Agricultural work machine, agricultural work machine control program, recording medium recording agricultural work machine control program

Abstract

A farm work machine (1) is provided with: a steering operation member (41) for steering; a travel control unit that controls travel of a machine body having a travel device; a mode switching unit that switches a control mode of the travel control unit between a first mode and a second mode; an orientation determination unit that determines a reference orientation for automatic steering; the travel control unit controls travel of the machine body based on the reference orientation or a travel path (GL) calculated from the reference orientation when the control mode of the travel control unit is the first mode, the machine body travels in accordance with an operation of the steering operation member (41) when the control mode of the travel control unit is the second mode, and the orientation determination unit performs orientation change processing that changes a direction of the reference orientation or the travel path (GL) in accordance with an operation of a human operation member (45) when the control mode of the travel control unit is the first mode.

Description

Technical Field

[0001] This invention relates to an agricultural machine equipped with steering mechanisms for steering. Background Technology

[0002] As an agricultural machine like the one described above, there is a known structure as described in Patent Document 1. This agricultural machine (in Patent Document 1, a "rice transplanter") is configured to be able to travel in a first mode (in Patent Document 1, an "automatic straight-line mode") and in a second mode (in Patent Document 1, a "manual mode").

[0003] Furthermore, in the first mode of operation, the agricultural machine can automatically steer. In the second mode, it steers manually.

[0004] Prior art literature

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2017-136015 Summary of the Invention

[0007] The problem that the invention will solve

[0008] The agricultural machine described in Patent Document 1 calculates its travel path based on a determined reference orientation. Furthermore, it is capable of automatically steer along this travel path.

[0009] Here, before automatic steering begins, to determine the reference orientation, the operator needs to register two locations by pressing the first registration button and the second registration button. The reference orientation is then determined based on the positions of these two locations. Furthermore, the driving path is calculated based on this reference orientation.

[0010] After calculating the driving path, in order to change the direction of travel under automatic steering, it is necessary to temporarily switch to manual steering, register the two locations again, and recalculate the driving path. That is, in the agricultural machine described in Patent Document 1, the direction of travel under automatic steering cannot be changed.

[0011] The purpose of this invention is to provide an agricultural machine that can change its direction of travel during automatic steering.

[0012] Methods for solving problems

[0013] The present invention is characterized by comprising: a steering operation member for steering; a driving control unit for controlling the driving of a machine having a driving device; a mode switching unit for switching the control mode of the driving control unit between a first mode and a second mode; and a position determination unit for determining a reference orientation for automatic steering. When the control mode of the driving control unit is the first mode, the driving control unit controls the driving of the machine based on the reference orientation or a driving path calculated based on the reference orientation. When the control mode of the driving control unit is the second mode, the machine drives according to the operation of the steering operation member. When the control mode of the driving control unit is the first mode, the position determination unit performs a process of changing the direction of the reference orientation or the driving path, i.e., a position change process, according to the operation of the human operation member.

[0014] According to the present invention, when the control mode of the driving control unit is in the first mode, the machine body can perform automatic steering. Furthermore, during automatic steering, when the operator operates a control component, orientation change processing is performed. This changes the reference orientation or the direction of the driving path. As a result, the direction of travel changes during automatic steering.

[0015] Therefore, according to the present invention, an agricultural machine capable of changing its direction of travel under automatic steering can be realized during automatic steering.

[0016] Furthermore, in this invention, the human operating element is preferably the steering operating element.

[0017] According to this configuration, in either the first mode or the second mode, the direction of travel of the vehicle can be changed according to the operation of the steering mechanism. That is, in either automatic steering or manual steering, the direction of travel of the vehicle can be changed according to the operation of the steering mechanism.

[0018] Therefore, compared to a configuration where manual and steering controls are separate, changing the direction of travel of the machine becomes simpler. As a result, the operator's workload is reduced.

[0019] Furthermore, in this invention, it is preferable that the movable range of the steering operation member is set such that it can operate the steering operation member more than the second operation amount, which is greater than the first operation amount. When the control mode of the driving control unit is the first mode, the orientation determination unit does not perform the orientation change processing if the operation amount of the steering operation member is less than the first operation amount. When the control mode of the driving control unit is the first mode, the orientation determination unit performs the orientation change processing if the operation amount of the steering operation member is greater than the first operation amount and less than the second operation amount. When the control mode of the driving control unit is the first mode, the mode switching unit switches the control mode of the driving control unit to the second mode if the operation amount of the steering operation member is greater than the second operation amount.

[0020] According to this configuration, the area within the movable range of the steering control component where the amount of operation is less than the first amount of operation is considered the insensitive zone. Therefore, even if the operator accidentally operates the steering control component, the relatively small amount of operation can prevent any impact on the machine's control or direction of travel.

[0021] Furthermore, based on this configuration, orientation change processing can be performed by operating the steering mechanism. Additionally, switching from the first mode to the second mode can be performed by operating the steering mechanism.

[0022] In other words, the execution of orientation change processing and the switching from the first mode to the second mode can both be performed by operating the steering mechanism. Therefore, compared to configurations that require operating different mechanisms, operability is significantly improved for executing orientation change processing and switching from the first mode to the second mode.

[0023] Furthermore, in this invention, it is preferable that the driving control unit is capable of performing responsive turning control to control the driving of the machine body, so that when the control mode of the driving control unit is the first mode, a temporary turning action of the manual operating member is performed in the operating direction according to the operation of the manual operating member.

[0024] When a bearing change is performed, if the aircraft's orientation is already aligned with the changed reference orientation or the changed travel path, the aircraft will continue to travel straight as before, since there is no need to change its orientation. In this case, because the aircraft's orientation does not change before or after the operation of the manual control components, the operator cannot determine whether a bearing change has been performed.

[0025] Here, based on the above configuration, when a position change is performed, even if the aircraft's orientation is already along the changed reference orientation or the changed travel path, a temporary turning maneuver towards the changed direction of the reference orientation or the changed travel path can be achieved. Therefore, the operator can reliably identify that a position change has been performed based on the operation of the manual control unit.

[0026] Furthermore, in this invention, it is preferable to have a straight-line determination unit that determines whether the machine body is traveling straight at a predetermined distance or within a predetermined time when the control mode of the driving control unit is the second mode, and the orientation determination unit determines the reference orientation based on the direction of straight-line travel at the predetermined distance or within the predetermined time when the straight-line determination unit determines that the machine body is traveling straight at the predetermined distance or within the predetermined time.

[0027] According to this configuration, the operator can manually steer the machine to travel straight for a specified distance or time, and the reference orientation is automatically determined based on the direction of straight travel within the specified distance or time.

[0028] That is, according to this configuration, operators do not need to operate dedicated buttons or the like to determine the reference orientation. This enables agricultural machinery that reduces the labor required for determining the reference orientation.

[0029] Furthermore, in this invention, it is preferable to have a setting unit that receives human operation input and is capable of setting the amount of change of the reference orientation or the direction of the driving path in the orientation change process based on the operation input.

[0030] Based on this configuration, the operator can manually input parameters to set the amount of change in the reference bearing or the direction of the travel path during bearing change processing. This enables an agricultural work machine where the operator can arbitrarily set the amount of change in the reference bearing or the direction of the travel path during bearing change processing.

[0031] Furthermore, in this invention, it is preferable that the control mode of the orientation determination unit can switch between a permitted mode that allows the execution of the orientation change process and a prohibited mode that prohibits the execution of the orientation change process, and the setting unit is configured to switch the control mode of the orientation determination unit according to the operation input.

[0032] According to this configuration, when orientation change processing is not required, the operator can switch the control mode of the orientation determination unit to a prohibited mode by manually inputting the operation. Therefore, when orientation change processing is not needed, the need for orientation change processing can be easily avoided through manual operation of the control unit.

[0033] Furthermore, in this invention, it is preferable that the setting unit is configured to change the amount of change by a predetermined angle based on the operation input.

[0034] According to this configuration, compared to configurations where the change amount can be infinitely varied, the configuration of the part receiving the operation input in the setting unit is easier to simplify. Therefore, compared to configurations where the part receiving the operation input in the setting unit is complex, the operator can more easily understand the method of inputting operation information into the setting unit. Thus, according to this configuration, an agricultural machine can be implemented where the operator can easily understand the method of inputting operation information into the setting unit.

[0035] Furthermore, in this invention, it is preferable that the setting unit is configured such that it does not receive the operation input for setting the change amount while the machine is in motion.

[0036] According to this configuration, when setting a change amount, the operator inputs the operation to the setting unit while the machine is stationary. This allows the operator to input the operation to the setting unit when the machine's vibration is reduced compared to when the machine is moving. As a result, the operator can more easily and accurately input the operation compared to inputting the operation when the machine is vibrating significantly.

[0037] Therefore, based on this configuration, an agricultural machine can be made so that the operator can easily and accurately input the operation into the setting unit.

[0038] Another feature of the present invention is an agricultural machinery control program that controls an agricultural machinery having a steering mechanism for steering and a driving device. The agricultural machinery control program is implemented by a computer as follows: a driving control function that controls the movement of the machine; a mode switching function that switches the control mode of the driving control function between a first mode and a second mode; a position determination function that determines a reference orientation for automatic steering; when the control mode of the driving control function is the first mode, the driving control function controls the movement of the machine based on the reference orientation or a driving path calculated from the reference orientation; when the control mode of the driving control function is the second mode, the machine moves according to the operation of the steering mechanism; and when the control mode of the driving control function is the first mode, the position determination function performs a change of orientation or direction of the driving path based on the operation of the manual mechanism, i.e., a position change process.

[0039] Another feature of the present invention is a recording medium containing a control program for an agricultural machine. This control program controls an agricultural machine equipped with a steering mechanism for steering and a traveling device. The recording medium contains the control program and implements the following functions via a computer: a driving control function that controls the traveling of the machine; a mode switching function that switches the control mode of the driving control function between a first mode and a second mode; a orientation determination function that determines a reference orientation for automatic steering; when the control mode of the driving control function is the first mode, the driving control function controls the traveling of the machine based on the reference orientation or a traveling path calculated from the reference orientation; when the control mode of the driving control function is the second mode, the machine travels according to the operation of the steering mechanism; and when the control mode of the driving control function is the first mode, the orientation determination function performs a change of orientation or direction of the traveling path based on the operation of the manual mechanism, i.e., orientation change processing. Attached Figure Description

[0040] Figure 1 This is a left-side view of a combine harvester.

[0041] Figure 2 This is a block diagram showing the components related to the control unit.

[0042] Figure 3 This is a diagram showing the structure of the main gear shift lever.

[0043] Figure 4 This is a diagram showing the structure of the threshing bar.

[0044] Figure 5 This is a diagram showing the configuration of the steering control components.

[0045] Figure 6 This is the flowchart of the first decision routine.

[0046] Figure 7 This is the flowchart for the second decision routine.

[0047] Figure 8 This diagram illustrates an example of an automatically determined reference orientation.

[0048] Figure 9 This is a diagram illustrating an example of a case where the reference orientation is automatically determined.

[0049] Figure 10 This is a diagram showing the state before the orientation change process is executed.

[0050] Figure 11 This is a diagram illustrating the handling of orientation changes.

[0051] Figure 12 This is a diagram showing the state after the orientation change process has been performed.

[0052] Figure 13 This is a diagram illustrating an example of implementing responsive turning control.

[0053] Figure 14 This is a diagram illustrating an example of implementing responsive turning control.

[0054] Figure 15 This is a diagram showing the configuration of the human operating components in other embodiments (2).

[0055] Figure 16 It is a diagram that shows the angle offset setting screen, etc.

[0056] Figure 17 It is a diagram that shows the angle offset setting screen, etc.

[0057] Figure 18 This is the flowchart for the third decision routine. Detailed Implementation

[0058] The method of implementing the present invention will be described with reference to the accompanying drawings. Furthermore, in the following description, unless otherwise specified, [the following will be used as a standard term]. Figure 1 , Figure 3 , Figure 4 The direction of arrow F is taken as "forward," and the direction of arrow B is taken as "backward." Additionally, [the text abruptly ends here]. Figure 5 The direction of arrow L is defined as "left," and the direction of arrow R is defined as "right." Additionally, Figure 1 The direction of arrow U is shown as "up", and the direction of arrow D is shown as "down".

[0059] In addition, unless otherwise specified, the following instructions will be... Figures 8 to 14 The direction of arrow N is represented as "North", the direction of arrow S as "South", the direction of arrow E as "East", and the direction of arrow W as "West".

[0060] [The overall structure of a combine harvester]

[0061] like Figure 1 As shown, the full-feed combine harvester 1 (equivalent to the "agricultural machine" of this invention) has a body 10, a cutting section H, a threshing device 13, a grain bin 14, a conveying section 16, a grain discharge device 18, and a satellite positioning module 80. In addition, the body 10 has a tracked running gear 11, a driving section 12, and an engine EG.

[0062] The travel device 11 is located in the lower part of the combine harvester 1. Furthermore, the travel device 11 is driven by power from the engine EG. Moreover, the combine harvester 1 is capable of automatic movement via the travel device 11.

[0063] In addition, the driver's cab 12, threshing device 13, and grain bin 14 are located on the upper side of the traveling device 11. The operator who monitors the operation of the combine harvester 1 can sit in the driver's cab 12.

[0064] 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.

[0065] 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 includes a cutter 15 and a wheel 17.

[0066] The cutter 15 cuts the standing rice stalks in the field. Meanwhile, the wheel 17 rotates around the axle 17b along the left-right direction of the machine body, simultaneously feeding in the standing rice stalks to be harvested. The cut rice stalks are then conveyed to the conveyor unit 16.

[0067] Using this configuration, the cutting section H harvests grain from the field. Furthermore, the combine harvester 1 can perform a cutting motion by simultaneously cutting the standing rice stalks in the field with the cutter 15 and traveling via the travel device 11.

[0068] The harvested rice stalks harvested by the harvesting section H are conveyed to the rear of the machine via the conveying section 16. The harvested rice stalks are then conveyed to the threshing unit 13.

[0069] In the threshing device 13, the harvested rice stalks are threshed. The threshed grains are stored in the grain bin 14. The grains stored in the grain bin 14 are discharged out of the machine as needed through the grain discharge device 18.

[0070] That is, the combine harvester 1 has a grain bin 14 for storing the grain harvested by the harvesting section H.

[0071] In addition, such as Figure 1 As shown, a communication terminal 4 (equivalent to the "setting unit" of the present invention) is provided in the driver unit 12. The communication terminal 4 is configured to display various information. In this embodiment, the communication terminal 4 is fixed to the driver unit 12. However, the present invention is not limited to this, and the communication terminal 4 may also be configured to be detachable from the driver unit 12, or the communication terminal 4 may be located outside the combine harvester 1.

[0072] Here, the combine harvester 1 is configured to perform both manual and automatic steering. Manual steering means that it can be driven by the operator manually steering. Automatic steering means that it can move forward automatically. In particular, in this embodiment, automatic steering means that it can move forward automatically without large directional changes such as α turns or U turns.

[0073] 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 when 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.

[0074] Furthermore, a steering control element 41 is provided in the driver's section 12. When the combine harvester 1 is manually steered, a speed difference is generated between the left and right tracks of the traveling device 11 when the operator operates the steering control element 41. As a result, the combine harvester 1 turns. That is, when the combine harvester 1 is manually steered, the operator can turn the combine harvester 1 by operating the steering control element 41.

[0075] That is, the combine harvester 1 has a steering control element 41 for steering.

[0076] Furthermore, the combine harvester 1 is configured such that the operating force applied to the steering mechanism 41 is not transmitted to the travel unit 11. That is, the steering mechanism 41 is not mechanically linked to the travel unit 11. When the operator operates the steering mechanism 41, its movement is electrically sensed, and based on this sensing, the left and right tracks in the travel unit 11 are controlled. Thus, when a speed difference is created between the left and right tracks, the combine harvester 1 turns. Conversely, when there is no speed difference between the left and right tracks, the combine harvester 1 travels straight.

[0077] [Components related to power transmission]

[0078] like Figure 2 As shown, the combine harvester 1 has 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.

[0079] 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 type transmission, capable of switching between high-speed and low-speed states. The high-speed state is for movement (non-operational), and the low-speed state is for operation.

[0080] The power input from the engine EG to the travel unit 11 is changed through the main transmission 11a and the auxiliary transmission 11b. Moreover, the track of the travel unit 11 is driven by the changed power, thereby moving the combine harvester 1.

[0081] like Figure 3 As shown, 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: forward operating position FP, neutral position NP, and reverse operating position RP. Furthermore, by operating the main shift lever 19, the shifting state of the main transmission device 11a changes.

[0082] When the main shift lever 19 is in the forward operating position FP, the main transmission 11a is in the forward shifting state. At this time, the more the main shift lever 19 tilts forward, the higher the power output from the main transmission 11a.

[0083] When the main gear lever 19 is in the neutral position NP, the main gear transmission 11a is in a neutral state. At this time, the main gear transmission 11a does not output power.

[0084] When the main shift lever 19 is in the reverse operation position RP, the main transmission 11a is in reverse shifting mode. At this time, the further the main shift lever 19 is tilted backward, the higher the power output from the main transmission 11a.

[0085] In addition, such as Figure 3 As shown, a secondary gear shift switch 42 is provided on the main gear shift lever 19. Each time the secondary gear shift switch 42 is pressed, the gear shifting state of the secondary gear shift device 11b switches between high speed and low speed.

[0086] Figure 2 The threshing clutch C1 shown is configured to change state between an engaged state that transmits power and a disengaged state that does not transmit power.

[0087] When the threshing clutch C1 is engaged, power from the engine EG is transmitted to the threshing device 13 and the cutting clutch C2. As a result, the threshing device 13 is driven.

[0088] Furthermore, when the threshing clutch C1 is disengaged, power from the engine EG is not transmitted to either the threshing device 13 or the cutting clutch C2. At this time, the threshing device 13 is not driven.

[0089] Furthermore, the disengagement clutch C2 is configured to change state between an engaged state that transmits power and a disengaged state that does not transmit power.

[0090] When both the threshing clutch C1 and the cutting clutch C2 are engaged, power from the engine EG is transmitted to the cutting unit H. This drives the cutting unit H.

[0091] Furthermore, when the cutting clutch C2 is disengaged, power from the engine EG is not transmitted to the cutting unit H. At this time, the cutting unit H is not driven.

[0092] Furthermore, when the threshing clutch C1 is disengaged, power from the engine EG is not transmitted to the cutting unit H. At this time, the cutting unit H is not driven.

[0093] like Figure 2 as well as Figure 4 As shown, the combine harvester 1 has a threshing bar 43. The threshing bar 43 is located in the driver's cab 12. Figure 4 As shown, the threshing lever 43 is configured to swing in the forward and backward direction. Furthermore, the threshing lever 43 is configured to switch between three operating positions: a first operating position M1, a second operating position M2, and a third operating position M3. By operating the threshing lever 43, the engagement / disengagement states of the threshing clutch C1 and the threshing clutch C2 change.

[0094] When the threshing lever 43 is in the first operating position M1, both the threshing clutch C1 and the threshing clutch C2 are engaged.

[0095] When the threshing rod 43 is in the second operating position M2, the threshing clutch C1 is engaged and the cutting clutch C2 is disengaged.

[0096] When the threshing lever 43 is in the third operating position M3, both the threshing clutch C1 and the cutting clutch C2 are in the disengaged state.

[0097] [Composition of steering components]

[0098] like Figure 2 as well as Figure 5 As shown, the combine harvester 1 has a human operating component 45. In this embodiment, the human operating component 45 is a steering component 41.

[0099] like Figure 5 As shown, the steering control member 41 is configured to swing left and right between the right third operating position R3 and the left third operating position L3. The central operating position CP is located at the center of the movable range of the steering control member 41.

[0100] The right first operating position R1 and the right second operating position R2 are located between the central operating position CP and the right third operating position R3. The right second operating position R2 is located further to the right than the right first operating position R1.

[0101] The left first operating position L1 and the left second operating position L2 are located between the central operating position CP and the left third operating position L3. The left second operating position L2 is located further to the left than the left first operating position L1.

[0102] In this embodiment, the amount of operation of the steering operation member 41 is the swing angle from the central operation position CP.

[0103] The amount of operation from the central operating position CP to the right first operating position R1 is the first operating amount A1. Furthermore, the amount of operation from the central operating position CP to the right second operating position R2 is the second operating amount A2. Moreover, as described above, the steering operating member 41 can be operated to the right to the right third operating position R3. That is, the steering operating member 41 can be operated to the right to a position greater than the second operating amount A2.

[0104] In addition, Figure 5 Not shown in the diagram, the same applies to the left side. That is, the operation amount from the central operating position CP to the left first operating position L1 is the first operation amount A1. Furthermore, the operation amount from the central operating position CP to the left second operating position L2 is the second operation amount A2. Moreover, as described above, the steering operation member 41 can be operated to the left to the left third operating position L3. That is, the steering operation member 41 can be operated to the left to a position greater than the second operation amount A2.

[0105] Thus, the movable range of the steering control member 41 is set to allow the steering control member 41 to be operated to a greater extent than the second operating amount A2, where the second operating amount A2 is an operating amount greater than the first operating amount A1.

[0106] [Structure related to the control department]

[0107] like Figure 2 As shown, the combine harvester 1 includes a control unit 20. The control unit 20 includes a vehicle position calculation unit 21 and a driving control unit 24.

[0108] In this embodiment, RTK-GPS (RealTimeKinematicGPS) is used. Figure 1 The satellite positioning module 80 shown receives GPS signals from the artificial satellite GS used by GPS (Global Positioning System) and positioning data transmitted from a reference station (not shown) located at a known position. Furthermore, as... Figure 2 As shown, the satellite positioning module 80 sends the positioning data based on the received GPS signal and the positioning data received from the base station to the vehicle position calculation unit 21.

[0109] The vehicle position calculation unit 21 calculates the position coordinates of the combine harvester 1 within a certain time period based on the positioning data received from the satellite positioning module 80. The calculated time-varying position coordinates of the combine harvester 1 are then sent to the driving control unit 24.

[0110] Generally, in RTK-GPS positioning, the distance between the GPS satellite and the GPS receiver is expressed as N×λ + φ×λ + c×dT + c×dt, from which N, known as the integer deviation, is calculated. This allows for high-precision positioning. Here, λ is the wavelength of the transmitted wave. φ is the fractional part of the wavenumber between the GPS satellite and the GPS receiver. c is the radio wave propagation speed, dT is the timing error of the GPS satellite, and dt is the timing error of the GPS receiver.

[0111] Furthermore, the state where N is determined to be an integer solution is called the FIX. Additionally, the measurement result at this point is called the FIX solution.

[0112] Furthermore, the state where N is not determined to be an integer solution is called a FLOAT. The measurement result in this case is called a FLOAT solution. The FIX solution has centimeter accuracy, while the FLOAT solution has an accuracy ranging from tens of centimeters to several meters.

[0113] Furthermore, the present invention is not limited thereto. The satellite positioning module 80 may also not utilize GPS. For example, the satellite positioning module 80 may also utilize GNSS other than GPS (GLONASS, Galileo, Michibiki, BeiDou, etc.).

[0114] In addition, such as Figure 2 As shown, the combine harvester 1 is equipped with an inertial measurement unit 81. Additionally, the control unit 20 includes a vehicle orientation calculation unit 25.

[0115] The inertial measurement device 81 senses the angular velocity of the yaw angle and the acceleration along the three orthogonal axes of the vehicle body 10 within a certain period of time. The sensing results of the inertial measurement device 81 are sent to the vehicle orientation calculation unit 25.

[0116] The vehicle orientation calculation unit 25 receives the position coordinates of the combine harvester 1 from the vehicle position calculation unit 21. Furthermore, the vehicle orientation calculation unit 25 calculates the attitude orientation of the combine harvester 1 based on the sensing results of the inertial measurement device 81 and the position coordinates of the combine harvester 1.

[0117] More specifically, firstly, while the combine harvester 1 is moving, the vehicle orientation calculation unit 25 calculates the initial attitude orientation based on the current position coordinates of the combine harvester 1 and the position coordinates of the combine harvester 1 at the previous location. Next, after the combine harvester 1 has been moving for a certain period of time after calculating the initial attitude orientation, the vehicle orientation calculation unit 25 calculates the change in attitude orientation by integrating the angular velocity sensed by the inertial measurement device 81 during its movement over that period of time.

[0118] Furthermore, by adding the calculated change in attitude orientation to the initial attitude orientation, the vehicle orientation calculation unit 25 updates the attitude orientation calculation results. Then, at regular intervals, the change in attitude orientation is calculated similarly, and the attitude orientation calculation results are updated sequentially.

[0119] However, the angular velocity sensed by the inertial measurement device 81 contains a measurement error (deviation). This measurement error increases with time, so the error in the calculated change in attitude orientation also increases each time the change in attitude orientation is calculated.

[0120] 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 device 81 using orientation information calculated based on changes in the position coordinates of the combine harvester 1. Furthermore, the orientation information calculated based on changes in the position coordinates of the combine harvester 1 obtains a FIX solution in the RTK-GPS positioning of the satellite positioning module 80 and the vehicle's orientation calculation unit 21, and can achieve high accuracy even when the combine harvester 1 travels in a straight line for several meters or more. Therefore, the vehicle's orientation calculation unit 25 enables the correction of the orientation information calculated based on changes in the position coordinates of the combine harvester 1 to obtain a FIX solution in the RTK-GPS positioning of the satellite positioning module 80 and the vehicle's orientation calculation unit 21, and only performs this correction when the combine harvester 1 travels in a straight line for several meters or more.

[0121] In addition, in this specification, the FIX solution obtained by the RTK-GPS measurement of the satellite positioning module 80 and the vehicle position calculation unit 21, and the state in which the combine harvester 1 travels straight for more than several meters and the state in which high-precision azimuth information is calculated based on the changes in the position coordinates of the combine harvester 1 are referred to as the high-precision azimuth calculation state.

[0122] With the configuration described above, the vehicle orientation calculation unit 25 can calculate 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 sent to the driving control unit 24.

[0123] 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.

[0124] That is, the combine harvester 1 has a driving control unit 24 that controls the driving of the machine body 10, including the driving device 11.

[0125] In addition, the control unit 20 and the vehicle position calculation unit 21 included in the control unit 20 can be physical devices such as microcomputers, or functional units in software.

[0126] In addition, such as Figure 2 As shown, the communication terminal 4 receives the position coordinates of the combine harvester 1 from the vehicle position calculation unit 21. Therefore, the communication terminal 4 can display the current position of the combine harvester 1 on its display 4b.

[0127] [Components related to the lifting and lowering operation of the cutting section]

[0128] like Figure 1 As shown, the combine harvester 1 has a cutting cylinder 15A. Additionally, as... Figure 2 As shown, the combine harvester 1 has a cutting lifting operation component 44.

[0129] The cutting lifting mechanism 44 is located in the driver's unit 12. The control unit 20 is configured to control the extension and retraction of the cutting cylinder 15A according to the operator's operation of the cutting lifting mechanism 44.

[0130] As 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.

[0131] Furthermore, when the cutting cylinder 15A retracts, the conveying section 16 and the cutting section H swing together in the direction of the downward movement of the cutting section H. As a result, the cutting section H descends relative to the machine body 10.

[0132] With this configuration, the operator can perform the lifting and lowering operation of the cutting section H by operating the cutting and lifting operating component 44.

[0133] [Components related to automatic steering]

[0134] like Figure 2 As shown, the control unit 20 includes an automatic steering control unit 30. The automatic steering control unit 30 is configured to switch the control mode of the driving control unit 24 between a first mode and a second mode.

[0135] When the control mode of the driving control unit 24 is the first mode, the driving control unit 24 controls the driving device 11 so that the combine harvester 1 can automatically turn and drive.

[0136] Furthermore, when the control mode of the driving control unit 24 is in the second mode, a signal corresponding to the operation of the steering operation member 41 is input to the driving control unit 24. Then, the driving control unit 24 controls the driving of the machine body 10 according to the signal.

[0137] That is, when the control mode of the driving control unit 24 is the second mode, the driving control unit 24 controls the driving of the machine body 10 according to the operation of the steering operation member 41.

[0138] With this configuration, when the control mode of the travel control unit 24 is in the second mode, the machine body 10 travels according to the operation of the steering operation member 41. Therefore, the combine harvester 1 can perform manual steering when the control mode of the travel control unit 24 is in the second mode.

[0139] The following is a detailed description of the components related to automatic steering.

[0140] like Figure 2 As shown, the automatic steering control unit 30 includes a orientation determination unit 31, a path calculation unit 32, a mode switching unit 33, and a straight-ahead determination unit 34.

[0141] When the driving control unit 24 is in the second control mode, the straight-line determination unit 34 determines whether the machine body 10 is traveling straight within the specified distance D1.

[0142] Specifically, a signal indicating the operating state of the steering control unit 41 is sent from the steering control unit 41 to the automatic steering control unit 30. Based on this signal, the straight-line determination unit 34 determines within a certain time whether the steering control unit 41 has been operated.

[0143] Then, the straight-line determination unit 34 calculates the travel distance of the combine harvester 1 during the period when the steering operation element 41 is not operated, based on the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21. If the calculated travel distance reaches a predetermined distance D1, the straight-line determination unit 34 determines that the machine body 10 is traveling straight within the predetermined distance D1. Otherwise, if the calculated travel distance does not reach the predetermined distance D1, the straight-line determination unit 34 determines that the machine body 10 is not traveling straight within the predetermined distance D1.

[0144] Furthermore, when the predetermined starting conditions are met and the straight-line determination unit 34 determines that the machine body 10 is traveling straight within a predetermined distance D1, the orientation determination unit 31 determines the reference orientation TA (refer to) based on the direction of straight-line travel within the predetermined distance D1. Figure 8 ).

[0145] More specifically, the orientation determination unit 31 stores the shift of the position coordinates of the combine harvester 1 during the period when the steering operation member 41 is not operated, based on the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21. Then, when the straight-line determination unit 34 determines that the machine body 10 is traveling straight within a predetermined distance D1, the orientation determination unit 31 determines two locations from the stored position coordinates as the first registered location Q1 and the second registered location Q2.

[0146] At this time, the orientation determination unit 31 determines the position coordinates of the combine harvester 1 at the moment when the machine body 10 is moving straight within a specified distance D1, as determined by the straight-moving determination unit 34, as the second registration location Q2. Additionally, the position coordinates of the combine harvester 1 at the start of its straight-moving operation within the specified distance D1 are determined as the first registration location Q1.

[0147] In other words, the starting point and the ending point of a straight journey within the specified distance D1 are determined as the first registration point Q1 and the second registration point Q2, respectively.

[0148] Furthermore, the orientation determination unit 31 determines a reference orientation TA for automatic steering based on the first registration location Q1 and the second registration location Q2. More specifically, the orientation determination unit 31 calculates the direction of a straight line from the first registration location Q1 toward the second registration location Q2.

[0149] Here, the direction of the straight line from the first registration location Q1 towards the second registration location Q2 is equal to the direction of straight travel within a predetermined distance D1. That is, the orientation determination unit 31 calculates the direction of straight travel within the predetermined distance D1. Furthermore, the orientation determination unit 31 determines the calculated direction as the reference orientation TA.

[0150] The form of the reference orientation TA is not particularly limited. For example, it can be based on the cardinal directions (such as "North", "North by 27 degrees"), or it can be a unit vector in the coordinate system.

[0151] In addition, the reference orientation TA does not necessarily have to be a direction from one direction to another. For example, the reference orientation TA can also represent the inclination angle of a straight line in the coordinate system (e.g., the inclination angle of a straight line passing through the first registration point Q1 and the second registration point Q2), or the straight line itself in the coordinate system (e.g., the straight line itself passing through the first registration point Q1 and the second registration point Q2), or a direction based on the cardinal directions (e.g., "north-south direction", "east-west direction", etc.).

[0152] According to the method described above, the orientation determination unit 31 determines the reference orientation TA based on the direction of straight travel within a specified distance D1.

[0153] Furthermore, the present invention is not limited thereto. The straight-line determination unit 34 may also be configured to determine whether the machine body 10 is traveling straight within a predetermined time when the control mode of the driving control unit 24 is in the second mode. Moreover, it may also be configured such that, in this case, if the orientation determination unit 31 meets the predetermined start conditions and the straight-line determination unit 34 determines that the machine body 10 is traveling straight within the predetermined time, it determines the reference orientation TA based on the direction of straight-line travel within the predetermined time.

[0154] That is, the combine harvester 1 includes a straight-line determination unit 34 that determines whether the machine body 10 is traveling straight at a predetermined distance D1 or within a predetermined time when the control mode of the travel control unit 24 is in the second mode. In addition, when the straight-line determination unit 34 determines that the machine body 10 is traveling straight at a predetermined distance D1 or within a predetermined time, the orientation determination unit 31 determines a reference orientation TA based on the direction of straight-line travel at the predetermined distance D1 or within the predetermined time.

[0155] Furthermore, the specified distance D1 is not specifically limited; for example, it can be 1 meter. Additionally, the specified time is not specifically limited; for example, it can be 1 second.

[0156] After the orientation determination unit 31 determines the reference orientation TA, the path calculation unit 32 continuously calculates the driving line along the direction of the reference orientation TA, based on the position of the satellite positioning module 80 when viewed from above. That is, the driving line is calculated based on the reference orientation TA. Alternatively, the driving line calculated by the path calculation unit 32 can also be calculated by passing through the center of the cut width of the cut section H. When the operator operates the automatic steering start / end button (not shown), the mode switching unit 33 switches the control mode of the driving control unit 24 from the second mode to the first mode.

[0157] When the control mode of the driving control unit 24 switches from the second mode to the first mode, the path calculation unit 32 fixes the driving line calculated at the moment the control mode switches from the second mode to the first mode. The fixed driving line is the automatic steering target line GL (equivalent to the "driving path" of the present invention) (see reference). Figure 8 The automatic steering control unit 30 sends the data to the driving control unit 24. That is, when the control mode switches from the second mode to the first mode, the path calculation unit 32 determines the driving line calculated at this time as the automatic steering target line GL.

[0158] When the control mode of the driving control unit 24 is in the first mode, 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 orientation of the combine harvester 1 received from the vehicle orientation calculation unit 25, and the automatic steering target line GL received from the automatic steering control unit 30. More specifically, the driving control unit 24 controls the driving of the machine body 10 so that harvesting is performed by automatic steering driving along the automatic steering target line GL.

[0159] Furthermore, the reference orientation TA is used for automatic steering. That is, the combine harvester 1 has an orientation determination unit 31 that determines the reference orientation TA used for automatic steering.

[0160] Furthermore, the present invention is not limited to the configuration described above. When the control mode of the driving control unit 24 is the first mode, the driving control unit 24 may also replace the automatic steering target line GL and control the driving of the machine body 10 based on the reference orientation TA. In this case, the driving control unit 24 may also control the orientation of the machine body in a manner that coordinates the posture orientation of the combine harvester 1 with the reference orientation TA, or in a manner that is parallel to the reference orientation TA.

[0161] That is, when the control mode of the driving control unit 24 is the first mode, the driving control unit 24 controls the driving of the body 10 by the automatic steering target line GL calculated based on the reference orientation TA or the reference orientation TA.

[0162] In addition, in this embodiment, when the control mode of the driving control unit 24 is the first mode, when the operator operates the automatic steering start / end button, the mode switching unit 33 switches the control mode of the driving control unit 24 from the first mode to the second mode.

[0163] That is, the combine harvester 1 has a mode switching unit 33 that switches the control mode of the driving control unit 24 between a first mode and a second mode.

[0164] However, as Figure 2 As shown, the combine harvester 1 includes a reporting unit 53. When the control mode of the travel control unit 24 switches from the second mode to the first mode, the automatic steering control unit 30 transmits a predetermined signal to the reporting unit 53. Based on this signal, the reporting unit 53 can report to the operator the information indicating that the control mode of the travel control unit 24 has switched from the second mode to the first mode.

[0165] Furthermore, when the control mode of the driving control unit 24 switches from the first mode to the second mode, the automatic steering control unit 30 sends a predetermined signal to the reporting unit 53. Based on this signal, the reporting unit 53 can issue a report to the operator notifying them of the switch of the driving control unit 24's control mode from the first mode to the second mode.

[0166] In this embodiment, the reporting unit 53 is a speaker that outputs voice. However, the present invention is not limited to this, and the reporting unit 53 may also be a lamp, a display device, etc.

[0167] As explained above, the mode switching unit 33 switches the control mode of the driving control unit 24 between the first mode and the second mode according to the operator's operation of the automatic steering start / end button.

[0168] Here, the mode switching unit 33 is configured to automatically switch the control mode of the driving control unit 24 between the first mode and the second mode, depending on the situation, even if the automatic steering start / end button is not operated. The automatic switching of the control schematic will be described in detail below.

[0169] [Regarding the switch from mode two to mode one]

[0170] The mode switching unit 33 is configured to switch the control mode of the driving control unit 24 to the first mode when the predetermined start conditions are met and the straight-line determination unit 34 determines that the machine body 10 is traveling straight within a predetermined distance D1. Alternatively, the mode switching unit 33 is configured not to switch the control mode of the driving control unit 24 to the first mode if the start conditions are not met.

[0171] Furthermore, the present invention is not limited thereto. The mode switching unit 33 may also be configured to switch the control mode of the driving control unit 24 to the first mode when the predetermined start conditions are met and the straight-line determination unit 34 determines that the machine body 10 is traveling straight within a predetermined time.

[0172] That is, the mode switching unit 33 is configured to switch the control mode of the driving control unit 24 to the first mode when the specified start conditions are met and the straight-line determination unit 34 determines that the machine body 10 is traveling straight at a specified distance D1 or within a specified time, and not switch the control mode of the driving control unit 24 to the first mode when the start conditions are not met.

[0173] Furthermore, according to Figure 6 The first determination routine shown determines whether the start condition is met. This first determination routine is stored in the automatic steering control unit 30. When the control mode of the driving control unit 24 is the second mode, the automatic steering control unit 30 repeatedly executes the first determination routine at predetermined intervals.

[0174] The following is for reference Figure 2 as well as Figure 6 The first decision routine will be explained.

[0175] At the start of the first decision routine, the processing in step S01 is executed first. In step S01, as follows... Figure 2 As shown, the automatic steering control unit 30 acquires information indicating the operating position of the main shift lever 19. Then, based on the acquired information, it determines whether the main shift lever 19 is in the forward operating position FP.

[0176] If the main shift lever 19 is not in the forward operating position FP, the result in step S01 is determined as No, and the process temporarily ends. Conversely, if the main shift lever 19 is in the forward operating position FP, the result in step S01 is determined as Yes, and the process proceeds to step S02.

[0177] Here, as Figure 2 As shown, the automatic steering control unit 30 is configured to receive the operation signal from the auxiliary transmission switch 42. Furthermore, the automatic steering control unit 30 is configured to determine the shifting state of the auxiliary transmission device 11b based on this operation signal.

[0178] In step S02, it is determined whether the auxiliary transmission device 11b is in a shifting state for operation. More specifically, it is determined whether the auxiliary transmission device 11b is in a low-speed state.

[0179] If the auxiliary transmission device 11b is not in a low-speed state, the result in step S02 is "No", and the process temporarily ends. Conversely, if the auxiliary transmission device 11b is in a low-speed state, the result in step S02 is "Yes", and the process proceeds to step S03.

[0180] In step S03, as Figure 2 As shown, the automatic steering control unit 30 obtains information from the vehicle position calculation unit 21 indicating whether the aforementioned FIX solution has been obtained. Then, based on the obtained information, it determines whether the positioning status of the vehicle body is in a specified high-precision state. More specifically, it determines whether a FIX solution has been obtained through RTK-GPS positioning by the satellite positioning module 80 and the vehicle position calculation unit 21.

[0181] If no FIX solution is obtained from the RTK-GPS positioning of the satellite positioning module 80 and the vehicle position calculation unit 21, the result is determined as No in step S03, and the process temporarily ends. Conversely, if a FIX solution is obtained from the RTK-GPS positioning of the satellite positioning module 80 and the vehicle position calculation unit 21, the result is determined as Yes in step S03, and the process proceeds to step S04.

[0182] In step S04, as Figure 2 As shown, the automatic steering control unit 30 acquires information indicating the operating position of the threshing bar 43. Furthermore, based on the acquired information, it determines whether the threshing clutch C2 is engaged.

[0183] If the operating position of the threshing rod 43 is the second operating position M2 or the third operating position M3, the result in step S04 is determined as No, and the process temporarily ends. Alternatively, if the operating position of the threshing rod 43 is the first operating position M1, the result in step S04 is determined as Yes, and the process proceeds to step S05.

[0184] 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 automatic steering control unit 30. Furthermore, the automatic steering control unit 30 is configured to determine whether the cutting section H is in the working position based on the sensing result of the lifting sensor 54.

[0185] In addition, in this embodiment, a descent of more than a predetermined value from the highest position of the cutting section H is equivalent to the cutting section H being in the working position.

[0186] In step S05, it is determined whether the cutting part H is in the working position. If the cutting part H is not in the working position, step S05 determines "No," and the process temporarily ends. Otherwise, if the cutting part H is in the working position, step S05 determines "Yes," and the process proceeds to step S06.

[0187] In step S06, it is determined whether the machine body 10 is traveling straight within a specified distance D1. This determination is performed by the straight-travel determination unit 34, as described above.

[0188] If the machine body 10 does not travel straight within the specified distance D1, the result in step S06 is determined as No, and the process temporarily ends. Conversely, if the machine body 10 travels straight within the specified distance D1, the result in step S06 is determined as Yes, and the process proceeds to step S07.

[0189] In step S07, the reference bearing TA is determined based on the direction of straight travel within a specified distance D1. This determination is performed by the bearing determination unit 31 as described above. Then, the process moves to step S08.

[0190] In step S08, the control mode of the driving control unit 24 is switched from the second mode to the first mode by the mode switching unit 33. Then, the process moves to step S09.

[0191] In step S09, the reporting unit 53 reports to the operator that the control mode of the driving control unit 24 has switched from the second mode to the first mode. Afterwards, the process temporarily ends.

[0192] As can be understood from the above description, in this embodiment, the starting condition includes determining "Yes" in all of steps S01 to S05. However, the present invention is not limited to this, and some of steps S01 to S05 may be omitted.

[0193] That is, the starting conditions include: the main gear shift lever 19 is in the forward operating position FP, the auxiliary gear shift device 11b is in the working gear shift state, the position measurement state of the machine body is in the specified high-precision state, the clutch used to transmit power to the cutting part H is in the engaged state, and the cutting part H is in at least one of the working positions.

[0194] In addition, such as Figure 6 As shown, in this embodiment, when the predetermined start conditions are met and the straight-moving determination unit 34 determines that the machine body 10 is moving straight within a predetermined distance D1, the orientation determination unit 31 determines the reference orientation TA based on the direction of straight-moving within the predetermined distance D1. Furthermore, the orientation determination unit 31 does not determine the reference orientation TA if the start conditions are not met.

[0195] However, the present invention is not limited to this. The orientation determination unit 31 may also be configured to determine the reference orientation TA based on the direction of the straight movement within the specified distance D1 or the specified time, regardless of whether the specified start conditions are met.

[0196] [Regarding the switch from mode one to mode two]

[0197] The mode switching unit 33 may also be configured to switch the control mode of the driving control unit 24 to the second mode when the control mode of the driving control unit 24 is the first mode and the predetermined release conditions are met.

[0198] Moreover, utilizing Figure 7 The second determination routine shown determines whether the release condition is met. This second determination routine is stored in the automatic steering control unit 30. When the control mode of the driving control unit 24 is in the first mode, the automatic steering control unit 30 repeatedly executes the second determination routine at regular intervals.

[0199] The following is for reference Figure 2 as well as Figure 7 The second decision routine is explained.

[0200] At the start of the second decision routine, firstly, the processing in step S11 is executed. In step S11, as follows... Figure 2As shown, the automatic steering control unit 30 acquires information indicating the operating position of the master shift lever 19. Then, based on the acquired information, it determines whether the master shift lever 19 is operated in an operating position other than the forward operating position FP. More specifically, it determines whether the master shift lever 19 is in the neutral position NP or the reverse operating position RP.

[0201] If the main shift lever 19 is in the neutral position NP or the reverse operation position RP, the result is determined as Yes in step S11, and the process proceeds to step S19. Conversely, if the main shift lever 19 is not in the neutral position NP or the reverse operation position RP, the result is determined as No in step S11, and the process proceeds to step S12.

[0202] In step S12, it is determined whether the auxiliary transmission device 11b is not in a working transmission state. More specifically, it is determined whether the auxiliary transmission device 11b is in a high-speed state.

[0203] If the auxiliary transmission device 11b is in a high-speed state, the result is "Yes" in step S12, and the process moves to step S19. Conversely, if the auxiliary transmission device 11b is not in a high-speed state, the result is "No" in step S12, and the process moves to step S13.

[0204] In step S13, as Figure 2 As shown, the automatic steering control unit 30 obtains information from the vehicle position calculation unit 21 indicating whether the aforementioned FIX solution has been obtained. Then, based on the obtained information, it determines whether the positioning status of the vehicle body is not a specified high-precision state. More specifically, it determines whether the FIX solution has not been obtained in the RTK-GPS positioning of the satellite positioning module 80 and the vehicle position calculation unit 21. In other words, it determines whether the RTK-GPS positioning status of the satellite positioning module 80 and the vehicle position calculation unit 21 is FLOAT.

[0205] If no FIX solution is obtained from the RTK-GPS positioning of the satellite positioning module 80 and the vehicle position calculation unit 21, the result is determined as Yes in step S13, and the process moves to step S19. Conversely, if a FIX solution is obtained from the RTK-GPS positioning of the satellite positioning module 80 and the vehicle position calculation unit 21, the result is determined as No in step S13, and the process moves to step S14.

[0206] In step S14, as Figure 2 As shown, the automatic steering control unit 30 acquires information indicating the operating position of the threshing bar 43. Then, based on the acquired information, it determines whether the threshing clutch C2 is disengaged.

[0207] If the operating position of the threshing rod 43 is the second operating position M2 or the third operating position M3, the result is determined as Yes in step S14, and the process proceeds to step S19. Conversely, if the operating position of the threshing rod 43 is the first operating position M1, the result is determined as No in step S14, and the process proceeds to step S15.

[0208] In step S15, it is determined whether the cutting section H has moved to a non-working position. Furthermore, in this embodiment, a descent amount from the highest point of the cutting section H to a predetermined value or less is considered equivalent to the cutting section H being in a non-working position. If the cutting section H is in a non-working position, step S15 determines "Yes," and the process proceeds to step S19. Conversely, if the cutting section H is not in a non-working position, step S15 determines "No," and the process proceeds to step S16.

[0209] Here, as Figure 2 As shown, the automatic steering control unit 30 is configured to receive the operation signal from the cutting lifting operation member 44. Furthermore, the automatic steering control unit 30 is configured to determine, based on the operation signal, whether an operation to move the cutting unit H to a non-working position has been performed.

[0210] In step S16, it is determined whether an operation to move the cutting unit H to a non-working position has been performed. More specifically, it is determined whether the cutting unit H has undergone an upward operation.

[0211] If the cutting section H has performed an upward operation, the result is determined as Yes in step S16, and the process proceeds to step S19. Conversely, if the cutting section H has not performed an upward operation, the result is determined as No in step S16, and the process proceeds to step S17.

[0212] In step S17, based on the signal indicating the operating state of the steering operation member 41 sent from the steering operation member 41 to the automatic steering control unit 30, it is determined whether the steering operation member 41 has performed an operation greater than the second operation amount A2. If the steering operation member 41 has performed an operation greater than the second operation amount A2, it is determined as Yes in step S17, and the process proceeds to step S19. Otherwise, if the steering operation member 41 has not performed an operation greater than the second operation amount A2, it is determined as No in step S17, and the process temporarily ends.

[0213] In step S19, the control mode of the driving control unit 24 is switched from the first mode to the second mode using the mode switching unit 33. After that, the process temporarily ends.

[0214] That is, when the control mode of the driving control unit 24 is the first mode, the mode switching unit 33 switches the control mode of the driving control unit 24 to the second mode if the operation amount of the steering operation member 41 is greater than the second operation amount A2.

[0215] In addition, in step S19, after the control mode is switched, the reporting unit 53 can also report to the operator that the control mode of the driving control unit 24 has switched from the first mode to the second mode.

[0216] As can be understood from the above description, in this embodiment, the release condition is determined to be Yes in any one of steps S11 to S17. However, the present invention is not limited to this, and some of steps S11 to S17 may be omitted.

[0217] In this case, the release conditions include: the main gear lever 19 is operated to an operating position other than the forward operating position FP; the auxiliary gear transmission device 11b is not in the working gear shift state; the position measurement state of the machine body is not in the specified high-precision state; the clutch used to transmit power to the cutting section H is in the disengaged state; the cutting section H is moved to the non-working position; an operation is performed to move the cutting section H to the non-working position; and the steering operation member 41 performs an operation greater than the second operation amount A2.

[0218] Furthermore, as explained above, the mode switching unit 33 is configured to switch the control mode of the driving control unit 24 to the second mode when at least one of the multiple conditions included in the release condition is met.

[0219] However, the present invention is not limited thereto. The mode switching unit 33 may also be configured to switch the control mode of the driving control unit 24 to the second mode when two or more of the multiple conditions included in the release condition are met.

[0220] Here, we will give an example of the case where the reference orientation TA is determined using the first determination routine, and the control mode of the driving control unit 24 is switched from the second mode to the first mode.

[0221] exist Figure 8 as well as Figure 9 In the example shown, combine harvester 1 travels along the outer perimeter of the field. Figure 8 In the process, combine harvester 1 first enters the field from a first location P1 in the northeastern part of the field. At this time, the control mode of the travel control unit 24 is the second mode. In addition, the reference orientation TA has not been determined at this time. Then, combine harvester 1 travels westward along the northern end of the field.

[0222] Next, combine harvester 1 passes the second location P2. At this moment, the operator will turn the control unit 41 to a straight-line position. Thus, combine harvester 1 moves straight from the second location P2.

[0223] In this example, during the period from when combine harvester 1 passes the second location P2 until it reaches the third location P3, the operator does not operate the steering control component 41. Furthermore, the distance from the second location P2 to the third location P3 is a predetermined distance D1. Additionally, the time at which combine harvester 1 reaches the third location P3 is... Figure 6 The first decision routine shown is determined to be Yes from step S01 to step S05.

[0224] In this case, when the combine harvester 1 arrives at the third location P3, the determination is "Yes" in step S06 of the first determination routine. Therefore, the orientation determination unit 31 determines the reference orientation TA.

[0225] At this time, the orientation determination unit 31 determines the second location P2 as the first registration location Q1. Additionally, the orientation determination unit 31 determines the third location P3 as the second registration location Q2. Then, the orientation determination unit 31 calculates the direction of the straight line from the first registration location Q1 to the second registration location Q2 and determines this direction as the reference orientation TA. Figure 8 In the center, the reference bearing TA is aligned with the west direction.

[0226] Subsequently, the path calculation unit 32 continuously calculates the position of the satellite positioning module 80 when viewed from above, and the travel line along the direction of the reference azimuth TA. In this example, the path calculation unit 32 calculates the travel line extending in the east-west direction.

[0227] However, in this example, after calculating the reference orientation TA, the control mode of the driving control unit 24 switches from the second mode to the first mode. Therefore, after calculating the reference orientation TA, the driving line is fixed and becomes the automatic steering target line GL. Furthermore, this automatic steering target line GL passes through the second location P2 and the third location P3. Additionally, this automatic steering target line GL extends east-west at the northern end of the field.

[0228] Then, as Figure 8 As shown, combine harvester 1 automatically turns and travels from the third location P3. Thus, combine harvester 1 automatically turns and travels westward at the northern end of the field.

[0229] Then, when combine harvester 1 reaches the western end of the field, the operator will turn the steering control 41 to the left by a greater amount than the second operation A2, causing the combine harvester 1 to travel south. Thus, in Figure 7In step S17 of the second determination routine shown, if the determination is Yes, the control mode of the driving control unit 24 is switched from the first mode to the second mode.

[0230] At this moment, the fixed driving line calculated by the path calculation unit 32 is released. Furthermore, from this moment on, the path calculation unit 32 continuously calculates the driving line along the reference azimuth TA, based on the position of the satellite positioning module 80 when viewed from above. In this example, the path calculation unit 32 calculates the driving line extending in the east-west direction.

[0231] Then, as Figure 9 As shown, combine harvester 1 passes through the fourth location P4. At this moment, the operator will turn the control unit 41 to operate in a straight-line state. Thus, combine harvester 1 moves straight from the fourth location P4.

[0232] In this example, during the period from when combine harvester 1 passes the fourth location P4 until it reaches the fifth location P5, the operator does not operate the steering control component 41. Furthermore, the distance from the fourth location P4 to the fifth location P5 is a predetermined distance D1. Additionally, the time at which combine harvester 1 reaches the fifth location P5 is... Figure 6 The first decision routine shown is determined to be Yes from step S01 to step S05.

[0233] In this case, when the combine harvester 1 reaches the fifth location P5, the determination is "Yes" in step S06 of the first determination routine. Therefore, the orientation determination unit 31 updates the reference orientation TA by determining a new reference orientation TA.

[0234] At this point, the bearing determination unit 31 abandons the previously determined reference bearing TA. That is, Figure 8 The westward reference bearing TA shown is abandoned at this moment. Furthermore, the bearing determination unit 31 determines the fourth location P4 as the first registered location Q1. Additionally, the bearing determination unit 31 determines the fifth location P5 as the second registered location Q2. Moreover, the bearing determination unit 31 calculates the direction of the straight line from the first registered location Q1 towards the second registered location Q2 and determines this direction as the reference bearing TA. Figure 9 In the center, the reference bearing TA is aligned with the south direction.

[0235] Subsequently, the path calculation unit 32 continuously calculates the position of the satellite positioning module 80 when viewed from above, and the travel line along the reference azimuth TA. In this example, the path calculation unit 32 calculates the travel line extending in the north-south direction.

[0236] However, in this example, after calculating the reference orientation TA, the control mode of the driving control unit 24 is switched from the second mode to the first mode. Therefore, after calculating the reference orientation TA, the driving line is fixed and becomes the automatic steering target line GL. Furthermore, this automatic steering target line GL passes through the fourth location P4 and the fifth location P5. Additionally, this automatic steering target line GL extends in a north-south direction at the western end of the field.

[0237] Then, as Figure 9 As shown, combine harvester 1 begins automatic turning from location P5. Thus, combine harvester 1 automatically turns south at the western end of the field.

[0238] [Handling of Orientation Changes]

[0239] The orientation determination unit 31 is configured to perform orientation change processing. Orientation change processing is the process of changing the reference orientation TA or the direction of the automatic steering target line GL based on the operation of the manual operation unit 45 when the control mode of the driving control unit 24 is in the first mode.

[0240] That is, when the control mode of the driving control unit 24 is the first mode, the orientation determination unit 31 performs the process of changing the reference orientation TA or the direction of the automatic steering target line GL according to the operation of the human operation unit 45, that is, orientation change processing.

[0241] The following example illustrates how the orientation determination unit 31 performs orientation change processing.

[0242] From Figures 10 to 12 The example shown and Figure 13 as well as Figure 14 In the example shown, combine harvester 1 is traveling north at the eastern end of the field. Furthermore, the eastern boundary OB of the field is... Figure 10 The sixth location P6 is shown as a bend. The portion of the field boundary OB south of the sixth location P6 extends in a north-south direction. Additionally, the portion of the field boundary OB north of the sixth location P6 extends northeastward from the sixth location P6.

[0243] First, regarding from Figures 10 to 12 The example shown illustrates this.

[0244] exist Figure 10 In this process, the combine harvester 1 automatically steers along a first target line GL1 extending in a north-south direction. The first target line GL1 is the automatic steering target line GL. At this time, the control mode of the driving control unit 24 is the first mode. In addition, the reference orientation TA is facing north.

[0245] In this example, such as Figure 11As shown, at the moment when the combine harvester 1 reaches the sixth location P6, the operator moves the steering control 41 to a position between the right first operating position R1 and the right second operating position R2. Thus, the steering control 41 operates to the right with an operating amount greater than the first operating amount A1 and less than the second operating amount A2.

[0246] Based on this operation, the orientation determination unit 31 performs orientation change processing. In the orientation change processing of this embodiment, the direction of the automatic steering target line GL is changed according to the operating direction of the steering operation member 41. In this example, since the steering operation member 41 is operated to the right, the direction of the automatic steering target line GL is changed by a predetermined rightward rotation angle when viewed from above.

[0247] Therefore, the new automatic steering target line GL, i.e., the second target line GL2, is calculated.

[0248] Thus, when the control mode of the driving control unit 24 is the first mode, the orientation determination unit 31 performs orientation change processing when the operation amount of the steering operation member 41 is greater than or equal to the first operation amount A1 and less than or equal to the second operation amount A2.

[0249] Furthermore, assuming that when the steering operation unit 41 is operated to the left with an operation amount greater than the first operation amount A1 and less than the second operation amount A2, the direction of the automatic steering target line GL is changed by a left turn predetermined angle when viewed from above.

[0250] Furthermore, the specified angle can be set arbitrarily. For example, the specified angle is 0.5 degrees.

[0251] Furthermore, assuming that the amount of operation of the steering operation unit 41 is less than the first operation amount A1, the orientation determination unit 31 does not perform orientation change processing.

[0252] That is, when the control mode of the driving control unit 24 is the first mode, the orientation determination unit 31 does not perform orientation change processing if the operation amount of the steering operation member 41 is less than the first operation amount A1.

[0253] In addition, the automatic turning target line GL after the change of direction using the orientation change processing can be calculated by the position of the satellite positioning module 80 when viewed from above, or by the position of the satellite positioning module 80 at a predetermined distance away from the front of the aircraft, or by the center of the cutting width of the cutting section H.

[0254] Furthermore, in this example, while calculating the new automatic steering target line GL, i.e., the second target line GL2, the old automatic steering target line GL, i.e., the first target line GL1, is discarded. However, the present invention is not limited to this. It is also possible to calculate the new automatic steering target line GL without discarding the old automatic steering target line GL, and maintain its stored state.

[0255] like Figure 12 As shown, after performing the orientation change processing, combine harvester 1 automatically turns and travels along the second target line GL2. Additionally, from... Figure 10 The state shown Figure 12 As shown, the control mode of the driving control unit 24 remains in the first mode.

[0256] Furthermore, in the examples described above, the direction of the automatic turning target line GL is changed through orientation change processing, but the present invention is not limited to this. The reference orientation TA can also be changed through orientation change processing. For example, it can also be done in… Figure 11 In the state shown, the reference bearing TA facing north is changed to the reference bearing TA facing northeast through bearing change processing. In this case, the path calculation unit 32 calculates a new automatic steering target line GL by calculating the automatic steering target line GL along the changed reference bearing TA.

[0257] In addition, in this embodiment, such as Figure 2 As shown, when performing a bearing change procedure, the automatic steering control unit 30 sends a prescribed signal to the reporting unit 53. Based on this signal, the reporting unit 53 reports to the operator that the bearing change procedure has been performed.

[0258] In addition, the report can be prepared before, during, or after the azimuth change processing.

[0259] Next, regarding Figure 13 as well as Figure 14 The example shown illustrates this.

[0260] exist Figure 13 In the state shown, with Figure 11 Similarly, when the combine harvester 1 reaches the sixth location P6, the operator will operate the steering control 41 to a position between the right first operating position R1 and the right second operating position R2. This performs the orientation change process described above.

[0261] However, in Figure 13 In the state shown, with Figure 11 Unlike other methods, when the second target line GL2 is calculated, the orientation of the combine harvester 1 body 10 is already along the second target line GL2 due to the influence of field tilt and other factors.

[0262] Thus, when calculating the new automatic steering target line GL through orientation change processing, if the orientation of the vehicle body 10 is already along the automatic steering target line GL, the driving control unit 24 will... Figure 14 As shown, responsive turning control is performed. When the control mode of the driving control unit 24 is in the first mode, the responsive turning control controls the driving of the machine body 10 according to the operation of the manual operation component 45, so as to perform a temporary turning action in the direction operated by the manual operation component 45.

[0263] That is, the driving control unit 24 can perform responsive turning control to control the driving of the machine body 10, so that when the control mode of the driving control unit 24 is the first mode, a temporary turning action is performed in the direction of operation of the manual operation member 45 according to the operation of the manual operation member 45.

[0264] exist Figure 14 The diagram illustrates an example of turn control response. In this example, as described above, the driving control unit 24 controls the movement of the machine body 10 to perform a temporary turn to the right as the operator operates the steering control element 41 to the right.

[0265] Therefore, as Figure 14 As shown, the combine harvester 1 temporarily turns to the right relative to the second target line GL2. Then, the driving control unit 24 controls the movement of the machine body 10 to achieve automatic steering control along the second target line GL2.

[0266] Furthermore, this temporary turning maneuver is preferably a very small turning maneuver. Therefore, in Figure 14 In the example shown, the temporary turning maneuver results in almost no rightward movement relative to the second target line GL2.

[0267] Based on the configuration described above, when the control mode of the driving control unit 24 is in the first mode, the machine body 10 performs automatic steering. Furthermore, during automatic steering, when the operator operates the control unit 45, they perform orientation change processing. This changes the reference orientation TA or the direction of the automatic steering target line GL. As a result, the direction of travel changes during automatic steering.

[0268] Therefore, based on the above-described configuration, a combine harvester 1 is capable of changing its direction of travel during automatic steering.

[0269] [Regarding the setting of angle offset]

[0270] The communication terminal 4 installed on the combine harvester 1 is configured to display an angle offset setting screen on the display 4b. Figure 16 as well as Figure 17 The angle offset setting screen is displayed on the display 4b of the communication terminal 4 shown.

[0271] The communication terminal 4 is configured to receive human input. Specifically, the display 4b is configured to be touch-operable. By performing touch operations on the display 4b, the operator can input operations into the communication terminal 4.

[0272] like Figure 16 As shown, the angle offset setting screen displays an angle offset display unit 70, a positive button 71, and a negative button 72. The angle offset display unit 70 displays the angle offset. Furthermore, the angle offset is the amount of change in the direction of the reference bearing TA or the automatic steering target line GL during bearing change processing.

[0273] exist Figure 16 In the example shown, "0.5°" is displayed on the angle offset display unit 70. This indicates that the angle offset is set to 0.5°.

[0274] In addition, such as Figure 16 As shown, the angle offset setting screen may also include one or more displays showing various parameters in addition to the angle offset display unit 70. Figure 16 In this case, the display unit is located below the angle offset display unit 70.

[0275] The positive button 71 and the negative button 72 are touch-operable buttons. Each time the operator touches the positive button 71, a predetermined signal is sent to the orientation determination unit 31. This signal indicates that the positive button 71 has been touched.

[0276] Here, the orientation determination unit 31 stores the currently set angle offset. Then, when the orientation determination unit 31 receives a signal indicating that the positive button 71 has been touched, the angle offset is increased by a predetermined angle. Furthermore, the orientation determination unit 31 stores the increased angle offset.

[0277] According to this configuration, the angular offset increases by a specified angular amount each time the operator touches the positive button 71.

[0278] Furthermore, each time the operator touches the negative button 72, a predetermined signal is sent to the orientation determination unit 31. This signal indicates that the negative button 72 has been touched.

[0279] When the orientation determination unit 31 receives a signal indicating that the negative button 72 has been touched, the angle offset is reduced by a predetermined angle. Furthermore, the orientation determination unit 31 stores the reduced angle offset.

[0280] According to this configuration, each time the operator touches the negative button 72, the angular offset decreases by a specified angular amount.

[0281] Based on the above description, the communication terminal 4 is configured to allow the change in the reference azimuth TA or the direction of the automatic turning target line GL during azimuth change processing to be changed by a predetermined angle amount via operation input. Furthermore, the combine harvester 1 includes the communication terminal 4, which receives human operation input and can set the change in the direction of the reference azimuth TA or the automatic turning target line GL during azimuth change processing via operation input.

[0282] In this embodiment, the specified angle is 0.1°. That is, the communication terminal 4 can change the reference azimuth TA or the direction of the automatic turning target line GL in the azimuth change processing by an amount of 0.1° through operation input. However, the present invention is not limited to this, and the specified angle can be any angle other than 0.1°.

[0283] Furthermore, in this embodiment, the communication terminal 4 is configured such that the angle offset setting screen is not displayed on the display 4b while the machine body 10 is in motion. Additionally, when the machine body 10 is started moving while the angle offset setting screen is displayed on the display 4b, the positive button 71 and the negative button 72 are not subject to touch operation.

[0284] Thus, the communication terminal 4 is configured such that, while the machine body 10 is in motion, it does not receive operation inputs for setting the reference orientation TA or the direction of the automatic steering target line GL.

[0285] Alternatively, an upper limit can be set for the angle offset. The upper limit for the angle offset is not specifically limited, but can be, for example, 2.0°.

[0286] The communication terminal 4, configured as a azimuth determination unit 31, can switch between a permitted mode and a prohibited mode. The permitted mode allows the execution of azimuth change processing. The prohibited mode prohibits the execution of azimuth change processing.

[0287] That is, the control mode of the orientation determination unit 31 can switch between a permitted mode that allows the execution of orientation change processing and a prohibited mode that prohibits the execution of orientation change processing.

[0288] Specifically, the communication terminal 4 switches the control mode of the orientation determining unit 31 from the permitted mode to the prohibited mode based on the operation input of the angle offset. More specifically, when the angle offset is set to 0.1°, and the operator touches the negative button 72, the communication terminal 4 switches the control mode of the orientation determining unit 31 from the permitted mode to the prohibited mode. When the control mode of the orientation determining unit 31 is in the prohibited mode, such as... Figure 17 As shown, “None” is displayed in the angle offset display unit 70.

[0289] Furthermore, based on the operation input that increases the angle offset, the communication terminal 4 switches the control mode of the orientation determining unit 31 from the prohibited mode to the permitted mode. More specifically, when the control mode of the orientation determining unit 31 is in the prohibited mode, and the operator touches the positive button 71, the communication terminal 4 switches the control mode of the orientation determining unit 31 from the prohibited mode to the permitted mode. When the control mode of the orientation determining unit 31 is in the permitted mode, such as... Figure 16 As shown, the currently set angle offset is displayed in the angle offset display unit 70.

[0290] Thus, the communication terminal 4 is configured to switch the control mode of the orientation determination unit 31 via operation input.

[0291] Here, the automatic steering control unit 30 (refer to) Figure 2 When the control mode of the driving control unit 24 is the first mode, according to Figure 18 The third determination routine shown determines whether to perform orientation change processing. This third determination routine is stored in the automatic steering control unit 30. When the control mode of the driving control unit 24 is in the first mode, the automatic steering control unit 30 repeatedly executes this third determination routine at regular intervals.

[0292] The following is for reference Figure 18 The third decision routine will be explained.

[0293] At the start of the third determination routine, step S21 is executed first. In step S21, based on a signal indicating the operating state of the steering control unit 41 sent from the steering control unit 41 to the automatic steering control unit 30, it is determined whether the steering control unit 41 has been operated. If the steering control unit 41 has not been operated, step S21 determines "No," and the process temporarily ends. Alternatively, if the steering control unit 41 has been operated, step S21 determines "Yes," and the process proceeds to step S22.

[0294] In step S22, it is determined whether the operation amount of the steering control component 41 is less than the first operation amount A1. If the operation amount of the steering control component 41 is less than the first operation amount A1, the result is determined as Yes in step S22, and the process temporarily ends. Otherwise, if the operation amount of the steering control component 41 is greater than or equal to the first operation amount A1, the result is determined as No in step S22, and the process proceeds to step S23.

[0295] Furthermore, the present invention is not limited to this. The steering operation member 41 may also be configured such that when the operation amount is less than the first operation amount A1, the operation signal of the steering operation member 41 is not sent to the driving control unit 24 and the automatic steering control unit 30. In other words, the combine harvester 1 may also be configured to be in the same state as when the steering operation member 41 is not operated when the operation amount of the steering operation member 41 is less than the first operation amount A1. In this case, it may also be configured to omit step S22, and in step S21, if the operation amount of the steering operation member 41 is less than the first operation amount A1, it is determined as No, and if the operation amount of the steering operation member 41 is greater than or equal to the first operation amount A1, it is determined as Yes.

[0296] In step S23, it is determined whether the operation amount of the steering control component 41 is less than or equal to the second operation amount A2. If the operation amount of the steering control component 41 is greater than or equal to the second operation amount A2, step S23 determines "No" and the process temporarily ends. Otherwise, if the operation amount of the steering control component 41 is less than or equal to the second operation amount A2, step S23 determines "Yes" and the process proceeds to step S24.

[0297] Furthermore, if the determination is No in step S23, then in the second determination routine described above (refer to...) Figure 7 In step S17, the result is "Yes". As a result, according to the mode switching unit 33, the control mode of the driving control unit 24 is switched from the first mode to the second mode.

[0298] In step S24, it is determined whether the control mode of the orientation determination unit 31 is a permitted mode. If the control mode of the orientation determination unit 31 is a prohibited mode, the result is determined as No in step S24, and the process temporarily ends.

[0299] That is, when the control mode of the driving control unit 24 is the first mode, even if the operation amount of the steering operation member 41 is more than the first operation amount A1 and less than the second operation amount A2, the orientation determination unit 31 will not perform orientation change processing when the control mode of the orientation determination unit 31 is the prohibition mode.

[0300] Alternatively, if the result is determined to be No in step S24, the control mode of the driving control unit 24 can be switched from the first mode to the second mode by the mode switching unit 33.

[0301] If the control mode of the orientation determination unit 31 is the permission mode, the determination is Yes in step S24, and the process moves to step S25.

[0302] In step S25, the aforementioned responsive turning control is executed. Furthermore, in the description of the responsive turning control, it was explained that "when calculating a new automatic steering target line GL through orientation change processing, if the orientation of the vehicle body 10 is already along the automatic steering target line GL, the driving control unit 24..." Figure 14 As shown, responsive turning control is performed. However, this is merely an example, and the present invention is not limited thereto. For example, responsive turning control may be performed before the orientation change process is executed, or it may be performed simultaneously with the orientation change process. In addition, when calculating a new automatic steering target line GL through the orientation change process, responsive turning control may be performed regardless of whether the orientation of the aircraft 10 is along the automatic steering target line GL.

[0303] After step S25, the process moves to step S26. In step S26, the aforementioned orientation change process is performed. After that, the process temporarily ends.

[0304] [Other Implementation Methods]

[0305] (1) The driving device 11 can be wheeled or half-tracked.

[0306] (2) The manual operating component 45 can also be a different component from the steering operating component 41. For example Figure 15 As shown, a steering wheel 51 may also be included, and the steering wheel 51 is provided with left and right manual operating elements 45. In this example, the manual operating elements 45 are buttons. Furthermore, the steering wheel 51 corresponds to the "steering operating element" of the present invention. In this case, the amount of operation of the steering wheel 51 is the rotation angle of the steering wheel 51.

[0307] (3) Some or all of the following units may be located outside the combine harvester 1: the vehicle position calculation unit 21, the driving control unit 24, the vehicle orientation calculation unit 25, the automatic steering control unit 30, the orientation determination unit 31, the path calculation unit 32, the mode switching unit 33, and the straight-line determination unit 34. For example, they may also be located outside the combine harvester 1 as management facilities or management servers.

[0308] (4) The orientation determination unit 31 may also perform orientation change processing when the steering operation member 41 operates at a greater amount than the second operation amount A2 when the control mode of the driving control unit 24 is in the first mode. In addition, the orientation determination unit 31 may also perform orientation change processing when the steering operation member 41 operates at a less than the first operation amount A1 when the control mode of the driving control unit 24 is in the first mode.

[0309] (5) The steering control component 41 and the cutting and lifting control component 44 can also be the same control component, such as a lever.

[0310] (6) The above starting conditions may also include the calculated orientation of the aircraft being in a specified high-precision state. More specifically, the starting conditions may also include a high-precision orientation calculation state.

[0311] (7) The above starting conditions may also include "the body orientation reference TA is within a specified angle or the body orientation is within a specified angle relative to the reference TA plus 180°".

[0312] (8) The straight-line determination unit 34 may also be configured to determine whether the body 10 is traveling straight within a specified distance D1 and whether the body 10 is traveling straight within a specified time.

[0313] (9) It can also be configured to be able to manually determine the first registration location Q1 and the second registration location Q2, and the function of determining the reference orientation TA of the processing described in the above embodiments can be switched between being valid and invalid.

[0314] Alternatively, the combine harvester 1 may be configured such that, for example, it has a first registration button (not shown) and a second registration button (not shown), and the position coordinates of the combine harvester 1 at the moment the first registration button is pressed are determined as the first registration location Q1, and the position coordinates of the combine harvester 1 at the moment the second registration button is pressed are determined as the second registration location Q2. In this case, the orientation determination unit 31 may also be the same as in the above embodiment, determining the reference orientation TA as the direction of the straight line from the first registration location Q1 to the second registration location Q2.

[0315] (10) The mode switching unit 33 may also be configured such that the control mode of the driving control unit 24 cannot be automatically switched from the second mode to the first mode. In this case, if the straight-line determination unit 34 determines that the machine body 10 is traveling straight at a specified distance D1 or within a specified time, the reference orientation TA may be determined, and the switch from the second mode to the first mode may not be performed.

[0316] (11) The mode switching unit 33 may also be configured such that it cannot automatically switch the control mode of the driving control unit 24 from the first mode to the second mode.

[0317] (12) The mode switching unit 33 may also be configured to switch the control mode of the driving control unit 24 to the first mode when the straight-line determination unit 34 determines that the machine body 10 is traveling straight at a specified distance D1 or within a specified time, regardless of whether the start condition is met.

[0318] (13) It may also be configured as an agricultural machinery control program in which the functions of each component in the above embodiments are implemented by a computer. Alternatively, it may be configured as a recording medium that records an agricultural machinery control program in which the functions of each component in the above embodiments are implemented by a computer.

[0319] Furthermore, the configurations disclosed in the above embodiments (including other embodiments, the same below) can be combined with the configurations disclosed in other embodiments, provided that they do not contradict each other. Additionally, the embodiments disclosed in this specification are illustrative, and the embodiments of the present invention are not limited thereto; appropriate changes can be made without departing from the scope of the present invention.

[0320] Industrial availability

[0321] This invention can be applied not only to full-feed combine harvesters, but also to various agricultural machines such as semi-feed combine harvesters, tractors, rice transplanters, corn harvesters, potato harvesters, and carrot harvesters.

[0322] Explanation of reference numerals in the attached figures

[0323] 1. Combine harvester (agricultural machinery)

[0324] 4. Communication Terminal (Setup Section)

[0325] 10. Body

[0326] 11. Driving device

[0327] 24. Driving Control Unit

[0328] 31. Direction Determination Department

[0329] 33 Mode Switching Unit

[0330] 34 Straight-line determination section

[0331] 41 Steering control components

[0332] 45 human operators

[0333] 51. Steering wheel (steering control component)

[0334] A1 First Operation Quantity

[0335] A2 Second Operation Quantity

[0336] D1 Specified Distance

[0337] GL Automatic Steering Target Line (Driving Path)

[0338] TA reference azimuth

Claims

1. An agricultural machine, characterized in that, have: Steering control components used for steering; A driving control unit that controls the movement of an engine equipped with a driving device; A mode switching unit that switches the control mode of the driving control unit between a first mode and a second mode; A bearing determination unit that determines the reference bearing used for automatic steering; When the control mode of the driving control unit is the first mode, the driving control unit controls the driving of the machine body based on the reference orientation or a driving path calculated based on the reference orientation. When the control mode of the driving control unit is the second mode, the machine body travels according to the operation of the steering control component. When the driving control unit is in the first control mode, the orientation determination unit performs orientation change processing, i.e., orientation change processing, based on the operation of the manual operation device, to change the reference orientation or the direction of the driving path. The human-operated component is the steering component. The movable range of the steering actuator is set such that it can operate the steering actuator by a greater amount than the first operating amount, i.e., the second operating amount. When the driving control unit is in the first control mode, the orientation determination unit does not perform the orientation change processing if the amount of operation of the steering component is less than the first amount of operation. When the driving control unit is in the first control mode, the orientation determination unit performs the orientation change processing if the steering operation amount is greater than or equal to the first operation amount and less than or equal to the second operation amount. When the control mode of the driving control unit is the first mode, and the operation amount of the steering operation component is greater than the second operation amount, the mode switching unit switches the control mode of the driving control unit to the second mode.

2. The agricultural machinery as described in claim 1, characterized in that, The driving control unit is capable of performing responsive turning control to control the movement of the machine body, so that when the control mode of the driving control unit is the first mode, the human operator performs a temporary turning action in the operating direction according to the operation of the human operator.

3. The agricultural machinery as described in claim 1 or 2, characterized in that, The system includes a straight-line determination unit that determines whether the machine body is traveling straight within a specified distance or time when the control mode of the driving control unit is the second mode. When the orientation determination unit determines, through the straight-movement determination unit, that the machine body is moving straight at the specified distance or within the specified time, the orientation determination unit determines the reference orientation based on the direction of straight-movement at the specified distance or within the specified time.

4. The agricultural machinery as described in claim 1 or 2, characterized in that, It has a setting unit that can receive human operation input and set the amount of change of the reference orientation or the direction of the driving path in the orientation change process according to the operation input.

5. The agricultural machine as described in claim 4, characterized in that, The control mode of the orientation determination unit can switch between a permission mode that allows the execution of the orientation change process and a prohibition mode that prohibits the execution of the orientation change process. The setting unit is configured to switch the control mode of the orientation determination unit according to the operation input.

6. The agricultural machine as described in claim 4, characterized in that, The setting unit is configured to change the amount of change by a predetermined angle based on the operation input.

7. The agricultural machine as described in claim 4, characterized in that, The setting unit is configured such that it does not receive the operation input for setting the change amount while the machine is in motion.

8. A control program for agricultural machinery, characterized in that, The agricultural machinery control program controls a machine body equipped with a steering mechanism and a travel device. The range of motion of the steering mechanism is set to allow for greater operation of the agricultural machinery by a second operation amount than a first operation amount. The agricultural machinery control program is implemented via a computer. The driving control function that controls the movement of the machine body; A mode switching function that allows the driving control function to switch between a first mode and a second mode; A bearing determination function that determines the reference bearing used for automatic steering; When the driving control function is in the first mode, the driving control function controls the movement of the machine based on the reference orientation or a driving path calculated from the reference orientation. When the driving control function is in the second mode, the machine body drives according to the operation of the steering mechanism. When the driving control function is in the first mode, the orientation determination function performs orientation change processing, i.e., orientation change processing, based on the operation of the human operation component (which is the steering operation component). When the driving control function is in the first mode, the orientation determination function will not perform the orientation change processing if the amount of operation of the steering component is less than the first amount of operation. When the driving control function is in the first mode, the orientation determination function performs the orientation change processing when the steering operation amount is greater than the first operation amount and less than the second operation amount. When the driving control function is in the first mode, the mode switching function switches the driving control function to the second mode if the amount of operation of the steering component is greater than the amount of operation of the second steering component.

9. A recording medium containing a control program for an agricultural machine, characterized in that, The agricultural machinery control program controls a machine body equipped with a steering mechanism for steering and a travel device. The range of motion of the steering mechanism is set to allow the agricultural machinery to operate with a greater range than a first operating amount, i.e., a second operating amount. The recording medium containing the agricultural machinery control program is implemented via a computer. The driving control function that controls the movement of the machine body; A mode switching function that allows the driving control function to switch between a first mode and a second mode; A bearing determination function that determines the reference bearing used for automatic steering; When the driving control function is in the first mode, the driving control function controls the movement of the machine based on the reference orientation or a driving path calculated from the reference orientation. When the driving control function is in the second mode, the machine body drives according to the operation of the steering mechanism. When the driving control function is in the first mode, the orientation determination function performs orientation change processing, i.e., orientation change processing, based on the operation of the human operation component (which is the steering operation component). When the driving control function is in the first mode, the orientation determination function will not perform the orientation change processing if the amount of operation of the steering component is less than the first amount of operation. When the driving control function is in the first mode, the orientation determination function performs the orientation change processing when the steering operation amount is greater than the first operation amount and less than the second operation amount. When the driving control function is in the first mode, the mode switching function switches the driving control function to the second mode if the amount of operation of the steering component is greater than the amount of operation of the second steering component.

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