Agricultural work machine, system, method, program, and recording medium

Abstract

An agricultural work machine is provided with: a travel control unit that controls travel of a body having a travel device; a mode switching unit that switches a control mode of the travel control unit between a first mode in which automatic steering travel using a reference orientation is possible and a second mode in which automatic steering travel is not performed; and a storage unit that stores orientation-related information related to the reference orientation when the control mode of the travel control unit is the first mode. When the mode switching unit switches the control mode of the travel control unit from the first mode to the second mode and further from the second mode to the first mode (S106), the travel control unit is able to perform automatic steering travel using the reference orientation based on the orientation-related information stored in the storage unit (S107).

Description

TECHNICAL FIELD

[0001] The present application relates to a work machine, a system, a method, a program, and a recording medium. BACKGROUND

[0002] In Patent Literature 1, there is described a rice transplanter capable of automatic straight travel. The automatic straight travel is performed as follows. First, an operator operates a steering handle to make the rice transplanter travel straight, and at two points in the middle of the way, the operator operates a registration switch. A teaching direction is calculated from satellite positioning data at the two points. A target line in a straight line shape parallel to the calculated teaching direction is generated. A steering unit is controlled to move the body along the target line, and the automatic straight travel (automatic steering travel) is performed.

[0003] If an abnormality related to positioning data is sensed in the execution of the automatic steering travel, a report to the operator, a stop of the automatic steering (shift from the automatic straight travel to the manual travel), a stop of the travel, and the like are performed.

[0004] PRIOR ART DOCUMENTS

[0005] PATENT LITERATURE

[0006] Patent Literature 1: Japanese Patent Application Publication No. 2017-136015 SUMMARY

[0007] PROBLEMS TO BE SOLVED BY THE INVENTION

[0008] In the work travel in a field, straight travel from one end of the field to the other end is repeatedly performed. According to the rice transplanter of Patent Literature 1, since the straight travel can be performed by the automatic steering travel, manual steering by the operator is not required, and the work burden is reduced. In the case where the automatic steering travel is interrupted due to an abnormality in the middle of the straight travel, if the automatic steering travel can be started along the same teaching direction or target line, the work burden can be further reduced, which is preferable. In the rice transplanter of Patent Literature 1, the restart after the interruption of the automatic steering travel is not considered.

[0009] An object of the present application is to provide a mechanism capable of reducing the work burden of the automatic steering travel.

[0010] MEANS FOR SOLVING THE PROBLEMS

[0011] As a means for solving the above-described problems, the agricultural work machine according to the present application is characterized by including: a travel control section that controls travel of a body having a travel device; a mode switching section that switches a control mode of the travel control section between a first mode in which automatic steering travel using a reference orientation is possible and a second mode in which the automatic steering travel is not performed; and a storage section that stores orientation-related information related to the reference orientation when the control mode of the travel control section is the first mode, wherein the travel control section is capable of performing the automatic steering travel using the reference orientation based on the orientation-related information stored in the storage section when the control mode of the travel control section is switched from the first mode to the second mode and further switched from the second mode to the first mode by the mode switching section.

[0012] According to the present configuration, the orientation-related information related to the reference orientation when the control mode of the travel control section is the first mode is stored in the storage section, and the automatic steering travel can be performed using the orientation-related information when the control mode of the travel control section is again the first mode. Thus, it is not necessary to perform work such as re-generation of the reference orientation, and it is possible to reduce the work burden when the automatic steering travel is started again.

[0013] In the present application, it is preferable that an input device capable of receiving a human operation be provided, the mode switching section switches the control mode of the travel control section from the first mode to the second mode in response to the travel control section performing the automatic steering travel, the mode switching section waits for a human operation from the input device, the mode switching section switches the control mode of the travel control section from the second mode to the first mode in response to a human operation from the input device that receives a content of continuing the automatic steering travel, and the travel control section performs the automatic steering travel using the reference orientation based on the orientation-related information stored in the storage section.

[0014] According to the present configuration, after the mode is switched during the execution of the automatic steering travel, the automatic steering travel is started again based on a human operation. Thus, it is possible to select whether to start the automatic steering travel again depending on the situation of the work in the field, and it is possible to improve the convenience of the agricultural work machine.

[0015] In the present application, it is preferable that, in correspondence with a human operation of the content of not continuing automatic steering travel being accepted from the input device, the mode switching section maintains the control mode of the travel control section as the second mode, and the mode switching section waits for a human operation from the input device, in correspondence with a human operation of the content of automatic steering travel being accepted again from the input device, the mode switching section switches the control mode of the travel control section from the second mode to the first mode, and the travel control section becomes a state in which automatic steering travel can be executed using a reference position based on the position-related information stored in the storage section.

[0016] According to the present configuration, after the mode is switched during execution of automatic steering travel, even in a case where a human operation of the content of not continuing automatic steering travel is performed, automatic steering travel can be performed using the position-related information stored in the storage section, as long as a human operation of the content of executing automatic steering travel is performed again. Thus, a re-generation of a reference position or the like is not required, and the convenience of the farm work machine can be further improved.

[0017] In the present application, it is preferable that an input device capable of accepting a human operation is provided, in a case where the travel control section does not execute the automatic steering travel, in correspondence with the mode switching section switching the control mode of the travel control section from the first mode to the second mode, the mode switching section waits for a human operation from the input device, in correspondence with a human operation of the content of automatic steering travel being accepted again from the input device, the mode switching section switches the control mode of the travel control section from the second mode to the first mode, and the travel control section becomes a state in which automatic steering travel can be executed using a reference position based on the position-related information stored in the storage section.

[0018] According to the present configuration, after the mode is switched in a case where automatic steering travel is not executed (for example, after automatic steering travel is ended), automatic steering travel can be performed using the position-related information stored in the storage section, as long as a human operation of the content of executing automatic steering travel is performed again. Thus, the convenience of the farm work machine can be further improved.

[0019] In the present application, it is preferable that, in correspondence with a prescribed switching condition being satisfied, the mode switching section switches the control mode of the travel control section from the first mode to the second mode.

[0020] According to the present configuration, in a farm work machine in which the second mode in which automatic steering travel is not performed is switched if a prescribed switching condition is satisfied, a work burden at the time of starting automatic steering travel again can be reduced, which is more preferable.

[0021] In the present application, it is preferable that the switching condition include the engine having stopped.

[0022] According to the present configuration, in the agricultural work machine that switches to the second mode in which the automatic steering travel is not performed if the engine stops, it is possible to reduce the work burden at the time of resuming the automatic steering travel, and it is more preferable.

[0023] In the present application, it is preferable that the switching condition include the work device provided to the machine body having stopped.

[0024] According to the present configuration, in the agricultural work machine that switches to the second mode in which the automatic steering travel is not performed if the work device stops, it is possible to reduce the work burden at the time of resuming the automatic steering travel, and it is more preferable.

[0025] As a means for solving the above-described problem, the system of the present application is characterized by a system that controls an agricultural work machine, including: a travel control section that controls travel of the agricultural work machine; a mode switching section that switches a control mode of the travel control section between a first mode in which automatic steering travel using a reference orientation is possible and a second mode in which the automatic steering travel is not performed; and a storage section that stores orientation-related information related to the reference orientation when the control mode of the travel control section is the first mode, wherein the travel control section is able to perform the automatic steering travel using the reference orientation based on the orientation-related information stored in the storage section when the control mode of the travel control section is switched from the first mode to the second mode and further from the second mode to the first mode by the mode switching section.

[0026] As a means for solving the above-described problem, the method of the present application is characterized by a method that controls an agricultural work machine, including: a first step of setting a control mode of a travel control section that controls travel of the agricultural work machine to a first mode in which automatic steering travel using a reference orientation is possible; a second step of storing orientation-related information related to the reference orientation in a storage section; a third step of switching the control mode of the travel control section to a second mode in which the automatic steering travel is not performed after the first step; a fourth step of switching the control mode of the travel control section to the first mode after the third step; and a fifth step of the travel control section performing the automatic steering travel using the reference orientation based on the orientation-related information stored in the storage section after the fourth step.

[0027] As a means for solving the above-described problem, the program of the present application is characterized by a program for controlling an agricultural work machine, which causes a computer to execute: a first function of setting a control mode of a travel control section that controls travel of the agricultural work machine to a first mode in which automatic steering travel using a reference orientation is possible; a second function of storing, in a storage section, orientation-related information related to the reference orientation; a third function of switching the control mode of the travel control section to a second mode in which the automatic steering travel is not performed, after the first function is executed; a fourth function of switching the control mode of the travel control section to the first mode, after the third function is executed; and a fifth function of performing the automatic steering travel using the reference orientation based on the orientation-related information stored in the storage section, after the fourth function is executed.

[0028] As a means for solving the above-described problem, the recording medium of the present application is characterized by a recording medium in which a program for controlling an agricultural work machine is recorded, which causes a computer to execute: a first function of setting a control mode of a travel control section that controls travel of the agricultural work machine to a first mode in which automatic steering travel using a reference orientation is possible; a second function of storing, in a storage section, orientation-related information related to the reference orientation; a third function of switching the control mode of the travel control section to a second mode in which the automatic steering travel is not performed, after the first function is executed; a fourth function of switching the control mode of the travel control section to the first mode, after the third function is executed; and a fifth function of performing the automatic steering travel using the reference orientation based on the orientation-related information stored in the storage section, after the fourth function is executed.

[0029] a third function of switching the control mode of the travel control section to a second mode in which the automatic steering travel is not performed, after the first function is executed; a fourth function of switching the control mode of the travel control section to the first mode, after the third function is executed; and a fifth function of performing the automatic steering travel using the reference orientation based on the orientation-related information stored in the storage section, after the fourth function is executed.

[0030] According to the present configuration, the orientation-related information related to the reference orientation when the control mode of the travel control section is the first mode is stored in the storage section, and when the control mode of the travel control section is again the first mode, the automatic steering travel can be performed using the orientation-related information. Thus, there is no need for a re-generation of the reference orientation or the like, and the work burden when the automatic steering travel is started again can be reduced. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is a left side view of the combine harvester.

[0032] Figure 2 is a block diagram showing the configuration related to control.

[0033] Figure 3 is a flowchart of a startup routine.

[0034] Figure 4 is a flowchart of a main routine.

[0035] Figure 5 This is a flowchart of the routine for obtaining the reference bearing.

[0036] Figure 6 This is a flowchart of the automatic redirection start routine.

[0037] Figure 7 This is a flowchart of the automatic redirection and termination routine. Detailed Implementation

[0038] Hereinafter, a conventional combine harvester, which is an embodiment of the agricultural harvester of the present invention, will be described based on the accompanying drawings. Furthermore, the present invention is not limited to the following embodiments, and various modifications can be made without departing from its spirit.

[0039] In addition, unless otherwise specified, the following instructions will be... Figure 1 The direction of arrow F is taken as "forward", the direction of arrow B as "backward", the direction of arrow U as "up", and the direction of arrow D as "down".

[0040] [The overall structure of a combine harvester]

[0041] like Figure 1 As shown, a conventional combine harvester 1 (equivalent to the "agricultural machine" of this invention) includes a body 10, a cutting section H (an example of an operating device), a threshing device 13, a grain bin 14, a conveying section 16, a grain discharge device 18, and a satellite positioning module 80. Furthermore, the body 10 includes a tracked traveling device 11, a driving section 12, and an engine EG.

[0042] The travel unit 11 is located in the lower part of the combine harvester 1. Furthermore, the travel unit 11 is driven by power from the engine EG. Moreover, the combine harvester 1 is capable of self-propelled operation via the travel unit 11.

[0043] Additionally, the driver's unit 12, threshing device 13, and grain bin 14 are mounted on the upper side of the traveling unit 11. The operator monitoring the operation of the combine harvester 1 can sit in the driver's unit 12.

[0044] The grain discharge device 18 is located on the upper side of the grain bin 14. In addition, the satellite positioning module 80 is mounted on the upper surface of the driver's unit 12.

[0045] The harvesting section H is located at the front of the combine harvester 1. Furthermore, the conveying section 16 is located at the rear of the harvesting section H. The harvesting section H also includes a cutter 15 and a reel 17.

[0046] The cutter 15 cuts the planted rice stalks in the field. Meanwhile, the reel 17, driven by rotating around its shaft 17b along the left-right direction of the machine body, rakes together the planted rice stalks to be harvested. The cut rice stalks from the cutter 15 are then conveyed to the conveyor unit 16.

[0047] With this configuration, the harvesting section H harvests the grain from the field. Furthermore, the combine harvester 1 is capable of harvesting while simultaneously using the cutting blade 15 to cut the planted rice stalks and moving using the travel device 11.

[0048] The harvested rice stalks from the harvesting section H are conveyed to the rear of the machine by the conveying section 16. The harvested rice stalks are then conveyed to the threshing unit 13.

[0049] In the threshing device 13, the harvested rice stalks are threshed. The rice grains obtained after threshing are stored in the grain bin 14. The rice grains stored in the grain bin 14 are discharged out of the machine by the grain discharge device 18 as needed.

[0050] That is, the combine harvester 1 has a grain bin 14 for storing the grain harvested by the harvesting section H.

[0051] In addition, such as Figure 1 As shown, a display input device 4 (an example of an input device) is provided on the driver's unit 12. The display input device 4 is configured to display various information and to accept human operation. The display input device 4 is, for example, a touch panel type liquid crystal display device. In this embodiment, the display input device 4 is fixed to the driver's unit 12. However, the present invention is not limited to this, and the display input device 4 may also be configured to be detachable from the driver's unit 12, or the display input device 4 may be located outside the combine harvester 1.

[0052] Here, the combine harvester 1 is configured to perform both manual and automatic steering. Manual steering refers to driving by manual steering by the operator. Automatic steering refers to driving forward automatically. In particular, in this embodiment, automatic steering refers to driving forward automatically without large directional changes such as α-turns or U-turns.

[0053] In addition, a main gear shift lever 19 is provided in the driver's compartment 12. When the combine harvester 1 is in manual or automatic steering mode, the speed of the combine harvester 1 changes if the operator operates the main gear shift lever 19. That is, when the combine harvester 1 is in manual or automatic steering mode, the operator can change the speed of the combine harvester 1 by operating the main gear shift lever 19.

[0054] Furthermore, a steering control device 41 is provided in the driver's section 12. This configuration allows the combine harvester 1 to be manually steered; if the operator operates the steering control device 41, a speed difference is created between the left and right tracks in the traveling gear 11. This causes the combine harvester 1 to rotate. In other words, when the combine harvester 1 is manually steered, the operator operates the steering control device 41, thereby enabling the combine harvester 1 to be steered.

[0055] That is, the combine harvester 1 is equipped with a steering device 41 for steering.

[0056] Furthermore, the combine harvester 1 is configured not to transmit operating force to the steering device 41 via the travel unit 11. That is, the steering device 41 is not mechanically linked to the travel unit 11. If the operator operates the steering device 41, the movement of the steering device 41 is sensed by an electro-sensor, and based on this sensing, the left and right tracks in the travel unit 11 are controlled. Thus, if a speed difference is generated between the left and right tracks, the combine harvester 1 rotates. Conversely, when there is no speed difference between the left and right tracks, the combine harvester 1 travels in a straight line.

[0057] [Components related to power transmission]

[0058] like Figure 2 As shown, the combine harvester 1 includes a threshing clutch C1 and a cutting clutch C2. Power output from the engine EG is distributed to the travel unit 11 and the threshing clutch C1.

[0059] The traveling device 11 includes a main transmission 11a and a secondary transmission 11b. In this embodiment, the main transmission 11a is a hydrostatic continuously variable transmission (CVT). The secondary transmission 11b is a gear-switching transmission, configured to switch between high-speed and low-speed states. The high-speed state is for movement (non-operational), and the low-speed state is for operation.

[0060] The power input from the engine EG to the travel unit 11 is changed through the main transmission 11a and the auxiliary transmission 11b. Then, the power through the changed transmission drives the tracks of the travel unit 11, enabling the combine harvester 1 to move.

[0061] The main shift lever 19 is configured to swing in the forward and backward directions. The movable area of ​​the main shift lever 19 is divided into three positions: a forward operating position, a neutral position, and a reverse operating position. Furthermore, by operating the main shift lever 19, the shifting state of the main transmission 11a changes.

[0062] When the main shift lever 19 is positioned in the forward operation position, the main transmission 11a is in a forward transmission state. At this time, the more the main shift lever 19 is tilted to the front side, the higher the speed of the power output from the main transmission 11a becomes.

[0063] When the main shift lever 19 is positioned in the neutral position, the main transmission 11a is in a neutral state. At this time, the main transmission 11a does not output power.

[0064] When the main shift lever 19 is positioned in the reverse operation position, the main transmission 11a is in a reverse transmission state. At this time, the more the main shift lever 19 is tilted to the rear side, the higher the speed of the power output from the main transmission 11a becomes.

[0065] In addition, the main shift lever 19 is provided with a sub shift switch 42 Figure 2 Each time the sub shift switch 42 is pressed, the transmission state of the sub transmission 11b is switched between a high speed state and a low speed state.

[0066] Figure 2 The threshing clutch Cl is configured to be able to change states between an on state in which power is transmitted and an off state in which power is not transmitted.

[0067] When the threshing clutch Cl is in the on state, power from the engine EG is transmitted to the threshing device 13 and the reaping clutch C2. Thereby, the threshing device 13 is driven.

[0068] In addition, when the threshing clutch Cl is in the off state, power from the engine EG is not transmitted to either of the threshing device 13 and the reaping clutch C2. At this time, the threshing device 13 is not driven.

[0069] In addition, the reaping clutch C2 is configured to be able to change states between an on state in which power is transmitted and an off state in which power is not transmitted.

[0070] When both the threshing clutch Cl and the reaping clutch C2 are in the on state, power from the engine EG is transmitted to the reaping portion H. Thereby, the reaping portion H is driven.

[0071] In addition, when the reaping clutch C2 is in the off state, power from the engine EG is not transmitted to the reaping portion H. At this time, the reaping portion H is not driven.

[0072] In addition, when the threshing clutch Cl is in the off state, power from the engine EG is not transmitted to the reaping portion H. At this time, the reaping portion H is not driven.

[0073] As Figure 2As shown, the combine harvester 1 includes a threshing stalk 43. The threshing stalk 43 is located in the driver's section 12. The threshing stalk 43 is configured to swing in the forward and backward direction. Furthermore, the threshing stalk 43 is configured to switch between a first operating position, a second operating position, and a third operating position.

[0074] By operating the threshing rod 43, the engagement and disengagement states of the threshing clutch C1 and the threshing clutch C2 are changed.

[0075] When the first operating position of the threshing bar 43 is the operating position, both the threshing clutch C1 and the cutting clutch C2 are engaged.

[0076] When the operation position of the threshing bar 43 is the second operation position, the threshing clutch C1 is engaged and the cutting clutch C2 is disengaged.

[0077] When the threshing bar 43 is in the third operating position, both the threshing clutch C1 and the cutting clutch C2 are in the disengaged state.

[0078] like Figure 2 As shown, the combine harvester 1 includes a steering control device 41. The steering control device 41 is configured to be able to swing in the left and right directions.

[0079] The following is a reference. Figure 2 The block diagram below explains the configuration related to the control of the combine harvester 1. The control unit CU of the combine harvester 1 includes a control unit CS and a storage unit ME.

[0080] In detail, the control unit CU, also known as the ECU, has a memory (HDD, non-volatile RAM, etc. - illustration omitted) for storing the programs corresponding to the functional units, and a CPU (illustrated omitted) for executing the programs. The program is executed by the CPU, thereby realizing the functions of each functional unit.

[0081] The control unit CS includes a vehicle position calculation unit 21, a driving control unit 24, a vehicle orientation calculation unit 25, a mode switching unit 26, a reference orientation calculation unit 27, an automatic steering control unit 28, and a driving path calculation unit 29.

[0082] The storage device ME includes a status flag storage unit 51 and a location-related information storage unit 52 (an example of a storage unit). The status flag storage unit 51 and the location-related information storage unit 52 are provided in elements or areas (e.g., non-volatile RAM) that retain storage even when the power supply to the control device CU in the storage device ME is cut off.

[0083] The state flag storage section 51 stores an automatic steering in progress flag and a B-point standby in progress flag. The automatic steering in progress flag and the B-point standby in progress flag take two values of ON and OFF.

[0084] The orientation-related information storage section 52 stores orientation-related information related to the reference orientation when the control mode of the travel control section 24 is the first mode.

[0085] Here, in the present embodiment, an RTK-GPS (Real Time Kinematic GPS) is employed. Figure 1 The satellite positioning module 80 shown receives a GPS signal from an artificial satellite GS used in a GPS (Global Positioning System) and positioning data transmitted from a reference station (not shown) provided at a known position. Then, as shown in FIG. 2, the satellite positioning module 80 sends the positioning data based on the received GPS signal and the positioning data received from the reference station to the vehicle position calculation section 21. Figure 2

[0086] The vehicle position calculation section 21 calculates the position coordinates of the combine harvester 1 over time based on the positioning data received from the satellite positioning module 80. The calculated position of the combine harvester 1 over time is sent to the coordinate travel control section 24.

[0087] Generally, in RTK-GPS positioning, the distance between a GPS satellite and a GPS receiver is set as N called an integer value bias is found. By this, high-precision positioning can be performed. In addition, λ is the wavelength of a carrier wave. In addition, is the decimal part of the wave number between the GPS satellite and the GPS receiver. In addition, c is the speed of wave propagation, dT is the clock error of the GPS satellite, and dt is the clock error of the GPS receiver.

[0088] Furthermore, the state in which this N is decided as an integer solution is called FIX. In addition, the positioning result at this time is called a FIX solution.

[0089] In addition, the state in which this N is not decided as an integer solution is called FLOAT. The positioning result at this time is called a FLOAT solution. The FIX solution is centimeter precision, and in contrast, the FLOAT solution is precision of several tens of centimeters to several meters.

[0090] Hereinafter, the state in which the FIX solution is obtained in the RTK-GPS positioning of the satellite positioning module 80 and the vehicle position calculation section 21 will be sometimes described as a "high-precision state".

[0091] ​In addition, the satellite positioning module 80 can not utilize GPS. For example, the satellite positioning module 80 can utilize GNSS (GLONASS, Galileo, michibiki, BeiDou, etc.) other than GPS.

[0092] In addition, as shown in FIG. 1, the combine harvester 1 is provided with an inertial measurement device 81. In addition, the control section CS has a vehicle orientation calculation section 25. Figure 2

[0093] The inertial measurement device 81 senses the angular velocity of the yaw angle of the machine body 10 and the accelerations in the directions of three axes that are orthogonal to each other over time. The sensing results of the inertial measurement device 81 are sent to the vehicle orientation calculation section 25.

[0094] The vehicle orientation calculation section 25 receives the position coordinates of the combine harvester 1 from the vehicle position calculation section 21. Also, the vehicle orientation calculation section 25 calculates the attitude orientation of the combine harvester 1 on the basis of the sensing results of the inertial measurement device 81 and the position coordinates of the combine harvester 1.

[0095] More specifically, first, in the travel of the combine harvester 1, the vehicle orientation calculation section 25 calculates the initial attitude orientation on the basis of the position coordinates of the combine harvester 1 at the present time and the position coordinates of the combine harvester 1 at the place just traveled.

[0096] Next, if the combine harvester 1 travels for a certain time from the calculation of the initial attitude orientation, the vehicle orientation calculation section 25 calculates the amount of change in the attitude orientation by integrating the angular velocity sensed by the inertial measurement device 81 between the travel for the certain time.

[0097] Then, by adding the amount of change in the attitude orientation thus calculated to the initial attitude orientation, the vehicle orientation calculation section 25 updates the calculation result of the attitude orientation. Thereafter, the amount of change in the attitude orientation is similarly calculated every certain time, and the calculation result of the attitude orientation is sequentially updated.

[0098] However, the angular velocity sensed by the inertial measurement device 81 contains a measurement error (drift). This measurement error increases as time passes, and thus the error contained in the calculated amount of change in the attitude orientation becomes large every time the amount of change in the attitude orientation is calculated.

[0099] ​Therefore, the vehicle's orientation calculation unit 25 is configured to correct the attitude orientation calculated based on the sensing results of the inertial measurement unit 81 based on the orientation information calculated based on the changes in the position coordinates of the combine harvester 1. Furthermore, the orientation information calculated based on the changes in the position coordinates of the combine harvester 1 becomes highly accurate only when a FIX solution is obtained from the RTK-GPS positioning of the satellite positioning module 80 and the vehicle's orientation calculation unit 21, and the combine harvester 1 has traveled straight for several meters or more. Therefore, the vehicle's orientation calculation unit 25 only performs correction based on the orientation information calculated from the changes in the position coordinates of the combine harvester 1 when a FIX solution is obtained from the RTK-GPS positioning of the satellite positioning module 80 and the vehicle's orientation calculation unit 21, and the combine harvester 1 has traveled straight for several meters or more.

[0100] In addition, in this specification, the state in which the combine harvester 1 has obtained a FIX solution in the RTK-GPS positioning of the satellite positioning module 80 and the vehicle position calculation unit 21, and has traveled straight for more than a few meters, and the state in which high-precision orientation information is calculated based on the changes in the position coordinates of the combine harvester 1, is sometimes recorded as the high-precision orientation calculation state.

[0101] Based on the above-described configuration, the vehicle orientation calculation unit 25 is capable of calculating the orientation of the combine harvester 1 with high precision. The orientation of the combine harvester 1 calculated by the vehicle orientation calculation unit 25 is then sent to the driving control unit 24.

[0102] The driving control unit 24 is configured to control the driving device 11. The driving control unit 24 controls the driving of the machine body 10 by controlling the driving device 11.

[0103] That is, the combine harvester 1 has a driving control unit 24 that controls the driving of the machine body 10, which has a driving device 11.

[0104] [Components related to the lifting and lowering operation of the cutting section]

[0105] like Figure 1 As shown, the combine harvester 1 is equipped with a cutting cylinder 15A. Additionally, as... Figure 2 As shown, the combine harvester 1 is equipped with a cutting and lifting device 44.

[0106] The cutting and lifting device 44 is located in the driver's unit 12. The control unit CS is configured to control the extension and retraction of the cutting cylinder 15A according to the operator's operation of the cutting and lifting device 44.

[0107] If the cutting cylinder 15A extends, the conveying section 16 and the cutting section H swing together in the direction in which the cutting section H rises. As a result, the cutting section H rises relative to the machine body 10.

[0108] In addition, if the cutting cylinder 15A contracts, the conveying section 16 and the cutting section H swing integrally downward with respect to the cutting section H. Thus, the cutting section H is lowered with respect to the body 10.

[0109] With this configuration, the operator can perform the lifting operation of the cutting section H by operating the cutting lifting operation tool 44.

[0110] Configuration Related to Automatic Steering Travel

[0111] The mode switching section 26 switches the control mode of the travel control section 24 between an automatic steering mode (one example of the first mode) in which automatic steering travel can be performed using the reference orientation and a non-automatic steering mode (the second mode) in which automatic steering travel is not performed.

[0112] In the automatic steering mode, manual steering travel for setting the reference orientation, preliminary manual steering travel before the start of automatic steering travel, the start and end of automatic steering travel based on the operator's operation, the start and end of automatic steering travel, turning travel in manual steering between automatic steering travels, and the like are performed.

[0113] Hereinafter, the automatic steering travel will be described in detail. The automatic steering travel is travel in which an automatic steering target line is generated and determined based on the set reference orientation, and the body 10 automatically steers along the determined automatic steering target line. The setting of the reference orientation is performed before the automatic steering.

[0114] When the reference orientation is set (the reference orientation acquisition routine described later), a button described as "A point registration" (hereinafter referred to as an "A point registration button") is displayed on the screen of the display input device 4. If the A point registration button is touch-operated by the operator, a prescribed signal is sent to the reference orientation calculation section 27. The reference orientation calculation section 27 calculates the position coordinates of the combine harvester 1 at the time when the A point registration button is touch-operated, based on the time-series position coordinates of the combine harvester 1 received from the own-vehicle position calculation section 21, according to the reception of the signal. Hereinafter, the position coordinates will be referred to as "A point coordinates", and the position corresponding to the A point coordinates will be simply referred to as "A point". The position coordinates calculated at this time (A point coordinates) are stored in the orientation-related information storage section 52 as orientation-related information.

[0115] If the combine harvester 1 is moved by being manually steered to move away from the A point by a prescribed distance, a button described as "B point registration" (hereinafter referred to as "B point registration button") is displayed on the screen of the display input device 4, and if the B point registration button is touched by the operator, a prescribed signal is sent to the reference direction calculating section 27. The reference direction calculating section 27 calculates the position coordinates of the combine harvester 1 at the time when the B point registration button is touched based on the time-series position coordinates of the combine harvester 1 received from the own-vehicle position calculating section 21 in accordance with the reception of the signal. Hereinafter, the position coordinates will be referred to as "B point coordinates", and the position corresponding to the B point coordinates will be simply referred to as "B point". The position coordinates (B point coordinates) calculated at this time are stored in the direction-related information storage section 52 as direction-related information.

[0116] Then, the reference direction calculating section 27 determines the reference direction for automatic steering based on the A point coordinates and the B point coordinates. More specifically, the reference direction calculating section 27 calculates the direction of the straight line from the A point toward the B point, and determines the direction as the reference direction. The reference direction calculating section 27 stores the determined reference direction in the direction-related information storage section 52 as direction-related information.

[0117] The form of the reference direction is not particularly limited, but for example, it can be a form based on the directions of east, west, south and north (for example, "north", "north 27 degrees east", and the like), or it can be a unit vector in a coordinate system.

[0118] In addition, the reference direction can not have a direction from one to another. For example, the reference direction can indicate the slope of a straight line in a coordinate system (for example, the slope of the straight line passing through the A point and the B point), or it can indicate the straight line itself in a coordinate system (for example, the straight line passing through the A point and the B point), or it can indicate the direction based on the directions of east, west, south and north (for example, "north-south direction", "east-west direction", and the like).

[0119] After the reference direction calculating section 27 calculates the reference direction, the travel path calculating section 29 always calculates a travel line that passes through the center of the harvesting width of the cutting portion H and is in the direction of the reference direction. That is, the travel line is calculated based on the reference direction.

[0120] Furthermore, if the condition for starting automatic steering (described later) is satisfied, a state in which the automatic steering button can be operated is reached. If the automatic steering button is operated by the operator, a prescribed signal is sent to the automatic steering control section 28. The automatic steering control section 28 fixes the travel line calculated at that time in accordance with the reception of the signal. The fixed travel line becomes an automatic steering target line, and is sent from the automatic steering control section 28 to the travel control section 24.

[0121] The driving control unit 24 controls the driving of the combine harvester 1 based on the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21, the attitude orientation of the combine harvester 1 received from the vehicle orientation calculation unit 25, and the automatic steering target line received from the automatic steering control unit 28. More specifically, the driving control unit 24 controls the driving of the machine body 10 so as to perform harvesting driving by automatically steering along the automatic steering target line.

[0122] Alternatively, the driving control unit 24 can be configured to control the movement of the machine body 10 based on a reference orientation, instead of an automatic steering target line. In this case, the driving control unit 24 can also be configured to control the movement of the machine body 10 so that the attitude and orientation of the combine harvester 1 are consistent with or parallel to the reference orientation.

[0123] [Control Routine]

[0124] In the combine harvester 1, the start-up routine is executed by the control unit CS of the control device CU. Figure 3 ), main routine ( Figure 4 ), Reference azimuth acquisition routine ( Figure 5 Automatic steering start routine ( Figure 6 ) and automatic steering termination routine ( Figure 7 ). The following is a reference. Figure 4 -7 process Figure 1 The explanations will proceed in turn.

[0125] [Startup routine]

[0126] The control unit CS continues to monitor the operation of the start button (not shown) of the combine harvester 1 (S101: No).

[0127] When the start button is pressed (S101: Yes), the control unit CS obtains the value of the automatic steering flag stored in the status flag storage unit 51 (S102).

[0128] When the automatic steering indicator is ON (S102: Yes), the control unit CS causes the display input device 4 to display the string "Continue automatic steering in interruption?", the Yes button, and the No button (S103).

[0129] Then, the control unit CS changes the value of the automatic steering flag to OFF and stores it in the status flag storage unit 51 (S104).

[0130] The control section CS monitors the operation input to the display input device 4 (S105). If the Yes button is touched, that is, if the operation input to continue the automatic steering is performed (S105: Yes), the mode switching section 26 switches the travel control section 24 from the non-automatic steering mode to the automatic steering mode (S106).

[0131] The automatic steering control section 28 reads out the reference orientation used for the previous automatic steering travel from the orientation-related information storage section 52, and sets it as the reference orientation to be used for the next automatic steering travel (S107). Then, the control section CS starts S408 of the automatic steering start routine (S108). Figure 6

[0132] In the case where the automatic steering in progress flag is OFF (S102: OFF), the control section CS acquires the value of the B point standby flag stored in the state flag storage section 51 (S108).

[0133] In the case where the value of the B point standby flag is ON (S108: ON), the control section CS causes the screen of the display input device 4 to display the string "Continue the B point registration in progress?", the Yes button, and the No button (S109).

[0134] Then, the control section CS changes the value of the B point standby flag to OFF, and stores it in the state flag storage section 51 (S110).

[0135] The control section CS monitors the operation input to the display input device 4 (S111). If the Yes button is touched, that is, if the operation input to continue the B point registration is performed (S111: Yes), the mode switching section 26 switches the travel control section 24 from the non-automatic steering mode to the automatic steering mode (S112).

[0136] The automatic steering control section 28 reads out the A point coordinates registered in the reference orientation acquisition routine in the case of interruption (S113). Then, the control section CS starts S304 of the reference orientation acquisition routine (S114). Figure 5

[0137] If the No button is touched in S105, that is, if the operation input not to continue the automatic steering is performed (S105: No), the B point standby flag is OFF (S108: OFF), and the No button is touched in S111, that is, if the operation input not to continue the B point registration is performed (S111: No), the control section CS starts the main routine.

[0138] [Main routine]

[0139] ​​The control section CS waits for an operation input to switch to the automatic steering mode (S201: No). For example, the control section CS causes the screen of the display input device 4 to display a button on which the word "keep straight" is written (hereinafter referred to as a "keep straight button"), and waits for a touch operation on the button. If the keep straight button is touched, that is, an operation input to switch to the automatic steering mode is made (S201: Yes), the mode switching section 26 switches the travel control section 24 from the non-automatic steering mode to the automatic steering mode (S202).

[0140] The automatic steering control section 28 refers to the position-related information stored in the position-related information storage section 52, and determines whether there is position-related information (reference position, A-point coordinates, B-point coordinates) used in automatic steering travel in the previous automatic steering mode (whether stored in the position-related information storage section 52) (S203).

[0141] In the case where there is previous position-related information (S203: Yes), the automatic steering control section 28 determines whether the same base station as when the position-related information was generated (when the A-point coordinates and the B-point coordinates were acquired and when the reference position using them was generated) is in contact with the field (S204).

[0142] In the case where there is the same base station (S204: Yes), the automatic steering control section 28 causes the screen of the display input device 4 to display a button on which "previous A / B" is written (hereinafter referred to as a "previous AB button") (S205).

[0143] In the case where there is no same base station (S204: No), the automatic steering control section 28 causes the screen of the display input device 4 to display a button on which "previous reference" is written (hereinafter referred to as a "previous reference button") (S206).

[0144] After S205 ends, after S206 ends, and in the case where there is no previous position-related information (S203: Yes), the automatic steering control section 28 causes the screen of the display input device 4 to display a button on which "A-point registration" is written (hereinafter referred to as an "A-point registration button") (S207).

[0145] The automatic steering control section 28 monitors the operation input to the display input device 4 (S208: No, S209: No, S211: No).

[0146] In the case where the A-point registration button is touched (S208: Yes), the control section CS starts the reference position acquisition routine (S210). Figure 5

[0147] ​In the case where the previous reference button is touched (S209: Yes), the automatic steering control section 28 reads out the previous reference azimuth (reference azimuth-related information) from the azimuth-related information storage section 52, and sets it as the reference azimuth to be used for the next automatic steering travel (S210).

[0148] In the case where the previous AB button is touched (S211: Yes), the reference azimuth calculation section 27 reads out the previous A-point coordinates and B-point coordinates (reference azimuth-related information) from the azimuth-related information storage section 52, and calculates the reference azimuth based on the read A-point coordinates and B-point coordinates (S212). The automatic steering control section 28 sets the calculated reference azimuth as the reference azimuth to be used for the next automatic steering travel.

[0149] After S210 ends and after S212 ends, the control section CS starts the automatic steering start routine (S213). Figure 6 ).

[0150] 〔Reference Azimuth Acquisition Routine〕

[0151] The reference azimuth calculation section 27 calculates the body position of the combine harvester 1 at the time when the A-point registration button is touched (S208 of the main routine) based on the time-series position coordinates of the combine harvester 1 received from the own-vehicle position calculation section 21 (S301).

[0152] The reference azimuth calculation section 27 stores the position coordinates calculated in S301 as the A-point coordinates (azimuth-related information) in the azimuth-related information storage section 52 (S302).

[0153] The reference azimuth calculation section 27 changes the B-point standby flag to ON, and stores it in the state flag storage section 51 (S303).

[0154] The automatic steering control section 28 causes the screen of the display input device 4 to display the position of the A-point (S304), and causes the travel trajectory to be displayed on the screen of the display input device 4 in conjunction with the travel of the combine harvester 1 (S305).

[0155] The reference azimuth calculation section 27 determines whether or not it is in the B-point registrable state (S306). The B-point registrable state is a state in which the combine harvester 1 has traveled a distance of a predetermined distance or more (for example, 5 m) from the A-point. The condition for the B-point registrable state is not limited to this. For example, it can be a condition that a FIX solution is obtained in the RTK-GPS positioning of the satellite positioning module 80 and the own-vehicle position calculation section 21.

[0156] In the case where it is not the B-point registrable state (S306: No), steps S304 and S305 are executed again.

[0157] In the case where it is the B-point registrable state (S306: Yes), the automatic steering control section 28 causes the screen of the display input device 4 to display a button described as "B-point registration" (hereinafter referred to as "B-point registration button") (S307), and waits for a touch of the B-point registration button (S308: No).

[0158] In the case where the B-point registration button is touched (S308: Yes), the reference orientation calculating section 27 calculates the body position of the combine harvester 1 at the time of the touch operation of the B-point registration button, on the basis of the time-series position coordinates of the combine harvester 1 received from the own-vehicle position calculating section 21 (S309).

[0159] The automatic steering control section 28 causes the screen of the display input device 4 to display the position of the A-point (S310).

[0160] The reference orientation calculating section 27 stores the position coordinates calculated in S309 as B-point coordinates (orientation-related information) in the orientation-related information storage section 52 (S311).

[0161] The reference orientation calculating section 27 changes the B-point standby flag to OFF and stores it in the state flag storage section 51 (S312).

[0162] The reference orientation calculating section 27 calculates the reference orientation on the basis of the A-point coordinates calculated in S301 and the B-point coordinates calculated in S309 (S313).

[0163] The reference orientation calculating section 27 stores the reference orientation calculated in S313 as orientation-related information in the orientation-related information storage section 52 (S314). Then, the control section CS starts the automatic steering start routine.

[0164] [Automatic steering start routine]

[0165] The automatic steering control section 28 acquires information indicating the operation position of the main shift lever 19, and determines whether or not the main shift lever 19 is located at the forward operation position (S401). In the case where the main shift lever 19 is not located at the forward operation position (S401: Yes), step S401 is executed again.

[0166] In the case where the main shift lever 19 is located at the forward operation position (S401: Yes), the automatic steering control section 28 acquires information indicating the state of the auxiliary transmission 1 lb, and determines whether or not the auxiliary transmission 1 lb is in the work shift state (low speed state) (S402). In the case where the auxiliary transmission 1 lb is not in the work shift state (low speed state) (S402: No), step S401 is executed again.

[0167] When the auxiliary transmission device 11b is in the working transmission state (low speed state) (S402: Yes), the automatic steering control unit 28 obtains information from the vehicle position calculation unit 21 indicating whether a FIX solution has been obtained, and determines whether a FIX solution has been obtained (S403). If no FIX solution has been obtained (S403: No), step S401 is executed again.

[0168] If the FIX solution is obtained (S403: Yes), the automatic steering control unit 28 obtains information indicating the operating position of the threshing bar 43 and determines whether the threshing clutch C2 is engaged (S404). If the threshing clutch C2 is not engaged (S404: No), step S401 is executed again.

[0169] When the cutting clutch C2 is engaged (S404: Yes), the automatic steering control unit 28 obtains information indicating whether the cutting unit H is in the working position and determines whether the cutting unit H is in the working position (S405). If the cutting unit H is not in the working position (S405: No), step S401 is executed again.

[0170] Here, as Figure 2 As shown, the combine harvester 1 includes a lifting sensor 54. The lifting sensor 54 senses the extension and retraction state of the cutting cylinder 15A. The sensing result of the lifting sensor 54 is sent to the control device CU. Furthermore, the automatic steering control unit 28 is configured to determine whether the cutting section H is in the working position based on the sensing result of the lifting sensor 54.

[0171] In addition, in this embodiment, the amount of descent of the cutting section H from its highest position is above a predetermined value, which is equivalent to the cutting section H being in the working position.

[0172] When the cutting section H is in the working position (S405: Yes), the automatic steering control unit 28 changes the automatic steering button (not shown) to an operable state (S406). The automatic steering button is, for example, a button provided with the display input device 4. In this case, when operable, the light-emitting element built into the button illuminates; when not operable, the light-emitting element is turned off. The automatic steering button is, for example, a button displayed on the screen of the display input device 4 labeled "Automatic Steering". In this case, when operable, the text on the button is dark; when not operable, the text on the button is light.

[0173] That is, if all options S401-S405 are "Yes", then execute S406 to begin automatic steering. Alternatively, one or more options S401-S405 can be omitted.

[0174] The automatic steering control section 28 waits for the operation of the automatic steering button (S407: No).

[0175] In the case where the automatic steering button is operated (S407: Yes), the automatic steering control section 28 determines the travel line calculated by the travel path calculation section 29 at that time as the automatic steering target line (S408).

[0176] The travel control section 24 starts automatic steering travel based on the automatic steering target line determined in S408 (S409).

[0177] The automatic steering control section 28 changes the automatic steering in progress flag to ON and stores it in the state flag storage section 51 (S410).

[0178] The automatic steering control section 28 stores the current reference orientation as the orientation-related information in the orientation-related information storage section 52 (S411). Then, the control section CS starts the automatic steering end routine.

[0179] 〔Automatic Steering End Routine〕

[0180] The automatic steering control section 28 waits for the operation of the automatic steering button (S501).

[0181] In the case where the automatic steering button is not operated (S501: No), the automatic steering control section 28 acquires information indicating the operation position of the main shift lever 19 and determines whether the main shift lever 19 is positioned at the neutral position or the reverse operation position (S501).

[0182] In the case where the main shift lever 19 is not positioned at the neutral position or the reverse operation position (S502: No), the automatic steering control section 28 acquires information indicating the state of the auxiliary transmission 1 lb and determines whether the auxiliary transmission 1 lb is in the travel use shift state (high speed state) (S503).

[0183] In the case where the auxiliary transmission 1 lb is not in the travel use shift state (high speed state) (S503: No), the automatic steering control section 28 acquires information indicating whether the FLOAT solution is obtained from the host vehicle position calculation section 21 and determines whether the FLOAT solution is obtained (S504).

[0184] In the case where the FLOAT solution is not obtained (S504: No), the automatic steering control section 28 acquires information indicating the operation position of the harvesting clutch lever 43 and determines whether the harvesting clutch C2 is in the cut-off state (S505).

[0185] In the case where the cutting clutch C2 is not in the disengaged state (S505: No), the automatic steering control section 28 acquires information indicating whether or not the cutting portion H is located in the non-working position, and determines whether or not the cutting portion H is located in the non-working position (S506). In the present embodiment, the cutting portion H is located in the non-working position when the lowering amount of the cutting portion H from the uppermost position is equal to or less than a predetermined value.

[0186] In the case where the cutting portion H is not located in the non-working position (S506: No), the automatic steering control section 28 acquires information indicating whether or not the cutting portion H has been subjected to the raising operation, and determines whether or not the cutting portion H has been subjected to the raising operation (S507).

[0187] In the case where the cutting portion H has not been subjected to the raising operation (S507: No), the automatic steering control section 28 acquires information indicating the operating state of the engine EG, and determines whether or not the engine EG is stopped (S508). In the case where the engine EG is not stopped, the step S501 is executed again.

[0188] In the case where the engine EG is stopped (S508: Yes), the travel control section 24 ends the automatic steering travel, and the mode switching section 26 switches the mode of the travel control section 24 from the automatic steering mode to the non-automatic steering mode (S509).

[0189] The control section CS continuously monitors the operation of the start key (not shown) of the combine harvester 1 (S510: No).

[0190] In the case where the start key is OFF (S510: Yes), the control section CS turns off the combine harvester 1 (control device CU) (S511). Then, the automatic steering end routine ends.

[0191] In the case where the automatic steering button is operated in S501 (S501: Yes), the automatic steering control section 28 changes the automatic steering in progress flag to OFF, and stores it in the state flag storage section 51 (S512).

[0192] After S512 ends and in the case where Yes is determined in S502 to S507, the travel control section 24 ends the automatic steering travel, and the mode switching section 26 switches the mode of the travel control section 24 from the automatic steering mode to the non-automatic steering mode (S513).

[0193] The control section CS monitors the operation of the start key (not shown) of the combine harvester 1 (S514).

[0194] In the case where the start key is OFF (S514: Yes), the control section CS turns off the combine harvester 1 (control device CU) (S511). Then, the automatic steering end routine ends.

[0195] In a case where the start key is not disconnected (S514: No), the control section CS starts the main routine.

[0196] (Action of combine harvester)

[0197] In the combine harvester 1 of the present embodiment, the control device CU is configured such that, when the mode switching section 26 switches the control mode of the travel control section 24 from the automatic steering mode (first mode) to the non-automatic steering mode (second mode) (S509, S513), and further from the non-automatic steering mode (second mode) to the automatic steering mode (first mode) (S106, S112, S202), the travel control section 24 is able to perform the automatic steering travel using the reference direction based on the direction-related information stored in the direction-related information storage section 52 (storage section) (S409).

[0198] In addition, the control device CU is configured such that, when the travel control section 24 performs the automatic steering travel

[0199] (S409), in correspondence with the mode switching section 26 switching the control mode of the travel control section 24 from the automatic steering mode (first mode) to the non-automatic steering mode (second mode) (S509, S513), the mode switching section 26 waits for a human operation from the display input device 4 (input device) (S105), in correspondence with a human operation of the content of continuing the automatic steering travel being accepted from the display input device 4 (input device), the mode switching section 26 switches the control mode of the travel control section 24 from the non-automatic steering mode (second mode) to the automatic steering mode (first mode) (S106), and the travel control section 24 performs the automatic steering travel using the reference direction based on the direction-related information stored in the direction-related information storage section 52 (storage section) (S107) (S409).

[0200] In addition, the control device CU is configured such that, in correspondence with a human operation of the content of not continuing the automatic steering travel being accepted from the display input device 4 (input device) (S105: No), the mode switching section 26 maintains the control mode of the travel control section 24 as the non-automatic steering mode (second mode), and in correspondence with a human operation of the content of performing the automatic steering travel being accepted again from the display input device 4 (input device) (S201: Yes), the mode switching section 26 switches the control mode of the travel control section 24 from the non-automatic steering mode (second mode) to the automatic steering mode (first mode) (S202), and the travel control section 24 becomes in a state of being able to perform the automatic steering travel using the reference direction based on the direction-related information stored in the direction-related information storage section 52 (storage section) (S210, S212) (S409).

[0201] Further, the control device CU is configured to, when the travel control section 24 does not execute the automatic steering travel (S501: Yes), the mode switching section 26 switches the control mode of the travel control section 24 from the automatic steering mode (first mode) to the non-automatic steering mode (second mode) (S513), the mode switching section 26 waits for a human operation from the display input device 4 (input device) (S201), in correspondence with a human operation (S201: Yes) in which the display input device 4 (input device) has accepted the content of performing the automatic steering travel again, the mode switching section 26 switches the control mode of the travel control section 24 from the non-automatic steering mode (second mode) to the automatic steering mode (first mode) (S202), and the travel control section 24 becomes in a state (S409) in which the automatic steering travel can be executed using the reference orientation (S210, S212) based on the orientation-related information stored in the orientation-related information storage section 52 (storage section).

[0202] Further, the mode switching section 26 is configured to, in correspondence with a prescribed switching condition having been satisfied (S502-S508: Yes), switch the control mode of the travel control section 24 from the automatic steering mode (first mode) to the non-automatic steering mode (second mode) (S509). The switching condition includes the engine EG having been stopped (S508). Further, the switching condition includes the cutting section H (work device) provided to the machine body 10 having been stopped (S505).

[0203] In the present embodiment, the following method is executed.

[0204] A method of controlling a work machine, including:

[0205] A first step (S202) of setting a control mode of a travel control section 24 that controls travel of the work machine to an automatic steering mode (first mode) in which automatic steering travel can be executed using a reference orientation;

[0206] A second step (S314) of storing, in an orientation-related information storage section 52 (storage section), information related to the reference orientation, that is, orientation-related information;

[0207] A third step (S509, S513) of, after the first step, switching the control mode of the travel control section 24 to a non-automatic steering mode (second mode) in which automatic steering travel is not performed;

[0208] A fourth step (S106, S112, S202) of, after the third step, switching the control mode of the travel control section 24 to the automatic steering mode (first mode); and

[0209] A fifth function (travel control section 24) is to perform automatic steering travel using a reference orientation based on the orientation-related information stored in the orientation-related information storage section 52 (storage section) after the fourth function is executed.

[0210] In the present embodiment, the programs described below are recorded in the memory (recording medium) of the control device CU and are executed.

[0211] A program for controlling an agricultural work machine, which causes a computer to execute:

[0212] A first function (mode switching section 26) is to set the control mode of the travel control section 24 that controls travel of the agricultural work machine to an automatic steering mode (first mode) in which automatic steering travel using a reference orientation is possible.

[0213] A second function (reference orientation calculation section 27) is to store information related to the reference orientation, i.e., orientation-related information, in the orientation-related information storage section 52 (storage section).

[0214] A third function (mode switching section 26) is to switch the control mode of the travel control section 24 to a non-automatic steering mode (second mode) in which automatic steering travel is not performed after the first function is executed.

[0215] A fourth function (mode switching section 26) is to switch the control mode of the travel control section 24 to the automatic steering mode (first mode) after the third function is executed.

[0216] A fifth function (travel control section 24) is to perform automatic steering travel using a reference orientation based on the orientation-related information stored in the orientation-related information storage section 52 (storage section) after the fourth function is executed.

[0217] 〔Other Embodiments〕

[0218] (1) The travel device 11 can be wheeled or half-track.

[0219] (2) The host vehicle position calculation section 21, the travel control section 24, the host vehicle orientation calculation section 25, the mode switching section 26, the reference orientation calculation section 27, the automatic steering control section 28, the travel path calculation section 29, the state flag storage section 51, and the orientation-related information storage section 52 of the control device CU can also be provided partially or entirely outside the combine harvester 1. For example, they can be provided in a computer of a management facility of a field, a management server, a cloud server, or the like. A system that enables automatic steering travel can also be constructed by the computer of the management facility, the management server, the cloud server, or the like and the combine harvester 1.

[0220] (3) The combine harvester 1 can also be configured to be able to automatically travel on the basis of automatic turning travel. The automatic travel refers to automatic travel of forward travel, reverse travel, and stop in addition to the forward travel. In detail, the automatic travel refers to automatic travel of forward travel and reverse travel with a large directional change such as an α turn, a U turn, and the like.

[0221] (4) The position-related information stored in the position-related information storage section 52 can be one of a reference position, an A-point coordinate, and a group of an A-point coordinate and a B-point coordinate, and can also be plural. In the position-related information storage section 52, plural reference positions can be stored, plural A-point coordinates can be stored, and plural groups of an A-point coordinate and a B-point coordinate can be stored.

[0222] (5) As the device that receives a human operation from an operator, a button or the like displayed on a screen of the display input device 4 can be used, a button, a switch, a lever, or the like that can be physically operated can be used, and a sound input device can be used.

[0223] (6) In the above-described embodiment, as the condition for ending the automatic turning, the operation of the automatic turning button (S501), the operation of the main shift lever 19 (S502), the state of the auxiliary transmission device lib (S503), the state of the satellite positioning (S504), the state of the cutting clutch C2 (S505), the position of the cutting portion H (S506), the presence or absence of the operation (S507), and the stop of the engine EG (S508) are exemplified. The conditions for ending the automatic turning are not limited to these. For example, the automatic turning can be ended in correspondence with the stop of the threshing device 13, which is one example of a work device.

[0224] Industrial applicability

[0225] The present application can be applied not only to a general combine harvester but also to a semi-feed type combine harvester, a tractor, a rice transplanter, a corn harvester, a potato harvester, a carrot harvester, and the like.

[0226] Explanation of reference numerals

[0227] 10: machine body

[0228] 11: traveling device

[0229] 24: travel control section

[0230] 26: mode switching section

[0231] EG: engine

Claims

1. An agricultural work machine, comprising: an engine; a travel control section that controls travel of a machine body having a travel device; a mode switching section that switches a control mode of the travel control section between a first mode in which automatic steering travel using a reference orientation is executed and manual steering travel for calculating the reference orientation is executed, and a second mode in which the automatic steering travel is not performed and the travel device is brought to a stopped state; a storage section that stores orientation-related information related to the reference orientation when the control mode of the travel control section is the first mode; an A-point registration button and a B-point registration button that can receive a human operation; a reference orientation calculation section that stores a position of the machine body when the human operation on the A-point registration button is received as A-point coordinates in the storage section, stores a position of the machine body when the human operation on the B-point registration button is received as B-point coordinates in the storage section, calculates the reference orientation based on the A-point coordinates and the B-point coordinates and stores the reference orientation in the storage section; the engine is stopped when the mode switching section waits for the human operation from an input device after the storage of the A-point coordinates, the control mode of the travel control section is switched from the first mode to the second mode, and further, the control mode of the travel control section is switched from the second mode to the first mode in correspondence with the start key being ON, the reference orientation calculation section again waits for the human operation on the B-point registration button, stores the position of the machine body when the human operation on the B-point registration button is received as the B-point coordinates in the storage section, calculates the reference orientation based on the A-point coordinates and the B-point coordinates and stores the reference orientation in the storage section, and the travel control section can execute the automatic steering travel using the reference orientation stored in the storage section.

2. The agricultural work machine according to claim 1, wherein the mode switching section switches the control mode of the travel control section from the first mode to the second mode in correspondence with the engine being stopped when the travel control section executes the automatic steering travel, and further, switches the control mode of the travel control section from the second mode to the first mode in correspondence with the start key being ON, the travel control section executes the automatic steering travel using the reference orientation used before the engine is stopped when the control mode is switched to the first mode in correspondence with the start key being ON, and further comprising: an automatic steering control section; an automatic steering button that can receive a human operation; the automatic steering control section determines a travel line through a reference point of the machine body at that time and in a direction of the reference orientation as an automatic steering target line in correspondence with the human operation on the automatic steering button being received from the automatic steering button, and the travel control section causes the machine body to travel along the automatic steering target line when the control mode is the first mode.

3. The agricultural work machine according to claim 1 or 2, further comprising: an automatic steering control section; an automatic steering button that can receive a human operation; the automatic steering control section determines a travel line through a reference point of the machine body at that time and in a direction of the reference orientation as an automatic steering target line in correspondence with the human operation on the automatic steering button being received from the automatic steering button, and the travel control section causes the machine body to travel along the automatic steering target line when the control mode is the first mode.

4. The agricultural work machine according to any one of claims 1 to 3, comprising: a travel control section that controls travel of the agricultural work machine. ​ ​ ​ ​ ​ ​ ​ ​ ​ 3. The work machine according to claim 1 or 2, characterized by ​ ​ ​ ​ ​ 4. A system for controlling an agricultural work machine having an engine, a traveling device, an A-point registration button and a B-point registration button capable of receiving a human operation, characterized by ​ ​ a mode switching section that switches a control mode of the travel control section between a first mode in which automatic steering travel using a reference orientation is executed and manual steering travel for calculating the reference orientation is executed, and a second mode in which the automatic steering travel is not executed and the travel device is brought to a stopped state, and and a storage section that stores orientation-related information related to the reference orientation when the control mode of the travel control section is the first mode, a reference orientation calculation section that stores a position of the agricultural work machine when a manual operation on the A-point registration button is accepted as an A-point coordinate in the storage section, stores a position of the agricultural work machine when a manual operation on the B-point registration button is accepted as a B-point coordinate in the storage section, calculates the reference orientation based on the A-point coordinate and the B-point coordinate and stores it in the storage section, the mode switching section stops the engine when corresponding to waiting for a manual operation from an input device after the storage of the A-point coordinate, switches the control mode of the travel control section from the first mode to the second mode, and further switches from the second mode to the first mode when corresponding to the start key being ON, the reference orientation calculation section again waits for a manual operation on the B-point registration button, stores a position of the agricultural work machine when a manual operation on the B-point registration button is accepted as the B-point coordinate in the storage section, calculates the reference orientation based on the A-point coordinate and the B-point coordinate and stores it in the storage section, the travel control section is capable of executing the automatic steering travel using the reference orientation stored in the storage section.

5. A method of controlling an agricultural work machine having an engine, a traveling device, an A-point registration button and a B-point registration button capable of receiving a human operation, characterized by, comprises: a first step of setting a control mode of a travel control section that controls travel of the agricultural work machine to a first mode in which automatic steering travel using a reference orientation is executed and manual steering travel for calculating the reference orientation is executed; a second step of storing a position of the agricultural work machine when a manual operation on the A-point registration button is accepted as an A-point coordinate in a storage section after the first step; a third step of switching to a second mode in which the automatic steering travel is not executed and the travel device is brought to a stopped state when corresponding to the engine being stopped while waiting for a manual operation from an input device after the second step; a fourth step of switching the control mode of the travel control section to the first mode when corresponding to the start key being ON after the third step; a fifth step of waiting for a manual operation on the B-point registration button and storing a position of the agricultural work machine when a manual operation on the B-point registration button is accepted as a B-point coordinate in the storage section after the fourth step; a sixth step of calculating the reference orientation based on the A-point coordinate and the B-point coordinate and storing it in the storage section after the fifth step; a seventh step of the travel control section executing the automatic steering travel using the reference orientation stored in the storage section after the sixth step.

6. A computer program product for controlling an agricultural machine, the agricultural machine having an engine, a traveling device, an A-point registration button and a B-point registration button capable of accepting manual operation, characterized in that, causes a computer to execute: A first function of setting a control mode of a travel control section that controls travel of the work machine to a first mode in which automatic travel using a reference orientation and manual travel for calculating the reference orientation are executed; A second function of storing, as A-point coordinates, a position of the work machine at a time when a human operation on the A-point registration button is accepted in a storage section after the first function is executed; A third function of switching to a second mode in which the automatic travel is not executed and the travel device is brought to a stopped state when the engine is stopped in response to waiting for a human operation from an input device after the second function is executed; A fourth function of switching the control mode of the travel control section to the first mode in response to the start key being ON after the third function is executed; A fifth function of waiting for a human operation on the B-point registration button and storing, as B-point coordinates, a position of the work machine at a time when the human operation on the B-point registration button is accepted in the storage section after the fourth function is executed; A sixth function of calculating the reference orientation based on the A-point coordinates and the B-point coordinates and storing the reference orientation in the storage section after the fifth function is executed; A seventh function of executing the automatic travel using the reference orientation stored in the storage section after the sixth function is executed.

7. A recording medium containing a program for controlling an agricultural machine, the agricultural machine having an engine, a traveling mechanism, an A-point registration button and a B-point registration button capable of accepting manual operation, characterized in that, The program causes a computer to execute: A first function of setting a control mode of a travel control section that controls travel of the work machine to a first mode in which automatic travel using a reference orientation and manual travel for calculating the reference orientation are executed; A second function of storing, as A-point coordinates, a position of the work machine at a time when a human operation on the A-point registration button is accepted in a storage section after the first function is executed; A third function of switching to a second mode in which the automatic travel is not executed and the travel device is brought to a stopped state when the engine is stopped in response to waiting for a human operation from an input device after the second function is executed; A fourth function of switching the control mode of the travel control section to the first mode in response to the start key being ON after the third function is executed; A fifth function of waiting for a human operation on the B-point registration button and storing, as B-point coordinates, a position of the work machine at a time when the human operation on the B-point registration button is accepted in the storage section after the fourth function is executed; A sixth function of calculating the reference orientation based on the A-point coordinates and the B-point coordinates and storing the reference orientation in the storage section after the fifth function is executed; A seventh function of executing the automatic travel using the reference orientation stored in the storage section after the sixth function is executed.

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