Work vehicle

Abstract

To provide a work vehicle which enhances convenience of an operator when a traveling vehicle body automatically travels in a straight line.SOLUTION: A work vehicle comprises a traveling vehicle body, a positioning device which detects a position of the traveling vehicle body, and a control device which causes the traveling vehicle body to perform automatic travel along a straight line based on the detected position of the traveling vehicle body. The control device has a plurality of modes for setting the straight line and sets the straight line based on a setting mode selected from the plurality of modes.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a work vehicle. [Background technology]

[0002] Conventionally, there is known a work vehicle that can travel straight in a field by automatic steering (for example, see Patent Document 1). The work vehicle sets the position of the traveling vehicle body at the time when manual steering is switched to automatic steering as the starting point of straight traveling by automatic steering. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6643091 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above technology, the method of setting straight-line driving using automatic steering is fixed, and there is room for improvement in terms of improving the convenience for operators regarding automatic driving when the traveling vehicle body is traveling straight.

[0005] The present invention has been made in consideration of the above, and has an object to provide a work vehicle that improves the convenience of workers regarding automatic driving when the traveling body is moving straight. [Means for solving the problem]

[0006] In order to solve the above problems and achieve the object, a work vehicle according to one aspect of an embodiment includes a traveling body, a positioning device that detects the position of the traveling body, and a control device that automatically drives the traveling body along a straight line based on the detected position of the traveling body. The control device has a plurality of modes for setting the straight line, and sets the straight line by a setting mode selected from the plurality of modes. Effect of the Invention

[0007] According to one aspect of the embodiment, the work vehicle can improve the convenience for the worker regarding automatic driving when the traveling body is moving straight. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is an explanatory diagram showing an overview of a straight support of a seedling transplanter according to an embodiment. [Diagram 2] FIG. 2 is a side view of the seedling transplanter according to the embodiment. [Diagram 3] FIG. 3 is a schematic diagram of the steering post as viewed from the front. [Figure 4] FIG. 4 is a schematic diagram of the monitor. [Diagram 5] FIG. 5 is a functional block diagram focusing on the controller of the seedling transplanter. [Figure 6] FIG. 6 is a diagram showing an example of the reference line etc. in the fourth mode. [Figure 7] FIG. 7 is a flowchart illustrating the process of setting an automatic straight line according to the embodiment. [Figure 8] FIG. 8 is a schematic diagram of a combine harvester. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Below, a work vehicle according to an embodiment of the present invention will be described in detail with reference to the drawings as a riding seedling transplanter 1. The components in the following embodiments include those that are easily replaceable by a person skilled in the art, or those that are substantially the same, that is, those within the scope of what is called equivalent. Furthermore, the present invention is not limited to the above-mentioned embodiment, and can be implemented with various modifications within the scope that does not deviate from the gist of the present invention. In addition, hereinafter, the seedling transplanter 1 as a whole may be referred to as the machine body. Furthermore, the seedling transplanter 1 is an example of a work vehicle, and the work vehicle is not limited to the seedling transplanter 1. The work vehicle may be either one of a tractor and a combine harvester.

[0010] 1 is an explanatory diagram showing an overview of the straight-line support of the seedling transplanter 1 according to the embodiment. The seedling transplanter 1 according to the present embodiment is equipped with a traveling body 2 having a pair of front wheels 4 and a pair of rear wheels 5, one on each side, and a seedling planting unit 50 connected to the rear part.

[0011] In this embodiment, the straight-line support refers to a function that supports the automatic straight-line driving (automatic driving) of the seedling transplanter 1 in the field F by controlling the operation of the steering wheels based on the steering angle (turning angle) of the steering wheels of the seedling transplanter 1 and the position information of the seedling transplanter 1. Here, the steering angle is the turning angle of the front wheels 4, but for example, the steering angle of the steering wheel 32 (see FIG. 2) may be detected as the steering angle. In addition, the position information of the seedling transplanter 1 is acquired by the GNSS unit 120 (positioning device) (see FIG. 5) provided on the traveling vehicle body 2. In the following description, the forward / rearward and left / right direction reference of the seedling transplanter 1 is based on the traveling direction of the traveling vehicle body 2 as seen from the driver's seat 28 (see FIG. 2) where an operator can sit.

[0012] As shown in the figure, the seedling transplanter 1 plants seedlings in a specified working width D while traveling back and forth within a specified work area G in the field F. At this time, if straight-line support is performed, the manual operation of the operator using the handle 32 only requires a turning operation near the headland, and the seedling transplanter 1 automatically travels straight along the automatic straight-line line L1 (straight-line). In FIG. 1, the symbol L3 indicates the turning line by manual operation of the seedling transplanter 1 in the headland. Also, the symbol E indicates the entrance and exit of the seedling transplanter 1 into the field F.

[0013] The automatic straight line L1 of the seedling transplanter 1 using the straight support is approximately parallel to a reference line L2 that serves as a reference for the straight support, and this reference line L2 is set in advance in the field F according to the seedling planting direction. That is, the start position and end position of the straight support are acquired as a reference start point (hereinafter referred to as "point A") and a reference end point (hereinafter referred to as "point B"), respectively, by the travel reference registration unit 152 (see FIG. 5) provided in the seedling transplanter 1, and the line segment connecting the acquired points A and B is registered as the reference line L2.

[0014] Hereinafter, a specific configuration of the seedling transplanter 1 will be described with reference to Fig. 2. Fig. 2 is a side view of the seedling transplanter 1 according to the embodiment.

[0015] A seedling planting unit 50 is attached to the traveling body 2 of the seedling transplanter 1 so that it can be raised and lowered via a seedling planting unit lifting mechanism 40, which is a lifting device. The traveling body 2 is a four-wheel drive vehicle in which a pair of left and right front wheels 4 and a pair of left and right rear wheels 5 are both driven, and the front wheels 4, which serve as steered wheels, are steered by turning a steering wheel 32, making it possible to travel on fields F and roads between fields F.

[0016] The seedling transplanter 1 can be equipped with auxiliary wheels 5A on the rear wheels 5. Specifically, the auxiliary wheels 5A are attached to the axles 220 of the rear wheels 5 and rotate together with the rear wheels 5. The seedling transplanter 1 can be equipped with the auxiliary wheels 5A on the inside of the rear wheels 5, on the outside of the rear wheels 5, or on the inside and outside of the rear wheels 5. That is, the seedling transplanter 1 can change the attachment position of the auxiliary wheels 5A.

[0017] The traveling body 2 also includes a main frame 7 located approximately in the center of the body, an engine 10 as a prime mover mounted on the main frame 7, and a power transmission device 15 that transmits the power of the engine 10 to the front and rear wheels 4, 5 and the seedling planting unit 50. In this seedling transplanter 1, an internal combustion engine such as a diesel engine or a gasoline engine is used for the engine 10 as a power source, and the generated power is used not only to move the traveling body 2 forward and backward, but also to drive the seedling planting unit 50.

[0018] The power transmission device 15 also has a hydraulic continuously variable transmission (hereinafter referred to as "HST") 16 that changes the speed of the driving force transmitted from the engine 10 and outputs it, and a power transmission section 17 that transmits the power from the engine 10 to the HST 16.

[0019] The power transmission device 15 also has: the driving force from the engine 10 is transmitted to the HST 16 via the power transmission section 17 and the transmission case 18, and the power changed in speed by the HST 16 is transmitted to the transmission case 18. The transmission case 18 incorporates an auxiliary transmission mechanism (not shown) that switches between a high speed mode and a low speed mode, which will be described later, and is attached to the front of the main frame 7.

[0020] A portion of the power transmitted from the transmission case 18 to the front wheels 4 and rear wheels 5 can be transmitted to the front wheels 4 via the left and right front wheel final cases 13, and the remainder can be transmitted to the rear wheels 5 via the left and right rear wheel gear cases 22. The left and right front wheel final cases 13 are disposed on the left and right sides of the transmission case 18. The left and right front wheels 4 are connected to the left and right front wheel final cases 13 via axles 131, and these front wheel final cases 13 are driven in response to the steering operation of the handlebars 32, thereby turning the front wheels 4.

[0021] Similarly, rear wheels 5 are connected to the left and right rear wheel gear cases 22 via axles 220. Meanwhile, power is transmitted from the transmission case 18 to the seedling planting section 50 via a planting clutch 500 provided at the rear of the traveling body 2 from a working machine drive shaft (not shown). The planting clutch 500 is operated by a planting clutch motor 510 (see FIG. 5) connected to a controller 150 (see FIG. 5), which will be described in detail later.

[0022] The engine 10 is disposed approximately in the center in the left-right direction of the traveling body 2, and protrudes above a floor step 26 on which an operator places his / her feet when getting on. The floor step 26 is provided between the front of the traveling body 2 and the rear of the engine 10 and attached to the main frame 7, and a portion of the floor step 26 is latticed, allowing mud on shoes to be dropped into the field F. In addition, a rear step 27, which also serves as a fender for the rear wheel 5, is provided behind the floor step 26. The rear step 27 has an inclined surface that slopes upward as it extends rearward, and is disposed on each of the left and right sides of the engine 10.

[0023] Further, the engine 10 protrudes upward from the floor step 26 and the rear step 27, and an engine cover 11 for covering the engine 10 is disposed on the portion protruding from the steps 26, 27.

[0024] A pilot seat 28 on which an operator sits is installed above the engine cover 11, and a control unit 30 is provided in front of the pilot seat 28 and in the center of the front side of the traveling body 2. The control unit 30 is disposed in a state where it protrudes upward from the floor surface of the floor step 26, and divides the front side of the floor step 26 into left and right parts.

[0025] The control section 30 is provided with a steering post 315, and a handle 32 that enables an operator to steer is provided on the upper part of the steering post 315. As shown in FIG. 3, the steering post 315 is provided with a finger-up lever 34. FIG. 3 is a schematic diagram of the steering post 315 as viewed from the front. The finger-up lever 34 is operated by the operator, for example, when obtaining points A and B. The finger-up lever 34 can be rotated in the vertical direction.

[0026] In addition, the steering post 315 is provided with a monitor 33 as shown in Fig. 4. Fig. 4 is a schematic diagram of the monitor 33. The monitor 33 is provided with, for example, a straight support lamp 331 that is turned on when the machine performs automatic straight traveling by straight support, a point A lamp 332, a point B lamp 333, and a GNSS lamp 334. Note that the monitor 33 is provided with indicator lights and the like other than the lamps. The seedling transplanter 1 may have multiple monitors.

[0027] On the monitor 33, when point A is acquired by operating the finger-up lever 34, a point A lamp 332 is turned on. Also, when point B is acquired by operating the finger-up lever 34, a point B lamp 333 is turned on. On the monitor 33, when the vehicle is in a state capable of automatic straight-ahead driving, both the point A lamp 332 and the point B lamp 333 are turned on.

[0028] The GNSS lamp 334 has three indicator lamps, and changes the number of lit indicator lamps according to the GNSS reception state. The monitor 33 notifies the operator of the GNSS reception state by such a display mode.

[0029] Furthermore, for example, a buzzer 215, which is an example of the notification device 200, is provided at a predetermined position on the control unit 30 (see FIG. 5).

[0030] Returning to Fig. 2, the operation unit 30 is provided with a main speed change lever 81 and an auxiliary speed change lever 82 near the steering post 315. The main speed change lever 81 is provided on the right side of the operation unit 30, and the auxiliary speed change lever 82 is provided below the handlebars 32.

[0031] The main speed change lever 81 is a lever that switches between forward and backward movement and driving power of the traveling body 2, and by operating it, the operator can adjust the rotation angle of the trunnion (not shown) of the HST 16 to adjust the speed of the traveling body 2.

[0032] The auxiliary speed change lever 82 is a lever that switches the travel mode, which determines the travel speed of the traveling vehicle body 2, between a low speed mode and a high speed mode depending on the place of travel. The mode switching is performed by an auxiliary speed change mechanism provided in the transmission case 18 depending on the position of the auxiliary speed change lever 82.

[0033] An openable front cover 31 is provided in front of the control unit 30. A center mascot 350 is attached to the center of the front end of the front cover 31 as an indicator member that serves as an indicator for traveling. Although not shown in FIG. 2 for convenience, spare seedling carriers (not shown) are provided on the left and right front sides of the traveling body 2.

[0034] The center mascot 350 is attached to the front center of the traveling body 2 and functions as a guide for the direction of travel when the operator sitting in the driver's seat 28 operates the seedling transplanter 1. The center mascot 350 according to this embodiment also functions as the notification device 200 that notifies the operator of the support status, including whether or not the above-mentioned straight-line support can be performed.

[0035] The seedling transplanter 1 of this embodiment may use the center mascot 350, which serves as the alarm device 200, to not only notify the status of straight-line support, but also information regarding the remaining amount of work materials such as seedlings and fertilizer provided in the seedling planting section 50.

[0036] The center mascot 350 is always within the field of vision of the worker facing forward, allowing the worker to constantly grasp the status of the seedling transplanter 1 without having to take his or her eyes off the front, which greatly contributes to improved safety.

[0037] In the seedling transplanter 1 according to this embodiment, a GNSS unit 120 with a built-in receiving antenna 121 (see FIG. 5) is disposed on the traveling body 2. This GNSS unit 120 can obtain position information on the earth at predetermined intervals by acquiring GNSS coordinates at predetermined time intervals with the receiving antenna 121.

[0038] The GNSS unit 120 is attached to the top of an antenna frame 124 whose base end is connected to the front end side of the traveling body 2 so as to be located directly above the axle 131 of the front wheel 4. The antenna frame 124 is foldable, and the height of the antenna frame 124 in the normal state is set to a height that does not interfere with the head of a standard average man when he stands on the floor step 26.

[0039] Here, the seedling planting section 50 and other components will be described. The seedling planting section 50 is attached to the rear of the traveling body 2 via the seedling planting section lifting mechanism 40 so that it can be raised and lowered. The seedling planting section lifting mechanism 40 is equipped with a lifting link device 41, which is equipped with a parallel link mechanism that connects the rear of the traveling body 2 and the seedling planting section 50. The parallel link mechanism has an upper link 41a and a lower link 41b, and these links 41a and 41b are rotatably connected to a link base frame 43 that is a rear-view gate type erected at the rear end of the main frame 7. The other end side of the links 41a and 41b is rotatably connected to the seedling planting section 50. In this way, the seedling planting section 50 is connected to the traveling body 2 so that it can be raised and lowered.

[0040] The seedling planting unit lifting mechanism 40 has a hydraulic lifting cylinder 44 that expands and contracts hydraulically, and the seedling planting unit 50 can be raised and lowered by the expansion and contraction action of the hydraulic lifting cylinder 44. The hydraulic lifting cylinder 44 is driven by the HST 16 described above, and the seedling planting unit 50 can be raised to a non-working position or lowered to a ground work position (planting position) by the lifting action of the seedling planting unit lifting mechanism 40.

[0041] In addition, the seedling planting section 50 can plant seedlings in a plurality of sections or in a plurality of rows. For example, the seedling planting section 50 can be a so-called six-row planting section, which plants seedlings in six sections.

[0042] The seedling planting section 50 includes a seedling planting device 60, a seedling placement platform 51, and floats 47 (48, 49). The seedling placement platform 51 is provided at the rear of the traveling body 2 as a seedling placement member for loading multiple rows of seedlings, and has seedling placement surfaces 52 partitioned in the left and right direction of the traveling body 2, the number of which corresponds to the number of rows of seedlings to be planted, and it is possible to place mat-like seedlings with soil on each seedling placement surface 52.

[0043] The seedling planting device 60 is disposed under the seedling placement table 51 on which the seedlings are placed, and is a device that picks up the seedlings from the seedling placement table 51 and plants them in the field F, and is supported by a planting support frame 55 disposed on the front side of the seedling placement table 51. The seedling planting device 60 has a planting transmission case 64 and a planting body 61, and the planting body 61 is configured so that it can pick up the seedlings from the seedling placement table 51 and plant them in the field F, and the planting transmission case 64 can supply driving force to the planting body 61.

[0044] The planting transmission case 64 is configured to be able to supply the power transmitted from the engine 10 to the seedling planting section 50 to the planting body 61, and the planting body 61 is rotatably connected to the planting transmission case 64. The planting body 61 also has a planting rod 62 that picks up the seedlings from the seedling placement table 51 and plants them in the field F, and a rotary case 63 that rotatably supports the planting rod 62 and is rotatably connected to the planting transmission case 64.

[0045] The rotary case 63 is equipped with a variable speed transmission mechanism (not shown) that can change the rotation speed when rotating the planting rod 62 by the driving force transmitted from the planting transmission case 64. As a result, when the planting body 61 rotates, the planting rod 62 can rotate while changing the rotation speed depending on the rotation angle relative to the rotary case 63.

[0046] The seedling planting devices 60 thus configured are provided one for every two rows. In other words, each of the seedling planting devices 60 is assigned to a planting row. Also, each planting transmission case 64 is provided with two planting bodies 61 that can rotate. In other words, two rotary cases 63 are connected to one planting transmission case 64 on both sides in the left-right direction of the machine body.

[0047] In addition, the float 47 slides over the field surface to level the ground as the running body 2 moves, and has a center float 48 located in the center of the seedling planting section 50 in the left-right direction of the running body 2, and side floats 49 located on both sides of the seedling planting section 50 in the left-right direction.

[0048] The center float 48 in this embodiment is provided with a float potentiometer 154 (see FIG. 5) that functions as a hydraulic sensitivity mechanism that raises and lowers the seedling planting section 50 according to the conditions of the field F. The float potentiometer 154 can change the sensitivity range for detecting the up and down movement of the center float 48.

[0049] For example, if the sensitivity is increased, even small up and down movements of the center float 48 will be detected and a detection signal will be sent to the controller 150. On the other hand, if the sensitivity is decreased, small up and down movements of the center float 48 will not be detected, and only up and down movements of a certain amplitude or more will be detected and a detection signal will be sent to the controller 150.

[0050] Further, a rotor 67 for leveling the field F is provided on the front side at a position below the seedling planting section 50. This rotor 67 is configured to be rotatable by the output from the engine 10 transmitted via the rear wheel gear case 22, and is provided so as to be able to be raised and lowered by a rotor motor 165 (see FIG. 5), which is an electric motor.

[0051] In the seedling transplanter 1 according to the present embodiment, the controller 150 executes the straight-line support on the condition that the ground-leveling rotor 67 is in contact with the ground. In other words, the straight-line support is executed only when the seedling planting work is being performed.

[0052] In addition, line drawing markers 68 are provided on both the left and right sides of the seedling planting section 50 to form lines that serve as a guide for the direction of travel for the next planting row. When the seedling transplanter 1 moves forward straight in the field F, the line drawing markers 68 draw lines on the field F as guides for moving forward straight after turning at the edge of the field F.

[0053] In addition, a fertilizer applicator 70 is mounted behind the driver's seat 28 on the traveling vehicle body 2. The fertilizer applicator 70 includes left and right storage hoppers 71 for storing fertilizer, a feed device 72 for feeding a set amount of fertilizer supplied from the storage hoppers 71, a fertilizer application hose 74 which is a fertilizer application passage for supplying the fertilizer fed by the feed device 72 to the field F, and a blower 73 for supplying conveying air to the fertilizer application hose 74.

[0054] The blower 73 transfers the fertilizer in the fertilizer hose 74 to the seedling planting section 50. The fertilizer application device 70 further includes a fertilizer application guide 75 to which the fertilizer is transferred by the fertilizer application hose 74, and a furrow former 76 that drops the fertilizer transferred by the fertilizer application hose 74 into a fertilizer furrow formed near the side of the seedling planting row.

[0055] Fig. 5 is a functional block diagram of the seedling transplanter 1, focusing on the controller 150. The seedling transplanter 1 according to this embodiment is capable of controlling each part by electronic control, and the seedling transplanter 1 is provided with the controller 150 as a control device for controlling each part. The controller 150 is provided with a processing section having a CPU (Central Processing Unit) and the like, a storage section such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input / output section, which are connected to each other and can exchange signals with each other. A computer program for controlling the seedling transplanter 1 is stored in the storage section.

[0056] As shown in the figure, various actuators and sensors for acquiring information from each part are connected to the controller 150.

[0057] Actuators connected to the controller 150 include, for example, a throttle motor 100 that adjusts the amount of intake air for the engine 10, a rotor motor 165 that raises and lowers the rotor 67 for leveling the ground, and a planting clutch motor 510 that operates the planting clutch 500. Although not shown in the figure, a trunnion drive motor that changes the rotation angle of the trunnion of the HST 16 is also connected to the controller 150.

[0058] In addition, the controller 150 is connected to various other sensors including a steering angle sensor 130, a direction sensor 160, an inertial positioning device 170, a seating sensor 190, a lever sensor (not shown) that detects the amount of operation of the main shift lever 81 and the sub shift lever 82 by a tilt angle, and a vehicle speed sensor (not shown) that detects the vehicle speed of the traveling vehicle body 2. In addition, an imaging device such as a camera is connected to the controller 150.

[0059] The steering angle sensor 130 is a sensor that detects the steering angle when the front wheels 4, which are steered wheels, are steered by operating the steering wheel 32. The steering angle sensor 130 may detect the steering angle based on the rotation angle of the steering wheel 32.

[0060] The orientation sensor 160 is a sensor that detects the orientation in which the vehicle is facing. The controller 150 can derive the actual traveling direction of the vehicle based on the value acquired from the orientation sensor 160. The orientation sensor 160 may be provided in the GNSS unit 120. The orientation may be calculated based on the position information of the traveling vehicle body 2 detected by the GNSS unit 120.

[0061] The inertial positioning device 170 includes a gyro sensor and an acceleration sensor, and a control board for controlling these sensors is built in. The inertial positioning device 170 may be provided in the GNSS unit 120.

[0062] The inertial positioning device 170 detects the degree to which the posture of the traveling vehicle body 2 is inclined with respect to the automatic straight line L1. The inertial positioning device 170 detects the inclination of the traveling vehicle body 2. The inertial positioning device 170 detects the inclination of the traveling vehicle body 2 in the front-rear and left-right directions.

[0063] The seating sensor 190 is a sensor provided in the pilot's seat 28 and configured with a load cell, a pressure-sensitive film sensor, or the like, and is capable of detecting that an operator is seated in the pilot's seat 28.

[0064] The controller 150 can prohibit straight-line driving support if the steering angle detected by the steering angle sensor 130 is not a value indicating that it is within the allowable range for driving the traveling vehicle body 2 in a straight line, or if the direction detected by the orientation sensor 160 or the attitude detected by the inertial positioning device 170 is not a value indicating the straight-line driving direction.

[0065] The steering angle is within the allowable range for moving the traveling vehicle body 2 straight when, for example, the absolute value of the steering angle (turning angle) of the front wheels 4 is 15 degrees or less. Also, if the steering angle detected by the steering angle sensor 130 after the traveling vehicle body 2 turns indicates a value that does not cause the traveling vehicle body 2 to move straight (for example, 5 degrees), the straight-line support can be prohibited.

[0066] It should be noted that an acceptable range is also set for the orientation sensor 160, and if an orientation or attitude outside the acceptable range continues for a period of time or longer set in the controller 150, it is determined that the robot is not facing in a straight-line direction, and straight-line movement support is prohibited.

[0067] In addition, if some kind of trouble occurs and the straight-line support of the seedling transplanter 1 is stopped, in order to improve safety or prevent operational errors, the straight-line support can be controlled so that it will not resume unless certain conditions are met, such as the seedling planting section 50 being lowered, the spare seedling carrier being stored, and the planting clutch 500 being engaged.

[0068] Furthermore, to the controller 150, as the notification device 200, for example, a monitor 33 and a buzzer 215 that issues an alarm or the like are connected.

[0069] The controller 150 can notify the support status including the execution or stop of straight-line support using the buzzer 215 and the monitor 33. Therefore, the operator can easily recognize whether the current state of the forward tilt attitude of the machine body, the rudder angle after turning the machine body, the attitude of the machine body, etc. are suitable for performing straight-line support. Therefore, for example, the operability of switching from turning operation to straight-line support can be improved. The notification device 200 may be a tablet terminal device (not shown) that can be brought in from outside.

[0070] The seedling transplanter 1 also includes a steering device 110 that can be controlled by the controller 150, and a GNSS unit 120, which are connected to the controller 150.

[0071] The steering device 110 includes a transmission mechanism (not shown) that is interlocked with the handle 32, and a straight-line support mechanism 310 that applies any rotational force to the handle 32, enabling automatic steering by the controller 150. The transmission mechanism includes a steering motor 112 that rotates the handle 32.

[0072] When executing straight-line driving support, the controller 150 automatically steers the steering wheel 32 via the straight-line driving support mechanism 310 based on the position information acquired by the GNSS unit 120, thereby maintaining the traveling vehicle body 2 in a straight-line driving direction.

[0073] The GNSS unit 120 has a receiving antenna 121 for receiving signals from artificial satellites used in the GNSS, acquires position information (coordinate information) of the seedling transplanter 1 on the earth, and transmits the acquired position information to the controller 150.

[0074] In addition, various switches such as the fingertip lever 34, a float potentiometer 154, and an automatic driving lever 140 are connected to the controller 150.

[0075] The finger-up lever 34 receives an operation by the worker regarding the straight-line support. The finger-up lever 34 is operated by the worker when acquiring points A and B. The finger-up lever 34 is also operated when canceling the reference line L2.

[0076] The float potentiometer 154 is provided on the center float 48, which moves up and down following the unevenness of the field F, and senses the up and down movement of the center float 48, i.e., the depth of the field F. The controller 150 raises and lowers the seedling planting section 50 in accordance with the sensed unevenness of the field F.

[0077] The automatic traveling lever 140 is a lever for starting automatic straight traveling along an automatic straight traveling line L1 that is substantially parallel to the reference line L2 after the traveling vehicle body 2 has turned.

[0078] The controller 150 has a travel reference registration unit 152 in which the reference line L2 is registered. In order to allow the seedling transplanter 1 to perform straight-line support, a teaching operation is required in advance. The travel reference registration unit 152 registers, for example, a reference line L2 (see FIG. 1) for performing straight-line support and controlling straight-line movement through the teaching operation.

[0079] The traveling reference registration unit 152 acquires point A, which is the start position of the straight driving support, and point B, which is the end position, and registers the line segment connecting the acquired points A and B as the reference line L2.

[0080] By registering the reference line L2, the traveling direction when straight-line support is performed and the distance for which straight-line support is performed are registered. By registering the length of the reference line L2 as the distance for which straight-line support is performed, it is possible to notify the operator that, for example, the operator is approaching a point where a turning operation is to be performed, i.e., that the edge of the field (ridge) is approaching, based on the straight-line distance of the traveling body 2. The traveling distance of the traveling body 2 can be calculated, for example, based on the rotation speed of the rotor 67.

[0081] The controller 150 has a plurality of modes for setting the automatic straight driving line L1. The controller 150 sets the automatic straight driving line L1 by a setting mode selected from the plurality of modes. The plurality of modes include, for example, a first mode to a sixth mode. The plurality of modes are displayed on the monitor 33, for example, and selected by the operator. It is sufficient that the controller 150 has at least two modes from the first mode to the sixth mode.

[0082] The first mode is a mode in which an automatic straight driving line L1 parallel to a reference line L2 is set based on a steering angle. When the first mode is selected as the setting mode, the controller 150 sets the start point of the automatic straight driving line L1 when the steering angle remains within a predetermined straight driving angle (for example, the absolute value of the steering angle is 15 degrees or less) for a first predetermined time. The first predetermined time is a time set in advance.

[0083] For example, when the traveling vehicle body 2 is turning and the steering angle falls within a predetermined straight-line steering angle, the controller 150 starts measurement using a timer and measures the duration of the state in which the steering angle is within the predetermined straight-line steering angle. When the measured duration reaches a first predetermined time, the controller 150 determines that the traveling vehicle body 2 is ready to travel the next step. Then, the controller 150 sets the point where the duration reaches the first predetermined time as the start point of the automatic straight-line line L1 in the next step. The controller 150 also sets the automatic straight-line line L1 in the next step based on the set start point. The controller 150 sets a line parallel to the reference line L2 from the set start point as the automatic straight-line line L1.

[0084] The next stroke is the stroke that the seedling transplanter 1 will perform from now on. In the following, the stroke that the seedling transplanter 1 performed immediately before is referred to as the "previous stroke." The previous stroke is the stroke that was performed immediately before the traveling body 2 turned when the traveling body 2 turned.

[0085] When the traveling vehicle body 2 moves to a work position on the automatic straight-line L1 based on the start point of the automatic straight-line L1, the controller 150 starts automatic straight-line traveling. For example, the controller 150 sets the work position on the automatic straight-line L1 to a point where the traveling vehicle body 2 has traveled a predetermined work start distance from the start point of the automatic straight-line L1. Note that the work position on the automatic straight-line L1 may be the start point of the automatic straight-line L1.

[0086] In the first mode, when the state in which the steering angle is within a predetermined straight-line steering angle continues for a predetermined traveling distance or more, the start point of the automatic straight-line line L1 may be set.

[0087] The second mode is a mode in which an automatic straight-line L1 parallel to the reference line L2 is set based on the orientation of the traveling vehicle body 2. When the second mode is selected as the setting mode, the controller 150 sets the start point of the automatic straight-line L1 when the orientation of the traveling vehicle body 2 remains within a predetermined range with respect to the orientation of the reference line L2 for a second predetermined time. The second predetermined time is a time set in advance.

[0088] The orientation of the reference line L2 is set based on the direction in which the traveling vehicle body 2 advances in the next step. For example, when the traveling vehicle body 2 advances in the same direction as the traveling vehicle body 2 advances on the reference line L2, the orientation of the reference line L2 is the same as the direction in which the traveling vehicle body 2 advances on the reference line L2. When the traveling vehicle body 2 advances in the opposite direction to the direction in which the traveling vehicle body 2 advances on the reference line L2, the orientation of the reference line L2 is the opposite to the direction in which the traveling vehicle body 2 advances on the reference line L2.

[0089] For example, when the traveling vehicle body 2 is turning and the orientation of the traveling vehicle body 2 falls within a predetermined range, the controller 150 starts measurement by a timer and measures the duration of the state in which the orientation of the traveling vehicle body 2 falls within the predetermined range. When the measured duration reaches a second predetermined time, the controller 150 determines that the traveling vehicle body 2 is ready to travel the next step. Then, the controller 150 sets the point where the duration reaches the predetermined time as the start point of the automatic straight driving line L1 in the next step. In addition, the controller 150 sets the automatic straight driving line L1 in the next step based on the set start point. The controller 150 sets a line parallel to the reference line L2 from the set start point as the automatic straight driving line L1. The start of automatic straight driving is the same as in the first mode.

[0090] In the second mode, if the orientation of the traveling vehicle body 2 remains within a predetermined range with respect to the orientation of the reference line L2 for a predetermined traveling distance or more, the start point of the automatic straight line L1 may be set.

[0091] The starting point of the automatic straight driving line L1 may be set when the steering angle condition described in the first mode and the direction condition described in the second mode are satisfied.

[0092] The third mode is a mode in which an automatic straight driving line L1 parallel to the reference line L2 is set based on the operation of the automatic travel lever 140. When the third mode is selected as the setting mode, the controller 150 sets the start point of the automatic straight driving line L1 by the first operation of the automatic travel lever 140. For example, the controller 150 sets the start point of the automatic straight driving line L1 by the first operation of the automatic travel lever 140 on the condition that the steering angle is within a predetermined straight line steering angle. In addition, the controller 150 sets the automatic straight driving line L1 in the next process based on the set start point. The controller 150 sets a line parallel to the reference line L2 from the set start point as the automatic straight driving line L1.

[0093] After setting the automatic straight driving line L1, the controller 150 starts automatic straight driving by operating the automatic driving lever 140 a second time.

[0094] In the third mode, the starting point of the automatic straight-line L1 may be set or automatic straight-line driving may be started by raising or lowering the automatic driving lever 140.

[0095] The fourth mode is a mode in which an automatic straight line L1 for the next process is set based on the deviation between a driving line L4 in the previous process and a reference line L5 that is parallel to the reference line L2 in the previous process. The reference line L5 in the fourth mode is shown in FIG. 6. FIG. 6 is a diagram showing an example of the reference line L5 in the fourth mode. When the fourth mode is selected as the setting mode, the controller 150 calculates the driving line L4 in the previous process.

[0096] The controller 150 stores position information of the start point of the automatic straight-line L1 (reference line L5) in the previous process and the end point of the work in the previous process, and calculates the line connecting the start point of the automatic straight-line L1 in the previous process and the end point of the work in the previous process as the driving line L4 in the previous process.

[0097] The travel line L4 in the previous process includes position information of the start point of the automatic straight line L1 in the previous process, position information of the work end point in the previous process, and information on the direction of the travel line L4. The work end point in the previous process is, for example, the point where the seedling planting unit 50 is raised to the non-working position.

[0098] The controller 150 calculates the deviation between the travel line L4 in the previous process and the reference line L5 in the previous process, specifically, the deviation between the orientation of the travel line L4 and the orientation of the reference line L5. Note that, in the previous process, when the traveling vehicle body 2 travels so as to coincide with the reference line L5, the deviation between the travel line L4 and the reference line L5 is zero.

[0099] The controller 150 sets a reference line L5 in the next process. For example, when the traveling vehicle body 2 is turning and the steering angle falls within a predetermined straight steering angle, the controller 150 starts measurement by a timer and measures the duration of the state in which the steering angle is within the predetermined straight steering angle. When the measured duration reaches a first predetermined time, the controller 150 determines that the traveling vehicle body 2 is ready to travel the next process. Then, the controller 150 sets the point where the duration reaches the first predetermined time as the start point of the reference line L5 in the next process. The method of setting the start point of the reference line L5 may be the same as the start point of the automatic straight line L1 in the second mode.

[0100] The controller 150 sets the automatic straight line L1 in the next process. The controller 150 sets the automatic straight line L1 so that it extends from the starting point of the reference line L5. The controller 150 sets the automatic straight line L1 in the next process so that the deviation between the reference line L5 in the next process and the automatic straight line L1 in the next process is smaller than the deviation calculated for the previous process. For example, the controller 150 sets the automatic straight line L1 in the next process so that the deviation between the reference line L5 in the next process and the automatic straight line L1 in the next process is a predetermined value smaller than the deviation calculated for the previous process. Thereby, when the traveling line L4 deviates from the reference line L5, the seedling transplanter 1 can gradually reduce the deviation that has occurred and bring the traveling line L4 of the traveling body 2 closer to the reference line L5.

[0101] The fifth mode is a mode in which the automatic straight driving line L1 of the next process is set based on the driving line L4 of the previous process. When the fifth mode is set as the setting mode, the controller 150 calculates the driving line L4 of the previous process in the same manner as the fourth mode.

[0102] For example, when the traveling vehicle body 2 is turning and the steering angle falls within a predetermined straight-line steering angle, the controller 150 starts measurement using a timer and measures the duration of the state in which the steering angle is within the predetermined straight-line steering angle. When the measured duration reaches a first predetermined time, the controller 150 determines that the traveling vehicle body 2 is ready to travel the next step. Then, the controller 150 sets the point where the duration reaches the first predetermined time as the start point of the automatic straight-line line L1 in the next step. Note that the method of setting the start point of the automatic straight-line line L1 may be the same as in the second mode.

[0103] The controller 150 sets the automatic straight driving line L1 in the next process to be curved with a preset curvature. The controller 150 may set the automatic straight driving line L1 in the fifth mode when the deviation between the driving line L4 in the previous process and the reference line L5 in the previous process is within a predetermined deviation. The predetermined deviation is a deviation set in advance. For example, the controller 150 prohibits automatic straight driving when the deviation between the driving line L4 in the previous process and the reference line L5 in the previous process is larger than the predetermined deviation.

[0104] The sixth mode is a mode for avoiding obstacles in a field. The controller 150 sets an automatic straight-line L1 in the next process, avoiding an area where an obstacle is present. For example, the controller 150 calculates an automatic straight-line L1 that is an integer multiple of the width of the traveling vehicle body 2 away from the automatic straight-line L1 in the previous process. The controller 150 extracts an automatic straight-line L1 that can avoid an area where an obstacle is present from among the calculated automatic straight-line lines L1. Then, the controller 150 sets the automatic straight-line L1 with the smallest integer among the extracted automatic straight-line lines L1 as the automatic straight-line L1 in the next process.

[0105] The controller 150 displays the set straight line for the next process on the monitor 33. As a result, for example, when an operator moves the traveling vehicle body 2 to the automatic straight line L1 for the next process displayed on the monitor 33, the controller 150 starts automatic straight traveling.

[0106] When automatic straight-ahead driving in the next process is started, the controller 150 erases the information about the automatic straight-ahead line L1 in the previous process.

[0107] Next, a process for setting the automatic straight driving line L1 according to the embodiment will be described with reference to Fig. 7. Fig. 7 is a flowchart for explaining the process for setting the automatic straight driving line L1 according to the embodiment.

[0108] The controller 150 displays a plurality of modes for setting the automatic straight line L1 on the monitor 33 (S100).

[0109] The controller 150, in response to an operation by an operator, sets the setting mode for setting the automatic straight driving line L1 to the mode selected by the operator (S101).

[0110] The seedling transplanter 1 includes a traveling body 2, a GNSS unit 120, and a controller 150. The GNSS unit 120 detects the position of the traveling body 2. The controller 150 makes the traveling body 2 automatically travel straight along the automatic straight line L1 based on the detected position of the traveling body 2. The controller 150 has a plurality of modes for setting the automatic straight line L1. The controller 150 sets the automatic straight line L1 by a setting mode selected from the plurality of modes.

[0111] This allows the operator to select from a plurality of modes how to set the automatic straight line L1 along which the traveling body 2 travels during automatic straight-line traveling. The operator can select the method of setting the automatic straight-line line L1 according to, for example, the state of the farm field. Therefore, the seedling transplanter 1 can increase the degree of freedom regarding automatic straight-line traveling, and can improve the operator's convenience regarding automatic straight-line traveling.

[0112] The seedling transplanter 1 includes a steering angle sensor 130. The steering angle sensor 130 detects the steering angle of the traveling body 2. When the setting mode is a first mode in which an automatic straight-line line L1 parallel to a reference line L2 is set based on the steering angle, the controller 150 sets a start point of the automatic straight-line line L1 when the steering angle is within a predetermined straight-line steering angle for a first predetermined time or more. When the traveling body 2 moves to a work position on the automatic straight-line line L1 set based on the start point, the controller 150 starts automatic straight-line traveling.

[0113] This allows the seedling transplanter 1 to start automatic straight-line travel in accordance with the position of the traveling body 2. Therefore, the seedling transplanter 1 can prevent automatic straight-line travel from being started due to, for example, a malfunction by an operator.

[0114] The seedling transplanter 1 includes a direction sensor 160. The direction sensor 160 detects the direction in which the traveling body 2 faces. When the setting mode is a second mode in which an automatic straight line L1 parallel to the reference line L2 is set based on the direction of the traveling body 2, the controller 150 sets the start point of the automatic straight line L1 when the state in which the detected direction is within a predetermined range with respect to the reference line L2 continues for a second predetermined time or more, or continues for a predetermined traveling distance or more. When the traveling body 2 moves to a work position on the automatic straight line L1 set based on the start point, the controller 150 starts automatic straight traveling.

[0115] This allows the seedling transplanter 1 to start automatic straight-line travel in accordance with the position of the traveling body 2. Therefore, the seedling transplanter 1 can prevent automatic straight-line travel from being started due to, for example, a malfunction by an operator.

[0116] When the setting mode of the seedling transplanter 1 is the third mode in which an automatic straight-line L1 parallel to the reference line L2 is set based on the operation of the automatic travel lever 140, the starting point of the automatic straight-line line L1 is set by the first operation of the automatic travel lever 140, and automatic straight-line travel is started by the second operation of the automatic travel lever 140.

[0117] This allows the operator to decide where to start the automatic straight-line travel while checking the field conditions. In other words, the seedling transplanter 1 can set the start location of the automatic straight-line travel, reflecting the operator's intention. Therefore, the seedling transplanter 1 can improve the operator's convenience regarding the automatic straight-line travel.

[0118] When the setting mode is a fourth mode in which the automatic straight line L1 of the next process is set based on the deviation between the travel line L4 of the previous process and the reference line L5 of the previous process that is parallel to the base line L2, the seedling transplanter 1 calculates the deviation between the travel line L4 of the previous process and the reference line L5 of the previous process. The controller 150 sets the automatic straight line L1 of the next process so that the deviation from the reference line L5 of the next process is smaller than that of the previous process.

[0119] This allows the seedling transplanter 1 to gradually reduce the deviation of the actual running line L4 from the reference line L5 when the actual running line L4 deviates from the reference line L5. Therefore, even if the actual running line L4 deviates from the reference line L5, the seedling transplanter 1 can correct the deviation from the reference line L5 and perform work along the reference line L5 that is parallel to the base line L2.

[0120] When the setting mode is the fifth mode in which the automatic straight line L1 of the next process is set based on the travel line L4 in the previous process, the seedling transplanter 1 sets a curved automatic straight line L1 of the next process.

[0121] Thereby, the seedling transplanter 1 can freely set the automatic straight line L1, and can set various routes for the automatic straight line L1.

[0122] When the setting mode of the seedling transplanter 1 is a sixth mode for avoiding obstacles, the automatic straight-line L1 is set at a position that is an integer multiple of the width of the traveling body 2 away from the automatic straight-line L1 in the previous process, avoiding areas where obstacles are present.

[0123] This allows the seedling transplanter 1 to perform automatic straight-line travel while avoiding obstacles. Furthermore, when the seedling transplanter 1 performs automatic straight-line travel while avoiding obstacles, it can suppress the occurrence of unfinished work in the vicinity of the final straight-line travel in the predetermined work area G of the field. In other words, when the seedling transplanter 1 performs automatic straight-line travel while avoiding obstacles, it can suppress the occurrence of unfinished work at the edge of the predetermined work area G within the predetermined work area G. Therefore, the seedling transplanter 1 can perform work efficiently while avoiding obstacles.

[0124] When automatic straight-ahead driving in the next process is started, the controller 150 erases the information about the automatic straight-ahead line L1 in the previous process.

[0125] This allows the controller 150 to reduce the amount of data remaining in the storage unit, and also reduces the load on the controller 150 and the communication load.

[0126] The controller 150 may erase information about the automatic straight line L1 in the previous process when the seedling planting unit 50 attached to the traveling body 2 is raised to the non-working position for a predetermined holding time or more. The predetermined holding time is a time set in advance. The controller 150 may erase information about the automatic straight line L1 in the previous process when the seedling planting unit 50 attached to the traveling body 2 is raised to the non-working position.

[0127] This enables the controller 150 to prevent information about the automatic straight driving line L1 in the previous process from being erroneously used in the next process.

[0128] The controller 150 may erase the information of the automatic straight driving line L1 when the vehicle speed of the traveling vehicle body 2 becomes equal to or exceeds a predetermined vehicle speed, or when the traveling vehicle body 2 is operated to a gear position where the vehicle speed becomes equal to or exceeds a predetermined vehicle speed. The predetermined vehicle speed is a vehicle speed at which automatic straight driving cannot be accurately performed.

[0129] This makes it possible to suppress malfunctions of the seedling transplanter 1 during automatic straight-line driving, thereby improving safety.

[0130] The controller 150 may set the point where the seedling planting unit 50 descends to the ground work position after the traveling body 2 turns as the start point of the automatic straight line L1. Also, when the seedling planting unit 50 is lowered after the traveling body 2 turns, the controller 150 may set the point where the seedling planting unit 50 is lowered as the start point of the automatic straight line L1. When the planting clutch 500 is put into an operating state (on state), that is, when power transmission to the seedling planting unit 50 is started, the controller 150 may set the point where the planting clutch 500 is put into an operating state (on state) as the start point of the automatic straight line L1.

[0131] This makes it possible for the seedling transplanter 1 to be prevented from starting automatic straight-ahead travel when work is not being performed in a farm field, for example, when seedlings are not being transplanted.

[0132] The controller 150 may erase the automatic straight line L1 when the planting clutch 500 is in a non-operated state (disconnected state), that is, when the power transmission to the seedling planting unit 50 is stopped.

[0133] This makes it possible to prevent the seedling transplanter 1 from automatically traveling straight ahead when not in operation.

[0134] The controller 150 may update the start point of the automatic straight line L1 at every predetermined update time.

[0135] When the set mode is the third mode, the controller 150 may stop the automatic straight-line driving based on the third operation of the automatic driving lever 140. In this case, the information on the automatic straight-line driving line L1 is retained. The controller 150 resumes the automatic straight-line driving along the retained automatic straight-line L1 by a further operation (fourth operation) of the automatic driving lever 140.

[0136] Thereby, when an obstacle is encountered, for example, the seedling transplanter 1 can stop automatic straight-ahead travel, and after the operator operates the machine to avoid the obstacle, resume automatic straight-ahead travel.

[0137] The controller 150 may erase the information about the automatic straight driving line L1 when the automatic driving lever 140 is pressed and held down. The controller 150 may also erase the information about the automatic straight driving line L1 based on the third operation of the automatic driving lever 140.

[0138] When the setting mode is the third mode, the controller 150 may start automatic straight-line traveling when the automatic straight-line line L1 is set and the vehicle speed of the traveling vehicle body 2 becomes equal to or higher than a predetermined vehicle speed set in advance.

[0139] When the setting mode is the third mode, the controller 150 may start automatic straight-line driving when an automatic straight-line line L1 is set, the vehicle speed of the traveling vehicle body 2 becomes equal to or exceeds a predetermined vehicle speed set in advance, the orientation of the traveling vehicle body 2 becomes the automatic straight-line line L1, and the steering angle is within a predetermined straight-line steering angle.

[0140] When the setting mode is the third mode, the controller 150 may start automatic straight-line driving when an automatic straight-line line L1 is set, the vehicle speed of the traveling body 2 becomes equal to or exceeds a predetermined vehicle speed set in advance, the orientation of the traveling body 2 becomes the automatic straight-line line L1, the steering angle is within a predetermined straight-line steering angle, and the seedling planting unit 50 has descended to a ground work position.

[0141] When the setting mode is the third mode, the controller 150 may stop the automatic straight-line traveling if the above conditions are not satisfied within a predetermined time (for example, 0.5 seconds) after the automatic straight-line traveling starts. This allows the seedling transplanter 1 to improve safety.

[0142] For example, when the work vehicle is a combine harvester 400 as shown in FIG. 8, the GNSS unit 401 acquires position information of the combine harvester 400. FIG. 8 is a schematic diagram of the combine harvester 400. The combine harvester 400 is capable of automatic travel based on the position information. The controller 402 of the combine harvester 400 detects the direction of lodging (lodging state) of the crop from an image captured by an imaging device 403, for example, a camera. The lodging direction is the direction of the head of the crop, and is the direction from the root of the crop to the head. The imaging device 403 may be provided in a device other than the combine harvester 400. The imaging device 403 may be provided in, for example, a drone. The imaging device 403 may be a satellite device. The image for detecting the direction of lodging of the crop may be captured by a satellite device.

[0143] The controller 402 displays on the monitor a recommended direction in which the combine harvester 400 (traveling body 2) should advance during automatic straight-line travel in accordance with the direction in which the crop has fallen. The recommended direction is the direction in which the combine harvester 400 moves from the root side of the fallen crop toward the tip side to perform "additional cutting."

[0144] That is, the controller 402 detects the direction in which the crop has fallen by applying a predetermined image processing to the image captured by the imaging device 403. Then, the controller 402 sets a recommended direction for the combine harvester 400 to perform additional cutting of the fallen crop, and displays the recommended direction on the monitor.

[0145] This allows the combine 400 to move in the recommended direction relative to the fallen crops, thereby reducing the occurrence of jams.

[0146] The combine harvester 400 may generate a travel route in the field so as to automatically travel straight along the recommended direction, and may automatically travel along the generated travel route.

[0147] The combine harvester 400 may capture a wide range of images in the left and right directions of the combine harvester 400 using the imaging device 403 while traveling. The controller 402 detects the fallen state of crops in an area adjacent to the area currently being harvested from the captured images. The controller 402 then compares the detected direction of the fallen crops with the planned travel route, and sets (changes) the travel route so as to re-cut the fallen crops.

[0148] When there is a fallen crop, the controller 402 prioritizes the travel route of the combine harvester 400 based on the direction of the fallen crop. The controller 402 classifies the direction of the fallen crop in the captured image into four categories: (1) approximately the same direction, (2) within a specified angle (e.g., 45 degrees), (3) greater than the specified angle, and (4) approximately perpendicular to the current reaping direction.

[0149] The controller 402 assigns the highest priority to a travel route that cuts the crops. In addition, when the direction of the tips of the tractors is perpendicular to the direction of the tractors, the controller 402 assigns a higher priority to a travel route in which the tips of the tractors lie on the uncut side than a travel route in the opposite direction. The controller 402 assigns the lowest priority to a travel route in which the tips of the tractors are oriented at less than a specified angle, resulting in opposite-side cutting. The controller 402 does not set a travel route in which the tips of the tractors are oriented at 45 degrees or more, resulting in opposite-side cutting.

[0150] When it is difficult to determine the direction of the tip, such as in a spiral, the controller 402 uses the direction of entry that has the best worst-case conditions within the range of the mowing width of the travel route as the determination criterion. The controller 402 then sets priorities according to the condition ranks of the determined angles, etc.

[0151] The controller 402 sets a predetermined work area G where the combine harvester 400 will work, and detects the direction of lodging of the crop after creating a normal travel route in the predetermined work area G when there is no lodging. Then, when there is lodging of the crop, the controller 402 sets a travel route for travel when the crop is lodged based on the detected direction of lodging of the crop.

[0152] The controller 402 performs map matching on data relating to the fallen areas of crops, including the falling direction, in the predetermined work area G. The controller 402 generates a travel route based on the results of the map matching.

[0153] When the automatic traveling vehicle travels through an area where crops are fallen, the controller 402 sets the vehicle speed to be slower than in an area where crops are not fallen. When the automatic traveling vehicle travels through an area where crops are fallen, the controller 402 sets the vehicle speed to, for example, a predetermined vehicle speed.

[0154] When the combine 400 is to travel back for uncut work after the cut-off travel before entering the cut-off location of the next trip, the controller 402 sets a travel route for automatic travel so as to avoid traveling through the same location. This allows the combine 400 to prevent the ground from becoming rough in areas where the crops have fallen, such as areas where the ground is loose. Therefore, the combine 400 can prevent the efficiency of cutting the fallen crops from decreasing. In addition, the combine 400 can prevent the unevenness of the field from increasing when the field dries.

[0155] The controller 402 assigns a ranking, for example, of about four levels to the travel route in the area where the crops have fallen. Then, if the travel route has a low ranking but is capable of reciprocating harvesting, the controller 402 selects the travel route with the low ranking. This allows the combine harvester 400 to shorten the work time.

[0156] The combine harvester 400 performs the harvesting operation while measuring the yield in the rice tank. When the rice tank becomes full, the controller 402 moves to a predetermined discharge position, discharges rice from the rice tank, and continues the harvesting operation. The predetermined discharge position is estimated based on the travel distance of the travel route of the next process, which is based on the travel distance of the harvesting operation up to the first discharge operation. The predetermined discharge position is set near the estimated position where the rice tank becomes full during automatic travel on one side of the field.

[0157] The controller 402 sets a predetermined discharge position, and when the rice tank becomes full, generates a route to move to the predetermined discharge position. The controller 402 stands by the predetermined discharge position when there is no lodging, and changes the predetermined discharge position when the travel route is changed when there is lodging. When changing the predetermined discharge position, the controller 402 changes the predetermined discharge position by the same method as the above method. Note that the predetermined discharge position that is changed when there is lodging is not positioned toward the predetermined discharge position by the width of the fallen part.

[0158] Further advantages and modifications may readily occur to those skilled in the art. Thus, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof. [Explanation of symbols]

[0159] 1 Seedling transplanter 2 Running vehicle 33 Monitor 120 GNSS unit (positioning device) 140 Automatic driving lever 150 Controller 160 Orientation Sensor 170 Inertial Positioning System 400 Combine 401 GNSS unit (positioning device) 402 Controller 403 Imaging Device L1 Automatic straight line L2 Reference Line L4 Driving Line L5 Reference Line

Claims

1. A running vehicle body, A position measuring device for detecting the position of the traveling vehicle body; a control device that automatically drives the traveling vehicle body along a straight line based on the detected position of the traveling vehicle body; Equipped with The control device includes: a plurality of modes for setting the straight line; The work vehicle sets the straight line according to a setting mode selected from the plurality of modes.

2. A steering angle sensor is provided to detect a steering angle of the vehicle body. The control device includes: When the setting mode is a mode for setting the straight line parallel to a reference line based on the steering angle, if the steering angle is within a predetermined straight line steering angle for a predetermined period of time or more, a start point of the straight line is set, The work vehicle according to claim 1 , wherein the automatic traveling is started when the traveling body moves to a work position on the straight line that is set based on the start point.

3. A direction sensor is provided to detect the direction in which the traveling vehicle body is facing, The control device includes: When the setting mode is a mode for setting the straight line parallel to a reference line based on the orientation of the traveling vehicle body, if a state in which the detected orientation is within a predetermined range with respect to the reference line continues for a predetermined time or more or continues for a predetermined traveling distance or more, a start point of the straight line is set, The work vehicle according to claim 1 , wherein the automatic traveling is started when the traveling body moves to a work position on the straight line that is set based on the start point.

4. The control device includes:

2. The work vehicle according to claim 1, wherein when the setting mode is a mode in which the straight line parallel to a reference line is set based on the operation of an automatic driving lever, a first operation of the automatic driving lever sets a starting point of the reference line, and a second operation of the automatic driving lever starts the automatic driving.

5. The control device includes: When the setting mode is a mode in which the straight line of the next stroke is set based on a deviation between a driving line in a previous stroke and a reference line in the previous stroke that is parallel to a reference line, a deviation between the driving line in the previous stroke and the reference line in the previous stroke is calculated; The work vehicle according to claim 1 , wherein the straight line of the next stroke is set so that a deviation of the straight line from the reference line of the next stroke is smaller than that of the previous stroke.

6. The control device includes: The work vehicle according to claim 1 , wherein when the setting mode is a mode in which the straight line of the next process is set based on a traveling line in a previous process, the straight line of the next process is set to be curved.

7. The control device includes:

2. The work vehicle according to claim 1, wherein when the set mode is an obstacle avoidance mode, the straight line is set at a position that is an integer multiple of the width of the traveling vehicle body away from the straight line in the previous stroke, avoiding an area where an obstacle is present.

8. The work vehicle according to claim 1 , wherein the control device erases the information about the straight line in the previous journey when automatic traveling in the next journey is started.

9. 2. The work vehicle according to claim 1, wherein the control device erases information about the straight line in a previous process when a working machine attached to the traveling body is kept raised to a non-working position for a predetermined holding time or longer.

10. The control device includes: A state of lodging of crops is detected from an image captured by an imaging device; The work vehicle according to claim 1 , wherein a recommended direction in which the traveling vehicle body should advance during the automatic traveling is displayed according to a direction in which crops have fallen.

Images