Work vehicle

Abstract

To provide a work vehicle that can perform work in accordance with a dry state of a farm field.SOLUTION: A work vehicle comprises a control part (100) that discriminates a dry part (211) from a wet part (212) in a farm field (201), on the basis of map information on the farm field (201), inclination information on the farm field (201) and position information on a water inlet (203) to and a water outlet (204) from the farm field (201), and performs guidance along a running route (222) on which the vehicle has to turn less frequently in the wet part (212) in comparison with the dry part (211), which can perform work in accordance with a dry state of the farm field, where running routes (221 and 222) are for the dry part (211) and the wet part (212) respectively.SELECTED DRAWING: Figure 9

Description

Technical Field

[0001] The present invention relates to work vehicles such as tractors, rice transplanters, and combines that perform work in fields, and particularly to work vehicles used in fields where water is spread.

Background Art

[0002] There is known a technique in which a combine (10) as a work vehicle detects the yield while acquiring position information by GPS at the time of harvesting, and registers yield data for each section into which a field map is divided into a plurality of sections (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the technique described in Patent Document 1, it is premised that the combine travels in the entire field in the same manner for harvesting. However, in the actual field, the elevation is not completely uniform, and due to the positional relationship between the water intake and the drainage outlet, a part of the soil is washed away by the water flow and the depth is different. Therefore, most of the field is dry, but there may be a part where water remains and the part is wet. There is no problem with the combine traveling on the dry part, but when the combine travels on the wet part, there are problems such as an increase in the running load of the combine, damage to the field, and the possibility that the combine may become unable to run.

[0005] An object of the present invention is to enable work according to the dry and wet states of a field.

Means for Solving the Problems

[0006] The above problems of the present invention are solved by the following solution means. The invention according to claim 1 is a work vehicle comprising a vehicle body (2), a working machine (13, 14, 16, 18, 19) supported by the vehicle body (2) to perform work, and a control unit (100) for driving the vehicle body (2). Based on the map information of the field (201), the height information of the field (201), and the position information of the water intake (203) and the drainage outlet (204) to the field (201), the dry part (211) and the wet part (212) of the field (201) are discriminated, and different travel routes (221, 222) are provided in the dry part (211) and the wet part (212), and the control unit (100) guides along a travel route (222) with fewer turns in the wet part (212) than in the dry part (211).

[0007] The invention according to claim 2 includes the working machine (16) constituted by a threshing machine (16) for threshing the harvested crops, calculates the working load based on the threshing load in the threshing machine (16) and the engine rotation load of the vehicle body (2), and when the working load reaches a predetermined threshold value, the criterion for determining the wet part (212) is changed so that the wet part (212) becomes wider. The work vehicle according to claim 1.

[0008] The invention according to claim 3 includes a positioning device (41) for measuring the current position of the vehicle body (2), a sorting member (56) for sorting the threshed grains, and a detection member (58) for detecting the amount of grains on the sorting member (56). The threshing machine (16) is provided, and the detected amount of grains by the detection member (58) is registered in the map information as the harvest amount at the harvest position calculated based on the position detected by the positioning device (41). The work vehicle according to claim 2.

Effects of the Invention

[0009] According to the invention described in claim 1, based on the map information of the farmland (201), the inclination information, and the position information of the water intake (203) and the drainage outlet (204), the dry part (211) and the wet part (212) of the farmland (201) are discriminated, and in the wet part (212), by guiding along a traveling route (222) with less turning compared to the dry part (211), operations according to the dry-wet state of the farmland become possible.

[0010] According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, when the working load based on the threshing load in the threshing machine (16) and the engine rotation load of the vehicle body (2) reaches a predetermined threshold value, by changing the criterion for determining the wet part (212) so that the wet part (212) becomes wider, the wet part (212) can be discriminated more accurately.

[0011] According to the invention described in claim 3, in addition to the effect of the invention described in claim 2, by registering the detected amount of grains on the sorting member (56) as the harvested amount at the harvesting position calculated based on the position detected by the positioning device (41) in the map information, the harvested amount in the farmland can be accurately grasped.

Brief Description of the Drawings

[0012]

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BEST MODE FOR CARRYING OUT THE INVENTION

[0013] The embodiments of the present invention will be described below. FIG. 1 is a side view of a combine as an example of a work vehicle according to an embodiment of the present invention. FIG. 2 is a front view of the work vehicle of FIG. 1. FIG. 3 is a plan view of the work vehicle of FIG. 1. FIG. 4 is a rear view of the work vehicle of FIG. 1.

[0014] In FIGS. 1 to 4, a combine 1 as an example of a work vehicle according to an embodiment of the present invention has a vehicle body 2. A pair of left and right traveling devices 11 are arranged below the vehicle body 2. The traveling device 11 of the embodiment is configured by a so-called crawler of an endless track as an example. A cabin 12 as an example of a boarding section where an operator can board is installed at the right front of the vehicle body 2. A harvesting device 13 (an example of a working machine, an example of a cutting device) for harvesting crops in the field is arranged at the front of the vehicle body 2. A conveying device 14 for conveying the harvested grains is arranged behind the harvesting device 13. A threshing device (an example of a working machine, an example of a thresher) 16 for threshing the grains conveyed by the conveying device 14 is arranged behind the conveying device 14. A grain tank 17 (an example of a container) for storing the grains processed by the threshing device 16 is arranged on the right side of the threshing device 16. A discharging device 18 for discharging the grains from the grain tank 17 to a container (not shown) of a truck outside the field is connected to the rear part of the grain tank 17. A straw discharging device 19 for discharging straw is arranged at the rear of the vehicle body 2. The straw discharging device 19 of the embodiment is configured by a so-called dropper that can discharge the straw in a bundled state by temporarily storing the straw. That is, while the dropper function is operating, the straw can be discharged in a bundled state, and while the dropper function is stopped, the straw after harvesting is discharged as it is without being bundled.

[0015] In addition, in the combine 1 of the embodiment, a positioning unit 41 as an example of a positioning device is installed on the upper surface of the cabin 12. The positioning unit 41 incorporates a GNSS (Global Navigation Satellite System) receiver and an IMU (Inertial Measurement Unit). The GNSS receiver can receive positioning signals from artificial satellites 42 and measure the current position of the combine 1. The IMU can measure acceleration and angular velocity and measure the attitude (left - right inclination and front - rear inclination) of the combine 1. Therefore, by correcting the measurement results of the GNSS receiver with the IMU, it is possible to measure the current position with higher accuracy compared to the case of measuring the current position only by the GNSS method.

[0016] Therefore, the combine 1 of the embodiment can perform autonomous driving (automatic driving, unmanned driving) using GNSS, and it is also possible for an operator to board the cabin 12 and drive according to the operation (manual driving, manned driving). During autonomous driving, the operator who operates the terminal 46 capable of wireless communication with the combine 1 can be outside the combine 1 (outside or inside the field), or can board the cabin 12 while carrying the terminal 46. The combine 1 and the terminal 46 are configured to be able to communicate via a communication line 47. The communication line 47 can utilize any wireless line, such as a telephone line, an Internet line, a LAN line, Bluetooth (registered trademark), or a wired line. A server 48, which is an example of an information processing device, is connected to the communication line 47. The server 48 can transmit and receive (communicate) information with the combine 1 and the terminal 46.

[0017] FIG. 5 is an explanatory diagram of the main part inside the threshing device of the embodiment. In FIG. 5, in the threshing device 16 of the embodiment, a threshing cylinder 52 is rotatably supported in an upper handling chamber 51. The grain straw carried into the handling chamber 51 is threshed by the threshing teeth 53 of the threshing cylinder 52. The threshed grains (grain kernels) fall into the lower sorting chamber 54, and the threshed rice straw is sent to the straw discharging device 19 at the rear. In the sorting chamber 54, a rocking sorting shelf 56, which is an example of a sorting member, is arranged. Above the rocking sorting shelf 56, a layer thickness sensor 58 for detecting the amount of grains on the transfer shelf 57 of the rocking sorting shelf 56 as the layer thickness is arranged. The grains that have fallen onto the rocking sorting shelf 56 are sorted with chaff and the like removed. Note that the threshing device 16 as shown in FIG. 5 is publicly known and is described in, for example, Japanese Patent Application Laid-Open No. 2020-080750, etc., so detailed description thereof is omitted.

[0018] (Description of the control unit) FIG. 6 is a functional block diagram of the control means of the embodiment. In the block diagram of FIG. 6, illustration and description are omitted for elements not related to the description of the embodiment of the present invention. In FIG. 6, the control unit (an example of control means) 100 of the embodiment is configured by a small information processing device, a so-called microcomputer. Therefore, the control means 100 can realize various functions by executing a program stored in a ROM or the like.

[0019] The control means 100 of the embodiment receives signals from signal output elements such as the positioning unit 41, the layer thickness sensor 58, the storage amount detection sensor SN1 in the grain tank 17, an operation panel (not shown) in the cabin 12, and various switches. The positioning unit 41 corrects the current position of the vehicle body 2 measured from a signal from an artificial satellite 42 of the GNSS (Global Navigation Satellite System) method with the attitude of the vehicle body 2 measured by an inertial measurement device, and measures the current position. A layer thickness sensor 58, which is an example of a detection member, measures the amount of grains that have fallen onto the rocking sorting shelf 56 of the threshing device 16. The storage amount detection sensor SN1 detects the amount of grains stored in the grain tank 17.

[0020] The control means 100 of the embodiment outputs control signals to controlled elements such as the traveling device 11, the harvesting device 13, the conveying device 14, the threshing device 16, the discharging device 18, the straw discharging device 19, and the operation panel in the cabin 12.

[0021] The control means 100 of the embodiment has the following functional modules (program modules). FIG. 7 is an explanatory diagram of an example of a field in the embodiment. The field information acquisition means (field information storage means) 101 acquires and stores information on the field where the combine 1 performs operations. In FIG. 7, the field information acquisition means 101 of the embodiment acquires map information such as the position (coordinates such as latitude and longitude), altitude, slope of the field, entrance / exit 202 of the field, positions of the water intake 203 and drainage outlet 204 of the field 201 stored in the server 48, and when information (work information) on the work performed in the past in the field 201 is registered, it acquires information (field information) including the work information. Note that the information on the slope of the field may be derived in advance from the altitude information, or it is also possible to measure the slope of the field 201 from the measurement results of the IMU installed on the work vehicle during the previous work and register it in the field information.

[0022] FIG. 8 is an explanatory diagram of an example of a dry part and a wet part in the field of the embodiment. The dry / wet discrimination means 102 discriminates between the dry part 211 and the wet part 212 of the farmland 201 based on the map information of the farmland 201, the height information of the farmland 201, and the position information of the water intake 203 and the drainage outlet 204 to the farmland 201. In FIG. 7, generally, the farmland 201 is leveled so that the position of the drainage outlet 204 has the lowest elevation (height). However, for example, in the vicinity of the water intake 203, part of the soil may be washed away by the flow of water during water intake, and the elevation is likely to be low. Whether the elevation in the vicinity of the water intake 203 has become low can be easily confirmed, for example, by driving a work vehicle (such as a rice transplanter or a control tractor) during rice planting or control and measuring the inclination. In a place where the elevation is lower than that of the drainage outlet 204, even if drainage is performed from the drainage outlet 204, water is likely to remain. Therefore, the dry / wet discrimination means 102 of the embodiment discriminates a place where the elevation is lower than that of the drainage outlet 204 as the wet part 212. Also, in the part close to the drainage outlet 204, when the sluice gate of the drainage outlet 204 is opened, water from other places flows in, so water is likely to exist until the end. Therefore, the part close to the drainage outlet 204 is also discriminated as the wet part 212. And the part other than the wet part 212 is discriminated as the dry part 211. Therefore, it is possible to discriminate the wet part 212 based on the elevation. Therefore, when the elevation difference is less than or equal to a predetermined height, even if the elevation is high, it is difficult to drain water, so it may be discriminated as the wet part 212.

[0023] In addition, in the discrimination between the dry part 211 and the wet part 212, when there is information such as weather (rainfall and humidity), the date when drainage started from the drainage outlet 204, the date when water intake from the water intake 203 stopped, etc., these information can also be used. That is, when the number of days elapsed since the start of drainage is small, it is possible to change the standard so that a wider range is more likely to be discriminated as the wet part 212. In addition, when there is rainfall, it is easier to discriminate as the wet part 212, and when low-humidity days continue, it is possible to change the standard so that a wider range is more likely to be discriminated as the dry part 211 (so that a narrower range is more likely to be discriminated as the wet part 212).

[0024] Furthermore, it is also possible to obtain the distribution of the soil hardness during rice planting or the like, and also consider the distribution of the soil hardness when determining the dry part 211 and the wet part 212. That is, it is possible to discriminate that hard parts are difficult for water to penetrate, are easy to dry, and are easy to travel on with the combine 1, and soft parts are easy to become muddy and are difficult to travel on with the combine 1. Also, although the dry-wet discrimination means 102 of the embodiment performs discrimination in two (two stages), i.e., the dry part 211 and the wet part 212, it is not limited to this. For example, it is also possible to perform discrimination in three or more stages, such as a "semi-wet part" between the dry part 211 and the wet part 212, or an "extra-wet part" that is even wetter than the wet part 212.

[0025] FIG. 9 is an explanatory diagram when a travel route is created in the field of FIG. 8. The travel route creation means 103 creates a travel route for the combine 1 to travel while working in the field. The travel route creation means 103 of the embodiment creates travel routes 221 and 222 for the dry part 211 and the wet part 212, respectively. In FIG. 9, as an example, in the travel route 221 of the dry part 211, a travel route 221 mainly consisting of left turns is created. And in the travel route 222 of the wet part 212, a travel route 222 mainly consisting of a reciprocating process that does not turn within the wet part 212 (less likely to damage the field) is created.

[0026] Note that, in the travel route creation means 103 of the embodiment, an example is shown in which two types of travel routes 221 and 222 are created corresponding to the dry-wet discrimination means 102 performing discrimination in two stages, i.e., the dry part 211 and the wet part 212, but it is not limited to this. When the dry-wet discrimination means 102 performs discrimination in three or more stages, it is also possible to create three or more types of travel routes. For example, in the "semi-wet part", it is also possible to create a travel route that performs steering at 45° or less (so-called diagonal cutting), that is, a travel route with few turns. Therefore, it is preferable to predict the possibility of damage (damage risk) to the field and create a travel route according to the conditions where damage is allowed (no turning allowed, turning (steering) at 45° or less is allowed, only turning with a large turning radius is allowed, turning with a small turning radius is also allowed, etc.).

[0027] Based on the measurement results of the positioning unit 41, the positioning means 104 measures the current position of the combine 1. Based on the measurement results of the IMU of the positioning unit 41, the inclination measurement means 105 measures the inclination of the combine 1, that is, the inclination of the field.

[0028] The traveling control means 106 controls the traveling device 11 to control the traveling of the combine 1. When manually traveling, the traveling control means 106 displays the traveling routes 221, 222 created by the traveling route creation means 103 on the display panel or the terminal 46 in the cabin 12, and while guiding (navigating), controls the traveling device 11 according to manual operations such as the steering wheel and the accelerator pedal. Also, when automatically traveling (autonomously traveling), the traveling control means 106 controls the traveling device 11 to make (guide, navigate) the combine 1 travel along the traveling routes 221, 222 created by the traveling route creation means 103 based on the current position measured by the positioning means 104. Note that during automatic traveling, it is preferable to control so that the drying unit 211 first travels for work and then the wetting unit 212 travels for work.

[0029] The work implement control means 107 controls the harvesting device 13, the conveying device 14, the threshing device 16, the discharging device 18, and the straw discharging device 19, which are work implements, according to the input of the operator. When traveling while harvesting the field (during manual traveling or automatic traveling), the harvesting device 13, the conveying device 14, the threshing device 16, and the straw discharging device 19 are operated to harvest the grain straw, convey it to the threshing device 16, thresh it, store the grains in the grain tank 17, and discharge the rice straw with the straw discharging device 19 to perform a series of harvesting operations. Also, when transferring the grains stored in the grain tank 17 to a container outside the combine 1, the discharging device 18 is operated to convey the grains to the container.

[0030] The yield detection means 108 detects the yield of grains based on the detection amount of the layer thickness sensor 58. The yield detection means 108 of the embodiment registers, as the yield at the harvesting position where the grains are harvested, in the field information as harvesting information (an example of work information) based on the traveling speed of the vehicle body 2 and the measurement result of the current position by the positioning means 104. That is, a time difference (time lag) occurs due to conveyance by the conveying device 14 or the like from when the cereal straw is cut by the harvesting device 13 until the grains reach the layer thickness sensor 58. And the position in front of the current position by the distance obtained by multiplying the time difference by the traveling speed is the harvesting position of the grains. Therefore, in the embodiment, the detected amount of the grains measured by the layer thickness sensor 58 is registered in the field information as the yield at the harvesting position in front of the current position. When the field information including the harvesting information is updated, information is transmitted from the combine 1 to the server 48 via the communication line 47, and the field information of the server 48 is registered and updated.

[0031] The threshing load detection means 109 detects the threshing load based on the detection result of the yield by the yield detection means 108. The threshing load detection means 109 of the embodiment detects that the threshing load, such as the rotational load of the handling cylinder 52 and the swinging load of the swinging sorting shelf 56, increases when the detected yield increases. In the embodiment, although an aspect of converting and estimating the threshing load from the yield is exemplified, it is not limited thereto. For example, it is also possible to detect the driving load and load torque of a motor (driving source) that rotates the handling cylinder 52 and a motor (driving source) that swings the swinging sorting shelf 56 to detect the threshing load. Also, the threshing load can be configured to output detection results in two stages of "high load" and "low load" with respect to a predetermined threshold value, but it is also possible to set specific numerical values, or to set detection results in three or more stages.

[0032] The engine load measuring means 110 measures the rotational load of the engine of the combine 1. The engine load measuring means 110 measures the rotational load of the engine that changes according to the state of the field during travel. That is, the load becomes high when the field is muddy, and the load tends to be low when the field is dry. Note that the engine rotational load can be configured to output detection results in two stages, "high load" and "low load", with respect to a predetermined threshold value, but it is also possible to use specific numerical values, or to use detection results in three or more stages.

[0033] The work load determination means 111 calculates the work load based on the threshing load and the engine rotational load, and when the work load reaches a predetermined threshold value, changes the criterion for determining the wet part 212 in the wet / dry determination means 102 so that the wet part 212 becomes wider. The work load determination means 111 of the embodiment calculates the work load during operation in the dry part 211 of the field 201. As an example, the work load determination means 111 of the embodiment calculates (outputs) the work load as "high load" when either the threshing load or the engine rotational load is high load, and calculates (outputs) the work load as "low load" when both the threshing load and the engine rotational load are low load. Then, when the work load is "high load" as the threshold value, it is determined that the field 201 determined to be the dry part 211 is actually muddy and is actually the wet part 212, or that the moisture content of the grain is high and threshing is difficult, or both, and the criterion in the wet / dry determination means 102 is changed so that the current position of the combine 1 is determined to be the wet part 212.

[0034] Note that since a locally large value is likely to be observed immediately after the start of operation of the combine 1, it is desirable not to perform the determination immediately after the start of operation, but to start the determination after a predetermined distance or a predetermined time has elapsed since the start of operation.

[0035] The storage capacity determination means 112 determines the remaining capacity (remaining amount) until the grain tank 17 is full based on the amount of grain in the grain tank 17 detected by the storage capacity detection sensor SN1.

[0036] When the working load discrimination means 111 discriminates that the working load is high and the determination criterion of the wet part 212 is changed, the travel route correction means 113 sends a signal to the travel route creation means 103 so as to correct the travel routes 221 and 222 according to the areas of the wet part 212 and the dry part 211 after the change. Therefore, the travel routes 221 and 222 are recreated according to the dry part 211 and the wet part 212 after the change, respectively. At this time, the recreation of the travel routes 221 and 222 is performed for the field area excluding the area where the harvesting work has been completed. When creating the travel routes 221 and 222, the area where the harvesting work has been completed can also be used as a headland area, that is, an area where turning and non-working travel are possible.

[0037] In addition, when the remaining amount of the grain tank 17 decreases, the travel route correction means 113 of the embodiment causes the travel route creation means 103 to create a travel route for moving to a container that interrupts the work and discharges the grains, and a travel route for moving from the container to the work resumption position after the discharge. Note that the container position can be registered in advance in the field information, or it is also possible to provide a GNSS receiver and a communication device in the container to enable acquisition of the current position of the container.

[0038] Moreover, it is not limited to the mode of moving to the container when the remaining amount of the grain tank 17 falls below a predetermined amount. For example, by comparing the predicted value of the harvested amount in the remaining travel routes 221 and 222 with the remaining amount of the grain tank 17, when the remaining amount of the grain tank 17 is larger, it is also possible to control to move to the container after the work in the remaining travel routes 221 and 222 is completed. When predicting the harvested amount in the remaining travel routes 221 and 222, it is preferable to measure the harvested amount per unit travel distance in the travel routes 221 and 222 up to that point and predict from the length of the remaining travel routes 211 and 222 and the harvested amount per unit travel distance. At this time, for example, it is desirable to derive the prediction results for six-row cutting and three-row cutting and make a prediction such that the grain tank 17 will be full in six-row cutting but not full in three-row cutting.

[0039] Furthermore, during manual driving, it is desirable to provide a function that displays to the operator the comparison result between the predicted yield in the remaining driving routes 221 and 222 and the remaining amount in the grain tank 17, and notifies the operator that if the vehicle continues to drive along the driving routes 221 and 222, the grain tank 17 is predicted to be full on the way. In particular, when the operator performs mid-cut (advancing while mowing in the middle of the field), since the operator has to reverse when the grain tank 17 becomes full during the mowing operation, it is particularly desirable to notify the operator when the operation is being carried out not from the outer periphery but from the middle part of the unworked area. In addition, when the driving routes 221 and 222 are set, it is also possible to adopt a mode in which, when the grain tank 17 is predicted to be full by the time of the next approach to the container (for example, after one round trip in the round-trip process), a notification to that effect is made.

[0040] In the combine 1 of the embodiment having the above configuration, even within the same field 201, the drying section 211 and the wet section 212 are discriminated, and the driving routes 221 and 222 corresponding to the drying section 211 and the wet section 212 are created. In the wet section 212, the soil is soft, and when the heavy combine 1 travels, the field is likely to be damaged. However, in the embodiment, the driving route 222 of the wet section 212 has fewer turns than the driving route 221 of the drying section 211 and is less likely to damage the field. Therefore, in the embodiment, operations according to the dry-wet state of the field 201 are possible.

[0041] Also, in the embodiment, even after the work driving of the combine 1 is started, the determination criterion of the wet section 212 is changed based on the work load during the work driving. Therefore, the wet section 212 is more accurately determined according to the actual state of the field during the work. In particular, in the embodiment, the detection of the yield and the threshing load are performed based on the detection results of the layer thickness sensor 58 of the threshing device 16. In the conventional combine 1, the detection of the yield is generally performed by weighing the grain tank 17. However, in the detection by the grain tank 17, there is a problem of a large time lag from the harvesting position. On the other hand, in the combine 1 of the embodiment, it is measured at the part of the oscillating sorting shelf 56 immediately after the grain is threshed, and the time lag in the detection of the yield and the threshing load is reduced. Therefore, the determination of the wet part 212 can be executed more promptly than before.

[0042] Furthermore, in the embodiment, the yield detected by the layer thickness sensor 58 is registered corresponding to the accurate position of the harvesting position considering the time difference. Therefore, the yield at each position in the field can be registered more accurately in the field information, and the analysis of the crop yield and the work plan for the following year can be performed more accurately.

[0043] In the above embodiment, the combine 1 as an example of the work vehicle is illustrated, but it is not limited thereto. The present invention is applicable when it is desired to avoid damaging the field in a work vehicle that travels while working in the field, such as a rice transplanter or a tractor. Also, although the mode in which the determination of the drying part 211 and the wet part 212 and the creation of the travel routes 221 and 222 are centrally processed by the combine 1 is illustrated, it is not limited thereto. It is also possible to adopt a mode in which the determination of dry and wet and the creation of travel routes are distributedly processed by the server 48 or the terminal 46.

Explanation of Signs

[0044] 1... Work vehicle, 2... Vehicle body, 13, 14, 16, 18, 19... Working machines, 16... Thresher, 41... Position measuring device, 56... Sorting member, 58... Detection member, 100... Control unit, 201... Field, 203... Water intake, 204... Drain outlet, 211... Drying section, 212... Moistening section, 221, 222... Travel routes.

Claims

1. A vehicle body (2), An operating machine (13, 14, 16, 18, 19) supported by the vehicle body (2) to perform operations, A control unit (100) for driving the vehicle body (2), which discriminates a dry part (211) and a wet part (212) of a farm field (201) based on map information of the farm field (201), information on the height of the farm field (201), and position information of a water intake (203) and a drainage outlet (204) to the farm field (201), and guides along different travel routes (221, 222) in the dry part (211) and the wet part (212), and a travel route (222) with fewer turns in the wet part (212) compared to the dry part (211); A work vehicle, characterized by comprising the above.

2. The operating machine (16) constituted by a threshing machine (16) for threshing harvested crops, comprising, calculating a work load based on the threshing load in the threshing machine (16) and the engine rotation load of the vehicle body (2), and when the work load reaches a predetermined threshold value, changing the criterion for determining the wet part (212) so that the wet part (212) becomes wider. The work vehicle according to claim 1, characterized by the above.

3. A positioning device (41) for measuring the current position of the vehicle body (2), The threshing machine (16) having a sorting member (56) for sorting threshed grains and a detecting member (58) for detecting the amount of grains on the sorting member (56), comprising, registering the detected amount of grains by the detecting member (58) as the harvested amount at the harvesting position calculated based on the position detected by the positioning device (41) in the map information. The work vehicle according to claim 2, characterized by the above.

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