Automatic travel method, automatic travel program, and automatic travel system

Abstract

Provided are an automatic travel method, an automatic travel program, and an automatic travel system with which it is possible to automatically travel a work vehicle using a simple operation method. A travel processing unit (111) of a combine (1) receives an automatic travel start instruction from a user at a start operation unit provided in an operation device (30), and causes the combine (1) to start automatic travel on the basis of the vehicle orientation of the combine (1) when the automatic travel start instruction is received.

Description

Technical Field

[0001] The present invention relates to a technology for enabling a work vehicle to automatically travel along a target path. Background Art

[0002] Conventionally, technologies for generating a target path for automatically driving a work vehicle in a field are known. For example, a path setting method is known in which, when an operating unit comprising a first switch and a second switch for teaching, provided on a driving unit, is pressed, the reference orientation of the vehicle body is set based on the operation (see, for example, Patent Document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent No. 6705686 Summary of the Invention

[0006] However, the conventional technology requires a teaching operation for setting a reference orientation in order to start automatic driving, which is labor-intensive.

[0007] An object of the present invention is to provide an automatic driving method, an automatic driving program, and an automatic driving system that can automatically drive a work vehicle through a simple operation method.

[0008] The automatic driving method according to the present invention is an automatic driving method for causing a work vehicle to automatically drive in response to a user operation on an operating device. The automatic driving method includes: receiving an automatic driving start instruction from a user at a start operation unit provided on the operating device; and starting automatic driving of the work vehicle based on the vehicle orientation at the time the automatic driving start instruction was received.

[0009] The automatic driving program according to the present invention is an automatic driving program for automatically driving a work vehicle in response to a user operation on an operating device. The automatic driving program causes one or more processors to execute the following processing: receiving an automatic driving start instruction from a user at a start operation unit provided in the operating device; and starting automatic driving of the work vehicle based on the vehicle orientation at the time the automatic driving start instruction was received.

[0010] The automatic driving system according to the present invention is an automatic driving system that causes a work vehicle to automatically drive in response to a user operation on an operating device. The automatic driving system includes a driving processing unit that receives an automatic driving start instruction from a user at a start operation unit provided on the operating device and starts automatic driving of the work vehicle based on the vehicle orientation of the work vehicle at the time of receiving the automatic driving start instruction.

[0011] Effects of the Invention

[0012] According to the present invention, it is possible to provide an automatic driving method, an automatic driving program, and an automatic driving system capable of causing a work vehicle to automatically drive by a simple operation method. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a functional block diagram showing the configuration of a travel system according to an embodiment of the present invention.

[0014] Figure 2 This is an external appearance side view showing the structure of the combine harvester according to the embodiment of the present invention.

[0015] Figure 3 It is an external appearance plan view showing the structure of the combine harvester according to the embodiment of the present invention.

[0016] Figure 4A This is a diagram showing an example of a target route set for a field according to an embodiment of the present invention.

[0017] Figure 4B This is a diagram showing an example of a target route set for a field according to an embodiment of the present invention.

[0018] Figure 5 This is a diagram showing an example of an operation procedure of the combine harvester according to the embodiment of the present invention.

[0019] Figure 6 This is a diagram showing a schematic configuration of an operating device provided in a combine harvester according to an embodiment of the present invention.

[0020] Figure 7 It is a figure which shows the specific structure of the operating device provided in the combine harvester which concerns on embodiment of this invention.

[0021] Figure 8A This is a diagram showing an example of a method for generating a reference line of a combine harvester according to the first embodiment of the present invention.

[0022] Figure 8B This is a diagram showing an example of a method for generating a reference line of a combine harvester according to the first embodiment of the present invention.

[0023] Figure 8C This is a diagram showing an example of a method for generating a reference line of a combine harvester according to the first embodiment of the present invention.

[0024] Figure 8D This is a diagram showing an example of a method for generating a reference line of a combine harvester according to the first embodiment of the present invention.

[0025] Figure 9A This is a diagram showing an example of a method for generating a target route for a combine harvester according to the first embodiment of the present invention.

[0026] Figure 9B This is a diagram showing an example of a method for generating a target route for a combine harvester according to the first embodiment of the present invention.

[0027] Figure 10A This is a diagram showing an example of a method for generating a reference line of a combine harvester according to the first embodiment of the present invention.

[0028] Figure 10B This is a diagram showing an example of a method for generating a reference line of a combine harvester according to the first embodiment of the present invention.

[0029] Figure 11 This is a flowchart showing an example of the procedure of an operation control process executed by the travel system according to the first embodiment of the present invention.

[0030] Figure 12A This is a diagram for explaining an automatic driving method according to a second embodiment of the present invention.

[0031] Figure 12B This is a diagram for explaining an automatic driving method according to a second embodiment of the present invention.

[0032] Figure 13 This is a flowchart showing an example of the procedure of an operation control process executed by the travel system according to the second embodiment of the present invention.

[0033] Figure 14 This is an external perspective view showing the structure of a combine harvester according to Embodiment 3 of the present invention.

[0034] Figure 15A It is a top view which shows the structure of the combine harvester which concerns on Embodiment 3 of this invention.

[0035] Figure 15B It is an enlarged plan view showing the structure of a combine harvester according to Embodiment 3 of the present invention.

[0036] Figure 16 It is a cross-sectional perspective view showing the structure of a combine harvester according to Embodiment 3 of the present invention.

[0037] Figure 17 It is a figure which shows another structure of the operating device provided in the combine harvester which concerns on embodiment of this invention.

[0038] Figure 18It is a diagram showing the configuration of a monitoring device according to an embodiment of the present invention.

[0039] Figure 19A This is a diagram showing an example of a display screen (standard screen) of the monitoring device according to the embodiment of the present invention.

[0040] Figure 19B This is a diagram showing an example of a display screen (menu screen) of the monitoring device according to the embodiment of the present invention.

[0041] Figure 19C This is a diagram showing an example of a display screen (straight driving assistance setting screen) of the monitoring device according to the embodiment of the present invention.

[0042] Figure 19D This is a diagram showing an example of a display screen (reference line creation screen) of the monitoring device according to the embodiment of the present invention.

[0043] Figure 19E This is a diagram showing an example of a display screen (straight driving assistance setting screen) of the monitoring device according to the embodiment of the present invention.

[0044] Figure 19F This is a diagram showing an example of a display screen (straight NOW setting screen) of the monitoring device according to the embodiment of the present invention.

[0045] Figure 19G This is a diagram showing an example of a display screen (straight driving assistance setting screen) of the monitoring device according to the embodiment of the present invention.

[0046] Figure 20A This is a diagram showing an example of a display screen (driving screen) of a tablet terminal according to an embodiment of the present invention.

[0047] Figure 20B This is a diagram showing an example of a display screen (driving screen) of a tablet terminal according to an embodiment of the present invention.

[0048] Figure 21 It is a diagram showing the configuration of an operating device according to an embodiment of the present invention.

[0049] Figure 22 A diagram showing an example of a path deviation button according to an embodiment of the present invention.

[0050] Description of Reference Numerals

[0051] 1…Combine harvester (work vehicle); 11…Control device; 30…Operating device; 31…Automatic driving instruction unit (starting operation unit); 32…Automatic driving display unit; 35…Starting point setting unit (first setting unit); 36…Starting point setting unit (second setting unit); 37…Starting point setting display unit; 38…End point setting display unit; 50…Monitoring device; 111…Driving processing unit; 112…Generation processing unit; 113…Specific processing unit; A1…Starting point (first reference position); B1…End point (second reference position); F…Field; L1…Baseline; R1…Target path; R2…Target path. DETAILED DESCRIPTION

[0052] The following embodiment is an example for realizing the present invention, and does not limit the technical scope of the present invention.

[0053] [Implementation Method 1]

[0054] The driving system according to the first embodiment of the present invention includes a combine harvester 1, a satellite (not shown), and a base station (not shown). The combine harvester 1 is an example of a work vehicle according to the present invention. The work vehicle according to the present invention is not limited to the combine harvester 1 and may also be a tractor, a rice transplanter, a construction machine, or a snowplow.

[0055] Combine harvester 1 in field F (refer to Figure 4A ) in the field F, the combine harvester 1 performs a predetermined operation (e.g., harvesting) while traveling along a target path R1 according to the operation of the operator (operator). Specifically, the combine harvester 1 automatically travels along the target path R1 (e.g., a straight working path) in the working area of ​​the field F according to automatic steering operation, and manually travels in the non-working area of ​​the field F according to the manual steering operation (driving operation) of the operator. The combine harvester 1 travels and performs operations in the field F while switching between automatic travel in the working area and manual travel in the non-working area. The target path R1 can be generated in advance based on the operation of the operator and stored as path data.

[0056] Furthermore, in this embodiment, automatic driving refers to the combine harvester 1 driving along the target path R1 while controlling the steering amount (steering angle) (automatic steering). During the automatic driving of the combine harvester 1, the operator can operate the main gear lever to switch the vehicle speed (driving speed) and driving direction (forward and reverse directions). In addition, if the operator performs a stop operation (pressing the stop switch, turning the steering wheel, etc.) while the combine harvester 1 is automatically driving along the target path R1, the automatic driving of the combine harvester 1 can be stopped.

[0057] Thus, the combine harvester 1 of this embodiment is configured to perform only automatic steering (steering control processing) during automatic travel, and to perform vehicle speed and travel direction switching processing and stop processing in response to operator operation. As another embodiment, the combine harvester 1 may also be configured to automatically perform automatic steering, vehicle speed and travel direction switching processing, and stop processing independently of operator operation.

[0058] Figure 4A An example of a target path R1 set for a field F is shown in FIG. The combine harvester 1 automatically travels along the target path R1 in the field F while performing harvesting operations. Figure 4A As shown, if multiple paths (parallel lines) parallel to the baseline L1 are set as target paths R1, the combine harvester 1 automatically travels along the vertical direction in the figure within the field F according to the set target paths R1. The baseline L1 is generated, for example, based on a start point A1 and an end point B1 registered at arbitrary locations within the field F. Furthermore, the target paths R1 for automatically traveling the combine harvester 1 are not limited to straight paths and may also be curved paths. For example, if a straight baseline is generated, a straight target path is generated; if a curved baseline is generated, a curved target path is generated.

[0059] use Figure 5 An example of the operation procedure of the combine harvester 1 will be described. The combine harvester 1 harvests the field F along a target path R1 (see FIG. 1 ) generated based on the reference line L1. Figure 4A ) is automatically driven while performing the harvesting operation. For example, the combine harvester 1 automatically drives along the target path R1 when driving straight, and manually drives according to the operator's manual steering operation when moving between paths while turning and driving straight. Here, the combine harvester 1 performs the harvesting operation ("circular harvesting", "round-trip harvesting") while driving from the outer peripheral side to the inner peripheral side from the starting position S to the ending position G. First, if the combine harvester 1 starts to automatically drive at the starting position S, it drives while harvesting the stalks along the outer periphery of the field F. For example, the combine harvester 1 circles the outer peripheral area F1 twice ( Figure 5 dotted path).

[0060] When the combine harvester 1 finishes the harvesting operation in the outer peripheral area F1, it enters the inner peripheral area F2 and starts the harvesting operation in the inner peripheral area F2. In the inner peripheral area F2, the combine harvester 1 performs harvesting operation while traveling straight in the vertical direction, and moves between the operation paths by turning and traveling straight in the outer peripheral area F1 (the area where the work is completed, the area where the harvesting is already completed) without performing harvesting operation in the left and right directions. Figure 5The combine harvester 1 performs a harvesting operation in the inner peripheral area F2, and when it reaches the end position G, it ends the automatic driving and harvesting operation.

[0061] The combine harvester 1 moves in the field F along a target path R1 (see Figure 4A ) automatically travels while performing harvesting operations. In addition, the combine harvester 1 can move along the target path R1 (refer to the reference line L1) corresponding to the reference line L1 in the vertical direction. Figure 4A ) automatically drives while cutting, and in the left and right directions, follows the target path R2 (refer to Figure 4B ) automatically travels while performing the cutting operation. In addition, the orthogonal line L2 can be registered as the second reference line when registering the reference line L1.

[0062] In addition, the combine harvester 1 can automatically travel in the forward direction on the straight path (operation path) while performing the harvesting operation, and automatically travel in the reverse direction on the operation completion path (operation path) after stopping the harvesting operation. In addition, the combine harvester 1 can automatically travel when moving between operation paths.

[0063] In addition, the driving system may include an operating terminal (tablet terminal, smartphone, etc.) operated by an operator. The operating terminal can communicate with the combine harvester 1 via a communication network such as a mobile phone line network, a data packet line network, or a wireless LAN. For example, the operator registers various information (operating vehicle information, field information, operation information, etc.) on the operating terminal. In addition, the operator can grasp the driving status and operating status of the combine harvester 1 based on the driving trajectory displayed on the operating terminal at a location separated from the combine harvester 1. The operating terminal can be formed to be mounted on the combine harvester 1.

[0064] [Combine Harvester 1]

[0065] Figure 2 , which shows the appearance of the combine harvester 1 as viewed from the side. Figure 3 , which shows the appearance of the combine harvester 1 as viewed from above. Figures 1 to 3As shown, the combine harvester 1 includes a traveling section 2, a harvesting section 3, a threshing section 4, a screening section 5, a storage section 6, a discharged straw processing section 7, a power section 8, an operating section 9, an operating device 30, a control device 11, a storage section 51, a positioning unit 52, a monitoring section 53, a communication section 54, and the like. The combine harvester 1 travels using the traveling section 2, harvests stalks using the harvesting section 3, thres the harvested stalks using the threshing section 4, and screens the grains using the screening section 5 and stores them in the storage section 6. Furthermore, the combine harvester 1 processes the discharged straw after threshing using the discharged straw processing section 7. The combine harvester 1 uses power supplied by the power section 8 to drive the traveling section 2, harvesting section 3, threshing section 4, screening section 5, storage section 6, and discharged straw processing section 7.

[0066] The traveling unit 2 is disposed below the machine frame 12 and includes a pair of left and right crawler-type traveling devices 23 and a transmission (not shown). The traveling unit 2 uses power (e.g., rotary power) transmitted from the engine 20 of the power unit 8 to rotate the tracks of the crawler-type traveling devices 23, thereby enabling the combine harvester 1 to travel forward and backward or turn left and right. The transmission transmits the power (rotational power) from the power unit 8 to the crawler-type traveling devices 23 and can also change the speed of the rotary power.

[0067] The harvesting section 3 is an operating machine that performs operations on the field F to be operated. It is arranged in front of the traveling section 2 and harvests the stalks of a specified harvesting width in the unoperated area of ​​the field F, that is, the area where the stalks have not been harvested (unharvested area). The harvesting section 3 is an example of the working section of the present invention. The harvesting section 3 includes a straw divider 13, a rake wheel 14, a cutting knife 15, a rake auger 16, a feed chamber 17, and a conveyor 18. In addition, the harvesting section 3 includes a rotation detection section (not shown) that detects the rotation speed (operation speed) of the rotary operation used for the harvesting operation. The rotation detection section is composed of, for example, a rotation sensor that detects the rotation speed of the rake wheel 14, the rotation speed of the rake auger 16, the rotation speed of the conveyor 18, and the like.

[0068] The straw divider 13 protrudes forward from the left and right front ends of the cutting section 3 and guides the uncut stalks within the cutting width. A raking wheel 14 is positioned behind the straw divider 13 and is rotatable about a rotation axis extending in the left-right direction. To assist in the cutting of the stalks guided by the straw divider 13, the raking wheel 14 is driven by rotation to lift the stalks while raking the tip side of the stalks. A cutter 15 is positioned below the raking wheel 14 and cuts the stalk side of the stalks raked by the raking wheel 14, thereby cutting the stalks.

[0069] The raking auger 16 is arranged behind the raking reel 14 and the cutter 15 and is rotatable about a rotation axis extending in the left-right direction. The raking auger 16 is driven to rake the stalks cut by the cutter 15 and convey them rearward.

[0070] The feed chamber 17 extends forward from the machine frame 12 and is arranged behind the harrowing auger 16. It is supported on the machine frame 12 in a manner that allows it to be raised and lowered. In addition, when the feed chamber 17 is raised and lowered, the straw divider 13, the harrowing wheel 14, the cutting knife 15 and the harrowing auger 16 are raised and lowered, that is, the harvesting unit 3 is raised and lowered.

[0071] Furthermore, the combine harvester 1 includes a lifting device 19 on the machine frame 12 for lifting the feed chamber 17 and thereby lifting the harvesting section 3 so that the harvesting section 3 is in the working position (see FIG. Figure 2 ) and a non-operating position (not shown). The lifting device 19 is composed of, for example, a hydraulic cylinder operated by receiving power from the engine 20.

[0072] The conveyor 18 is rotatably provided in the feeding chamber 17 and moves along with the raising and lowering of the feeding chamber 17. The conveyor 18 is rotationally driven to convey the stalks conveyed into the feeding chamber 17 by the harrowing auger 16 further rearward to the threshing section 4.

[0073] The threshing section 4 is located behind the feeding chamber 17 of the harvesting section 3 and threshes the stalks conveyed from the feeding chamber 17. The threshing section 4 includes a threshing drum 21 and a receiving net 22. The threshing drum 21 threshes the grains against the stalks conveyed from the feeding chamber 17 and conveys the threshed stalks, i.e., the discharged straw, to the discharged straw processing section 7. The receiving net 22 supports the stalks conveyed by the threshing drum 21 and allows the grains to pass through the sieve and fall downward.

[0074] The screening section 5 is provided below the threshing section 4. The screening section 5 includes a swing screening device 24, an air-supply screening device 25, a grain conveying device (not shown), and a straw chip discharge device (not shown). The swing screening device 24 sieves the threshed material falling downward from the threshing section 4 to separate out grains, straw chips, and the like. The air-supply screening device 25 screens out grains, straw chips, and the like from the threshed material falling downward from the threshing section 4 and the threshed material screened by the swing screening device 24 by supplying air. The grain conveying device conveys the grains screened by the swing screening device 24 and the air-supply screening device 25 to the storage section 6. The straw chip discharge device discharges straw chips, and the like other than the grains screened by the swing screening device 24 and the air-supply screening device 25 to the outside.

[0075] The storage section 6 is located to the right of the threshing section 4. The storage section 6 includes a storage box (grain box) 27 and a grain discharge device 28. The storage box 27 stores the grain delivered from the screening section 5. The grain discharge device 28 is configured to include a discharge auger, etc., and performs grain discharge operations, discharging the grain stored in the storage box 27 to a transport vehicle at a predetermined discharge position.

[0076] The discharged straw processing unit 7 is provided at the rear of the threshing unit 4. The discharged straw processing unit 7 includes, for example, a discharged straw conveying device (not shown) and a discharged straw cutting device (not shown). The discharged straw processing unit 7 uses the discharged straw conveying device to convey the discharged straw delivered from the threshing unit 4 to the discharged straw cutting device. After the discharged straw is cut by the discharged straw cutting device, the discharged straw is discharged to the rear of the combine harvester 1.

[0077] The power unit 8 is disposed above the traveling unit 2 and below the storage unit 6. The power unit 8 includes an engine 20 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 20 to the traveling unit 2, the harvesting unit 3, the threshing unit 4, the screening unit 5, the storage unit 6, and the discharged straw processing unit 7. The combine harvester 1 also includes a fuel tank that stores fuel supplied to the engine 20 of the power unit 8.

[0078] The operating unit 9 is provided above the power unit 8. The operating unit 9 is located around the driver's seat 40, where the operator sits, and serves as an operating element for controlling the travel of the combine harvester 1. The operating unit 9 includes a steering wheel 90 for instructing the combine harvester 1 to turn, a main gear lever and a sub-gear lever for instructing the combine harvester 1 to change its forward and reverse speed, and other operating elements. Manual travel of the combine harvester 1 is performed by the travel unit 2, which accepts operations of the steering wheel 90, the main gear lever, and the sub-gear lever of the operating unit 9. Furthermore, the operating unit 9 includes mechanisms for operating the harvesting operation of the harvesting unit 3, the threshing operation of the threshing unit 4, and the discharge operation of the grain discharge device 28 of the storage unit 6.

[0079] In addition, the operating unit 9 includes an operating device 30 for setting a reference line corresponding to the target path (see Figure 3 and Figure 6 The operating device 30 is operated by an operator riding on the combine harvester 1. The operating device 30 may be a device that can be attached to and detached from the operating unit 9.

[0080] The positioning unit 52 uses a satellite positioning system such as GPS to obtain the position of the combine harvester 1. For example, the positioning unit 52 receives positioning signals from positioning satellites using a positioning antenna and obtains position information of the positioning unit 52, i.e., the position of the combine harvester 1 (measurement point data), based on the positioning signals. The positioning unit 52 can be configured as a quantum compass instead of a positioning antenna.

[0081] The communication unit 54 is a communication interface that connects the combine harvester 1 to a communication network (not shown) by wire or wirelessly, and performs data communication with external devices such as an operation terminal via the communication network in accordance with a predetermined communication protocol.

[0082] The storage unit 51 is a non-volatile storage unit such as a HDD, SSD, or flash memory that stores various information. The storage unit 51 stores information for the control device 11 to execute the operation control process described later (see Figure 11 ) and other control programs. For example, the operation control program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 51. Alternatively, the operation control program can be downloaded from a server (not shown) via a communication network to the combine harvester 1 and stored in the storage unit 51. Furthermore, the storage unit 51 stores various setting information acquired from the operating device 30.

[0083] The monitoring unit 53 is a sensor that monitors a monitoring target within a predetermined monitoring range using infrared light, ultrasonic waves, or the like. For example, the monitoring unit 53 may be a radar sensor (distance sensor) that uses laser light to measure the distance to a measurement target (monitoring target) in three dimensions, or a sonar sensor comprising multiple sonars that uses ultrasonic waves to measure the distance to the measurement target. Alternatively, the sonar sensor may not have a distance measurement function.

[0084] The control device 11 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various computations. The ROM is a non-volatile storage unit that pre-stores control programs such as the BIOS and OS that enable the CPU to perform various computations. The RAM is a volatile or non-volatile storage unit that stores various information and serves as temporary storage for the various processes performed by the CPU. Furthermore, the control device 11 controls the combine harvester 1 by using the CPU to execute various control programs pre-stored in the ROM or storage unit 51.

[0085] Next, refer to Figure 7 The structure of the operating device 30 will be described. The operating device 30 is installed near the steering wheel 90 (see FIG. 1 ) so as to be operable by an operator sitting in a driver's seat. Figure 6 ). Figure 15A and Figure 15B The details of the installation position of the operating device 30 are described. Figure 7As shown, the operating device 30 includes an automatic driving instruction unit 31, an automatic driving display unit 32, a start point setting unit 35, an end point setting unit 36, a start point setting display unit 37, and an end point setting display unit 38. The operating device 30 receives a user operation for registering the start point and end point of a reference line when the combine harvester 1 is driven automatically.

[0086] The automatic driving instruction unit 31 is an operating unit for operating an instruction to start automatic driving of the combine harvester 1. It is configured to receive a press operation using a circular operating button, etc. When the start conditions of automatic driving are met, the automatic driving instruction unit 31 sends the automatic driving start instruction to the control device 11 in response to the press operation.

[0087] Furthermore, the automatic driving instruction unit 31 may be configured to be pressable only when the start conditions are met, or may be configured to be constantly pressable and transmit the automatic driving start instruction only when the start conditions are met and the press operation is performed. Alternatively, the automatic driving instruction unit 31 may be constantly pressable and determine whether the automatic driving start instruction is always transmitted based on the press operation, while the control device 11 only accepts the start instruction when the start conditions are met.

[0088] The automatic driving display unit 32 is composed of LEDs, lights, etc. that indicate the automatic driving status of the combine harvester 1. It is controlled by the control device 11 and displays different display states depending on whether the conditions for starting automatic driving are met. The automatic driving display unit 32 is formed into a ring shape, for example, surrounding the automatic driving indicator unit 31. In this embodiment, the automatic driving display unit 32 is configured separately from the automatic driving indicator unit 31, but the automatic driving display unit 32 and the automatic driving indicator unit 31 may also be configured as an integral part.

[0089] For example, if the start conditions are not met, the automatic driving indicator 32 is turned off. On the other hand, if the start conditions are met, the automatic driving indicator 32 flashes before the start of automatic driving and illuminates during the execution of automatic driving. Furthermore, if there are multiple start conditions, the automatic driving indicator 32 can display whether each start condition is met in a discernible manner. For example, the automatic driving indicator 32 can be divided into multiple parts, with each part corresponding to a different start condition. Furthermore, the automatic driving indicator 32 can use other display states to identify the state of automatic driving.

[0090] The starting point setting unit 35 is an operation unit that receives an operation to set the starting point (point A) of the reference line L1 and is configured to receive a press operation using an operation button or the like. In response to the setting operation, such as a press operation, the starting point setting unit 35 transmits a starting point setting instruction to the control device 11. At this time, the control device 11 sets the position of the combine harvester 1 as the starting point of the reference line L1.

[0091] The end point setting unit 36 ​​is an operation unit that receives an operation to set the end point (point B) of the reference line L1 and is configured to receive a press operation using an operation button or the like. In response to the setting operation, such as a press operation, the end point setting unit 36 ​​transmits an end point setting instruction to the control device 11. At this time, the control device 11 sets the position of the combine harvester 1 as the end point of the reference line L1.

[0092] The starting point setting display unit 37 is composed of an LED, a lamp, or the like that indicates the setting state of the starting point. It is controlled by the control device 11 and displays in different display states according to the operation of the starting point setting unit 35. In the present embodiment, the starting point setting display unit 37 is integrally formed with the starting point setting unit 35. However, in other examples, the starting point setting display unit 37 may be formed separately from the starting point setting unit 35.

[0093] The starting point setting display unit 37 turns off when the starting point setting operation can be performed, that is, when the starting point is not set, and turns on when the starting point setting operation cannot be performed, that is, when the starting point is set.

[0094] The endpoint setting display unit 38 is composed of an LED, a lamp, or the like that indicates the setting state of the endpoint. It is controlled by the control device 11 and displays different display states according to the operation of the endpoint setting unit 36. In the present embodiment, the endpoint setting display unit 38 is integrally formed with the endpoint setting unit 36. However, in other examples, the endpoint setting display unit 38 may be formed separately from the endpoint setting unit 36.

[0095] The end point setting display unit 38 turns off when the end point setting operation can be performed, that is, when the end point has not been set, and lights up when the end point setting operation cannot be performed, that is, when the end point has been set.

[0096] In this manner, the operating device 30 receives an operation for setting the reference line L1 and an operation for starting automatic driving. As another embodiment, the operating device 30 may be configured by the operating terminal (portable terminal) capable of data communication with the combine harvester 1 .

[0097] However, the conventional technology has the following problem: the function of the operating unit (equivalent to the operating device 30) is limited to registering the reference positions (starting point and end point) when setting the reference line, resulting in low convenience. In contrast, as described below, the driving system according to the first embodiment of the present invention has a structure that improves the convenience of the operating device 30.

[0098] Specifically, if Figure 1 As shown, the control device 11 includes various processing units, such as a driving processing unit 111, a generation processing unit 112, and a specific processing unit 113. Furthermore, the control device 11 functions as the various processing units by utilizing the CPU to execute various processes in accordance with the operation control program. Furthermore, some or all of the processing units may be comprised of electronic circuits. Furthermore, the operation control program may be a program for causing multiple processors to function as the processing units.

[0099] The driving processing unit 111 controls the driving of the combine harvester 1. For example, when the driving mode of the combine harvester 1 is manual driving (manual driving mode), the driving processing unit 111 causes the combine harvester 1 to drive manually based on the operator's operation (manual steering control). For example, the driving processing unit 111 obtains operation information corresponding to the operator's driving operations such as steering wheel operation, gear shift operation, driving direction switching operation, and braking operation, and causes the driving unit 2 to execute driving operations based on this operation information.

[0100] In addition, when the driving mode of the combine harvester 1 is automatic driving (automatic driving mode), the driving processing unit 111 causes the combine harvester 1 to drive automatically based on the position information (positioning information) indicating the current position of the combine harvester 1 located by the positioning unit 52. For example, if the combine harvester 1 meets the start conditions for automatic driving and a driving start instruction is obtained from the operator, the driving processing unit 111 causes the combine harvester 1 to start automatic driving based on the positioning information. In addition, the driving processing unit 111 causes the combine harvester 1 to drive automatically according to a pre-generated target path. For example, if the combine harvester 1 meets the start conditions for automatic driving and the operator presses the automatic driving instruction unit 31 (refer to Figure 7 ), the travel processing unit 111 obtains a travel start instruction and causes the combine harvester 1 to automatically travel along a straight path (working path) of the target path.

[0101] Furthermore, if the combine harvester 1 reaches the target end position of the work path, the driving processing unit 111 switches the driving mode to manual driving. The driving processing unit 111 may switch the driving mode to manual driving if it determines that the combine harvester 1 has reached the target end position of the work path, or it may switch the driving mode to manual driving based on an operator's operation. If the driving mode is switched to manual driving, for example, the operator manually controls the steering wheel to cause the combine harvester 1 to turn (manual driving). Furthermore, the target end position of each work path may be: a position a predetermined distance inward from the end of the field F; a position pre-specified by the operator; a position parallel to the position where the operator switched from automatic driving to manual driving on the immediately adjacent work path where the operator switched from automatic driving to manual driving (a position where a line passing through the position where manual driving was switched and perpendicular to the work path intersects the work path, or a position where a line passing through the position where manual driving was switched and parallel to the edge of the field F intersects the work path); a position where a line passing through the end point (point B) of the reference line L1 and perpendicular to the reference line L1 intersects the work path, etc. When the combine harvester 1 approaches the target end position or reaches the target end position, the control device 11 may notify the operator by voice, display information, or the like to urge the operator to perform the switching operation to manual travel.

[0102] In addition, the driving processing unit 111 obtains the position of the combine harvester 1 from the positioning unit 52 during the harvesting operation, and controls the driving unit 2, the harvesting unit 3, and the power unit 8 based on the position and the working path included in the target path so that the combine harvester 1 automatically drives and harvests along the working path. Figure 5 As shown, the travel processing unit 111 causes the combine harvester 1 to automatically travel and harvest along the outer periphery in the outer peripheral area F1 from the start position S, and then to automatically travel and harvest to the end position G in the inner peripheral area F2.

[0103] As described above, the travel processing unit 111 switches the travel mode according to the operator's operation, for example, and causes the combine harvester 1 to perform automatic travel and harvesting work by automatic steering, and to perform manual travel by manual steering.

[0104] The generation processing unit 112 generates a target route for the combine harvester 1 to automatically travel. Specifically, the generation processing unit 112 sets (generates) a reference line for the field F based on an operator's operation and generates the target route based on the set reference line. The generation processing unit 112 is an example of a setting processing unit of the present invention.

[0105] In addition, refer to Figures 8A to 8DAn example of a method of setting a reference line using the operating device 30 will be described. When the operator sets the reference line, if the combine harvester 1 is moved to an arbitrary position (for example, an end) of the field F, the operator presses the starting point setting unit 35 (see Figure 8A The generation processing unit 112 registers the position of the combine harvester 1 when the starting point setting unit 35 is pressed as the starting point of the reference line L1 ( Figure 9A If the generation processing unit 112 registers the starting point A1, the starting point setting display unit 37 lights up the LED (see Figure 8B Then, the operator drives the combine harvester 1 manually and presses the end point setting portion 36 (see Figure 8C The generation processing unit 112 registers the position of the combine harvester 1 when the end point setting unit 36 ​​is pressed as the end point of the reference line L1 ( Figure 9A If the generation processing unit 112 registers the end point B1, the end point setting display unit 38 and the automatic driving display unit 32 light up their LEDs (see Figure 8D ).

[0106] When the generation processing unit 112 registers the start point A1 and the end point B1, it generates a straight line connecting the start point A1 and the end point B1, and registers the generated straight line as the reference line L1 (see Figure 9A The generation processing unit 112 stores the generated reference line L1 in the storage unit 51. Furthermore, in the present invention, the term "reference line" may be a "reference orientation," which has the same meaning as "line" and "orientation." Furthermore, "orientation" may be determined by direction or by a numerical value. The generation processing unit 112 may generate a reference orientation (numerical value) and store it in the storage unit 51.

[0107] As described above, the generation processing unit 112 sets a reference line (reference orientation) based on the start point A1 and the end point B1 set for the field F.

[0108] In the present invention, the method for setting the baseline is not limited to the above method. For example, the control device 11 can set the baseline (reference orientation) based on the azimuth angle (vehicle orientation) of the combine harvester 1. Specifically, if the operator performs the operation of registering the starting point A1 (pressing the starting point setting unit 35), the control device 11 registers the position (current position) of the combine harvester 1 as the starting point A1, and sets the straight line passing through the starting point A1 and extending in the direction of the current orientation (vehicle orientation) of the combine harvester 1 as the baseline L1. In addition, if the operator performs the operation of registering the end point B1 (pressing the end point setting unit 36), the control device 11 can register the position (current position) of the combine harvester 1 as the end point B1, and set the straight line passing through the end point B1 and extending in the direction of the current orientation (vehicle orientation) of the combine harvester 1 as the baseline L1.

[0109] As described above, the control device 11 can use any of the following methods: a method for setting the baseline L1 based on the starting point A1 and the end point B1 (a first setting method); a method for setting the baseline L1 based on the starting point A1 and the vehicle orientation (a second setting method); and a method for setting the baseline L1 based on the end point B1 and the vehicle orientation (a third setting method). Furthermore, the control device 11 can set the baseline L1 using any of the first to third setting methods determined by the operator's method of operating the operating device 30, or can set the baseline L1 using a setting method selected by the operator.

[0110] Furthermore, the generation processing unit 112 can automatically generate the orthogonal line L2 (second reference line) based on the reference line L1. Specifically, if the generation processing unit 112 sets the reference line L1, then Figure 9A As shown in FIG. 1 , a perpendicular line L2 is set that passes through the end point B1 and forms an angle D1 of 90 degrees with the reference line L1. The generation processing unit 112 stores the set perpendicular line L2 as the second reference line in the storage unit 51. Thus, for example, regarding a rectangular field F, the operator performs a Figure 9A By performing the registration operation of the baseline L1 along the left and right sides of the other side ( Figure 9A The second baseline of the upper and lower edges).

[0111] As another embodiment, the generation processing unit 112 may set a straight line along the outline of the field F (work area) as the second reference line. For example, the generation processing unit 112 calculates the angle D1 based on the outline of the field F and sets the second reference line based on the angle D1 and the reference line L1.

[0112] In addition, as another embodiment, the generation processing unit 112 may receive an input operation of the angle D1 from the operator, and set the second reference line based on the input angle D1 and the reference line L1.

[0113] The generation processing unit 112 stores the baseline L1 and the orthogonal line L2 in the storage unit 51 in a selectable manner. When starting the automatic driving of the combine harvester 1, the control device 11 selects either the baseline L1 or the orthogonal line L2 based on the operator's selection operation or the position information of the combine harvester 1, the vehicle orientation, etc. The generation processing unit 112 generates an automatic driving path (target path) based on the selected baseline L1 or the orthogonal line L2. For example, if the operator selects the baseline L1, the generation processing unit 112 generates an automatic driving path (target path) based on the baseline L1. When the generation mode of the target path is set to the "equal spacing mode", as shown in FIG. Figure 9AAs shown, the generation processing unit 112 generates a target path R1 consisting of multiple straight lines parallel to the reference line L1. Furthermore, the generation processing unit 112 generates multiple parallel straight lines at equal intervals with reference to the reference line L1, based on a preset working width and overlap width (the width of overlap with adjacent completed work areas). The generation processing unit 112 stores the generated target path R1 in the storage unit 51.

[0114] If the operator presses the automatic driving indication unit 31 when the vehicle orientation and position deviation (lateral offset) of the combine harvester 1 is within the specified range relative to any of the multiple parallel straight lines generated (the starting conditions are met), the driving processing unit 111 starts the automatic driving and causes the combine harvester 1 to drive straight along the target path R1.

[0115] If the combine harvester 1 reaches the target end position of the target path R1 (straight path), the operator switches to the manual driving mode and causes the combine harvester 1 to drive manually. In addition, when the combine harvester 1 reaches the target end position of the straight path, or when the harvesting section 3 rises to the non-working position, the driving processing unit 111 can switch the driving mode to the manual driving mode. If the driving mode is switched to the manual driving mode, the operator causes the combine harvester 1 to drive manually, and if the vehicle orientation is aligned in the direction of the orthogonal line L2, the orthogonal line L2 is selected. The generation processing unit 112 generates an automatic driving path (target path) based on the orthogonal line L2. For example, when the generation mode of the target path is set to the "equal spacing mode", as Figure 9B As shown, the generation processing unit 112 generates a target path R2 consisting of multiple straight lines parallel to the orthogonal line L2. The generation processing unit 112 stores the generated target path R2 in the storage unit 51. If the operator presses the automatic driving instruction unit 31 while the vehicle orientation and position deviation (lateral offset) of the combine harvester 1 relative to any of the generated multiple parallel straight lines are within a specified range (a state where the start conditions are met), the driving processing unit 111 starts automatic driving and causes the combine harvester 1 to drive straight along the target path R2.

[0116] [Baseline setting process]

[0117] Hereinafter, specific examples of methods (first to third setting methods) for setting the reference line L1 will be described.

[0118] When setting the baseline L1 based on the starting point A1 and the end point B1 (a first setting method), a condition can be set based on the distance between the starting point A1 and the end point B1. For example, if the distance from the starting point A1 to the end point B1 is short, the orientation of the baseline L1 set based on the starting point A1 and the end point B1 is likely to deviate from the operator's intended orientation. If the combine harvester 1 is automatically driven along the target path R1 generated based on the baseline L1, operational accuracy may decrease. Therefore, to improve the accuracy of the orientation of the baseline L1, the generation processing unit 112 sets the baseline L1 passing through the starting point A1 and the end point B1 when the distance between the starting point A1 and the end point B1 is at least a predetermined distance (e.g., 5 meters) (a first setting method).

[0119] For example, when the end point setting unit 36 ​​receives a predetermined operation (short press operation) from the operator at a position at least a predetermined distance from the start point A1 registered by the predetermined operation (short press operation) on the start point setting unit 35, the generation processing unit 112 registers the end point B1 and sets a reference line L1 passing through the start point A1 and the end point B1. The "short press operation" is an operation in which an operation button is pressed and then released within a predetermined time, and the operation button is kept on for a predetermined time.

[0120] In contrast, when the distance from the start point A1 to the end point B1 is less than a predetermined distance (e.g., 5 m), the generation processing unit 112 sets the baseline L1 based on the start point A1 and the vehicle orientation (second setting method) or the end point B1 and the vehicle orientation (third setting method).

[0121] For example, when the end point setting unit 36 ​​receives a predetermined operation (short press operation) from the operator at a position less than a predetermined distance (e.g., 5 meters) from the starting point A1 registered by a predetermined operation (short press operation) to the starting point setting unit 35, the generation processing unit 112 sets the reference line L1 based on the vehicle orientation of the combine harvester 1 at the time the starting point setting unit 35 received the short press operation (or at the time the starting point A1 was registered) (second setting method). Specifically, the generation processing unit 112 sets the reference line L1 that passes through the starting point A1 and extends in the direction of the vehicle orientation.

[0122] As another embodiment, when the endpoint setting unit 36 ​​receives a predetermined operation (short press operation) from the operator at a position less than a predetermined distance (e.g., 5 meters) from the starting point A1 registered by a predetermined operation (short press operation) on the starting point setting unit 35, the generation processing unit 112 may set the reference line L1 based on the vehicle orientation of the combine harvester 1 at the time the endpoint setting unit 36 ​​received the short press operation (or when the endpoint B1 was registered) (third setting method). Specifically, the generation processing unit 112 sets the reference line L1 that passes through the endpoint B1 and extends in the direction of the vehicle orientation.

[0123] Thus, when the distance between the location where the registration operation is performed at start point A1 and the location where the registration operation is performed at end point B1 (the travel distance of the combine harvester 1) exceeds a predetermined distance, the generation processing unit 112 sets the baseline L1 based on start point A1 and end point B1 (a first setting method). When the distance is less than the predetermined distance (including when the distance is zero), the generation processing unit 112 sets the baseline L1 based on start point A1 and the vehicle orientation (a second setting method) or end point B1 and the vehicle orientation (a third setting method). Furthermore, the control device 11 includes a first setting method, a second setting method, and a third setting method. Regarding the setting method of baseline L1 when the distance is less than the predetermined distance, the operator can preselect either the second setting method or the third setting method. Alternatively, the operator can permit or prohibit the setting of baseline L1 when the distance is less than the predetermined distance (the second setting method and the third setting method).

[0124] Thus, the operator can register the end point B1 and set the reference line L1 after registering the start point A1 and driving the combine 1 a predetermined distance. Furthermore, the operator can set the reference line L1 based on the vehicle orientation even if the combine 1 has traveled less than the predetermined distance after registering the start point A1.

[0125] In addition, the generation processing unit 112 can inform the operator: the baseline L1 is set based on the vehicle orientation of the combine harvester 1 when the starting point setting unit 35 accepts the operator's operation (short press operation); or the baseline L1 is set based on the vehicle orientation of the combine harvester 1 when the end point setting unit 36 ​​accepts the operator's operation (short press operation).

[0126] As another embodiment, for example, after the baseline L1 is set based on the vehicle orientation of the combine harvester 1 when the start point setting unit 35 is operated, if the operator again operates the end point setting unit 36 ​​at a position separated from the start point A1 by a predetermined distance or more, the generation processing unit 112 may delete the already set baseline L1 and reset (update) the baseline L1 generated based on the start point A1 and the end point B1. Alternatively, for example, after the baseline L1 is set based on the vehicle orientation of the combine harvester 1 when the end point setting unit 36 ​​is operated, if the operator again operates the end point setting unit 36 ​​at a position separated from the start point A1 by a predetermined distance or more, the generation processing unit 112 may delete the already set baseline L1 and reset (update) the baseline L1 generated based on the start point A1 and the end point B1.

[0127] Here, the generation processing unit 112 can display the reference line L1 set by the first setting method or the reference line L1 set by the second setting method (or the third setting method) in a recognizable manner on the operating device 30. For example, during the period when the travel distance of the combine harvester 1 after the registration starting point A1 is less than the predetermined distance, as shown in FIG. Figure 10A As shown in FIG. 1 , the generation processing unit 112 turns off the automatic driving display unit 32. If the driving distance of the combine harvester 1 reaches a predetermined distance after the registration starting point A1, the generation processing unit 112 turns off the automatic driving display unit 32. Figure 10B As shown in FIG. 1 , the automatic driving display unit 32 is lit or flashed. Figure 8D The structures shown correspond to the lit colors and Figure 10B The structures shown correspond to different light colors.

[0128] As another embodiment, when the travel distance of the combine harvester 1 reaches a predetermined distance after the registration starting point A1, the generation processing unit 112 may light up or flash only the right side of the automatic driving display unit 32. In addition, the lighting or flashing pattern of the automatic driving display unit 32 is not limited to this, and only the left side of the automatic driving display unit 32 may be lit or flashed, or both the right and left sides may be lit or flashed. In addition, as another embodiment, when the travel distance of the combine harvester 1 reaches a predetermined distance after the registration starting point A1, the generation processing unit 112 may notify the operating device 30 with a buzzer sound, a guidance voice, etc. In this way, when the travel distance of the combine harvester 1 reaches a predetermined distance after the registration starting point A1, the generation processing unit 112 may notify information indicating that a baseline can be set based on the starting point A1 and the end point B1.

[0129] In another embodiment, the generation processing unit 112 may cause a display unit of an operation terminal or the like to display information that allows identification of whether the reference line L1 is set according to the first setting method or the second setting method (or the third setting method).

[0130] According to the above configuration, the operator can easily understand whether the baseline L1 is set according to the first setting method or the second setting method (or the third setting method), thereby preventing the operator from setting the baseline L1 according to an unexpected method.

[0131] In the above-mentioned embodiment, the generation processing unit 112 sets the baseline L1 when both the starting point setting unit 35 and the end point setting unit 36 ​​accept a prescribed operation (short press operation) from the operator. However, as another embodiment, the generation processing unit 112 may also set the baseline L1 when one of the starting point setting unit 35 and the end point setting unit 36 ​​accepts a prescribed operation from the operator.

[0132] For example, when the start point A1 is not registered, if the end point setting unit 36 ​​receives a predetermined operation (e.g., a long press operation) from the operator, the generation processing unit 112 sets the baseline L1 based on the vehicle orientation of the combine harvester 1 at the time the end point setting unit 36 ​​receives the long press operation. Furthermore, the "long press operation" is an operation in which the operation button is pressed and then released for a time period exceeding a predetermined time, and is referred to as an operation in which the operation button is on for a time period exceeding a predetermined time. For example, if the operator performs a long press operation on the end point setting unit 36 ​​without performing the registration operation for the start point A1 (pressing the start point setting unit 35), the generation processing unit 112 sets a straight line that passes through the position of the combine harvester 1 (the current position) at the time the long press operation was performed on the end point setting unit 36 ​​as the baseline L1.

[0133] Furthermore, for example, when the starting point setting unit 35 receives a predetermined operation (a long-press operation) from the operator, the generation processing unit 112 may set the reference line L1 based on the vehicle orientation of the combine harvester 1 at the time the long-press operation was received by the starting point setting unit 35. For example, when the operator performs a long-press operation on the starting point setting unit 35, the generation processing unit 112 sets a straight line that passes through the position of the combine harvester 1 (the current position) at the time the long-press operation was performed on the starting point setting unit 35 and extends in the direction of the vehicle orientation of the combine harvester 1 as the reference line L1.

[0134] In this way, the operator can set the reference line L1 without registering both the start point A1 and the end point B1 by performing an operation (e.g., a long press operation) on the start point setting unit 35 or the end point setting unit 36 ​​that is different from the operation (e.g., a short press operation) when registering the start point A1 or the end point B1.

[0135] Furthermore, as described above, when the endpoint setting unit 36 ​​is long-pressed, the generation processing unit 112 sets the reference line L1 based on the vehicle's orientation at the time of the long-press operation. Alternatively, the generation processing unit 112 may be configured such that, when the endpoint setting unit 36 ​​is short-pressed, if the start point A1 is registered, the end point B1 is registered, and if the start point A1 is not registered, the end point B1 is not registered (ignoring the short-press operation of the endpoint setting unit 36). Furthermore, when the endpoint setting unit 36 ​​is long-pressed while the start point A1 is registered, the generation processing unit 112 may ignore the start point A1 and set the reference line L1 based on the vehicle's orientation at the time of the operation of the endpoint setting unit 36.

[0136] As described above, the generation processing unit 112 executes the baseline setting process of setting the baseline L1 when both the start point setting unit 35 and the end point setting unit 36 ​​receive a predetermined operation (short press operation) from the operator. In addition, the generation processing unit 112 executes the baseline setting process when one of the start point setting unit 35 and the end point setting unit 36 ​​receives a predetermined operation (long press operation) from the operator. In addition, the generation processing unit 112 generates the target path R1 (see FIG. 1 ) based on the set baseline L1. Figure 4A ).

[0137] If the generation processing unit 112 generates the target path R1, the driving processing unit 111 causes the combine harvester 1 to automatically drive along the target path R1. For example, when the target path R1 is generated at the position of the combine harvester 1 at the time of setting the baseline L1 (for example, the operating position of the starting point setting unit 35 or the operating position of the end point setting unit 36) and the combine harvester 1 meets the starting conditions, the driving processing unit 111 can cause the combine harvester 1 to automatically drive along the target path R1 from this position. As another embodiment, after generating the baseline L1, the operator manually drives the combine harvester 1 to align with the target starting position of the working path. When the target path R1 is generated at this position and the starting conditions are met, the driving processing unit 111 can cause the combine harvester 1 to automatically drive along the target path R1 from this position. In addition, as another embodiment, after the target path R1 is generated based on the baseline L1, when the operator aligns the combine harvester 1 with the target path R1 through manual driving and the start conditions are met, the driving processing unit 111 can enable the combine harvester 1 to start automatic driving from this position along the target path R1.

[0138] [Baseline deletion processing]

[0139] The specific processing unit 113 executes specific processing different from the baseline setting processing described above when at least one of the start point setting unit 35 and the end point setting unit 36 ​​receives a predetermined operation from the operator. Examples of specific processing include deleting the start point A1, deleting the end point B1, and deleting the baseline L1. The specific processing unit 113 is an example of a specific processing unit of the present invention.

[0140] Specifically, when starting point A1 and end point B1 are registered, specific processing unit 113 deletes starting point A1 and end point B1 if the overlap (overlap time) between the operation time of starting point setting unit 35 and the operation time of end point setting unit 36 ​​exceeds a predetermined time. For example, after the operator registers starting point A1 and end point B1, if the operator presses one of starting point setting unit 35 and end point setting unit 36 ​​and then presses the other, or if both are pressed simultaneously, and if the start point setting unit 35 and end point setting unit 36 ​​remain on for a predetermined time, starting point A1 and end point B1 are deleted (reset). The timing at which starting point setting unit 35 and end point setting unit 36 ​​are on can be the same or have a predetermined time difference.

[0141] As another embodiment, the specific processing unit 113 may delete one of the start point A1 and the end point B1 in response to the above-described operation. For example, if the start point setting unit 35 and the end point setting unit 36 ​​are turned on for a predetermined time and then the start point setting unit 35 is released (they are turned off), the specific processing unit 113 may delete only the start point A1. If the start point setting unit 35 and the end point setting unit 36 ​​are turned on for a predetermined time and then the end point setting unit 36 ​​is released (they are turned off), the specific processing unit 113 may delete only the end point B1. Furthermore, upon receiving the above-described operation, the specific processing unit 113 may delete only the operator-selected one of the start point A1 and the end point B1.

[0142] Furthermore, the specific processing unit 113 may delete the baseline L1 when the start point A1 and the end point B1 are deleted according to the above operation. Furthermore, the specific processing unit 113 may be configured to delete the start point A1 and the end point B1 according to the above operation without deleting the baseline L1. Furthermore, if only one of the start point A1 and the end point B1 is registered, the specific processing unit 113 may delete the registered start point A1 or end point B1 if the overlap time exceeds a predetermined time.

[0143] In this way, the operator can delete the starting point A1, the end point B1, and the baseline L1 by operating the operating unit (start point setting unit 35 and end point setting unit 36) for setting the baseline L1 according to a specific operation method. In other words, the operating device 30 can be provided with a function for performing a baseline setting process and a function for performing a deletion process (an example of a specific process) for deleting the starting point A1, the end point B1, and the baseline L1, thereby improving the convenience of the operating device 30.

[0144] As another embodiment, the specific processing unit 113 may execute the deletion process based on an operation of either the start point setting unit 35 or the end point setting unit 36. For example, if a long press is performed on the start point setting unit 35 while only the start point A1 is registered, the specific processing unit 113 deletes the start point A1. Alternatively, for example, if a long press is performed on the end point setting unit 36 ​​while both the start point A1 and the end point B1 are registered, the specific processing unit 113 deletes the end point B1. Alternatively, if a long press is performed on the start point setting unit 35 while both the start point A1 and the end point B1 are registered, the specific processing unit 113 deletes the start point A1.

[0145] As another embodiment, for example, the identifying processing unit 113 may delete the starting point A1 and the end point B1 when the starting point setting unit 35 or the end point setting unit 36 ​​is long-pressed while the starting point A1 and the end point B1 are registered.

[0146] Furthermore, when the start point A1 and the end point B1 are registered, the specific processing unit 113 does not delete the start point A1 and the end point B1 if the overlapping time is less than a predetermined time.

[0147] In addition, the specific processing unit 113 can display whether the overlap time has reached a predetermined time or more in a recognizable manner. For example, the specific processing unit 113 displays the automatic driving display unit 32 (refer to Figure 7 ) flashes, then sounds a buzzer when the overlap time reaches the specified time, and deletes the start point A1 and the end point B1. In contrast, the specific processing unit 113 flashes the automatic driving display unit 32 when both the start point setting unit 35 and the end point setting unit 36 ​​are turned on. If at least one of the start point setting unit 35 and the end point setting unit 36 ​​turns off before the overlap time reaches the specified time, the automatic driving display unit 32 turns off without deleting the start point A1 and the end point B1. This allows the operator to easily determine whether the deletion process can be executed.

[0148] As described above, the specific processing unit 113 performs processing to delete at least one of the starting point A1, the end point B1 and the baseline L1 when at least one of the starting point setting unit 35 and the end point setting unit 36 ​​receives an operation (second operation) different from the operation (first operation) for setting the baseline L1 from the operator.

[0149] The deletion process is an example of a specific process of the present invention. Examples of specific processes of the present invention include selecting a baseline for automatic driving, switching the baseline selected during automatic driving, and the like. For example, if multiple baselines are registered (e.g., baseline L1, orthogonal line L2, etc.), when the operator performs a specific operation on at least one of the start point setting unit 35 and the end point setting unit 36 ​​at the start of automatic driving, the control device 11 determines the baseline based on the operation and generates the target path R1. The specific operation may be, for example, a double-click operation, or a combination of a double-click operation, a short press operation, and a long press operation.

[0150] In the above embodiment, the configuration is described for a case where the target path generation mode is set to the "equal spacing mode." However, in another embodiment, the target path generation mode may be set to the "own position-based mode." The following describes a specific example of the automatic driving start sequence when the target path is generated based on the "own position-based mode."

[0151] First, the control device 11 sets and registers the baseline by the above-mentioned setting method. Next, the control device 11 selects a baseline. For example, when a plurality of baselines (such as baseline L1, orthogonal line L2, etc.) are registered, the control device 11 selects any one of the baselines based on the operator's selection operation or the position information of the combine harvester 1, the vehicle orientation, etc. Next, the control device 11 generates a path (such as a straight path) (parallel line) parallel to the selected baseline, and sets the generated path to the current position (reference point) of the combine harvester 1. In addition, if the path is set to the reference point, for example, when the combine harvester 1 moves by the operator's manual steering operation, the path moves parallel to the baseline in a manner that follows the reference point. Next, the operator manually drives the combine harvester 1 so that the vehicle orientation is within a specified range relative to the path (satisfying the start condition of automatic driving). When the operator presses the automatic travel instruction unit 31 while the combine harvester 1 satisfies the automatic travel start conditions, the control device 11 sets the path at that point in time as the target path and starts the automatic travel of the combine harvester 1 along the target path.

[0152] Other examples of the start sequence of automatic driving are described. For example, after the control device 11 sets and selects the baseline in the same manner as in the above example, the operator manually drives the combine harvester 1 in such a manner that the vehicle orientation of the combine harvester 1 is within a specified range relative to the baseline (satisfying the start condition of automatic driving). Next, if the operator presses the automatic driving instruction unit 31 when the combine harvester 1 meets the start condition of automatic driving, the control device 11 generates a path (e.g., a straight path) (parallel line) that is parallel to the baseline and passes through the current position (reference point) of the combine harvester 1, sets the generated path as the target path, and causes the combine harvester 1 to start automatic driving according to the target path.

[0153] [Operation Control Processing]

[0154] Below, refer to Figure 11 An example of the operation control process executed by the travel system according to the first embodiment will be described.

[0155] In addition, the present invention can be understood as the invention of an operation control method for executing one or more steps included in the operation control process. In addition, one or more steps included in the operation control process described here can be appropriately omitted. In addition, the execution order of each step of the operation control process can be different within the scope of producing the same effect. Moreover, the case where the control device 11 of the combine harvester 1 executes each step of the operation control process is listed here as an example for explanation, but it can also be considered to set the operation control method in which one or more processors disperse the steps of the operation control process to execute as other embodiments. For example, the control unit of the operating device 30 can execute the operation control process.

[0156] In step S11, the control device 11 determines whether a start instruction for route generation has been received. If the control device 11 has received a start instruction for route generation (S11: Yes), the process proceeds to step S12. The control device 11 waits until a start instruction for route generation is received (S11: No).

[0157] In step S12, the control device 11 determines whether or not a request for the start point setting unit 35 (see Figure 7 ) is performed by a predetermined operation (e.g., a short press operation). If the control device 11 receives a short press operation of the starting point setting unit 35 from the operator (S12: Yes), the process proceeds to step S13. If the control device 11 does not receive a short press operation of the starting point setting unit 35 from the operator (S12: No), the process proceeds to step S121.

[0158] In step S13, the control device 11 registers the starting point A1. Specifically, the control device 11 registers the position of the combine harvester 1 when the operator performs a short-press operation on the starting point setting part 35 as the starting point A1.

[0159] Next, in step S14, the control device 11 determines whether the combine harvester 1 has traveled a predetermined distance. For example, the control device 11 determines whether the combine harvester 1 has traveled 5 meters from the starting point A1. If the control device 11 determines that the travel distance of the combine harvester 1 has reached 5 meters (S14: Yes), the process proceeds to step S15. On the other hand, if the control device 11 determines that the travel distance of the combine harvester 1 has not reached 5 meters (is less than 5 meters) (S14: No), the process proceeds to step S141. The predetermined distance is not limited to 5 meters and is set according to the size of the field.

[0160] In step S15, the control device 11 determines whether or not a request to the end point setting unit 36 ​​(see Figure 7 ) is performed by a predetermined operation (e.g., a short press operation). If the control device 11 receives a short press operation of the end point setting unit 36 ​​from the operator (S15: Yes), the process proceeds to step S16. The control device 11 waits until the operator receives a short press operation of the end point setting unit 36 ​​(S15: No).

[0161] In step S16, the control device 11 registers the end point B1. Specifically, the control device 11 registers the position of the combine harvester 1 when the operator performs a short-press operation on the end point setting unit 36 ​​as the end point B1.

[0162] Next, in step S17, the control device 11 sets the reference line L1 based on the start point A1 and the end point B1. For example, the control device 11 generates a straight line connecting the registered start point A1 and the end point B1, and sets and registers the generated straight line as the reference line L1 (refer to Figure 9A As another embodiment, the control device 11 may set the orthogonal line L2 based on the reference line L1 and register the reference line L1 and the orthogonal line L2. After step S17, the control device 11 advances the process to step S18.

[0163] In contrast, if the control device 11 has not received a short press operation on the start point setting unit 35 from the operator in step S12 (S12: No), the control device 11 determines in the next step S121 whether a long press operation on the start point setting unit 35 or the end point setting unit 36 ​​has been received from the operator. If the control device 11 has received a long press operation on the start point setting unit 35 or the end point setting unit 36 ​​from the operator (S121: Yes), the process proceeds to step S122. If the control device 11 has not received a long press operation on the start point setting unit 35 or the end point setting unit 36 ​​from the operator (S121: No), the process proceeds to step S12.

[0164] In step S122, the control device 11 sets the reference line L1 based on the vehicle orientation of the combine harvester 1 at the time the operator long-pressed the start point setting unit 35 or the end point setting unit 36. For example, if the operator long-pressed the start point setting unit 35, the control device 11 sets the reference line L1 based on the vehicle orientation of the combine harvester 1 at the time the operator long-pressed the start point setting unit 35. If the operator long-pressed the end point setting unit 36, the control device 11 sets the reference line L1 based on the vehicle orientation of the combine harvester 1 at the time the operator long-pressed the end point setting unit 36. After step S122, the control device 11 advances the process to step S18.

[0165] In step S14, if the travel distance of the combine harvester 1 has not reached the predetermined distance (e.g., 5 meters) (less than 5 meters) (S14: No), the control device 11 determines in the next step S141 whether a short press operation of the endpoint setting unit 36 ​​has been received from the operator. If the control device 11 has received a short press operation of the endpoint setting unit 36 ​​from the operator (S141: Yes), the process proceeds to step S142. If the control device 11 has not received a short press operation of the endpoint setting unit 36 ​​from the operator (S141: No), the process proceeds to step S14.

[0166] In step S142, the control device 11 sets the reference line L1 based on the vehicle orientation of the combine harvester 1 when the short-press operation of the start point setting unit 35 is received. In another embodiment, the control device 11 may set the reference line L1 based on the vehicle orientation of the combine harvester 1 when the short-press operation of the end point setting unit 36 ​​is received. After step S142, the control device 11 advances the process to step S18.

[0167] In step S18, the control device 11 determines whether an operation to delete the baseline L1 has been accepted. For example, if the start point A1 and the end point B1 are registered, the control device 11 determines whether the overlap (overlap time) between the operation time for the start point setting unit 35 and the operation time for the end point setting unit 36 ​​has exceeded a predetermined time. If the control device 11 determines that the overlap time has exceeded the predetermined time (S18: Yes), the process proceeds to step S181.

[0168] On the other hand, if the control device 11 has not received an operation to delete the reference line L1 (S18: No), the process proceeds to step S19. For example, if the control device 11 has received an instruction to create a target route from the operator (S18: No), the process proceeds to step S19.

[0169] In step S181, the control device 11 deletes the set baseline L1. For example, if start point A1 and end point B1 are registered, the control device 11 deletes the baseline L1, the start point A1, and the end point B1. Alternatively, if either start point A1 or end point B1 is registered, the control device 11 deletes the baseline L1 and the registered start point A1 or end point B1. Furthermore, if the vehicle's orientation is registered, the control device 11 deletes the baseline L1 and the vehicle's orientation. After step S181, the control device 11 returns the process to step S12 and executes the above process again. As described above, the operator can set the baseline L1 or delete and reset the already set baseline L1.

[0170] In step S19, the control device 11 generates a target path R1 (see Figure 9A The control device 11 generates a target path R1 and, if the conditions for starting automatic travel are met, causes the combine harvester 1 to start automatic travel along the target path R1. In this manner, the control device 11 sets the reference line L1 and generates the target path R1 based on the operator's operation of the operating device 30.

[0171] As another embodiment, in step S15, when a short press operation of the end point setting unit 36 ​​is not accepted from the operator (S15: No), when a long press operation of the end point setting unit 36 ​​is accepted, the control device 11 can set the baseline L1 based on the vehicle orientation of the combine harvester 1 when the long press operation of the end point setting unit 36 ​​is accepted.

[0172] As described above, the control device 11 according to the first embodiment controls the operating device 30, which includes: a start point setting unit 35 (first setting unit) that receives a user operation to register the start point A1 (first reference position) of a baseline when the combine harvester 1 (work vehicle) is automatically driven; and an end point setting unit 36 ​​(second setting unit) that receives a user operation to register the end point B1 (second reference position) of the baseline. When at least one of the start point setting unit 35 and the end point setting unit 36 ​​receives a first operation (e.g., a short press) from the user, the control device 11 executes a baseline setting process for setting the baseline. When at least one of the start point setting unit 35 and the end point setting unit 36 ​​receives a second operation (e.g., a simultaneous long press) from the user, the control device 11 executes a specific process different from the baseline setting process (e.g., a baseline deletion process).

[0173] With the above configuration, for example, an operator can register the start point A1 and the end point B1 and set the baseline L1 by briefly pressing the start point setting unit 35 and the end point setting unit 36. Furthermore, the operator can delete the already set baseline L1 by long pressing both the start point setting unit 35 and the end point setting unit 36. In this way, the operating device 30 can be provided with a function for setting the baseline L1 and functions different from this function, and each of these functions can be enabled based on the operation of the operating device 30, thereby improving the convenience of the operating device 30.

[0174] [Implementation Method 2]

[0175] However, in the prior art, in order to start automatic travel, a teaching operation for setting a reference orientation is required, which is time-consuming. In contrast, the travel system according to the second embodiment of the present invention has a structure that can make the combine 1 travel automatically by a simple operation method as shown below.

[0176] The following describes a travel system according to Embodiment 2. The same components as those of the travel system and combine harvester 1 according to Embodiment 1 are denoted by the same reference numerals, and their descriptions are omitted as appropriate. The travel system according to Embodiment 2 is an example of an automatic travel system of the present invention.

[0177] The driving system according to the second embodiment is based on the operation device 30 (see Figure 7) is operated by a user to cause the combine harvester 1 to automatically travel. In addition, the travel system receives an automatic travel start instruction from the operator in the automatic travel instruction unit 31 (start operation unit) provided in the operating device 30, and starts the combine harvester 1 to automatically travel based on the vehicle orientation (self-orientation) of the combine harvester 1 when the automatic travel start instruction is received. The storage unit 51 involved in the second embodiment stores the data for causing the control device 11 to execute the automatic travel processing described later (see Figure 13 )'s automatic driving program.

[0178] Specifically, the control device 11 includes a first mode for automatically driving the combine harvester 1 along a target path generated based on a baseline set by a user operation, and a second mode for automatically driving the combine harvester 1 along a target path generated based on the vehicle orientation of the combine harvester 1 when the automatic driving start instruction is received. For example, in the first mode, the generation processing unit 112 sets a baseline using the setting method of Embodiment 1 (the first to third setting methods) and automatically drives the combine harvester 1 along the target path generated based on the baseline.

[0179] Furthermore, the first mode may include a method in which a reference line is set based on an azimuth angle set by an operator (set azimuth angle), and the combine harvester 1 is automatically driven along a target path generated based on the reference line. For example, if the operator inputs an angle relative to a reference azimuth (e.g., north) on a setting screen (not shown) and further performs an operation to register a starting point A1 (pressing the starting point setting unit 35), the control device 11 registers the position (current position) of the combine harvester 1 as the starting point A1 and sets a straight line passing through the starting point A1 and extending in the direction of the input angle (set azimuth angle) as the reference line.

[0180] The control device 11 according to the second embodiment further includes a second mode in addition to the first mode, in which the combine harvester 1 automatically travels without setting a baseline. Furthermore, the generation processing unit 112 can switch between the first and second modes according to specified conditions, and can set either mode to initiate automatic travel of the combine harvester 1. Furthermore, the second mode can be a mode in which automatic travel is initiated based on the vehicle orientation (self-orientation) of the combine harvester 1, or a mode in which a target path is generated based on the vehicle orientation (self-orientation) of the combine harvester 1 and automatic travel is initiated according to the target path.

[0181] For example, when the generation processing unit 112 receives the automatic driving start instruction (when the automatic driving instruction unit 31 is pressed) in a state where the baseline is not set, the automatic driving of the combine harvester 1 is started according to the second mode. According to this structure, the operator can start the automatic driving without performing the operation of setting the baseline (see Figures 8A to 8D ) The combine harvester 1 starts automatic driving only by manually aligning the combine harvester 1 with the target starting position of the work path and issuing an automatic driving start instruction.

[0182] As another embodiment, when a reference line is set, the direction difference between the direction of the reference line and the vehicle direction of the combine harvester 1 when the automatic driving start instruction is received (see Figure 12A ) reaches or exceeds a predetermined azimuth difference, the generation processing unit 112 may cause the combine harvester 1 to begin automatic travel according to the second mode. The predetermined azimuth difference is the azimuth difference relative to the baseline that enables automatic travel and corresponds to the permission condition of the first mode. For example, the predetermined azimuth difference is set to ±5 degrees relative to the baseline. Furthermore, the predetermined azimuth difference can be arbitrarily set by the operator or by the control device 11 based on the work content and the field.

[0183] For example, in the case where a baseline corresponding to the first mode is pre-set, the operator can select the baseline and start automatic driving according to the target path passing through the current position of the combine harvester 1 (self-position reference mode). However, if the vehicle orientation at the time of starting automatic driving and the orientation of the baseline are significantly different (above the prescribed orientation difference), the permission conditions of the first mode are not met, and therefore, automatic driving cannot be started. Therefore, in the case where the orientation difference is significant (above the prescribed orientation difference), the generation processing unit 112 permits the start of automatic driving based on the second mode. For example, in the case where the operator manually aligns the combine harvester 1 with the target starting position of the working path and issues an automatic driving start instruction, when the orientation difference at that position reaches 5 degrees or more, the generation processing unit 112 starts automatic driving of the combine harvester 1 based on the vehicle orientation of the combine harvester 1 at that position.

[0184] Thus, when a baseline is set, if the azimuth difference is less than the predetermined azimuth difference, the generation processing unit 112 causes the combine harvester 1 to start automatic driving according to the first mode, and if the azimuth difference reaches or exceeds the predetermined azimuth difference, the generation processing unit 112 causes the combine harvester 1 to start automatic driving according to the second mode. Furthermore, if the azimuth difference is less than the predetermined azimuth difference, the operator may be able to select either the first mode or the second mode.

[0185] As another embodiment, when a reference line is set, when the lateral deviation between the target path generated based on the reference line and the position of the combine harvester 1 (see Figure 12B) reaches a predetermined deviation or more, the generation processing unit 112 can start the combine harvester 1 to automatically travel according to the second mode. The predetermined deviation is a lateral deviation relative to the target path (multiple parallel straight lines corresponding to the equidistant pattern) generated based on the baseline that can start automatic travel, which is equivalent to the permission condition of the first mode. For example, the predetermined deviation is the deviation of the vehicle width center position (antenna position) of the combine harvester 1 relative to the target path (refer to Figure 12B ), set to ±50cm. In addition, the prescribed deviation can be set arbitrarily by the operator, or by the control device 11 according to the work content and the field.

[0186] For example, when a baseline corresponding to the first mode is pre-set, the operator can select the baseline and start automatic driving according to the target path (equal spacing mode). However, when the lateral deviation between the vehicle position at the time of starting automatic driving and the target path is large (above the specified deviation), the permission condition of the first mode is not met, and therefore, automatic driving cannot be started. Therefore, when the lateral deviation is large (above the specified deviation), the generation processing unit 112 permits the start of automatic driving based on the second mode. For example, when the operator manually aligns the combine harvester 1 with the target starting position of the working path and issues an automatic driving start instruction, when the lateral deviation at the position reaches 50 cm or more, the generation processing unit 112 starts automatic driving of the combine harvester 1 based on the vehicle orientation of the combine harvester 1 at the position.

[0187] Thus, when a baseline is set, if the lateral deviation is less than the predetermined deviation, the generation processing unit 112 causes the combine harvester 1 to start automatic travel according to the first mode, and if the lateral deviation exceeds the predetermined deviation, the generation processing unit 112 causes the combine harvester 1 to start automatic travel according to the second mode. Furthermore, when the lateral deviation is less than the predetermined deviation, the operator may be able to select either the first mode or the second mode.

[0188] In addition, regarding the above-mentioned structure, when the reference line is set, when the reference line orientation and the vehicle orientation of the combine harvester 1 are different (refer to Figure 12A ) reaches the prescribed azimuth difference or more, and the lateral deviation between the target path generated based on the reference line and the position of the combine harvester 1 (reference Figure 12B ) reaches or exceeds the prescribed deviation, the generation processing unit 112 may cause the combine harvester 1 to start automatic driving according to the second mode.

[0189] As another embodiment, when the operator continuously operates the automatic driving instruction unit 31 for a predetermined time or longer (a long-press operation), the generation processing unit 112 may start automatic driving based on the vehicle orientation (the second mode) of the combine harvester 1. For example, when the operator manually aligns the combine harvester 1 with the target start position of the work path and then long-presses the automatic driving instruction unit 31, the generation processing unit 112 starts automatic driving of the combine harvester 1 based on the vehicle orientation of the combine harvester 1 at that position.

[0190] According to the above configuration, regardless of whether or not a reference line is set, the combine harvester 1 can be started to automatically travel according to the second mode by the operator performing a predetermined operation on the operating device 30 (e.g., a long-press operation on the automatic travel instruction unit 31). The predetermined operation is not limited to a long-press operation on the automatic travel instruction unit 31, and may be a specific operation on the start point setting unit 35 and the end point setting unit 36.

[0191] As another embodiment, when a reference line is set, if the difference between the reference line's position and the vehicle position of the combine harvester 1 at the time the automatic travel start instruction is received is less than a predetermined difference, and the operator continuously operates the automatic travel instruction unit 31 for a predetermined time or longer (a long press operation), the generation processing unit 112 may cause the combine harvester 1 to start automatic travel according to the second mode. Specifically, when the operator briefly presses the automatic travel instruction unit 31 (operation within a predetermined time) while the position difference is less than the predetermined difference, the combine harvester 1 starts automatic travel according to the first mode. On the other hand, when the operator performs a long press operation (continuous operation for a predetermined time or longer) on the automatic travel instruction unit 31, the combine harvester 1 starts automatic travel according to the second mode.

[0192] In this way, in a state where the azimuth difference is less than the predetermined azimuth difference, the first mode or the second mode can be selected according to the operator's operation method of the operating device 30 .

[0193] As another embodiment, the generation processing unit 110 can generate a harvester based on the field F (see Figure 5) within the field F. For example, there may be a place within the field F that is suitable for automatic driving based on the first mode and a place within the field F that is suitable for automatic driving based on the second mode. In this case, the generation processing unit 112 selects an appropriate mode according to the place within the field F and executes automatic driving. For example, when the orientation and position of each side of the field outline can be grasped, the generation processing unit 112 selects the first mode near the outline side where the position of the combine harvester 1 is close to the orientation of the baseline, and selects the second mode near the outline side where the position of the combine harvester 1 is different from the orientation of the baseline.

[0194] Furthermore, the generation processing unit 112 may switch between the first mode and the second mode depending on the work content or the work machine. For example, the generation processing unit 112 may be configured to only permit automatic driving in the first mode for work requiring high work precision, and permit automatic driving in the second mode (permit switching between the first and second modes) for work not requiring high work precision.

[0195] As another embodiment, the control device 11 can set the automatic driving mode based on the operator's switching operation between the first mode and the second mode. For example, the operator can switch between the first mode and the second mode on a setting screen (not shown). Alternatively, the operator can switch between the first mode and the second mode by operating the operating device 30.

[0196] Here, according to each of the above-mentioned embodiments, the operator starts the automatic driving of the combine harvester 1 only by pressing the automatic driving indication unit 31. Therefore, it is difficult for the operator to understand whether to start the automatic driving according to the target path corresponding to the baseline (the first mode) or to start the automatic driving according to the vehicle orientation (the second mode). Therefore, the generation processing unit 112 can inform the operator of information that can identify which mode of the first mode and the second mode is used to start the automatic driving. For example, the generation processing unit 112 can make the automatic driving display unit 32 of the operating device 30 (refer to Figure 7 ) lights up or flashes in a color corresponding to the mode, and the information can be displayed on the display screen of the operation terminal, and a buzzer sound, a guide voice, etc. can be output from the operation device 30 or the operation terminal.

[0197] Furthermore, when automatic driving is started based on the vehicle orientation (the second mode), the control device 11 can use the path deviation function to parallelize the driving path of the combine harvester 1 or change the driving orientation of the combine harvester 1 using the path angle deviation function.

[0198] [Automatic driving processing]

[0199] Below, refer to Figure 13 An example of the automatic driving process executed by the driving system according to the second embodiment will be described.

[0200] In addition, the present invention can be understood as the invention of an automatic driving method that executes one or more steps included in the automatic driving process. In addition, one or more steps included in the automatic driving process described here can be appropriately omitted. In addition, the execution order of each step of the automatic driving process can be different within the scope of producing the same effect. Moreover, the case where the control device 11 of the combine harvester 1 executes each step of the automatic driving process is cited here as an example for explanation, but it can also be considered that one or more processors disperse the steps of the automatic driving process and set the automatic driving method as another embodiment. For example, the control unit of the operating device 30 can execute the automatic driving process.

[0201] In step S21, the control device 11 determines whether an automatic driving start instruction has been received. For example, when the operator presses the operating device 30 (see Figure 7 ), the control device 11 determines that the automatic driving start instruction has been accepted. If the control device 11 accepts the automatic driving start instruction (S21: Yes), the process proceeds to step S22. The control device 11 waits until the automatic driving start instruction is accepted (S21: No).

[0202] In step S22, the control device 11 determines whether the reference line has been set. For example, when the operator performs an operation to set the reference line in advance using the operating device 30 (see Figures 8A to 8D ), the control device 11 determines that the baseline setting is complete. If the control device 11 determines that the baseline setting is complete (S22: Yes), the process proceeds to step S23. On the other hand, if the control device 11 determines that the baseline setting is not complete (S22: No), the process proceeds to step S221.

[0203] In step S23, the control device 11 determines the direction difference between the direction of the reference line and the vehicle direction of the combine harvester 1 when the automatic driving start instruction is received (see Figure 12A ) is less than a predetermined heading difference. For example, the control device 11 determines whether the heading difference from the time the operator receives the automatic driving start instruction is less than 5 degrees. If the heading difference is less than the predetermined heading difference (5 degrees) (S23: Yes), the control device 11 advances the process to step S24. If the heading difference is greater than or equal to the predetermined heading difference (5 degrees) (S23: No), the control device 11 advances the process to step S221.

[0204] As another embodiment of step S23, the control device 11 may determine the lateral deviation between the target path generated based on the reference line and the position of the combine harvester 1 (see Figure 12B ) is less than a predetermined deviation. For example, the control device 11 determines whether the lateral deviation is less than 50 cm from the time the operator receives the instruction to start automatic driving. If the lateral deviation is less than the predetermined deviation (50 cm) (S23: Yes), the control device 11 proceeds to step S24. If the lateral deviation is greater than the predetermined deviation (50 cm) (S23: No), the control device 11 proceeds to step S221. In another embodiment, the control device 11 may combine the determination process of the azimuth difference and the lateral deviation.

[0205] In step S24, the control device 11 determines whether the operation of the automatic driving start instruction in step S21 was an operation performed continuously for a predetermined time or longer (a long press operation). If the control device 11 determines that the operation of the automatic driving start instruction was a long press operation (S24: Yes), the process proceeds to step S221. On the other hand, if the control device 11 determines that the operation of the automatic driving start instruction was not a long press operation (a short press operation) (S24: No), the process proceeds to step S25.

[0206] In step S25, the control device 11 starts the combine harvester 1 to automatically travel according to the first mode. For example, the control device 11 generates a target path based on the set baseline and causes the combine harvester 1 to automatically travel according to the generated target path. In addition, the control device 11 may generate a target path consisting of a plurality of straight lines parallel to the baseline (see Figure 4A ) (equal spacing mode), a target path consisting of a straight line passing through the own position and parallel to the reference line (own position reference mode) can also be generated. In this way, in step S25, the combine harvester 1 starts automatically driving according to the target path generated based on the reference line.

[0207] On the other hand, in step S221, the control device 11 starts automatic travel of the combine harvester 1 according to the second mode. For example, the control device 11 automatically travels the combine harvester 1 based on the vehicle orientation of the combine harvester 1 when the automatic travel start instruction is received.

[0208] For example, when the automatic travel start instruction is accepted in a state where the reference line is not set ( S22 : No), the control device 11 starts the automatic travel based on the vehicle orientation of the combine harvester 1 .

[0209] For example, in a state where the reference line is set, when the direction difference (refer to Figure 12A ) reaches the predetermined direction difference or more (S23: No), the control device 11 starts automatic driving based on the vehicle direction.

[0210] For example, when the reference line is set, the direction difference is less than the predetermined direction difference, and the operation of the automatic travel start instruction is a long press operation (S24: Yes), the control device 11 starts automatic travel based on the vehicle direction of the combine harvester 1.

[0211] In this way, in step S221, the combine harvester 1 starts automatic driving based on the vehicle orientation at the time of receiving the automatic driving start instruction, regardless of the reference line.

[0212] As described above, when the automatic travel start instruction is accepted from the operator, the control device 11 starts the automatic travel of the combine harvester 1 in accordance with the first mode or the second mode according to predetermined conditions.

[0213] In step S26, the control device 11 determines whether the combine harvester 1 has completed operation. If the control device 11 determines that the combine harvester 1 has completed operation (S26: Yes), the automatic driving process ends. If the control device 11 determines that the combine harvester 1 has not completed operation (S26: No), the process returns to step S21 and executes the above process.

[0214] The control device 11 repeatedly executes the processing of the above-mentioned steps S21 to S26 until the combine harvester 1 completes the work.

[0215] As described above, the control device 11 according to the second embodiment causes the combine harvester 1 (work vehicle) to automatically travel in response to user operations on the operating device 30. Furthermore, the control device 11 receives an automatic travel start instruction from the operator via the automatic travel instruction unit 31 provided on the operating device 30, and starts the automatic travel of the combine harvester 1 based on the vehicle orientation of the combine harvester 1 at the time of receiving the automatic travel start instruction.

[0216] According to the above configuration, for example, the operator can avoid performing the operation of setting the reference line (see Figures 8A to 8D ) and the combine harvester 1 starts automatic travel by pressing the automatic travel instruction unit 31 of the operating device 30. Therefore, the combine harvester 1 can be automatically traveled by a simple operating method.

[0217] Furthermore, when a baseline is set, the control device 11 may determine the first mode or the second mode and start automatic driving based on at least one of the heading difference and the lateral deviation at the time of receiving the automatic driving start instruction. Furthermore, when a baseline is set, the control device 11 may determine the first mode or the second mode and start automatic driving based on the operation method (short press operation or long press operation) of the automatic driving start instruction.

[0218] According to the above configuration, the combine harvester 1 can be automatically driven by a simple operation method, and the convenience of the operation device 30 can be improved.

[0219] [Implementation Method 3]

[0220] Hereinafter, a travel system according to Embodiment 3 will be described. In addition, in the following, the same components as those of the travel system and the combine harvester 1 according to Embodiments 1 and 2 are denoted by the same reference numerals, and description thereof will be omitted as appropriate.

[0221] In the travel system according to the third embodiment, the operating device 30 is provided at a position that does not obstruct the field of view of the operator riding on the combine harvester 1 when the combine harvester 1 is automatically traveling. Figure 14 15 shows the positional relationship between the operating portion 9 and the cutting portion 3. Figure 14 15 shows a sight line X1 when the operator checks the front, particularly the right front end portion of the crop divider 13 of the harvesting section 3, while the combine harvester 1 is automatically traveling. Figure 15B yes Figure 15A The enlarged view of the P1 part. Figure 14 As shown, the operating device 30 is arranged at a position that does not overlap with the line of sight X1.

[0222] Specifically, while the combine harvester 1 is automatically traveling and performing a harvesting operation, the operator in the driver's seat checks whether the right front end of the divider 13 is aligned with the end of the uncut stalk in order to confirm the travel position of the combine harvester 1. Therefore, it is desirable that there are no objects obstructing the operator's view within the range (line of sight X1) from the divider 13.

[0223] Therefore, regarding the driving system according to the third embodiment, the operating device 30 is arranged outside the range (sight line X1) from the driver's seat where the operator sits to the right front end of the divider 13. Figure 15A As shown in FIG. 1 , the operating device 30 is arranged at a position that does not overlap with the sight line X1 connecting the operator's seat (operator) and the right front end portion of the crop divider 13 .

[0224] In order to ensure a clear view ahead of the driver's seat, the operating device 30 may be arranged to the right of the line of sight X1 (toward the side mirror 91) (see FIG. Figure 15B ). In addition, the operating device 30 and the side mirror 91 are provided at approximately the same height relative to the ground, and are provided at a position corresponding to the steering wheel 90 (see Figure 3 ) are approximately the same height.

[0225] In addition, if the operating device 30 overlaps with the side mirror 91 when viewed from the operator's seat, it is difficult to confirm the rear using the side mirror 91. Therefore, it is preferable to arrange the operating device 30 at a position that does not overlap with the side mirror 91. That is, it is preferable to arrange the operating device 30 in an area between the line of sight X1 connecting the operator's seat (operator) and the right front end of the divider 13 and the line of sight X2 connecting the operator's seat (operator) and the side mirror 91 (see FIG. Figure 15B ).

[0226] According to the above configuration, it is possible to prevent the operating device 30 from obstructing the operator's field of vision (for checking the front and the rear) while the combine harvester 1 is automatically traveling.

[0227] Here, when the operating device 30 is arranged at the above position (refer to Figure 15B ), when the operating device 30 is turned on, the light (LED light) is reflected into the right window glass of the driver's seat, and because it overlaps with the side mirror 91, it may cause the operator to have difficulty in using the side mirror 91 to confirm the rear. Figure 16 As shown, if the operating device 30 (refer to Figure 7 ) is lit, the automatic driving display unit 32, the starting point setting display unit 37, and the end point setting display unit 38 are illuminated, and the light is reflected into the right window glass 92 of the driver's seat. If the light reflected into the right window glass 92 overlaps with the side mirror 91, it is difficult for the operator to check the rear in the side mirror 91.

[0228] Therefore, the operating device 30 may have a brightness adjustment function. For example, in night mode, the operating device 30 reduces the brightness of each display unit compared to the brightness in day mode. Specifically, while the operating device 30 sets the brightness of each display unit to a 100% duty cycle in day mode, it sets the brightness of each display unit to a 20% duty cycle in night mode.

[0229] As another embodiment, Figure 17As shown, the operating device 30 may include a backlight 31L that illuminates the automatic driving indicator 31, a backlight 35L that illuminates the starting point setting unit 35, and a backlight 36L that illuminates the end point setting unit 36. Furthermore, the operating device 30 sets the brightness of the backlights 31L, 35L, and 36L to a 0% duty cycle in daytime mode and to a 100% duty cycle in nighttime mode. Furthermore, in nighttime mode, the operating device 30 sets the brightness of the starting point setting display unit 37 and the end point setting display unit 38 to a value lower than the brightness of the backlights 31L, 35L, and 36L. As a result, the lighting of the starting point setting display unit 37 and the end point setting display unit 38 becomes less dazzling at night, and the text "AUTO" of the automatic driving indication unit 31, the text "A" of the starting point setting unit 35, and the text "B" of the end point setting unit 36 ​​become conspicuous, so that the position of each button is easy to identify.

[0230] In another embodiment, the operating device 30 may set the lighting colors of the various display units in night mode to warm colors. In another embodiment, the operating device 30 may be illuminated in day mode and flashed at a reduced flashing frequency in night mode. In another embodiment, the operating device 30 may illuminate all of the automatic driving display unit 32, the starting point setting display unit 37, and the end point setting display unit 38 in day mode, and illuminate only portions of the starting point setting display unit 37 and the end point setting display unit 38 in night mode.

[0231] [Other methods for setting the baseline]

[0232] Another embodiment of the method of setting (generating) a reference line will be described. Specifically, when the operator operates the end point setting unit 36 ​​(refer to Figure 7 ) is long-pressed, the generation processing unit 112 registers the position of the combine harvester 1 (current position) at the time when the end point setting unit 36 ​​is long-pressed as the starting point A1, and registers the position at a specified distance in the direction of the vehicle orientation of the combine harvester 1 relative to the starting point A1 (for example, a position of 1 km) as the end point B1, and sets a baseline passing through the starting point A1 and the end point B1.

[0233] As another embodiment, when the operator sets the starting point setting unit 35 (see Figure 7) is long-pressed, the generation processing unit 112 registers the current position of the combine harvester 1 at the time when the long-press operation is performed on the starting point setting unit 35 as the starting point A1, registers the position at a specified distance in the direction of the vehicle orientation of the combine harvester 1 relative to the starting point A1 as the end point B1, and sets a baseline passing through the starting point A1 and the end point B1.

[0234] As another embodiment, when the operator performs a long press operation on the end point setting unit 36 ​​of the operating device 30 while the starting point A1 and the end point B1 are registered, the generation processing unit 112 maintains the starting point A1 as it is, re-registers (updates) the position (current position) of the combine harvester 1 at the time when the long press operation on the end point setting unit 36 ​​is performed as the end point B1, and sets a baseline passing through the starting point A1 and the updated end point B1.

[0235] As another embodiment, when the operator performs a long press operation on the starting point setting unit 35 of the operating device 30 while the starting point A1 and the end point B1 are registered, the generation processing unit 112 maintains the end point B1, re-registers (updates) the position (current position) of the combine harvester 1 at the time of the long press operation on the starting point setting unit 35 as the starting point A1, and sets a baseline passing through the updated starting point A1 and end point B1.

[0236] As another embodiment, when the operator performs a long-press operation on the starting point setting unit 35 of the operating device 30 while the starting point A1 and the end point B1 are registered, the generation processing unit 112 may delete the end point B1 and re-register (update) the position (current position) of the combine harvester 1 at the time of the long-press operation on the starting point setting unit 35 as the starting point A1. In this case, when the operator performs a short-press operation on the end point setting unit 36, the generation processing unit 112 re-registers the end point B1 and sets a baseline passing through the starting point A1 and the end point B1.

[0237] As another embodiment, when the operator performs a long press operation on the starting point setting unit 35 of the operating device 30 while the starting point A1 and the end point B1 are registered, the generation processing unit 112 changes the end point B1 to the starting point A1, re-registers (updates) the position (current position) of the combine harvester 1 at the time of the long press operation on the starting point setting unit 35 as the end point B1, and sets a baseline passing through the changed starting point A1 and end point B1.

[0238] [How to set up the path generation mode]

[0239] The method for setting a path generation mode for generating a target path is described below. The path generation modes include: a first path generation mode ("Point A + Point B" mode) that sets a baseline passing through start point A1 and end point B1 registered by an operator's registration operation and generates a target path based on the baseline; a second path generation mode ("Point A + Set Azimuth" mode) that sets a straight line passing through start point A1 registered by an operator's registration operation and extending in the direction of an angle (set azimuth) set by the operator's input operation as the baseline and generates a target path based on the baseline; and a third path generation mode ("Straight NOW" mode or "Vehicle Azimuth" mode) that sets a straight line extending in the direction of the position (current position) of the combine harvester 1 when the operator receives the automatic travel start operation as the baseline and generates a target path based on the baseline. This third path generation mode does not include a registration operation for the start point or end point. In addition, the path generation mode may include: setting a straight line passing through the starting point A1 registered by the operator's registration operation and extending in the direction of the orientation (vehicle orientation) of the position (current position) of the combine harvester 1 when the operator accepts the automatic driving start operation as a baseline and generating a target path based on the baseline ("point A + vehicle orientation angle" mode).

[0240] The operator can select and set the path generation mode in the monitoring device 50. Figure 3 and Figure 18 As shown, the monitoring device 50 is independently provided relative to the steering wheel 90 near the center of the steering wheel 90 . Figure 19A An example of a standard screen D0 displayed on the monitoring device 50 is shown in FIG. The standard screen D0 displays driving conditions and working conditions such as engine load (engine speed), vehicle speed, tank remaining capacity, and harvesting amount. In addition, a display field K1 for the route generation mode is provided on the standard screen D0 (see FIG. Figure 19A ) and the currently set path generation mode is displayed in the display bar K1 ( Figure 19A (The "straight NOW" mode is in the middle).

[0241] When setting or changing the route generation mode, the operator presses the menu button on the standard screen D0 (see Figure 19A ). If the menu button is pressed, the monitoring device 50 displays Figure 19B The menu screen D2 shown in FIG. 1 is displayed, and a plurality of setting items are displayed on the menu screen D2. The setting items include a setting item related to automatic driving ("straight driving assist setting"). If the operator selects "straight driving assist setting" on the menu screen D2, the monitoring device 50 displays Figure 19CThe straight driving assist setting screen D3 is shown, and the setting items related to automatic driving are displayed on the straight driving assist setting screen D3. The setting items include a setting item ("Create Baseline") for setting the path generation mode. If the operator selects "Create Baseline" on the straight driving assist setting screen D3, the monitoring device 50 displays Figure 19D The baseline creation screen D4 is shown, and various route creation modes are displayed on the baseline creation screen D4. For example, the monitoring device 50 selectably displays the "point A + point B" mode, the "point A + set azimuth" mode, and the "straight NOW" mode.

[0242] The operator can select a desired route generation mode on the baseline creation screen D4. When the operator selects a route generation mode and presses the "Change" button, the monitoring device 50 sets the selected route generation mode. The generation processing unit 112 sets the baseline and generates the target route based on the route generation mode set in the monitoring device 50.

[0243] The straight driving assistance setting screen D3 is not limited to Figure 19C The display mode shown can also be Figure 19E The display mode shown. Figure 19E The straight driving assistance setting screen D3 shown in the figure displays the setting items of "Create reference line" and "Straight driving NOW". When the operator selects "Straight driving NOW" on the straight driving assistance setting screen D3, the monitoring device 50 displays Figure 19F The straight driving NOW setting screen D5 shown in the figure displays whether the "straight driving NOW" mode is enabled ("ON") or disabled ("OFF") in a selectable manner. In addition, the monitoring device 50 displays the setting state ("ON" or "OFF") of the "straight driving assist setting screen D3 of the "straight driving NOW" mode.

[0244] In addition, the straight driving assistance setting screen D3 can be Figure 19G The display mode shown. Figure 19G The straight driving assistance setting screen D3 shown displays the "Create Baseline" and "Straight Now" setting items, respectively, and displays the setting status of these items. For example, if the operator selects "Create Baseline" and "Point A + Set Azimuth" on the straight driving assistance setting screen D3, the monitoring device 50 displays "Point A + Set Azimuth" and the operator's set azimuth on the straight driving assistance setting screen D3. Furthermore, if the "Straight Now" mode is enabled ("ON"), the monitoring device 50 grays out the "Create Baseline" and "Point A + Set Azimuth" options, making them unavailable for selection.

[0245] When the operator selects the "straight NOW" mode, the operator's tablet terminal (not shown) can, for example, Figure 20A The driving screen D6 shown displays a message urging the user to start the automatic driving operation.

[0246] Here, when the route generation mode is set to the "straight NOW" mode, Figure 21 As shown, the operating device 30 can light up or flash at least one of the automatic driving display units 32. In this way, the operator can determine whether the current path generation mode is the "straight NOW" mode. If the operator presses the "AUTO" button of the operating device 30, the generation processing unit 112 sets a straight line extending in the direction of the vehicle orientation from the position (current position) of the combine harvester 1 when the operator accepts the pressing operation of the "AUTO" button as a baseline and generates a target path based on the baseline. In addition, the driving processing unit 111 causes the combine harvester 1 to start automatic driving according to the target path. In this way, the combine harvester 1 generates the target path based on the vehicle orientation at the time when the operator presses the "AUTO" button and starts automatic driving. If automatic driving starts, the tablet terminal (or monitoring device 50) displays Figure 20B In addition, if the automatic driving is started, the operating device 30 can light up the starting point setting display unit 37, the end point setting display unit 38 and the automatic driving display unit 32 (refer to Figure 8D ).

[0247] When the path generation mode is set to "straight NOW" mode, the operating device 30 can permit the automatic start of travel (permit the acceptance of the automatic start instruction) if specified conditions are met. For example, the operating device 30 permits the automatic start of travel when the harvesting unit 3 is lowered to the working position (working height), and prohibits the automatic start of travel when the harvesting unit 3 is raised to the non-working position (non-working height). In addition, the operating device 30 permits the automatic start of travel when the steering wheel 90 is within a specified angle (neutral), and prohibits the automatic start of travel when the steering wheel 90 is outside the specified angle. In addition, the operating device 30 permits the automatic start of travel when the speed of the combine harvester 1 is less than a specified speed, and prohibits the automatic start of travel when the speed of the combine harvester 1 reaches or exceeds the specified speed. In addition, the operating device 30 permits the automatic start of travel when the auxiliary gear lever is in the "working" position, and prohibits the automatic start of travel when the auxiliary gear lever is in the "driving" position. The operating device 30 permits the automatic driving start operation when the inclination (left-right and front-back directions) of the vehicle body of the combine harvester 1 is less than a predetermined angle, and prohibits the automatic driving start operation when the inclination of the vehicle body reaches or exceeds the predetermined angle.

[0248] In addition, if the above conditions are met, Figure 21 As shown, the operating device 30 can light up or flash at least one of the automatic driving display units 32 .

[0249] [Baseline hold function]

[0250] The control device 11 can switch whether to retain the baseline depending on the route generation mode. For example, when the route generation mode is "Point A + Point B" or "Point A + Set Azimuth," the control device 11 retains the generated baseline in the storage unit 51. In contrast, when the route generation mode is "Straight Now," the control device 11 does not retain the generated baseline in the storage unit 51. In this case, the control device 11 can be configured to delete the baseline each time autonomous driving ends, or to delete the previous baseline when the next baseline is generated.

[0251] [Automatic driving start operation]

[0252] A specific example of the automatic travel start operation will be described. For example, when the route generation mode is in the "Point A + Point B" mode or the "Point A + Set Azimuth" mode, if the operator briefly presses the automatic travel indicator 31 (AUTO button) of the operating device 30, the travel processing unit 111 starts the combine harvester 1 automatically traveling. Alternatively, when the route generation mode is in the "Straight Now" mode, if the operator long presses the automatic travel indicator 31 (AUTO button), the travel processing unit 111 starts the combine harvester 1 automatically traveling.

[0253] As another embodiment, when the route generation mode is the "straight NOW" mode, the operator operates the operation switch 94 (see Figure 18 ) is operated, the travel processing unit 111 can start the combine harvester 1 to travel automatically. The operating switch 94 is an operating unit for the operator to perform a prescribed function in the manual travel mode. For example, the operating switch 94 accepts an operation to drive the threshing unit 4 in order to discharge the residue remaining in the combine harvester 1 during the parking of the combine harvester 1. In the case where the path generation mode is the "straight NOW" mode, the function of the operating switch 94 in the manual travel mode is switched to a function corresponding to the "straight NOW" mode. For example, in the case where the path generation mode is the "straight NOW" mode, when the operator operates the operating switch 94, the travel processing unit 111 starts the combine harvester 1 to travel automatically. In this way, the operating switch 94 can function as a start operating unit that accepts an automatic travel start instruction.

[0254] [Automatic straight driving]

[0255] The driving processing unit 111 can automatically drive the combine harvester 1 in a straight line in the automatic driving mode. When the operator steers the steering wheel 90 relative to the neutral position (reference position (0 degrees)) by a predetermined amount (±1 degree relative to the reference position) or more, the driving processing unit 111 can switch to a manual driving mode and drive manually. In addition, when the operator returns the steering wheel 90 to its original position (neutral position) again, the driving processing unit 111 can restart the automatic straight driving. That is, the driving processing unit 111 causes the combine harvester 1 to automatically drive straight on a straight path, and to manually drive on a non-straight path (turning path, etc.) according to the operator's manual steering operation. In this way, the steering wheel 90 can function as a start operation unit that accepts an instruction to start automatic driving.

[0256] Furthermore, the driving processing unit 111 may start automatic driving when the steering wheel 90 is in the neutral position and predetermined conditions are satisfied. The predetermined conditions may include at least one of the following: a predetermined time has passed since the steering wheel 90 was in the neutral position; the harvesting unit 3 has been lowered to the operating position (operating height); the speed of the combine harvester 1 is less than a predetermined speed; and the inclination of the combine harvester 1 (in the left-right and front-back directions) is less than a predetermined angle.

[0257] In addition, the control device 11 can notify the outside that the combine harvester 1 has entered the automatic driving by using a lamp, a buzzer, vibration, or the like.

[0258] Furthermore, the travel processing unit 111 can adjust the orientation (azimuth) of the target path during automatic travel based on the operation of the operating switch 94. For example, if the operator presses the operating switch 94 once to the left while the combine harvester 1 is automatically traveling, the travel processing unit 111 rotates the target path to the left by a predetermined angle based on the current position. The travel processing unit 111 rotates the target path by a predetermined angle each time the operating switch 94 is operated. Furthermore, if the operator continuously presses the operating switch 94, the travel processing unit 111 can rotate the target path by a predetermined angle at predetermined intervals while the switch is pressed.

[0259] Furthermore, the driving processing unit 111 can change the direction of the target path according to the operation of the operating switch 94 when the path generation mode is the "straight NOW" mode, and can change the position (left and right position) of the target path according to the operation of the operating switch 94 when the path generation mode is the "point A + point B" mode or the "point A + set azimuth" mode (path deviation). As another embodiment, the path deviation button 93 (see Figure 22). That is, the driving processing unit 111 can change the direction of the target path according to the operation of the path deviation button 93 when the path generation mode is the "straight NOW" mode, and can shift the target path according to the operation of the path deviation button 93 when the path generation mode is the "point A + point B" mode or the "point A + set azimuth" mode. In addition, Figure 22 The illustrated operating portion may be provided on the operating device 30 .

[0260] [Supplementary Note 1 to the Invention]

[0261] The following supplementary notes outline the invention extracted from the above-mentioned embodiment 1. In addition, the various structures and processing functions described in the following supplementary notes can be selected and combined arbitrarily.

[0262] Note 1

[0263] An operation control method is provided for an operation device, the operation device comprising: a first setting unit for accepting a user operation for registering a first reference position of a reference line when a work vehicle is automatically driven; and a second setting unit for accepting a user operation for registering a second reference position of the reference line, wherein:

[0264] When at least one of the first setting unit and the second setting unit receives a first operation from a user, a reference line setting process is executed to set the reference line.

[0265] When at least one of the first setting unit and the second setting unit accepts a second operation from the user, a specific process different from the reference line setting process is executed.

[0266] Note 2

[0267] According to the operation control method described in Supplement 1,

[0268] When the first and second reference positions are registered, the first and second reference positions are deleted when the operation time of the second operation on the first setting unit and the operation time of the second operation on the second setting unit overlap for a predetermined time or longer.

[0269] Note 3

[0270] According to the operation control method described in Supplement 2,

[0271] When the first reference position and the second reference position are registered, if the overlap time of the second operation on the first setting unit and the second operation on the second setting unit is less than the predetermined time, the first reference position and the second reference position are not deleted.

[0272] Note 4

[0273] The operation control method according to any one of Supplementary Notes 1 to 3, wherein:

[0274] When the second setting unit accepts the first operation from the user at a position less than a predetermined distance from the first reference position registered by the first operation to the first setting unit, the reference line is set based on the vehicle orientation of the work vehicle when the first setting unit accepts the first operation.

[0275] <Note 5>

[0276] The operation control method according to any one of Supplementary Notes 1 to 3, wherein:

[0277] When the second setting unit accepts the first operation from the user at a position less than a predetermined distance from the first reference position registered by the first operation to the first setting unit, the reference line is set based on the vehicle orientation of the work vehicle when the second setting unit accepts the first operation.

[0278] <Note 6>

[0279] The operation control method according to any one of Supplementary Notes 1 to 5, wherein:

[0280] When the second setting unit accepts the first operation from the user at a position less than a predetermined distance from the first reference position registered according to the first operation on the first setting unit, the operation control method includes:

[0281] a method for setting the reference line based on the vehicle orientation of the work vehicle when the first setting unit receives the first operation; and

[0282] A method for setting the reference line based on the vehicle orientation of the work vehicle when the second setting unit receives the first operation,

[0283] An operation of selecting any one of the setting methods is accepted from the user.

[0284] <Note 7>

[0285] The operation control method according to any one of Supplementary Notes 1 to 6, wherein:

[0286] When the second setting unit accepts the first operation from the user at a position that is less than a predetermined distance from the first reference position registered according to the first operation to the first setting unit, the reference line is set based on the vehicle orientation of the work vehicle when the first setting unit accepts the first operation or the vehicle orientation of the work vehicle when the second setting unit accepts the first operation.

[0287] The user is informed that the reference line is set based on the vehicle orientation of the work vehicle when the first setting unit accepts the first operation, or that the reference line is set based on the vehicle orientation of the work vehicle when the second setting unit accepts the first operation.

[0288] <Note 8>

[0289] The operation control method according to any one of Supplementary Notes 1 to 7, wherein:

[0290] When the second setting unit accepts a predetermined operation from the user without registering the first reference position, the reference line is set based on the vehicle orientation of the work vehicle when the second setting unit accepts the first operation.

[0291] <Note 9>

[0292] The operation control method according to any one of Supplementary Notes 1 to 8, wherein:

[0293] When the first setting unit continuously receives a predetermined operation from the user for a predetermined time or longer, the reference line is set based on the vehicle orientation of the work vehicle when the first setting unit receives the first operation.

[0294] <Note 10>

[0295] The operation control method according to any one of Supplementary Notes 1 to 9, wherein:

[0296] When the second setting unit accepts the first operation from the user at a position that is at least a predetermined distance from the first reference position registered according to the first operation for the first setting unit, the second reference position is registered and the reference line passing through the first reference position and the second reference position is set.

[0297] <Note 11>

[0298] According to the operation control method described in Supplementary Note 10,

[0299] When the work vehicle reaches a position that is at least the predetermined distance from the first reference position, information indicating that the reference line can be set based on the first reference position and the second reference position is notified to the user.

[0300] [Supplementary Note 2 to the Invention]

[0301] The following is a supplementary note on the outline of the invention extracted from the above-mentioned embodiment 2. In addition, the various structures and processing functions described in the following supplementary notes can be selected and combined arbitrarily.

[0302] Note 1

[0303] An automatic driving method for causing a work vehicle to automatically drive according to a user operation on an operating device, wherein:

[0304] The automatic driving method performs the following processing:

[0305] accepting an automatic driving start instruction from a user at a start operation unit provided in the operation device; and

[0306] The work vehicle is started to travel automatically based on the vehicle orientation of the work vehicle when the automatic travel start instruction is received.

[0307] Note 2

[0308] According to the automatic driving method described in Supplementary Note 1,

[0309] The automatic driving method comprises:

[0310] a first mode for automatically driving the work vehicle along a target path generated based on a reference line set by a user operation; and

[0311] a second mode for causing the work vehicle to automatically travel along a target path generated based on the vehicle orientation of the work vehicle when the automatic travel start instruction is received,

[0312] When the automatic travel start instruction is accepted in a state where the reference line is not set, the work vehicle starts automatic travel according to the second mode.

[0313] Note 3

[0314] The automatic driving method according to Supplement 1 or 2, wherein:

[0315] The automatic driving method comprises:

[0316] a first mode for automatically driving the work vehicle along a target path generated based on a reference line set by a user operation; and

[0317] a second mode for causing the work vehicle to automatically travel along a target path generated based on the vehicle orientation of the work vehicle when the automatic travel start instruction is received,

[0318] When the reference line is set, the work vehicle starts automatic travel according to the second mode when a difference between the reference line and the vehicle direction of the work vehicle when the automatic travel start instruction is received reaches a predetermined difference or more.

[0319] Note 4

[0320] According to the automatic driving method described in Supplementary Note 3,

[0321] When the reference line is set, if the direction difference is less than the predetermined direction difference, the work vehicle starts automatic travel according to the first mode.

[0322] <Note 5>

[0323] The automatic driving method according to any one of Supplementary Notes 1 to 4, wherein:

[0324] The automatic driving method comprises:

[0325] a first mode for automatically driving the work vehicle along a target path generated based on a reference line set by a user operation; and

[0326] a second mode for causing the work vehicle to automatically travel along a target path generated based on the vehicle orientation of the work vehicle when the automatic travel start instruction is received,

[0327] When the reference line is set, the work vehicle starts automatic travel according to the second mode when a lateral deviation between the target path generated based on the reference line and the position of the work vehicle reaches or exceeds a predetermined deviation.

[0328] <Note 6>

[0329] According to the automatic driving method described in Supplementary Note 5,

[0330] When the reference line is set, if the lateral deviation is less than the predetermined deviation, the work vehicle starts automatic travel according to the first mode.

[0331] <Note 7>

[0332] The automatic driving method according to any one of Supplementary Notes 1 to 6, wherein:

[0333] When the start operation unit is continuously operated by a user for a predetermined time or longer, the work vehicle starts automatically traveling based on the vehicle orientation of the work vehicle.

[0334] <Note 8>

[0335] The automatic driving method according to any one of Supplementary Notes 1 to 7, wherein:

[0336] The automatic driving method comprises:

[0337] a first mode for automatically driving the work vehicle along a target path generated based on a reference line set by a user operation; and

[0338] a second mode for causing the work vehicle to automatically travel along a target path generated based on the vehicle orientation of the work vehicle when the automatic travel start instruction is received,

[0339] When the baseline is set, when the difference between the orientation of the baseline and the vehicle orientation of the work vehicle when the automatic driving start instruction is received is less than the specified orientation difference, and the start operation unit is operated continuously by the user for more than the specified time, the work vehicle starts automatic driving according to the second mode.

[0340] <Note 9>

[0341] According to the automatic driving method described in Supplementary Note 8,

[0342] When the baseline is set, when the difference between the orientation of the baseline and the vehicle orientation of the work vehicle when the automatic driving start instruction is received is less than the specified orientation difference, and the start operation unit is operated by the user within a specified time, the work vehicle starts automatic driving according to the first mode.

[0343] <Note 10>

[0344] The automatic driving method according to any one of Supplementary Notes 1 to 9, wherein:

[0345] The automatic driving method comprises:

[0346] a first mode for automatically driving the work vehicle along a target path generated based on a reference line set by a user operation; and

[0347] a second mode for causing the work vehicle to automatically travel along a target path generated based on the vehicle orientation of the work vehicle when the automatic travel start instruction is received,

[0348] The first mode and the second mode are switched according to a position in a work area where the work vehicle is automatically driven.

Claims

1. An automatic driving method for causing a work vehicle to automatically drive in response to a user operation on an operating device, wherein: The automatic driving method performs the following processing: accepting an automatic driving start instruction from a user at a start operation unit provided in the operation device; and The work vehicle is started to travel automatically based on the vehicle orientation of the work vehicle when the automatic travel start instruction is received.

2. The automatic driving method according to claim 1, wherein: The automatic driving method comprises: a first mode for automatically driving the work vehicle along a target path generated based on a reference line set by a user operation; and a second mode for causing the work vehicle to automatically travel along a target path generated based on the vehicle orientation of the work vehicle when the automatic travel start instruction is received, When the automatic travel start instruction is accepted in a state where the reference line is not set, the work vehicle starts automatic travel according to the second mode.

3. The automatic driving method according to claim 1, wherein: The automatic driving method comprises: a first mode for automatically driving the work vehicle along a target path generated based on a reference line set by a user operation; and a second mode for causing the work vehicle to automatically travel along a target path generated based on the vehicle orientation of the work vehicle when the automatic travel start instruction is received, When the reference line is set, the work vehicle starts automatic travel according to the second mode when a difference between the reference line and the vehicle direction of the work vehicle when the automatic travel start instruction is received reaches a predetermined difference or more.

4. The automatic driving method according to claim 3, wherein: When the reference line is set, if the direction difference is less than the predetermined direction difference, the work vehicle starts automatic travel according to the first mode.

5. The automatic driving method according to claim 1, wherein: The automatic driving method comprises: a first mode for automatically driving the work vehicle along a target path generated based on a reference line set by a user operation; and a second mode for causing the work vehicle to automatically travel along a target path generated based on the vehicle orientation of the work vehicle when the automatic travel start instruction is received, When the reference line is set, the work vehicle starts automatic travel according to the second mode when a lateral deviation between the target path generated based on the reference line and the position of the work vehicle reaches or exceeds a predetermined deviation.

6. The automatic driving method according to claim 5, wherein: When the reference line is set, if the lateral deviation is less than the predetermined deviation, the work vehicle starts automatic travel according to the first mode.

7. The automatic driving method according to claim 1, wherein: When the start operation unit is continuously operated by a user for a predetermined time or longer, the work vehicle starts automatically traveling based on the vehicle orientation of the work vehicle.

8. The automatic driving method according to claim 1, wherein: The automatic driving method comprises: a first mode for automatically driving the work vehicle along a target path generated based on a reference line set by a user operation; and a second mode for causing the work vehicle to automatically travel along a target path generated based on the vehicle orientation of the work vehicle when the automatic travel start instruction is received, When the baseline is set, when the difference between the orientation of the baseline and the vehicle orientation of the work vehicle when the automatic driving start instruction is received is less than the specified orientation difference, and the start operation unit is operated continuously by the user for more than the specified time, the work vehicle starts automatic driving according to the second mode.

9. The automatic driving method according to claim 8, wherein: When the baseline is set, when the difference between the orientation of the baseline and the vehicle orientation of the work vehicle when the automatic driving start instruction is received is less than the specified orientation difference, and the start operation unit is operated by the user within a specified time, the work vehicle starts automatic driving according to the first mode.

10. The automatic driving method according to any one of claims 1 to 9, wherein: The automatic driving method comprises: a first mode for automatically driving the work vehicle along a target path generated based on a reference line set by a user operation; and a second mode for causing the work vehicle to automatically travel along a target path generated based on the vehicle orientation of the work vehicle when the automatic travel start instruction is received, The first mode and the second mode are switched according to a position in a work area where the work vehicle is automatically driven.

11. An automatic driving program for causing a work vehicle to automatically drive in response to a user operation on an operating device, wherein: The automatic driving program is used to enable one or more processors to perform the following processing: accepting an automatic driving start instruction from a user at a start operation unit provided in the operation device; and The work vehicle is started to travel automatically based on the vehicle orientation of the work vehicle when the automatic travel start instruction is received.

12. An automatic driving system that causes a work vehicle to automatically drive in response to a user operation on an operating device, wherein: The automatic driving system includes a driving processing unit that receives an automatic driving start instruction from a user at a start operation unit provided in the operating device and starts automatic driving of the work vehicle based on the vehicle orientation of the work vehicle when the automatic driving start instruction is received.

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