Operation control method, operation control program, and operation control system

Abstract

The invention provides an operation control method, an operation control program, and an operation control system, which can improve the convenience of an operation device for registering a reference position of a reference line of a target path for automatically driving a work vehicle. The generation processing unit (112) executes a reference line setting process for setting a reference line when at least one of the first setting unit and the second setting unit accepts a first operation from a user, and executes a reference line setting process for setting a reference line when at least one of the first setting unit and the second setting unit accepts a second operation from the user. The specific processing unit (113) executes specific processing different from the reference line setting processing.

Description

Technical Field

[0001] The present invention relates to a technology for an operating device for generating a target path for automatically traveling a work vehicle. Background Art

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

[0003] Prior art literature

[0004] Patent Literature

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

[0006] However, the conventional technology has a problem in that the function of the operation portion is limited to the function of registering the reference position when setting the reference orientation (reference line), and thus the convenience is low.

[0007] An object of the present invention is to provide an operation control method, an operation control program, and an operation control system capable of improving the convenience of an operation device for registering a reference position of a reference line of a target path for automatically traveling a work vehicle.

[0008] The operation control method according to the present invention is an operation control method for an operating device including: a first setting unit that receives a user operation for registering a first reference position of a reference line when a work vehicle is automatically driven; and a second setting unit that receives a user operation for registering a second reference position of the reference line. The operation control method executes a baseline setting process for setting the reference line when at least one of the first setting unit and the second setting unit receives a first operation from the user, and executes a specific process different from the baseline setting process when at least one of the first setting unit and the second setting unit receives a second operation from the user.

[0009] An operation control program according to the present invention is an operation control program for an operating device comprising: a first setting unit that accepts a user operation for registering a first reference position of a reference line when a work vehicle is automatically driven; and a second setting unit that accepts a user operation for registering a second reference position of the reference line. The operation control program causes one or more processors to execute the following processing: when at least one of the first setting unit and the second setting unit accepts a first operation from the user, the program executes a baseline setting process for setting the reference line; and when at least one of the first setting unit and the second setting unit accepts a second operation from the user, the program executes a specific process different from the baseline setting process.

[0010] An operation control system according to the present invention is an operation control system for an operating device, the operating device comprising: a first setting unit that receives a user operation for registering a first reference position of a reference line when a work vehicle is automatically driven; and a second setting unit that receives a user operation for registering a second reference position of the reference line. The operation control system comprises: a setting processing unit that, when at least one of the first setting unit and the second setting unit receives a first operation from the user, executes a baseline setting process for setting the reference line; and a specific processing unit that, when at least one of the first setting unit and the second setting unit receives a second operation from the user, executes a specific process different from the baseline setting process.

[0011] Effects of the Invention

[0012] According to the present invention, an operation control method, an operation control program, and an operation control system can be provided that can improve the convenience of an operating device for registering a reference position of a reference line of a target path for automatically traveling a work vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0038] Description of Reference Numerals

[0039] 1…Combine harvester (work vehicle); 11…Control device; 30…Operating device; 31…Automatic driving instruction unit (starting operation unit); 32…Automatic driving display unit; 35…Starting point setting unit (first setting unit); 36…Starting point setting unit (second setting unit); 37…Starting point setting display unit; 38…Ending point setting display unit; 111…Driving processing unit; 112…Generation processing unit; 113…Specific processing unit; A1…Starting point (first reference position); B1…Ending point (second reference position); F…Field; L1…Baseline; R1…Target path; R2…Target path. DETAILED DESCRIPTION

[0040] The following embodiment is an example of realizing the present invention, and does not limit the technical scope of the present invention.

[0041] [Implementation Method 1]

[0042] The driving system according to the first embodiment of the present invention includes a combine harvester 1, a satellite (not shown), and a base station (not shown). The combine harvester 1 is an example of a work vehicle according to the present invention. The work vehicle according to the present invention is not limited to the combine harvester 1 and may also be a tractor, a rice transplanter, a construction machine, a snowplow, or the like.

[0043] Combine harvester 1 in field F (refer to Figure 4A ) in the field F, the combine harvester 1 performs a predetermined operation (e.g., harvesting operation) while traveling along the target path R1 according to the operation of the operator (operator). Specifically, the combine harvester 1 automatically travels along the target path R1 (e.g., a straight working path) in the working area of ​​the field F according to the automatic steering operation, and manually travels in the non-working area of ​​the field F according to the manual steering operation (driving operation) of the operator. The combine harvester 1 travels in the field F while switching between automatic travel in the working area and manual travel in the non-working area to perform the operation. The target path R1 can be generated in advance based on the operation of the operator and stored as path data.

[0044] In addition, in the present embodiment, automatic driving refers to the combine harvester 1 driving along the target path R1 while controlling the steering amount (steering angle) (automatic steering). During the automatic driving of the combine harvester 1, the operator can operate the main gear lever to switch the vehicle speed (driving speed) and driving direction (forward direction and reverse direction). In addition, when the combine harvester 1 performs a stop operation (pressing the stop switch, turning the steering wheel, etc.) while automatically driving according to the target path R1, the operator can stop the automatic driving of the combine harvester 1.

[0045] Thus, the combine harvester 1 of this embodiment has a structure in which only automatic steering (steering control processing) is performed during automatic driving, and the vehicle speed and driving direction switching processing and the stop processing can be performed according to the operator's operation. As another embodiment, the combine harvester 1 can have a structure in which automatic steering, vehicle speed and driving direction switching processing and the stop processing are automatically performed independently of the operator's operation.

[0046] Figure 4A An example of a target path R1 set for a field F is shown in FIG. The combine harvester 1 performs harvesting work while automatically traveling along the target path R1 in the field F. Figure 4AAs shown, if multiple paths (parallel lines) parallel to the baseline L1 are set as target paths R1, the combine harvester 1 automatically travels along the vertical direction in the figure within the field F according to the set target paths R1. The baseline L1 is generated, for example, based on a start point A1 and an end point B1 registered at arbitrary locations within the field F. Furthermore, the target paths R1 for automatically traveling the combine harvester 1 are not limited to straight paths and may also be curved paths. For example, if a straight baseline is generated, a straight target path is generated; if a curved baseline is generated, a curved target path is generated.

[0047] use Figure 5 An example of the operation procedure of the combine harvester 1 will be described. The combine harvester 1 is harvesting in the field F along a target path R1 (see FIG. 1 ) generated based on the reference line L1. Figure 4A ) is automatically driven while performing the harvesting operation. For example, the combine harvester 1 automatically drives along the target path R1 when driving straight, and is manually driven according to the operator's manual steering operation when moving between paths for turning and straight driving. Here, the combine harvester 1 performs the harvesting operation ("circular harvesting", "round trip harvesting") while driving from the outer peripheral side to the inner peripheral side from the starting position S to the ending position G. First, if the combine harvester 1 starts to automatically drive at the starting position S, it drives while harvesting the stalks along the outer periphery of the field F. For example, the combine harvester 1 drives two circles around the outer peripheral area F1 ( Figure 5 dotted path).

[0048] When the combine harvester 1 finishes the harvesting operation in the outer peripheral area F1, it enters the inner peripheral area F2 and starts the harvesting operation in the inner peripheral area F2. In the inner peripheral area F2, the combine harvester 1 performs harvesting operation while traveling in a straight line in the vertical direction. It does not perform harvesting operation in the left and right directions, but moves between the operation paths by turning and traveling in a straight line in the outer peripheral area F1 (the operation completed area, the harvested area). Figure 5 The combine harvester 1 performs a harvesting operation in the inner peripheral area F2, and when it reaches the end position G, it ends the automatic driving and harvesting operation.

[0049] The combine harvester 1 moves in the field F along a target path R1 (see Figure 4A ) automatically travels while performing harvesting operations. In addition, the combine harvester 1 may be formed so that: the combine harvester 1 moves in the vertical direction along the target path R1 (refer to Figure 4A ) automatically drives while performing the cutting operation, and in the left and right directions follows the target path R2 corresponding to the orthogonal line L2 perpendicular to the reference line L1 (refer to Figure 4B) automatically travels while performing the cutting operation. In addition, the orthogonal line L2 can be registered as the second reference line when registering the reference line L1.

[0050] In addition, the combine harvester 1 can be configured to automatically travel forward along a straight path (working path) while performing harvesting operations, and automatically travel backward along a work-completed path (worked path) after stopping harvesting operations. Furthermore, the combine harvester 1 can automatically travel when moving between work paths.

[0051] In addition, the driving system may include an operating terminal (tablet terminal, smartphone, etc.) operated by an operator. The operating terminal can communicate with the combine harvester 1 via a communication network such as a mobile phone line network, a data packet line network, or a wireless LAN. For example, the operator registers various information (operating vehicle information, field information, operation information, etc.) on the operating terminal. In addition, the operator can grasp the driving status and operating status of the combine harvester 1 based on the driving trajectory displayed on the operating terminal at a location separated from the combine harvester 1. The operating terminal can be formed to be mounted on the combine harvester 1.

[0052] [Combine Harvester 1]

[0053] Figure 2 , which shows the appearance of the combine harvester 1 as viewed from the side. Figure 3 , which shows the appearance of the combine harvester 1 as viewed from above. Figures 1 to 3 As shown, the combine harvester 1 includes a traveling section 2, a harvesting section 3, a threshing section 4, a screening section 5, a storage section 6, a discharged straw processing section 7, a power section 8, an operating section 9, an operating device 30, a control device 11, a storage section 51, a positioning unit 52, a monitoring section 53, a communication section 54, and the like. The combine harvester 1 travels using the traveling section 2, harvests stalks using the harvesting section 3, thres the harvested stalks in the threshing section 4, and screens the grains in the screening section 5 and stores them in the storage section 6. Furthermore, the combine harvester 1 processes the discharged straw after threshing in the discharged straw processing section 7. The combine harvester 1 uses power supplied by the power section 8 to drive the traveling section 2, harvesting section 3, threshing section 4, screening section 5, storage section 6, and discharged straw processing section 7.

[0054] The traveling unit 2 is disposed below the machine frame 12 and includes a pair of left and right crawler-type traveling devices 23 and a transmission (not shown). The traveling unit 2 uses power (e.g., rotary power) transmitted from the engine 20 of the power unit 8 to rotate the tracks of the crawler-type traveling devices 23, thereby enabling the combine harvester 1 to travel forward and backward or turn left and right. The transmission transmits the power (rotational power) from the power unit 8 to the crawler-type traveling devices 23 and can also change the speed of the rotary power.

[0055] The harvesting section 3 is an operating machine that performs operations on the field F that is the target of the operation. It is arranged in front of the traveling section 2 and harvests the stalks of a predetermined harvesting width in an area (unharvested area) of the field F that has not been harvested and that is an unoperated area. The harvesting section 3 is an example of a working section of the present invention. The harvesting section 3 includes a straw divider 13, a rake wheel 14, a cutting knife 15, a rake auger 16, a feed chamber 17, and a conveyor 18. In addition, the harvesting section 3 includes a rotation detection section (not shown) that detects the rotation speed (operation speed) of the rotary operation for harvesting. The rotation detection section is composed of, for example, a rotation sensor that detects the rotation speed of the rake wheel 14, the rotation speed of the rake auger 16, the rotation speed of the conveyor 18, and the like.

[0056] The straw divider 13 protrudes forward from the left and right front ends of the cutting section 3, guiding the uncut stalks within the cutting width. A raking wheel 14 is positioned behind the straw divider 13 and is rotatable about a rotation axis extending in the left-right direction. To assist in the cutting of the stalks guided by the straw divider 13, the raking wheel 14 rotates to lift the stalks while raking the tip side of the stalks. A cutter 15 is positioned below the raking wheel 14 and cuts the stalk side of the stalks raked by the raking wheel 14 to cut the stalks.

[0057] The raking auger 16 is arranged behind the raking reel 14 and the cutter 15 and is rotatable about a rotation axis extending in the left-right direction. The raking auger 16 is driven to rake the stalks cut by the cutter 15 and convey them rearward.

[0058] The feed chamber 17 extends forward from the machine frame 12 and is disposed behind the harrowing auger 16. The feed chamber 17 is supported on the machine frame 12 in a manner that allows it to be raised and lowered. Furthermore, when the feed chamber 17 is raised and lowered, the crop divider 13, the harrowing wheel 14, the cutting blade 15, and the harrowing auger 16 are raised and lowered, that is, the harvesting section 3 is raised and lowered.

[0059] Furthermore, the combine harvester 1 includes a lifting device 19 on the machine frame 12 for lifting the feed chamber 17 and lifting the harvesting section 3, so that the harvesting section 3 is in the working position (see FIG. Figure 2 ) and a non-operating position (not shown). The lifting device 19 is composed of, for example, a hydraulic cylinder operated by receiving power from the engine 20.

[0060] The conveyor 18 is rotatably provided in the feeding chamber 17 and moves along with the raising and lowering of the feeding chamber 17. The conveyor 18 is driven to rotate to convey the stalks conveyed into the feeding chamber 17 by the harrowing auger 16 further rearward to the threshing section 4.

[0061] The threshing section 4 is located behind the feeding chamber 17 of the harvesting section 3 and threshes the stalks conveyed from the feeding chamber 17. The threshing section 4 includes a threshing drum 21 and a receiving net 22. The threshing drum 21 threshes the grains from the stalks conveyed from the feeding chamber 17 and conveys the threshed stalks, i.e., the discharged straw, to the discharged straw processing section 7. The receiving net 22 supports the stalks conveyed by the threshing drum 21 and sieves the grains to be dropped.

[0062] The screening section 5 is provided below the threshing section 4. The screening section 5 includes a swing screening device 24, an air-supply screening device 25, a grain conveying device (not shown), and a straw chip discharge device (not shown). The swing screening device 24 sieves the threshed material falling from the threshing section 4 to separate grains, straw chips, and the like. The air-supply screening device 25 further separates grains, straw chips, and the like from the threshed material falling from the threshing section 4 and the threshed material screened by the swing screening device 24 by supplying air. The grain conveying device conveys the grains screened by the swing screening device 24 and the air-supply screening device 25 to the storage section 6. The straw chip discharge device discharges straw chips, and the like other than the grains screened by the swing screening device 24 and the air-supply screening device 25 to the outside.

[0063] The storage section 6 is located to the right of the threshing section 4. The storage section 6 includes a storage box (grain box) 27 and a grain discharge device 28. The storage box 27 stores the grain delivered from the screening section 5. The grain discharge device 28 is configured to include a discharge auger and other components, and performs grain discharge operations, discharging the grain stored in the storage box 27 to a transport vehicle at a predetermined discharge position.

[0064] The discharged straw processing unit 7 is provided at the rear of the threshing unit 4. The discharged straw processing unit 7 includes, for example, a discharged straw conveying device (not shown) and a discharged straw cutting device (not shown). The discharged straw processing unit 7 uses the discharged straw conveying device to convey the discharged straw delivered from the threshing unit 4 to the discharged straw cutting device. After the discharged straw is cut by the discharged straw cutting device, the discharged straw is discharged to the rear of the combine harvester 1.

[0065] The power unit 8 is disposed above the traveling unit 2 and below the storage unit 6. The power unit 8 includes an engine 20 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 20 to the traveling unit 2, the harvesting unit 3, the threshing unit 4, the screening unit 5, the storage unit 6, and the discharged straw processing unit 7. The combine harvester 1 also includes a fuel tank that stores fuel supplied to the engine 20 of the power unit 8.

[0066] The operating unit 9 is provided above the power unit 8. The operating unit 9 is provided around the driver's seat 40 where the operator sits, and includes a steering wheel for instructing the combine harvester 1 to turn, a main gear lever and a sub-gear lever for instructing the combine harvester 1 to change its forward and reverse speed, and other operating elements for controlling the travel of the combine harvester 1. Manual travel of the combine harvester 1 is performed using the travel unit 2 that accepts operations of the steering wheel, main gear lever, and sub-gear lever of the operating unit 9. In addition, the operating unit 9 includes a mechanism for operating the harvesting operation of the harvesting unit 3, the threshing operation of the threshing unit 4, the discharge operation of the grain discharge device 28 of the storage unit 6, and the like.

[0067] In addition, the operating unit 9 includes an operating device 30 for setting a reference line corresponding to the target path (see Figure 3 and Figure 6 The operating device 30 is operated by an operator riding on the combine harvester 1. The operating device 30 may be a device that can be attached to and detached from the operating unit 9.

[0068] The positioning unit 52 uses a satellite positioning system such as GPS to obtain the position of the combine harvester 1. For example, the positioning unit 52 receives positioning signals from positioning satellites via a positioning antenna and obtains position information of the positioning unit 52, i.e., the position of the combine harvester 1 (measurement point data), based on the positioning signals. The positioning unit 52 can be configured as a quantum compass instead of a positioning antenna.

[0069] The communication unit 54 is a communication interface that connects the combine harvester 1 to a communication network (not shown) by wire or wirelessly, and performs data communication with external devices such as an operation terminal via the communication network according to a predetermined communication protocol.

[0070] The storage unit 51 is a non-volatile storage unit such as HDD, SSD, flash memory, etc. that stores various information. The storage unit 51 stores information for the control device 11 to perform the operation control process described later (see Figure 11 ) and other control programs. For example, the operation control program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 51. Alternatively, the operation control program can be downloaded from a server (not shown) via a communication network to the combine harvester 1 and stored in the storage unit 51. Furthermore, the storage unit 51 stores various setting information acquired from the operating device 30.

[0071] The monitoring unit 53 is a sensor that monitors a monitoring target within a predetermined monitoring range using infrared light, ultrasonic waves, or the like. For example, the monitoring unit 53 may be a radar sensor (distance sensor) that uses laser light to measure the distance to a measurement target (monitoring target) in three dimensions, or a sonar sensor comprising multiple sonars that uses ultrasonic waves to measure the distance to the measurement target. Alternatively, the sonar sensor may not have a distance measurement function.

[0072] The control device 11 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various computations. The ROM is a non-volatile storage unit that stores control programs, such as the BIOS and OS, that enable the CPU to perform various computations. The RAM is a volatile or non-volatile storage unit that stores various information and serves as temporary storage for the various processes performed by the CPU. Furthermore, the control device 11 controls the combine harvester 1 by having the CPU execute various control programs pre-stored in the ROM or storage unit 51.

[0073] Next, refer to Figure 7 The structure of the operating device 30 will be described. The operating device 30 is installed near the steering wheel so that it can be operated by an operator sitting in a driver's seat, for example (see Figure 6 ). Figure 15A and Figure 15B The installation position of the operating device 30 is described in detail. Figure 7 As shown, the operating device 30 includes an automatic driving instruction unit 31, an automatic driving display unit 32, a start point setting unit 35, an end point setting unit 36, a start point setting display unit 37, and an end point setting display unit 38. The operating device 30 receives a user operation for registering the start point and end point of a reference line when the combine harvester 1 is driven automatically.

[0074] The automatic driving instruction unit 31 is an operating unit for instructing the combine harvester 1 to start automatic driving. The operating unit 31 is configured to receive a press operation by, for example, a circular operating button. When the automatic driving start conditions are met, the automatic driving instruction unit 31 transmits the automatic driving start instruction to the control device 11 in response to the press operation.

[0075] Furthermore, the automatic driving instruction unit 31 may be capable of being pressed only when the start conditions are met, or may be capable of being pressed at all times and transmit an automatic driving start instruction only when the start conditions are met and the press operation is performed. Alternatively, the automatic driving instruction unit 31 may be capable of being pressed at all times and transmit an automatic driving start instruction in response to a press operation, while the control device 11 may determine that a start instruction is accepted only when the start conditions are met.

[0076] The automatic driving display unit 32 is composed of LEDs, lights, etc. that indicate the automatic driving status of the combine harvester 1. It is controlled by the control device 11 and displays different display states depending on whether the conditions for starting automatic driving are met. The automatic driving display unit 32 is formed into a ring shape, for example, surrounding the automatic driving indicator unit 31. In this embodiment, the automatic driving display unit 32 is formed separately from the automatic driving indicator unit 31, but the automatic driving display unit 32 and the automatic driving indicator unit 31 may also be formed integrally.

[0077] For example, if the start conditions are not met, the automatic driving indicator 32 turns off. On the other hand, if the start conditions are met, the automatic driving indicator 32 flashes before the start of automatic driving and illuminates during the execution of automatic driving. Furthermore, if there are multiple start conditions, the automatic driving indicator 32 can display whether each start condition is met in a discernible manner. For example, the automatic driving indicator 32 can be divided into multiple sections, each section corresponding to a different start condition. Furthermore, the automatic driving indicator 32 can use other display states to identify the state of automatic driving.

[0078] The starting point setting unit 35 is an operating unit that receives an operation to set the starting point (point A) of the reference line L1. It is configured by an operating button or the like and is capable of receiving a press operation. In response to the setting operation, such as a press operation, the starting point setting unit 35 transmits a starting point setting instruction to the control device 11. At this time, the control device 11 sets the vehicle position of the combine harvester 1 as the starting point of the reference line L1.

[0079] The endpoint setting unit 36 ​​is an operating unit that receives an operation to set the endpoint (point B) of the reference line L1. It is configured by an operating button or the like and is capable of receiving a press operation. In response to the setting operation, such as a press operation, the endpoint setting unit 36 ​​transmits an endpoint setting instruction to the control device 11. At this time, the control device 11 sets the vehicle position of the combine harvester 1 as the endpoint of the reference line L1.

[0080] The starting point setting display unit 37 is composed of an LED, a lamp, or the like that indicates the setting state of the starting point. It is controlled by the control device 11 and displays different display states according to the operation of the starting point setting unit 35. In the present embodiment, the starting point setting display unit 37 is integrally formed with the starting point setting unit 35. However, in other examples, the starting point setting display unit 37 may be formed separately from the starting point setting unit 35.

[0081] The starting point setting display unit 37 turns off when the starting point setting operation can be performed, that is, when the starting point is not set, and turns on when the starting point setting operation cannot be performed, that is, when the starting point is set.

[0082] The endpoint setting display unit 38 is composed of an LED, a lamp, or the like that indicates the setting state of the endpoint. It is controlled by the control device 11 and displays different display states according to the operation of the endpoint setting unit 36. In the present embodiment, the endpoint setting display unit 38 is integrally formed with the endpoint setting unit 36. However, in other examples, the endpoint setting display unit 38 may be formed separately from the endpoint setting unit 36.

[0083] The end point setting display unit 38 turns off when the end point setting operation can be performed, that is, when the end point has not been set, and lights up when the end point setting operation cannot be performed, that is, when the end point has been set.

[0084] In this manner, the operating device 30 receives an operation for setting the reference line L1 and an operation for starting automatic driving. As another embodiment, the operating device 30 may be configured by the operating terminal (portable terminal) capable of data communication with the combine harvester 1 .

[0085] However, the conventional technology has a problem in that the functions of the operating unit (equivalent to the operating device 30) are limited to registering the reference positions (starting point and end point) when setting the reference line, resulting in low convenience. In contrast, as described below, the driving system according to the first embodiment of the present invention has a structure that improves the convenience of the operating device 30.

[0086] Specifically, if Figure 1 As shown, the control device 11 includes various processing units, such as a driving processing unit 111, a generation processing unit 112, and a specific processing unit 113. Furthermore, the control device 11 utilizes the CPU to execute various processes based on the operation control program, thereby functioning as the various processing units. Furthermore, some or all of the processing units may be comprised of electronic circuits. Furthermore, the operation control program may be a program for causing multiple processors to function as the processing units.

[0087] The driving processing unit 111 controls the driving of the combine harvester 1. For example, if the driving mode of the combine harvester 1 is manual driving (manual driving mode), the driving processing unit 111 causes the combine harvester 1 to drive manually based on the operator's operation (manual steering control). For example, the driving processing unit 111 obtains operation information corresponding to the operator's driving operations, such as steering wheel operation, gear shift operation, driving direction switching operation, and braking operation, and causes the driving unit 2 to execute driving operations based on this operation information.

[0088] In addition, when the driving mode of the combine harvester 1 is automatic driving (automatic driving mode), the driving processing unit 111 causes the combine harvester 1 to drive automatically based on the position information (positioning information) indicating the current position of the combine harvester 1 located by the positioning unit 52. For example, if the combine harvester 1 meets the start conditions for automatic driving and obtains a driving start instruction from the operator, the driving processing unit 111 starts the automatic driving of the combine harvester 1 based on the positioning information. In addition, the driving processing unit 111 causes the combine harvester 1 to drive automatically according to a pre-generated target path. For example, if the combine harvester 1 meets the start conditions for automatic driving and the operator presses the automatic driving instruction unit 31 of the operating device 30 (refer to Figure 7 ), the travel processing unit 111 obtains a travel start instruction and causes the combine harvester 1 to automatically travel along a straight path (working path) of the target path.

[0089] Furthermore, if the combine harvester 1 reaches the target end position of the work path, the driving processing unit 111 switches the driving mode to manual driving. The driving processing unit 111 may switch the driving mode to manual driving if it determines that the combine harvester 1 has reached the target end position of the work path, or it may switch the driving mode to manual driving based on an operator's operation. If the driving mode is switched to manual driving, for example, the operator manually controls the steering wheel to cause the combine harvester 1 to turn (manual driving). The target end position of each work path can be a position a predetermined distance inward from the end of the field F, a position pre-specified by the operator, a position parallel to the position where the operator switched from automatic driving to manual driving in the immediately preceding work path (a position where a line passing through the position where manual driving was switched and perpendicular to the work path intersects the work path, or a position where a line passing through the position where manual driving was switched and parallel to the edge of the end of the field F intersects the work path), or a position where a line passing through the end point (point B) of the reference line L1 and perpendicular to the reference line L1 intersects the work path. When the combine harvester 1 approaches or reaches the target end position, the control device 11 can notify the operator by voice, display information, or the like to urge the operator to perform the switching operation to manual travel.

[0090] In addition, the driving processing unit 111 obtains the position of the combine harvester 1 from the positioning unit 52 during the harvesting operation, and controls the driving unit 2, the harvesting unit 3, and the power unit 8 based on the position of the combine harvester 1 and the working path included in the target path so that the combine harvester 1 automatically drives and harvests along the working path. Figure 5 As shown, the travel processing unit 111 causes the combine harvester 1 to perform automatic travel and harvesting work along the outer periphery in the outer peripheral area F1 from the start position S and then to perform automatic travel and harvesting work in the inner peripheral area F2 to the end position G.

[0091] As described above, the travel processing unit 111 switches the travel mode according to the operator's operation, for example, and causes the combine harvester 1 to perform automatic travel and harvesting work by automatic steering and to perform manual travel by manual steering.

[0092] The generation processing unit 112 generates a target route for the combine harvester 1 to automatically travel. Specifically, the generation processing unit 112 sets (generates) a reference line for the field F based on an operator's operation and generates the target route based on the set reference line. The generation processing unit 112 is an example of a setting processing unit of the present invention.

[0093] Here, refer to Figures 8A to 8D An example of a method for setting a reference line using the operating device 30 will be described. When setting a reference line, if the combine harvester 1 is moved to an arbitrary position (for example, an end) of the field F, the operator presses the starting point setting unit 35 (see Figure 8A The generation processing unit 112 registers the vehicle position of the combine harvester 1 when the starting point setting unit 35 is pressed as the starting point of the reference line L1 ( Figure 9A If the generation processing unit 112 registers the starting point A1, the starting point setting display unit 37 lights up the LED (see Figure 8B Then, the operator drives the combine harvester 1 manually and presses the end point setting unit 36 ​​(see Figure 8C The generation processing unit 112 registers the vehicle position of the combine harvester 1 when the end point setting unit 36 ​​is pressed as the end point of the reference line L1 ( Figure 9A If the generation processing unit 112 registers the end point B1, the end point setting display unit 38 and the automatic driving display unit 32 light up their LEDs (see Figure 8D ).

[0094] When the start point A1 and the end point B1 are registered, the generation processing unit 112 generates a straight line connecting the start point A1 and the end point B1, and registers the generated straight line as the reference line L1 (see Figure 9A The generation processing unit 112 stores the generated reference line L1 in the storage unit 51. Furthermore, in the present invention, the term "reference line" may be a "reference orientation," which has the same meaning as "line" and "orientation." Furthermore, "orientation" may be determined by direction or by a numerical value. The generation processing unit 112 may generate a reference orientation (numerical value) and store it in the storage unit 51.

[0095] As described above, the generation processing unit 112 sets a reference line (reference orientation) based on the start point A1 and the end point B1 set for the field F.

[0096] In the present invention, the method for setting the baseline is not limited to the above method. For example, the control device 11 can set the baseline (reference orientation) based on the azimuth angle (vehicle orientation) of the combine harvester 1. Specifically, if the operator performs the operation of registering the starting point A1 (pressing the starting point setting unit 35), the control device 11 registers the position (current position) of the combine harvester 1 as the starting point A1, and sets the straight line passing through the starting point A1 and extending in the direction of the current orientation (vehicle orientation) of the combine harvester 1 as the baseline L1. In addition, if the operator performs the operation of registering the end point B1 (pressing the end point setting unit 36), the control device 11 can register the position (current position) of the combine harvester 1 as the end point B1, and set the straight line passing through the end point B1 and extending in the direction of the current orientation (vehicle orientation) of the combine harvester 1 as the baseline L1.

[0097] As described above, the control device 11 can use any of the following methods: a method for setting the baseline L1 based on the starting point A1 and the end point B1 (a first setting method); a method for setting the baseline L1 based on the starting point A1 and the vehicle orientation (a second setting method); and a method for setting the baseline L1 based on the end point B1 and the vehicle orientation (a third setting method). Furthermore, the control device 11 can set the baseline L1 using one of the first to third setting methods, whichever is determined by the operator's method of operating the operating device 30, or can set the baseline L1 using a setting method selected by the operator.

[0098] Furthermore, the generation processing unit 112 can automatically generate the orthogonal line L2 (second reference line) based on the reference line L1. Specifically, if the generation processing unit 112 sets the reference line L1, then Figure 9A As shown in FIG. 1 , a perpendicular line L2 is set that passes through the end point B1 and forms an angle D1 of 90 degrees with the reference line L1. The generation processing unit 112 stores the set perpendicular line L2 as the second reference line in the storage unit 51. Thus, for example, regarding a rectangular field F, the operator performs a work along one side ( Figure 9A By performing the registration operation of the baseline L1 along the left and right sides of the other side ( Figure 9A The second baseline of the upper and lower edges).

[0099] As another embodiment, the generation processing unit 112 may set a straight line along the outline of the field F (work area) as the second reference line. For example, the generation processing unit 112 calculates the angle D1 based on the outline of the field F and sets the second reference line based on the angle D1 and the reference line L1.

[0100] In addition, as another embodiment, the generation processing unit 112 may receive an input operation of the angle D1 from the operator, and set the second reference line based on the input angle D1 and the reference line L1.

[0101] The generation processing unit 112 stores the baseline L1 and the orthogonal line L2 in the storage unit 51 in a selectable manner. When starting the automatic driving of the combine harvester 1, the control device 11 selects either the baseline L1 or the orthogonal line L2 based on the operator's selection operation or the position information of the combine harvester 1, the vehicle orientation, etc. The generation processing unit 112 generates an automatic driving path (target path) based on the selected baseline L1 or the orthogonal line L2. For example, if the operator selects the baseline L1, the generation processing unit 112 generates an automatic driving path (target path) based on the baseline L1. When the generation mode of the target path is set to the "equal spacing mode", as shown in FIG. Figure 9A As shown, the generation processing unit 112 generates a target path R1 consisting of multiple straight lines parallel to the reference line L1. Furthermore, the generation processing unit 112 generates multiple parallel straight lines at equal intervals with reference to the reference line L1 based on a preset working width and overlap width (the width of overlap with adjacent completed work areas). The generation processing unit 112 stores the generated target path R1 in the storage unit 51.

[0102] If the operator presses the automatic driving indication unit 31 when the vehicle orientation and position deviation (lateral offset) of the combine harvester 1 relative to any one of the multiple parallel straight lines generated are within the specified range (the starting conditions are met), the driving processing unit 111 starts the automatic driving and causes the combine harvester 1 to drive straight along the target path R1.

[0103] If the combine harvester 1 reaches the target end position of the target path R1 (straight path), the operator switches to the manual driving mode and causes the combine harvester 1 to drive manually. In addition, when the combine harvester 1 reaches the target end position of the straight path or when the harvesting section 3 rises to the non-working position, the driving processing unit 111 can switch the driving mode to the manual driving mode. If the driving mode is switched to the manual driving mode, the operator causes the combine harvester 1 to drive manually, and if the vehicle is aligned in the direction of the orthogonal line L2, the orthogonal line L2 is selected. The generation processing unit 112 generates an automatic driving path (target path) based on the orthogonal line L2. For example, when the generation mode of the target path is set to the "equal spacing mode", as Figure 9BAs shown, the generation processing unit 112 generates a target path R2 consisting of multiple straight lines parallel to the orthogonal line L2. The generation processing unit 112 stores the generated target path R2 in the storage unit 51. If the operator presses the automatic driving instruction unit 31 while the vehicle orientation and position deviation (lateral offset) of the combine harvester 1 relative to any of the generated multiple parallel straight lines are within the specified range (a state where the start conditions are met), the driving processing unit 111 starts automatic driving and causes the combine harvester 1 to drive straight along the target path R2.

[0104] [Baseline setting process]

[0105] Hereinafter, specific examples of methods (first to third setting methods) for setting the reference line L1 will be described.

[0106] When setting the baseline L1 based on the starting point A1 and the end point B1 (a first setting method), a condition can be set based on the distance between the starting point A1 and the end point B1. For example, if the distance from the starting point A1 to the end point B1 is short, the orientation of the baseline L1 set based on the starting point A1 and the end point B1 may deviate from the orientation intended by the operator. If the combine harvester 1 is automatically driven along the target path R1 generated based on the baseline L1, operational accuracy may be reduced. Therefore, to improve the accuracy of the orientation of the baseline L1, the generation processing unit 112 sets the baseline L1 passing through the starting point A1 and the end point B1 when the distance from the starting point A1 to the end point B1 reaches a predetermined distance (e.g., 5 meters) or more (a first setting method).

[0107] For example, when the end point setting unit 36 ​​receives a predetermined operation (short press operation) from the operator at a position at least a predetermined distance from the start point A1 registered by the predetermined operation (short press operation) on the start point setting unit 35, the generation processing unit 112 registers the end point B1 and sets a reference line L1 passing through the start point A1 and the end point B1. The "short press operation" mentioned above refers to an operation in which the operation button is pressed and then released within a predetermined time, and the operation button is kept on for a predetermined time.

[0108] In contrast, when the distance from the starting point A1 to the end point B1 is less than a specified distance (e.g., 5 m), the generation processing unit 112 sets the baseline L1 based on the starting point A1 and the vehicle orientation (second setting method) or the end point B1 and the vehicle orientation (third setting method).

[0109] For example, when the end point setting unit 36 ​​receives a predetermined operation (short press operation) from the operator at a position less than a predetermined distance (e.g., 5 meters) from the starting point A1 registered by a predetermined operation (short press operation) on the starting point setting unit 35, the generation processing unit 112 sets the reference line L1 based on the vehicle orientation of the combine harvester 1 at the time the starting point setting unit 35 received the short press operation (or at the time the starting point A1 was registered) (second setting method). Specifically, the generation processing unit 112 sets the reference line L1 that passes through the starting point A1 and extends in the direction of the vehicle orientation.

[0110] As another embodiment, when the endpoint setting unit 36 ​​receives a predetermined operation (short press operation) from the operator at a position less than a predetermined distance (e.g., 5 meters) from the starting point A1 registered by a predetermined operation (short press operation) on the starting point setting unit 35, the generation processing unit 112 sets the reference line L1 based on the vehicle orientation of the combine harvester 1 at the time the endpoint setting unit 36 ​​received the short press operation (or when the endpoint B1 was registered) (third setting method). Specifically, the generation processing unit 112 sets the reference line L1 that passes through the endpoint B1 and extends in the direction of the vehicle orientation.

[0111] Thus, when the distance from the location where the registration operation was performed at start point A1 to the location where the registration operation was performed at end point B1 (the travel distance of the combine harvester 1) exceeds a predetermined distance, the generation processing unit 112 sets the baseline L1 based on start point A1 and end point B1 (a first setting method). When the distance is less than the predetermined distance (including when the distance is zero), the generation processing unit 112 sets the baseline L1 based on start point A1 and the vehicle's orientation (a second setting method) or end point B1 and the vehicle's orientation (a third setting method). Furthermore, the control device 11 may include a first setting method, a second setting method, and a third setting method, allowing the operator to preselect either the second setting method or the third setting method for setting the baseline L1 when the distance is less than the predetermined distance. Furthermore, the operator may preselect whether to permit or prohibit the setting of the baseline L1 (the second setting method and the third setting method) when the distance is less than the predetermined distance.

[0112] Thus, the operator can set the reference line L1 by driving the combine 1 a predetermined distance after registering the start point A1 and then registering the end point B1. Even if the distance traveled by the combine 1 after registering the start point A1 is less than the predetermined distance, the operator can still set the reference line L1 based on the vehicle orientation.

[0113] In addition, the generation processing unit 112 can inform the operator that the starting point setting unit 35 sets the baseline L1 based on the vehicle orientation of the combine harvester 1 when the operator's operation (short press operation) is accepted, or the end point setting unit 36 ​​sets the baseline L1 based on the vehicle orientation of the combine harvester 1 when the operator's operation (short press operation) is accepted.

[0114] As another embodiment, for example, after the baseline L1 is set based on the vehicle orientation of the combine harvester 1 when the start point setting unit 35 is operated, if the operator again operates the end point setting unit 36 ​​at a position at or above the specified distance from the start point A1, the generation processing unit 112 may delete the already set baseline L1 and reset (update) the baseline L1 generated based on the start point A1 and the end point B1. Alternatively, for example, after the baseline L1 is set based on the vehicle orientation of the combine harvester 1 when the end point setting unit 36 ​​is operated, if the operator again operates the end point setting unit 36 ​​at or above the specified distance from the start point A1, the generation processing unit 112 may delete the already set baseline L1 and reset (update) the baseline L1 generated based on the start point A1 and the end point B1.

[0115] Here, the generation processing unit 112 can display the reference line L1 set by the first setting method or the reference line L1 set by the second setting method (or the third setting method) in a recognizable manner on the operating device 30. For example, during the period when the travel distance of the combine harvester 1 after the registration starting point A1 is less than the predetermined distance, the generation processing unit 112 may display the reference line L1 set by the first setting method or the second setting method (or the third setting method) in a recognizable manner on the operating device 30. Figure 10A Then, if the travel distance of the combine harvester 1 reaches a predetermined distance after the registration starting point A1, the generation processing unit 112 turns off the automatic travel display unit 32 as shown in FIG. Figure 10B As shown in FIG. 1 , the automatic driving display unit 32 is lit or flashed. Figure 8D The lighting colors of the structures shown, and the corresponding Figure 10B The structures shown are lit up in different colors.

[0116] As another embodiment, when the combined harvester 1 has traveled a predetermined distance after registering the starting point A1, the generation processing unit 112 may illuminate or flash only the right side of the automatic driving display unit 32. Furthermore, the lighting or flashing pattern of the automatic driving display unit 32 is not limited thereto; only the left side of the automatic driving display unit 32 may be illuminated or flashed, or both the right and left sides may be illuminated or flashed. Furthermore, as another embodiment, when the combined harvester 1 has traveled a predetermined distance after registering the starting point A1, the generation processing unit 112 may notify the operating device 30 with a buzzer sound, guidance voice, or the like. Thus, when the combined harvester 1 has traveled a predetermined distance after registering the starting point A1, the generation processing unit 112 may notify the operating device 30 of information indicating that a baseline can be set based on the starting point A1 and the end point B1.

[0117] In another embodiment, the generation processing unit 112 may display information on a display unit such as an operation terminal that allows identification of whether the reference line L1 is set according to the first setting method or the second setting method (or the third setting method).

[0118] According to the above configuration, the operator can easily understand whether the baseline L1 is set according to the first setting method or the second setting method (or the third setting method), thereby preventing the baseline L1 from being set according to a method not envisioned by the operator.

[0119] In the above embodiment, the generation processing unit 112 sets the baseline L1 when both the starting point setting unit 35 and the end point setting unit 36 ​​accept a prescribed operation (short press operation) from the operator. However, as another embodiment, it can be formed that the generation processing unit 112 sets the baseline L1 when one of the starting point setting unit 35 and the end point setting unit 36 ​​accepts a prescribed operation from the operator.

[0120] For example, when the end point setting unit 36 ​​receives a prescribed operation (e.g., a long press operation) from the operator without registering the starting point A1, the generation processing unit 112 sets the baseline L1 based on the vehicle orientation of the combine harvester 1 when the end point setting unit 36 ​​receives the long press operation. In addition, the "long press operation" refers to an operation in which the operation button is not released for a period of time exceeding a prescribed time after being pressed, and the operation button is turned on for a period exceeding the prescribed time. For example, when the operator performs a long press operation on the end point setting unit 36 ​​without performing the registration operation of the starting point A1 (pressing the starting point setting unit 35), the generation processing unit 112 sets a straight line that passes through the position of the combine harvester 1 at the time of the long press operation on the end point setting unit 36 ​​and extends in the direction of the vehicle orientation of the combine harvester 1 as the baseline L1.

[0121] Furthermore, for example, when the starting point setting unit 35 receives a predetermined operation (a long-press operation) from the operator, the generation processing unit 112 may set the reference line L1 based on the vehicle orientation of the combine harvester 1 at the time the long-press operation was received by the starting point setting unit 35. For example, when the operator performs a long-press operation on the starting point setting unit 35, the generation processing unit 112 sets a straight line that passes through the position of the combine harvester 1 at the time the long-press operation was performed on the starting point setting unit 35 and extends in the direction of the vehicle orientation of the combine harvester 1 as the reference line L1.

[0122] In this way, the operator can set the reference line L1 without registering both the start point A1 and the end point B1 by performing an operation (e.g., a long press operation) on the start point setting unit 35 or the end point setting unit 36 ​​that is different from the operation (e.g., a short press operation) when registering the start point A1 or the end point B1.

[0123] Furthermore, as described above, when the endpoint setting unit 36 ​​is long-pressed, the generation processing unit 112 sets the reference line L1 based on the vehicle's orientation at the time of the long-press operation. Alternatively, when the endpoint setting unit 36 ​​is short-pressed, the generation processing unit 112 may be configured such that if the starting point A11 is registered, the endpoint B1 is registered, and if the starting point A1 is not registered, the endpoint B1 is not registered (ignoring the short-press operation of the endpoint setting unit 36). Furthermore, if the endpoint setting unit 36 ​​is long-pressed with the starting point A1 registered, the generation processing unit 112 may set the reference line L1 based on the vehicle's orientation at the time the endpoint setting unit 36 ​​was operated, ignoring the starting point A1.

[0124] As described above, when both the start point setting unit 35 and the end point setting unit 36 ​​receive a predetermined operation (short press operation) from the operator, the generation processing unit 112 executes the baseline setting process of setting the baseline L1. In addition, when one of the start point setting unit 35 and the end point setting unit 36 ​​receives a predetermined operation (long press operation) from the operator, the generation processing unit 112 executes the baseline setting process. In addition, the generation processing unit 112 generates the target path R1 (see FIG. 1 ) based on the set baseline L1. Figure 4A ).

[0125] If the generation processing unit 112 generates the target path R1, the driving processing unit 111 causes the combine harvester 1 to automatically drive along the target path R1. For example, the target path R1 may be generated at the position of the combine harvester 1 at the time the reference line L1 is set (e.g., the operating position of the starting point setting unit 35 or the operating position of the end point setting unit 36). If the combine harvester 1 meets the start conditions, the driving processing unit 111 causes the automatic driving to start from that position along the target path R1. In another embodiment, after the reference line L1 is generated, the operator manually drives the combine harvester 1 to align with the target starting position of the work path. If the target path R1 is generated at that position and the start conditions are met, the driving processing unit 111 causes the automatic driving to start from that position along the target path R1. In another embodiment, after the target path R1 is generated based on the reference line L1, the operator manually drives the combine harvester 1 to align with the target path R1 and the start conditions are met, the driving processing unit 111 causes the automatic driving to start from that position along the target path R1.

[0126] [Baseline deletion processing]

[0127] When at least one of the start point setting unit 35 and the end point setting unit 36 ​​receives a predetermined operation from the operator, the specific processing unit 113 performs specific processing different from the baseline setting processing. Examples of specific processing include deleting the start point A1, deleting the end point B1, and deleting the baseline L1. The specific processing unit 113 is an example of a specific processing unit of the present invention.

[0128] Specifically, when the operation time for the start point setting unit 35 and the operation time for the end point setting unit 36 ​​overlap for a predetermined time (overlap time) or longer after the start point A1 and the end point B1 are registered, the specific processing unit 113 deletes the start point A1 and the end point B1. For example, after registering the start point A1 and the end point B1, the operator presses one of the start point setting unit 35 and then the other, or simultaneously, and if the start point setting unit 35 and the end point setting unit 36 ​​remain on for a predetermined time, the start point A1 and the end point B1 are deleted (reset). The timing at which the start point setting unit 35 and the end point setting unit 36 ​​are turned on can be the same, or there can be a predetermined time difference.

[0129] In another embodiment, the specific processing unit 113 may delete one of the start point A1 and the end point B1 in response to the above-described operation. For example, if the start point setting unit 35 and the end point setting unit 36 ​​are turned on for a predetermined time and then the start point setting unit 35 is released (they are turned off), the specific processing unit 113 may delete only the start point A1. If the start point setting unit 35 and the end point setting unit 36 ​​are turned on for a predetermined time and then the end point setting unit 36 ​​is released (they are turned off), the specific processing unit 113 may delete only the end point B1. Furthermore, the specific processing unit 113 may delete the operator-selected one of the start point A1 and the end point B1 upon receiving the above-described operation.

[0130] Furthermore, the specific processing unit 113 may delete the baseline L1 when the start point A1 and the end point B1 are deleted according to the above operation. Alternatively, the specific processing unit 113 may be configured to delete the start point A1 and the end point B1 according to the above operation without deleting the baseline L1. Furthermore, if only one of the start point A1 and the end point B1 is registered, and the overlap time exceeds a predetermined time, the specific processing unit 113 may delete the registered start point A1 or end point B1.

[0131] In this way, the operator can delete the starting point A1, the end point B1, and the baseline L1 by operating the operating unit (start point setting unit 35 and end point setting unit 36) for setting the baseline L1 using a specific operating method. In other words, the operating device 30 can be provided with a function for performing a baseline setting process and a function for performing a deletion process (an example of a specific process) for deleting the starting point A1, the end point B1, and the baseline L1, thereby improving the convenience of the operating device 30.

[0132] As another embodiment, the specific processing unit 113 may execute the deletion process based on an operation of either the start point setting unit 35 or the end point setting unit 36. For example, if a long press is performed on the start point setting unit 35 while only the start point A1 is registered, the specific processing unit 113 deletes the start point A1. Alternatively, for example, if a long press is performed on the end point setting unit 36 ​​while both the start point A1 and the end point B1 are registered, the specific processing unit 113 deletes the end point B1. Alternatively, if a long press is performed on the start point setting unit 35 while both the start point A1 and the end point B1 are registered, the specific processing unit 113 deletes the start point A1.

[0133] As another embodiment, for example, the specifying processing unit 113 may delete the start point A1 and the end point B1 when the start point setting unit 35 or the end point setting unit 36 ​​is long-pressed while the start point A1 and the end point B1 are registered.

[0134] Furthermore, when the start point A1 and the end point B1 are registered and the overlapping time is less than a predetermined time, the specific processing unit 113 does not delete the start point A1 and the end point B1.

[0135] In addition, the specific processing unit 113 can display whether the overlap time has reached a predetermined time or more in a recognizable manner. For example, the specific processing unit 113 displays the automatic driving display unit 32 (see Figure 7 ) flashes, then a buzzer sounds when the overlap time reaches a predetermined time, and the start point A1 and the end point B1 are deleted. In contrast, the specific processing unit 113 flashes the automatic driving display unit 32 when both the start point setting unit 35 and the end point setting unit 36 ​​are turned on. If at least one of the start point setting unit 35 and the end point setting unit 36 ​​turns off before the overlap time reaches a predetermined time, the automatic driving display unit 32 turns off without deleting the start point A1 and the end point B1. This allows the operator to easily determine whether the deletion process can be executed.

[0136] As described above, when at least one of the starting point setting unit 35 and the end point setting unit 36 ​​receives an operation (second operation) different from the operation (first operation) for setting the baseline L1 from the operator, the specific processing unit 113 performs processing to delete at least one of the starting point A1, the end point B1 and the baseline L1.

[0137] The deletion process is an example of a specific process of the present invention. Examples of specific processes of the present invention include selecting a baseline for automatic driving, switching the baseline selected during automatic driving, and the like. For example, if multiple baselines are registered (e.g., baseline L1, orthogonal line L2, etc.), and the operator performs a specific operation on at least one of the start point setting unit 35 and the end point setting unit 36 ​​at the start of automatic driving, the control device 11 determines the baseline based on the operation and generates the target path R1. The specific operation may be, for example, a double-click operation, or a combination of a double-click operation, a short press operation, and a long press operation.

[0138] While the above embodiment describes a configuration in which the target path generation mode is set to the "equal spacing mode," another embodiment may also employ the "vehicle position-based mode" as the target path generation mode. The following describes a specific example of the automatic driving start sequence when the target path is generated based on the "vehicle position-based mode."

[0139] First, the control device 11 sets and registers the baseline according to the above-mentioned setting method. Next, the control device 11 selects the baseline. For example, when a plurality of baselines (such as baseline L1, orthogonal line L2, etc.) are registered, the control device 11 selects any one of the baselines based on the operator's selection operation or the position information of the combine harvester 1, the vehicle orientation, etc. Next, the control device 11 generates a path (such as a straight path) (parallel line) parallel to the selected baseline, and sets the generated path as the current position (reference point) of the combine harvester 1. In addition, if the path is set to the reference point, for example, when the combine harvester 1 moves by the operator's manual steering operation, the path follows the reference point and moves parallel to the baseline. Next, the operator manually drives the combine harvester 1 in such a way that the vehicle orientation of the combine harvester 1 is within the specified range relative to the path (satisfying the start condition of automatic driving). When the operator presses the automatic travel instruction unit 31 while the combine harvester 1 satisfies the automatic travel start conditions, the control device 11 sets the path at that moment as the target path and starts the automatic travel of the combine harvester 1 along the target path.

[0140] Other examples of the start sequence of automatic driving are described. For example, similar to the above example, after the control device 11 sets and selects the baseline, the operator manually drives the combine harvester 1 in a manner such that the vehicle orientation of the combine harvester 1 is within a specified range relative to the baseline (satisfying the start condition of automatic driving). Next, if the operator presses the automatic driving instruction unit 31 when the combine harvester 1 meets the start condition of automatic driving, the control device 11 generates a path (e.g., a straight path) (parallel line) that is parallel to the baseline and passes through the current position (reference point) of the combine harvester 1, sets the generated path as the target path, and causes the combine harvester 1 to start automatic driving according to the target path.

[0141] [Operation Control Processing]

[0142] Below, refer to Figure 11 An example of the operation control process executed by the travel system according to the first embodiment will be described.

[0143] In addition, the present invention can be understood as the invention of an operation control method for executing one or more steps included in the operation control process. In addition, one or more steps included in the operation control process described here can be appropriately omitted. In addition, the execution order of each step of the operation control process can be different within the scope of producing the same effect. Moreover, the case where the control device 11 of the combine harvester 1 executes the steps of the operation control process is cited here as an example for explanation, but an operation control method in which one or more processors disperse and execute the steps of the operation control process can also be used as another embodiment. For example, the control unit of the operating device 30 can execute the operation control process.

[0144] In step S11, the control device 11 determines whether a start instruction for route generation has been received. If a start instruction for route generation has been received (S11: Yes), the control device 11 advances the process to step S12. The control device 11 waits until a start instruction for route generation has been received (S11: No).

[0145] In step S12, the control device 11 determines whether or not a request for the start point setting unit 35 (see Figure 7 ) is performed (e.g., a short press operation). If the operator has received a short press operation on the starting point setting unit 35 (S12: Yes), the control device 11 advances the process to step S13. If the operator has not received a short press operation on the starting point setting unit 35 (S12: No), the control device 11 advances the process to step S121.

[0146] In step S13, the control device 11 registers the starting point A1. Specifically, the control device 11 registers the position of the combine harvester 1 when the operator performs a short-press operation on the starting point setting part 35 as the starting point A1.

[0147] Next, in step S14, the control device 11 determines whether the combine harvester 1 has traveled a predetermined distance. For example, the control device 11 determines whether the combine harvester 1 has traveled 5 meters from the starting point A1. If it is determined that the travel distance of the combine harvester 1 has reached 5 meters (S14: Yes), the control device 11 causes the process to proceed to step S15. On the other hand, if it is determined that the travel distance of the combine harvester 1 has not reached 5 meters (is less than 5 meters) (S14: No), the control device 11 causes the process to proceed to step S141. In addition, the predetermined distance is not limited to 5 meters and is set according to the size of the field.

[0148] In step S15, the control device 11 determines whether or not a request to the end point setting unit 36 ​​(see Figure 7) is performed by a predetermined operation (e.g., a short press operation) on the endpoint setting unit 36. If the operator has received a short press operation on the endpoint setting unit 36 ​​(S15: Yes), the control device 11 advances the process to step S16. The control device 11 waits until the operator has received a short press operation on the endpoint setting unit 36 ​​(S15: No).

[0149] In step S16, the control device 11 registers the end point B1. Specifically, the control device 11 registers the position of the combine harvester 1 when the operator performs a short-press operation on the end point setting unit 36 ​​as the end point B1.

[0150] Next, in step S17, the control device 11 sets the reference line L1 based on the starting point A1 and the end point B1. For example, the control device 11 generates a straight line connecting the registered starting point A1 and the end point B1, and sets and registers the generated straight line as the reference line L1 (refer to Figure 9A As another embodiment, the control device 11 may set the orthogonal line L2 based on the reference line L1 and register the reference line L1 and the orthogonal line L2. After step S17, the control device 11 advances the process to step S18.

[0151] In contrast, if a short press operation on the start point setting unit 35 is not received from the operator in step S12 (S12: No), the control device 11 determines in the next step S121 whether a long press operation on the start point setting unit 35 or the end point setting unit 36 ​​is received from the operator. If a long press operation on the start point setting unit 35 or the end point setting unit 36 ​​is received from the operator (S121: Yes), the control device 11 advances the process to step S122. If a long press operation on the start point setting unit 35 or the end point setting unit 36 ​​is not received from the operator (S121: No), the control device 11 advances the process to step S12.

[0152] In step S122, the control device 11 sets the reference line L1 based on the vehicle orientation of the combine harvester 1 at the time the operator performs a long-press operation on the start point setting unit 35 or the end point setting unit 36. For example, if the operator performs a long-press operation on the start point setting unit 35, the control device 11 sets the reference line L1 based on the vehicle orientation of the combine harvester 1 at the time the operator performs a long-press operation on the start point setting unit 35. If the operator performs a long-press operation on the end point setting unit 36, the control device 11 sets the reference line L1 based on the vehicle orientation of the combine harvester 1 at the time the operator performs a long-press operation on the end point setting unit 36. After step S122, the control device 11 advances the process to step S18.

[0153] In step S14, if the travel distance of the combine harvester 1 has not reached the predetermined distance (e.g., 5 meters) (less than 5 meters) (S14: No), the control device 11 determines in the next step S141 whether a short press operation of the endpoint setting unit 36 ​​has been accepted from the operator. If a short press operation of the endpoint setting unit 36 ​​has been accepted from the operator (S141: Yes), the control device 11 advances the process to step S142. If a short press operation of the endpoint setting unit 36 ​​has not been accepted from the operator (S141: No), the control device 11 advances the process to step S14.

[0154] In step S142, the control device 11 sets the reference line L1 based on the vehicle orientation of the combine harvester 1 when the short-press operation of the start point setting unit 35 is received. In another embodiment, the control device 11 may set the reference line L1 based on the vehicle orientation of the combine harvester 1 when the short-press operation of the end point setting unit 36 ​​is received. After step S142, the control device 11 advances the process to step S18.

[0155] In step S18, the control device 11 determines whether an operation to delete the baseline L1 has been accepted. For example, if the start point A1 and the end point B1 are registered, the control device 11 determines whether the overlap (overlap time) between the operation time for the start point setting unit 35 and the operation time for the end point setting unit 36 ​​has exceeded a predetermined time. If the overlap time is determined to be longer than the predetermined time (S18: Yes), the control device 11 advances the process to step S181.

[0156] On the other hand, if the deletion operation of the reference line L1 is not accepted (S18: No), the control device 11 advances the process to step S19. For example, if an instruction to create a target route is accepted from the operator (S18: No), the control device 11 advances the process to step S19.

[0157] In step S181, the control device 11 deletes the set baseline L1. For example, if start point A1 and end point B1 are registered, the control device 11 deletes the baseline L1, start point A1, and end point B1. Alternatively, if either start point A1 or end point B1 is registered, the control device 11 deletes the baseline L1 and the registered start point A1 or end point B1. Furthermore, if the vehicle's orientation is registered, the control device 11 deletes the baseline L1 and the vehicle's orientation. After step S181, the control device 11 returns the process to step S12 and executes the above process again. As described above, the operator can set the baseline L1 or delete the already set baseline L1 and set it again.

[0158] In step S19, the control device 11 generates a target path R1 (see Figure 9A The control device 11 generates a target path R1 and, if the conditions for starting automatic travel are met, causes the combine harvester 1 to start automatic travel along the target path R1. In the manner described above, the control device 11 sets the reference line L1 and generates the target path R1 based on the operator's operation of the operating device 30.

[0159] As another embodiment, it can be formed that when a long press operation of the end point setting unit 36 ​​is accepted without accepting a short press operation of the end point setting unit 36 ​​from the operator in step S15 (S15: No), the control device 11 sets the baseline L1 based on the vehicle orientation of the combine harvester 1 when the long press operation of the end point setting unit 36 ​​is accepted.

[0160] As described above, the control device 11 according to the first embodiment controls the operating device 30, which includes: a start point setting unit 35 (first setting unit) that receives a user operation to register the start point A1 (first reference position) of a baseline when the combine harvester 1 (work vehicle) is automatically driven; and an end point setting unit 36 ​​(second setting unit) that receives a user operation to register the end point B1 (second reference position) of the baseline. When at least one of the start point setting unit 35 and the end point setting unit 36 ​​receives a first operation (e.g., a short press) from the user, the control device 11 executes a baseline setting process for setting the baseline. When at least one of the start point setting unit 35 and the end point setting unit 36 ​​receives a second operation (e.g., a simultaneous long press) from the user, the control device 11 executes a specific process different from the baseline setting process (e.g., a baseline deletion process).

[0161] With the above configuration, for example, the operator can register the start point A1 and the end point B1 and set the reference line L1 by briefly pressing the start point setting unit 35 and the end point setting unit 36. Furthermore, the operator can delete the already set reference line L1 by long pressing both the start point setting unit 35 and the end point setting unit 36. In this way, the operating device 30 can be provided with a function for setting the reference line L1 and functions different from this function, and each of these functions can be enabled based on the operation of the operating device 30, thereby improving the convenience of the operating device 30.

[0162] [Implementation Method 2]

[0163] However, in the prior art, in order to start automatic travel, a teaching operation for setting a reference orientation is required, which is time-consuming. In contrast, as described below, the travel system according to the second embodiment of the present invention has a structure that can make the combine 1 travel automatically by a simple operation method.

[0164] The following describes a travel system according to Embodiment 2. The same components as those of the travel system and combine harvester 1 according to Embodiment 1 are denoted by the same reference numerals, and their descriptions are omitted as appropriate. The travel system according to Embodiment 2 is an example of an automatic travel system of the present invention.

[0165] The driving system according to the second embodiment is based on the operation device 30 (see Figure 7 ) is operated by the user to cause the combine harvester 1 to automatically travel. In addition, the travel system receives an automatic travel start instruction from the operator at the automatic travel instruction unit 31 (start operation unit) provided in the operating device 30, and starts the automatic travel of the combine harvester 1 based on the vehicle orientation (own vehicle orientation) of the combine harvester 1 when the automatic travel start instruction is received. The storage unit 51 involved in the second embodiment stores the data for causing the control device 11 to execute the automatic travel processing described later (see Figure 13 ) to store the automatic driving program.

[0166] Specifically, the control device 11 includes a first mode in which the combine harvester 1 is automatically driven along a target path generated based on a baseline set in response to a user operation, and a second mode in which the combine harvester 1 is automatically driven along a target path generated based on the vehicle orientation of the combine harvester 1 when the automatic driving start instruction is received. For example, in the first mode, the generation processing unit 112 sets the baseline according to the setting method of Embodiment 1 (the first to third setting methods), and causes the combine harvester 1 to automatically drive along the target path generated based on the baseline.

[0167] Furthermore, the first mode may include a method in which a reference line is set based on an azimuth angle set by an operator (set azimuth angle), and the combine harvester 1 automatically travels along a target path generated based on the reference line. For example, if the operator inputs an angle relative to a reference azimuth (e.g., north azimuth) on a setting screen (not shown) and then performs an operation to register a starting point A1 (pressing the starting point setting unit 35), the control device 11 registers the position (current position) of the combine harvester 1 as the starting point A1 and sets a straight line passing through the starting point A1 and extending in the direction of the input angle (set azimuth angle) as the reference line.

[0168] The control device 11 according to the second embodiment further includes, in addition to the first mode, a second mode in which the combine harvester 1 automatically travels without setting a baseline. Furthermore, the generation processing unit 112 can switch between the first and second modes based on specified conditions, enabling the combine harvester 1 to automatically travel in either mode. Furthermore, the second mode can be a mode in which automatic travel is initiated based on the vehicle orientation of the combine harvester 1 (host vehicle orientation), or a mode in which a target path is generated based on the vehicle orientation of the combine harvester 1 (host vehicle orientation) and automatic travel is initiated according to the target path.

[0169] For example, when the automatic driving start instruction is received without setting the baseline (when the automatic driving instruction unit 31 is pressed), the generation processing unit 112 starts the combine harvester 1 to automatically drive according to the second mode. According to this structure, the operator can start the automatic driving without setting the baseline (see Figures 8A to 8D ) The combine harvester 1 is only manually driven so as to align with the target starting position of the work path and an automatic driving start instruction is given to start automatic driving of the combine harvester 1.

[0170] As another embodiment, when the reference line is set, the direction difference between the direction of the reference line and the vehicle direction of the combine harvester 1 when the automatic driving start instruction is received (see Figure 12A ) reaches or exceeds a predetermined azimuth difference, the generation processing unit 112 causes the combine harvester 1 to begin automatic travel according to the second mode. The predetermined azimuth difference is the azimuth difference relative to the baseline that enables automatic travel and corresponds to the permission condition of the first mode. For example, the predetermined azimuth difference is set to ±5 degrees relative to the baseline. Furthermore, the predetermined azimuth difference can be arbitrarily set by the operator or by the control device 11 based on the work content and the field.

[0171] For example, when a baseline corresponding to the first mode is pre-set, the operator can select the baseline and start automatic driving according to the target path passing through the current position of the combine harvester 1 (vehicle position reference mode). When the vehicle orientation at the time of starting automatic driving and the orientation of the baseline are significantly different (when the orientation difference is greater than the specified orientation difference), the permission conditions of the first mode are not met, and therefore automatic driving cannot be started. Therefore, when the orientation difference is significant (when the orientation difference is greater than the specified orientation difference), the generation processing unit 112 permits the start of automatic driving based on the second mode. For example, when the operator manually drives the combine harvester 1 to align with the target starting position of the working path and issues an automatic driving start instruction, if the orientation difference at this position is greater than 5 degrees, the generation processing unit 112 starts automatic driving of the combine harvester 1 based on the vehicle orientation of the combine harvester 1 at this position.

[0172] Thus, when the baseline is set, if the azimuth difference is less than the predetermined azimuth difference, the generation processing unit 112 causes the combine harvester 1 to start automatic driving according to the first mode, and if the azimuth difference reaches or exceeds the predetermined azimuth difference, causes the combine harvester 1 to start automatic driving according to the second mode. Furthermore, when the azimuth difference is less than the predetermined azimuth difference, the operator may be able to select either the first mode or the second mode.

[0173] As another embodiment, when a reference line is set, the target path generated based on the reference line and the lateral deviation of the position of the combine harvester 1 (see Figure 12B ) reaches a predetermined deviation or more, the generation processing unit 112 starts the combine harvester 1 to automatically travel according to the second mode. The predetermined deviation is a lateral deviation that enables the combine harvester 1 to start automatic travel relative to the target path (multiple parallel straight lines corresponding to the equidistant pattern) generated based on the baseline, which is equivalent to the permission condition of the first mode. For example, the predetermined deviation is the deviation of the vehicle width center position (antenna position) of the combine harvester 1 relative to the target path (refer to Figure 12B ), set to ±50cm. In addition, the prescribed deviation can be set arbitrarily by the operator, or by the control device 11 according to the work content and the field.

[0174] For example, when a baseline corresponding to the first mode is pre-set, the operator can select the baseline and start automatic driving according to the target path (equal spacing mode). When the lateral deviation between the vehicle position at the time of starting automatic driving and the target path is large (more than the specified deviation), the permission condition of the first mode is not met, and therefore, automatic driving cannot be started. Therefore, when the lateral deviation is large (more than the specified deviation), the generation processing unit 112 permits the start of automatic driving based on the second mode. For example, when the operator manually drives the combine harvester 1 to align with the target starting position of the working path and issues an automatic driving start instruction, when the lateral deviation at this position is more than 50 cm, the generation processing unit 112 starts automatic driving of the combine harvester 1 based on the vehicle orientation of the combine harvester 1 at this position.

[0175] Thus, when the baseline is set, if the lateral deviation is less than the predetermined deviation, the generation processing unit 112 causes the combine harvester 1 to start automatic travel according to the first mode, and if the lateral deviation reaches or exceeds the predetermined deviation, causes the combine harvester 1 to start automatic travel according to the second mode. Furthermore, when the lateral deviation is less than the predetermined deviation, the operator may be able to select either the first mode or the second mode.

[0176] In addition, regarding the above-mentioned structure, when the reference line is set, the direction difference between the direction of the reference line and the vehicle direction of the combine harvester 1 (see Figure 12A ) reaches the prescribed azimuth difference or more, and the lateral deviation between the target path generated based on the reference line and the position of the combine harvester 1 (reference Figure 12B ) reaches or exceeds the prescribed deviation, the generation processing unit 112 may cause the combine harvester 1 to start automatic driving according to the second mode.

[0177] As another embodiment, when the operator continuously operates the automatic driving instruction unit 31 for a predetermined time or longer (a long-press operation), the generation processing unit 112 may start automatic driving based on the vehicle orientation (the second mode) of the combine harvester 1. For example, when the operator manually drives the combine harvester 1 so that it is aligned with the target starting position of the work path and then long-presses the automatic driving instruction unit 31, the generation processing unit 112 starts automatic driving of the combine harvester 1 based on the vehicle orientation of the combine harvester 1 at that position.

[0178] According to the above configuration, regardless of whether or not a baseline has been set, the combine harvester 1 can be started to automatically travel according to the second mode by the operator performing a predetermined operation on the operating device 30 (e.g., a long-press operation on the automatic travel instruction unit 31). The predetermined operation is not limited to a long-press operation on the automatic travel instruction unit 31, but may also be a specific operation on the starting point setting unit 35 and the end point setting unit 36.

[0179] As another embodiment, when a reference line is set and the orientation difference between the orientation of the reference line and the orientation of the combine harvester 1 at the time of receiving the automatic travel start instruction is less than a predetermined orientation difference, and the automatic travel instruction unit 31 is continuously operated (long-pressed) by the operator for a predetermined time or longer, the generation processing unit 112 may cause the combine harvester 1 to start automatic travel according to the second mode. Specifically, when the orientation difference is less than the predetermined orientation difference, if the operator performs a short press operation (operation within a predetermined time) on the automatic travel instruction unit 31, the combine harvester 1 starts automatic travel according to the first mode. On the other hand, if the operator performs a long press operation (continuous operation for a predetermined time or longer) on the automatic travel instruction unit 31, the combine harvester 1 starts automatic travel according to the second mode.

[0180] In this manner, when the azimuth difference is smaller than the predetermined azimuth difference, the first mode or the second mode can be selected according to the operator's operation method of the operating device 30 .

[0181] As another embodiment, the generation processing unit 112 may be configured to generate a field F (see FIG. 1 ) on which the combine harvester 1 is automatically driven. Figure 5 ) within the field F. For example, within the field F, there may be locations suitable for automatic driving based on the first mode and locations suitable for automatic driving based on the second mode. In this case, the generation processing unit 112 selects an appropriate mode according to the location within the field F and performs automatic driving. For example, if the orientation and position of each edge of the field outline can be grasped, the generation processing unit 112 selects the first mode when the position of the combine harvester 1 is near an edge of the outline where the orientation is close to the baseline, and selects the second mode when the position of the combine harvester 1 is near an edge of the outline where the orientation is different from the baseline.

[0182] Furthermore, the generation processing unit 112 may switch between the first mode and the second mode depending on the work content or the work machine. For example, the generation processing unit 112 may only permit automatic driving in the first mode for work requiring high work accuracy, and permit automatic driving in the second mode (permitting switching between the first mode and the second mode) for work not requiring high work accuracy.

[0183] In another embodiment, the control device 11 may set the automatic driving mode based on an operator's switching operation between the first mode and the second mode. For example, the operator may switch between the first mode and the second mode on a setting screen (not shown). Alternatively, the operator may switch between the first mode and the second mode by operating the operating device 30.

[0184] Here, according to each of the above-mentioned embodiments, the operator starts the automatic driving of the combine harvester 1 only by pressing the automatic driving indication unit 31. Therefore, it is difficult for the operator to understand whether to start the automatic driving according to the target path corresponding to the baseline (the first mode) or to start the automatic driving according to the vehicle orientation (the second mode). Therefore, the generation processing unit 112 can inform the operator of information that can identify which mode of the automatic driving is started according to the first mode and the second mode. For example, the generation processing unit 112 can make the automatic driving display unit 32 of the operating device 30 (refer to Figure 7 ) lights up or flashes in a color corresponding to the mode, so that the display screen of the operation terminal can display the above information, and a buzzer sound, guidance voice, etc. can also be output from the operation device 30 or the operation terminal.

[0185] In addition, when automatic driving is started based on the vehicle orientation (the second mode), the control device 11 can use the path offset function to parallelize the driving path of the combine harvester 1, and can also use the path angle offset function to change the driving orientation of the combine harvester 1.

[0186] [Automatic driving processing]

[0187] The following reference Figure 13 An example of the automatic driving process executed by the driving system according to the second embodiment will be described.

[0188] In addition, the present invention can be understood as the invention of an automatic driving method that executes one or more steps included in the automatic driving process. In addition, one or more steps included in the automatic driving process described here can be appropriately omitted. In addition, the execution order of each step of the automatic driving process can be different within the scope of producing the same effect. Moreover, the case where the control device 11 of the combine harvester 1 executes the steps of the automatic driving process is cited here as an example for explanation, but the automatic driving method in which one or more processors disperse and execute the steps of the automatic driving process can also be used as another embodiment. For example, the control unit of the operating device 30 can execute the automatic driving process.

[0189] In step S21, the control device 11 determines whether an automatic driving start instruction has been received. For example, when the operator presses the operating device 30 (see Figure 7), the control device 11 determines that the automatic driving start instruction has been accepted. If the automatic driving start instruction has been accepted (S21: Yes), the control device 11 advances the process to step S22. The control device 11 waits until the automatic driving start instruction is accepted (S21: No).

[0190] In step S22, the control device 11 determines whether the reference line has been set. For example, if the operator has previously performed an operation to set the reference line using the operating device 30 (see Figures 8A to 8D ), the control device 11 determines that the baseline setting is complete. If it is determined that the baseline setting is complete (S22: Yes), the control device 11 advances the process to step S23. On the other hand, if it is determined that the baseline setting is not complete (S22: No), the control device 11 advances the process to step S221.

[0191] In step S23, the control device 11 determines the direction difference between the direction of the reference line and the vehicle direction of the combine harvester 1 when the automatic driving start instruction is received (see Figure 12A ) is less than a predetermined bearing difference. For example, the control device 11 determines whether the bearing difference from the time the operator receives the automatic driving start instruction is less than 5 degrees. If the bearing difference is less than the predetermined bearing difference (5 degrees) (S23: Yes), the control device 11 advances the process to step S24. If the bearing difference is greater than the predetermined bearing difference (5 degrees) (S23: No), the control device 11 advances the process to step S221.

[0192] As another embodiment of step S23, the control device 11 determines the lateral deviation between the target path generated based on the reference line and the position of the combine harvester 1 (see Figure 12B ) is less than a specified deviation. For example, the control device 11 determines whether the lateral deviation from the moment the operator receives the instruction to start automatic driving is less than 50 cm. If the lateral deviation is less than the specified deviation (50 cm) (S23: Yes), the control device 11 proceeds to step S24. If the lateral deviation is greater than the specified deviation (50 cm) (S23: No), the control device 11 proceeds to step S221. In another embodiment, the control device 11 may perform a combined determination of the azimuth difference and the lateral deviation.

[0193] In step S24, the control device 11 determines whether the operation of the automatic driving start instruction in step S21 is a continuous operation (long press operation) for a predetermined time or longer. If it is determined that the operation of the automatic driving start instruction is a long press operation (S24: Yes), the control device 11 advances the process to step S221. On the other hand, if it is determined that the operation of the automatic driving start instruction is not a long press operation (short press operation) (S24: No), the control device 11 advances the process to step S25.

[0194] In step S25, the control device 11 starts the combine harvester 1 to automatically travel according to the first mode. For example, the control device 11 generates a target path based on the set baseline and causes the combine harvester 1 to automatically travel according to the generated target path. In addition, the control device 11 may generate a target path consisting of a plurality of straight lines parallel to the baseline (see Figure 4A ) (equal spacing mode), a target path consisting of a straight line passing through the vehicle position and parallel to the baseline can also be generated (vehicle position reference mode). In this way, in step S25, the combine harvester 1 starts automatic driving according to the target path generated based on the baseline.

[0195] On the other hand, in step S221, the control device 11 starts automatic travel of the combine harvester 1 according to the second mode. For example, the control device 11 automatically travels the combine harvester 1 based on the vehicle orientation of the combine harvester 1 when the automatic travel start instruction is received.

[0196] For example, when the automatic travel start instruction is accepted in a state where the reference line is not set ( S22 : No), the control device 11 starts the automatic travel based on the vehicle orientation of the combine harvester 1 .

[0197] For example, when the reference line is set, the vehicle orientation difference (see Figure 12A ) is greater than the predetermined direction difference (S23: No), the control device 11 starts automatic driving based on the vehicle direction.

[0198] For example, when the direction difference is smaller than the predetermined direction difference with the reference line set and the operation for instructing the start of automatic travel is a long press operation ( S24 : Yes), the control device 11 starts automatic travel based on the vehicle direction of the combine harvester 1 .

[0199] In this way, in step S221, regardless of the reference line, the combine harvester 1 starts automatic driving based on the vehicle orientation at the time of accepting the automatic driving start instruction.

[0200] As described above, when the automatic travel start instruction is received from the operator, the control device 11 starts the automatic travel of the combine harvester 1 in the first mode or the second mode according to predetermined conditions.

[0201] In step S26, the control device 11 determines whether the combine harvester 1 has completed operation. If it is determined that the combine harvester 1 has completed operation (S26: Yes), the control device 11 ends the automatic driving process. If it is determined that the combine harvester 1 has not completed operation (S26: No), the control device 11 returns to step S21 and executes the above process.

[0202] The control device 11 repeatedly executes the processing of the above-mentioned steps S21 to S26 until the combine harvester 1 completes the work.

[0203] As described above, the control device 11 according to the second embodiment causes the combine harvester 1 (work vehicle) to automatically travel in response to user operations on the operating device 30. Furthermore, the control device 11 receives an automatic travel start instruction from the operator at the automatic travel instruction unit 31 provided on the operating device 30, and starts automatic travel of the combine harvester 1 based on the vehicle orientation of the combine harvester 1 at the time of receiving the automatic travel start instruction.

[0204] According to the above configuration, for example, the operator can avoid performing the operation of setting the reference line (see Figures 8A to 8D ) and pressing the automatic travel instruction unit 31 of the operating device 30 to start the automatic travel of the combine harvester 1. Therefore, the combine harvester 1 can be automatically traveled by a simple operation method.

[0205] Furthermore, when a baseline is set, the control device 1 may determine the first mode or the second mode based on at least one of the azimuth difference and the lateral deviation at the time of receiving the automatic travel start instruction, and start automatic travel. Furthermore, when a baseline is set, the control device 11 may determine the first mode or the second mode based on the operation method (short press operation or long press operation) of the automatic travel start instruction, and start automatic travel.

[0206] According to the above configuration, the combine harvester 1 can be automatically driven by a simple operation method, and the convenience of the operation device 30 can be improved.

[0207] [Implementation Method 3]

[0208] Hereinafter, the travel system according to Embodiment 3 will be described. In addition, in the following, the same components as those of the travel system and the combine harvester 1 according to Embodiments 1 and 2 are denoted by the same reference numerals, and their description will be omitted as appropriate.

[0209] In the travel system according to the third embodiment, the operating device 30 is provided at a position that does not obstruct the field of view of the operator riding on the combine harvester 1 when the combine harvester 1 is automatically traveling. Figure 14 and Figures 15A and 15B The positional relationship between the operating unit 9 and the cutting unit 3 is shown in FIG. Figure 14 and Figures 15A and 15B 3 shows a line of sight X1 when the operator is checking the front, particularly the right front end portion of the grain divider 13 of the harvesting section 3, while the combine harvester 1 is automatically traveling. Figure 15B yes Figure 15A The enlarged view of the P1 part. Figure 14 As shown, the operating device 30 is arranged at a position that does not overlap with the line of sight X1.

[0210] Specifically, while the combine harvester 1 is automatically traveling and performing a harvesting operation, the operator in the driver's seat checks whether the right front end of the divider 13 is aligned with the end of an uncut stalk in order to confirm the travel position of the combine harvester 1. Therefore, it is preferable that there is no structure that obstructs the operator's vision from the divider 13 (line of sight X1).

[0211] Therefore, regarding the driving system according to the third embodiment, the operating device 30 is arranged outside the range (sight line X1) from the driver's seat where the operator sits to the right front end of the divider 13. Figure 15A As shown in FIG. 1 , the operating device 30 is arranged at a position that does not overlap with the sight line X1 connecting the operator's seat (operator) and the right front end portion of the crop divider 13 .

[0212] In order to ensure the visual field in front of the driver's seat, the operating device 30 may be arranged to the right of the line of sight X1 (toward the side mirror 91) (see FIG. Figure 15B ). In addition, the operating device 30 and the side mirror 91 are set at approximately the same height from the ground, and are also set at a height equal to that of the steering wheel (see Figure 3 ) are approximately the same height.

[0213] In addition, if the operating device 30 overlaps with the side mirror 91 when viewed from the operator's seat, it is difficult to confirm the rear using the side mirror 91. Therefore, it is preferable to arrange the operating device 30 at a position that does not overlap with the side mirror 91. That is, it is preferable to arrange the operating device 30 in an area between the line of sight X1 connecting the operator's seat (operator) and the right front end of the crop divider 13 and the line of sight X2 connecting the operator's seat (operator) and the side mirror 91 (see FIG. Figure 15B ).

[0214] According to the above configuration, it is possible to prevent the operating device 30 from obstructing the operator's field of vision (checking the front and the rear) during the automatic travel of the combine harvester 1.

[0215] Here, when the operating device 30 is arranged at the above position (refer to Figure 15B ), the following problem may occur: the light (LED light) when the operating device 30 is turned on is reflected into the right window glass of the driver's seat, and it overlaps with the side reflector 91, making it difficult for the operator to use the side reflector 91 to check the rear. Figure 16 As shown, if the operating device 30 (refer to Figure 7 ) is lit, the automatic driving display unit 32, the starting point setting display unit 37, and the end point setting display unit 38 are illuminated, and the light is reflected into the right side window glass 92 of the driver's seat. If the light reflected into the right side window glass 92 overlaps with the side reflector 91, it will be difficult for the operator to use the side reflector 91 to confirm the rear.

[0216] Therefore, the operating device 30 may have a function for adjusting brightness. For example, in night mode, the operating device 30 may lower the brightness of each display unit than in day mode. Specifically, if the duty cycle of the brightness of each display unit in day mode is set to 100%, the operating device 30 may set the duty cycle of the brightness of each display unit in night mode to 20%.

[0217] As another embodiment, Figure 17 As shown, the operating device 30 may include a backlight 31L that illuminates the automatic driving indicator 31, a backlight 35L that illuminates the starting point setting unit 35, and a backlight 36L that illuminates the end point setting unit 36. Furthermore, the operating device 30 sets the duty ratio of the brightness of the backlights 31L, 35L, and 36L to 0% in daytime mode and to 100% in nighttime mode. Furthermore, in nighttime mode, the operating device 30 sets the brightness of the starting point setting display unit 37 and the end point setting display unit 38 to a value lower than the brightness of the backlights 31L, 35L, and 36L. As a result, at night, the lighting brightness of the starting point setting display unit 37 and the end point setting display unit 38 does not become dazzling, and the text "AUTO" of the automatic driving indication unit 31, the text "A" of the starting point setting unit 35, and the text "B" of the end point setting unit 36 ​​can be made conspicuous, so that the position of each button is easy to identify.

[0218] In another embodiment, the operating device 30 may set the lighting color of each display unit in night mode to a warm color. In another embodiment, the operating device 30 may illuminate each display unit in day mode and flash it at a reduced flashing frequency in night mode. In another embodiment, the operating device 30 may illuminate all of the automatic driving display unit 32, the starting point setting display unit 37, and the end point setting display unit 38 in day mode, and illuminate only a portion of the starting point setting display unit 37 and the end point setting display unit 38 in night mode.

[0219] [Supplementary Note 1 to the Invention]

[0220] The following supplementary notes outline the invention extracted from the above-mentioned embodiment 1. In addition, the various structures and processing functions described in the following supplementary notes can be selected and combined arbitrarily.

[0221] Note 1

[0222] An operation control method for an operating device, the operating device comprising: a first setting unit that receives a user operation for registering a first reference position of a reference line when a work vehicle is automatically driven; and a second setting unit that receives a user operation for registering a second reference position of the reference line, wherein:

[0223] When at least one of the first setting unit and the second setting unit receives a first operation from a user, a reference line setting process for setting the reference line is executed.

[0224] When at least one of the first setting unit and the second setting unit receives a second operation from the user, a specific process different from the reference line setting process is executed.

[0225] Note 2

[0226] According to the operation control method described in Supplement 1,

[0227] When the operation time of the second operation on the first setting unit and the operation time of the second operation on the second setting unit overlap for a predetermined time or longer when the first reference position and the second reference position are registered, the first reference position and the second reference position are deleted.

[0228] Note 3

[0229] According to the operation control method described in Supplement 2,

[0230] When the first and second reference positions are registered, and the overlap time of the second operation on the first setting unit and the second operation on the second setting unit is less than the predetermined time, the first and second reference positions are not deleted.

[0231] Note 4

[0232] The operation control method according to any one of Supplementary Notes 1 to 3, wherein:

[0233] When the second setting unit accepts the first operation from the user at a position less than a predetermined distance from the first reference position registered by the first operation to the first setting unit, the reference line is set based on the vehicle orientation of the work vehicle when the first setting unit accepts the first operation.

[0234] <Note 5>

[0235] The operation control method according to any one of Supplementary Notes 1 to 3, wherein:

[0236] When the second setting unit accepts the first operation from the user at a position less than a predetermined distance from the first reference position registered according to the first operation to the first setting unit, the reference line is set based on the vehicle orientation of the work vehicle when the second setting unit accepts the first operation.

[0237] <Note 6>

[0238] The operation control method according to any one of Supplementary Notes 1 to 5, wherein:

[0239] When the second setting unit accepts the first operation from the user at a position less than a predetermined distance from the first reference position registered according to the first operation to the first setting unit, the setting method includes the following setting methods: a setting method for setting the reference line based on the vehicle orientation of the work vehicle when the first setting unit accepts the first operation; and a setting method for setting the reference line based on the vehicle orientation of the work vehicle when the second setting unit accepts the first operation.

[0240] An operation of selecting any one of the setting methods is accepted from the user.

[0241] <Note 7>

[0242] The operation control method according to any one of Supplementary Notes 1 to 6, wherein:

[0243] When the second setting unit accepts the first operation from the user at a position less than a predetermined distance from the first reference position registered according to the first operation to the first setting unit, the reference line is set based on the vehicle orientation of the work vehicle when the first setting unit accepts the first operation or the vehicle orientation of the work vehicle when the second setting unit accepts the first operation.

[0244] The user is informed that the reference line is set based on the vehicle orientation of the work vehicle when the first setting unit accepts the first operation, or that the reference line is set based on the vehicle orientation of the work vehicle when the second setting unit accepts the first operation.

[0245] <Note 8>

[0246] The operation control method according to any one of Supplementary Notes 1 to 7, wherein:

[0247] When the second setting unit accepts a predetermined operation from a user while the first reference position is not registered, the reference line is set based on the vehicle orientation of the work vehicle when the second setting unit accepts the first operation.

[0248] <Note 9>

[0249] The operation control method according to any one of Supplementary Notes 1 to 8, wherein:

[0250] When the first setting unit continuously accepts a predetermined operation from the user for a predetermined time or longer, the reference line is set based on the vehicle orientation of the work vehicle when the first setting unit accepts the first operation.

[0251] <Note 10>

[0252] The operation control method according to any one of Supplementary Notes 1 to 9, wherein:

[0253] When the second setting unit accepts the first operation from the user at a position more than a predetermined distance away from the first reference position registered by the first operation on the first setting unit, the second setting unit registers the second reference position and sets the reference line passing through the first reference position and the second reference position.

[0254] <Note 11>

[0255] According to the operation control method described in Supplementary Note 10,

[0256] When the work vehicle reaches a position that is greater than or equal to the predetermined distance from the first reference position, information indicating that the reference line can be set based on the first reference position and the second reference position is notified to the user.

[0257] [Supplementary Note 2 to the Invention]

[0258] The following supplementary notes outline the invention extracted from the above-mentioned embodiment 2. In addition, the various structures and processing functions described in the following supplementary notes can be selected and combined arbitrarily.

[0259] Note 1

[0260] An automatic driving method for causing a work vehicle to automatically drive according to a user operation on an operating device, wherein:

[0261] The automatic driving method performs the following steps:

[0262] accepting an automatic driving start instruction from a user at a start operation unit provided in the operation device; and

[0263] The work vehicle is started to travel automatically based on the vehicle orientation of the work vehicle when the automatic travel start instruction is received.

[0264] Note 2

[0265] According to the automatic driving method described in Supplementary Note 1,

[0266] The automatic driving method includes the following modes:

[0267] a first mode in which the work vehicle is automatically driven along a target path generated based on a reference line set by a user operation; and

[0268] a second mode in which the work vehicle is automatically driven according to a target path generated based on the vehicle orientation of the work vehicle when the automatic driving start instruction is received;

[0269] When the automatic travel start instruction is accepted in a state where the reference line is not set, the work vehicle starts automatic travel according to the second mode.

[0270] Note 3

[0271] The automatic driving method according to Supplement 1 or 2, wherein:

[0272] The automatic driving method includes the following modes:

[0273] a first mode in which the work vehicle is automatically driven along a target path generated based on a reference line set by a user operation; and

[0274] a second mode in which the work vehicle is automatically driven according to a target path generated based on the vehicle orientation of the work vehicle when the automatic driving start instruction is received;

[0275] When a direction difference between the direction of the reference line when the reference line is set and the vehicle direction of the work vehicle when the automatic travel start instruction is received reaches a predetermined direction difference or more, the work vehicle starts automatic travel according to the second mode.

[0276] Note 4

[0277] According to the automatic driving method described in Supplementary Note 3,

[0278] When the direction difference is smaller than the predetermined direction difference when the reference line is set, the work vehicle starts automatic travel according to the first mode.

[0279] <Note 5>

[0280] The automatic driving method according to any one of Supplementary Notes 1 to 4, wherein:

[0281] The automatic driving method includes the following modes:

[0282] a first mode in which the work vehicle is automatically driven along a target path generated based on a reference line set by a user operation; and

[0283] a second mode in which the work vehicle is automatically driven according to a target path generated based on the vehicle orientation of the work vehicle when the automatic driving start instruction is received;

[0284] When a lateral deviation between the target path generated based on the reference line when the reference line is set and the position of the work vehicle reaches or exceeds a predetermined deviation, the work vehicle starts automatic travel according to the second mode.

[0285] <Note 6>

[0286] According to the automatic driving method described in Supplementary Note 5,

[0287] When the lateral deviation is smaller than the predetermined deviation when the reference line is set, the work vehicle starts automatic travel according to the first mode.

[0288] <Note 7>

[0289] The automatic driving method according to any one of Supplementary Notes 1 to 6, wherein:

[0290] When the start operation unit is operated continuously by a user for a predetermined time or longer, the work vehicle starts automatically traveling based on the vehicle orientation of the work vehicle.

[0291] <Note 8>

[0292] The automatic driving method according to any one of Supplementary Notes 1 to 7, wherein:

[0293] The automatic driving method includes the following modes:

[0294] a first mode in which the work vehicle is automatically driven along a target path generated based on a reference line set by a user operation; and

[0295] a second mode in which the work vehicle is automatically driven according to a target path generated based on the vehicle orientation of the work vehicle when the automatic driving start instruction is received;

[0296] When the baseline is set and the difference between the orientation of the baseline and the vehicle orientation of the work vehicle when the automatic driving start instruction is received is less than the specified orientation difference, and the user continuously operates the start operation unit for a time period longer than the specified time, the work vehicle starts automatic driving according to the second mode.

[0297] <Note 9>

[0298] According to the automatic driving method described in Supplementary Note 8,

[0299] When the baseline is set and the direction difference between the direction of the baseline and the vehicle direction of the work vehicle when the automatic driving start instruction is received is less than a specified direction difference, and the user operates the start operation unit within a specified time, the work vehicle starts automatic driving according to the first mode.

[0300] <Note 10>

[0301] The automatic driving method according to any one of Supplementary Notes 1 to 9, wherein:

[0302] The automatic driving method includes the following modes:

[0303] a first mode in which the work vehicle is automatically driven along a target path generated based on a reference line set by a user operation; and

[0304] a second mode in which the work vehicle is automatically driven according to a target path generated based on the vehicle orientation of the work vehicle when the automatic driving start instruction is received;

[0305] The first mode and the second mode are switched according to a position in a work area where the work vehicle is automatically driven.

Claims

1. An operation control method for an operating device comprising: a first setting unit for accepting a user operation for registering a first reference position of a reference line when a work vehicle is automatically driven; and a second setting unit for accepting a user operation for registering a second reference position of the reference line, wherein: When at least one of the first setting unit and the second setting unit receives a first operation from a user, a reference line setting process for setting the reference line is executed. When at least one of the first setting unit and the second setting unit receives a second operation from the user, a specific process different from the reference line setting process is executed.

2. The operation control method according to claim 1, wherein: When the operation time of the second operation on the first setting unit and the operation time of the second operation on the second setting unit overlap for a predetermined time or longer when the first reference position and the second reference position are registered, the first reference position and the second reference position are deleted.

3. The operation control method according to claim 2, wherein: When the first and second reference positions are registered, and the overlap time of the second operation on the first setting unit and the second operation on the second setting unit is less than the predetermined time, the first and second reference positions are not deleted.

4. The operation control method according to claim 1, wherein: When the second setting unit accepts the first operation from the user at a position less than a predetermined distance from the first reference position registered by the first operation to the first setting unit, the reference line is set based on the vehicle orientation of the work vehicle when the first setting unit accepts the first operation.

5. The operation control method according to claim 1, wherein: When the second setting unit accepts the first operation from the user at a position less than a predetermined distance from the first reference position registered according to the first operation to the first setting unit, the reference line is set based on the vehicle orientation of the work vehicle when the second setting unit accepts the first operation.

6. The operation control method according to claim 1, wherein: When the second setting unit accepts the first operation from the user at a position less than a predetermined distance from the first reference position registered according to the first operation to the first setting unit, the setting method includes the following setting methods: a setting method for setting the reference line based on the vehicle orientation of the work vehicle when the first setting unit accepts the first operation; and a setting method for setting the reference line based on the vehicle orientation of the work vehicle when the second setting unit accepts the first operation. An operation of selecting any one of the setting methods is accepted from the user.

7. The operation control method according to claim 1, wherein: When the second setting unit accepts the first operation from the user at a position less than a predetermined distance from the first reference position registered according to the first operation to the first setting unit, the reference line is set based on the vehicle orientation of the work vehicle when the first setting unit accepts the first operation or the vehicle orientation of the work vehicle when the second setting unit accepts the first operation. The user is informed that the reference line is set based on the vehicle orientation of the work vehicle when the first setting unit accepts the first operation, or that the reference line is set based on the vehicle orientation of the work vehicle when the second setting unit accepts the first operation.

8. The operation control method according to claim 1, wherein: When the second setting unit accepts a predetermined operation from a user while the first reference position is not registered, the reference line is set based on the vehicle orientation of the work vehicle when the second setting unit accepts the first operation.

9. The operation control method according to claim 1, wherein: When the first setting unit continuously accepts a predetermined operation from the user for a predetermined time or longer, the reference line is set based on the vehicle orientation of the work vehicle when the first setting unit accepts the first operation.

10. The operation control method according to any one of claims 1 to 9, wherein: When the second setting unit accepts the first operation from the user at a position more than a predetermined distance away from the first reference position registered by the first operation on the first setting unit, the second setting unit registers the second reference position and sets the reference line passing through the first reference position and the second reference position.

11. The operation control method according to claim 10, wherein: When the work vehicle reaches a position that is greater than or equal to the predetermined distance from the first reference position, information indicating that the reference line can be set based on the first reference position and the second reference position is notified to the user.

12. An operation control program for an operating device comprising: a first setting unit for accepting a user operation for registering a first reference position of a reference line when a work vehicle is automatically driven; and a second setting unit for accepting a user operation for registering a second reference position of the reference line, wherein: The operation control program is used to enable one or more processors to perform the following processing: When at least one of the first setting unit and the second setting unit receives a first operation from a user, a reference line setting process for setting the reference line is executed. When at least one of the first setting unit and the second setting unit receives a second operation from the user, a specific process different from the reference line setting process is executed.

13. An operation control system for an operating device, the operating device comprising: a first setting unit for accepting a user operation for registering a first reference position of a reference line when a work vehicle is automatically driven; and a second setting unit for accepting a user operation for registering a second reference position of the reference line, wherein: The operation control system comprises: a setting processing unit configured to execute a reference line setting process for setting the reference line when at least one of the first setting unit and the second setting unit receives a first operation from a user; as well as The specific processing unit executes a specific process different from the reference line setting process when at least one of the first setting unit and the second setting unit receives a second operation from a user.

Images