Automated travelling method

Abstract

To provide an automated travelling method, a work vehicle, and an automated travelling system capable of improving workability by simplifying operations.SOLUTION: A combine 1 includes a control device 50, and the control device 50 functions as an automated travelling unit 55 and a switching unit 57. The automated travelling unit 55 executes automated travelling of the combine 1 in automated straight travelling work. The switching unit 57 switches the automated travelling of the combine 1 to manual travelling upon detection of a shift from an unreaped area to a reaped area during the automated travelling.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to an automatic driving method capable of switching between manual driving and automatic driving. [Background technology]

[0002] 2. Description of the Related Art Conventionally, some work vehicles such as combine harvesters are configured to enable manual travel in response to the operation of a handle or the like, while others are configured to enable automatic travel based on a preset travel route or the like.

[0003] For example, the agricultural working machine disclosed in Patent Document 1 is equipped with a running body that can be switched between manual driving using manual steering and automatic driving using automatic steering along a set driving line that is set parallel to a reference driving line, and a changeover switch that can be switched between manual driving and automatic driving. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2017-123803 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the conventional work vehicle described above, when switching from automatic to manual driving, the operation of changing the driving state or working state during automatic driving to another state may be accompanied. In this case, in addition to the switching operation to manual driving using the above-mentioned changeover switch, it is necessary to perform an operation to change the driving state or working state, which makes the operation complicated. For example, when the work vehicle works to the end of one step in the uncut area by automatic driving and then moves to another step, it is necessary to control the working machine to rise from the working position to the standby position, so in addition to the switching operation from automatic to manual driving, it is necessary to perform an operation to raise the working machine, and further, a turning operation or a gear change operation may be performed. In such a case, at the end of the work of the step, the worker must perform a complicated operation, which puts a burden on the worker and reduces workability.

[0006] An object of the present invention is to provide an automated driving method, a work vehicle, and an automated driving system that can simplify operations and improve workability. [Means for solving the problem]

[0007] In order to solve the above problems, the automatic driving method of the present invention is an automatic driving method for a work vehicle equipped with a work machine, and is characterized in having an automatic driving process for performing automatic driving of the work vehicle during automatic straight-line operation, and a switching process for switching the automatic driving of the work vehicle to manual driving when a transition from an unworked area to a worked area is detected during execution of the automatic driving.

[0008] In addition, in order to solve the above problems, the work vehicle of the present invention is a work vehicle equipped with a work machine, and is characterized in that it comprises an automatic driving unit that performs automatic driving of the work vehicle by automatic straight-line operation along a predetermined set driving line, and a switching unit that switches the automatic driving of the work vehicle to manual driving when a transition from an unworked area to an already worked area is detected during the execution of the automatic driving.

[0009] In addition, in order to solve the above problems, the automatic driving system of the present invention is an automatic driving system for a work vehicle equipped with a work machine, and is characterized in that it comprises an automatic driving unit that performs automatic driving of the work vehicle by automatic straight-line operation along a predetermined set driving line, and a switching unit that switches the automatic driving of the work vehicle to manual driving when a transition from an unworked area to a worked area is detected during the execution of the automatic driving. Effect of the Invention

[0010] The present invention provides an automated driving method, a work vehicle, and an automated driving system that can simplify operations and improve workability. [Brief description of the drawings]

[0011] [Figure 1] 1 is a side view of an example in which a reaping unit of a combine harvester according to one embodiment of a work vehicle of the present invention is disposed at a working position. [Diagram 2] 1 is a side view of an example in which a reaping unit of a combine harvester according to one embodiment of a work vehicle of the present invention is disposed in a standby position. [Diagram 3] FIG. 2 is a plan view of a steering section of a combine harvester according to one embodiment of the work vehicle of the present invention. [Figure 4] FIG. 2 is a front view of a portion of a main shift lever of a combine harvester according to one embodiment of the work vehicle of the present invention. [Diagram 5] 1 is a block diagram of a combine harvester according to one embodiment of a work vehicle of the present invention. [Figure 6] 4 is a flowchart showing an example of a traveling operation of a combine harvester according to one embodiment of the work vehicle of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] A combine harvester 1 will be described with reference to Figs. 1 and 2 as a work vehicle according to an embodiment of the present invention. The combine harvester 1 travels in a field to be worked on by automatic or manual operation, and performs work such as reaping to harvest crops from stalks planted in the field. The combine harvester 1 is configured to perform, for example, automatic work (automatic straight-line work) in which steering is controlled by automatic operation, while the traveling speed is controlled in response to manual operation, and unmanned work in which steering and traveling speed are controlled by automatic operation, and can travel, turn, and work autonomously in the field.

[0013] The combine harvester 1 is set to one of a manual driving mode and an automatic driving mode. When the combine harvester 1 is set to the manual driving mode, the combine harvester 1 is configured to perform manual driving in response to the operation of the control unit 9 by an operator.

[0014] On the other hand, when the automatic travel mode is set, the combine harvester 1 is configured to perform an automatic straight-line operation in which the combine harvester automatically travels along a set travel line parallel to a predetermined reference travel line and automatically reaps, and an automatic reap operation in which the combine harvester automatically travels along a preset travel route and automatically reaps. The set travel line and travel route are created by a mobile terminal 60 (see FIG. 5) capable of communicating with the combine harvester 1, and the combine harvester 1 receives the set travel line and travel route from the mobile terminal 60.

[0015] As shown in Figures 1 and 2, the combine harvester 1 is a so-called normal type combine harvester, and includes a traveling section 2, a reaping section 3, a threshing section 4, a sorting section 5, a storage section 6, a straw waste processing section 7, a power section 8, and a steering section 9. The combine harvester 1 travels on the traveling section 2, threshes the stalks harvested by the reaping section 3 in the threshing section 4, sorts the grains in the sorting section 5, and stores them in the storage section 6. The combine harvester 1 processes the straw waste after threshing in the straw waste processing section 7. The combine harvester 1 drives the traveling section 2, the reaping section 3, the threshing section 4, the sorting section 5, the storage section 6, and the straw waste processing section 7 with power supplied by the power section 8.

[0016] The traveling unit 2 is provided below the machine frame 10, and includes a pair of left and right crawler-type traveling devices 11, and a transmission (not shown). The traveling unit 2 rotates the crawlers of the crawler-type traveling devices 11 using power (e.g., rotational power) transmitted from the engine 30 of the power unit 8, causing the combine 1 to travel in the forward / rearward direction and turn in the left / right direction. The transmission transmits the power (rotational power) of the power unit 8 to the crawler-type traveling devices 11, and can also change the speed of the rotational power.

[0017] The reaping unit 3 is a working machine that performs work on the target field, and is provided in front of the traveling unit 2. It reaps stalks of a predetermined reaping width in an area of ​​the field that has uncut stalks (hereinafter referred to as the uncut area) that is an unworked area of ​​the field. The reaping unit 3 includes a divider 13, a raking reel 14, a cutting blade 15, a raking auger 16, a feeder house 17, and a transport conveyor 18. The reaping unit 3 also includes a rotation detection unit 3a that detects the rotation speed (work speed) of the rotation work for performing the reaping work (see FIG. 5). The rotation detection unit 3a is composed of a rotation sensor that detects, for example, the rotation speed of the raking reel 14, the rotation speed of the raking auger 16, and the rotation speed of the transport conveyor 18.

[0018] The dividers 13 are provided protruding forward from the left and right front ends of the reaping unit 3, and guide the culms in the uncut area within the reaping width. The raking reel 14 is provided behind the dividers 13 and rotatably about a rotation axis extending in the left-right direction. In order to assist in the reaping of the culms guided by the dividers 13, the raking reel 14 is driven to rotate and raks the tip side of the culms while raising the culms, thereby assisting in the reaping of the culms guided by the dividers 13. The cutting blade 15 is provided below the raking reel 14 and cuts the base side of the culms raked in by the raking reel 14 to reaper the culms.

[0019] The raking auger 16 is disposed behind the raking reel 14 and the cutting blade 15, and is rotatable about a rotation axis extending in the left-right direction. The raking auger 16 rakes in the stalks cut by the cutting blade 15 and transports them rearward by being driven to rotate.

[0020] The feeder house 17 extends forward from the machine frame 10, is disposed behind the raking auger 16, and is supported by the machine frame 10 so as to be capable of ascending and descending. When the feeder house 17 ascends and descends, the divider 13, the raking reel 14, the cutting blade 15, and the raking auger 16 ascend and descend, i.e., the reaping unit 3 ascends and descends.

[0021] The combine harvester 1 is provided with a lifting device 19 on the machine frame 10, which lifts and lowers the feeder house 17 to lift and lower the reaping unit 3 between a lower working position (see FIG. 1) and an upper standby position (see FIG. 2). The lifting device 19 is composed of, for example, a hydraulic cylinder that is operated by receiving power from the engine 30.

[0022] The transport conveyor 18 is rotatably provided in the feeder house 17 and moves with the elevation of the feeder house 17. The transport conveyor 18 rotates to transport the stalks transported into the feeder house 17 by the raking auger 16 further rearward to the threshing section 4.

[0023] The threshing section 4 is provided behind the feeder house 17 of the reaping section 3, and threshes the stumps transported from the feeder house 17. The threshing section 4 includes a threshing drum 21 and a receiving net 22. The threshing drum 21 threshes grains from the stumps transported from the feeder house 17, and transports the threshed stumps, i.e., waste straw, to the straw waste processing section 7. The receiving net 22 supports the stumps transported by the threshing drum 21, and sieves and drops the grains.

[0024] The sorting section 5 is provided below the threshing section 4. The sorting section 5 includes an oscillating sorting device 24, an air blowing sorting device 25, a grain conveying device (not shown), and a straw dust discharge device (not shown). The oscillating sorting device 24 sifts the threshed grains that have fallen from the threshing section 4 to separate them into grains, straw dust, etc. The air blowing sorting device 25 further separates the threshed grains that have fallen from the threshing section 4 and the threshed grains that have been sorted by the oscillating sorting device 24 into grains, straw dust, etc. by blowing air. The grain conveying device transports the grains that have been sorted by the oscillating sorting device 24 and the air blowing sorting device 25 to the storage section 6. The straw dust discharge device discharges straw dust, etc. other than the grains that have been sorted by the oscillating sorting device 24 and the air blowing sorting device 25 to the outside of the machine.

[0025] The storage section 6 is provided to the right of the threshing section 4. The storage section 6 includes a grain tank 27 and a grain discharge device 28. The grain tank 27 stores the grains transported from the sorting section 5. The grain discharge device 28 is configured with a discharge auger and the like, and discharges the grains by discharging the grains stored in the grain tank 27 to any desired location.

[0026] The straw waste processing section 7 is provided behind the threshing section 4. The straw waste processing section 7 includes, for example, a straw waste conveying device (not shown) and a straw waste cutting device (not shown). The straw waste processing section 7 transports the straw transported from the threshing section 4 to the straw waste cutting device by the straw waste conveying device, cuts the straw by the straw waste cutting device, and discharges it to the rear of the combine 1.

[0027] The power unit 8 is provided above the traveling section 2 and below the storage section 6. The power unit 8 includes an engine 30 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 30 to the traveling section 2, the reaping section 3, the threshing section 4, the sorting section 5, the storage section 6, and the straw waste processing section 7. The combine 1 also includes a fuel tank that stores fuel to be supplied to the engine 30 of the power unit 8.

[0028] The control unit 9 is provided above the power unit 8. As shown in FIG. 3, the control unit 9 is provided with operating tools for operating the traveling of the combine harvester 1 around the driver's seat 32, which is a seat where an operator sits. The operating tools of the control unit 9 include a handle 33, which is a turning operating tool for instructing the turning of the body of the combine harvester 1, a main speed change lever 34 and a sub-speed change lever 35, which are speed change operating tools for instructing a change in the forward and backward speed of the combine harvester 1, and an override button 36 for switching the automatic traveling of the combine harvester 1 to manual traveling. The manual traveling of the combine harvester 1 is performed by the traveling unit 2 that receives the operation of the handle 33, the main speed change lever 34, and the sub-speed change lever 35 of the control unit 9. The control unit 9 also includes a mechanism for operating the reaping work by the reaping unit 3, the threshing work by the threshing unit 4, the discharge work by the grain discharge device 28 of the storage unit 6, and the like. The control unit 9 also includes a display unit (not shown) such as a monitor for displaying various information and outputting it to the operator.

[0029] The handle 33 transmits a turning operation by an operator to the traveling unit 2 to change the traveling direction of the combine harvester 1, i.e., to turn the combine harvester 1. For example, while the combine harvester 1 is being manually driven, the traveling unit 2 constantly accepts the turning operation of the handle 33 by the operator. On the other hand, while the combine harvester 1 is being automatically driven, the traveling unit 2 normally does not accept the turning operation of the handle 33 by the operator, but accepts the turning operation of the handle 33 when a predetermined override operation is performed. The handle 33 has a margin of about ±5 degrees in the rotation direction, and is configured not to transmit operations within this margin to the traveling unit 2. The margin of the handle 33 is not limited to ±5 degrees, and can be manually adjusted.

[0030] The main speed change lever 34 and the sub speed change lever 35 transmit the speed change operation by the operator to the traveling part 2 to change the set traveling speed of the combine harvester 1. For example, when the manual traveling mode is set, when the main speed change lever 34 is in the central neutral position 37, the transmission is switched to neutral to stop the combine harvester 1.

[0031] When the main speed change lever 34 is tilted to a forward speed change region 38 forward of the neutral position 37, the forward driving operation of the combine harvester 1 is transmitted to the traveling unit 2, and a forward set speed based on the forward operation amount according to the forward and rearward position of the main speed change lever 34 in the forward speed change region 38 and the set vehicle speed set by the mobile terminal 60 is set to the traveling unit 2. When the main speed change lever 34 is tilted forward within the forward speed change region 38, the forward set speed is increased, whereas when the main speed change lever 34 is tilted backward within the forward speed change region 38, the forward set speed is decreased. The forward set vehicle speed is set within a range of 0 to 100%, and different vehicle speeds can be set for manual driving and automatic driving. For example, when the set vehicle speed is 50% and the forward operation amount is 2 m / s, the forward set speed is set to 1 m / s. The combine harvester 1 may set the position of the main speed change lever 34 in the forward speed change region 38 as one of the conditions for starting automatic driving.

[0032] On the other hand, when the main speed change lever 34 is tilted to a reverse speed change region 39 rearward of the neutral position 37, it transmits the reverse travel operation of the combine harvester 1 to the traveling unit 2, and sets a reverse set speed to the traveling unit 2 based on the reverse operation amount according to the forward / rearward position of the main speed change lever 34 in the reverse speed change region 39 and the set vehicle speed set by the mobile terminal 60. When the main speed change lever 34 is tilted rearward within the range of the reverse speed change region 39, it increases the reverse set speed, whereas when the main speed change lever 34 is tilted forward within the range of the reverse speed change region 39, it decreases the reverse set speed. The set reverse vehicle speed is set within a range of 0 to 100%, and different vehicle speeds can be set for manual travel and automatic travel.

[0033] Further, the main speed change lever 34 has various operation buttons, for example, as shown in FIG. 4, it is configured to have an autolift button 40, an autoset button 41, a mowing lift button 42, and a mowing clutch button 43.

[0034] When the autolift button 40 is operated, an autolift operation is transmitted to the reaping unit 3, and the reaping unit 3 is controlled to rise to a standby position in response to the autolift operation. When the autoset button 41 is operated, an autoset operation is transmitted to the reaping unit 3, and the reaping unit 3 is controlled to rise or fall to a working position in response to the autoset operation. The standby position is initially set to a predetermined upper position, and the working position is initially set to a predetermined lower position, but the working position can be changed to a position above or below the initial setting position in response to the operator's operation of the reaping lift button 42, etc.

[0035] When the mowing lift button 42 is operated, a lifting operation or a lowering operation is transmitted to the mowing unit 3, and the mowing unit 3 is controlled to be lifted while the mowing lift button 42 is operated to be lifted, and is controlled to be lowered while the mowing lift button 42 is operated to be lowered. When the mowing clutch button 43 is operated, a power transmission operation or a cut-off operation is transmitted to the mowing unit 3, and power is transmitted to the mowing unit 3 in accordance with the transmission operation of the mowing clutch button 43, and power is cut off in accordance with the cut-off operation of the mowing clutch button 43.

[0036] 5, the combine harvester 1 includes a positioning unit 45 that acquires position information (vehicle position) of the combine harvester 1 using a satellite positioning system such as GPS. The positioning unit 45 receives a positioning signal from a positioning satellite via a positioning antenna, and acquires position information of the positioning unit 45, i.e., position information of the combine harvester 1, based on the positioning signal.

[0037] Next, the control device 50 of the combine harvester 1 will be described with reference to Fig. 5. The control device 50 is composed of a computer such as a CPU, and is connected to a storage unit 51 such as a ROM, a RAM, a hard disk drive, a flash memory, etc., and a communication unit 52 that communicates with external devices.

[0038] The storage unit 51 stores programs and data for controlling the various components and functions of the combine harvester 1, and the control device 50 controls the various components and functions by executing arithmetic processing based on the programs and data stored in the storage unit 51. The control device 50 acquires position information of the combine harvester 1, for example, by controlling the positioning unit 45.

[0039] The communication unit 52 is capable of wireless communication with external devices such as a mobile terminal 60 held by a worker via a wireless communication antenna. The control device 50 controls the communication unit 52 to wirelessly communicate with the mobile terminal 60 and transmits and receives various information to and from the mobile terminal 60.

[0040] Moreover, the control device 50 operates as an automatic driving unit 55, a work machine lifting unit 56, and a switching unit 57 by executing the programs stored in the memory unit 51. The automatic driving unit 55, the work machine lifting unit 56, and the switching unit 57 realize the automatic driving step, the work machine lifting step, and the switching step of the automatic driving method according to the present invention. The control device 50 realizes a vehicle position detection step of detecting the vehicle position of the combine harvester 1 by measuring the position information of the combine harvester 1 using the positioning unit 45.

[0041] The automatic driving unit 55 controls the driving unit 2 and the reaping unit 3 to perform an automatic straight-line operation in which the combine harvester 1 automatically reaps while automatically traveling along a set travel line parallel to a predetermined reference travel line set for the field, or an automatic reaping operation in which the combine harvester 1 automatically reaps while automatically traveling along a preset travel route. In this embodiment, an example of performing an automatic straight-line operation will be described. For example, the automatic driving unit 55 acquires a set travel line from the mobile terminal 60, and based on the position information of the combine harvester 1 measured by the positioning unit 45, controls the power unit 8, the driving unit 2, and the reaping unit 3 to perform an automatic straight-line operation in which the combine harvester 1 passes through the set travel line, thereby performing the automatic straight-line operation.

[0042] The working machine lifting unit 56 controls the lifting and lowering of the reaping unit 3, which is a working machine, in response to the lifting and lowering operation by the operating tool of the operation unit 9. For example, when the reaping unit 3 is located below the standby position, the working machine lifting unit 56 transmits an autolift operation to the reaping unit 3 in response to the operation of the autolift button 40, and controls the reaping unit 3 to rise to the standby position. When the reaping unit 3 is located above or below the working position, the working machine lifting unit 56 transmits an autoset operation to the reaping unit 3 in response to the operation of the autoset button 41, and controls the reaping unit 3 to fall or rise to the working position. The working machine lifting unit 56 transmits an up operation or down operation to the reaping unit 3 in response to the operation of the reaping up / down button 42, and controls the reaping unit 3 to rise or down to the working position.

[0043] The switching unit 57 realizes an override function for switching the combine harvester 1 between manual and automatic travel, and switches the automatic travel of the combine harvester 1 to manual travel when it detects that the combine harvester 1 has cut through an uncut area (unworked area) and moved from the uncut area to a cut area (worked area). The switching unit 57 switches the combine harvester 1 between manual and automatic travel based on the operation of the override button 36 or the lifting and lowering operation or lifting and lowering control of the reaping unit 3, and when the combine harvester 1 is running automatically, it detects the transition from the uncut area to the cut area in response to the operation of the override button 36 and switches the automatic travel of the combine harvester 1 to manual travel. The following describes the override function in which the switching unit 57 detects the transition from the uncut area to the cut area in response to the lifting and lowering operation or lifting and lowering control of the reaping unit 3 during automatic travel and switches the automatic travel of the combine harvester 1 to manual travel. For example, when the combine harvester 1 is performing automatic driving and the work implement lifting unit 56 performs a lifting operation of the cutting unit 3 or lifting control based on the lifting operation, the switching unit 57 detects a transition from an unmowed area to an already-mowed area and switches the automatic driving of the combine harvester 1 to manual driving.

[0044] Here, the lifting operation may be a lifting operation by the autolift button 40, and the switching unit 57 may switch the automatic travel of the combine harvester 1 to manual travel in response to the autolift operation of the autolift button 40, or in response to the lift control of the reaping unit 3 to a standby position based on the autolift operation. The lifting operation may also be a lifting operation by the reaping lift button 42, and the switching unit 57 may switch the automatic travel of the combine harvester 1 to manual travel when the reaping unit 3 is lifted to a predetermined height or higher by the lifting operation of the reaping lift button 42. In this way, the switching unit 57 switches the automatic travel of the combine harvester 1 to manual travel when it can be determined that the combine harvester 1 has worked to the end of one stroke of the uncut area in automatic travel based on the lifting operation or lift control of the reaping unit 3, or when the end of the stroke work is detected by other means.

[0045] As a first operation example of the override function, if a predetermined operation, such as a turning operation or a gear shift operation, using the operating tool of the steering unit 9 is not performed for a predetermined time or distance after the switching unit 57 switches the combine harvester 1 from automatic traveling to manual traveling, the control device 50 may control the traveling unit 2 to decelerate or stop the manual traveling of the combine harvester 1. On the other hand, if a predetermined operation is performed for a predetermined time or distance, the control device 50 maintains the manual traveling of the combine harvester 1.

[0046] Here, the predetermined time or the predetermined distance may be a value that is initially set in advance, or may be a value that is arbitrarily set in response to the operation of the mobile terminal 60 by the operator. The turning operation may be set to a turning operation when it is detected that the handlebar 33 is rotated by a predetermined angle threshold or more, or when the turning radius is equal to or smaller than a predetermined radius threshold, and the gear shifting operation may be set to a gear shifting operation when it is detected that the main shift lever 34 is tilted in the forward speed change region 38 or tilted into the reverse speed change region 39. The deceleration of the manual traveling may be performed by gradually or stepwise decreasing the traveling speed regardless of the position of the main shift lever 34. The stopping of the manual traveling may be performed by gradually or stepwise decreasing the traveling speed so that the traveling speed converges to zero regardless of the position of the main shift lever 34, or the transmission may be switched to neutral, or the engine 30 may be stopped.

[0047] The determination as to whether a turning operation or a speed change operation has been performed for a predetermined time or a predetermined distance may be performed by the control device 50, or may be performed by the portable terminal 60 and the determination result may be transmitted to the control device 50. In addition, when the manual travel of the combine 1 is slowed down or stopped because a turning operation or a speed change operation has not been performed, the display unit of the operation unit 9 or the portable terminal 60 may display and notify the user of the fact.

[0048] As a second operation example of the override function, when the reaping unit 3 is raised or controlled to be raised during automatic travel, the control device 50 may control travel depending on whether the direction of travel of the combine 1 is an unmowed area or a mowed area. For example, when the reaping unit 3 is raised during automatic travel, if the area in front of the vehicle position of the combine 1 is a mowed area, the work machine lifting unit 56 controls the reaping unit 3 to be raised based on the raising operation, and the switching unit 57 switches the automatic travel to manual travel. On the other hand, if the area in front of the vehicle position of the combine 1 is an unmowed area, the control device 50 stops the travel of the combine 1, and in this case, may control the reaping unit 3 to be raised based on the raising operation, or may not control the reaping unit 3 to be raised regardless of the raising operation.

[0049] Here, the control device 50 grasps the position of the combine harvester 1 in the field based on the position information of the combine harvester 1 measured by the positioning unit 45, and grasps the traveling direction of the combine harvester 1. The control device 50 also determines whether the area in front of the vehicle position of the combine harvester 1 is an unmowed area or a mowed area based on the unmowed area data and the already-mowed area data of the field information held by the mobile terminal 60. Alternatively, the control device 50 may determine whether the area in front of the vehicle position of the combine harvester 1 is an unmowed area or a mowed area by analyzing image data of the field taken by a camera provided on the combine harvester 1 or the mobile terminal 60. To stop traveling, the transmission may be switched to neutral regardless of the position of the main shift lever 34, or the engine 30 may be stopped.

[0050] The determination as to whether the area in front of the vehicle position of the combine harvester 1 is an unmowed area or a mowed area may be made by the control device 50, or may be made by the mobile terminal 60 and the determination result may be transmitted to the control device 50. In addition, when the combine harvester 1 is to be stopped because the area in front of the combine harvester 1 is an unmowed area, the fact may be displayed on the display unit of the operation unit 9 or the mobile terminal 60 to notify the user.

[0051] Next, in this embodiment, a return function will be described that switches the manual driving of the combine harvester 1 to automatic driving based on the lifting and lowering operation and lifting and lowering control of the reaping unit 3, which is the opposite of the override function described above. For example, when the combine harvester 1 sets a reference driving line for a farm field and performs automatic straight-line operation along a set driving line parallel to the reference driving line, the combine harvester 1 moves toward the edge of the unmowed area by manual driving with the reaping unit 3 raised to the standby position.

[0052] At this time, as a first operation example of the return function, when the traveling direction of the combine harvester 1 is within a predetermined angle with respect to the traveling direction of the reference traveling line, and a lowering operation or lowering control based on a lowering operation is performed to place the reaping unit 3 at a working position, the switching unit 57 switches the manual traveling to the automatic traveling. On the other hand, when the traveling direction of the combine harvester 1 is not within a predetermined angle with respect to the traveling direction of the reference traveling line, the manual traveling of the combine harvester 1 is maintained regardless of the lowering operation or lowering control of the reaping unit 3.

[0053] Here, the predetermined angle may be a value that is initially set in advance, or may be a value that is arbitrarily set in response to the operation of the mobile terminal 60 by the operator. The lowering operation may be a lowering operation by the autoset button 41, and the switching unit 57 may switch the manual traveling of the combine harvester 1 to automatic traveling in response to the autoset operation or in response to the lowering control of the reaping unit 3 to the working position based on the autoset operation. The lowering operation may also be a lowering operation by the reaping lift button 42, and the switching unit 57 may switch the manual traveling of the combine harvester 1 to automatic traveling when the reaping unit 3 is lowered to the working position by the lowering operation of the reaping lift button 42. In the switched automatic traveling, the automatic traveling unit 55 performs an automatic straight traveling operation along a set traveling line parallel to the reference traveling line. For example, the mobile terminal 60 may acquire the position information of the combine harvester 1 measured by the positioning unit 45 from the combine harvester 1, and set the set traveling line based on the position information of the combine harvester 1 and the reference traveling line.

[0054] In addition, the determination as to whether the traveling direction of the combine 1 is within a specified angle with respect to the traveling direction of the reference traveling line may be made by the control device 50, or may be made by the mobile terminal 60 and the determination result may be transmitted to the control device 50.

[0055] As a second operation example of the return function, the combine harvester 1 sets a recommended driving line parallel to the reference driving line for the uncut area. Then, when a lowering operation or a lowering control based on a lowering operation is performed to place the reaping unit 3 at a work position and the manual driving of the combine harvester 1 is switched to automatic driving by the switching unit 57, if the combine harvester 1 is within a predetermined range from the recommended driving line in a direction perpendicular to the driving direction of the reference driving line, the combine harvester 1 sets the recommended driving line to the set driving line. The automatic driving unit 55 performs automatic driving (automatic straight-line operation) along the set driving line, which is the recommended driving line. On the other hand, if the combine harvester 1 is not within a predetermined range from the recommended driving line, for example, the automatic driving unit 55 performs automatic driving (automatic straight-line operation) along the set driving line based on the vehicle position of the combine harvester 1.

[0056] Here, the recommended travel line may be set to a course starting from the left rear end of the uncut area based on the travel direction of the reference travel line, for example. The predetermined range may be a value that is initially set in advance, or may be a value that is arbitrarily set in response to the operation of the mobile terminal 60 by the operator. The predetermined range may be set to several tens of centimeters depending on the width of the reaping part 3 of the combine harvester 1, and may be set to about 50 cm, for example, when the width of the reaping part 3 of the combine harvester 1 is 3 m.

[0057] The determination of whether the combine harvester 1 is within a predetermined range from the recommended travel line may be performed by the control device 50, or may be performed by the mobile terminal 60, and the determination result may be transmitted to the control device 50. When the recommended travel line based on the uncut area is set, the vehicle position of the combine harvester 1 and the recommended travel line may be displayed superimposed on the field map displayed on the display unit of the operation unit 9 or the mobile terminal 60. Furthermore, in the automatic straight-line operation, the operator may be allowed to select whether to use the recommended travel line based on the uncut area or the set travel line based on the vehicle position of the combine harvester 1, and this selection may be made in advance before starting the automatic straight-line operation, or may be made possible when the recommended travel line is set.

[0058] The mobile terminal 60 is one of the components of the combine harvester 1 and is a terminal capable of remotely controlling the combine harvester 1, and is configured, for example, as a tablet terminal equipped with a touch panel or a notebook personal computer. An operation device similar to the mobile terminal 60 may be provided in the control unit 9. In the present invention, the combine harvester 1 and the mobile terminal 60 configure an automatic driving system.

[0059] 5, the mobile terminal 60 includes a control device 61 configured with a computer such as a CPU, and the control device 61 is connected to a storage unit 62 such as a ROM, a RAM, a hard disk drive, a flash memory, and a communication unit 63 that communicates with external devices. The mobile terminal 60 also includes a display unit such as a touch panel or a monitor for displaying various information and outputting it to the worker, and an input unit such as a touch panel or operation keys for receiving input operations of various information from the worker. For example, the mobile terminal 60 displays a screen (for example, a home screen or a mode setting screen) on the display unit that allows the user to set the driving mode of the combine harvester 1 to either the manual driving mode or the automatic driving mode, and transmits the driving mode set in response to the operation of the worker to the combine harvester 1.

[0060] The storage unit 62 stores programs and data for controlling various components and functions of the mobile terminal 60, and the control device 61 executes arithmetic processing based on the programs and data stored in the storage unit 62 to control various components and functions of the mobile terminal 60. The storage unit 62 stores, for example, field information of the field on which the combine harvester 1 is to work. The field information includes the shape, size, and position information (coordinates, etc.) of the field edge that constitutes the periphery of the field, and the shape, size, and position information (coordinates, etc.) of the work area of ​​the field. The field information also includes unmowed area data and already-mowed area data in the field. The unmowed area data is initially set to the entire field, and the area in which the combine harvester 1 has performed mowing travel by manual or automatic travel is changed from the unmowed area data to already-mowed area data.

[0061] The communication unit 63 is communicatively connected to the communication unit 52 of the combine harvester 1 via a wireless communication antenna. The control device 61 controls the communication unit 63 to perform wireless communication with the combine harvester 1 and transmits and receives various information to and from the combine harvester 1.

[0062] The control device 61 of the mobile terminal 60 executes the programs stored in the memory unit 62 to operate as a reference driving line setting unit 65, a set driving line setting unit 66, a recommended driving line setting unit 67, and a work display unit 68. The reference driving line setting unit 65, the set driving line setting unit 66, the recommended driving line setting unit 67, and the work display unit 68 realize the reference driving line setting step, the set driving line setting step, the recommended driving line setting step, and the work display step of the automatic driving method according to the present invention.

[0063] The reference driving line setting unit 65 sets a reference driving line that indicates the driving direction of the automatic straight-line operation of the combine harvester 1. In order to set a reference driving line consisting of a start point and an end point for the field, the reference driving line setting unit 65 is capable of accepting the setting of a start point and an end point in the field, and displays, for example, a reference driving line setting screen (not shown) on the display unit, on which the start point and the end point can be set, during manual driving in the field.

[0064] When the reference travel line setting unit 65 accepts the setting of the start point, it receives from the combine harvester 1 the position information of the combine harvester 1 measured by the positioning unit 45 of the combine harvester 1 at that time, and sets the start point based on the position information. Also, when the reference travel line setting unit 65 accepts the setting of the end point, it receives from the combine harvester 1 the position information of the combine harvester 1 measured by the positioning unit 45 of the combine harvester 1 at that time, and sets the end point based on the position information.

[0065] The set travel line setting unit 66 sets a set travel line parallel to the reference travel line based on the reference travel line. The set travel line setting unit 66 allows the setting of the set travel line to be accepted, and displays, for example, a set travel line setting screen (not shown) on the display unit that allows the user to instruct the setting of the set travel line.

[0066] For example, when the set driving line setting unit 66 accepts the setting of a set driving line, it receives from the combine 1 the position information of the combine 1 measured at that time by the positioning unit 45 of the combine 1, sets a straight line that is parallel to the reference driving line and passes through the vehicle position of the combine 1 as the set driving line, stores it in the memory unit 62, and also transmits it to the control device 50 of the combine 1.

[0067] The recommended driving line setting unit 67 sets a recommended driving line parallel to the reference driving line for the uncut area of ​​the field. The recommended driving line setting unit 67 may set the recommended driving line so that the automatic straight-line operation is performed in sequence from the end of the uncut area based on the uncut area data of the field information. For example, the recommended driving line is set to a process starting from the left rear end of the uncut area based on the driving direction of the reference driving line, and the recommended driving line is stored in the memory unit 62 and transmitted to the control device 50 of the combine 1.

[0068] The work display unit 68 displays a work screen related to the automatic straight-line work performed by the combine harvester 1 on the display unit. For example, the work display unit 68 displays a field map based on the field information on the work screen, and displays an uncut area and a cut area based on the field information, superimposed on the field map. The work display unit 68 displays the reference travel line set by the reference travel line setting unit 65 superimposed on the field map, and when a set travel line is set by the set travel line setting unit 66, displays the set travel line superimposed on the field map. In addition, the work display unit 68 receives from the combine harvester 1 the position information of the combine harvester 1 measured by the positioning unit 45 of the combine harvester 1, and displays a simulated image of the combine harvester 1 on the field map based on the position information of the combine harvester 1. Furthermore, when a recommended travel line is set by the recommended travel line setting unit 67, the work display unit 68 displays the recommended travel line superimposed on the field map together with the set travel line.

[0069] Next, an example of the operation of the override function of the combine 1 will be described with reference to the flowchart of FIG.

[0070] First, the operator operates the portable terminal 60 of the combine harvester 1 to set a reference travel line indicating the travel direction for the automatic straight-line operation of the combine harvester 1 using the reference travel line setting unit 65 (step S1).

[0071] The operator manually drives the combine harvester 1 to the edge of the uncut area of ​​the field, then operates the autoset button 41 or the reaping lift button 42 to lower the reaping unit 3 to the work position using the work machine lift unit 56, and instructs the setting of a set travel line by operating the mobile terminal 60. Then, in the mobile terminal 60, the set travel line setting unit 66 sets a set travel line parallel to the reference travel line (step S2).

[0072] When the worker operates the portable terminal 60 to instruct the automatic straight-line operation, an instruction to start the automatic straight-line operation and a set travel line are transmitted from the portable terminal 60 to the combine harvester 1. When the control device 50 of the combine harvester 1 receives the instruction to start the automatic straight-line operation and the set travel line from the portable terminal 60, the control device 50 controls the combine harvester 1 by the automatic travel unit 55 so as to perform the automatic straight-line operation along the set travel line (step S3).

[0073] When the automatic straight travel operation for one stroke of the set travel line is completed, the operator operates the autolift button 40 or the reaping lift button 42 to raise the reaping unit 3 to the standby position by the work machine lift unit 56 (step S4: Yes). Then, the switching unit 57 of the control device 50 detects the transition from the unmowed area to the already-mowed area, and switches the automatic travel of the combine 1 to manual travel in response to the lift operation of the reaping unit 3 or the lift control based on the lift operation (step S7).

[0074] Even if the autolift button 40 or the reaping lift button 42 is not raised (step S4: No), if the operator operates the override button 36 (step S5: Yes), the switching unit 57 detects a transition from an unmowed area to a already-mowed area and switches the combine harvester 1 from automatic driving to manual driving (step S7). Also, if an override operation other than the above is performed on the combine harvester 1 (step S6: Yes), the switching unit 57 switches the combine harvester 1 from automatic driving to manual driving (step S7).

[0075] The operator operates the combine harvester 1 that has been switched to manual driving in this manner, and moves the combine harvester 1 to the next process. If no override operation is performed on the combine harvester 1 (step S4: No, step S5: No, step S6: No), the combine harvester 1 continues automatic driving.

[0076] As described above, according to this embodiment, the combine harvester 1, which is an example of a work vehicle, includes the control device 50, and the control device 50 functions as the automatic driving unit 55 and the switching unit 57. The automatic driving unit 55 executes automatic driving of the combine harvester 1 in an automatic straight-line operation. The switching unit 57 switches the automatic driving of the combine harvester 1 to manual driving when a transition from an uncut area (unworked area) to a cut area (cut area) is detected during automatic driving. Specifically, in the combine harvester 1, the control device 50 functions as the working machine lifting unit 56, which controls the lifting and lowering of the cutting unit 3 in response to the lifting and lowering operation of the cutting unit 3, which is a working machine, and the switching unit 57 detects a transition from the uncut area to the cut area when the cutting unit 3 is lifted based on the lifting operation of the cutting unit 3.

[0077] As a result, when the combine harvester 1 works in an uncut area to the end of the first step in the automatic driving mode and detects a transition to a cut area, the operator can switch to manual driving and move the combine harvester 1 to the next step without performing complicated operations. At this time, the operator can control the lifting of the reaping unit 3 simply by operating to raise the reaping unit 3, and automatically switch from automatic driving to manual driving. This reduces the operator's operational burden and improves workability.

[0078] In the combine harvester 1 of this embodiment, after detecting a transition from an unmowed area to a already-mowed area and switching from automatic driving to manual driving, if the combine harvester 1 is not turned or its speed is not changed for a specified time or distance, the control device 50 decelerates or stops the manual driving of the combine harvester 1.

[0079] As a result, the combine 1 automatically decelerates or stops when the combine 1 is in the switched-to manual driving mode if no turning or speed change operation is performed, thereby improving safety.

[0080] Furthermore, in the combine harvester 1 of this embodiment, the control device 50 detects the vehicle position of the combine harvester 1 by measuring the position information of the combine harvester 1 using the positioning unit 45. The work vehicle of this embodiment is configured with the combine harvester 1 equipped with the harvester unit 3 as a work machine. When an operation to raise the harvester unit 3 is performed during automatic driving, if the area in front of the vehicle position is a previously mowed area, the control device 50 controls the raising of the harvester unit 3 based on the raising operation using the work machine lifting / lowering unit 56, and switches the automatic driving to manual driving using the switching unit 57.

[0081] As a result, when the area in front of the vehicle position is an area that has already been mowed, the combine harvester 1 can travel without performing mowing work, and the mowing unit 3 can be controlled to rise and automatically switch from automatic driving to manual driving, thereby preventing erroneous operation due to the situation in front of the combine harvester 1 and improving workability.

[0082] In addition, in the combine harvester 1 of this embodiment, when the operation to raise the cutting unit 3 is performed during automatic driving, the control device 50 may stop the combine harvester 1 if there is an uncut area in front of the vehicle position.

[0083] As a result, if the combine harvester 1 is in an unmowed area in front of its own vehicle position, it cannot travel unless it is performing mowing work. Therefore, when the mowing unit 3 is raised, the combine harvester 1 is stopped to prevent the mowing unit 3 from entering the unmowed area while remaining in an upward position. This prevents erroneous operation due to the situation in front of the combine harvester 1 and improves workability.

[0084] In the combine harvester 1 of this embodiment, the control device 50 includes a mobile terminal 60, which functions as a reference driving line setting unit 65 and a set driving line setting unit 66. The reference driving line setting unit 65 sets a reference driving line indicating the driving direction of the automatic straight-line operation, and the set driving line setting unit 66 sets a set driving line parallel to the reference driving line based on the reference driving line. When the control device 50 controls the lowering of the reaping unit 3 based on the lowering operation of the reaping unit 3 while the traveling direction of the combine harvester 1 is within a predetermined angle with respect to the driving direction of the reference driving line during manual driving, the control device 50 switches the manual driving to automatic driving by the switching unit 57.

[0085] As a result, the combine harvester 1 can control the lowering of the cutting unit 3 by simply aligning the direction of travel with the driving direction of the reference driving line and operating the lowering of the cutting unit 3, and can automatically switch from manual driving to automatic driving, thereby improving operability.

[0086] In the combine harvester 1 of this embodiment, the mobile terminal 60 functions as a recommended driving line setting unit 67. The recommended driving line setting unit 67 sets a recommended driving line parallel to the reference driving line for the uncut area. When the control device 50 controls the lowering of the reaping unit 3 to switch from manual driving to automatic driving, if the combine harvester 1 is within a predetermined range from the recommended driving line in a direction perpendicular to the driving direction of the reference driving line, the control device 50 sets the recommended driving line as the set driving line and executes automatic driving.

[0087] As a result, even if the combine harvester 1 is positioned away from the unmowed area, if it is within a specified range from the recommended driving line set in the unmowed area, it sets the recommended driving line as the set driving line and performs automatic driving. Therefore, automatic driving away from the unmowed area is not performed, and automatic driving is performed sequentially in the unmowed area, thereby improving workability.

[0088] In the above embodiment, an example has been described in which the autolift button 40, the autoset button 41, and the reaping lift button 42 are provided on the main speed change lever 34 of the control unit 9 in the combine harvester 1, but the present invention is not limited to this example. For example, in other examples, the autolift button 40, the autoset button 41, and the reaping lift button 42 may be provided on the control unit 9 somewhere other than the main speed change lever 34, and may be displayed on the display unit of the mobile terminal 60 so as to be operable.

[0089] In the above embodiment, an example has been described in which the override operation is the lifting operation of the autolift button 40, the autoset button 41, and the reaping lift button 42, or the operation of the override button 36 in the combine harvester 1, but the present invention is not limited to this example. For example, in another example, in addition to the lifting operation of the autolift button 40, the autoset button 41, and the reaping lift button 42, or the operation of the override button 36, the rotation operation of the handle 33, or the tilting operation of the main shift lever 34 or the sub shift lever 35 may be the override operation.

[0090] In the above embodiment, an example has been described in which the switching unit 57 detects a transition from an unmowed area to an already-mowed area when the mowing unit 3 is controlled to rise based on an operation to raise the mowing unit 3, but the present invention is not limited to this example. In another example, the switching unit 57 may detect a transition from an unmowed area to an already-mowed area based on the rotation speed (working speed) of the rotation work for the mowing unit 3 to perform the mowing work, and switch the automatic travel of the combine 1 to manual travel.

[0091] Specifically, the switching unit 57 detects and inputs the rotation speed of the rotation work for the reaping unit 3 to perform the reaping work by the rotation detection unit 3a of the reaping unit 3. For example, the rotation detection unit 3a detects the rotation speed of the raking reel 14, the raking auger 16, or the transport conveyor 18 of the reaping unit 3 as the rotation speed of the reaping unit 3 during the rotation work.

[0092] When the rotation speed (working speed) of the pick-up reel 14, the pick-up auger 16, or the transport conveyor 18 detected by the rotation detection unit 3a is equal to or lower than a predetermined rotation speed threshold (working speed threshold), the switching unit 57 determines that a work load is applied to the pick-up reel 14, the pick-up auger 16, or the transport conveyor 18, and that the combine harvester 1 is performing mowing work in an unmowed area. On the other hand, when the rotation speed of the pick-up reel 14, the pick-up auger 16, or the transport conveyor 18 detected by the rotation detection unit 3a exceeds a predetermined rotation speed threshold, the switching unit 57 determines that no work load is applied to the pick-up reel 14, the pick-up auger 16, or the transport conveyor 18, and that the combine harvester 1 is not performing mowing work in an already-mowed area.

[0093] When the rotational speed of the shoveling reel 14, the shoveling auger 16 or the transport conveyor 18 changes from a state below the rotational speed threshold to a state above the rotational speed threshold while the combine harvester 1 is running automatically, the switching unit 57 detects that the combine harvester 1 has passed through the unmowed area and moved from the unmowed area to the already-mowed area, and switches the automatic driving of the combine harvester 1 to manual driving.

[0094] In addition, when the switching unit 57 determines that the cutting unit 3 is in a state where a workload is applied to the cutting unit 3 and is in a state where no workload is applied to the cutting unit 3, it only needs to detect the transition from an unmowed area to an already-mowed area, and this determination may be made by other means, not limited to the detection result of the rotation speed of the rotation work of the cutting unit 3 by the rotation detection unit 3a.

[0095] In the above embodiment, an example has been described in which the work vehicle of the present invention is configured as a standard type combine harvester 1, but the present invention is not limited to this example, and the work vehicle of the present invention may be configured as any other work vehicle as long as it lowers the work implement and travels automatically when performing work, for example, a self-detaching type combine harvester, tractor, rice transplanter, lawnmower, etc.

[0096] Furthermore, the present invention can be modified as appropriate within the scope that does not contradict the gist or concept of the invention that can be read from the claims and the entire specification, and the automated driving method, work vehicle, and automated driving system that involve such modifications are also included in the technical concept of the present invention. [Explanation of symbols]

[0097] 1 Combine (work vehicle) 2 Running part 3 Reaping part 3a Rotation detector 9. Control Unit 19 Lifting device 34 Main gear shift lever 36 Override button 40 Autolift Button 41 Autoset button 42 Mowing lift button 45 Positioning Unit 50 Control device 55 Automatic driving section 56 Work equipment lifting section 57 Switching section 60 Mobile Devices 61 Control device 65 Reference driving line setting unit 66 Setting driving line setting section 67 Recommended driving line setting section 68 Operation display unit

Claims

1. A method for automatically traveling a work vehicle equipped with a work machine, comprising: an automatic driving step of executing automatic driving of the work vehicle; A switching step of switching the manual driving of the work vehicle to the automatic driving; a work machine lifting process for controlling the lifting and lowering of the work machine in response to a lifting and lowering operation of the work machine; A reference driving line setting process for setting a reference driving line that indicates a driving direction for an automatic straight driving operation; having An automatic driving method characterized in that, when the manual driving is being performed and the direction of travel of the work vehicle is within a predetermined angle with respect to the driving direction of the reference driving line, a descent control is performed based on a lowering operation or a lowering operation of the work machine, and the manual driving is switched to the automatic driving by the switching process.

2. The automatic driving method as described in claim 1, characterized in that it includes a set driving line setting process for setting a set driving line parallel to the reference driving line based on the reference driving line.

3. An automatic driving method as described in claim 2, wherein the set driving line setting process sets as the set driving line a straight line that is parallel to the reference driving line and is based on the vehicle position of the work vehicle at the time the setting of the set driving line is accepted.

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