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

Abstract

Provided are an automatic travel method, an automatic travel program, and an automatic travel system with which it is possible to improve the operability of a user operation of an automatic travel work vehicle. A setting processing unit (112) of a combine (1) sets a travel mode to an automatic travel mode or a manual travel mode, and maintains the automatic travel mode when the combine (1), which has been set to the automatic travel mode, satisfies an automatic travel maintenance condition.

Description

TECHNICAL FIELD

[0001] The present application relates to a technology of causing a work vehicle to automatically travel according to a target path. BACKGROUND

[0002] Conventionally, a system of causing a work vehicle to automatically travel according to a target path set in advance in a field is known. For example, a system of improving work accuracy by stopping automatic travel before the work vehicle deviates from the target path set in advance (for example, refer to Patent Literature 1) is known.

[0003] Patent Literature 1: Japanese Patent No. 6253678

[0004] For example, when the work vehicle is automatically traveling in an automatic travel mode and the automatic travel is released, the work vehicle is switched from the automatic travel mode to a manual travel mode, and when the automatic travel is resumed, the operator needs to perform a prescribed operation. In a case where the operator unintentionally releases the automatic travel, the operator has to perform an operation for resuming the automatic travel, and the operability is poor. For example, when the operator who is riding on the work vehicle stops the work vehicle in automatic travel and gets off the work vehicle, the automatic travel mode is released, and when the automatic travel is resumed, the operator needs to perform a prescribed operation for satisfying a start condition of the automatic travel. SUMMARY

[0005] An object of the present application is to provide an automatic travel method, an automatic travel program, and an automatic travel system capable of improving the operability of an operator of a work vehicle in automatic travel.

[0006] The automatic travel method according to the present application is a method of causing a work vehicle to automatically travel according to a target path. The automatic travel method performs: setting a travel mode of the work vehicle to an automatic travel mode or a manual travel mode; and maintaining the automatic travel mode in a case where the work vehicle that has been set to the automatic travel mode satisfies an automatic travel maintenance condition.

[0007] The automatic travel program according to the present application is a program of causing a work vehicle to automatically travel according to a target path. The automatic travel program is used to cause one or a plurality of processors to perform: setting a travel mode of the work vehicle to an automatic travel mode or a manual travel mode; and maintaining the automatic travel mode in a case where the work vehicle that has been set to the automatic travel mode satisfies an automatic travel maintenance condition.

[0008] The automatic travel system according to the present application is a system that causes a work vehicle to travel automatically according to a target path. The automatic travel system includes a setting processing unit that sets a travel mode of the work vehicle to an automatic travel mode or a manual travel mode, and maintains the automatic travel mode when the work vehicle set to the automatic travel mode satisfies an automatic travel maintenance condition.

[0009] According to the present application, an automatic travel method, an automatic travel program, and an automatic travel system that improve the operability of a user operating a work vehicle that travels automatically can be provided. BRIEF DESCRIPTION OF DRAWINGS

[0010] Figure 1 is a functional block diagram showing the structure of a travel system according to an embodiment of the present application.

[0011] Figure 2 is an appearance view showing the structure of a combine harvester according to an embodiment of the present application.

[0012] Figure 3 is a view showing one example of a target path set in a field according to an embodiment of the present application.

[0013] Figure 4 is a view showing one example of an operation screen displayed on an operation terminal according to an embodiment of the present application.

[0014] Figure 5 is a plan view showing a steering section of a combine harvester according to an embodiment of the present application.

[0015] Figure 6 is a view showing one example of a travel method of a combine harvester according to an embodiment of the present application.

[0016] Figure 7 is a flowchart showing one example of the order of an automatic travel process performed by a travel system according to an embodiment of the present application.

[0017] BRIEF DESCRIPTION OF DRAWINGS

[0018] 1…combine harvester (work vehicle); 3…harvesting section (work machine); 9…steering section; 10…automatic travel system; 11…vehicle control device; 30…operation terminal; 31…operation control section; 91…driver's seat; 92…steering wheel (steering section); 93…main shift lever (operation section); 94…seat detection section; 111…travel processing section; 112…setting processing section; 311…setting processing section; 312…output processing section; D1…operation screen; F…field; R…target path; S…work start position; G…work end position. DETAILED DESCRIPTION

[0019] The following embodiment is an example of embodying the present application, and does not limit the technical scope of the present application.

[0020] In the present embodiment, a combine harvester 1 is described as an example of the work vehicle of the present application. Further, as other embodiments, the work vehicle of the present application can be a tractor, a rice transplanter, a construction machine, or a snowplow, etc. As shown in FIG. 1, the automatic travel system 10 according to the present embodiment includes the combine harvester 1 and an operation terminal 30. The combine harvester 1 and the operation terminal 30 are capable of communicating via a communication network N1. For example, the combine harvester 1 and the operation terminal 30 are capable of communicating via a mobile telephone line network, a packet line network, or a wireless LAN. Figure 1

[0021] The combine harvester 1 is a work vehicle that performs a work such as harvesting in a field (for example, a harvesting work). For example, the combine harvester 1 performs a work of harvesting a crop while traveling in a field, and transmits GNSS information of a GNSS antenna mounted on the combine harvester 1, that is, a self-vehicle position of the combine harvester 1, to the operation terminal 30 as measurement point data.

[0022] In addition, the combine harvester 1 is capable of automatic travel according to a target path set in advance. Further, the combine harvester 1 can be configured to automatically travel in a part of a region of a field (for example, a straight path) and manually travel in another region (for example, a turning path). The combine harvester 1 receives various setting information from the operation terminal 30 and performs automatic travel according to the setting information.

[0023] In addition, the combine harvester 1 performs a discharge work of discharging a grain (harvested product) of a harvested crop to a recovery vehicle at a discharge site set in advance in the field. The recovery vehicle, for example, stands by the discharge site outside the field and recovers the grain discharged from the combine harvester 1 in a recovery portion. The recovery vehicle is a transport vehicle that transports the recovered grain to a prescribed site.

[0024] The operation terminal 30 is a mobile terminal that can remotely operate the combine harvester 1, and is configured by, for example, a tablet terminal, a notebook personal computer, a smartphone, or the like.

[0025] An operator (worker) can perform a setting operation on various setting items in the operation terminal 30. The operation terminal 30 displays information on a work situation, a travel situation, and the like of the combine harvester 1 in automatic travel. In addition, the operation terminal 30 displays information on a discharge situation and the like in a discharge work of a grain. The operator can grasp the work situation, the travel situation, the discharge situation, and the like in the operation terminal 30.

[0026] Figure 3 ​The diagram illustrates an example of a target path R set for a field F. For instance, a combine harvester 1 performs harvesting operations ("circling cut," "reciprocating cut") within field F, traveling from the start position S to the end position G along the target path R from the outer perimeter towards the inner perimeter. Specifically, the combine harvester 1 performs harvesting operations in the outer perimeter area F1 of the outer perimeter of field F, traveling along the field edge (outer perimeter). Additionally, in the inner perimeter area F2 of the inner perimeter of field F, the combine harvester 1... Figure 3 It moves between work paths while harvesting in the vertical direction, and turns and moves straight in the horizontal direction without harvesting.

[0027] Additionally, when the amount of harvested grains stored during the harvesting operation reaches a predetermined amount (e.g., the upper limit) or when the harvesting operation is completed (reaching the end position G), the combine harvester 1 moves to the designated discharge location within the field F and discharges the storage tank 24 (see reference). Figure 2 The grains stored in the container are discharged into the recycling vehicle.

[0028] As described above, the combine harvester 1 automatically travels along the target path R within the field F while performing harvesting and unloading operations. Furthermore, the combine harvester 1 includes a driving mode in which it automatically travels without an operator (unmanned automatic driving mode), a driving mode in which it automatically travels with an operator on board and receives operator input (gear shifting, position shifting, etc.) (manned automatic driving mode), and a driving mode in which it travels based on the operator's manual steering control (manual driving mode), and has a structure capable of switching between these driving modes.

[0029] [Operating Terminal 30]

[0030] like Figure 1 As shown, the operation terminal 30 is an information processing device including an operation control unit 31, a storage unit 32, an operation display unit 33, and a communication unit 34. The operation terminal 30 is, for example, a tablet terminal.

[0031] The communication unit 34 is a communication interface for connecting the operation terminal 30 to the communication network N1 via wired or wireless means, and for performing data communication with one or more external devices such as combine harvesters 1 via the communication network N1 in accordance with a prescribed communication protocol.

[0032] The operation display section 33 is a user interface provided with a display section such as a liquid crystal display or an organic EL display that displays various kinds of information, and an operation section such as a touch panel, a mouse, or a keyboard that accepts operations. An operator can perform an operation of registering various kinds of setting information in a setting screen (not shown) displayed on the display section by operating the operation section. In addition, the operator can perform an automatic travel instruction to the combine harvester 1 by operating the operation section. Furthermore, the operator can grasp a travel state of the combine harvester 1 that automatically travels in the field F by operating a travel trajectory displayed on the operation terminal 30 at a place away from the combine harvester 1. In addition, the operator can grasp a discharge state displayed on the operation terminal 30 at a place away from the combine harvester 1.

[0033] Figure 4 One example of an operation screen D1 displayed on the operation display section 33 is shown in FIG. 12. A map including a field as a work target and a target path R, a work state, a travel state, a camera image, and the like are displayed in the operation screen D1. In addition, a start button K1 that accepts an automatic travel start instruction from the operator is displayed in the operation screen D1. The start button K1 is displayed as selectable if the combine harvester 1 satisfies an automatic travel start condition, and the operation terminal 30 outputs an automatic travel start instruction to the combine harvester 1 if the operator presses the start button K1. Furthermore, a "state" column of the operation screen D1 is highlighted (for example, highlighted in red) if the combine harvester 1 does not satisfy the automatic travel start condition.

[0034] The storage section 32 is a non-volatile storage section such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), a flash memory, or the like that stores various kinds of information. A control program for causing the operation control section 31 to perform a prescribed control process is stored in the storage section 32. For example, the control program is non-temporarily recorded in a flash ROM, an EEPROM, a computer-readable recording medium such as a CD or a DVD, read by a prescribed reading device (not shown) provided in the operation terminal 30, and stored in the storage section 32. Furthermore, the control program can be downloaded from a server (not shown) to the operation terminal 30 via the communication network N1 and stored in the storage section 32. In addition, the storage section 32 can store work information transmitted from the combine harvester 1.

[0035] In addition, a dedicated application program for causing the combine harvester 1 to automatically travel is installed in the storage section 32. The operation control section 31 causes the dedicated application program to be activated, and performs a setting process of various kinds of setting information related to the combine harvester 1, an automatic travel instruction to the combine harvester 1, and the like.

[0036] The operation control unit 31 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory that pre-stores control programs such as BIOS and OS for the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory that stores various information and serves as temporary storage for the various processes executed by the CPU. Therefore, the operation control unit 31 controls the operation terminal 30 by executing various control programs pre-stored in the ROM or memory unit 32 using the CPU.

[0037] like Figure 1 As shown, the operation control unit 31 includes various processing units such as a setting processing unit 311 and an output processing unit 312. Furthermore, the operation control unit 31 functions as these various processing units by executing various processes according to the control program using the CPU. Additionally, some or all of these processing units may be constructed using electronic circuitry. Furthermore, the control program may be a program for enabling multiple processors to function as these processing units.

[0038] The setting processing unit 311 sets various setting information for the combine harvester 1 to drive automatically. Specifically, the setting processing unit 311 sets field information related to the field. This field information includes, for example, the shape, size, and location information (coordinates, etc.) of the outermost perimeter of the field, the measurement point data constituting the outermost perimeter of the field, and the shape, size, and location information (coordinates, etc.) of the work area within the field where operations are carried out. Furthermore, the field information includes the address of the field, the registration name and registration date of the field information, and the registration name and registration date of the work area within the field. The setting processing unit 311 sets the field information by accepting the operator's registration operation for the field information.

[0039] Additionally, the setting processing unit 311 generates a target path R that includes the work path and turning path. For example, the operator selects the path mode, turning type, etc., in the setting screen (not shown). The path modes include "reciprocating cut" with multiple strokes and "circular cut" which repeatedly shifts the stroke along the inner perimeter of the work area in the field towards the center; the operator can select either path mode. Furthermore, the operator can adjust the turning radius when turning during reciprocating cut and circular cut operations in the setting screen.

[0040] Furthermore, the setting processing unit 311 generates a work path based on the aforementioned field information, path pattern, turning type, turning radius, and other information. The setting processing unit 311 establishes a correspondence between the generated work path's path information (target path R) and the field F, and registers it.

[0041] Further, the setting processing portion 311 sets work information related to the work performed by the combine harvester 1. The above work information includes information related to the harvesting work, information of a mid-work performed by the combine harvester 1 at a prescribed position in the middle of the harvesting work, and the like. For example, if the storage amount of the storage tank 24 (see Fig. 1) reaches a prescribed amount in the harvesting work, the combine harvester 1 moves to a discharge site in the field F and discharges the grain stored in the storage tank 24 to a recovery vehicle. Further, for example, if the fuel reaches a prescribed amount (for example, a lower limit value) in the harvesting work, the combine harvester 1 moves to a refueling site in the field F and refuels. The setting processing portion 311 sets the discharge site and the refueling site at an arbitrary position in the field F according to a setting operation by the operator. The above work information includes information of the upper limit value of the above storage amount and the discharge site, the lower limit value of the above fuel and the refueling site, and the like. Further, the setting processing portion 311 can generate a path from the work end position G to the discharge site in a case where the discharge site is set. Figure 2

[0042] Further, the setting processing portion 311 sets the travel speed (vehicle speed) of the combine harvester 1. For example, the operator can set the straight travel speed, the turning travel speed, and the reverse travel speed at the time of work and at the time of non-work in the above setting screen.

[0043] Further, the setting processing portion 311 sets the travel mode of the combine harvester 1. For example, the operator can select an automatic travel mode (unmanned automatic travel mode, manned automatic travel mode) or a manual travel mode in the above setting screen.

[0044] In addition to the above information, the setting processing portion 311 sets well-known information of the kind (the maximum number of rows to be harvested), the vehicle width, the vehicle length, and the like of the combine harvester 1.

[0045] The output processing portion 312 outputs various setting information set by the setting processing portion 311 to the combine harvester 1. Further, the output processing portion 312 outputs a work start instruction (automatic travel start instruction) and a work end instruction (automatic travel end instruction) to the combine harvester 1 based on an operation by the operator.

[0046] If the automatic travel start operation (selecting operation of the start button Kl) is accepted from the operator in the operation screen Dl, the output processing portion 312 outputs the above automatic travel start instruction to the combine harvester 1. Further, in a case where the automatic travel condition is satisfied in the combine harvester 1, the operation control portion 31 allows the automatic travel start operation to be accepted from the operator. In a case where the automatic travel condition is not satisfied in the combine harvester 1, the operation control portion 31 prohibits the automatic travel start operation to be accepted from the operator.

[0047] ​The vehicle control device 11 of the combine harvester 1 starts the work and the automatic travel of the combine harvester 1 if the automatic travel start instruction is acquired from the operation terminal 30. In addition, the output processing section 312 outputs the automatic travel stop instruction to the combine harvester 1 if the automatic travel stop operation (selection operation of the emergency stop button of the operation screen D1 or the like) is accepted from the operator. The vehicle control device 11 of the combine harvester 1 stops the work and the automatic travel of the combine harvester 1 if the automatic travel stop instruction is acquired from the operation terminal 30.

[0048] Further, the operation terminal 30 can also be able to access a website (agricultural support website) of an agricultural support service provided by a server (not shown) via the communication network N1. In this case, the operation terminal 30 can function as an operation terminal of the above-described server by executing a browser program by the operation control section 31. Then, the above-described server is provided with the above-described respective processing sections and executes the respective processes.

[0049] [Combine Harvester 1]

[0050] Figure 2 An appearance view of the combine harvester 1 as viewed from the side is shown in FIG. 1. As shown in FIG. 1, the combine harvester 1 is provided with a travel section 14, a harvesting section 3, a threshing section 4, a separating section 5, a storage section 16, a straw processing section 6, a power section 8, a manipulation section 9, a vehicle control device 11, a storage section 12, a positioning unit 13, a communication section 17, a seat detection section 94, and the like. The combine harvester 1 travels by the travel section 14, threshes the grain stalks harvested by the harvesting section 3 by the threshing section 4, and separates the grain from the threshed grain stalks by the separating section 5 and stores the grain in the storage section 16. The combine harvester 1 processes the straw after the threshing by the straw processing section 6. The combine harvester 1 is driven by the power supplied from the power section 8, and drives the travel section 14, the harvesting section 3, the threshing section 4, the separating section 5, the storage section 16, and the straw processing section 6. Figure 1 Figure 2 As shown in FIG. 1, the combine harvester 1 is provided with a travel section 14, a harvesting section 3, a threshing section 4, a separating section 5, a storage section 16, a straw processing section 6, a power section 8, a manipulation section 9, a vehicle control device 11, a storage section 12, a positioning unit 13, a communication section 17, a seat detection section 94, and the like. The combine harvester 1 travels by the travel section 14, threshes the grain stalks harvested by the harvesting section 3 by the threshing section 4, and separates the grain from the threshed grain stalks by the separating section 5 and stores the grain in the storage section 16. The combine harvester 1 processes the straw after the threshing by the straw processing section 6. The combine harvester 1 is driven by the power supplied from the power section 8, and drives the travel section 14, the harvesting section 3, the threshing section 4, the separating section 5, the storage section 16, and the straw processing section 6.

[0051] The travel section 14 is provided below the machine frame 29 and is provided with a pair of left and right crawler belts and a transmission device (not shown). The travel section 14 rotates the crawler belts of the crawler belts by the power (for example, rotational power) transmitted from the engine 27 of the power section 8, and thereby causes the combine harvester 1 to travel in the front-rear direction and turn in the left-right direction. The transmission device transmits the power (rotational power) of the power section 8 to the crawler belts and is also capable of speed-shifting the rotational power.

[0052] ​The harvesting section 3 is provided in front of the traveling section 14 and performs harvesting work on rows within the harvestable row number. The harvesting section 3 is provided with a divider 28, a standing device 20, a cutting device 23, and a conveying device 7. The harvesting section 3 is configured to be movable (vertically) between a work position (work height) and a non-work position (non-work height). The harvesting section 3 is one example of the work machine of the present application.

[0053] The divider 28 divides the stalks of the field row by row and guides the stalks of a predetermined number of rows within the harvestable row number toward the standing device 20. The standing device 20 stands the stalks guided by the divider 28. The cutting device 23 cuts the stalks stood by the standing device 20. The conveying device 7 conveys the stalks cut by the cutting device 23 toward the threshing section 4.

[0054] The threshing section 4 is provided behind the harvesting section 3. The threshing section 4 is provided with a feeding chain 18 and a threshing cylinder 19. The feeding chain 18 conveys the stalks conveyed from the conveying device 7 of the harvesting section 3 to perform threshing and conveys the threshed stalks, i.e., the straw, toward the straw processing section 6. The threshing cylinder 19 threshes the stalks conveyed by the feeding chain 18.

[0055] The screening section 5 is provided below the threshing section 4. The screening section 5 is provided with a swinging screening device 21, an air-blowing screening device 22, a grain conveying device (not shown), and a chaff discharge device (not shown). The swinging screening device 21 screens and separates the threshed material falling from the threshing section 4 into grains and chaff, etc. The air-blowing screening device 22 further screens the threshed material screened by the swinging screening device 21 into grains and chaff, etc. by air blowing. The grain conveying device conveys the grains screened by the swinging screening device 21 and the air-blowing screening device 22 toward the storage section 16. The chaff discharge device discharges the chaff, etc. screened by the swinging screening device 21 and the air-blowing screening device 22 to the outside of the machine.

[0056] The storage section 16 is provided to the right side of the threshing section 4. The storage section 16 is provided with a storage tank (grain bin) 24 and a discharge device 25. The storage tank 24 stores the grains conveyed from the screening section 5.

[0057] The discharge device 25 performs discharge work of the harvested product, i.e., the grains. Specifically, the discharge device 25 discharges the grains stored in the storage tank 24 to a recovery vehicle at a predetermined discharge site.

[0058] The straw processing section 6 is provided behind the threshing section 4. The straw processing section 6 is provided with a straw conveying device (not shown) and a straw cutting device (not shown). The straw conveying device conveys the straw conveyed from the feeding chain 18 of the threshing section 4 toward the straw cutting device. The straw cutting device cuts the straw conveyed by the straw conveying device and discharges it to the outside of the machine. The straw processing section 6 discharges the straw of the harvested stalks of the harvesting object to the position of the stalks.

[0059] The power unit 8 is located above the travel unit 14 and in front of the storage unit 16. The power unit 8 includes an engine 27 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 27 to the travel unit 14, the harvesting unit 3, the threshing unit 4, the screening unit 5, the storage unit 16, and the straw processing unit 6.

[0060] The control unit 9 is located above the power unit 8. For example... Figure 5 As shown, the control unit 9, around the operator's seat 91 (i.e., the driver's seat), includes a steering wheel 92 for instructing the turning of the combine harvester 1, a main gear lever 93 for instructing speed changes in forward and reverse movement of the combine harvester 1, and a secondary gear lever, serving as operating components for controlling the movement of the combine harvester 1. Manual movement of the combine harvester 1 is performed by the travel unit 14, which receives input from the steering wheel 92, main gear lever 93, and secondary gear lever of the control unit 9. Furthermore, the control unit 9 includes mechanisms for operating harvesting operations based on the harvesting unit 3, threshing operations based on the threshing unit 4, and discharge operations based on the discharge device 25 of the storage unit 16.

[0061] The main gear lever 93 can be used to start, stop, switch the direction of travel (forward or backward), and switch the speed (acceleration or deceleration) of the combine harvester 1 by changing its position (gear). For example... Figure 5 As shown, the main gear lever 93 can move between the forward position "F" and the rear position "R". Moving the main gear lever 93 to the forward position "F" allows the combine harvester 1 to move forward, and moving it to the rear position "R" allows the combine harvester 1 to move backward. Furthermore, moving the main gear lever 93 to the forward position "F" increases the forward speed, and moving it to the rear position "R" increases the reverse speed. When the main gear lever 93 is in the forward position "F" (front end position), the forward speed is the maximum speed; when the main gear lever 93 is in the rear position "R" (rear end position), the reverse speed is the maximum speed. In addition, the vehicle speed can be reduced by moving the main gear lever 93 close to the middle position "N" (neutral). If the main gear lever 93 is set to the middle position "N", the vehicle speed becomes zero and the combine harvester 1 stops (stops).

[0062] The positioning unit 13 uses a satellite positioning system such as GPS to obtain the position of the combine harvester 1. For example, the positioning unit 13 receives positioning signals from positioning satellites via a positioning antenna, and obtains the position information of the positioning unit 13, i.e., the position of the combine harvester 1 (measurement point data), based on the positioning signals. The positioning unit 13 can also be constructed using a quantum compass to replace the positioning antenna.

[0063] Communication Department 17 (refer to Figure 1) is a communication interface for connecting the combine harvester 1 to a communication network N1 by wire or wirelessly, and performing data communication in compliance with a prescribed communication protocol between the communication network N1 and an external device such as the operation terminal 30.

[0064] The seat detection portion 94 is constituted by a switch, a sensor, or the like, for example, and detects that the operator is seated on the driver's seat 91 and has left the driver's seat 91. The seat detection portion 94 outputs an on signal to the vehicle control device 11 when the operator has been seated on the driver's seat 91, and outputs an off signal to the vehicle control device 11 when the operator has left the driver's seat 91.

[0065] The storage portion 12 is a non-volatile storage portion such as an HDD, an SSD, or a flash memory, which stores various information. The storage portion 12 stores a control program such as an automatic travel program for causing the vehicle control device 11 to perform an automatic travel process (see Figure 7 ) described later. For example, the above-described automatic travel program is recorded non-temporally in a flash ROM, an EEPROM, a computer-readable recording medium such as a CD or a DVD, is read by a prescribed reading device (not shown), and is stored in the storage portion 12. Further, the above-described automatic travel program can also be downloaded from a server (not shown) to the combine harvester 1 via the communication network N1 and stored in the storage portion 12. In addition, the storage portion 12 stores various setting information acquired from the operation terminal 30. The automatic travel program of the present application is included in the above-described automatic travel program.

[0066] The vehicle control device 11 has a CPU, a ROM, and a RAM, or the like, as a control device. The above-described CPU is a processor that performs various arithmetic processes. The above-described ROM is a non-volatile storage portion that stores a BIOS and an OS, or the like, which are control programs for causing the above-described CPU to perform various arithmetic processes, in advance. The above-described RAM is a volatile or non-volatile storage portion that stores various information, and is used as a temporary storage memory for various processes performed by the above-described CPU. Thus, the vehicle control device 11 controls the combine harvester 1 by causing the above-described CPU to execute various control programs stored in advance in the above-described ROM or the storage portion 12.

[0067] However, in the related art, for example, if the automatic travel of the combine harvester 1 is canceled when the combine harvester 1 is automatically traveling in the automatic travel mode, the automatic travel mode is switched to the manual travel mode, and when the automatic travel is to be resumed, the operator needs to perform a prescribed operation. In a case where the operator has unintentionally canceled the automatic travel, the operator has to perform an operation for resuming the automatic travel, and the operability is poor. For example, if the operator who is riding on the combine harvester 1 stops the combine harvester 1 that is automatically traveling and gets off the combine harvester 1, the automatic travel mode is canceled, and when the automatic travel is to be resumed, the operator needs to perform a prescribed operation for satisfying a start condition of the automatic travel.

[0068] For example, Figure 6 As shown, when the combine harvester 1 has finished harvesting along the work path R1, the operator sometimes, at the end of work path R1, sets the main gear lever 93 to the neutral position "N" (neutral) to stop the combine harvester 1 and leaves the driver's seat 91 in order to remove straw, weeds, and other residues. In this case, if a predetermined time has elapsed since the operator left the driver's seat 91, the combine harvester 1 will deactivate its automatic driving mode and switch to manual driving mode. If the driving mode is switched to manual driving mode, the automatic driving start condition must be met before the combine harvester 1 can resume automatic driving. Here, if automatic driving from a turning path is not permitted, Figure 6 In the example shown, the operator is unable to start the combine harvester 1’s automatic driving and has to manually steer to move to the next work path R2, which is difficult to operate.

[0069] As shown below, the combine harvester 1 according to this embodiment has a structure that can improve the operability of the user operation of the automatically driving combine harvester 1.

[0070] Specifically, such as Figure 1 As shown, the vehicle control device 11 includes various processing units such as a driving processing unit 111 and a setting processing unit 112. Furthermore, the vehicle control device 11 functions as these various processing units by executing various processes according to the aforementioned automatic driving program using the CPU. Additionally, some or all of these processing units may be constructed using electronic circuitry. Furthermore, the aforementioned automatic driving program may be a program that enables multiple processors to function as these processing units.

[0071] The travel processing unit 111 performs travel processing to move the combine harvester 1. Specifically, the travel processing unit 111 causes the combine harvester 1 to travel automatically according to the target path R set for the field F. The travel processing unit 111 causes the combine harvester 1 to travel automatically according to multiple work paths (harvesting operations) included in the target path R, and movement paths (turning paths, etc.) connecting the multiple work paths. The travel processing unit 111 obtains various setting information for the field F from the operation terminal 30. In addition, during the harvesting operation, the travel processing unit 111 obtains the vehicle position of the combine harvester 1 from the positioning unit 13, and controls the travel unit 14, the harvesting unit 3, and the power unit 8 in a manner that allows the combine harvester 1 to travel automatically along the work paths and perform harvesting operations based on the vehicle position and the work paths included in the target path R.

[0072] For example, Figure 3As shown, the travel processing section 111 causes the combine harvester 1 to perform automatic travel and harvesting operation along the outer periphery in the outer periphery region Fl from the work start position S, and then perform automatic travel and harvesting operation in the inner periphery region F2 to the work end position G.

[0073] In addition, if the storage amount of the storage tank 24 reaches a prescribed amount during the harvesting operation, the travel processing section 111 causes the harvesting section 3 to be raised to the non-work position and stop the harvesting operation, and causes the combine harvester 1 to travel along the discharge movement path from the current position (work interruption position) to the discharge site. In addition, if the harvesting operation ends (the work end position G is reached), the travel processing section 111 causes the harvesting section 3 to be raised to the non-work position and stop the harvesting operation, and causes the combine harvester 1 to travel along the discharge movement path from the work end position G to the discharge site.

[0074] The setting processing section 112 performs setting and switching of the travel mode. Specifically, the setting processing section 112 sets the travel mode (automatic travel mode or manual travel mode) selected by the operator in the operation terminal 30 if selection information of the selected travel mode is acquired, to the selected travel mode. In the case where the setting processing section 112 sets the automatic travel mode, the travel processing section 111 allows automatic travel if the automatic travel start condition is satisfied by the combine harvester 1. For example, the travel processing section 111 allows automatic travel if the position of the combine harvester 1 is within a prescribed distance from the work start position S, and the orientation of the combine harvester 1 is within a prescribed angle from the orientation of the work path. In addition, in detail, the travel processing section 111 allows automatic travel if the state of the brake, the shift lever, the steering, and the like, in addition to the position and the orientation of the combine harvester 1, respectively satisfy the automatic travel start condition.

[0075] The travel processing section 111 continues automatic travel if the automatic travel of the combine harvester 1 is started, until the automatic travel stop condition is satisfied. On the other hand, the travel processing section 111 stops automatic travel if the automatic travel of the combine harvester 1 is started, and the automatic travel stop condition is satisfied. For example, the travel processing section 111 determines that the automatic travel stop condition is satisfied, and stops the automatic travel and parks the combine harvester 1, in the case where the operator operates the operation section (each operation lever (main shift lever 93, and the like), operation switch, operation button, and the like) for temporary stop, in the case where the positioning accuracy of the combine harvester 1 becomes insufficient to a prescribed accuracy, in the case where the combine harvester 1 detects an obstacle, in the case where the operator receives an operation of setting the harvesting section 3 to the non-work position, in the case where the operator leaves the driver's seat 91, in the case where the operator performs a steering manipulation operation, in the case where a communication abnormality occurs with the operation terminal 30, in the case where the operator performs an emergency stop operation in the operation terminal 30, and in the case where an abnormality (failure of the machine itself) of the combine harvester 1 occurs.

[0076] Here, in the related art, as described above, if the combine harvester 1 is stopped and the automatic travel mode is released, in order to restore the automatic travel, an operation such as manual steering manipulation is required. In contrast, in the present embodiment, the setting processing portion 112 has a structure that maintains the automatic travel mode in a case where the combine harvester 1 that has been set to the automatic travel mode satisfies the automatic travel maintenance condition. In addition, the setting processing portion 112 has a structure that switches to the manual travel mode in a case where the combine harvester 1 that has been set to the automatic travel mode does not satisfy the automatic travel maintenance condition. Hereinafter, specific examples of maintaining the automatic travel mode (first embodiment to seventh embodiment) will be described. Furthermore, the first embodiment to the seventh embodiment below are not limited to the combine harvester 1, and can be applied to other work vehicles such as tractors, rice transplanter, and the like.

[0077] <First Embodiment>

[0078] In the automatic travel system 10 related to the first embodiment, in a case where the automatic travel of the combine harvester 1 is stopped due to the operation of the operation portion that temporarily stops the automatic travel, the setting processing portion 112 maintains the automatic travel mode. That is, "the automatic travel is stopped due to the operation of the operation portion that temporarily stops the automatic travel" is one example of the automatic travel maintenance condition of the present application.

[0079] Specifically, in a case where the automatic travel is stopped due to the main shift lever 93 being set to the neutral position "N" (refer to FIG. 2), the setting processing portion 112 maintains the automatic travel mode. Figure 5

[0080] ​For example, when the combine harvester 1 is automatically traveling in the automatic travel mode, the travel processing section 111 stops the combine harvester 1 in the case where the operator sets the main shift lever 93 to the neutral position "N". In the case where the main shift lever 93 is set to the neutral position "N" and the combine harvester 1 becomes a stopped state, the setting processing section 112 determines that the automatic travel maintenance condition is satisfied, and maintains the automatic travel mode. Therefore, for example, even in the case where the operator gets off the combine harvester 1 after the combine harvester 1 is stopped (or in the case where a predetermined time elapses after the operator leaves the driver's seat 91), the setting processing section 112 maintains the automatic travel mode without releasing the automatic travel mode due to the operator leaving the driver's seat 91. Further, the setting processing section 112 can release the automatic travel mode and switch to the manual travel mode in the case where a predetermined condition is satisfied during the period in which the operator leaves the driver's seat 91. In addition, the setting processing section 112 can release the automatic travel mode and switch to the manual travel mode immediately if the predetermined condition is satisfied, or can maintain the automatic travel mode until the operator sits on the driver's seat 91, and release the automatic travel mode and switch to the manual travel mode in the case where it is detected that the operator has sat on the driver's seat 91. In addition, the release main cause (the predetermined condition described above) of the automatic travel mode can be displayed. For example, in the case where the automatic travel mode is switched to the manual travel mode immediately, the display of the release main cause described above can be maintained until the operator sits on the driver's seat 91.

[0081] According to the above-described structure, even in the state where the automatic travel is stopped, the travel mode is maintained as the automatic travel mode, so for example, even if the position at which the automatic travel is started (resumed) is a position at which the start of the automatic travel is restricted (the turning path shown in FIG. 6), the automatic travel can be resumed by the automatic travel start operation of the operator (the selection operation of the start button K1 of the display section 31). Figure 6 The start of the automatic travel can be resumed by the automatic travel start operation of the operator (the selection operation of the start button K1 of the display section 31). Figure 4 The start of the automatic travel can be resumed by the automatic travel start operation of the operator (the selection operation of the start button K1 of the display section 31).

[0082] The operation section that temporarily stops the automatic travel is not limited to the main shift lever 93. As other embodiments, the operation section described above can be an operation lever, an operation switch mounted on the combine harvester 1, or an operation button provided (displayed) on the operation terminal 30. The setting processing section 112 can maintain the automatic travel mode in the case where the combine harvester 1 becomes a stopped state due to the temporary stop operation on the operation section described above.

[0083] Thus, when the combine harvester 1 that is automatically traveling in the automatic travel mode satisfies the automatic travel stop condition, the vehicle control device 11 stops the automatic travel, and when the combine harvester 1 satisfies the automatic travel maintenance condition, the vehicle control device 11 allows the resume of the automatic travel.

[0084] <Second Embodiment>

[0085] In the automatic travel system 10 according to the second embodiment, the setting processing portion 112 maintains the automatic travel mode in a case where the automatic travel of the combine harvester 1 is stopped due to the positioning accuracy becoming insufficient to the prescribed accuracy. That is, "the automatic travel is stopped due to the positioning accuracy becoming insufficient to the prescribed accuracy" is one example of the automatic travel maintenance condition of the present application.

[0086] Specifically, in a case where the automatic travel is stopped due to the positioning accuracy of the combine harvester 1 becoming insufficient to the prescribed accuracy, the setting processing portion 112 maintains the automatic travel mode.

[0087] For example, in the combine harvester 1 that automatically travels in the automatic travel mode, when the positioning accuracy is lowered to be insufficient to the prescribed accuracy, the travel processing portion 111 stops the combine harvester 1. In a case where the combine harvester 1 becomes a stopped state due to the lowering of the positioning accuracy, the setting processing portion 112 determines that the automatic travel maintenance condition is satisfied, and maintains the automatic travel mode. Thus, as in the first embodiment, even if the position at which the automatic travel is started (resumed) is a position at which the start of the automatic travel is restricted (the turning path shown in FIG. 6), the automatic travel can be resumed by the automatic travel start operation of the operator. Figure 6 The setting processing portion 112 can report a warning to the operator in a case where the positioning accuracy is not recovered to be equal to or higher than the prescribed accuracy at the time of the resumption of the automatic travel.

[0088] Further, in a case where the positioning accuracy becomes insufficient to the prescribed accuracy during the stop of the combine harvester 1 in the automatic travel mode, the vehicle control device 11 can also report a warning to the operator.

[0089] As another embodiment, the setting processing portion 112 can be configured to maintain the automatic travel mode in a case where the positioning accuracy becomes insufficient to the prescribed accuracy during the stop of the combine harvester 1 in the automatic travel mode, and to switch to the manual travel mode in a case where the positioning accuracy becomes insufficient to the prescribed accuracy during the automatic travel of the combine harvester 1 in the automatic travel mode. That is, "the automatic travel is stopped due to the operation of the operation portion that temporarily stops the automatic travel" in the second embodiment is one example of the automatic travel maintenance condition of the present application.

[0090] <Third Embodiment>

[0091] In the automatic travel system 10 according to the third embodiment, the setting processing portion 112 maintains the automatic travel mode in a case where the automatic travel of the combine harvester 1 is stopped due to the detection of an obstacle. That is, "the automatic travel is stopped due to the detection of an obstacle" is one example of the automatic travel maintenance condition of the present application.

[0092] For example, when the combine harvester 1 detects an obstacle while automatically traveling in the automatic travel mode, the travel processing section 111 stops the combine harvester 1. In the case where the combine harvester 1 becomes a stopped state due to detection of an obstacle, the setting processing section 112 maintains the automatic travel mode. Thus, as with the first embodiment, even if the position at which automatic travel is started (resumed) is a position at which the start of automatic travel is restricted (the turning path shown in FIG. 10), automatic travel can be resumed by the automatic travel start operation of the operator. Figure 6

[0093] Further, the setting processing section 112 can also decide whether to maintain the automatic travel mode or switch to the manual travel mode depending on the kind of obstacle. For example, in the case where the combine harvester 1 stops automatic travel upon detection of a movable object (material or the like), the setting processing section 112 maintains the travel mode as the automatic travel mode. In contrast, in the case where the combine harvester 1 stops automatic travel upon detection of a person or an immovable object (structure or the like), the setting processing section 112 switches the travel mode to the manual travel mode.

[0094] <Fourth Embodiment>

[0095] In the automatic travel system 10 according to the fourth embodiment, when the combine harvester 1 accepts an operation to set the harvesting section 3 (work machine) to the non-work position during automatic travel in the automatic travel mode, the setting processing section 112 performs switching to the manual travel mode, and when the combine harvester 1 accepts an operation to set the harvesting section 3 to the non-work position during stoppage in the automatic travel mode, the setting processing section 112 maintains the automatic travel mode. That is, "acceptance of an operation to set the harvesting section 3 to the non-work position during stoppage in the automatic travel mode" is an example of the automatic travel maintenance condition of the present application.

[0096] For example, when the operator performs an operation to set the harvesting section 3 to the non-work position during automatic travel in the automatic travel mode and harvesting work in the combine harvester 1, the travel processing section 111 stops the combine harvester 1, and the setting processing section 112 switches the automatic travel mode to the manual travel mode.

[0097] In contrast, when the operator performs an operation to set the harvesting section 3 to the non-work position during stoppage in the automatic travel mode in the combine harvester 1, the setting processing section 112 maintains the automatic travel mode. Thus, for example, in the example shown in FIG. 10, in the case where the operator raises the harvesting section 3 to the non-work position after the combine harvester 1 ends harvesting work on the work path Rl and stops at the terminal, the automatic travel mode is maintained, so the operator can automatically travel on the turning path from the terminal of the work path Rl. Figure 6 Thus, the automatic travel system 10 according to the fourth embodiment can maintain the automatic travel mode in the case where the operator performs an operation to set the harvesting section 3 to the non-work position during stoppage in the automatic travel mode in the combine harvester 1. Thus, the operator can automatically travel on the turning path from the terminal of the work path Rl.​

[0098] < Fifth Embodiment >

[0099] In the automatic travel system 10 according to the fifth embodiment, the setting processing portion 112 switches to the manual travel mode when the operator leaves the driver's seat 91 during automatic travel of the combine harvester 1 in the automatic travel mode, and maintains the automatic travel mode when the operator leaves the driver's seat 91 during parking of the combine harvester 1 in the automatic travel mode. That is, "the operator leaves the driver's seat 91 during parking in the automatic travel mode" is an example of the automatic travel maintenance condition of the present application.

[0100] For example, the setting processing portion 112 reports a warning sound when the operator leaves the driver's seat 91 during automatic travel of the combine harvester 1, and parks the combine harvester 1 and switches to the manual travel mode at a time when a prescribed time (for example, 5 seconds) elapses.

[0101] On the contrary, when the operator leaves the driver's seat 91 during parking of the combine harvester 1 in the automatic travel mode, the setting processing portion 112 maintains the automatic travel mode even when a prescribed time elapses from the leaving.

[0102] Thus, the travel mode is maintained in the automatic travel mode, so as in the first embodiment, even if the position at which the automatic travel is started (resumed) is the turning path shown in FIG. 6, the automatic travel can be resumed by the operator seating himself / herself in the driver's seat 91 and performing the automatic travel start operation. Figure 6

[0103] < Sixth Embodiment >

[0104] In the automatic travel system 10 according to the sixth embodiment, the setting processing portion 112 switches to the manual travel mode when the combine harvester 1 receives a steering manipulation operation to the steering manipulation portion during automatic travel in the automatic travel mode, and maintains the automatic travel mode when the combine harvester 1 receives a steering manipulation operation to the steering manipulation portion during parking in the automatic travel mode. That is, "reception of a steering manipulation operation to the steering manipulation portion during parking in the automatic travel mode" is an example of the automatic travel maintenance condition of the present application.

[0105] ​For example, when the combine harvester 1 is in automatic travel in the automatic travel mode and the harvesting operation, and the operator performs the operation of the steering wheel 92 (steering manipulation operation), the travel processing section 111 stops the combine harvester 1, and the setting processing section 112 switches the automatic travel mode to the manual travel mode. As another embodiment, when the operator performs the operation of the steering wheel 92, the setting processing section 112 can also switch the automatic travel mode to the manual travel mode in a state in which the combine harvester 1 is traveling.

[0106] On the contrary, when the operator performs the above-mentioned steering manipulation operation during the stop of the combine harvester 1 in the automatic travel mode, the setting processing section 112 maintains the automatic travel mode. Thereby, the travel mode is maintained as the automatic travel mode, so as with the first embodiment, even if the position at which the automatic travel is started (resumed) is the turning path shown in FIG. 10, the automatic travel can be resumed by performing the automatic travel start operation. Figure 6

[0107] <Seventh Embodiment>

[0108] In the automatic travel system 10 according to the seventh embodiment, when the combine harvester 1 is in automatic travel in the automatic travel mode, and the communication state between the combine harvester 1 and the operation terminal 30 falls to a prescribed state, the setting processing section 112 performs the switching to the manual travel mode, and when the combine harvester 1 is in the stop in the automatic travel mode, and the communication state between the combine harvester 1 and the operation terminal 30 falls to the prescribed state, the setting processing section 112 maintains the automatic travel mode. That is, "the communication state between the combine harvester 1 and the operation terminal 30 falls to the prescribed state during the stop in the automatic travel mode" is an example of the automatic travel maintenance condition according to the present application.

[0109] For example, when the combine harvester 1 is in automatic travel in the automatic travel mode and the harvesting operation, and a communication abnormality (for example, communication disconnection) occurs between the combine harvester 1 and the operation terminal 30, the travel processing section 111 stops the combine harvester 1, and the setting processing section 112 switches the automatic travel mode to the manual travel mode.

[0110] On the contrary, when the operator performs the above-mentioned steering manipulation operation during the stop of the combine harvester 1 in the automatic travel mode, the setting processing section 112 maintains the automatic travel mode. Thereby, the travel mode is maintained as the automatic travel mode, so as with the first embodiment, even if the position at which the automatic travel is started (resumed) is the turning path shown in FIG. 10, the automatic travel can be resumed by performing the automatic travel start operation. Figure 6 ​The turning path shown can also be resumed to automatic travel by performing an automatic travel start operation. Further, in the case where the communication between the combine harvester 1 and the operation terminal 30 is not restored to the normal state at the time of starting (resuming) automatic travel, a warning message can also be reported to the operator.

[0111] As above, the vehicle control device 11 has a structure that maintains the automatic travel mode in the case where the combine harvester 1 that has been set to the automatic travel mode satisfies the automatic travel maintenance condition (first to seventh embodiments). In addition, the setting processing section 112 has a structure that switches to the manual travel mode in the case where the combine harvester 1 that has been set to the automatic travel mode does not satisfy the automatic travel maintenance condition. In addition, the vehicle control device 11 has a structure that, in the automatic travel mode, stops the automatic travel in the case where the combine harvester 1 in automatic travel satisfies the automatic travel stop condition, and allows the resumption of the automatic travel in the case where the combine harvester 1 satisfies the automatic travel maintenance condition. In addition, the vehicle control device 11 has a structure that, in the case where the combine harvester 1 that has stopped the automatic travel satisfies the automatic travel maintenance condition, allows the resumption of the automatic travel in the case where the positioning accuracy of the combine harvester 1 is the prescribed accuracy or more, and reports a warning message to the operator in the case where the positioning accuracy of the combine harvester 1 is less than the prescribed accuracy.

[0112] [Automatic travel processing]

[0113] Hereinafter, one example of the above-described automatic travel processing performed by the automatic travel system 10 will be described with reference to the flowchart shown in FIG. 1. Figure 7

[0114] Further, the present application can be understood as an automatic travel method that performs one or more steps included in the above-described automatic travel processing. In addition, one or more steps included in the above-described automatic travel processing described herein can also be appropriately omitted. In addition, for each step in the above-described automatic travel processing, the order of execution can also be different within the range where the same effect is produced. Also, the case where the vehicle control device 11 of the combine harvester 1 performs each step in the above-described automatic travel processing is described herein as an example, but as other embodiments, an automatic travel method in which one or more processors perform each step in the automatic travel processing can also be considered.

[0115] Here, it is assumed that the travel mode of the combine harvester 1 is set in advance to the automatic travel mode.

[0116] <Step S1>

[0117] ​In step S1, the vehicle control device 11 determines whether or not the automatic travel start instruction has been acquired. The vehicle control device 11 moves the process to step S2 if the automatic travel start instruction is acquired from the operation terminal 30 (S1: YES). For example, if the combine harvester 1 satisfies the automatic travel start condition and the operator presses the start button K1 in the operation terminal 30 (refer to FIG. 2), the vehicle control device 11 acquires the automatic travel start instruction from the operation terminal 30. The vehicle control device 11 stands by until the combine harvester 1 satisfies the automatic travel start condition and the automatic travel start instruction is acquired from the operation terminal 30 (S1: NO). Figure 4

[0118] <Step S2>

[0119] In step S2, the vehicle control device 11 starts the automatic travel process. Specifically, the vehicle control device 11 causes the combine harvester 1 to start automatic travel according to the target path R corresponding to the path data acquired from the operation terminal 30. For example, as shown in FIG. 3, the vehicle control device 11 causes the combine harvester 1 to start automatic travel according to the target path R from the work start position S toward the work end position G. If the combine harvester 1 starts automatic travel, the combine harvester 1 starts the harvesting work on the work path. Figure 3

[0120] <Step S3>

[0121] In step S3, the vehicle control device 11 determines whether or not the automatic travel stop condition is satisfied. For example, in the automatic travel of the combine harvester 1, in a case where the operator sets the main shift lever 93 to the neutral position "N", in a case where the operator operates the temporary stop operation section (operation lever, operation switch, operation button, etc.), in a case where the positioning accuracy of the combine harvester 1 becomes insufficient to the prescribed accuracy, in a case where the combine harvester 1 detects an obstacle, in a case where the operation terminal 30 receives an operation to set the harvesting section 3 to the non-work position from the operator, in a case where the operator leaves the driver's seat 91, in a case where the operator performs the steering operation, in a case where a communication abnormality occurs between the operation terminal 30, in a case where the operator performs the emergency stop operation in the operation terminal 30, or in a case where an abnormality (failure of the machine itself) of the combine harvester 1 occurs, the vehicle control device 11 determines that the automatic travel stop condition is satisfied. The vehicle control device 11 moves the process to step S4 if it is determined that the automatic travel stop condition is satisfied (S3: YES). On the other hand, the vehicle control device 11 moves the process to step S10 if it is determined that the automatic travel stop condition is not satisfied (S3: NO).

[0122] <Step S4>

[0123] ​​In step S4, the vehicle control device 11 stops the automatic travel of the combine harvester 1, and stops the combine harvester 1. Further, the vehicle control device 11 stops the automatic travel of the combine harvester 1, and gradually decelerates and stops the combine harvester 1 from the current vehicle speed.

[0124] <Step S5>

[0125] In step S5, the vehicle control device 11 determines whether or not the automatic travel maintenance condition is satisfied. For example, the vehicle control device 11 determines that the automatic travel maintenance condition is satisfied in a case where the automatic travel is stopped due to the operator setting the main shift lever 93 to the neutral position "N" (corresponding to the above-described "first embodiment"). In addition, the vehicle control device 11 determines that the automatic travel maintenance condition is satisfied in a case where the automatic travel is stopped due to the operator performing a temporary stop operation by the operation lever, the operation switch mounted on the combine harvester 1, or the operation button provided (displayed) on the operation terminal 30 (corresponding to the above-described "first embodiment"). In addition, the vehicle control device 11 determines that the automatic travel maintenance condition is satisfied in a case where the automatic travel is stopped due to the positioning accuracy of the combine harvester 1 becoming insufficient to the prescribed accuracy (corresponding to the above-described "second embodiment"). In addition, the vehicle control device 11 determines that the automatic travel maintenance condition is satisfied in a case where the automatic travel is stopped due to the combine harvester 1 detecting an obstacle (corresponding to the above-described "third embodiment").

[0126] In addition, the vehicle control device 11 determines that the automatic travel maintenance condition is satisfied in a case where the automatic travel of the combine harvester 1 is stopped and the operator sets the harvesting portion 3 to the non-work position during the stop (corresponding to the above-described "fourth embodiment"). In addition, the vehicle control device 11 determines that the automatic travel maintenance condition is satisfied in a case where the automatic travel of the combine harvester 1 is stopped and the operator leaves the driver's seat 91 during the stop (corresponding to the above-described "fifth embodiment"). In addition, the vehicle control device 11 determines that the automatic travel maintenance condition is satisfied in a case where the automatic travel of the combine harvester 1 is stopped and the operator receives a steering manipulation operation on the steering manipulation portion (steering wheel 92) during the stop (corresponding to the above-described "sixth embodiment"). In addition, the vehicle control device 11 determines that the automatic travel maintenance condition is satisfied in a case where the automatic travel of the combine harvester 1 is stopped and a communication abnormality occurs between the combine harvester 1 and the operation terminal 30 during the stop (corresponding to the above-described "seventh embodiment").

[0127] On the contrary, the vehicle control device 11 determines that the automatic travel stop condition is not satisfied (corresponding to the above-described "fourth embodiment") when the operator accepts an operation to set the harvesting portion 3 to the non-working position in the automatic travel of the combine harvester 1, for example. Also, the vehicle control device 11 determines that the automatic travel stop condition is not satisfied (corresponding to the above-described "fifth embodiment") when the operator leaves the driver's seat 91 in the automatic travel of the combine harvester 1. Also, the vehicle control device 11 determines that the automatic travel stop condition is not satisfied (corresponding to the above-described "sixth embodiment") when the operator performs a steering manipulation operation in the automatic travel of the combine harvester 1. Also, the vehicle control device 11 determines that the automatic travel stop condition is not satisfied (corresponding to the above-described "seventh embodiment") when a communication abnormality occurs between the operation terminal 30 and the vehicle control device 11 in the automatic travel of the combine harvester 1. Also, the vehicle control device 11 determines that the automatic travel stop condition is not satisfied when the operator performs an emergency stop operation in the operation terminal 30 or an abnormality (a failure of the machine itself) of the combine harvester 1 occurs.

[0128] The vehicle control device 11 determines whether the automatic travel maintenance condition is satisfied (S5: Yes) and moves the process to step S51. On the other hand, the vehicle control device 11 determines that the automatic travel maintenance condition is not satisfied (S5: No) and moves the process to step S6.

[0129] <Step S51>

[0130] In step S51, the vehicle control device 11 maintains the automatic travel mode and moves the process to step S8.

[0131] <Step S6>

[0132] In step S6, the vehicle control device 11 switches to the manual travel mode and moves the process to step S7.

[0133] <Step S7>

[0134] In step S7, the vehicle control device 11 determines whether the combine harvester 1 satisfies the automatic travel start condition. Specifically, the vehicle control device 11 determines whether the states of the position, the orientation, the brake, the shift lever, the steering, and the like of the combine harvester 1 satisfy the automatic travel start condition, respectively. The vehicle control device 11 moves the process to step S8 when the combine harvester 1 satisfies the automatic travel start condition (S7: Yes). The vehicle control device 11 stands by until the combine harvester 1 satisfies the automatic travel start condition (S7: No).

[0135] <Step S8>

[0136] In step S8, the vehicle control device 11 determines whether the automatic travel start instruction has been acquired. The vehicle control device 11 shifts the process to step S9 if the automatic travel start instruction is acquired from the operation terminal 30 (S8: YES). The vehicle control device 11 stands by until the automatic travel start instruction is acquired (S8: NO).

[0137] <Step S9>

[0138] In step S9, the vehicle control device 11 resumes the automatic travel of the combine harvester 1. Thereby, the combine harvester 1 resumes the automatic travel from the parking position according to the target path R, and resumes the harvesting operation on the work path. Further, the vehicle control device 11 can also report a warning to the operator in a case where the positioning accuracy is not restored to the prescribed accuracy or more at the time of resuming the automatic travel.

[0139] <Step S10>

[0140] In step S10, the vehicle control device 11 determines whether the work has ended. Specifically, if the combine harvester 1 reaches the work end position G, the vehicle control device 11 determines that the work has ended (S10: YES), and ends the automatic travel process. On the other hand, in a case where the combine harvester 1 does not reach the work end position G (S10: NO), the vehicle control device 11 shifts the process to step S3, and executes the process described above. The vehicle control device 11 repeatedly executes the process described above until the combine harvester 1 ends the work.

[0141] As described above, the vehicle control device 11 executes: setting the travel mode of the combine harvester 1 to the automatic travel mode or the manual travel mode; and maintaining the automatic travel mode in a case where the combine harvester 1 set to the automatic travel mode satisfies the automatic travel maintenance condition. In addition, the vehicle control device 11 switches to the manual travel mode in a case where the combine harvester 1 set to the automatic travel mode does not satisfy the automatic travel maintenance condition. In addition, the vehicle control device 11 stops the automatic travel in a case where the combine harvester 1 in the automatic travel mode satisfies the automatic travel stop condition, and allows the resumption of the automatic travel in a case where the combine harvester 1 satisfies the automatic travel maintenance condition.

[0142] According to the above-described structure, for example, even in a case where the operator performs an operation to stop the automatic travel, it is possible to maintain the automatic travel mode, so the operator can resume the automatic travel without performing a prescribed operation (for example, a manual steering operation) for satisfying the automatic travel start condition at the time of resuming the automatic travel. Therefore, it is possible to improve the operability of the user operation of the combine harvester 1 in the automatic travel.

[0143] [Other Embodiments]

[0144] The present application is not limited to the above-described embodiments. Other embodiments of the present application will be described below.

[0145] In the above-described embodiments, the combine harvester 1 is cited as an example, but the structures of the above-described embodiments can also be applied to other work vehicles. For example, the work vehicle of the present application can also be a tractor or a rice transplanter. Embodiments of the tractor and the rice transplanter will be described below. The tractor and the rice transplanter are provided with the vehicle control device 11 (the travel processing section 111 and the setting processing section 112) similarly to the combine harvester 1.

[0146] [Tractor]

[0147] The tractor is provided with a main shift lever that can perform acceleration and deceleration operation of vehicle speed, and a shift lever (reverser) that switches the traveling direction (forward, reverse). The setting processing section 112 maintains the automatic travel mode in a case where the tractor stops automatic travel due to operation of the main shift lever or the reverser. The main shift lever and the reverser of the tractor are one example of the operation section of the present application.

[0148] For example, in a case where the operator sets the main shift lever to the lowest speed position (for example, a position of vehicle speed "0") while the tractor is automatically traveling in the automatic travel mode, the travel processing section 111 decelerates and stops the tractor. In a case where the main shift lever is set to the lowest speed position and the tractor becomes a stopped state, the setting processing section 112 determines that the automatic travel maintenance condition is satisfied, and maintains the automatic travel mode. Therefore, for example, even in a case where the operator gets off the tractor (or leaves the driver's seat and a predetermined time elapses) after the tractor is stopped, the setting processing section 112 maintains the automatic travel mode without performing release of the automatic travel mode due to the operator leaving the driver's seat.

[0149] Further, for example, in a case where the operator sets the reverser to the neutral position "N" while the tractor is automatically traveling in the automatic travel mode, the travel processing section 111 decelerates and stops the tractor. In a case where the reverser is set to the neutral position "N" and the tractor becomes a stopped state, the setting processing section 112 determines that the automatic travel maintenance condition is satisfied, and maintains the automatic travel mode.

[0150] As another embodiment, the setting processing section 112 can be configured to determine that the automatic travel maintenance condition is satisfied and maintain the automatic travel mode in a case where automatic travel of the tractor is stopped due to operation of the main shift lever or the reverser and a parking brake lever is set to a brake position.

[0151] [Rice Transplanter]

[0152] The rice transplanter has a pedal (a down pedal, a speed change pedal) that can perform an operation of starting, stopping, and changing a speed, and a change lever (a reverser) that changes a traveling direction (forward, backward). The setting processing section 112 maintains the automatic traveling mode in a case where the rice transplanter is stopped due to the operation of the pedal or the change lever. The pedal and the change lever of the rice transplanter are one example of the operation section of the present application.

[0153] For example, when the rice transplanter is automatically traveling in the automatic traveling mode, the operator sets the pedal to "0" (a speed of "0"), and even if the foot is removed from the pedal, the traveling processing section 111 decelerates and stops the rice transplanter. In a case where the foot is removed from the pedal and the rice transplanter becomes a stopped state, the setting processing section 112 determines that the automatic traveling maintenance condition is satisfied, and maintains the automatic traveling mode. Therefore, for example, even in a case where the operator gets off the rice transplanter after the rice transplanter is stopped (or a case where the operator leaves the driver's seat and a predetermined time elapses), the setting processing section 112 maintains the automatic traveling mode, and does not release the automatic traveling mode due to the operator leaving the driver's seat.

[0154] For example, when the rice transplanter is automatically traveling in the automatic traveling mode, the operator sets the change lever to the neutral position "N", and even if the foot is removed from the pedal, the traveling processing section 111 determines that the automatic traveling maintenance condition is satisfied, and maintains the automatic traveling mode, like the tractor.

[0155] In addition, the rice transplanter can have a speed maintenance control (automatic cruise control) function. For example, the rice transplanter has an automatic cruise lever (a speed maintenance operation section). The automatic cruise control is a control that causes the rice transplanter to travel at a predetermined speed even if the foot is removed from the speed change pedal. The automatic cruise control is started by operating the automatic cruise lever during the traveling of the rice transplanter. The automatic cruise lever can be operated to the on side and the off side.

[0156] The speed during the automatic cruise control is set on the basis of the operation position of the speed change pedal at the time when the automatic cruise lever is operated to the on side. The automatic cruise control can be ended by operating the automatic cruise lever to the off side. In addition, the automatic cruise control is automatically ended by depressing the speed change pedal. Furthermore, in a case where the automatic cruise lever is operated to the off side and the speed change pedal is operated, the rice transplanter continues the automatic traveling at a speed corresponding to the operation position of the speed change pedal, and in a case where the automatic cruise lever is operated to the off side and the speed change pedal is not operated, the speed is gradually decelerated, and if the speed becomes 0, the automatic traveling is stopped (stopping).

[0157] In the rice transplanter having the vehicle speed maintenance control (automatic cruise control) function, for example, when the rice transplanter is in the automatic travel mode and automatically travels, in a case where the vehicle control function is released (a case where the automatic cruise lever is operated to the off side), the travel processing portion 111 decelerates and stops the rice transplanter in a case where the accelerator pedal is not operated. In a case where the rice transplanter becomes a stopped state due to the vehicle speed maintenance control function being released (the off operation of the automatic cruise lever), the setting processing portion 112 determines that the automatic travel maintenance condition is satisfied, and maintains the automatic travel mode. The automatic cruise lever of the rice transplanter is one example of the operation portion of the present application.

[0158] [Summary of Invention]

[0159] Hereinafter, a summary of the invention extracted from each of the above-described embodiments is summarized. Furthermore, each structure and each processing function described in the following summary can be arbitrarily combined by selection.

[0160] <Summary 1>

[0161] An automatic travel method is an automatic travel method of causing a work vehicle to automatically travel according to a target path, wherein:

[0162] a travel mode of the work vehicle is set to an automatic travel mode or a manual travel mode; and

[0163] in a case where the work vehicle set to the automatic travel mode satisfies an automatic travel maintenance condition, the automatic travel mode is maintained.

[0164] <Summary 2>

[0165] The automatic travel method according to <Summary 1>, wherein:

[0166] in a case where the work vehicle set to the automatic travel mode does not satisfy the automatic travel maintenance condition, the manual travel mode is switched.

[0167] <Summary 3>

[0168] The automatic travel method according to <Summary 1> or 2, wherein:

[0169] in a case where the work vehicle automatically traveling in the automatic travel mode satisfies an automatic travel stop condition, the automatic travel is stopped,

[0170] in a case where the work vehicle satisfies the automatic travel maintenance condition, resumption of the automatic travel is allowed.

[0171] <Summary 4>

[0172] The automatic travel method according to any one of <Summary 1> to 3, wherein,

[0173] In a case where the work vehicle stops the automatic travel due to the operation of the operation section that temporarily stops the automatic travel, the automatic travel mode is maintained.

[0174] <NOTE 5>

[0175] The automatic travel method according to any one of Notes 1 to 3, wherein

[0176] In a case where the work vehicle stops the automatic travel due to the positioning accuracy becoming insufficient to the prescribed accuracy, the automatic travel mode is maintained.

[0177] <NOTE 6>

[0178] The automatic travel method according to any one of Notes 1 to 3, wherein

[0179] In a case where the work vehicle stops the automatic travel due to the detection of the obstacle, the automatic travel mode is maintained.

[0180] <NOTE 7>

[0181] The automatic travel method according to any one of Notes 1 to 3, wherein

[0182] In a case where the work vehicle receives an operation to set the work machine to the non-work position during the automatic travel in the automatic travel mode, the manual travel mode is switched to,

[0183] In a case where the work vehicle receives an operation to set the work machine to the non-work position during the stop in the automatic travel mode, the automatic travel mode is maintained.

[0184] <NOTE 8>

[0185] The automatic travel method according to any one of Notes 1 to 3, wherein

[0186] In a case where the work vehicle receives an operation to set the work machine to the non-work position during the automatic travel in the automatic travel mode, the manual travel mode is switched to,

[0187] In a case where the work vehicle receives an operation to set the work machine to the non-work position during the stop in the automatic travel mode, the automatic travel mode is maintained.

[0188] <NOTE 9>

[0189] The automatic travel method according to any one of Notes 1 to 3, wherein

[0190] When the work vehicle receives a steering manipulation operation on the steering manipulation section during automatic travel in the automatic travel mode,

[0191] When the work vehicle receives a steering manipulation operation on the steering manipulation section during parking in the automatic travel mode, the automatic travel mode is maintained.

[0192] <Note 10>

[0193] The automatic travel method according to any one of Notes 1 to 3, wherein

[0194] When the work vehicle receives a steering manipulation operation on the steering manipulation section during automatic travel in the automatic travel mode, the work vehicle and the operation terminal are in a predetermined state,

[0195] When the work vehicle receives a steering manipulation operation on the steering manipulation section during parking in the automatic travel mode, the automatic travel mode is maintained.

[0196] <Note 11>

[0197] The automatic travel method according to any one of Notes 1 to 10, wherein

[0198] When the work vehicle has stopped automatic travel and satisfies the automatic travel maintenance condition,

[0199] When the positioning accuracy of the work vehicle is a predetermined accuracy or more, resumption of automatic travel is permitted,

[0200] When the positioning accuracy of the work vehicle is less than the predetermined accuracy, a warning message is reported to an operator.

Claims

1. An automatic driving method, characterized in that, a method for enabling a work vehicle to automatically drive according to a target path, wherein... implement: Set the driving mode of the work vehicle to automatic driving mode or manual driving mode; and If the operating vehicle, which has been set to the automatic driving mode, meets the automatic driving maintenance conditions, the automatic driving mode shall be maintained.

2. The automatic driving method according to claim 1, characterized in that, If the work vehicle, which has been set to the automatic driving mode, does not meet the automatic driving maintenance conditions, it shall be switched to the manual driving mode.

3. The automatic driving method according to claim 1, characterized in that, When the work vehicle is automatically driving in the automatic driving mode and the automatic driving stop condition is met, automatic driving shall be stopped. When the operating vehicle meets the automatic driving maintenance conditions, automatic driving is allowed to resume.

4. The automatic driving method according to any one of claims 1 to 3, characterized in that, If the automatic driving mode is stopped due to the operation of the control unit that temporarily stops automatic driving, the automatic driving mode is maintained.

5. The automatic driving method according to any one of claims 1 to 3, characterized in that, If the work vehicle stops driving automatically due to insufficient positioning accuracy, the automatic driving mode shall be maintained.

6. The automatic driving method according to any one of claims 1 to 3, characterized in that, If the work vehicle stops driving automatically due to the detection of an obstacle, the automatic driving mode shall be maintained.

7. The automatic driving method according to any one of claims 1 to 3, characterized in that, When the work vehicle receives an operation to set the work machine to a non-working position while automatically driving in the automatic driving mode, it switches to the manual driving mode. If the work vehicle receives an operation to set the work machine to the non-work position while it is parked in the automatic driving mode, the automatic driving mode shall be maintained.

8. The automatic driving method according to any one of claims 1 to 3, characterized in that, When the operator leaves the driver's seat while the work vehicle is automatically driving in the automatic driving mode, the system switches to the manual driving mode. The automatic driving mode is maintained when the operator leaves the driver's seat while the work vehicle is parked in the automatic driving mode.

9. The automatic driving method according to any one of claims 1 to 3, characterized in that, When the work vehicle receives a steering operation command on the steering control unit while automatically driving in the automatic driving mode, it switches to the manual driving mode. When the work vehicle receives a steering operation on the steering control unit while parked in the automatic driving mode, the automatic driving mode is maintained.

10. The automatic driving method according to any one of claims 1 to 3, characterized in that, When the work vehicle is automatically driving in the automatic driving mode, and the communication status between the work vehicle and the operating terminal drops to a predetermined state, the system switches to the manual driving mode. When the work vehicle is parked in the automatic driving mode, and the communication status between the work vehicle and the operating terminal drops to the specified status, the automatic driving mode is maintained.

11. The automatic driving method according to any one of claims 1 to 3, characterized in that, If the operating vehicle, which has stopped autonomous driving, meets the autonomous driving maintenance conditions... When the positioning accuracy of the work vehicle is above the specified accuracy, automatic driving is permitted to resume. If the positioning accuracy of the work vehicle is less than the specified accuracy, a warning message shall be reported to the operator.

12. An automatic driving program, characterized in that, an automatic driving program enables a work vehicle to automatically drive according to a target path, wherein... Used to cause one or more processors to execute: Set the driving mode of the work vehicle to automatic driving mode or manual driving mode; and If the operating vehicle, which has been set to the automatic driving mode, meets the automatic driving maintenance conditions, the automatic driving mode shall be maintained.

13. An automatic driving system, characterized in that, an automatic driving system enables a work vehicle to automatically drive according to a target path, wherein... Equipped with a setting and processing unit, The setting processing unit sets the driving mode of the work vehicle to automatic driving mode or manual driving mode, and If the operating vehicle, which has been set to the automatic driving mode, meets the automatic driving maintenance conditions, the automatic driving mode shall be maintained.

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