unit is in a state where automatic steering traveling can be executed using the reference direction based on the orientation-related information stored in the storage unit.
  • an input device capable of accepting an artificial operation is provided, and when the travel control unit does not execute the automatic steering operation, the mode switching unit changes the control mode of the travel control unit from the first mode to the above.
  • the mode switching unit waits for an artificial operation from the input device, and receives an artificial operation from the input device to perform automatic steering running again.
  • the mode switching unit switches the control mode of the traveling control unit from the second mode to the first mode, and the traveling control unit automatically steers using the reference orientation based on the orientation-related information stored in the storage unit. It is preferable that the vehicle is in a state where it can be driven.
  • the mode switching unit switches the control mode of the traveling control unit from the first mode to the second mode when a predetermined switching condition is satisfied.
  • the switching condition includes that the engine has stopped.
  • the switching condition includes that the working device provided in the machine body has stopped.
  • the system of the present invention is a system for controlling an agricultural work machine, and a travel control unit for controlling the travel of the agricultural work machine and a control mode of the travel control unit are set to a reference direction.
  • the mode switching unit for switching between the first mode in which automatic steering traveling can be executed and the second mode in which automatic steering traveling is not performed and the control mode of the traveling control unit is the first mode.
  • the mode switching unit switches the control mode of the traveling control unit from the first mode to the second mode, further comprising a storage unit for storing directional information which is information related to the reference direction.
  • the traveling control unit can execute automatic steering traveling using the reference azimuth based on the azimuth-related information stored in the storage unit.
  • the method of the present invention is a method for controlling an agricultural work machine, and automatically steers the control mode of the traveling control unit for controlling the traveling of the agricultural work machine by using a reference direction.
  • the control mode of the traveling control unit is set.
  • the traveling control unit includes a fifth step of executing automatic steering traveling using a reference direction based on the direction-related information stored in the storage unit.
  • the program of the present invention is a program for controlling an agricultural work machine, and automatically steers the control mode of the traveling control unit that controls the traveling of the agricultural work machine by using a reference direction.
  • the first function for setting the first mode in which driving can be executed, the second function for storing the direction-related information which is the information about the reference direction in the storage unit, and the traveling control unit after the execution of the first function.
  • the computer is made to execute the fifth function of executing the automatic steering running using the reference direction based on the direction-related information stored in the storage unit.
  • the recording medium of the present invention is a recording medium on which a program for controlling an agricultural work machine is recorded, and is based on a control mode of a travel control unit that controls the travel of the agricultural work machine.
  • the direction-related information which is the information about the reference direction when the control mode of the travel control unit is the first mode is stored in the storage unit, and the control mode of the travel control unit is changed to the first mode again.
  • the direction-related information is stored in the storage unit, and the control mode of the travel control unit is changed to the first mode again.
  • work such as regeneration of the reference direction becomes unnecessary, and it is possible to reduce the work load when restarting the automatic steering running.
  • the direction of arrow F shown in FIG. 1 is “front”
  • the direction of arrow B is “rear”
  • the direction of arrow U is “up”
  • the direction of arrow D is the direction of arrow D.
  • the ordinary type combine 1 (corresponding to the "agricultural work machine” according to the present invention) includes a machine body 10, a harvesting section H (an example of a working device), a threshing device 13, a grain tank 14, and a transport section. It is equipped with 16, a grain ejection device 18, and a satellite positioning module 80. Further, the machine body 10 has a crawler type traveling device 11, a driving unit 12, and an engine EG.
  • the traveling device 11 is provided at the lower part of the combine 1. Further, the traveling device 11 is driven by the power from the engine EG. Then, the combine 1 can self-propell by the traveling device 11.
  • the operation unit 12, the threshing device 13, and the grain tank 14 are provided on the upper side of the traveling device 11. An operator who monitors the work of the combine 1 can be boarded on the driving unit 12.
  • the grain discharge device 18 is provided on the upper side of the grain tank 14. Further, the satellite positioning module 80 is attached to the upper surface of the operating unit 12.
  • the cutting section H is provided in the front portion of the combine 1.
  • the transport unit 16 is provided on the rear side of the cutting unit H. Further, the cutting unit H includes a cutting blade 15 and a reel 17.
  • the cutting blade 15 cuts the planted culm in the field. Further, the reel 17 is driven to rotate around the reel shaft core 17b along the left-right direction of the machine body to scrape the planted grain culm to be harvested. The cut grain culm cut by the cutting blade 15 is sent to the transport unit 16.
  • the harvesting unit H harvests the grain in the field. Then, the combine 1 can be cut and run by the running device 11 while cutting the planted culm in the field by the cutting blade 15.
  • the harvested grain culm harvested by the harvesting unit H is transported to the rear of the machine by the transport unit 16. As a result, the harvested grain culm is transported to the threshing device 13.
  • the harvested grain culm is threshed.
  • the grains obtained by the threshing treatment are stored in the grain tank 14.
  • the grains stored in the grain tank 14 are discharged to the outside of the machine by the grain discharging device 18 as needed.
  • the combine 1 is provided with a grain tank 14 for storing the grains harvested by the harvesting unit H.
  • a display input device 4 (an example of an input device) is arranged in the operation unit 12.
  • the display input device 4 is configured to be able to display various information and to accept human operations.
  • the display input device 4 is, for example, a touch panel type liquid crystal display device.
  • the display input device 4 is fixed to the operation unit 12.
  • the present invention is not limited to this, and the display input device 4 may be configured to be detachable from the driving unit 12, and the display input device 4 is located outside the combine 1. Is also good.
  • the combine 1 is configured to be able to perform manual steering running and automatic steering running.
  • Manual steering running means running by manual steering of the operator.
  • automatic steering running means that the forward running is automatically performed.
  • the automatic steering running means that the forward running without a large change of direction such as an ⁇ turn or a U turn is automatically performed.
  • the driving unit 12 is provided with a main shift lever 19.
  • the vehicle speed of the combine 1 changes. That is, when the combine 1 is performing manual steering or automatic steering, the operator can change the vehicle speed of the combine 1 by operating the main shift lever 19.
  • the driving unit 12 is provided with a steering operating tool 41.
  • a steering operating tool 41 When the combine 1 is manually steering and traveling, when the operator operates the steering operating tool 41, a speed difference is generated between the left and right crawlers in the traveling device 11. As a result, the combine 1 turns. That is, when the combine 1 is manually steering and traveling, the operator can steer the combine 1 by operating the steering operating tool 41.
  • the combine 1 is provided with a steering operating tool 41 for steering.
  • the combine 1 is configured so that the operating force to the steering operating tool 41 is not transmitted to the traveling device 11. That is, the steering operation tool 41 is not mechanically interlocked with the traveling device 11.
  • the movement of the steering operation tool 41 is electrically detected, and the left and right crawlers in the traveling device 11 are controlled based on this detection.
  • the combine 1 turns. Further, when there is no speed difference between the left and right crawlers, the combine 1 goes straight.
  • the combine 1 includes a threshing clutch C1 and a harvesting clutch C2.
  • the power output from the engine EG is distributed to the traveling device 11 and the threshing clutch C1.
  • the traveling device 11 has a main transmission device 11a and an auxiliary transmission device 11b.
  • the main transmission 11a is configured by a hydrostatic continuously variable transmission.
  • the auxiliary transmission 11b is configured by a gear switching type transmission, and is configured to be switchable between a high speed state and a low speed state.
  • the high-speed state is a shift state for movement (non-working), and the low-speed state is a shift state for work.
  • the power input from the engine EG to the traveling device 11 is changed by the main transmission device 11a and the auxiliary transmission device 11b. Then, the combine 1 travels by driving the crawler of the traveling device 11 by the speed-shifted power.
  • the main shift lever 19 is configured to be swingable in the front-rear direction.
  • the range of motion of the main shift lever 19 is divided into three, a forward operation position, a neutral position, and a reverse operation position. Then, by operating the main shift lever 19, the shift state of the main shift device 11a changes.
  • the main speed change device 11a When the main speed change lever 19 is in the neutral position, the main speed change device 11a is in the neutral state. At this time, the main transmission 11a does not output power.
  • the main shift device 11a When the main shift lever 19 is located at the reverse operation position, the main shift device 11a is in the reverse shift state. At this time, the more the main speed change lever 19 is tilted to the rear side, the higher the power output from the main speed change device 11a becomes.
  • the main shift lever 19 is provided with an auxiliary shift switch 42 (FIG. 2). Each time the auxiliary transmission switch 42 is pressed, the transmission state of the auxiliary transmission device 11b is switched between a high speed state and a low speed state.
  • the threshing clutch C1 shown in FIG. 2 is configured so that the state can be changed between an on state in which power is transmitted and an off state in which power is not transmitted.
  • the threshing clutch C1 When the threshing clutch C1 is in the engaged state, the power from the engine EG is transmitted to the threshing device 13 and the cutting clutch C2. As a result, the threshing device 13 is driven.
  • the threshing clutch C1 when the threshing clutch C1 is in the off state, the power from the engine EG is not transmitted to either the threshing device 13 or the cutting clutch C2. At this time, the threshing device 13 is not driven.
  • the cutting clutch C2 is configured so that the state can be changed between the on state in which power is transmitted and the off state in which power is not transmitted.
  • the combine 1 includes a harvesting threshing lever 43.
  • the harvesting threshing lever 43 is provided in the driving unit 12.
  • the harvesting threshing lever 43 is configured to be swingable in the front-rear direction.
  • the harvesting threshing lever 43 is configured so that the operation position can be selectively switched between the first operation position, the second operation position, and the third operation position.
  • both the threshing clutch C1 and the cutting clutch C2 are in the engaged state.
  • the threshing clutch C1 When the operating position of the cutting threshing lever 43 is the second operating position, the threshing clutch C1 is in the on state and the cutting clutch C2 is in the off state.
  • both the threshing clutch C1 and the cutting clutch C2 are in the off state.
  • the combine 1 is provided with a steering operation tool 41.
  • the steering control tool 41 is configured to be swingable in the left-right direction.
  • the control device CU of the combine 1 includes a control unit CS and a storage device ME.
  • control device CU is a so-called ECU, and includes a memory (HDD, non-volatile RAM, etc., not shown) for storing a program corresponding to a functional unit, and a CPU (not shown) for executing the program. ing. When the program is executed by the CPU, the functions of each functional unit are realized.
  • a memory HDD, non-volatile RAM, etc., not shown
  • a CPU not shown
  • the control unit CS includes a vehicle position calculation unit 21, a travel control unit 24, a vehicle orientation calculation unit 25, a mode switching unit 26, a reference direction calculation unit 27, an automatic steering control unit 28, and a travel route calculation unit 29. There is.
  • the storage device ME includes a state flag storage unit 51 and an orientation-related information storage unit 52 (an example of a storage unit).
  • the state flag storage unit 51 and the orientation-related information storage unit 52 are provided in an element or region (for example, a non-volatile RAM) that retains storage even when the power supply of the control device CU in the storage device ME is cut off.
  • the state flag storage unit 51 stores the automatic steering flag and the B point standby flag.
  • the automatic steering flag and the B point standby flag take two values, ON and OFF.
  • the directional information storage unit 52 stores directional information, which is information related to the reference azimuth when the control mode of the traveling control unit 24 is the first mode.
  • RTK-GPS Real Time Kinetic GPS
  • the satellite positioning module 80 shown in FIG. 1 includes GPS signals from the artificial satellite GS used in GPS (Global Positioning System), positioning data transmitted from a reference station (not shown) installed at a known position, and positioning data. To receive. Then, as shown in FIG. 2, the satellite positioning module 80 sends the positioning data based on the received GPS signal and the positioning data received from the reference station to the own vehicle position calculation unit 21.
  • the vehicle position calculation unit 21 calculates the position coordinates of the combine 1 over time based on the positioning data received from the satellite positioning module 80. The calculated position coordinates of the combine 1 over time are sent to the traveling control unit 24.
  • the distance between the GPS satellite and the GPS receiver is N ⁇ ⁇ + ⁇ ⁇ ⁇ + c ⁇ dT + c ⁇ dt, and N called an integer value bias is obtained.
  • N is the wavelength of the carrier wave.
  • ⁇ is a fractional part of the wave number between the GPS satellite and the GPS receiver.
  • c is the radio wave propagation speed
  • dT is the clock error of the GPS satellite
  • dt is the clock error of the GPS receiver.
  • the state where N is not determined as an integer solution is called FLOAT.
  • the positioning result at this time is called an FLOAT solution.
  • the FIX solution has a centimeter accuracy, while the FLOAT solution has an accuracy of several tens of centimeters to several meters.
  • the state in which the FIX solution is obtained may be described as "high accuracy state”.
  • the satellite positioning module 80 does not have to use GPS.
  • the satellite positioning module 80 may use GNSS (GLONASS, Galileo, Michibiki, BeiDou, etc.) other than GPS.
  • GNSS GLONASS, Galileo, Michibiki, BeiDou, etc.
  • the combine 1 is provided with an inertial measurement unit 81. Further, the control unit CS has a vehicle direction calculation unit 25.
  • the inertial measurement unit 81 detects the angular velocity of the yaw angle of the airframe 10 and the acceleration in the three axial directions orthogonal to each other over time. The detection result by the inertial measurement unit 81 is sent to the own vehicle direction calculation unit 25.
  • the vehicle direction calculation unit 25 receives the position coordinates of the combine 1 from the vehicle position calculation unit 21. Then, the own vehicle direction calculation unit 25 calculates the attitude direction of the combine 1 based on the detection result by the inertial measurement unit 81 and the position coordinates of the combine 1.
  • the heading vehicle direction calculation unit 25 determines the current position coordinates of the combine 1 and the position coordinates of the combine 1 at the point where the combine 1 was traveling immediately before. Calculate the initial posture orientation.
  • the own vehicle direction calculation unit 25 integrates the angular velocity detected by the inertial measurement unit 81 during the operation for the fixed time. , Calculate the amount of change in posture and orientation.
  • the own vehicle orientation calculation unit 25 updates the calculation result of the attitude orientation. After that, the amount of change in the posture direction is calculated in the same manner at regular time intervals, and the calculation result of the posture direction is sequentially updated.
  • the angular velocity detected by the inertial measurement unit 81 includes a measurement error (drift). Since this measurement error increases with the passage of time, the error included in the calculated change in posture and orientation increases each time the amount of change in posture and orientation is calculated.
  • drift measurement error
  • the own vehicle direction calculation unit 25 is configured to correct the attitude direction calculated based on the detection result by the inertial measurement unit 81 by the direction information calculated based on the change in the position coordinates of the combine 1. ..
  • the directional information calculated based on the change in the position coordinates of the combine 1 has a FIX solution obtained by RTK-GPS positioning by the satellite positioning module 80 and the own vehicle position calculation unit 21, and the combine 1 is several meters. High accuracy is achieved when going straight over the above. Therefore, the own vehicle orientation calculation unit 25 obtains a FIX solution in RTK-GPS positioning by the satellite positioning module 80 and the own vehicle position calculation unit 21 for correction based on the orientation information calculated based on the change in the position coordinates of the combine 1. And only when the combine 1 goes straight for several meters or more.
  • the FIX solution is obtained in the RTK-GPS positioning by the satellite positioning module 80 and the own vehicle position calculation unit 21, and the combine 1 has traveled straight for several meters or more, and the combine.
  • a state in which high-precision directional information is calculated based on a change in the position coordinates of 1 may be described as a high-precision directional calculation state.
  • the vehicle direction calculation unit 25 can calculate the attitude direction of the combine 1 with high accuracy.
  • the attitude direction of the combine 1 calculated by the own vehicle direction calculation unit 25 is sent to the traveling control unit 24.
  • the travel control unit 24 is configured to be able to control the travel device 11.
  • the travel control unit 24 controls the travel of the machine body 10 by controlling the travel device 11.
  • the combine 1 includes a travel control unit 24 that controls the travel of the machine body 10 having the travel device 11.
  • the combine 1 includes a cutting cylinder 15A. Further, as shown in FIG. 2, the combine 1 is provided with a cutting elevating operation tool 44.
  • the cutting elevating operation tool 44 is provided in the driving unit 12.
  • the control unit CS is configured to control the expansion and contraction of the cutting cylinder 15A in response to the operation of the cutting raising / lowering operation tool 44 by the operator.
  • the operator can perform the raising / lowering operation of the cutting unit H by operating the cutting raising / lowering operation tool 44.
  • the mode switching unit 26 sets the control mode of the travel control unit 24 into an automatic steering mode (an example of the first mode) capable of executing automatic steering travel using a reference direction and a non-automatic steering mode (an example of the first mode) in which automatic steering travel is not performed. Switch between (second mode) and.
  • the automatic steering running is a running in which an automatic steering target line is generated and determined based on a set reference direction, and the aircraft 10 is automatically steered along the determined automatic steering target line. Prior to automatic steering, the reference direction is set.
  • a point registration button When setting the reference direction (reference direction acquisition routine described later), a button marked “A point registration” (hereinafter referred to as “A point registration button”) is displayed on the screen of the display input device 4.
  • a point registration button When the point A registration button is touch-operated by the operator, a predetermined signal is sent to the reference direction calculation unit 27.
  • the reference azimuth calculation unit 27 receives the signal, and based on the temporal position coordinates of the combine 1 received from the own vehicle position calculation unit 21, the combine at the time when the point A registration button is touch-operated. Calculate the position coordinates of 1.
  • the position coordinates are referred to as "point A coordinates”
  • the position corresponding to the point A coordinates is simply referred to as "point A”.
  • the position coordinates (point A coordinates) calculated at this time are stored in the direction-related information storage unit 52 as the direction-related information.
  • point B registration button When the combine 1 is manually steered and moved and is separated from the point A by a predetermined distance, the button marked “Point B registration” on the screen of the display input device 4 (hereinafter referred to as "point B registration button”) is point B.
  • a predetermined signal is sent to the reference direction calculation unit 27.
  • the reference azimuth calculation unit 27 receives the signal, and based on the temporal position coordinates of the combine 1 received from the own vehicle position calculation unit 21, the combine at the time when the point B registration button is touch-operated. Calculate the position coordinates of 1.
  • the position coordinates are referred to as "point B coordinates"
  • the position corresponding to the point B coordinates is simply referred to as "point B”.
  • the position coordinates (point B coordinates) calculated at this time are stored in the direction-related information storage unit 52 as the direction-related information.
  • the reference direction calculation unit 27 determines the reference direction for automatic steering based on the A point coordinates and the B point coordinates. More specifically, the reference direction calculation unit 27 calculates the direction of the straight line from the point A to the point B, and determines this direction as the reference direction. The reference direction calculation unit 27 stores the determined reference direction as the direction-related information in the direction-related information storage unit 52.
  • the format of the reference direction is not particularly limited, but may be, for example, a format based on north, south, east, or west (for example, "north" or "27 degrees east of north"), or a unit vector in the coordinate system. Is also good.
  • the reference direction does not have to have a direction from one to the other.
  • the reference direction may indicate the slope of a straight line in the coordinate system (for example, the slope of a straight line passing through points A and B), or the straight line itself in the coordinate system (for example, points A and B). It may indicate the straight line itself passing through the above, or it may indicate the direction based on the north, south, east, and west (for example, "north-south direction", "east-west direction”, etc.).
  • the travel path calculation unit 29 passes through the cutting width center of the cutting unit H and constantly calculates the travel line in the direction along the reference direction. That is, this traveling line is calculated based on the reference direction.
  • the automatic steering button becomes operable.
  • a predetermined signal is sent to the automatic steering control unit 28.
  • the automatic steering control unit 28 fixes the travel line calculated at that time in response to receiving the signal.
  • the fixed travel line becomes an automatic steering target line and is sent from the automatic steering control unit 28 to the travel control unit 24.
  • the travel control unit 24 has the position coordinates of the combine 1 received from the vehicle position calculation unit 21, the attitude direction of the combine 1 received from the vehicle orientation calculation unit 25, and the automatic steering target line received from the automatic steering control unit 28. And, based on, the running of the combine 1 is controlled. More specifically, the travel control unit 24 controls the travel of the machine body 10 so that the cutting travel is performed by the automatic steering travel along the automatic steering target line.
  • the travel control unit 24 may be configured to control the travel of the aircraft 10 based on the reference direction instead of the automatic steering target line. In this case, the travel control unit 24 may be configured to control the travel of the aircraft 10 so that the posture orientation of the combine 1 matches the reference orientation or is parallel to the reference orientation.
  • control unit CS acquires the value of the automatic steering flag stored in the state flag storage unit 51 (S102).
  • the control unit CS displays the character string "Do you want to continue the interrupted automatic steering?", The Yes button, and the No button on the screen of the display input device 4. Display (S103).
  • control unit CS changes the value of the automatic steering flag to OFF and stores it in the state flag storage unit 51 (S104).
  • the control unit CS monitors the operation input to the display input device 4 (S105).
  • the Yes button is touched, that is, when the operation input for continuing the automatic steering is performed (S105: Yes)
  • the mode switching unit 26 switches the traveling control unit 24 from the non-automatic steering mode to the automatic steering mode (S106).
  • the automatic steering control unit 28 reads the reference direction used in the previous automatic steering run from the direction-related information storage unit 52 and sets it as the reference direction to be used in the next automatic steering run (S107). Then, the control unit CS starts S408 of the automatic steering start routine (FIG. 6).
  • the control unit CS acquires the value of the B point waiting flag stored in the state flag storage unit 51 (S108).
  • the control unit CS displays the character string "Do you want to continue the suspended B point registration?", Yes button, on the screen of the display input device 4. And the No button are displayed (S109).
  • control unit CS changes the value of the B point waiting flag to OFF and stores it in the state flag storage unit 51 (S110).
  • the control unit CS monitors the operation input to the display input device 4 (S111).
  • the Yes button is touched, that is, when the operation input for continuing the B point registration is performed (S111: Yes)
  • the mode switching unit 26 switches the traveling control unit 24 from the non-automatic steering mode to the automatic steering mode (S112). ..
  • the automatic steering control unit 28 reads out the point A coordinates registered in the interrupted reference direction acquisition routine from the direction-related information storage unit 52 (S113). Then, the control unit CS starts S304 of the reference direction acquisition routine (FIG. 5).
  • the control unit CS waits for an operation input for switching to the automatic steering mode (S201: No). For example, the control unit CS displays a button (hereinafter referred to as “straight-ahead keep button”) on which the characters “straight-ahead keep” are drawn on the screen of the display input device 4, and waits for a touch operation to the button.
  • the straight-ahead keep button is touched, that is, when the operation input for switching to the automatic steering mode is performed (S201: Yes)
  • the mode switching unit 26 switches the traveling control unit 24 from the non-automatic steering mode to the automatic steering mode (S201: Yes). S202).
  • the automatic steering control unit 28 refers to the direction-related information stored in the direction-related information storage unit 52, and refers to the direction-related information (reference direction, A point coordinates, B) used in the automatic steering running in the previous automatic steering mode. It is determined whether or not there is (point coordinates) (whether or not it is stored in the direction-related information storage unit 52) (S203).
  • the automatic steering control unit 28 When there is the previous direction-related information (S203: Yes), the automatic steering control unit 28 generates the direction-related information (when the A point coordinates and the B coordinates are acquired, and when the reference direction is generated using them). It is determined whether or not the same base station as is grounded in the field (S204).
  • the automatic steering control unit 28 displays a button marked “previous A / B" (hereinafter referred to as "previous AB button”) on the screen of the display input device 4. (S205).
  • the automatic steering control unit 28 displays a button marked with “previous reference” (hereinafter referred to as “previous reference button”) on the screen of the display input device 4 (hereinafter referred to as “previous reference button”). S206).
  • the automatic steering control unit 28 After the end of S205, after the end of S206, and when there is no previous direction-related information (S203: Yes), the automatic steering control unit 28 has a button (point A registration) written on the screen of the display input device 4. Hereinafter referred to as "point A registration button”) is displayed (S207).
  • the automatic steering control unit 28 monitors the operation input to the display input device 4 (S208: No, S209: No, S211: No).
  • the automatic steering control unit 28 reads the previous reference direction (reference direction-related information) from the direction-related information storage unit 52, and uses the reference for the next automatic steering run. It is set as the direction (S210).
  • the reference direction calculation unit 27 reads the previous A point coordinates and B point coordinates (reference direction related information) from the direction-related information storage unit 52, and reads the A.
  • the reference direction is calculated based on the point coordinates and the B point coordinates (S212).
  • the automatic steering control unit 28 sets the calculated reference direction as the reference direction to be used for the next automatic steering run.
  • control unit CS After the end of S210 and after the end of S212, the control unit CS starts the automatic steering start routine (FIG. 6).
  • the reference direction calculation unit 27 is the aircraft position of the combine 1 at the time when the point A registration button is touch-operated (S208 of the main routine) based on the time-dependent position coordinates of the combine 1 received from the own vehicle position calculation unit 21. Is calculated (S301).
  • the reference direction calculation unit 27 stores the position coordinates calculated in S301 as point A coordinates (direction-related information) in the direction-related information storage unit 52 (S302).
  • the reference direction calculation unit 27 changes the B point waiting flag to ON and stores it in the state flag storage unit 51 (S303).
  • the automatic steering control unit 28 displays the position of point A on the screen of the display input device 4 (S304), and displays the travel locus on the screen of the display input device 4 as the combine 1 travels (S305).
  • the reference direction calculation unit 27 determines whether or not the point B can be registered (S306).
  • the state in which the point B can be registered is a state in which the combine 1 is separated from the point A by a predetermined distance or more (for example, 5 m).
  • the conditions for the state in which B point registration is possible are not limited to this. For example, it may be a condition that the FIX solution is obtained in the RTK-GPS positioning by the satellite positioning module 80 and the own vehicle position calculation unit 21.
  • the automatic steering control unit 28 When the B point registration is possible (S306: Yes), the automatic steering control unit 28 has a button marked “B point registration" on the screen of the display input device 4 (hereinafter referred to as "B point registration button"). Is displayed (S307), and the touch of the point B registration button is awaited (S308: No).
  • the reference direction calculation unit 27 touches the B point registration button based on the temporal position coordinates of the combine 1 received from the own vehicle position calculation unit 21.
  • the position of the combine 1 at that time is calculated (S309).
  • the automatic steering control unit 28 displays the position of point A on the screen of the display input device 4 (S310).
  • the reference direction calculation unit 27 stores the position coordinates calculated in S309 as point B coordinates (direction-related information) in the direction-related information storage unit 52 (S311).
  • the reference direction calculation unit 27 changes the B point waiting flag to OFF and stores it in the state flag storage unit 51 (S312).
  • the reference direction calculation unit 27 calculates the reference direction based on the A point coordinates calculated in S301 and the B point coordinates calculated in S309 (S313).
  • the reference direction calculation unit 27 stores the reference direction calculated in S313 in the direction-related information storage unit 52 as the direction-related information (S314). Then, the control unit CS starts the automatic steering start routine.
  • the automatic steering control unit 28 acquires information indicating the operation position of the main shift lever 19 and determines whether or not the main shift lever 19 is located at the forward operation position (S401). If the main shift lever 19 is not located at the forward operating position (S401: Yes), step S401 is executed again.
  • the automatic steering control unit 28 acquires information indicating the state of the auxiliary transmission 11b, and the auxiliary transmission 11b shifts the gear for work. It is determined whether or not it is in a state (low speed state) (S402). If the auxiliary transmission 11b is not in the working shift state (low speed state) (S402: No), step S401 is executed again.
  • the automatic steering control unit 28 When the auxiliary transmission 11b is in a shift state (low speed state) for work (S402: Yes), the automatic steering control unit 28 provides information indicating whether or not a FIX solution is obtained from the own vehicle position calculation unit 21. It is acquired and it is determined whether or not the FIX solution is obtained (S403). If no FIX solution has been obtained (S403: No), step S401 is executed again.
  • the automatic steering control unit 28 acquires information indicating the operation position of the cutting and threshing lever 43, and determines whether or not the cutting clutch C2 is in the engaged state (S). S404). If the cutting clutch C2 is not in the engaged state (S404: No), step S401 is executed again.
  • the automatic steering control unit 28 acquires information indicating whether or not the cutting unit H is located at the working position, and the cutting unit H is positioned at the working position. It is determined whether or not it is done (S405). If the cutting unit H is not located at the working position (S405: No), step S401 is executed again.
  • the combine 1 includes an elevating detection unit 54.
  • the elevating detection unit 54 detects the expansion / contraction state of the cutting cylinder 15A.
  • the detection result by the elevating detection unit 54 is sent to the control device CU.
  • the automatic steering control unit 28 is configured to be able to determine whether or not the cutting unit H is located at the working position based on the detection result of the elevating detection unit 54.
  • the amount of descent from the highest rising position of the cutting section H is equal to or more than a predetermined value, which corresponds to the position of the cutting section H at the working position.
  • the automatic steering control unit 28 changes the automatic steering button (not shown) to an operable state (S406).
  • the automatic steering button is, for example, a push button provided in the display input device 4.
  • the light emitting element built in the push button is made to emit light when it is in the operable state, and the light emitting element is extinguished when it is not in the operable state.
  • the automatic steering button is, for example, a button marked "automatic steering" displayed on the screen of the display input device 4. In this case, the characters written on the buttons are colored dark when the operation is possible, and light colors are used when the buttons are not operable.
  • S401-S405 when all of S401-S405 are Yes, S406 is executed and automatic steering running is started. In addition, one or more of S401-S405 may be omitted.
  • the automatic steering control unit 28 waits for the operation of the automatic steering button (S407: No).
  • the automatic steering control unit 28 determines the traveling line calculated by the traveling route calculation unit 29 at that time as the automatic steering target line (S408).
  • the travel control unit 24 starts automatic steering travel based on the automatic steering target line determined in S408 (S409).
  • the automatic steering control unit 28 changes the automatic steering flag to ON and stores it in the state flag storage unit 51 (S410).
  • the automatic steering control unit 28 stores the current reference direction as the direction-related information in the direction-related information storage unit 52 (S411). Then, the control unit CS starts the automatic steering end routine.
  • the automatic steering control unit 28 waits for the operation of the automatic steering button (S501).
  • the automatic steering control unit 28 acquires information indicating the operation position of the main shift lever 19, and the main shift lever 19 is located at the neutral position or the reverse operation position. It is determined whether or not it is present (S501).
  • the automatic steering control unit 28 acquires information indicating the state of the auxiliary transmission 11b, and the auxiliary transmission 11b travels. It is determined whether or not the gear shift state (high speed state) is set (S503).
  • the automatic steering control unit 28 acquires information indicating whether or not the FLOAT solution is obtained from the own vehicle position calculation unit 21. Then, it is determined whether or not the FLOAT solution is obtained (S504).
  • the automatic steering control unit 28 acquires information indicating the operating position of the cutting and threshing lever 43, and determines whether or not the cutting clutch C2 is in the disengaged state (S). S505).
  • the automatic steering control unit 28 acquires information indicating whether or not the cutting unit H is located in the non-working position, and the cutting unit H is in the non-working position. It is determined whether or not it is located (S506).
  • the amount of descent from the highest rising position of the cutting section H is equal to or less than a predetermined value, which corresponds to the position of the cutting section H in the non-working position.
  • the automatic steering control unit 28 acquires information indicating whether or not the cutting unit H has been raised, and the cutting unit H is raised. It is determined whether or not it is (S507).
  • the automatic steering control unit 28 acquires information indicating the operating state of the engine EG and determines whether or not the engine EG is stopped (S508). .. If the engine EG is not stopped, step S501 is executed again.
  • the travel control unit 24 ends the automatic steering run, and the mode switching unit 26 switches the mode of the travel control unit 24 from the automatic steering mode to the non-automatic steering mode (S509). ).
  • the control unit CS continuously monitors the operation of the combine 1 activation key (not shown) (S510: No).
  • the automatic steering control unit 28 changes the automatic steering flag to OFF and stores it in the state flag storage unit 51 (S512).
  • the travel control unit 24 ends the automatic steering run, and the mode switching unit 26 changes the mode of the travel control unit 24 from the automatic steering mode to the non-automatic steering mode. Switch to (S513).
  • the control unit CS monitors the operation of the combine 1 activation key (not shown) (S514).
  • the mode switching unit 26 switches the control mode of the traveling control unit 24 from the automatic steering mode (first mode) to the non-automatic steering mode (second mode) (S509, S513), and further non-automatic steering mode.
  • the traveling control unit 24 stores the direction-related information in the direction-related information storage unit 52 (storage unit).
  • the control device CU is configured so that the automatic steering run can be executed using the reference direction based on the information (S409).
  • the mode switching unit 26 changes the control mode of the travel control unit 24 from the automatic steering mode (first mode) to the non-automatic steering mode (second mode). ) (S509, S513), the mode switching unit 26 waits for the human operation from the display input device 4 (input device) (S105), and displays the human operation to continue the automatic steering running. Upon receiving from the input device 4 (input device), the mode switching unit 26 switches the control mode of the traveling control unit 24 from the non-automatic steering mode (second mode) to the automatic steering mode (first mode) (S106). ), The control device CU so that the travel control unit 24 executes automatic steering travel (S107) using the reference orientation based on the orientation-related information stored in the orientation-related information storage unit 52 (storage unit). Is configured.
  • the mode switching unit 26 non-automatically steers the control mode of the traveling control unit 24. While keeping the mode (second mode), the mode switching unit 26 waits for the human operation from the input device (S201), and displays the human operation to perform the automatic steering running again from the input device 4 (input device). In response to the acceptance (S201: Yes), the mode switching unit 26 switches the control mode of the traveling control unit 24 from the non-automatic steering mode (second mode) to the automatic steering mode (first mode) (S202).
  • the travel control unit 24 is in a state where automatic steering travel can be executed (S210, S212) using the reference orientation based on the orientation-related information stored in the orientation-related information storage unit 52 (storage unit) (S409).
  • the control device CU is configured.
  • the mode switching unit 26 changes the control mode of the travel control unit 24 from the automatic steering mode (first mode) to the non-automatic steering mode (first mode).
  • the mode switching unit 26 waits for an artificial operation from the display input device 4 (input device) (S201), and displays an artificial operation to perform automatic steering running again.
  • the mode switching unit 26 changes the control mode of the travel control unit 24 from the non-automatic steering mode (second mode) to the automatic steering mode (first mode).
  • the travel control unit 24 can execute automatic steering travel (S210, S212) using the reference orientation based on the orientation-related information stored in the orientation-related information storage unit 52 (storage unit).
  • the control device CU is configured.
  • the mode switching unit 26 changes the control mode of the traveling control unit 24 from the automatic steering mode (first mode) to the non-automatic steering mode (S502-508: Yes) when the predetermined switching condition is satisfied. It is configured to switch to the second mode) (S509).
  • the switching condition includes that the engine EG has stopped (S508). Further, the switching condition includes that the cutting unit H (working device) provided in the machine body 10 has stopped (S505).
  • the method described below is executed. It ’s a way to control a farming machine.
  • the control mode of the travel control unit 24 is switched to the non-automatic steering mode (second mode) in which the automatic steering travel is not performed, and the third step (S509, S513).
  • the control mode of the travel control unit 24 is switched to the automatic steering mode (first mode) in the fourth step (S106, S112, S202).
  • the program described below is recorded in the memory (recording medium) of the control device CU and executed.
  • a program for controlling agricultural work machines The first function (mode switching unit 26) that sets the control mode of the travel control unit 24 that controls the travel of the agricultural work machine to the automatic steering mode (first mode) that can execute the automatic steering travel using the reference direction, and The second function (reference direction calculation unit 27) for storing the direction-related information, which is the information related to the reference direction, in the direction-related information storage unit 52 (storage unit), and After the execution of the first function, the control mode of the travel control unit 24 is switched to the non-automatic steering mode (second mode) in which the automatic steering operation is not performed, and the third function (mode switching unit 26).
  • the fourth function (mode switching unit 26) that switches the control mode of the traveling control unit 24 to the automatic steering mode (first mode)
  • the fifth function travel control unit 24
  • the fifth function that executes automatic steering running using the reference azimuth based on the azimuth-related information stored in the azimuth-related information storage unit 52 (storage unit).
  • the traveling device 11 may be a wheel type or a semi-crawler type.
  • a part or all of the flag storage unit 51 and the direction-related information storage unit 52 may be provided outside the combine 1.
  • these may be provided in a computer, a management server, a cloud server, or the like of a field management facility.
  • a system that realizes automatic steering running may be constructed by the computer, management server, cloud server, etc. of these management facilities and the combine 1.
  • the combine 1 may be configured to enable automatic traveling in addition to automatic steering traveling.
  • Autonomous driving means that in addition to forward driving, reverse driving and stopping are automatically performed.
  • automatic driving means that forward driving and reverse driving accompanied by a large change of direction such as ⁇ -turn and U-turn are automatically performed.
  • the direction-related information stored in the storage unit 52 may be one or a plurality of the reference direction, the A point coordinate, and the set of the A point coordinate and the B point coordinate. May be good.
  • a plurality of reference directions may be stored in the orientation-related information storage unit 52, a plurality of A-point coordinates may be stored, or a set of a plurality of A-point coordinates and B-point coordinates may be stored. ..
  • the device that accepts human operations from the operator may be a button or the like displayed on the screen of the display input device 4, or may be a physically operable button, a switch, a lever, or the like. However, it may be a voice input device.
  • the conditions for ending the automatic steering are the operation of the automatic steering button (S501), the operation of the main shift lever 19 (S502), the state of the auxiliary transmission 11b (S503), and the state of satellite positioning. (S504), the state of the cutting clutch C2 (S505), the position of the cutting portion H (S506), the presence / absence of operation (S507), and the stop of the engine EG (S508) were exemplified.
  • the conditions for terminating the automatic steering are not limited to these.
  • the automatic steering may be terminated in response to the stop of the threshing device 13 (an example of the working device).
  • the present invention can be used not only for ordinary combine harvesters but also for various agricultural work machines such as self-removing combine harvesters, tractors, rice transplanters, corn harvesters, potato harvesters, and carrot harvesters.
  • Aircraft 11 Traveling device 24: Traveling control unit 26: Mode switching unit EG: Engine

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Abstract

A farm machine according to the present invention is provided with: a travel control unit that controls travel of a vehicle body with a travel device; a mode switching unit that switches a control mode of the travel control unit between a first mode in which automatic steering travel can be carried out by using a reference azimuth and a second mode in which the automatic steering travel is not carried out; and a storage unit that stores azimuth-related information which is information related to the reference azimuth of when the control mode of the travel control unit is the first mode. When the mode switching unit has switched the control mode of the travel control unit from the first mode to the second mode and then from the second mode to the first mode (S106), the travel control unit can use the reference azimuth based on the azimuth-related information stored in the storage unit (S107) to carry out the automatic steering travel.

Description

農作業機、システム、方法、プログラム、及び記録媒体Agricultural machines, systems, methods, programs, and recording media
　本発明は、農作業機、システム、方法、プログラム、及び記録媒体に関する。 The present invention relates to agricultural work machines, systems, methods, programs, and recording media.
　特許文献１には、自動直進モードでの走行が可能な田植機が記載されている。自走直進モードでの走行は次のようにして行われる。まず、オペレータが操向ハンドルを操作して田植機を直進走行させて、その途中の２点でオペレータが登録スイッチを操作する。その２点での衛星測位データに基づいて、ティーチング方向が算出される。算出されたティーチング方向と平行な直線状の目標ラインが生成される。その目標ラインに沿って機体が移動するように、操向ユニットが制御されて、自動直進モードでの走行（自動操舵走行）が行われる。 Patent Document 1 describes a rice transplanter capable of traveling in an automatic straight-ahead mode. Running in the self-propelled straight-ahead mode is performed as follows. First, the operator operates the steering wheel to drive the rice transplanter straight ahead, and the operator operates the registration switch at two points on the way. The teaching direction is calculated based on the satellite positioning data at the two points. A linear target line parallel to the calculated teaching direction is generated. The steering unit is controlled so that the aircraft moves along the target line, and the vehicle travels in the automatic straight-ahead mode (automatic steering).
　自動操舵走行の実行中に測位データに関する異常が検知されると、オペレータへの報知、自動操舵の停止（自動直進モードから手動モードへの移行）、走行の停止等が行われる。 If an abnormality related to positioning data is detected during automatic steering running, the operator is notified, automatic steering is stopped (shift from automatic straight mode to manual mode), running is stopped, and so on.
特開２０１７－１３６０１５号公報Japanese Unexamined Patent Publication No. 2017-136015
　圃場での作業走行においては、圃場の一端から他端までの直進走行が繰り返し行われる。特許文献１の田植機によれば、直進走行を自動操舵走行により行うことができるので、オペレータの手動操舵が不要となり作業負担が削減される。直進走行の途中で異常により自動操舵走行が中断した場合、同じティーチング方向又は目標ラインに沿って自動操舵走行を開始できると、更に作業負担を軽減でき好ましい。特許文献１の田植機では、自動操舵走行の中断後の再開について考慮されていない。 In the work running in the field, the straight running from one end to the other end of the field is repeated. According to the rice transplanter of Patent Document 1, since the straight running can be performed by the automatic steering running, the manual steering of the operator becomes unnecessary and the work load is reduced. When the automatic steering running is interrupted due to an abnormality during the straight running, it is preferable that the automatic steering running can be started along the same teaching direction or the target line because the work load can be further reduced. In the rice transplanter of Patent Document 1, the restart after the interruption of the automatic steering running is not considered.
　本発明の目的は、自動操舵走行に係る作業負担を軽減可能な手段を提供することにある。 An object of the present invention is to provide a means capable of reducing the work load related to automatic steering running.
　上述した課題を解決する手段として、本発明の農作業機は、走行装置を有する機体の走行を制御する走行制御部と、前記走行制御部の制御モードを、基準方位を用いて自動操舵走行を実行可能な第１モードと、前記自動操舵走行を行わない第２モードと、の間で切り替えるモード切替部と、前記走行制御部の制御モードが前記第１モードであるときの前記基準方位に関する情報である方位関連情報を記憶する記憶部と、を備え、前記モード切替部が前記走行制御部の制御モードを前記第１モードから前記第２モードに切り替えて、更に前記第２モードから前記第１モードに切り替えた時に、前記走行制御部が前記記憶部に記憶された前記方位関連情報に基づく基準方位を用いて自動操舵走行を実行可能であることを特徴とする。 As a means for solving the above-mentioned problems, the agricultural work machine of the present invention executes automatic steering running by using a reference direction in a running control unit that controls the running of the machine having a traveling device and a control mode of the traveling control unit. Information on the mode switching unit that switches between the possible first mode and the second mode in which the automatic steering travel is not performed, and the reference direction when the control mode of the travel control unit is the first mode. A storage unit for storing a certain direction-related information is provided, and the mode switching unit switches the control mode of the traveling control unit from the first mode to the second mode, and further from the second mode to the first mode. When switched to, the travel control unit is capable of executing automatic steering travel using the reference direction based on the direction-related information stored in the storage unit.
　本構成によれば、走行制御部の制御モードが第１モードであるときの基準方位に関する情報である方位関連情報が記憶部に記憶され、走行制御部の制御モードが再び第１モードになった時に当該方位関連情報を利用して自動操舵走行を実行可能である。従って、基準方位の再生成等の作業が不要となり、自動操舵走行を再開する際の作業負担を軽減することが可能となる。 According to this configuration, the direction-related information which is the information about the reference direction when the control mode of the travel control unit is the first mode is stored in the storage unit, and the control mode of the travel control unit is changed to the first mode again. Sometimes it is possible to execute automatic steering running by using the direction-related information. Therefore, work such as regeneration of the reference direction becomes unnecessary, and it is possible to reduce the work load when restarting the automatic steering running.
　本発明において、人為操作を受付可能な入力装置を備え、前記走行制御部が前記自動操舵走行を実行しているときに前記モード切替部が前記走行制御部の制御モードを前記第１モードから前記第２モードに切り替えたことに応じて、前記モード切替部が前記入力装置からの人為操作を待機し、自動操舵走行を継続する旨の人為操作を前記入力装置から受け付けたことに応じて、前記モード切替部が前記走行制御部の制御モードを前記第２モードから前記第１モードに切り替えると共に、前記走行制御部が前記記憶部に記憶された前記方位関連情報に基づく基準方位を用いて自動操舵走行を実行すると好適である。 In the present invention, an input device capable of accepting an artificial operation is provided, and when the travel control unit is executing the automatic steering operation, the mode switching unit changes the control mode of the travel control unit from the first mode to the above. In response to switching to the second mode, the mode switching unit waits for an artificial operation from the input device, and receives an artificial operation from the input device to continue automatic steering running. The mode switching unit switches the control mode of the traveling control unit from the second mode to the first mode, and the traveling control unit automatically steers using the reference orientation based on the orientation-related information stored in the storage unit. It is preferable to carry out running.
　本構成によれば、自動操舵走行を実行中にモードが切り替わった後、自動操舵走行の再開が人為操作に基づいて行われる。従って、自動操舵走行を再開するか否かを圃場での作業の状況に応じて選ぶことができ、農作業機の利便性を高めることができる。 According to this configuration, after the mode is switched during the automatic steering running, the automatic steering running is restarted based on the artificial operation. Therefore, it is possible to select whether or not to restart the automatic steering running according to the working conditions in the field, and it is possible to improve the convenience of the agricultural work machine.
　本発明において、自動操舵走行を継続しない旨の人為操作を前記入力装置から受け付けたことに応じて、前記モード切替部が前記走行制御部の制御モードを前記第２モードのままに保つと共に、前記モード切替部が前記入力装置からの人為操作を待機し、再び自動操舵走行を行う旨の人為操作を前記入力装置から受け付けたことに応じて、前記モード切替部が前記走行制御部の制御モードを前記第２モードから前記第１モードに切り替えると共に、前記走行制御部が前記記憶部に記憶された前記方位関連情報に基づく基準方位を用いて自動操舵走行を実行可能な状態となると好適である。 In the present invention, the mode switching unit keeps the control mode of the traveling control unit in the second mode and the mode switching unit receives the human operation to the effect that the automatic steering operation is not continued from the input device. In response to the mode switching unit waiting for the human operation from the input device and receiving the human operation to perform the automatic steering running again from the input device, the mode switching unit sets the control mode of the traveling control unit. It is preferable that the second mode is switched to the first mode and the traveling control unit is in a state where automatic steering traveling can be executed using the reference direction based on the orientation-related information stored in the storage unit.
　本構成によれば、自動操舵走行を実行中にモードが切り替わった後、自動操舵走行を継続しない旨の人為操作を行った場合でも、再び自動操舵走行を行う旨の人為操作を行えば、記憶部に記憶された方位関連情報を利用して自動操舵走行を行うことができる。従って、基準方位の再生成等の作業が不要となり、農作業機の利便性を更に高めることができる。 According to this configuration, even if an artificial operation for not continuing the automatic steering driving is performed after the mode is switched during the automatic steering driving, if the artificial operation for performing the automatic steering driving is performed again, the memory is stored. It is possible to perform automatic steering running by using the direction-related information stored in the unit. Therefore, work such as regeneration of the reference direction becomes unnecessary, and the convenience of the agricultural work machine can be further improved.
　本発明において、人為操作を受付可能な入力装置を備え、前記走行制御部が前記自動操舵走行を実行していないときに前記モード切替部が前記走行制御部の制御モードを前記第１モードから前記第２モードに切り替えたことに応じて、前記モード切替部が前記入力装置からの人為操作を待機し、再び自動操舵走行を行う旨の人為操作を前記入力装置から受け付けたことに応じて、前記モード切替部が前記走行制御部の制御モードを前記第２モードから前記第１モードに切り替えると共に、前記走行制御部が前記記憶部に記憶された前記方位関連情報に基づく基準方位を用いて自動操舵走行を実行可能な状態となると好適である。 In the present invention, an input device capable of accepting an artificial operation is provided, and when the travel control unit does not execute the automatic steering operation, the mode switching unit changes the control mode of the travel control unit from the first mode to the above. In response to switching to the second mode, the mode switching unit waits for an artificial operation from the input device, and receives an artificial operation from the input device to perform automatic steering running again. The mode switching unit switches the control mode of the traveling control unit from the second mode to the first mode, and the traveling control unit automatically steers using the reference orientation based on the orientation-related information stored in the storage unit. It is preferable that the vehicle is in a state where it can be driven.
　本構成によれば、自動操舵走行を実行していない時（例えば自動操舵走行の終了後）にモードが切り替わった後、再び自動操舵走行を行う旨の人為操作を行えば、記憶部に記憶された方位関連情報を利用して自動操舵走行を行うことができる。従って、農作業機の利便性を更に高めることができる。 According to this configuration, when the mode is switched when the automatic steering running is not executed (for example, after the automatic steering running is completed), if an artificial operation to perform the automatic steering running is performed again, the operation is stored in the storage unit. It is possible to perform automatic steering running by using the orientation-related information. Therefore, the convenience of the agricultural work machine can be further enhanced.
　本発明において、前記モード切替部は、所定の切替条件が満たされたことに応じて、前記走行制御部の制御モードを前記第１モードから前記第２モードに切り替えると好適である。 In the present invention, it is preferable that the mode switching unit switches the control mode of the traveling control unit from the first mode to the second mode when a predetermined switching condition is satisfied.
　本構成によれば、所定の切替条件が満たされると自動操舵走行を行わない第２モードに切り替わる農作業機において、自動操舵走行を再開する際の作業負担を軽減することが可能となり好ましい。 According to this configuration, it is possible to reduce the work load when restarting the automatic steering running in the agricultural work machine that switches to the second mode in which the automatic steering running is not performed when a predetermined switching condition is satisfied, which is preferable.
　本発明において、前記切替条件が、エンジンが停止したことを含むと好適である。 In the present invention, it is preferable that the switching condition includes that the engine has stopped.
　本構成によれば、エンジンが停止すると自動操舵走行を行わない第２モードに切り替わる農作業機において、自動操舵走行を再開する際の作業負担を軽減することが可能となり好ましい。 According to this configuration, it is possible to reduce the work load when restarting the automatic steering running in the agricultural work machine that switches to the second mode in which the automatic steering running is not performed when the engine is stopped, which is preferable.
　本発明において、前記切替条件が、機体に備えられた作業装置が停止したことを含むと好適である。 In the present invention, it is preferable that the switching condition includes that the working device provided in the machine body has stopped.
　本構成によれば、作業装置が停止すると自動操舵走行を行わない第２モードに切り替わる農作業機において、自動操舵走行を再開する際の作業負担を軽減することが可能となり好ましい。 According to this configuration, it is possible to reduce the work load when restarting the automatic steering running in the agricultural work machine that switches to the second mode in which the automatic steering running is not performed when the working device is stopped, which is preferable.
　上述した課題を解決する手段として、本発明のシステムは、農作業機を制御するシステムであって、前記農作業機の走行を制御する走行制御部と、前記走行制御部の制御モードを、基準方位を用いて自動操舵走行を実行可能な第１モードと、前記自動操舵走行を行わない第２モードと、の間で切り替えるモード切替部と、前記走行制御部の制御モードが前記第１モードであるときの前記基準方位に関する情報である方位関連情報を記憶する記憶部と、を備え、前記モード切替部が前記走行制御部の制御モードを前記第１モードから前記第２モードに切り替えて、更に前記第２モードから前記第１モードに切り替えた時に、前記走行制御部が前記記憶部に記憶された前記方位関連情報に基づく基準方位を用いて自動操舵走行を実行可能であることを特徴とする。 As a means for solving the above-mentioned problems, the system of the present invention is a system for controlling an agricultural work machine, and a travel control unit for controlling the travel of the agricultural work machine and a control mode of the travel control unit are set to a reference direction. When the mode switching unit for switching between the first mode in which automatic steering traveling can be executed and the second mode in which automatic steering traveling is not performed, and the control mode of the traveling control unit is the first mode. The mode switching unit switches the control mode of the traveling control unit from the first mode to the second mode, further comprising a storage unit for storing directional information which is information related to the reference direction. When the mode is switched from the two modes to the first mode, the traveling control unit can execute automatic steering traveling using the reference azimuth based on the azimuth-related information stored in the storage unit.
　上述した課題を解決する手段として、本発明の方法は、農作業機を制御する方法であって、前記農作業機の走行を制御する走行制御部の制御モードを、基準方位を用いて自動操舵走行を実行可能な第１モードに設定する第１ステップと、前記基準方位に関する情報である方位関連情報を記憶部に記憶させる第２ステップと、前記第１ステップの後に、前記走行制御部の制御モードを、前記自動操舵走行を行わない第２モードに切り替える第３ステップと、前記第３ステップの後に、前記走行制御部の制御モードを、前記第１モードに切り替える第４ステップと、前記第４ステップの後に、前記走行制御部が前記記憶部に記憶された前記方位関連情報に基づく基準方位を用いて自動操舵走行を実行する第５ステップと、を含むことを特徴とする。 As a means for solving the above-mentioned problems, the method of the present invention is a method for controlling an agricultural work machine, and automatically steers the control mode of the traveling control unit for controlling the traveling of the agricultural work machine by using a reference direction. After the first step of setting the feasible first mode, the second step of storing the direction-related information which is the information about the reference direction in the storage unit, and the first step, the control mode of the traveling control unit is set. The third step of switching to the second mode in which the automatic steering running is not performed, the fourth step of switching the control mode of the traveling control unit to the first mode after the third step, and the fourth step. Later, the traveling control unit includes a fifth step of executing automatic steering traveling using a reference direction based on the direction-related information stored in the storage unit.
　上述した課題を解決する手段として、本発明のプログラムは、農作業機を制御するためのプログラムであって、前記農作業機の走行を制御する走行制御部の制御モードを、基準方位を用いて自動操舵走行を実行可能な第１モードに設定する第１機能と、前記基準方位に関する情報である方位関連情報を記憶部に記憶させる第２機能と、前記第１機能の実行の後に、前記走行制御部の制御モードを、前記自動操舵走行を行わない第２モードに切り替える第３機能と、前記第３機能の実行の後に、前記走行制御部の制御モードを、前記第１モードに切り替える第４機能と、前記第４機能の実行の後に、前記記憶部に記憶された前記方位関連情報に基づく基準方位を用いて自動操舵走行を実行する第５機能と、をコンピュータに実行させることを特徴とする。 As a means for solving the above-mentioned problems, the program of the present invention is a program for controlling an agricultural work machine, and automatically steers the control mode of the traveling control unit that controls the traveling of the agricultural work machine by using a reference direction. The first function for setting the first mode in which driving can be executed, the second function for storing the direction-related information which is the information about the reference direction in the storage unit, and the traveling control unit after the execution of the first function. The third function of switching the control mode of the above to the second mode in which the automatic steering running is not performed, and the fourth function of switching the control mode of the running control unit to the first mode after the execution of the third function. After the execution of the fourth function, the computer is made to execute the fifth function of executing the automatic steering running using the reference direction based on the direction-related information stored in the storage unit.
　上述した課題を解決する手段として、本発明の記録媒体は、農作業機を制御するためのプログラムを記録した記録媒体であって、前記農作業機の走行を制御する走行制御部の制御モードを、基準方位を用いて自動操舵走行を実行可能な第１モードに設定する第１機能と、前記基準方位に関する情報である方位関連情報を記憶部に記憶させる第２機能と、
　前記第１機能の実行の後に、前記走行制御部の制御モードを、前記自動操舵走行を行わない第２モードに切り替える第３機能と、前記第３機能の実行の後に、前記走行制御部の制御モードを、前記第１モードに切り替える第４機能と、前記第４機能の実行の後に、前記記憶部に記憶された前記方位関連情報に基づく基準方位を用いて自動操舵走行を実行する第５機能と、をコンピュータに実行させるプログラムを記録したことを特徴とする。 As a means for solving the above-mentioned problems, the recording medium of the present invention is a recording medium on which a program for controlling an agricultural work machine is recorded, and is based on a control mode of a travel control unit that controls the travel of the agricultural work machine. The first function of setting the first mode in which automatic steering running can be executed using the directional direction, and the second function of storing the directional control-related information which is the information related to the reference directional direction in the storage unit.
After the execution of the first function, the control mode of the travel control unit is switched to the second mode in which the automatic steering operation is not performed, and after the execution of the third function, the control of the travel control unit is performed. A fourth function for switching the mode to the first mode, and a fifth function for executing automatic steering running using the reference direction based on the direction-related information stored in the storage unit after the execution of the fourth function. It is characterized by recording a program that causes a computer to execute.
　本構成によれば、走行制御部の制御モードが第１モードであるときの基準方位に関する情報である方位関連情報が記憶部に記憶され、走行制御部の制御モードが再び第１モードになった時に当該方位関連情報を利用して自動操舵走行を実行可能である。従って、基準方位の再生成等の作業が不要となり、自動操舵走行を再開する際の作業負担を軽減することが可能となる。 According to this configuration, the direction-related information which is the information about the reference direction when the control mode of the travel control unit is the first mode is stored in the storage unit, and the control mode of the travel control unit is changed to the first mode again. Sometimes it is possible to execute automatic steering running by using the direction-related information. Therefore, work such as regeneration of the reference direction becomes unnecessary, and it is possible to reduce the work load when restarting the automatic steering running.
コンバインの左側面図である。It is a left side view of the combine. 制御に関する構成を示すブロック図である。It is a block diagram which shows the structure about control. 起動ルーチンのフローチャートである。It is a flowchart of a start routine. メインルーチンのフローチャートである。It is a flowchart of the main routine. 基準方位取得ルーチンのフローチャートである。It is a flowchart of a reference direction acquisition routine. 自動操舵開始ルーチンのフローチャートである。It is a flowchart of the automatic steering start routine. 自動操舵終了ルーチンのフローチャートである。It is a flowchart of the automatic steering end routine.
　以下、本発明に係る農作業機の実施の形態である普通型コンバインについて、図面に基づいて説明する。なお、本発明は、以下の実施形態に限定されることなく、その要旨を逸脱しない範囲内で種々の変形が可能である。 Hereinafter, a conventional combine, which is an embodiment of the agricultural work machine according to the present invention, will be described with reference to the drawings. The present invention is not limited to the following embodiments, and various modifications can be made without departing from the gist thereof.
　尚、以下の説明においては、特に断りがない限り、図１に示す矢印Ｆの方向を「前」、矢印Ｂの方向を「後」、矢印Ｕの方向を「上」、矢印Ｄの方向を「下」とする。 In the following description, unless otherwise specified, the direction of arrow F shown in FIG. 1 is "front", the direction of arrow B is "rear", the direction of arrow U is "up", and the direction of arrow D is the direction of arrow D. "Bottom".
　〔コンバインの全体構成〕
　図１に示すように、普通型のコンバイン１（本発明に係る「農作業機」に相当）は、機体１０、刈取部Ｈ（作業装置の一例）、脱穀装置１３、穀粒タンク１４、搬送部１６、穀粒排出装置１８、衛星測位モジュール８０を備えている。また、機体１０は、クローラ式の走行装置１１、運転部１２、エンジンＥＧを有している。 [Overall composition of combine harvester]
As shown in FIG. 1, the ordinary type combine 1 (corresponding to the "agricultural work machine" according to the present invention) includes a machine body 10, a harvesting section H (an example of a working device), a threshing device 13, a grain tank 14, and a transport section. It is equipped with 16, a grain ejection device 18, and a satellite positioning module 80. Further, the machine body 10 has a crawler type traveling device 11, a driving unit 12, and an engine EG.
　走行装置１１は、コンバイン１における下部に備えられている。また、走行装置１１は、エンジンＥＧからの動力によって駆動する。そして、コンバイン１は、走行装置１１によって自走可能である。 The traveling device 11 is provided at the lower part of the combine 1. Further, the traveling device 11 is driven by the power from the engine EG. Then, the combine 1 can self-propell by the traveling device 11.
　また、運転部１２、脱穀装置１３、穀粒タンク１４は、走行装置１１の上側に備えられている。運転部１２には、コンバイン１の作業を監視するオペレータが搭乗可能である。 Further, the operation unit 12, the threshing device 13, and the grain tank 14 are provided on the upper side of the traveling device 11. An operator who monitors the work of the combine 1 can be boarded on the driving unit 12.
　穀粒排出装置１８は、穀粒タンク１４の上側に設けられている。また、衛星測位モジュール８０は、運転部１２の上面に取り付けられている。 The grain discharge device 18 is provided on the upper side of the grain tank 14. Further, the satellite positioning module 80 is attached to the upper surface of the operating unit 12.
　刈取部Ｈは、コンバイン１における前部に備えられている。そして、搬送部１６は、刈取部Ｈの後側に設けられている。また、刈取部Ｈは、刈刃１５及びリール１７を含んでいる。 The cutting section H is provided in the front portion of the combine 1. The transport unit 16 is provided on the rear side of the cutting unit H. Further, the cutting unit H includes a cutting blade 15 and a reel 17.
　刈刃１５は、圃場の植立穀稈を刈り取る。また、リール１７は、機体左右方向に沿うリール軸芯１７ｂ周りに回転駆動しながら収穫対象の植立穀稈を掻き込む。刈刃１５により刈り取られた刈取穀稈は、搬送部１６へ送られる。 The cutting blade 15 cuts the planted culm in the field. Further, the reel 17 is driven to rotate around the reel shaft core 17b along the left-right direction of the machine body to scrape the planted grain culm to be harvested. The cut grain culm cut by the cutting blade 15 is sent to the transport unit 16.
　この構成により、刈取部Ｈは、圃場の穀物を収穫する。そして、コンバイン１は、刈刃１５によって圃場の植立穀稈を刈り取りながら走行装置１１によって走行する刈取走行が可能である。 With this configuration, the harvesting unit H harvests the grain in the field. Then, the combine 1 can be cut and run by the running device 11 while cutting the planted culm in the field by the cutting blade 15.
　刈取部Ｈにより収穫された刈取穀稈は、搬送部１６によって機体後方へ搬送される。これにより、刈取穀稈は脱穀装置１３へ搬送される。 The harvested grain culm harvested by the harvesting unit H is transported to the rear of the machine by the transport unit 16. As a result, the harvested grain culm is transported to the threshing device 13.
　脱穀装置１３において、刈取穀稈は脱穀処理される。脱穀処理により得られた穀粒は、穀粒タンク１４に貯留される。穀粒タンク１４に貯留された穀粒は、必要に応じて、穀粒排出装置１８によって機外に排出される。 In the threshing device 13, the harvested grain culm is threshed. The grains obtained by the threshing treatment are stored in the grain tank 14. The grains stored in the grain tank 14 are discharged to the outside of the machine by the grain discharging device 18 as needed.
　即ち、コンバイン１は、刈取部Ｈによって収穫された穀物を貯留する穀粒タンク１４を備えている。 That is, the combine 1 is provided with a grain tank 14 for storing the grains harvested by the harvesting unit H.
　また、図１に示すように、運転部１２には、表示入力装置４（入力装置の一例）が配置されている。表示入力装置４は、種々の情報を表示可能、且つ人為操作を受付可能に構成されている。表示入力装置４は、例えば、タッチパネル式液晶表示装置である。本実施形態において、表示入力装置４は、運転部１２に固定されている。しかしながら、本発明はこれに限定されず、表示入力装置４は、運転部１２に対して着脱可能に構成されていても良いし、表示入力装置４は、コンバイン１の機外に位置していても良い。 Further, as shown in FIG. 1, a display input device 4 (an example of an input device) is arranged in the operation unit 12. The display input device 4 is configured to be able to display various information and to accept human operations. The display input device 4 is, for example, a touch panel type liquid crystal display device. In the present embodiment, the display input device 4 is fixed to the operation unit 12. However, the present invention is not limited to this, and the display input device 4 may be configured to be detachable from the driving unit 12, and the display input device 4 is located outside the combine 1. Is also good.
　ここで、コンバイン１は、手動操舵走行及び自動操舵走行を行うことができるように構成されている。手動操舵走行とは、オペレータの手動操舵によって走行を行うことを意味する。また、自動操舵走行とは、前進走行を自動で行うことを意味する。特に、本実施形態において、自動操舵走行とは、αターンやＵターン等の大きな方向転換のない前進走行を自動で行うことを意味する。 Here, the combine 1 is configured to be able to perform manual steering running and automatic steering running. Manual steering running means running by manual steering of the operator. Further, the automatic steering running means that the forward running is automatically performed. In particular, in the present embodiment, the automatic steering running means that the forward running without a large change of direction such as an α turn or a U turn is automatically performed.
　また、運転部１２には、主変速レバー１９が設けられている。コンバイン１が手動操舵走行または自動操舵走行を行っているとき、オペレータが主変速レバー１９を操作すると、コンバイン１の車速が変化する。即ち、コンバイン１が手動操舵走行または自動操舵走行を行っているとき、オペレータは、主変速レバー１９を操作することにより、コンバイン１の車速を変更することができる。 Further, the driving unit 12 is provided with a main shift lever 19. When the operator operates the main shift lever 19 while the combine 1 is performing manual steering or automatic steering, the vehicle speed of the combine 1 changes. That is, when the combine 1 is performing manual steering or automatic steering, the operator can change the vehicle speed of the combine 1 by operating the main shift lever 19.
　また、運転部１２には、操舵操作具４１が設けられている。コンバイン１が手動操舵走行を行っているとき、オペレータが操舵操作具４１を操作すると、走行装置１１における左右のクローラの間に速度差が生じるように構成されている。これにより、コンバイン１が旋回する。即ち、コンバイン１が手動操舵走行を行っているとき、オペレータは、操舵操作具４１を操作することにより、コンバイン１の操舵を行うことができる。 Further, the driving unit 12 is provided with a steering operating tool 41. When the combine 1 is manually steering and traveling, when the operator operates the steering operating tool 41, a speed difference is generated between the left and right crawlers in the traveling device 11. As a result, the combine 1 turns. That is, when the combine 1 is manually steering and traveling, the operator can steer the combine 1 by operating the steering operating tool 41.
　即ち、コンバイン１は、操舵のための操舵操作具４１を備えている。 That is, the combine 1 is provided with a steering operating tool 41 for steering.
　尚、コンバイン１は、操舵操作具４１への操作力が走行装置１１へ伝達されないように構成されている。即ち、操舵操作具４１は、走行装置１１に機械的に連動するものではない。オペレータが操舵操作具４１を操作すると、操舵操作具４１の動きが電気的に検知され、この検知に基づいて、走行装置１１における左右のクローラが制御される。これにより、左右のクローラの間に速度差が生じると、コンバイン１は旋回する。また、左右のクローラの間に速度差がない状態では、コンバイン１は直進する。 The combine 1 is configured so that the operating force to the steering operating tool 41 is not transmitted to the traveling device 11. That is, the steering operation tool 41 is not mechanically interlocked with the traveling device 11. When the operator operates the steering operation tool 41, the movement of the steering operation tool 41 is electrically detected, and the left and right crawlers in the traveling device 11 are controlled based on this detection. As a result, when a speed difference occurs between the left and right crawlers, the combine 1 turns. Further, when there is no speed difference between the left and right crawlers, the combine 1 goes straight.
　〔動力伝達に関する構成〕
　図２に示すように、コンバイン１は、脱穀クラッチＣ１及び刈取クラッチＣ２を備えている。エンジンＥＧから出力された動力は、走行装置１１及び脱穀クラッチＣ１に分配される。 [Structure related to power transmission]
As shown in FIG. 2, the combine 1 includes a threshing clutch C1 and a harvesting clutch C2. The power output from the engine EG is distributed to the traveling device 11 and the threshing clutch C1.
　走行装置１１は、主変速装置１１ａ及び副変速装置１１ｂを有している。本実施形態において、主変速装置１１ａは、静油圧式無段変速装置により構成されている。また、副変速装置１１ｂは、ギヤ切替式の変速装置により構成されており、高速状態と低速状態との間で切替可能に構成されている。尚、高速状態は移動用（非作業用）の変速状態であり、低速状態は作業用の変速状態である。 The traveling device 11 has a main transmission device 11a and an auxiliary transmission device 11b. In the present embodiment, the main transmission 11a is configured by a hydrostatic continuously variable transmission. Further, the auxiliary transmission 11b is configured by a gear switching type transmission, and is configured to be switchable between a high speed state and a low speed state. The high-speed state is a shift state for movement (non-working), and the low-speed state is a shift state for work.
　エンジンＥＧから走行装置１１に入力された動力は、主変速装置１１ａ及び副変速装置１１ｂにより変速される。そして、変速された動力によって、走行装置１１のクローラが駆動することにより、コンバイン１が走行する。 The power input from the engine EG to the traveling device 11 is changed by the main transmission device 11a and the auxiliary transmission device 11b. Then, the combine 1 travels by driving the crawler of the traveling device 11 by the speed-shifted power.
　主変速レバー１９は、前後方向に揺動操作可能に構成されている。主変速レバー１９の可動域は、前進用操作位置、中立位置、後退用操作位置の３つに区画されている。そして、主変速レバー１９が操作されることにより、主変速装置１１ａの変速状態が変化する。 The main shift lever 19 is configured to be swingable in the front-rear direction. The range of motion of the main shift lever 19 is divided into three, a forward operation position, a neutral position, and a reverse operation position. Then, by operating the main shift lever 19, the shift state of the main shift device 11a changes.
　主変速レバー１９が前進用操作位置に位置しているとき、主変速装置１１ａは、前進用の変速状態である。このとき、主変速レバー１９を前側に倒すほど、主変速装置１１ａから出力される動力は高速となる。 When the main shift lever 19 is located at the forward operation position, the main shift device 11a is in the forward shift state. At this time, the more the main speed change lever 19 is tilted forward, the higher the power output from the main speed change device 11a becomes.
　主変速レバー１９が中立位置に位置しているとき、主変速装置１１ａは、中立状態である。このとき、主変速装置１１ａは、動力を出力しない。 When the main speed change lever 19 is in the neutral position, the main speed change device 11a is in the neutral state. At this time, the main transmission 11a does not output power.
　主変速レバー１９が後退用操作位置に位置しているとき、主変速装置１１ａは、後進用の変速状態である。このとき、主変速レバー１９を後側に倒すほど、主変速装置１１ａから出力される動力は高速となる。 When the main shift lever 19 is located at the reverse operation position, the main shift device 11a is in the reverse shift state. At this time, the more the main speed change lever 19 is tilted to the rear side, the higher the power output from the main speed change device 11a becomes.
　また、主変速レバー１９に、副変速スイッチ４２（図２）が設けられている。副変速スイッチ４２が押し操作されるたびに、副変速装置１１ｂの変速状態は、高速状態と低速状態との間で切り替わる。 Further, the main shift lever 19 is provided with an auxiliary shift switch 42 (FIG. 2). Each time the auxiliary transmission switch 42 is pressed, the transmission state of the auxiliary transmission device 11b is switched between a high speed state and a low speed state.
　図２に示す脱穀クラッチＣ１は、動力を伝達する入状態と、動力を伝達しない切状態と、の間で状態変更可能に構成されている。 The threshing clutch C1 shown in FIG. 2 is configured so that the state can be changed between an on state in which power is transmitted and an off state in which power is not transmitted.
　脱穀クラッチＣ１が入状態であるとき、エンジンＥＧからの動力は、脱穀装置１３及び刈取クラッチＣ２へ伝達される。これにより、脱穀装置１３は駆動する。 When the threshing clutch C1 is in the engaged state, the power from the engine EG is transmitted to the threshing device 13 and the cutting clutch C2. As a result, the threshing device 13 is driven.
　また、脱穀クラッチＣ１が切状態であるとき、エンジンＥＧからの動力は、脱穀装置１３及び刈取クラッチＣ２の何れにも伝達されない。このとき、脱穀装置１３は駆動しない。 Further, when the threshing clutch C1 is in the off state, the power from the engine EG is not transmitted to either the threshing device 13 or the cutting clutch C2. At this time, the threshing device 13 is not driven.
　また、刈取クラッチＣ２は、動力を伝達する入状態と、動力を伝達しない切状態と、の間で状態変更可能に構成されている。 Further, the cutting clutch C2 is configured so that the state can be changed between the on state in which power is transmitted and the off state in which power is not transmitted.
　脱穀クラッチＣ１と刈取クラッチＣ２との両方が入状態であるとき、エンジンＥＧからの動力は、刈取部Ｈへ伝達される。これにより、刈取部Ｈは駆動する。 When both the threshing clutch C1 and the cutting clutch C2 are in the engaged state, the power from the engine EG is transmitted to the cutting unit H. As a result, the cutting unit H is driven.
　また、刈取クラッチＣ２が切状態であるとき、エンジンＥＧからの動力は、刈取部Ｈへ伝達されない。このとき、刈取部Ｈは駆動しない。 Further, when the cutting clutch C2 is in the disengaged state, the power from the engine EG is not transmitted to the cutting unit H. At this time, the cutting unit H is not driven.
　また、脱穀クラッチＣ１が切状態であるときも、エンジンＥＧからの動力は、刈取部Ｈへ伝達されない。このとき、刈取部Ｈは駆動しない。 Further, even when the threshing clutch C1 is in the disengaged state, the power from the engine EG is not transmitted to the cutting section H. At this time, the cutting unit H is not driven.
　図２に示すように、コンバイン１は、刈取脱穀レバー４３を備えている。刈取脱穀レバー４３は、運転部１２に設けられている。刈取脱穀レバー４３は、前後方向に揺動操作可能に構成されている。そして、刈取脱穀レバー４３は、第１操作位置、第２操作位置、第３操作位置の間で、操作位置を択一的に切り替えることができるように構成されている。
刈取脱穀レバー４３が操作されることにより、脱穀クラッチＣ１及び刈取クラッチＣ２の入切状態が変化する。 As shown in FIG. 2, the combine 1 includes a harvesting threshing lever 43. The harvesting threshing lever 43 is provided in the driving unit 12. The harvesting threshing lever 43 is configured to be swingable in the front-rear direction. The harvesting threshing lever 43 is configured so that the operation position can be selectively switched between the first operation position, the second operation position, and the third operation position.
By operating the harvesting threshing lever 43, the on / off state of the threshing clutch C1 and the harvesting clutch C2 changes.
　刈取脱穀レバー４３の操作位置が第１操作位置であるとき、脱穀クラッチＣ１及び刈取クラッチＣ２は、何れも入状態である。 When the operating position of the cutting threshing lever 43 is the first operating position, both the threshing clutch C1 and the cutting clutch C2 are in the engaged state.
　刈取脱穀レバー４３の操作位置が第２操作位置であるとき、脱穀クラッチＣ１は入状態であり、刈取クラッチＣ２は切状態である。 When the operating position of the cutting threshing lever 43 is the second operating position, the threshing clutch C1 is in the on state and the cutting clutch C2 is in the off state.
　刈取脱穀レバー４３の操作位置が第３操作位置であるとき、脱穀クラッチＣ１及び刈取クラッチＣ２は、何れも切状態である。 When the operating position of the cutting threshing lever 43 is the third operating position, both the threshing clutch C1 and the cutting clutch C2 are in the off state.
　図２に示すように、コンバイン１は、操舵操作具４１を備えている。操舵操作具４１は、左右方向に揺動操作可能に構成されている。 As shown in FIG. 2, the combine 1 is provided with a steering operation tool 41. The steering control tool 41 is configured to be swingable in the left-right direction.
　以下、図２のブロック図を参照しながら、コンバイン１の制御に関する構成について説明する。コンバイン１の制御装置ＣＵは、制御部ＣＳ、及び記憶装置ＭＥを備えている。 Hereinafter, the configuration related to the control of the combine 1 will be described with reference to the block diagram of FIG. The control device CU of the combine 1 includes a control unit CS and a storage device ME.
　詳しくは制御装置ＣＵは、所謂ＥＣＵであって、機能部に対応するプログラムを記憶するメモリ（ＨＤＤや不揮発性ＲＡＭなど。図示省略）と、当該プログラムを実行するＣＰＵ（図示省略）と、を備えている。プログラムがＣＰＵにより実行されることにより、各機能部の機能が実現される。 Specifically, the control device CU is a so-called ECU, and includes a memory (HDD, non-volatile RAM, etc., not shown) for storing a program corresponding to a functional unit, and a CPU (not shown) for executing the program. ing. When the program is executed by the CPU, the functions of each functional unit are realized.
　制御部ＣＳは、自車位置算出部２１、走行制御部２４、自車方位算出部２５、モード切替部２６、基準方位算出部２７、自動操舵制御部２８、及び走行経路算出部２９を備えている。 The control unit CS includes a vehicle position calculation unit 21, a travel control unit 24, a vehicle orientation calculation unit 25, a mode switching unit 26, a reference direction calculation unit 27, an automatic steering control unit 28, and a travel route calculation unit 29. There is.
　記憶装置ＭＥは、状態フラグ記憶部５１、及び方位関連情報記憶部５２（記憶部の一例）を備えている。状態フラグ記憶部５１及び方位関連情報記憶部５２は、記憶装置ＭＥにおける制御装置ＣＵの電源を遮断しても記憶を保持する素子ないし領域（例えば、不揮発性ＲＡＭ）に設けられる。 The storage device ME includes a state flag storage unit 51 and an orientation-related information storage unit 52 (an example of a storage unit). The state flag storage unit 51 and the orientation-related information storage unit 52 are provided in an element or region (for example, a non-volatile RAM) that retains storage even when the power supply of the control device CU in the storage device ME is cut off.
　状態フラグ記憶部５１は、自動操舵中フラグ及びＢ点待機中フラグを記憶する。自動操舵中フラグ及びＢ点待機中フラグは、ＯＮ及びＯＦＦの２つの値をとる。 The state flag storage unit 51 stores the automatic steering flag and the B point standby flag. The automatic steering flag and the B point standby flag take two values, ON and OFF.
　方位関連情報記憶部５２は、走行制御部２４の制御モードが第１モードであるときの基準方位に関する情報である方位関連情報を記憶する。 The directional information storage unit 52 stores directional information, which is information related to the reference azimuth when the control mode of the traveling control unit 24 is the first mode.
　ここで、本実施形態においては、ＲＴＫ－ＧＰＳ（Ｒｅａｌ　Ｔｉｍｅ　Ｋｉｎｅｍａｔｉｃ　ＧＰＳ）が採用されている。図１に示す衛星測位モジュール８０は、ＧＰＳ（グローバル・ポジショニング・システム）で用いられる人工衛星ＧＳからのＧＰＳ信号と、既知位置に設置された基準局（図示せず）から送信された測位データと、を受信する。そして、図２に示すように、衛星測位モジュール８０は、受信したＧＰＳ信号に基づく測位データと、基準局から受け取った測位データと、を自車位置算出部２１へ送る。 Here, in this embodiment, RTK-GPS (Real Time Kinetic GPS) is adopted. The satellite positioning module 80 shown in FIG. 1 includes GPS signals from the artificial satellite GS used in GPS (Global Positioning System), positioning data transmitted from a reference station (not shown) installed at a known position, and positioning data. To receive. Then, as shown in FIG. 2, the satellite positioning module 80 sends the positioning data based on the received GPS signal and the positioning data received from the reference station to the own vehicle position calculation unit 21.
　自車位置算出部２１は、衛星測位モジュール８０から受け取った測位データに基づいて、コンバイン１の位置座標を経時的に算出する。算出されたコンバイン１の経時的な位置座標は、走行制御部２４へ送られる。 The vehicle position calculation unit 21 calculates the position coordinates of the combine 1 over time based on the positioning data received from the satellite positioning module 80. The calculated position coordinates of the combine 1 over time are sent to the traveling control unit 24.
　一般に、ＲＴＫ－ＧＰＳ測位においては、ＧＰＳ衛星とＧＰＳ受信機との距離をＮ×λ＋φ×λ＋ｃ×ｄＴ＋ｃ×ｄｔとして、整数値バイアスと呼ばれるＮを求める。これにより、高精度な測位が可能となる。尚、λは搬送波の波長である。また、φはＧＰＳ衛星とＧＰＳ受信機との間の波数の小数部である。また、ｃは電波伝搬速度、ｄＴはＧＰＳ衛星の時計誤差、ｄｔはＧＰＳ受信機の時計誤差である。 Generally, in RTK-GPS positioning, the distance between the GPS satellite and the GPS receiver is N × λ + φ × λ + c × dT + c × dt, and N called an integer value bias is obtained. This enables highly accurate positioning. Note that λ is the wavelength of the carrier wave. Further, φ is a fractional part of the wave number between the GPS satellite and the GPS receiver. Further, c is the radio wave propagation speed, dT is the clock error of the GPS satellite, and dt is the clock error of the GPS receiver.
　そして、このＮが整数解として定まった状態は、ＦＩＸと呼ばれる。また、このときの測位結果は、ＦＩＸ解と呼ばれる。 And the state where this N is determined as an integer solution is called FIX. The positioning result at this time is called a FIX solution.
　また、Ｎが整数解として定まっていない状態は、ＦＬＯＡＴと呼ばれる。このときの測位結果は、ＦＬＯＡＴ解と呼ばれる。ＦＩＸ解はセンチメータ精度であるのに対して、ＦＬＯＡＴ解は数十センチから数メータの精度となる。 The state where N is not determined as an integer solution is called FLOAT. The positioning result at this time is called an FLOAT solution. The FIX solution has a centimeter accuracy, while the FLOAT solution has an accuracy of several tens of centimeters to several meters.
　以下、衛星測位モジュール８０及び自車位置算出部２１によるＲＴＫ－ＧＰＳ測位において、ＦＩＸ解が得られている状態を「高精度状態」と記載する場合がある。 Hereinafter, in the RTK-GPS positioning by the satellite positioning module 80 and the own vehicle position calculation unit 21, the state in which the FIX solution is obtained may be described as "high accuracy state".
　尚、衛星測位モジュール８０は、ＧＰＳを利用するものでなくても良い。例えば、衛星測位モジュール８０は、ＧＰＳ以外のＧＮＳＳ（ＧＬＯＮＡＳＳ、Ｇａｌｉｌｅｏ、みちびき、ＢｅｉＤｏｕ等）を利用するものであっても良い。 The satellite positioning module 80 does not have to use GPS. For example, the satellite positioning module 80 may use GNSS (GLONASS, Galileo, Michibiki, BeiDou, etc.) other than GPS.
　また、図２に示すように、コンバイン１は、慣性計測装置８１を備えている。また、制御部ＣＳは、自車方位算出部２５を有している。 Further, as shown in FIG. 2, the combine 1 is provided with an inertial measurement unit 81. Further, the control unit CS has a vehicle direction calculation unit 25.
　慣性計測装置８１は、機体１０のヨー角度の角速度、及び、互いに直交する３軸方向の加速度を経時的に検知する。慣性計測装置８１による検知結果は、自車方位算出部２５へ送られる。 The inertial measurement unit 81 detects the angular velocity of the yaw angle of the airframe 10 and the acceleration in the three axial directions orthogonal to each other over time. The detection result by the inertial measurement unit 81 is sent to the own vehicle direction calculation unit 25.
　自車方位算出部２５は、自車位置算出部２１から、コンバイン１の位置座標を受け取る。そして、自車方位算出部２５は、慣性計測装置８１による検知結果と、コンバイン１の位置座標と、に基づいて、コンバイン１の姿勢方位を算出する。 The vehicle direction calculation unit 25 receives the position coordinates of the combine 1 from the vehicle position calculation unit 21. Then, the own vehicle direction calculation unit 25 calculates the attitude direction of the combine 1 based on the detection result by the inertial measurement unit 81 and the position coordinates of the combine 1.
　より具体的には、まず、コンバイン１の走行中に、現在のコンバイン１の位置座標、及び、直前に走行していた地点におけるコンバイン１の位置座標に基づいて、自車方位算出部２５は、初期姿勢方位を算出する。 More specifically, first, while the combine 1 is traveling, the heading vehicle direction calculation unit 25 determines the current position coordinates of the combine 1 and the position coordinates of the combine 1 at the point where the combine 1 was traveling immediately before. Calculate the initial posture orientation.
　次に、初期姿勢方位が算出されてからコンバイン１が一定時間走行すると、自車方位算出部２５は、その一定時間の走行の間に慣性計測装置８１により検知された角速度を積分処理することにより、姿勢方位の変化量を算出する。 Next, when the combine 1 travels for a certain period of time after the initial attitude direction is calculated, the own vehicle direction calculation unit 25 integrates the angular velocity detected by the inertial measurement unit 81 during the operation for the fixed time. , Calculate the amount of change in posture and orientation.
　そして、このように算出された姿勢方位の変化量を初期姿勢方位に足し合わせることによって、自車方位算出部２５は、姿勢方位の算出結果を更新する。その後、一定時間毎に、姿勢方位の変化量が同様に算出されると共に、順次、姿勢方位の算出結果が更新されていく。 Then, by adding the amount of change in the posture orientation calculated in this way to the initial attitude orientation, the own vehicle orientation calculation unit 25 updates the calculation result of the attitude orientation. After that, the amount of change in the posture direction is calculated in the same manner at regular time intervals, and the calculation result of the posture direction is sequentially updated.
　ところで、慣性計測装置８１により検知される角速度には、計測誤差（ドリフト）が含まれている。この計測誤差は時間経過と共に増大していくため、姿勢方位の変化量を算出する度に、算出された姿勢方位の変化量に含まれる誤差が大きくなっていく。 By the way, the angular velocity detected by the inertial measurement unit 81 includes a measurement error (drift). Since this measurement error increases with the passage of time, the error included in the calculated change in posture and orientation increases each time the amount of change in posture and orientation is calculated.
　そこで、自車方位算出部２５は、慣性計測装置８１による検知結果に基づいて算出された姿勢方位を、コンバイン１の位置座標の変化に基づき算出される方位情報によって補正するように構成されている。尚、コンバイン１の位置座標の変化に基づき算出される方位情報は、衛星測位モジュール８０及び自車位置算出部２１によるＲＴＫ－ＧＰＳ測位においてＦＩＸ解が得られており、且つ、コンバイン１が数メートル以上に亘って直進した場合に、高精度となる。そのため、自車方位算出部２５は、コンバイン１の位置座標の変化に基づき算出される方位情報による補正を、衛星測位モジュール８０及び自車位置算出部２１によるＲＴＫ－ＧＰＳ測位においてＦＩＸ解が得られており、且つ、コンバイン１が数メートル以上に亘って直進した場合にのみ行う。 Therefore, the own vehicle direction calculation unit 25 is configured to correct the attitude direction calculated based on the detection result by the inertial measurement unit 81 by the direction information calculated based on the change in the position coordinates of the combine 1. .. The directional information calculated based on the change in the position coordinates of the combine 1 has a FIX solution obtained by RTK-GPS positioning by the satellite positioning module 80 and the own vehicle position calculation unit 21, and the combine 1 is several meters. High accuracy is achieved when going straight over the above. Therefore, the own vehicle orientation calculation unit 25 obtains a FIX solution in RTK-GPS positioning by the satellite positioning module 80 and the own vehicle position calculation unit 21 for correction based on the orientation information calculated based on the change in the position coordinates of the combine 1. And only when the combine 1 goes straight for several meters or more.
　尚、本明細書において、衛星測位モジュール８０及び自車位置算出部２１によるＲＴＫ－ＧＰＳ測位においてＦＩＸ解が得られており、且つ、コンバイン１が数メートル以上に亘って直進した状態、及び、コンバイン１の位置座標の変化に基づいて高精度な方位情報が算出される状態を、高精度方位算出状態と記載する場合がある。 In this specification, the FIX solution is obtained in the RTK-GPS positioning by the satellite positioning module 80 and the own vehicle position calculation unit 21, and the combine 1 has traveled straight for several meters or more, and the combine. A state in which high-precision directional information is calculated based on a change in the position coordinates of 1 may be described as a high-precision directional calculation state.
　以上で説明した構成により、自車方位算出部２５は、コンバイン１の姿勢方位を高精度に算出することができる。自車方位算出部２５により算出されたコンバイン１の姿勢方位は、走行制御部２４へ送られる。 With the configuration described above, the vehicle direction calculation unit 25 can calculate the attitude direction of the combine 1 with high accuracy. The attitude direction of the combine 1 calculated by the own vehicle direction calculation unit 25 is sent to the traveling control unit 24.
　走行制御部２４は、走行装置１１を制御可能に構成されている。走行制御部２４は、走行装置１１を制御することにより、機体１０の走行を制御する。 The travel control unit 24 is configured to be able to control the travel device 11. The travel control unit 24 controls the travel of the machine body 10 by controlling the travel device 11.
　即ち、コンバイン１は、走行装置１１を有する機体１０の走行を制御する走行制御部２４を備えている。 That is, the combine 1 includes a travel control unit 24 that controls the travel of the machine body 10 having the travel device 11.
〔刈取部の昇降操作に関する構成〕
　図１に示すように、コンバイン１は、刈取シリンダ１５Ａを備えている。また、図２に示すように、コンバイン１は、刈取昇降操作具４４を備えている。 [Structure related to raising and lowering the cutting section]
As shown in FIG. 1, the combine 1 includes a cutting cylinder 15A. Further, as shown in FIG. 2, the combine 1 is provided with a cutting elevating operation tool 44.
　刈取昇降操作具４４は、運転部１２に設けられている。制御部ＣＳは、オペレータによる刈取昇降操作具４４の操作に応じて、刈取シリンダ１５Ａの伸縮を制御するように構成されている。 The cutting elevating operation tool 44 is provided in the driving unit 12. The control unit CS is configured to control the expansion and contraction of the cutting cylinder 15A in response to the operation of the cutting raising / lowering operation tool 44 by the operator.
　刈取シリンダ１５Ａが伸びると、搬送部１６及び刈取部Ｈは、一体的に、刈取部Ｈが上昇する方向に揺動する。これにより、刈取部Ｈは、機体１０に対して上昇する。 When the cutting cylinder 15A is extended, the transport unit 16 and the cutting unit H integrally swing in the direction in which the cutting unit H rises. As a result, the cutting section H rises with respect to the machine body 10.
　また、刈取シリンダ１５Ａが縮むと、搬送部１６及び刈取部Ｈは、一体的に、刈取部Ｈが下降する方向に揺動する。これにより、刈取部Ｈは、機体１０に対して下降する。 Further, when the cutting cylinder 15A contracts, the transport unit 16 and the cutting unit H integrally swing in the direction in which the cutting unit H descends. As a result, the cutting section H descends with respect to the machine body 10.
　この構成により、オペレータは、刈取昇降操作具４４を操作することによって、刈取部Ｈの昇降操作を行うことができる。 With this configuration, the operator can perform the raising / lowering operation of the cutting unit H by operating the cutting raising / lowering operation tool 44.
〔自動操舵走行に関する構成〕
　モード切替部２６は、走行制御部２４の制御モードを、基準方位を用いて自動操舵走行を実行可能な自動操舵モード（第１モードの一例）と、自動操舵走行を行わない非自動操舵モード（第２モード）と、の間で切り替える。 [Configuration related to automatic steering]
The mode switching unit 26 sets the control mode of the travel control unit 24 into an automatic steering mode (an example of the first mode) capable of executing automatic steering travel using a reference direction and a non-automatic steering mode (an example of the first mode) in which automatic steering travel is not performed. Switch between (second mode) and.
　自動操舵モードでは、基準方位を設定するための手動操舵走行、自動操舵走行の開始前の予備的な手動操舵走行、オペレータの操作に基づく自動操舵走行の開始及び終了、自動的な自動操舵走行の開始及び終了、自動操舵走行と自動操舵走行との間の手動操舵によるターン走行、などが行われる。 In the automatic steering mode, manual steering to set the reference direction, preliminary manual steering before the start of automatic steering, start and end of automatic steering based on the operator's operation, and automatic automatic steering. Start and end, turn running by manual steering between automatic steering running and automatic steering running, etc. are performed.
　以下、自動操舵走行について詳述する。自動操舵走行は、設定された基準方位に基づいて自動操舵目標ラインを生成・決定し、決定された自動操舵目標ラインに沿って機体１０が自動操舵される走行である。自動操舵に先立って、基準方位の設定が行われる。 The automatic steering running will be described in detail below. The automatic steering running is a running in which an automatic steering target line is generated and determined based on a set reference direction, and the aircraft 10 is automatically steered along the determined automatic steering target line. Prior to automatic steering, the reference direction is set.
　基準方位を設定する際（後述する基準方位取得ルーチン）、表示入力装置４の画面に「Ａ点登録」と記されたボタン（以下「Ａ点登録ボタン」と称する。）が表示される。Ａ点登録ボタンがオペレータによりタッチ操作されると、所定の信号が基準方位算出部２７へ送られる。基準方位算出部２７は、当該信号を受信したことに応じて、自車位置算出部２１から受け取るコンバイン１の経時的な位置座標に基づいて、Ａ点登録ボタンがタッチ操作された時点でのコンバイン１の位置座標を算出する。以下、当該位置座標を「Ａ点座標」と称し、Ａ点座標に対応する位置を単に「Ａ点」と称する。このとき算出された位置座標（Ａ点座標）は、方位関連情報として、方位関連情報記憶部５２に記憶される。 When setting the reference direction (reference direction acquisition routine described later), a button marked "A point registration" (hereinafter referred to as "A point registration button") is displayed on the screen of the display input device 4. When the point A registration button is touch-operated by the operator, a predetermined signal is sent to the reference direction calculation unit 27. The reference azimuth calculation unit 27 receives the signal, and based on the temporal position coordinates of the combine 1 received from the own vehicle position calculation unit 21, the combine at the time when the point A registration button is touch-operated. Calculate the position coordinates of 1. Hereinafter, the position coordinates are referred to as "point A coordinates", and the position corresponding to the point A coordinates is simply referred to as "point A". The position coordinates (point A coordinates) calculated at this time are stored in the direction-related information storage unit 52 as the direction-related information.
　コンバイン１が手動操舵されて移動し、Ａ点から所定の距離離れると、表示入力装置４の画面に「Ｂ点登録」と記されたボタン（以下「Ｂ点登録ボタン」と称する。）Ｂ点登録ボタンがオペレータによりタッチ操作されると、所定の信号が基準方位算出部２７へ送られる。基準方位算出部２７は、当該信号を受信したことに応じて、自車位置算出部２１から受け取るコンバイン１の経時的な位置座標に基づいて、Ｂ点登録ボタンがタッチ操作された時点でのコンバイン１の位置座標を算出する。以下、当該位置座標を「Ｂ点座標」と称し、Ｂ点座標に対応する位置を単に「Ｂ点」と称する。このとき算出された位置座標（Ｂ点座標）は、方位関連情報として、方位関連情報記憶部５２に記憶される。 When the combine 1 is manually steered and moved and is separated from the point A by a predetermined distance, the button marked "Point B registration" on the screen of the display input device 4 (hereinafter referred to as "point B registration button") is point B. When the registration button is touch-operated by the operator, a predetermined signal is sent to the reference direction calculation unit 27. The reference azimuth calculation unit 27 receives the signal, and based on the temporal position coordinates of the combine 1 received from the own vehicle position calculation unit 21, the combine at the time when the point B registration button is touch-operated. Calculate the position coordinates of 1. Hereinafter, the position coordinates are referred to as "point B coordinates", and the position corresponding to the point B coordinates is simply referred to as "point B". The position coordinates (point B coordinates) calculated at this time are stored in the direction-related information storage unit 52 as the direction-related information.
　そして、基準方位算出部２７は、Ａ点座標とＢ点座標とに基づいて、自動操舵のための基準方位を決定する。より具体的には、基準方位算出部２７は、Ａ点からＢ点へ向かう直線の方向を算出し、この方向を基準方位として決定する。基準方位算出部２７は、決定された基準方位を、方位関連情報として、方位関連情報記憶部５２に記憶させる。 Then, the reference direction calculation unit 27 determines the reference direction for automatic steering based on the A point coordinates and the B point coordinates. More specifically, the reference direction calculation unit 27 calculates the direction of the straight line from the point A to the point B, and determines this direction as the reference direction. The reference direction calculation unit 27 stores the determined reference direction as the direction-related information in the direction-related information storage unit 52.
　基準方位の形式は、特に限定されないが、例えば、東西南北を基準とした形式（例えば、「北」や「北２７度東」等）であっても良いし、座標系における単位ベクトルであっても良い。 The format of the reference direction is not particularly limited, but may be, for example, a format based on north, south, east, or west (for example, "north" or "27 degrees east of north"), or a unit vector in the coordinate system. Is also good.
　また、基準方位は、一方から他方への向きを有するものでなくても良い。例えば、基準方位は、座標系における直線の傾き（例えば、Ａ点とＢ点とを通る直線の傾き）を示すものであっても良いし、座標系における直線そのもの（例えば、Ａ点とＢ点とを通る直線そのもの）を示すものであっても良いし、東西南北を基準として方向を示すもの（例えば、「南北方向」や「東西方向」等）であっても良い。 Further, the reference direction does not have to have a direction from one to the other. For example, the reference direction may indicate the slope of a straight line in the coordinate system (for example, the slope of a straight line passing through points A and B), or the straight line itself in the coordinate system (for example, points A and B). It may indicate the straight line itself passing through the above, or it may indicate the direction based on the north, south, east, and west (for example, "north-south direction", "east-west direction", etc.).
　基準方位算出部２７が基準方位を算出した後、走行経路算出部２９は、刈取部Ｈの刈幅中心を通ると共に基準方位に沿う方向の走行ラインを常時算出する。即ち、この走行ラインは、基準方位に基づいて算出される。 After the reference direction calculation unit 27 calculates the reference direction, the travel path calculation unit 29 passes through the cutting width center of the cutting unit H and constantly calculates the travel line in the direction along the reference direction. That is, this traveling line is calculated based on the reference direction.
　そして、自動操舵を開始する条件（後述）が満たされると、自動操舵ボタンが操作可能状態になる。自動操舵ボタンがオペレータにより操作されると、所定の信号が自動操舵制御部２８へ送られる。自動操舵制御部２８は、当該信号を受信したことに応じて、その時点で算出されていた走行ラインを固定する。固定された走行ラインは、自動操舵目標ラインとなり、自動操舵制御部２８から走行制御部２４へ送られる。 Then, when the condition for starting automatic steering (described later) is satisfied, the automatic steering button becomes operable. When the automatic steering button is operated by the operator, a predetermined signal is sent to the automatic steering control unit 28. The automatic steering control unit 28 fixes the travel line calculated at that time in response to receiving the signal. The fixed travel line becomes an automatic steering target line and is sent from the automatic steering control unit 28 to the travel control unit 24.
　走行制御部２４は、自車位置算出部２１から受け取ったコンバイン１の位置座標と、自車方位算出部２５から受け取ったコンバイン１の姿勢方位と、自動操舵制御部２８から受け取った自動操舵目標ラインと、に基づいて、コンバイン１の走行を制御する。より具体的には、走行制御部２４は、自動操舵目標ラインに沿った自動操舵走行によって刈取走行が行われるように、機体１０の走行を制御する。 The travel control unit 24 has the position coordinates of the combine 1 received from the vehicle position calculation unit 21, the attitude direction of the combine 1 received from the vehicle orientation calculation unit 25, and the automatic steering target line received from the automatic steering control unit 28. And, based on, the running of the combine 1 is controlled. More specifically, the travel control unit 24 controls the travel of the machine body 10 so that the cutting travel is performed by the automatic steering travel along the automatic steering target line.
　なお、走行制御部２４が、自動操舵目標ラインに代えて、基準方位に基づいて機体１０の走行を制御するように構成されてもよい。この場合、走行制御部２４は、コンバイン１の姿勢方位が基準方位に合うように、または、基準方位に対して平行となるように、機体１０の走行を制御するように構成されてもよい。 The travel control unit 24 may be configured to control the travel of the aircraft 10 based on the reference direction instead of the automatic steering target line. In this case, the travel control unit 24 may be configured to control the travel of the aircraft 10 so that the posture orientation of the combine 1 matches the reference orientation or is parallel to the reference orientation.
〔制御ルーチン〕
　コンバイン１では、制御装置ＣＵの制御部ＣＳにより、起動ルーチン（図３）、メインルーチン（図４）、基準方位取得ルーチン（図５）、自動操舵開始ルーチン（図６）、及び自動操舵終了ルーチン（図７）が実行される。以下、図４－７のフローチャートを参照しながら順に説明する。 [Control routine]
In combine 1, the start routine (FIG. 3), main routine (FIG. 4), reference direction acquisition routine (FIG. 5), automatic steering start routine (FIG. 6), and automatic steering end routine are performed by the control unit CS of the control device CU. (Fig. 7) is executed. Hereinafter, they will be described in order with reference to the flowchart of FIG. 4-7.
〔起動ルーチン〕
　制御部ＣＳが、コンバイン１の起動キー（図示せず）の操作を継続的に監視する（Ｓ１０１：Ｎｏ）。 [Startup routine]
The control unit CS continuously monitors the operation of the start key (not shown) of the combine 1 (S101: No).
　起動キーがＯＮされた場合（Ｓ１０１：Ｙｅｓ）、制御部ＣＳは、状態フラグ記憶部５１に記憶されている自動操舵中フラグの値を取得する（Ｓ１０２）。 When the activation key is turned ON (S101: Yes), the control unit CS acquires the value of the automatic steering flag stored in the state flag storage unit 51 (S102).
　自動操舵中フラグがＯＮの場合（Ｓ１０２：Ｙｅｓ）、制御部ＣＳは、表示入力装置４の画面に「中断中の自動操舵を継続しますか？」の文字列、Ｙｅｓボタン、及びＮｏボタンを表示させる（Ｓ１０３）。 When the automatic steering flag is ON (S102: Yes), the control unit CS displays the character string "Do you want to continue the interrupted automatic steering?", The Yes button, and the No button on the screen of the display input device 4. Display (S103).
　そして制御部ＣＳは、自動操舵中フラグの値をＯＦＦに変更して、状態フラグ記憶部５１に記憶させる（Ｓ１０４）。 Then, the control unit CS changes the value of the automatic steering flag to OFF and stores it in the state flag storage unit 51 (S104).
　制御部ＣＳは、表示入力装置４への操作入力を監視する（Ｓ１０５）。Ｙｅｓボタンがタッチされる、すなわち、自動操舵の継続の操作入力が行われると（Ｓ１０５：Ｙｅｓ）、モード切替部２６が走行制御部２４を非自動操舵モードから自動操舵モードへ切り替える（Ｓ１０６）。 The control unit CS monitors the operation input to the display input device 4 (S105). When the Yes button is touched, that is, when the operation input for continuing the automatic steering is performed (S105: Yes), the mode switching unit 26 switches the traveling control unit 24 from the non-automatic steering mode to the automatic steering mode (S106).
　自動操舵制御部２８は、前回の自動操舵走行に用いられた基準方位を方位関連情報記憶部５２から読み出して、次回の自動操舵走行に用いる基準方位として設定する（Ｓ１０７）。そして、制御部ＣＳは、自動操舵開始ルーチン（図６）のＳ４０８を開始する。 The automatic steering control unit 28 reads the reference direction used in the previous automatic steering run from the direction-related information storage unit 52 and sets it as the reference direction to be used in the next automatic steering run (S107). Then, the control unit CS starts S408 of the automatic steering start routine (FIG. 6).
　自動操舵中フラグがＯＦＦの場合（Ｓ１０２：ＯＦＦ）、制御部ＣＳは、状態フラグ記憶部５１に記憶されているＢ点待機中フラグの値を取得する（Ｓ１０８）。 When the automatic steering flag is OFF (S102: OFF), the control unit CS acquires the value of the B point waiting flag stored in the state flag storage unit 51 (S108).
　Ｂ点待機中フラグの値がＯＮの場合（Ｓ１０８：ＯＮ）、制御部ＣＳは、表示入力装置４の画面に「中断中のＢ点登録を継続しますか？」の文字列、Ｙｅｓボタン、及びＮｏボタンを表示させる（Ｓ１０９）。 When the value of the B point standby flag is ON (S108: ON), the control unit CS displays the character string "Do you want to continue the suspended B point registration?", Yes button, on the screen of the display input device 4. And the No button are displayed (S109).
　そして制御部ＣＳは、Ｂ点待機中フラグの値をＯＦＦに変更して、状態フラグ記憶部５１に記憶させる（Ｓ１１０）。 Then, the control unit CS changes the value of the B point waiting flag to OFF and stores it in the state flag storage unit 51 (S110).
　制御部ＣＳは、表示入力装置４への操作入力を監視する（Ｓ１１１）。Ｙｅｓボタンがタッチされる、すなわち、Ｂ点登録の継続の操作入力が行われると（Ｓ１１１：Ｙｅｓ）、モード切替部２６が走行制御部２４を非自動操舵モードから自動操舵モードへ切り替える（Ｓ１１２）。 The control unit CS monitors the operation input to the display input device 4 (S111). When the Yes button is touched, that is, when the operation input for continuing the B point registration is performed (S111: Yes), the mode switching unit 26 switches the traveling control unit 24 from the non-automatic steering mode to the automatic steering mode (S112). ..
　自動操舵制御部２８は、中断された基準方位取得ルーチンで登録されたＡ点座標を方位関連情報記憶部５２から読み出す（Ｓ１１３）。そして制御部ＣＳは、基準方位取得ルーチン（図５）のＳ３０４を開始する。 The automatic steering control unit 28 reads out the point A coordinates registered in the interrupted reference direction acquisition routine from the direction-related information storage unit 52 (S113). Then, the control unit CS starts S304 of the reference direction acquisition routine (FIG. 5).
　Ｓ１０５においてＮｏボタンがタッチされる、すなわち、自動操舵の非継続の操作入力が行われた場合（Ｓ１０５：Ｎｏ）、Ｂ点待機中フラグがＯＦＦの場合（Ｓ１０８：ＯＦＦ）、及びＳ１１１においてＮｏボタンがタッチされる、すなわち、Ｂ点登録の非継続の操作入力が行われた場合（Ｓ１１１：Ｎｏ）、制御部ＣＳはメインルーチンを開始する。 When the No button is touched in S105, that is, when the operation input for discontinuing automatic steering is performed (S105: No), when the B point waiting flag is OFF (S108: OFF), and in S111, the No button is used. Is touched, that is, when a non-continuation operation input for point B registration is performed (S111: No), the control unit CS starts the main routine.
〔メインルーチン〕
　制御部ＣＳは、自動操舵モードへの切り替えの操作入力を待機する（Ｓ２０１：Ｎｏ）。例えば、制御部ＣＳは、表示入力装置４の画面に「直進キープ」の文字が描かれたボタン（以下「直進キープボタン」と称する。）を表示させ、当該ボタンへのタッチ操作を待機する。直進キープボタンがタッチされる、すなわち、自動操舵モードへの切り替えの操作入力が行われると（Ｓ２０１：Ｙｅｓ）、モード切替部２６が走行制御部２４を非自動操舵モードから自動操舵モードへ切り替える（Ｓ２０２）。 [Main routine]
The control unit CS waits for an operation input for switching to the automatic steering mode (S201: No). For example, the control unit CS displays a button (hereinafter referred to as “straight-ahead keep button”) on which the characters “straight-ahead keep” are drawn on the screen of the display input device 4, and waits for a touch operation to the button. When the straight-ahead keep button is touched, that is, when the operation input for switching to the automatic steering mode is performed (S201: Yes), the mode switching unit 26 switches the traveling control unit 24 from the non-automatic steering mode to the automatic steering mode (S201: Yes). S202).
　自動操舵制御部２８は、方位関連情報記憶部５２に記憶されている方位関連情報を参照して、前回の自動操舵モードにおける自動操舵走行で用いた方位関連情報（基準方位、Ａ点座標、Ｂ点座標）があるか否か（方位関連情報記憶部５２に記憶されているか否か）を判断する（Ｓ２０３）。 The automatic steering control unit 28 refers to the direction-related information stored in the direction-related information storage unit 52, and refers to the direction-related information (reference direction, A point coordinates, B) used in the automatic steering running in the previous automatic steering mode. It is determined whether or not there is (point coordinates) (whether or not it is stored in the direction-related information storage unit 52) (S203).
　前回の方位関連情報がある場合（Ｓ２０３：Ｙｅｓ）、自動操舵制御部２８は、当該方位関連情報の生成時（Ａ点座標及びＢ座標の取得時、及びそれらを用いた基準方位の生成時）と同じ基地局が、圃場に接地されているか否かを判断する（Ｓ２０４）。 When there is the previous direction-related information (S203: Yes), the automatic steering control unit 28 generates the direction-related information (when the A point coordinates and the B coordinates are acquired, and when the reference direction is generated using them). It is determined whether or not the same base station as is grounded in the field (S204).
　同じ基地局がある場合（Ｓ２０４：Ｙｅｓ）、自動操舵制御部２８は、表示入力装置４の画面に「前回Ａ／Ｂ」と記されたボタン（以下「前回ＡＢボタン」と称する。）を表示させる（Ｓ２０５）。 When there is the same base station (S204: Yes), the automatic steering control unit 28 displays a button marked "previous A / B" (hereinafter referred to as "previous AB button") on the screen of the display input device 4. (S205).
　同じ基地局がない場合（Ｓ２０４：Ｎｏ）、自動操舵制御部２８は、表示入力装置４の画面に「前回基準」と記されたボタン（以下「前回基準ボタン」と称する。）を表示させる（Ｓ２０６）。 When there is no same base station (S204: No), the automatic steering control unit 28 displays a button marked with "previous reference" (hereinafter referred to as "previous reference button") on the screen of the display input device 4 (hereinafter referred to as "previous reference button"). S206).
　Ｓ２０５の終了後、Ｓ２０６の終了後、及び前回の方位関連情報がない場合（Ｓ２０３：Ｙｅｓ）、自動操舵制御部２８は、表示入力装置４の画面に「Ａ点登録」と記されたボタン（以下「Ａ点登録ボタン」と称する。）を表示させる（Ｓ２０７）。 After the end of S205, after the end of S206, and when there is no previous direction-related information (S203: Yes), the automatic steering control unit 28 has a button (point A registration) written on the screen of the display input device 4. Hereinafter referred to as "point A registration button") is displayed (S207).
　自動操舵制御部２８は、表示入力装置４への操作入力を監視する（Ｓ２０８：Ｎｏ，Ｓ２０９：Ｎｏ，Ｓ２１１：Ｎｏ）。 The automatic steering control unit 28 monitors the operation input to the display input device 4 (S208: No, S209: No, S211: No).
　Ａ点登録ボタンがタッチされた場合（Ｓ２０８：Ｙｅｓ）、制御部ＣＳは基準方位取得ルーチン（図５）を開始する。 When the point A registration button is touched (S208: Yes), the control unit CS starts the reference direction acquisition routine (FIG. 5).
　前回基準ボタンがタッチされた場合（Ｓ２０９：Ｙｅｓ）、自動操舵制御部２８は、方位関連情報記憶部５２から前回の基準方位（基準方位関連情報）を読み出して、次の自動操舵走行に用いる基準方位として設定する（Ｓ２１０）。 When the reference button was touched last time (S209: Yes), the automatic steering control unit 28 reads the previous reference direction (reference direction-related information) from the direction-related information storage unit 52, and uses the reference for the next automatic steering run. It is set as the direction (S210).
　前回ＡＢボタンがタッチされた場合（Ｓ２１１：Ｙｅｓ）、基準方位算出部２７は、方位関連情報記憶部５２から前回のＡ点座標及びＢ点座標（基準方位関連情報）を読み出して、読み出したＡ点座標及びＢ点座標に基づいて基準方位を算出する（Ｓ２１２）。自動操舵制御部２８は、算出された基準方位を次の自動操舵走行に用いる基準方位として設定する。 When the AB button was touched last time (S211: Yes), the reference direction calculation unit 27 reads the previous A point coordinates and B point coordinates (reference direction related information) from the direction-related information storage unit 52, and reads the A. The reference direction is calculated based on the point coordinates and the B point coordinates (S212). The automatic steering control unit 28 sets the calculated reference direction as the reference direction to be used for the next automatic steering run.
　Ｓ２１０の終了後、及びＳ２１２の終了後、制御部ＣＳは自動操舵開始ルーチン（図６）を開始する。 After the end of S210 and after the end of S212, the control unit CS starts the automatic steering start routine (FIG. 6).
〔基準方位取得ルーチン〕
　基準方位算出部２７は、自車位置算出部２１から受け取るコンバイン１の経時的な位置座標に基づいて、Ａ点登録ボタンがタッチ操作された時点（メインルーチンのＳ２０８）でのコンバイン１の機体位置を算出する（Ｓ３０１）。 [Reference direction acquisition routine]
The reference direction calculation unit 27 is the aircraft position of the combine 1 at the time when the point A registration button is touch-operated (S208 of the main routine) based on the time-dependent position coordinates of the combine 1 received from the own vehicle position calculation unit 21. Is calculated (S301).
　基準方位算出部２７は、Ｓ３０１で算出した位置座標をＡ点座標（方位関連情報）として、方位関連情報記憶部５２に記憶させる（Ｓ３０２）。 The reference direction calculation unit 27 stores the position coordinates calculated in S301 as point A coordinates (direction-related information) in the direction-related information storage unit 52 (S302).
　基準方位算出部２７は、Ｂ点待機中フラグをＯＮに変更して、状態フラグ記憶部５１に記憶させる（Ｓ３０３）。 The reference direction calculation unit 27 changes the B point waiting flag to ON and stores it in the state flag storage unit 51 (S303).
　自動操舵制御部２８は、表示入力装置４の画面にＡ点の位置を表示させ（Ｓ３０４）、コンバイン１の走行に伴って走行軌跡を表示入力装置４の画面に表示させる（Ｓ３０５）。 The automatic steering control unit 28 displays the position of point A on the screen of the display input device 4 (S304), and displays the travel locus on the screen of the display input device 4 as the combine 1 travels (S305).
　基準方位算出部２７は、Ｂ点登録可能状態であるか否かを判断する（Ｓ３０６）。Ｂ点登録可能状態とは、コンバイン１がＡ点から所定距離以上（例えば５ｍ）離れている状態である。Ｂ点登録可能状態の条件は、これに限られない。例えば、衛星測位モジュール８０及び自車位置算出部２１によるＲＴＫ－ＧＰＳ測位においてＦＩＸ解が得られていることが条件であってもよい。 The reference direction calculation unit 27 determines whether or not the point B can be registered (S306). The state in which the point B can be registered is a state in which the combine 1 is separated from the point A by a predetermined distance or more (for example, 5 m). The conditions for the state in which B point registration is possible are not limited to this. For example, it may be a condition that the FIX solution is obtained in the RTK-GPS positioning by the satellite positioning module 80 and the own vehicle position calculation unit 21.
　Ｂ点登録可能状態でない場合（Ｓ３０６：Ｎｏ）、ステップＳ３０４、Ｓ３０５が再び実行される。 If point B registration is not possible (S306: No), steps S304 and S305 are executed again.
　Ｂ点登録可能状態である場合（Ｓ３０６：Ｙｅｓ）、自動操舵制御部２８は、表示入力装置４の画面に「Ｂ点登録」と記されたボタン（以下「Ｂ点登録ボタン」と称する。）を表示させ（Ｓ３０７）、Ｂ点登録ボタンのタッチを待機する（Ｓ３０８：Ｎｏ）。 When the B point registration is possible (S306: Yes), the automatic steering control unit 28 has a button marked "B point registration" on the screen of the display input device 4 (hereinafter referred to as "B point registration button"). Is displayed (S307), and the touch of the point B registration button is awaited (S308: No).
　Ｂ点登録ボタンがタッチされた場合（Ｓ３０８：Ｙｅｓ）、基準方位算出部２７は、自車位置算出部２１から受け取るコンバイン１の経時的な位置座標に基づいて、Ｂ点登録ボタンがタッチ操作された時点でのコンバイン１の機体位置を算出する（Ｓ３０９）。 When the B point registration button is touched (S308: Yes), the reference direction calculation unit 27 touches the B point registration button based on the temporal position coordinates of the combine 1 received from the own vehicle position calculation unit 21. The position of the combine 1 at that time is calculated (S309).
　自動操舵制御部２８は、表示入力装置４の画面にＡ点の位置を表示させる（Ｓ３１０）。 The automatic steering control unit 28 displays the position of point A on the screen of the display input device 4 (S310).
　基準方位算出部２７は、Ｓ３０９で算出した位置座標をＢ点座標（方位関連情報）として、方位関連情報記憶部５２に記憶させる（Ｓ３１１）。 The reference direction calculation unit 27 stores the position coordinates calculated in S309 as point B coordinates (direction-related information) in the direction-related information storage unit 52 (S311).
　基準方位算出部２７は、Ｂ点待機中フラグをＯＦＦに変更して、状態フラグ記憶部５１に記憶させる（Ｓ３１２）。 The reference direction calculation unit 27 changes the B point waiting flag to OFF and stores it in the state flag storage unit 51 (S312).
　基準方位算出部２７は、Ｓ３０１で算出されたＡ点座標とＳ３０９で算出されたＢ点座標とに基づいて、基準方位を算出する（Ｓ３１３）。 The reference direction calculation unit 27 calculates the reference direction based on the A point coordinates calculated in S301 and the B point coordinates calculated in S309 (S313).
　基準方位算出部２７は、Ｓ３１３で算出された基準方位を、方位関連情報として方位関連情報記憶部５２に記憶させる（Ｓ３１４）。そして、制御部ＣＳは自動操舵開始ルーチンを開始する。 The reference direction calculation unit 27 stores the reference direction calculated in S313 in the direction-related information storage unit 52 as the direction-related information (S314). Then, the control unit CS starts the automatic steering start routine.
〔自動操舵開始ルーチン〕
　自動操舵制御部２８は、主変速レバー１９の操作位置を示す情報を取得し、主変速レバー１９が前進用操作位置に位置しているか否かを判断する（Ｓ４０１）。主変速レバー１９が前進用操作位置に位置していない場合（Ｓ４０１：Ｙｅｓ）、ステップＳ４０１が再び実行される。 [Automatic steering start routine]
The automatic steering control unit 28 acquires information indicating the operation position of the main shift lever 19 and determines whether or not the main shift lever 19 is located at the forward operation position (S401). If the main shift lever 19 is not located at the forward operating position (S401: Yes), step S401 is executed again.
　主変速レバー１９が前進用操作位置に位置している場合（Ｓ４０１：Ｙｅｓ）、自動操舵制御部２８は、副変速装置１１ｂの状態を示す情報を取得し、副変速装置１１ｂが作業用の変速状態（低速状態）であるか否かを判断する（Ｓ４０２）。副変速装置１１ｂが作業用の変速状態（低速状態）でない場合（Ｓ４０２：Ｎｏ）、ステップＳ４０１が再び実行される。 When the main shift lever 19 is located at the forward operation position (S401: Yes), the automatic steering control unit 28 acquires information indicating the state of the auxiliary transmission 11b, and the auxiliary transmission 11b shifts the gear for work. It is determined whether or not it is in a state (low speed state) (S402). If the auxiliary transmission 11b is not in the working shift state (low speed state) (S402: No), step S401 is executed again.
　副変速装置１１ｂが作業用の変速状態（低速状態）である場合（Ｓ４０２：Ｙｅｓ）、自動操舵制御部２８は、自車位置算出部２１からＦＩＸ解が得られているか否かを示す情報を取得し、ＦＩＸ解が得られているか否かを判断する（Ｓ４０３）。ＦＩＸ解が得られていない場合（Ｓ４０３：Ｎｏ）、ステップＳ４０１が再び実行される。 When the auxiliary transmission 11b is in a shift state (low speed state) for work (S402: Yes), the automatic steering control unit 28 provides information indicating whether or not a FIX solution is obtained from the own vehicle position calculation unit 21. It is acquired and it is determined whether or not the FIX solution is obtained (S403). If no FIX solution has been obtained (S403: No), step S401 is executed again.
　ＦＩＸ解が得られている場合（Ｓ４０３：Ｙｅｓ）、自動操舵制御部２８は、刈取脱穀レバー４３の操作位置を示す情報を取得し、刈取クラッチＣ２が入状態であるか否かを判断する（Ｓ４０４）。刈取クラッチＣ２が入状態でない場合（Ｓ４０４：Ｎｏ）、ステップＳ４０１が再び実行される。 When the FIX solution is obtained (S403: Yes), the automatic steering control unit 28 acquires information indicating the operation position of the cutting and threshing lever 43, and determines whether or not the cutting clutch C2 is in the engaged state (S). S404). If the cutting clutch C2 is not in the engaged state (S404: No), step S401 is executed again.
　刈取クラッチＣ２が入状態である場合（Ｓ４０４：Ｙｅｓ）、自動操舵制御部２８は、刈取部Ｈが作業位置に位置しているか否かを示す情報を取得し、刈取部Ｈが作業位置に位置しているか否かを判断する（Ｓ４０５）。刈取部Ｈが作業位置に位置していない場合（Ｓ４０５：Ｎｏ）、ステップＳ４０１が再び実行される。 When the cutting clutch C2 is in the engaged state (S404: Yes), the automatic steering control unit 28 acquires information indicating whether or not the cutting unit H is located at the working position, and the cutting unit H is positioned at the working position. It is determined whether or not it is done (S405). If the cutting unit H is not located at the working position (S405: No), step S401 is executed again.
　ここで、図２に示すように、コンバイン１は、昇降検知部５４を備えている。昇降検知部５４は、刈取シリンダ１５Ａの伸縮状態を検知する。昇降検知部５４による検知結果は、制御装置ＣＵへ送られる。そして、自動操舵制御部２８は、昇降検知部５４による検知結果に基づいて、刈取部Ｈが作業位置に位置しているか否かを判定可能に構成されている。 Here, as shown in FIG. 2, the combine 1 includes an elevating detection unit 54. The elevating detection unit 54 detects the expansion / contraction state of the cutting cylinder 15A. The detection result by the elevating detection unit 54 is sent to the control device CU. The automatic steering control unit 28 is configured to be able to determine whether or not the cutting unit H is located at the working position based on the detection result of the elevating detection unit 54.
　尚、本実施形態においては、刈取部Ｈの最上昇位置からの下降量が所定値以上であることが、刈取部Ｈが作業位置に位置していることに相当する。 In the present embodiment, the amount of descent from the highest rising position of the cutting section H is equal to or more than a predetermined value, which corresponds to the position of the cutting section H at the working position.
　刈取部Ｈが作業位置に位置している場合（Ｓ４０５：Ｙｅｓ）、自動操舵制御部２８は、自動操舵ボタン（図示せず）を操作可能状態に変更する（Ｓ４０６）。自動操舵ボタンは、例えば表示入力装置４に備えられた押しボタンである。この場合、操作可能状態であるときには押しボタンに内蔵された発光素子を発光させ、操作可能状態でないときには発光素子を消光させる。自動操舵ボタンは、例えば表示入力装置４の画面に表示された「自動操舵」と記されたボタンである。この場合、操作可能状態であるときにはボタンに記された文字を濃い色にし、操作可能状態でないときには薄い色にする。 When the cutting unit H is located at the working position (S405: Yes), the automatic steering control unit 28 changes the automatic steering button (not shown) to an operable state (S406). The automatic steering button is, for example, a push button provided in the display input device 4. In this case, the light emitting element built in the push button is made to emit light when it is in the operable state, and the light emitting element is extinguished when it is not in the operable state. The automatic steering button is, for example, a button marked "automatic steering" displayed on the screen of the display input device 4. In this case, the characters written on the buttons are colored dark when the operation is possible, and light colors are used when the buttons are not operable.
　すなわち、Ｓ４０１－Ｓ４０５の全てがＹｅｓである場合に、Ｓ４０６が実行され、自動操舵走行が開始される。なお、Ｓ４０１－Ｓ４０５のうちの１つ以上が省略されてもよい。 That is, when all of S401-S405 are Yes, S406 is executed and automatic steering running is started. In addition, one or more of S401-S405 may be omitted.
　自動操舵制御部２８は、自動操舵ボタンの操作を待機する（Ｓ４０７：Ｎｏ）。 The automatic steering control unit 28 waits for the operation of the automatic steering button (S407: No).
　自動操舵ボタンが操作された場合（Ｓ４０７：Ｙｅｓ）、自動操舵制御部２８は、その時点で走行経路算出部２９により算出されていた走行ラインを自動操舵目標ラインとして決定する（Ｓ４０８）。 When the automatic steering button is operated (S407: Yes), the automatic steering control unit 28 determines the traveling line calculated by the traveling route calculation unit 29 at that time as the automatic steering target line (S408).
　走行制御部２４は、Ｓ４０８で決定された自動操舵目標ラインに基づいて自動操舵走行を開始する（Ｓ４０９）。 The travel control unit 24 starts automatic steering travel based on the automatic steering target line determined in S408 (S409).
　自動操舵制御部２８は、自動操舵中フラグをＯＮに変更し、状態フラグ記憶部５１に記憶させる（Ｓ４１０）。 The automatic steering control unit 28 changes the automatic steering flag to ON and stores it in the state flag storage unit 51 (S410).
　自動操舵制御部２８は、現在の基準方位を方位関連情報として方位関連情報記憶部５２に記憶させる（Ｓ４１１）。そして制御部ＣＳは、自動操舵終了ルーチンを開始する。 The automatic steering control unit 28 stores the current reference direction as the direction-related information in the direction-related information storage unit 52 (S411). Then, the control unit CS starts the automatic steering end routine.
〔自動操舵終了ルーチン〕
　自動操舵制御部２８は、自動操舵ボタンの操作を待機する（Ｓ５０１）。 [Automatic steering end routine]
The automatic steering control unit 28 waits for the operation of the automatic steering button (S501).
　自動操舵ボタンが操作されない場合（Ｓ５０１：Ｎｏ）、自動操舵制御部２８は、主変速レバー１９の操作位置を示す情報を取得し、主変速レバー１９が中立位置又は後退用操作位置に位置しているか否かを判断する（Ｓ５０１）。 When the automatic steering button is not operated (S501: No), the automatic steering control unit 28 acquires information indicating the operation position of the main shift lever 19, and the main shift lever 19 is located at the neutral position or the reverse operation position. It is determined whether or not it is present (S501).
　主変速レバー１９が中立位置又は後退用操作位置に位置していない場合（Ｓ５０２：Ｎｏ）、自動操舵制御部２８は、副変速装置１１ｂの状態を示す情報を取得し、副変速装置１１ｂが走行用の変速状態（高速状態）であるか否かを判断する（Ｓ５０３）。 When the main shift lever 19 is not in the neutral position or the reverse operation position (S502: No), the automatic steering control unit 28 acquires information indicating the state of the auxiliary transmission 11b, and the auxiliary transmission 11b travels. It is determined whether or not the gear shift state (high speed state) is set (S503).
　副変速装置１１ｂが走行用の変速状態（高速状態）でない場合（Ｓ５０３：Ｎｏ）、自動操舵制御部２８は、自車位置算出部２１からＦＬＯＡＴ解が得られているか否かを示す情報を取得し、ＦＬＯＡＴ解が得られているか否かを判断する（Ｓ５０４）。 When the auxiliary transmission 11b is not in the shifting state (high speed state) for traveling (S503: No), the automatic steering control unit 28 acquires information indicating whether or not the FLOAT solution is obtained from the own vehicle position calculation unit 21. Then, it is determined whether or not the FLOAT solution is obtained (S504).
　ＦＬＯＡＴ解が得られていない場合（Ｓ５０４：Ｎｏ）、自動操舵制御部２８は、刈取脱穀レバー４３の操作位置を示す情報を取得し、刈取クラッチＣ２が切状態であるか否かを判断する（Ｓ５０５）。 When the FLOAT solution is not obtained (S504: No), the automatic steering control unit 28 acquires information indicating the operating position of the cutting and threshing lever 43, and determines whether or not the cutting clutch C2 is in the disengaged state (S). S505).
　刈取クラッチＣ２が切状態でない場合（Ｓ５０５：Ｎｏ）、自動操舵制御部２８は、刈取部Ｈが非作業位置に位置しているか否かを示す情報を取得し、刈取部Ｈが非作業位置に位置しているか否かを判断する（Ｓ５０６）。尚、本実施形態においては、刈取部Ｈの最上昇位置からの下降量が所定値以下であることが、刈取部Ｈが非作業位置に位置していることに相当する。 When the cutting clutch C2 is not in the disengaged state (S505: No), the automatic steering control unit 28 acquires information indicating whether or not the cutting unit H is located in the non-working position, and the cutting unit H is in the non-working position. It is determined whether or not it is located (S506). In the present embodiment, the amount of descent from the highest rising position of the cutting section H is equal to or less than a predetermined value, which corresponds to the position of the cutting section H in the non-working position.
　刈取部Ｈが非作業位置に位置していない場合（Ｓ５０６：Ｎｏ）、自動操舵制御部２８は、刈取部Ｈが上昇操作されたか否かを示す情報を取得し、刈取部Ｈが上昇操作されたか否かを判断する（Ｓ５０７）。 When the cutting unit H is not located in the non-working position (S506: No), the automatic steering control unit 28 acquires information indicating whether or not the cutting unit H has been raised, and the cutting unit H is raised. It is determined whether or not it is (S507).
　刈取部Ｈが上昇操作されていない場合（Ｓ５０７：Ｎｏ）、自動操舵制御部２８は、エンジンＥＧの動作状態を示す情報を取得し、エンジンＥＧが停止しているか否かを判断する（Ｓ５０８）。エンジンＥＧが停止していない場合、ステップＳ５０１が再び実行される。 When the cutting unit H is not raised (S507: No), the automatic steering control unit 28 acquires information indicating the operating state of the engine EG and determines whether or not the engine EG is stopped (S508). .. If the engine EG is not stopped, step S501 is executed again.
　エンジンＥＧが停止している場合（Ｓ５０８：Ｙｅｓ）、走行制御部２４は自動操舵走行を終了し、モード切替部２６は走行制御部２４のモードを自動操舵モードから非自動操舵モードへ切り替える（Ｓ５０９）。 When the engine EG is stopped (S508: Yes), the travel control unit 24 ends the automatic steering run, and the mode switching unit 26 switches the mode of the travel control unit 24 from the automatic steering mode to the non-automatic steering mode (S509). ).
　制御部ＣＳが、コンバイン１の起動キー（図示せず）の操作を継続的に監視する（Ｓ５１０：Ｎｏ）。 The control unit CS continuously monitors the operation of the combine 1 activation key (not shown) (S510: No).
　起動キーがＯＦＦされた場合（Ｓ５１０：Ｙｅｓ）、制御部ＣＳはコンバイン１（制御装置ＣＵ）をシャットダウンする（Ｓ５１１）。そして自動操舵終了ルーチンは終了する。 When the start key is turned off (S510: Yes), the control unit CS shuts down the combine 1 (control device CU) (S511). Then, the automatic steering end routine ends.
　Ｓ５０１で自動操舵ボタンが操作された場合（Ｓ５０１：Ｙｅｓ）、自動操舵制御部２８は、自動操舵中フラグをＯＦＦに変更して、状態フラグ記憶部５１に記憶させる（Ｓ５１２）。 When the automatic steering button is operated in S501 (S501: Yes), the automatic steering control unit 28 changes the automatic steering flag to OFF and stores it in the state flag storage unit 51 (S512).
　Ｓ５１２の終了後、及び、Ｓ５０２－Ｓ５０７でＹｅｓと判断された場合、走行制御部２４は自動操舵走行を終了し、モード切替部２６は走行制御部２４のモードを自動操舵モードから非自動操舵モードへ切り替える（Ｓ５１３）。 After the end of S512 and when it is determined Yes in S502-S507, the travel control unit 24 ends the automatic steering run, and the mode switching unit 26 changes the mode of the travel control unit 24 from the automatic steering mode to the non-automatic steering mode. Switch to (S513).
　制御部ＣＳが、コンバイン１の起動キー（図示せず）の操作を監視する（Ｓ５１４）。 The control unit CS monitors the operation of the combine 1 activation key (not shown) (S514).
　起動キーがＯＦＦされた場合（Ｓ５１４：Ｙｅｓ）、制御部ＣＳはコンバイン１（制御装置ＣＵ）をシャットダウンする（Ｓ５１１）。そして自動操舵終了ルーチンは終了する。 When the start key is turned off (S514: Yes), the control unit CS shuts down the combine 1 (control device CU) (S511). Then, the automatic steering end routine ends.
　起動キーがＯＦＦされない場合（Ｓ５１４：Ｎｏ）、制御部ＣＳはメインルーチンを開始する。 If the activation key is not turned off (S514: No), the control unit CS starts the main routine.
〔コンバインの動作〕
　本実施形態のコンバイン１では、モード切替部２６が走行制御部２４の制御モードを自動操舵モード（第１モード）から非自動操舵モード（第２モード）に切り替えて（Ｓ５０９、Ｓ５１３）、更に非自動操舵モード（第２モード）から自動操舵モード（第１モード）に切り替えた時に（Ｓ１０６、Ｓ１１２、Ｓ２０２）、走行制御部２４が方位関連情報記憶部５２（記憶部）に記憶された方位関連情報に基づく基準方位を用いて自動操舵走行を実行可能なように（Ｓ４０９）、制御装置ＣＵが構成されている。 [Combine operation]
In the combine 1 of the present embodiment, the mode switching unit 26 switches the control mode of the traveling control unit 24 from the automatic steering mode (first mode) to the non-automatic steering mode (second mode) (S509, S513), and further non-automatic steering mode. When the automatic steering mode (second mode) is switched to the automatic steering mode (first mode) (S106, S112, S202), the traveling control unit 24 stores the direction-related information in the direction-related information storage unit 52 (storage unit). The control device CU is configured so that the automatic steering run can be executed using the reference direction based on the information (S409).
　また、走行制御部２４が自動操舵走行を実行しているときに（Ｓ４０９）モード切替部２６が走行制御部２４の制御モードを自動操舵モード（第１モード）から非自動操舵モード（第２モード）に切り替えたことに応じて（Ｓ５０９、Ｓ５１３）、モード切替部２６が表示入力装置４（入力装置）からの人為操作を待機し（Ｓ１０５）、自動操舵走行を継続する旨の人為操作を表示入力装置４（入力装置）から受け付けたことに応じて、モード切替部２６が走行制御部２４の制御モードを非自動操舵モード（第２モード）から自動操舵モード（第１モード）に切り替える（Ｓ１０６）と共に、走行制御部２４が方位関連情報記憶部５２（記憶部）に記憶された方位関連情報に基づく基準方位を用いて（Ｓ１０７）自動操舵走行を実行する（Ｓ４０９）ように、制御装置ＣＵが構成されている。 Further, when the travel control unit 24 is executing the automatic steering operation (S409), the mode switching unit 26 changes the control mode of the travel control unit 24 from the automatic steering mode (first mode) to the non-automatic steering mode (second mode). ) (S509, S513), the mode switching unit 26 waits for the human operation from the display input device 4 (input device) (S105), and displays the human operation to continue the automatic steering running. Upon receiving from the input device 4 (input device), the mode switching unit 26 switches the control mode of the traveling control unit 24 from the non-automatic steering mode (second mode) to the automatic steering mode (first mode) (S106). ), The control device CU so that the travel control unit 24 executes automatic steering travel (S107) using the reference orientation based on the orientation-related information stored in the orientation-related information storage unit 52 (storage unit). Is configured.
　また、自動操舵走行を継続しない旨の人為操作を表示入力装置４（入力装置）から受け付けたことに応じて（Ｓ１０５：Ｎｏ）、モード切替部２６が走行制御部２４の制御モードを非自動操舵モード（第２モード）のままに保つと共に、モード切替部２６が入力装置からの人為操作を待機し（Ｓ２０１）、再び自動操舵走行を行う旨の人為操作を表示入力装置４（入力装置）から受け付けたことに応じて（Ｓ２０１：Ｙｅｓ）、モード切替部２６が走行制御部２４の制御モードを非自動操舵モード（第２モード）から自動操舵モード（第１モード）に切り替える（Ｓ２０２）と共に、走行制御部２４が方位関連情報記憶部５２（記憶部）に記憶された方位関連情報に基づく基準方位を用いて（Ｓ２１０，Ｓ２１２）自動操舵走行を実行可能な状態となる（Ｓ４０９）ように、制御装置ＣＵが構成されている。 Further, in response to the reception of the artificial operation to the effect that the automatic steering running is not continued from the display input device 4 (input device) (S105: No), the mode switching unit 26 non-automatically steers the control mode of the traveling control unit 24. While keeping the mode (second mode), the mode switching unit 26 waits for the human operation from the input device (S201), and displays the human operation to perform the automatic steering running again from the input device 4 (input device). In response to the acceptance (S201: Yes), the mode switching unit 26 switches the control mode of the traveling control unit 24 from the non-automatic steering mode (second mode) to the automatic steering mode (first mode) (S202). The travel control unit 24 is in a state where automatic steering travel can be executed (S210, S212) using the reference orientation based on the orientation-related information stored in the orientation-related information storage unit 52 (storage unit) (S409). The control device CU is configured.
　また、走行制御部２４が自動操舵走行を実行していないときに（Ｓ５０１：Ｙｅｓ）モード切替部２６が走行制御部２４の制御モードを自動操舵モード（第１モード）から非自動操舵モード（第２モード）に切り替えたことに応じて（Ｓ５１３）、モード切替部２６が表示入力装置４（入力装置）からの人為操作を待機し（Ｓ２０１）、再び自動操舵走行を行う旨の人為操作を表示入力装置４（入力装置）から受け付けたことに応じて（Ｓ２０１：Ｙｅｓ）、モード切替部２６が走行制御部２４の制御モードを非自動操舵モード（第２モード）から自動操舵モード（第１モード）に切り替えると共に（Ｓ２０２）、走行制御部２４が方位関連情報記憶部５２（記憶部）に記憶された方位関連情報に基づく基準方位を用いて（Ｓ２１０、Ｓ２１２）自動操舵走行を実行可能な状態となる（Ｓ４０９）ように、制御装置ＣＵが構成されている。 Further, when the travel control unit 24 is not executing the automatic steering operation (S501: Yes), the mode switching unit 26 changes the control mode of the travel control unit 24 from the automatic steering mode (first mode) to the non-automatic steering mode (first mode). In response to switching to (2 modes) (S513), the mode switching unit 26 waits for an artificial operation from the display input device 4 (input device) (S201), and displays an artificial operation to perform automatic steering running again. In response to the reception from the input device 4 (input device) (S201: Yes), the mode switching unit 26 changes the control mode of the travel control unit 24 from the non-automatic steering mode (second mode) to the automatic steering mode (first mode). (S202), and the travel control unit 24 can execute automatic steering travel (S210, S212) using the reference orientation based on the orientation-related information stored in the orientation-related information storage unit 52 (storage unit). (S409), the control device CU is configured.
　また、モード切替部２６は、所定の切替条件が満たされたことに応じて（Ｓ５０２－５０８：Ｙｅｓ）、走行制御部２４の制御モードを自動操舵モード（第１モード）から非自動操舵モード（第２モード）に切り替える（Ｓ５０９）ように、構成されている。切替条件が、エンジンＥＧが停止したことを含む（Ｓ５０８）。また、切替条件が、機体１０に備えられた刈取部Ｈ（作業装置）が停止したことを含む（Ｓ５０５）。 Further, the mode switching unit 26 changes the control mode of the traveling control unit 24 from the automatic steering mode (first mode) to the non-automatic steering mode (S502-508: Yes) when the predetermined switching condition is satisfied. It is configured to switch to the second mode) (S509). The switching condition includes that the engine EG has stopped (S508). Further, the switching condition includes that the cutting unit H (working device) provided in the machine body 10 has stopped (S505).
　本実施形態では、以下に述べる方法が実行される。
　農作業機を制御する方法であって、
　農作業機の走行を制御する走行制御部２４の制御モードを、基準方位を用いて自動操舵走行を実行可能な自動操舵モード（第１モード）に設定する第１ステップ（Ｓ２０２）と、
　基準方位に関する情報である方位関連情報を方位関連情報記憶部５２（記憶部）に記憶させる第２ステップ（Ｓ３１４）と、
　第１ステップの後に、走行制御部２４の制御モードを、自動操舵走行を行わない非自動操舵モード（第２モード）に切り替える第３ステップ（Ｓ５０９、Ｓ５１３）と、
　第３ステップの後に、走行制御部２４の制御モードを、自動操舵モード（第１モード）に切り替える第４ステップ（Ｓ１０６、Ｓ１１２、Ｓ２０２）と、
　第４ステップの後に、走行制御部２４が方位関連情報記憶部５２（記憶部）に記憶された方位関連情報に基づく基準方位を用いて自動操舵走行を実行する第５ステップ（Ｓ４０９）と、を含む方法。 In this embodiment, the method described below is executed.
It ’s a way to control a farming machine.
The first step (S202) of setting the control mode of the traveling control unit 24 that controls the traveling of the agricultural work machine to the automatic steering mode (first mode) capable of executing the automatic steering traveling using the reference direction, and
The second step (S314) of storing the direction-related information, which is the information related to the reference direction, in the direction-related information storage unit 52 (storage unit),
After the first step, the control mode of the travel control unit 24 is switched to the non-automatic steering mode (second mode) in which the automatic steering travel is not performed, and the third step (S509, S513).
After the third step, the control mode of the travel control unit 24 is switched to the automatic steering mode (first mode) in the fourth step (S106, S112, S202).
After the fourth step, the fifth step (S409) in which the travel control unit 24 executes automatic steering travel using the reference direction based on the directional information stored in the azimuth-related information storage unit 52 (storage unit). How to include.
　本実施形態では、以下に述べるプログラムが、制御装置ＣＵのメモリ（記録媒体）に記録され、実行される。
　農作業機を制御するためのプログラムであって、
　農作業機の走行を制御する走行制御部２４の制御モードを、基準方位を用いて自動操舵走行を実行可能な自動操舵モード（第１モード）に設定する第１機能（モード切替部２６）と、
　基準方位に関する情報である方位関連情報を方位関連情報記憶部５２（記憶部）に記憶させる第２機能（基準方位算出部２７）と、
　第１機能の実行の後に、走行制御部２４の制御モードを、自動操舵走行を行わない非自動操舵モード（第２モード）に切り替える第３機能（モード切替部２６）と、
　第３機能の実行の後に、走行制御部２４の制御モードを、自動操舵モード（第１モード）に切り替える第４機能（モード切替部２６）と、
　第４機能の実行の後に、方位関連情報記憶部５２（記憶部）に記憶された方位関連情報に基づく基準方位を用いて自動操舵走行を実行する第５機能（走行制御部２４）と、をコンピュータに実行させるプログラム。 In the present embodiment, the program described below is recorded in the memory (recording medium) of the control device CU and executed.
A program for controlling agricultural work machines
The first function (mode switching unit 26) that sets the control mode of the travel control unit 24 that controls the travel of the agricultural work machine to the automatic steering mode (first mode) that can execute the automatic steering travel using the reference direction, and
The second function (reference direction calculation unit 27) for storing the direction-related information, which is the information related to the reference direction, in the direction-related information storage unit 52 (storage unit), and
After the execution of the first function, the control mode of the travel control unit 24 is switched to the non-automatic steering mode (second mode) in which the automatic steering operation is not performed, and the third function (mode switching unit 26).
After the execution of the third function, the fourth function (mode switching unit 26) that switches the control mode of the traveling control unit 24 to the automatic steering mode (first mode), and
After the execution of the fourth function, the fifth function (travel control unit 24) that executes automatic steering running using the reference azimuth based on the azimuth-related information stored in the azimuth-related information storage unit 52 (storage unit). A program that lets your computer run.
〔他の実施形態〕
（１）走行装置１１は、ホイール式であっても良いし、セミクローラ式であっても良い。 [Other embodiments]
(1) The traveling device 11 may be a wheel type or a semi-crawler type.
（２）制御装置ＣＵの自車位置算出部２１、走行制御部２４、自車方位算出部２５、モード切替部２６、基準方位算出部２７、自動操舵制御部２８、走行経路算出部２９、状態フラグ記憶部５１、及び方位関連情報記憶部５２は、一部又は全てがコンバイン１の外部に備えられてもよい。例えば、これらが、圃場の管理施設のコンピュータや管理サーバ、クラウドサーバ等に設けられてもよい。これら管理施設のコンピュータ、管理サーバ、クラウドサーバ等とコンバイン１とにより、自動操舵走行を実現するシステムが構築されてもよい。 (2) Own vehicle position calculation unit 21, travel control unit 24, own vehicle direction calculation unit 25, mode switching unit 26, reference direction calculation unit 27, automatic steering control unit 28, travel route calculation unit 29, state of the control device CU. A part or all of the flag storage unit 51 and the direction-related information storage unit 52 may be provided outside the combine 1. For example, these may be provided in a computer, a management server, a cloud server, or the like of a field management facility. A system that realizes automatic steering running may be constructed by the computer, management server, cloud server, etc. of these management facilities and the combine 1.
（３）コンバイン１が、自動操舵走行に加えて自動走行が可能なように構成されてもよい。自動走行とは、前進走行に加えて後進走行及び停止を自動で行うことを意味する。詳しくは、自動走行とは、αターンやＵターン等の大きな方向転換を伴う前進走行及び後進走行を自動で行うことを意味する。 (3) The combine 1 may be configured to enable automatic traveling in addition to automatic steering traveling. Autonomous driving means that in addition to forward driving, reverse driving and stopping are automatically performed. Specifically, automatic driving means that forward driving and reverse driving accompanied by a large change of direction such as α-turn and U-turn are automatically performed.
（４）方位関連情報記憶部５２に記憶される方位関連情報は、基準方位、Ａ点座標、及びＡ点座標とＢ点座標の組のうち、１つであってもよいし複数であってもよい。方位関連情報記憶部５２に、複数の基準方位が記憶されてもよいし、複数のＡ点座標が記憶されてもよいし、複数のＡ点座標とＢ点座標の組が記憶されてもよい。 (4) Direction-related information The direction-related information stored in the storage unit 52 may be one or a plurality of the reference direction, the A point coordinate, and the set of the A point coordinate and the B point coordinate. May be good. A plurality of reference directions may be stored in the orientation-related information storage unit 52, a plurality of A-point coordinates may be stored, or a set of a plurality of A-point coordinates and B-point coordinates may be stored. ..
（５）オペレータからの人為操作を受け付ける装置としては、表示入力装置４の画面に表示されるボタン等であってもよいし、物理的に操作可能なボタン、スイッチ、レバー等であってもよいし、音声入力装置であってもよい。 (5) The device that accepts human operations from the operator may be a button or the like displayed on the screen of the display input device 4, or may be a physically operable button, a switch, a lever, or the like. However, it may be a voice input device.
（６）上記の実施形態では、自動操舵を終了する条件として、自動操舵ボタンの操作（Ｓ５０１）、主変速レバー１９の操作（Ｓ５０２）、副変速装置１１ｂの状態（Ｓ５０３）、衛星測位の状態（Ｓ５０４）、刈取クラッチＣ２の状態（Ｓ５０５）、刈取部Ｈの位置（Ｓ５０６）及び操作の有無（Ｓ５０７）、エンジンＥＧの停止（Ｓ５０８）が例示された。自動操舵を終了する条件は、これらに限られない。例えば、脱穀装置１３（作業装置の一例）が停止したことに応じて自動操舵を終了してもよい。 (6) In the above embodiment, the conditions for ending the automatic steering are the operation of the automatic steering button (S501), the operation of the main shift lever 19 (S502), the state of the auxiliary transmission 11b (S503), and the state of satellite positioning. (S504), the state of the cutting clutch C2 (S505), the position of the cutting portion H (S506), the presence / absence of operation (S507), and the stop of the engine EG (S508) were exemplified. The conditions for terminating the automatic steering are not limited to these. For example, the automatic steering may be terminated in response to the stop of the threshing device 13 (an example of the working device).
　本発明は、普通型のコンバインだけではなく、自脱型のコンバイン、トラクタ、田植機、トウモロコシ収穫機、ジャガイモ収穫機、ニンジン収穫機等、種々の農作業機に利用可能である。 The present invention can be used not only for ordinary combine harvesters but also for various agricultural work machines such as self-removing combine harvesters, tractors, rice transplanters, corn harvesters, potato harvesters, and carrot harvesters.
１０　：機体
１１　：走行装置
２４　：走行制御部
２６　：モード切替部
ＥＧ　：エンジン 10: Aircraft 11: Traveling device 24: Traveling control unit 26: Mode switching unit EG: Engine

Claims (11)

  1. 　走行装置を有する機体の走行を制御する走行制御部と、
    　前記走行制御部の制御モードを、基準方位を用いて自動操舵走行を実行可能な第１モードと、前記自動操舵走行を行わない第２モードと、の間で切り替えるモード切替部と、
    　前記走行制御部の制御モードが前記第１モードであるときの前記基準方位に関する情報である方位関連情報を記憶する記憶部と、を備え、
    　前記モード切替部が前記走行制御部の制御モードを前記第１モードから前記第２モードに切り替えて、更に前記第２モードから前記第１モードに切り替えた時に、前記走行制御部が前記記憶部に記憶された前記方位関連情報に基づく基準方位を用いて自動操舵走行を実行可能である農作業機。     A travel control unit that controls the travel of an aircraft having a travel device,
    A mode switching unit that switches the control mode of the traveling control unit between a first mode capable of executing automatic steering traveling using a reference direction and a second mode not performing automatic steering traveling.
    A storage unit for storing directional information, which is information regarding the reference azimuth when the control mode of the traveling control unit is the first mode, is provided.
    When the mode switching unit switches the control mode of the travel control unit from the first mode to the second mode, and further switches from the second mode to the first mode, the travel control unit stores the control mode in the storage unit. An agricultural work machine capable of performing automatic steering running using a reference direction based on the stored direction-related information.
  2. 　人為操作を受付可能な入力装置を備え、
    　前記走行制御部が前記自動操舵走行を実行しているときに前記モード切替部が前記走行制御部の制御モードを前記第１モードから前記第２モードに切り替えたことに応じて、前記モード切替部が前記入力装置からの人為操作を待機し、
    　自動操舵走行を継続する旨の人為操作を前記入力装置から受け付けたことに応じて、前記モード切替部が前記走行制御部の制御モードを前記第２モードから前記第１モードに切り替えると共に、前記走行制御部が前記記憶部に記憶された前記方位関連情報に基づく基準方位を用いて自動操舵走行を実行する請求項１に記載の農作業機。     Equipped with an input device that can accept human operations
    The mode switching unit responds to the mode switching unit switching the control mode of the traveling control unit from the first mode to the second mode while the traveling control unit is executing the automatic steering operation. Waits for human operation from the input device,
    In response to receiving an artificial operation to continue the automatic steering running from the input device, the mode switching unit switches the control mode of the running control unit from the second mode to the first mode, and at the same time, the running The agricultural work machine according to claim 1, wherein the control unit executes automatic steering running using a reference direction based on the direction-related information stored in the storage unit.
  3. 　自動操舵走行を継続しない旨の人為操作を前記入力装置から受け付けたことに応じて、前記モード切替部が前記走行制御部の制御モードを前記第２モードのままに保つと共に、前記モード切替部が前記入力装置からの人為操作を待機し、
    　再び自動操舵走行を行う旨の人為操作を前記入力装置から受け付けたことに応じて、前記モード切替部が前記走行制御部の制御モードを前記第２モードから前記第１モードに切り替えると共に、前記走行制御部が前記記憶部に記憶された前記方位関連情報に基づく基準方位を用いて自動操舵走行を実行可能な状態となる請求項２に記載の農作業機。     In response to receiving an artificial operation from the input device to the effect that the automatic steering running is not continued, the mode switching unit keeps the control mode of the traveling control unit in the second mode, and the mode switching unit causes the mode switching unit. Waiting for human operation from the input device,
    In response to receiving an artificial operation to perform automatic steering running again from the input device, the mode switching unit switches the control mode of the running control unit from the second mode to the first mode, and at the same time, the running The agricultural work machine according to claim 2, wherein the control unit is in a state where automatic steering running can be executed using the reference direction based on the direction-related information stored in the storage unit.
  4. 　人為操作を受付可能な入力装置を備え、
    　前記走行制御部が前記自動操舵走行を実行していないときに前記モード切替部が前記走行制御部の制御モードを前記第１モードから前記第２モードに切り替えたことに応じて、前記モード切替部が前記入力装置からの人為操作を待機し、
    　再び自動操舵走行を行う旨の人為操作を前記入力装置から受け付けたことに応じて、前記モード切替部が前記走行制御部の制御モードを前記第２モードから前記第１モードに切り替えると共に、前記走行制御部が前記記憶部に記憶された前記方位関連情報に基づく基準方位を用いて自動操舵走行を実行可能な状態となる請求項１から３のいずれか１項に記載の農作業機。     Equipped with an input device that can accept human operations
    The mode switching unit responds to the mode switching unit switching the control mode of the traveling control unit from the first mode to the second mode when the traveling control unit is not executing the automatic steering operation. Waits for human operation from the input device,
    In response to receiving an artificial operation to perform automatic steering running again from the input device, the mode switching unit switches the control mode of the running control unit from the second mode to the first mode, and at the same time, the running The agricultural work machine according to any one of claims 1 to 3, wherein the control unit is in a state where automatic steering running can be executed using the reference direction based on the direction-related information stored in the storage unit.
  5. 　前記モード切替部は、所定の切替条件が満たされたことに応じて、前記走行制御部の制御モードを前記第１モードから前記第２モードに切り替える請求項１から４のいずれか１項に記載の農作業機。 The mode switching unit according to any one of claims 1 to 4, wherein the control mode of the traveling control unit is switched from the first mode to the second mode according to the condition that a predetermined switching condition is satisfied. Agricultural work machine.
  6. 　前記切替条件が、エンジンが停止したことを含む請求項５に記載の農作業機。 The agricultural work machine according to claim 5, wherein the switching condition includes that the engine has stopped.
  7. 　前記切替条件が、機体に備えられた作業装置が停止したことを含む請求項５又は６に記載の農作業機。 The agricultural work machine according to claim 5 or 6, wherein the switching condition includes that the work device provided in the machine has stopped.
  8. 　農作業機を制御するシステムであって、
    　前記農作業機の走行を制御する走行制御部と、
    　前記走行制御部の制御モードを、基準方位を用いて自動操舵走行を実行可能な第１モードと、前記自動操舵走行を行わない第２モードと、の間で切り替えるモード切替部と、
    　前記走行制御部の制御モードが前記第１モードであるときの前記基準方位に関する情報である方位関連情報を記憶する記憶部と、を備え、
    　前記モード切替部が前記走行制御部の制御モードを前記第１モードから前記第２モードに切り替えて、更に前記第２モードから前記第１モードに切り替えた時に、前記走行制御部が前記記憶部に記憶された前記方位関連情報に基づく基準方位を用いて自動操舵走行を実行可能である、システム。     It is a system that controls agricultural work machines.
    A traveling control unit that controls the traveling of the agricultural work machine,
    A mode switching unit that switches the control mode of the traveling control unit between a first mode capable of executing automatic steering traveling using a reference direction and a second mode not performing automatic steering traveling.
    A storage unit for storing directional information, which is information regarding the reference azimuth when the control mode of the traveling control unit is the first mode, is provided.
    When the mode switching unit switches the control mode of the travel control unit from the first mode to the second mode, and further switches from the second mode to the first mode, the travel control unit stores the control mode in the storage unit. A system capable of performing automatic steering running using a reference directional based on the stored directional information.
  9. 　農作業機を制御する方法であって、
    　前記農作業機の走行を制御する走行制御部の制御モードを、基準方位を用いて自動操舵走行を実行可能な第１モードに設定する第１ステップと、
    　前記基準方位に関する情報である方位関連情報を記憶部に記憶させる第２ステップと、
    　前記第１ステップの後に、前記走行制御部の制御モードを、前記自動操舵走行を行わない第２モードに切り替える第３ステップと、　
    　前記第３ステップの後に、前記走行制御部の制御モードを、前記第１モードに切り替える第４ステップと、
    　前記第４ステップの後に、前記走行制御部が前記記憶部に記憶された前記方位関連情報に基づく基準方位を用いて自動操舵走行を実行する第５ステップと、を含む方法。     It ’s a way to control a farming machine.
    The first step of setting the control mode of the traveling control unit that controls the traveling of the agricultural work machine to the first mode in which automatic steering traveling can be executed using the reference direction, and
    The second step of storing the direction-related information, which is the information related to the reference direction, in the storage unit,
    After the first step, a third step of switching the control mode of the traveling control unit to the second mode in which the automatic steering traveling is not performed, and
    After the third step, a fourth step of switching the control mode of the traveling control unit to the first mode,
    A method comprising, after the fourth step, a fifth step in which the travel control unit executes automatic steering travel using a reference direction based on the direction-related information stored in the storage unit.
  10. 　農作業機を制御するためのプログラムであって、
    　前記農作業機の走行を制御する走行制御部の制御モードを、基準方位を用いて自動操舵走行を実行可能な第１モードに設定する第１機能と、
    　前記基準方位に関する情報である方位関連情報を記憶部に記憶させる第２機能と、
    　前記第１機能の実行の後に、前記走行制御部の制御モードを、前記自動操舵走行を行わない第２モードに切り替える第３機能と、
    　前記第３機能の実行の後に、前記走行制御部の制御モードを、前記第１モードに切り替える第４機能と、
    　前記第４機能の実行の後に、前記記憶部に記憶された前記方位関連情報に基づく基準方位を用いて自動操舵走行を実行する第５機能と、をコンピュータに実行させるプログラム。     A program for controlling agricultural work machines
    The first function of setting the control mode of the traveling control unit that controls the traveling of the agricultural work machine to the first mode in which automatic steering traveling can be executed using the reference direction, and
    The second function of storing the direction-related information, which is the information related to the reference direction, in the storage unit, and
    After the execution of the first function, the third function of switching the control mode of the traveling control unit to the second mode in which the automatic steering traveling is not performed, and
    After the execution of the third function, the fourth function of switching the control mode of the traveling control unit to the first mode, and
    A program for causing a computer to execute a fifth function of executing automatic steering running using a reference direction based on the direction-related information stored in the storage unit after the execution of the fourth function.
  11. 　農作業機を制御するためのプログラムを記録した記録媒体であって、
    　前記農作業機の走行を制御する走行制御部の制御モードを、基準方位を用いて自動操舵走行を実行可能な第１モードに設定する第１機能と、
    　前記基準方位に関する情報である方位関連情報を記憶部に記憶させる第２機能と、
    　前記第１機能の実行の後に、前記走行制御部の制御モードを、前記自動操舵走行を行わない第２モードに切り替える第３機能と、
    　前記第３機能の実行の後に、前記走行制御部の制御モードを、前記第１モードに切り替える第４機能と、
    　前記第４機能の実行の後に、前記記憶部に記憶された前記方位関連情報に基づく基準方位を用いて自動操舵走行を実行する第５機能と、をコンピュータに実行させるプログラムを記録した記録媒体。     A recording medium on which a program for controlling an agricultural work machine is recorded.
    The first function of setting the control mode of the traveling control unit that controls the traveling of the agricultural work machine to the first mode in which automatic steering traveling can be executed using the reference direction, and
    The second function of storing the direction-related information, which is the information related to the reference direction, in the storage unit, and
    After the execution of the first function, the third function of switching the control mode of the traveling control unit to the second mode in which the automatic steering traveling is not performed, and
    After the execution of the third function, the fourth function of switching the control mode of the traveling control unit to the first mode, and
    A recording medium recording a program for causing a computer to execute a fifth function of executing automatic steering running using a reference direction based on the direction-related information stored in the storage unit after the execution of the fourth function.
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