Work vehicle

Abstract

It is possible to continue autonomous driving while allowing manual operation of a part of the operations. The work vehicle (1) includes: a traveling body (3); a connecting device capable of connecting the work device (2) to the traveling body (3); and an autonomous driving control unit (63) that performs first autonomous driving and second autonomous driving. In the first autonomous driving, a plurality of operations related to the traveling body (3) are automatically performed. In the second autonomous driving, at least one of the plurality of operations is set to be manual and the other operations other than the operation set to be manual are continued as autonomous driving.

Description

Technical Field

[0001] The present invention relates to a work vehicle such as a tractor. Background Art

[0002] Conventionally, as a technique for automatically driving a work machine, Patent Document 1 is known. The traveling work machine of Patent Document 1 includes: an automatic driving control unit that performs automatic driving; a manual driving control unit that performs manual driving; a machine body state detection unit that outputs machine body state information indicating the state of the machine body; and an automatic driving management unit that determines prohibition and permission of automatic driving based on the automatic driving control unit based on the machine body state information, and outputs an automatic prohibition time control command for controlling the machine body after determining the prohibition of automatic driving instructed based on the machine body state information.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Patent Laid-Open Gazette "Japanese Unexamined Patent Application Publication No. 2017-47762" Summary of the Invention

[0006] Problems to be Solved by the Invention

[0007] As described above, in the traveling work machine of Patent Document 1, when the machine body state detection unit detects a manual operation, the automatic driving is prohibited by the automatic driving management unit and the manual driving is executed. That is, in Patent Document 1, if a manual operation is performed, the automatic driving is completely prohibited, and the efficiency of the work may be reduced.

[0008] Therefore, in view of the above problems, an object of the present invention is to provide a work vehicle that can continue automatic driving while allowing a part of the operations to be manual operations.

[0009] Means for Solving the Problems

[0010] The technical means of the present invention for solving this technical problem is characterized by the following points.

[0011] The work vehicle includes: a traveling body; a connecting device that can connect a work device to the traveling body; and an automatic driving control unit that performs first automatic driving and second automatic driving. In the first automatic driving, a plurality of operations related to the traveling body are automatically performed. In the second automatic driving, at least one of the plurality of operations is set to be manual and the other operations except the operation set to be manual are continued as automatic driving.

[0012] The work vehicle is equipped with a steering device having a steering wheel for steering the traveling body. The automatic driving control unit automatically operates the steering device and performs an operation different from the operation of the steering device as the first automatic driving, and sets the operation of the steering device to manual and continues the operation different from the operation of the steering device as the second automatic driving.

[0013] The work vehicle is equipped with a positioning device capable of positioning the body position as the position of the traveling body. When the body position positioned by the positioning device in the first automatic driving is a predetermined specified position and the steering wheel is manually operated, the automatic driving control unit switches from the first automatic driving to the second automatic driving.

[0014] When the body position is not the specified position in the first automatic driving, the automatic driving control unit does not switch from the first automatic driving to the second automatic driving.

[0015] When the steering angle is equal to or greater than a threshold value when the steering wheel is manually operated, the automatic driving control unit stops the automatic driving.

[0016] The connecting device is a lifting device for lifting the work device. The automatic driving control unit performs an operation of lifting the work device based on the lifting device as the different operation in both the first automatic driving and the second automatic driving.

[0017] The work vehicle is equipped with a speed change device provided on the traveling body for speed change. The automatic driving control unit performs an operation of speed change based on the speed change device as the different operation in both the first automatic driving and the second automatic driving.

[0018] The work vehicle is equipped with a braking device provided on the traveling body for braking. The automatic driving control unit performs an operation of braking based on the braking device as the different operation in both the first automatic driving and the second automatic driving.

[0019] The work vehicle is equipped with a switching device for manually switching to either the first automatic driving or the second automatic driving.

[0020] Effects of the Invention

[0021] According to the present invention, it is possible to continue automatic driving while allowing manual operation of a part of the operations. Description of the Drawings

[0022] Figure 1 It is a diagram showing a block diagram of a work vehicle.

[0023] Figure 2 It is a diagram showing a speed change device.

[0024] Figure 3 It is a diagram showing a lifting device.

[0025] Figure 4 It is an explanatory diagram explaining automatic driving and a planned driving route.

[0026] Figure 5A It is a diagram showing an example of first automatic driving and second automatic driving.

[0027] Figure 5B It is a diagram showing an example of a setting screen M1.

[0028] Figure 5C It is a diagram showing an example of a setting screen M3.

[0029] Figure 6 It is a diagram showing an example of the switching between first automatic driving and second automatic driving.

[0030] Figure 7 It is a diagram showing an example of a setting screen M2.

[0031] Figure 8 It is an overall side view of a tractor. Detailed implementation mode

[0032] Hereinafter, embodiments of the present invention will be described based on the drawings.

[0033] Figure 8 It shows a tractor 1 as an example of a work vehicle. Regarding the work vehicle, the tractor 1 is taken as an example for explanation, but the work vehicle is not limited to the tractor, and may also be a rice transplanter or a combine harvester.

[0034] As Figure 8 shown, the tractor 1 includes: a traveling body 3 having a traveling device 7, a power unit 4, and a speed change device 5. The traveling device 7 is a device having front wheels 7F and rear wheels 7R. The front wheels 7F can be tire type or crawler type. In addition, the rear wheels 7R can also be tire type or crawler type. The power unit 4 is a diesel engine, an electric motor, etc. The speed change device 5 can switch the driving force of the traveling device 7 by speed change and can also switch the forward and backward of the traveling device 7. A cab 9 is provided on the traveling body 3, and a driver's seat 10 is provided in the cab 9.

[0035] In addition, a connecting device is provided at the rear of the traveling body 3. The connecting device is composed of a swing drawbar, a three-point link mechanism, etc. that connect the working device 2 and the traveling body 3 without lifting, and a lifting device 8 that performs lifting, etc. The working device 2 can be loaded and unloaded on the connecting device. By connecting the working device 2 to the connecting device, the traveling body 3 can be used to tow the working device 2. The working device 2 is a tilling device for tilling, a fertilizer spreading device for spreading fertilizer, a transplanting device for transplanting seedlings, an irrigation device for irrigation, a pesticide spraying device for spraying pesticides, a seed sowing and spreading device for sowing seeds, a harvesting device for harvesting forage grass, etc., a spreading device for spreading forage grass, etc., a forage grass collection device for collecting forage grass, etc., a forming device for forming forage grass, etc., a composite device for performing multiple operations, etc.

[0036] As Figure 2 shown, the transmission device 5 includes a main shaft (propulsion shaft) 5a, a shuttle section 5b, a main transmission section 5c, a sub-transmission section 5d, a PTO power transmission section 5e, and a front transmission section 5f. The propulsion shaft 5a is rotatably supported by the housing of the transmission device 5, and the power from the crankshaft of the power unit 4 is transmitted to the propulsion shaft 5a.

[0037] The shuttle section 5b has a shuttle shaft 5b1 and a forward / reverse switching section 5b2. The power from the propulsion shaft 5a is transmitted to the shuttle shaft 5b1. The forward / reverse switching section 5b2 is composed of, for example, a hydraulic clutch, etc., and the rotation direction of the shuttle shaft 5b1, that is, the forward and reverse of the tractor 1, is switched by the on / off of the hydraulic clutch.

[0038] The main transmission section 5c is a continuously variable transmission mechanism that continuously changes the input power. The continuously variable transmission mechanism has a hydraulic pump 5c1, a hydraulic motor 5c2, and a planetary gear mechanism 5c3. The hydraulic pump 5c1 rotates by the power from the output shaft 5b3 of the shuttle section 5b. The hydraulic pump 5c1 is, for example, a variable displacement pump with a swash plate 12, and the flow rate of the working oil discharged from the hydraulic pump 5c1 can be changed by changing the angle of the swash plate 12 (swash plate angle). The hydraulic motor 5c2 is a motor that rotates by the working oil discharged from the hydraulic pump 5c1 through an oil circuit such as a pipe. By changing the swash plate angle of the hydraulic pump 5c1 or changing the power input to the hydraulic pump 5c1, the rotational speed of the hydraulic motor 5c2 can be changed.

[0039] The planetary gear mechanism 5c3 is an institution composed of multiple gears and power transmission shafts such as an input shaft and an output shaft, and includes: an input shaft 13 that inputs the power of the hydraulic pump 5c1, an input shaft 14 that inputs the power of the hydraulic motor 5c2, and an output shaft 15 that outputs power. The planetary gear mechanism 5c3 transmits the power obtained by synthesizing the power of the hydraulic pump 5c1 and the power of the hydraulic motor 5c2 to the output shaft 15.

[0040] Therefore, according to the main speed change section 5c, by changing the swash plate angle of the swash plate 12 of the hydraulic pump 5c1, the rotational speed of the prime mover 4, etc., the power output to the sub-speed change section 5d can be changed. It should be noted that the main speed change section 5c is composed of a continuously variable transmission mechanism, but it can also be a stepped transmission mechanism that changes speed through gears.

[0041] The sub-speed change section 5d is a transmission mechanism having a plurality of stepped gears for changing the speed of power. By appropriately changing the connection (meshing) of the plurality of gears, the power input to the sub-speed change section 5d from the output shaft 15 of the planetary gear mechanism 5c3 is changed and output (speed changed). The sub-speed change section 5d includes an input shaft 5d1, a first speed change clutch 5d2, a second speed change clutch 5d3, and an output shaft 5d4. The input shaft 5d1 is a shaft that inputs the power of the output shaft 15 of the planetary gear mechanism 5c3, and inputs the input power to the first speed change clutch 5d2 and the second speed change clutch 5d3 via gears or the like. By switching the engagement and disconnection of the first speed change clutch 5d2 and the second speed change clutch 5d3 respectively, the input power is changed and output to the output shaft 5d4. The power output to the output shaft 5d4 is transmitted to the rear wheel differential device 20R. The rear wheel differential device 20R supports the rear axle 21R equipped with the rear wheels 7R so as to be rotatable freely.

[0042] The PTO power transmission section 5e has a PTO clutch 5e1, a PTO drive shaft 5e2, and a PTO speed change section 5e3. The PTO clutch 5e1 is composed of, for example, a hydraulic clutch, etc. By turning on and off the hydraulic clutch, it is switched to a state where the power of the drive shaft 5a is transmitted to the PTO drive shaft 5e2 and a state where the power of the drive shaft 5a is not transmitted to the PTO drive shaft 5e2. The PTO speed change section 5e3 includes a speed change clutch and a plurality of gears, etc., and changes (rotational speed) and outputs the power input from the PTO drive shaft 5e2 to the PTO speed change section 5e3. The power of the PTO speed change section 5e3 is transmitted to the PTO shaft 16 via gears or the like.

[0043] The front speed change section 5f has a first front speed change clutch 5f1 and a second front speed change clutch 5f2. The first front speed change clutch 5f1 and the second front speed change clutch 5f2 can transmit the power from the sub-speed change section 5d. For example, the power of the output shaft 5d4 is transmitted via gears and a drive shaft. The power from the first front speed change clutch 5f1 and the second front speed change clutch 5f2 can be transmitted to the front axle 21F via the front drive shaft 22. Specifically, the front drive shaft 22 is connected to the front wheel differential device 20F, and the front wheel differential device 20F supports the front axle 21F equipped with the front wheels 7F so as to be rotatable freely.

[0044] The first front speed change clutch 5f1 and the second front speed change clutch 5f2 are composed of a hydraulic clutch, etc. As Figure 1As shown, an oil passage is connected to the first front speed change clutch 5f1, and a control valve 23 that is supplied with the working oil discharged from the hydraulic pump is connected to this oil passage. The first front speed change clutch 5f1 switches between a connected state and a disconnected state according to the opening degree of the control valve 23. An oil passage is connected to the second front speed change clutch 5f2, and a control valve 24 is connected to this oil passage. The second front speed change clutch 5f2 switches between a connected state and a disconnected state according to the opening degree of the control valve 24. The control valve 23 and the control valve 24 are, for example, two-position switching valves with solenoid valves, and are switched to the connected state or the disconnected state by exciting or demagnetizing the solenoids of the solenoid valves.

[0045] When the first front speed change clutch 5f1 is in the disconnected state and the second front speed change clutch 5f2 is in the connected state, the power of the sub-speed change section 5d is transmitted to the front wheels 7F through the second front speed change clutch 5f2. As a result, it becomes four-wheel drive (4WD) in which the front wheels and the rear wheels are driven by power and the rotational speeds of the front wheels and the rear wheels are substantially the same (4WD equal speed state). On the other hand, when the first front speed change clutch 5f1 is in the connected state and the second front speed change clutch 5f2 is in the disconnected state, it becomes four-wheel drive and the rotational speed of the front wheels is faster than the rotational speed of the rear wheels (4WD speed increase state). In addition, when the first front speed change clutch 5f1 and the second front speed change clutch 5f2 are in the connected state, the power of the sub-speed change section 5d is not transmitted to the front wheels 7F, and thus, it becomes two-wheel drive (2WD) in which the rear wheels are driven by power.

[0046] As Figure 3 As shown, the lifting device 8 includes a lifting arm 8a, a lower link 8b, an upper link 8c, a lifting rod 8d, and a lifting cylinder 8e. The front end portion of the lifting arm 8a is swingably supported above or below the rear upper portion of the housing (transmission case) that houses the speed change device 5. The lifting arm 8a swings (lifts and lowers) by the drive of the lifting cylinder 8e. The lifting cylinder 8e is composed of a hydraulic cylinder. The lifting cylinder 8e is connected to the hydraulic pump via a control valve 36. The control valve 36 is a solenoid valve or the like, and expands and contracts the lifting cylinder 8e.

[0047] The front end portion of the lower link 8b is swingably supported above or below the rear lower portion of the speed change device 5. The front end portion of the upper link 8c is supported above the lower link 8b and is swingably supported above or below the rear portion of the speed change device 5. The lifting rod 8d connects the lifting arm 8a and the lower link 8b. The working device 2 is connected to the rear portion of the lower link 8b and the rear portion of the upper link 8c. When the lifting cylinder 8e is driven (expands and contracts), the lifting arm 8a lifts and lowers, and the lower link 8b connected to the lifting arm 8a via the lifting rod 8d also lifts and lowers. As a result, the working device 2 swings (lifts and lowers) above or below with the front portion of the lower link 8b as a fulcrum.

[0048] As Figure 1As shown, the tractor 1 is equipped with a steering device 29. The steering device 29 has a steering wheel (steering disk) 30, a rotating shaft (steering shaft) 31 that rotates along with the rotation of the steering wheel 30, and an auxiliary mechanism (power steering mechanism) 32 that assists the steering of the steering wheel 30. The auxiliary mechanism 32 includes a hydraulic pump 33, a control valve 34 supplied with the working oil discharged from the hydraulic pump 33, and a steering cylinder 35 that operates through the control valve 34. The control valve 34 is an electromagnetic valve that operates based on a control signal. The control valve 34 is, for example, a three-position switching valve that can be switched by the movement of a spool or the like. In addition, the control valve 34 can also be switched by the steering of the steering shaft 31. The steering cylinder 35 is connected to an arm (steering knuckle arm) that changes the orientation of the front wheel 7F.

[0049] Therefore, if the steering wheel 30 is operated, the switching position and opening degree of the control valve 34 are switched according to the steering wheel 30, and the steering cylinder 35 expands and contracts left or right according to the switching position and opening degree of the control valve 34, whereby the steering direction of the front wheel 7F can be changed. It should be noted that the above steering device 29 is an example and is not limited to the above structure.

[0050] The tractor 1 is equipped with a positioning device 40. The positioning device 40 can detect its own position (positioning information including latitude and longitude) through satellite positioning systems (positioning satellites) such as D-GPS, GPS, GLONASS, Beidou, Galileo, and QZSS. That is, the positioning device 40 receives satellite signals (the position of the positioning satellite, transmission time, correction information, etc.) sent from the positioning satellite and detects the position of the tractor 1 (for example, latitude and longitude), that is, the vehicle body position, based on the satellite signals. The positioning device 40 has a signal receiving device 41 and an inertial measurement unit (IMU) 42. The signal receiving device 41 is a device that has an antenna or the like and receives satellite signals sent from the positioning satellite, and is installed on the traveling vehicle body 3 separately from the inertial measurement device 42. In the present embodiment, the signal receiving device 41 is installed on the traveling vehicle body 3, that is, the cab 9. It should be noted that the installation position of the signal receiving device 41 is not limited to the embodiment.

[0051] The inertial measurement device 42 has an acceleration sensor for detecting acceleration, a gyro sensor for detecting angular velocity, etc. It is provided under the traveling vehicle body 3, for example, under the driver's seat 10, and the roll angle, pitch angle, yaw angle, etc. of the traveling vehicle body 3 can be detected through the inertial measurement device 42.

[0052] As Figure 1As shown in the figure, the tractor 1 is equipped with a braking device. The braking device has a left braking device 46a and a right braking device 46b. The left braking device 46a and the right braking device 46b are disc-type braking devices, which can be switched between a braking state for braking and a release state for releasing the braking. The left braking device 46a is arranged on the left side of the rear axle 21R, and the right braking device 46b is arranged on the right side of the rear axle 21R. For example, a left brake pedal and a right brake pedal are arranged near the driver's seat 10. When the driver operating the tractor 1 operates (steps on) the left brake pedal, the left connecting member 47a connected to the left brake pedal moves in the braking direction, and the left braking device 46a can be brought into the braking state. When the driver operates (steps on) the right brake pedal, the right connecting member 47b connected to the right brake pedal moves in the braking direction, and the right braking device 46b can be brought into the braking state.

[0053] In addition, a left hydraulic working part 48a that operates with working oil is connected to the left connecting member 47a. A left brake valve 49a is connected to the left hydraulic working part 48a via an oil passage. By operating the left hydraulic working part 48a with the left brake valve 49a, the left connecting member 47a can be moved in the braking direction. In addition, a right hydraulic working part 48b that operates with working oil is connected to the right connecting member 47b. A right brake valve 49b is connected to the right hydraulic working part 48b via an oil passage. By operating the right hydraulic working part 48b with the right brake valve 49b, the right connecting member 47b can be moved in the braking direction.

[0054] As described above, the left braking device 46a and the right braking device 46b can independently bring the left rear wheel 7R and the right rear wheel 7R into the braking state not only by operating the left brake pedal and the right brake pedal but also by operating the left hydraulic working part 48a and the right hydraulic working part 48b.

[0055] As Figure 1 As shown in the figure, the tractor 1 is equipped with a monitoring device 121. The monitoring device 121 is a device that can detect objects existing around the tractor 1. The monitoring device 121 is installed, for example, on the side of the cab 9 of the tractor 1, the front part of the cab 9 of the tractor 1, etc. The monitoring device 121 is a camera (imaging device), a laser scanner, a sonar, etc. The camera (imaging device) captures an image around the working device 2 through an image sensor such as a CCD or a CMOS, and detects an object when the object appears in the captured image. The laser scanner detects an object by irradiating a laser and receiving the reflected light of the irradiated laser hitting the object. The sonar detects an object by irradiating a sound wave and receiving the reflected sound of the irradiated sound wave hitting an obstacle.

[0056] As Figure 1As shown, the tractor 1 is equipped with a display device 45. The display device 45 is provided around the driver's seat 10. The display device 45 can display various information related to the tractor 1. As Figure 7 shown, in the field H1 where the tractor 1 is working, the display device 45 can set the headland area (turning area) A1 and the working area A2. When a specified operation is performed on the display device 45, as Figure 7 shown, a display setting screen M2 is displayed. In the area setting screen M2, a width input section 130 for inputting the headland width W1 of the headland area A1 is displayed. If the headland width W1 is set, the inner area formed by shifting the outline (boundary) H1 of the field inward by the headland width W1 is set as the working area A2, and the area formed between the outline (boundary) H2 of the working area A2 and the outline (boundary) H1 of the field is set as the headland area A1. The setting of the headland area A1 and the working area A2 is an example and is not limited thereto.

[0057] In addition, as Figure 7 shown, in the display device 45, a planned travel path L1 for automatically driving the tractor 1 can be set. In the display device 45, if a specified operation is performed, a straight travel path L1a and a turning path L1b for the tractor 1 to go straight can be set as the planned travel path L1.

[0058] As Figure 1 shown, the tractor 1 is equipped with a control device 60. The control device 60 is a device for controlling the travel system, the work system, etc. in the tractor 1. A driving mode switching switch 65 is connected to the control device 60. The driving mode switching switch 65 is a switch that can be switched between on and off. When it is on, the control device 60 can be set to the automatic driving mode, and when it is off, the control device 60 can be set to the manual driving mode.

[0059] The control device 60 includes an automatic driving control section 63 that controls the automatic driving of the tractor 1 (travel body 3) based on the planned travel path. The automatic driving control section 63 is composed of an electrical / electronic circuit provided in the control device 60, a program stored in a CPU, etc.

[0060] The automatic driving control section 63 performs the automatic driving of the travel body 3. The automatic driving control section 63 automatically performs a plurality of operations related to the travel body 3 during automatic driving. The automatic driving control section 63 automatically performs operations of the steering device 29 (first operation), the transmission device 5 (second operation), the braking device (third operation), the lifting device 8 (fourth operation), etc., for example.

[0061] When the vehicle is in the autonomous driving mode, the autonomous driving control unit 63 starts autonomous driving and operates the steering device 29 (first operation) so that the traveling path L1 coincides with the vehicle body position.

[0062] As Figure 4 shown, for example, when the deviation between the vehicle body position of the tractor and the planned traveling path L1 is less than the threshold value, the autonomous driving control unit 63 maintains the rotation angle of the steering shaft (rotation axis) 31 of the steering device 29. When the deviation between the vehicle body position and the planned traveling path L1 is equal to or greater than the threshold value and the tractor 1 is located on the left side of the planned traveling path L1, the autonomous driving control unit 63 rotates the steering shaft 31 by outputting a control signal to the control valve 34 of the steering device 29 so that the steering direction of the tractor 1 becomes the right direction. When the deviation between the vehicle body position and the planned traveling path L1 is equal to or greater than the threshold value and the tractor 1 is located on the right side of the planned traveling path L1, the autonomous driving control unit 63 rotates the steering shaft 31 of the steering device 29 by outputting a control signal to the control valve 34 of the steering device 29 so that the steering direction of the tractor 1 becomes the left direction.

[0063] It should be noted that in the above embodiment, the steering angle of the steering device 29 is changed based on the deviation between the vehicle body position and the planned traveling path L1. However, when the azimuth of the planned traveling path L1 is different from the azimuth (vehicle body azimuth) of the traveling direction (traveling direction) of the tractor 1 (traveling vehicle body 3), that is, when the angle of the vehicle body azimuth with respect to the planned traveling path L1 is equal to or greater than the threshold value, the autonomous driving control unit 63 may also output a control signal to the control valve 34 of the steering device 29 so that the angle is zero (the azimuth of the vehicle body azimuth F1 coincides with the azimuth of the planned traveling path L1) to set the steering angle. In addition, the autonomous driving control unit 63 may also set the final steering angle during autonomous driving based on the steering angle obtained from the deviation (position deviation) and the steering angle obtained from the azimuth (azimuth deviation).

[0064] In addition, the autonomous driving control unit 63 operates the transmission device 5 (second operation) so that the actual vehicle speed (actual vehicle speed) of the actual tractor 1 coincides with the vehicle speed (target vehicle speed) corresponding to the planned traveling path L1. For example, the autonomous driving control unit 63 performs the main transmission shift of the transmission device 5 by outputting a control signal to the electric actuator that changes the swash plate 12 of the variable displacement pump 5c1, or performs the sub-transmission shift by outputting a control signal to a hydraulic device (solenoid valve) that operates the first transmission clutch 5d2 and the second transmission clutch 5d3, so that the actual vehicle speed coincides with the target vehicle speed.

[0065] In addition, when the monitoring device 121 detects an obstacle or the like, the automatic driving control unit 63 operates the braking device (third operation) to stop the tractor 1 in front of the obstacle. For example, the automatic driving control unit 63 determines what the object detected by the monitoring device 121 is. When the object is an obstacle such as a person or an animal, braking is performed by outputting a control signal to the left brake valve 49a and the right brake valve 49b, and no braking is performed when it is not an obstacle.

[0066] In addition, the automatic driving control unit 63 operates the lifting device 8 according to the planned travel path L1 (fourth operation). For example, when the planned travel path L1 includes a straight path L1a and a turning path L1b, when the tractor 1 is located on the straight path L1a, the automatic driving control unit 63 outputs a control signal to the control valve 36 to lower the work device 2, so that the work device 2 assumes a working posture. When the tractor 1 reaches the turning path L1b from the straight path L1a, the automatic driving control unit 63 outputs a control signal to the control valve 36 to raise the work device 2, so that the work device 2 assumes a non-working posture. In addition, when the tractor 1 reaches the straight path L1a from the turning path L1b, the automatic driving control unit 63 outputs a control signal to the control valve 36 to lower the work device 2, so that the work device 2 assumes a working posture again.

[0067] As described above, during automatic driving, the automatic driving control unit 63 automatically operates the steering device 29 (first operation), the transmission device 5 (second operation), the braking device (third operation), and the lifting device 8 (fourth operation).

[0068] The automatic driving control unit 63 can perform first automatic driving and second automatic driving as automatic driving. The first automatic driving refers to driving in which all of a plurality of operations preset during automatic driving are automatically performed, and the second automatic driving refers to driving in which a part of the plurality of operations preset during automatic driving is set (permitted) as manual driving, and other operations except the operations set as manual are continued as automatic driving.

[0069] As Figure 5A shown, for example, as the first automatic driving, the automatic driving control unit 63 automatically performs all of the first operation, the second operation, the third operation, and the fourth operation. As the second automatic driving, the first operation is set as a manual operation, and the second operation, the third operation, and the fourth operation as other operations are automatically performed. It should be noted that, as Figure 5B shown, the items of a plurality of operations automatically performed by automatic driving can be set by operating the display device 45. For example, as Figure 5BAs shown, by selecting a plurality of operation items (automatic operation items) J1, J2, J3, J4... displayed in the setting screen M1 for autonomous driving, the automatic operation items for autonomous driving can be set.

[0070] Hereinafter, the switching between the first autonomous driving and the second autonomous driving will be described in detail.

[0071] As Figure 6 shown, at the start of autonomous driving, the autonomous driving control unit 63 performs the first autonomous driving. That is, at the start of autonomous driving, all of the first operation, the second operation, the third operation, and the fourth operation are automatically performed. As Figure 6 shown at the moment P1, in the first autonomous driving, if the driver manually operates the steering wheel 30, the autonomous driving control unit 63 switches from the first autonomous driving to the second autonomous driving to perform the second autonomous driving. That is, at the moment P1, the autonomous driving control unit 63 sets the operation (first operation) of the steering wheel 30 (steering device 29) as manual as the second autonomous driving, and continues the other operations (second operation, third operation, fourth operation) as autonomous driving. In other words, when the driver intervenes in the operation (first operation) of the steering wheel 30 (steering device 29) among the multiple operations (first operation, second operation, third operation, fourth operation), the first operation switches from automatic to manual, and the other operations continue automatically.

[0072] In addition, in the above-described embodiment, when the first operation is performed, the first autonomous driving is switched to the second autonomous driving. However, in addition to this, it is also possible to switch from the first autonomous driving to the second autonomous driving when the tractor 1 (traveling vehicle body 3) is in a specified position.

[0073] Specifically, as Figure 4 shown, in the field H1, in a situation where the planned travel path L1 is set in the headland area A1 and the working area A2, when the vehicle position located by the positioning device 40 in the first autonomous driving is within the headland area A1 and the steering wheel 30 is manually operated, the autonomous driving control unit 63 switches from the first autonomous driving to the second autonomous driving. On the other hand, when the vehicle position located by the positioning device 40 in the first autonomous driving is not in the specified position within the working area A2 and the steering wheel 30 is manually operated, the autonomous driving control unit 63 remains in the first autonomous driving and does not switch to the second autonomous driving. That is, the autonomous driving control unit 63 performs the second autonomous driving when the driver intervenes in the case of being in the headland area A1, and does not perform the second autonomous driving when the driver intervenes in the case of being in the working area A2, and automatically performs all operations by the first autonomous driving.

[0074] In addition, when the steering angle θ1 is less than the threshold value when the steering wheel 30 is manually operated, the automatic driving control unit 63 switches from the first automatic driving to the second automatic driving. When the steering angle θ1 is equal to or greater than the threshold value, the automatic driving is stopped, that is, the tractor 1 (traveling body 3) is stopped.

[0075] In the above-described embodiment, when the steering wheel 30 is manually operated, the first automatic driving and the second automatic driving are automatically switched, but this switching may also be performed manually. The tractor 1 is provided with a switching device 131. The switching device 131 is a switch that can be switched to two positions, is provided around the driver's seat 10, and can be operated by the driver. When the switching device 131 is switched to one side, it is switched to the first automatic driving. When it is switched to the other side, it is switched to the second automatic driving. When switched to the second automatic driving by the switching device 131, items of operations set to be manual (manual operation items) in the second automatic driving can be set by the display device 45. For example, as Figure 5C shown, a setting screen M3 for automatic driving can be displayed on the display device 45. A plurality of operation items J1, J2, J3, J4... are displayed on the setting screen M3, and the operation items for the first automatic driving and the second automatic driving can be selected from the plurality of operation items.

[0076] The work vehicle 1 includes: a traveling body 3; a connecting device capable of connecting the work device 2 to the traveling body 3; and an automatic driving control unit 63 that performs the first automatic driving and the second automatic driving. In the first automatic driving, a plurality of operations related to the traveling body 3 are automatically performed. In the second automatic driving, at least one of the plurality of operations is set to be manual and the other operations except the operations set to be manual are continued as automatic driving. Thus, it is possible to change from the first automatic driving to the second automatic driving. Therefore, it is possible to continue the automatic driving while allowing manual operation of a part of the operations in the second automatic driving.

[0077] The work vehicle 1 is provided with a steering device 29 having a steering wheel 30 for steering the traveling body 3. The automatic driving control unit 63 automatically performs the operation of the steering device 29 and operations different from the operation of the steering device 29 as the first automatic driving, and sets the operation of the steering device 29 to be manual and continues the operations different from the operation of the steering device 29 as automatic driving as the second automatic driving. Thus, for example, when the driver manually steers the steering wheel 30 during automatic driving, it is possible to switch the automatic steering of the traveling body 3 to the steering of the driver's steering wheel 30, and other operations can be continued as automatic driving.

[0078] The work vehicle 1 is provided with a positioning device 40 capable of positioning the vehicle body position which is the position of the traveling vehicle body 3. When the vehicle body position positioned by the positioning device 40 in the first autonomous driving is a predetermined specified position and the steering wheel 30 is manually operated, the autonomous driving control unit 63 switches from the first autonomous driving to the second autonomous driving. For example, when the specified position is within the field and outside the working area, the steering of the steering wheel 30 can be intervened, and the drivability outside the working area can be improved.

[0079] When the vehicle body position is not the specified position in the first autonomous driving, the autonomous driving control unit 63 does not switch from the first autonomous driving to the second autonomous driving. For example, when the specified position is within the field and within the working area, the operation based on the steering of the steering wheel 30 can be not intervened and the work based on autonomous driving can be continued.

[0080] When the steering angle is equal to or greater than the threshold value when the steering wheel 30 is manually operated, the autonomous driving is stopped. Thus, in the case where the steering wheel 30 is suddenly manually operated, etc., by stopping the autonomous driving, it is possible to switch to manual driving or the like.

[0081] The connecting device is a lifting device 8 that raises and lowers the work device 2. The autonomous driving control unit 63 performs the operation of raising and lowering the work device 2 based on the lifting device as different operations of the first autonomous driving and the second autonomous driving. Thus, as autonomous driving, the work device 2 can be raised and lowered. For example, it can be automatically raised and lowered when the traveling vehicle body 3 turns, reverses, etc.

[0082] The work vehicle 1 is provided with a transmission device 5 provided on the traveling vehicle body 3 and performing speed change. The autonomous driving control unit 63 performs the operation of speed change based on the transmission device 5 as different operations of the first autonomous driving and the second autonomous driving. Thus, as autonomous driving, the speed change of the transmission device 5 can be performed. For example, it can be automatically shifted when the traveling vehicle body 3 goes uphill or downhill in the field.

[0083] The work vehicle 1 is provided with braking devices 46a, 46b provided on the traveling vehicle body 3 and performing braking. The autonomous driving control unit 63 performs the operation of braking based on the braking devices 46a, 46b as different operations of the first autonomous driving and the second autonomous driving. Thus, as autonomous driving, braking can be performed.

[0084] The work vehicle 1 is provided with a switching device 131 that can be manually switched to either the first autonomous driving or the second autonomous driving. Thus, it is possible to simply switch to the second autonomous driving in which a part of the operation is intervened while performing autonomous driving, and it is possible to switch to the second autonomous driving or switch to the first autonomous driving according to various operations.

[0085] The embodiments disclosed herein should be considered illustrative in all respects and not restrictive. The scope of the present invention is represented not by the above description but by the claims, and is intended to include meanings equivalent to the claims and all modifications within the scope.

[0086] Explanation of Reference Numerals

[0087] 1: Work vehicle (tractor)

[0088] 2: Working device

[0089] 3: Traveling body

[0090] 5: Transmission device

[0091] 8: Lifting device

[0092] 29: Steering device

[0093] 30: Steering wheel

[0094] 40: Positioning device

[0095] 63: Autopilot control unit

[0096] 131: Switching device

[0097] θ1: Steering angle

Claims

1. An operating vehicle, wherein, The work vehicle includes: A traveling body; A connecting device that can connect the work device to the traveling body; and An automatic driving control unit that performs first automatic driving and second automatic driving. In the first automatic driving, a plurality of operations related to the traveling body are automatically performed. In the second automatic driving, at least one of the plurality of operations is set to be manual and the other operations except the operation set to be manual are continued as automatic driving. A steering device having a steering wheel for steering the traveling body; A positioning device that can position the body position as the position of the traveling body; The automatic driving control unit automatically performs the operation of the steering device and an operation different from the operation of the steering device as the first automatic driving, and sets the operation of the steering device to be manual and continues the operation different from the operation of the steering device as the automatic driving as the second automatic driving. When the body position located by the positioning device in the first automatic driving is within a predetermined specified position, that is, within the field head area, and the steering wheel is manually operated, the first automatic driving is switched to the second automatic driving. When the body position in the first automatic driving is within the working area rather than the specified position and the steering wheel is manually operated, the first automatic driving is not switched to the second automatic driving.

2. The work vehicle according to claim 1, wherein When the steering angle is equal to or greater than a threshold value when the steering wheel is manually operated, the automatic driving is stopped by the automatic driving control unit.

3. The work vehicle according to claim 1 or 2, wherein The connecting device is a lifting device that lifts the work device, The automatic driving control unit performs the operation of lifting the work device based on the lifting device as the different operation in the first automatic driving and the second automatic driving.

4. The work vehicle according to claim 1 or 2, wherein The work vehicle includes a transmission device provided on the traveling body for shifting gears, The automatic driving control unit performs the operation of shifting gears based on the transmission device as the different operation in the first automatic driving and the second automatic driving.

5. The work vehicle according to claim 1 or 2, wherein The work vehicle includes a braking device provided on the traveling body for braking, The automatic driving control unit performs the operation of braking based on the braking device as the different operation in the first automatic driving and the second automatic driving.

6. The work vehicle according to claim 1 or 2, wherein The work vehicle includes a switching device for manually switching to either the first automatic driving or the second automatic driving.

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