Work vehicle

Abstract

To improve stability of automatic drive of a work vehicle by solving a problem of instability of automatic drive due to significant change in a travel direction of the work vehicle and by reducing a workload of an operator.SOLUTION: The work vehicle includes a controller (30) for controlling a travel device (2). When a teaching of a linear reference path (41) is conducted by a manual travel of an operator, the controller (30) controls the travel device (2) such that the work vehicle starts and continues automatic travel with the reference path (41) as a set path (46) on which the automatic travel should follow.SELECTED DRAWING: Figure 7

Description

Technical Field

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

Background Art

[0002] Conventionally, a first reference point is provided on a grain straw row planted in a field, a second reference point is provided at a position separated from the first reference point on the grain straw row by a predetermined distance, and a linear reference path passing through the first reference point and the second reference point is generated, and a technique of automatically driving a combine along a set path parallel to the reference path is known. (Patent Document 1) Further, a technique of re-setting the reference path is known when the traveling position of the combine is separated from the reference path by a predetermined dimension or more, or when the traveling direction of the combine is separated from the extending direction of the reference path by a predetermined angle or more. (Patent Document 2)

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the grain straw cutting work method of Patent Documents 1 and 2, there is a problem that the work burden on the operator increases and the automatic driving of the combine becomes unstable due to a large change in the traveling direction of the combine.

[0005] Therefore, an object of the present invention is to reduce the work burden on the operator and improve the stability of the automatic driving of the work vehicle.

Means for Solving the Problems

[0006] The present invention that has solved the above problems is as follows.

[0007] That is, the invention according to claim 1 is a work vehicle including a controller (30) for controlling a traveling device (2), and when a linear reference path (41) is taught by manual traveling of an operator, the controller (30) controls the traveling device (2) so as to start and continue automatic traveling with this reference path (41) as a set path (46) along which the work vehicle should travel during automatic traveling.

Advantages of the Invention

[0008] According to the present invention, the work vehicle can be automatically traveled along the set path (46) to reduce the work load of the operator.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Embodiments for Carrying Out the Invention

[0010] As shown in FIGS. 1 and 2, the combine harvester is provided with a traveling device 2 consisting of a pair of left and right crawlers that travel on the soil surface below the body frame 1, a cutting device 3 for cutting the cereal straw in the field is provided in front of the body frame 1, a threshing device 4 for threshing and sorting the cut cereal straw is provided on the left rear side of the cutting device 3, and an operator's cab 5 is provided on the right rear side of the cutting device 3.

[0011] An engine room 6 for mounting the engine E is provided below the cab 5, a grain tank 7 for storing the threshed and sorted grains is provided behind the cab 5, and a discharge auger 8 consisting of a vertical lift section for discharging the grains to the outside and a horizontal discharge section extending in the front-rear direction is provided behind the grain tank 7.

[0012] A monitor 11 for displaying the traveling speed of the traveling device 2 and the like is provided at the center of the front panel in front of the driver's seat of the cab 5. An operation lever 12 for turning the traveling device 2 in the left-right direction or raising and lowering the cutting device 3 in the vertical direction is provided on the right side of the monitor 11. Between the monitor 11 and the operation lever 12, as shown in FIG. 5, there is a reciprocating cutting mode M1 in which the cereal straw is cut while the traveling device 2 travels back and forth, and as shown in FIG. 6, a rotary cutting mode M2 in which the cereal straw is cut while the traveling device 2 rotates counterclockwise are provided with a mode change switch 13 for switching. Further, the operating state of the operation lever 12 is measured by an angle sensor 12A such as a potentiometer attached to the base of the operation lever 12.

[0013] A shift lever 15 for increasing or decreasing the traveling speed of the traveling device 2 is provided at the front of the side panel on the left side of the driver's seat of the cab 5. Further, the operating state of the shift lever 15 is measured by an angle sensor 15A such as a potentiometer attached to the base of the shift lever 15.

[0014] As shown in FIG. 3, the positioning unit 20 using the RTK-GPS positioning method is composed of a positioning satellite 21, a base station 22 provided at a known position, and a mobile station 26 provided on the combine. Thus, the position of the mobile station 26, that is, the position of the combine, can be accurately obtained from the position information transmitted from the positioning satellite 21 to the mobile station 26 and the correction position information transmitted from the base station 22 to the mobile station 26.

[0015] The base station 22 is composed of a fixed communication device 23, a fixed GPS antenna 24 that receives position information from the positioning satellite 21, and a fixed data transmission antenna 25 that transmits correction position information to the mobile station 26.

[0016] The mobile station 26 is composed of a mobile communication device 27, a mobile GPS antenna 28 that receives position information from the positioning satellite 21, and a mobile data transmission antenna 29 that receives correction position information from the base station 22.

[0017] As shown in FIG. 4, the controller 30 of the combine is formed by a processing unit 31 composed of a CPU etc., a storage unit 32 composed of a ROM, a RAM, a hard disk drive, a flash memory etc., and a communication unit 33 for data communication with the outside.

[0018] The processing unit 31 calculates the positions of a first reference point 42 and a second reference point 43 described later, and sets a reference path 41 and a set path 45 based on the first reference point 42 and the second reference point 43 etc.

[0019] The storage unit 32 stores the positions of the first reference point 42 and the second reference point 43 calculated by the processing unit 31, a linear reference path 41 passing through the first reference point 42 and the second reference point 43, etc.

[0020] The communication unit 33 receives position information from the positioning satellite 21 via the mobile GPS antenna 28 and from the base station 22 via the mobile data transmission antenna 29.

[0021] On the input side of the controller 30, there are a straw sensor 3A for detecting the presence or absence of straw in the cutting device 3, a height sensor 3B for detecting the lowered working position and the raised retracted position of the cutting device 3, a first setting switch 11A for setting the first reference point 42, a second setting switch (the "setting switch" in the claims) 11B for setting the second reference point 43, a release switch 11C for stopping the automatic traveling etc. by the controller 30, an angle sensor 12A for measuring the operation state of the operation lever 12, a mode changeover switch 13 for switching between the reciprocating cutting mode M1 and the rotary cutting mode M2, an angle sensor 15A for measuring the operation state of the shift lever 15, a mobile GPS antenna 28 for receiving the position information of the combine transmitted from the positioning satellite 21, and a mobile data transmission antenna 29 for receiving the correction position information of the combine transmitted from the base station 22, A reference setting path switch 35 for setting the reference path 41 and the set path 45 based on the positions of the first reference point 42 and the second reference point 43, and an automatic driving switch 36 for automatically driving the combine are connected via a predetermined input interface circuit.

[0022] On the output side of the controller 30, a braking device 38L for braking the rotation of the left crawler of the traveling device 2 and a braking device 38R for braking the rotation of the right crawler are connected via a predetermined output interface circuit.

[0023] <Reciprocating cutting mode> As shown in FIG. 5, in the reciprocating cutting mode M1, the operator operates the combine to set the first reference point 42 and the second reference point 43, and the processing unit 31 of the controller 30 sets a linear reference path 41 passing through the first reference point 42 and the second reference point 43 and a plurality of set paths (the "first set path" in the claims) 45 parallel to the reference path 41 at a predetermined interval downward from the reference path 41 based on the first reference point 42 and the second reference point 43. The predetermined interval is preferably set to the cutting width of the cutting device 3.

[0024] After the operator steers the combine from the first reference point 42 to the second reference point 43, the combine is turned downward and rearward from the left end of the reference path 41 toward the left end of the set path 45 adjacent to the lower side of the reference path 41.

[0025] Next, the operator inputs and operates the automatic driving switch 36 at the left end of the set path 45, and automatically drives the combine along the set path 45 from the left end to the right end.

[0026] Next, the operator inputs and operates the release switch 11C at the right end of the set path 45, and turns the combine downward and rearward from the right end of the set path 45 toward the right end of the set path 45 adjacent to the lower side of the set path 45.

[0027] Next, the operator inputs and operates the automatic driving switch 36 at the right end of the set path 45, and automatically drives the combine along the set path 45 from the right end to the left end.

[0028] In the reciprocating cutting mode M1, after automatically driving the combine from the left end to the right end of the set path 45, the grain straw cutting operation is performed while automatically driving the combine from the right end to the left end of the set path 45.

[0029] Thereby, the work load of the operator is reduced, and the combine can be automatically driven along the set path 45 to efficiently cut the grain straw.

[0030] <Return cutting mode> As shown in FIG. 6, in the mowing mode M2, the operator operates the combine to set the first reference point 42 and the second reference point 43 at the upper part of the field, and the processing unit 31 of the controller 30 sets a set path (the "second set path" in the claims) 46 in which a linear reference path 41 passing through the first reference point 42 and the second reference point 43 extends leftward from the second reference point 43. Next, the operator operates the combine to set the first reference point 42 and the second reference point 43 at the left part of the field, and the processing unit 31 sets a set path 46 in which a linear reference path 41 passing through the first reference point 42 and the second reference point 43 extends downward from the second reference point 43. Next, after the operator operates the combine to set the first reference point 42 and the second reference point 43 at the lower part of the field and the processing unit 31 of the controller 30 sets a set path 46 in which a linear reference path 41 passing through the first reference point 42 and the second reference point 43 extends rightward from the second reference point 43, the operator operates the combine to set the first reference point 42 and the second reference point 43 at the left part of the field, and the processing unit 31 sets a set path 46 in which a linear reference path 41 passing through the first reference point 42 and the second reference point 43 extends upward from the second reference point 43.

[0031] After the operator operates the combine from the first reference point 42 to the second reference point 43, the operator inputs and operates the automatic driving switch 36 at the right end of the set path 46 near the second reference point 43, and automatically drives the combine along the set path 46 from the right end to the left end of the set path 46, and then, at the left end of the set path 46, makes the combine turn by α so that the traveling direction of the combine is from left to downward.

[0032] Next, after the operator operates the combine from the first reference point 42 to the second reference point 43, the operator inputs and operates the automatic driving switch 36 at the upper end of the set path 46 near the second reference point 43, and automatically drives the combine along the set path 46 from the upper end to the lower end of the set path 46, and then, at the lower end of the set path 46, makes the combine turn by α so that the traveling direction of the combine is from downward to rightward.

[0033] Next, after the operator maneuvers the combine from the first reference point 42 to the second reference point 43, the operator inputs and operates the automatic driving switch 36 at the left end of the set path 46 near the second reference point 43, and automatically drives the combine along the set path 46 from the left end to the right end of the set path 46. Then, at the right end of the set path 46, the combine is alpha-turned so that the traveling direction of the combine is from right to upward.

[0034] Next, after the operator maneuvers the combine from the first reference point 42 to the second reference point 43, the operator inputs and operates the automatic driving switch 36 at the lower end of the set path 46 near the second reference point 43, and automatically drives the combine along the set path 46 from the lower end to the upper end of the set path 46. Then, at the upper end of the set path 46, the combine is alpha-turned so that the traveling direction of the combine is from upward to leftward.

[0035] In the reciprocating cutting mode M2, while automatically driving the combine along the reference path 41 and the set path 46 extending in the left-right direction at the upper part of the field, the reference path 41 and the set path 46 extending in the up-down direction at the left part of the field, the reference path 41 and the set path 46 extending in the left-right direction at the lower part of the field, and the reference path 41 and the set path 46 extending in the up-down direction at the right part of the field, the cutting operation is performed. Thereby, the working burden of the operator is reduced, and the combine can be automatically driven along the set path 46 to efficiently cut the cereal straw.

[0036] <Method for setting reference and set paths> As shown in FIG. 7, in step S1, the processing unit 31 of the controller 30 determines the switching state of the mode switching switch 13. If it is determined that the mode switching switch 13 is switched to the reciprocating cutting mode M1 in which the traveling device 2 reciprocates while cutting the cereal straw, the process proceeds to step S2. If it is determined that the mode switching switch 13 is switched to the rotary cutting mode M2 in which the traveling device 2 rotates counterclockwise while cutting the cereal straw, the process proceeds to step S9. Thereby, the cutting mode can be selected according to the standing state of the cereal straw, and the cereal straw can be efficiently cut.

[0037] In step S2, the processing unit 31 determines whether the first setting switch 11A has been input-operated. As shown in FIG. 5, it is preferable to perform the input operation of the first setting switch 11A near the loading location 40A of the field 40. Also, when the first setting switch 11A is input-operated, the combine is being operated by an operator.

[0038] If it is determined that the first setting switch 11A has been input-operated, the position of the first reference point 42 is calculated based on the position information of the combine transmitted from the positioning satellite 21 and the correction position information of the combine transmitted from the base station 22, and the position of this first reference point 42 is stored in the storage unit 32 and the process proceeds to step S3. If it is determined that the first setting switch 11A has not been input-operated, step S2 is repeated. The position information of the combine transmitted from the positioning satellite 21 is input to the controller 30 via the mobile GPS antenna 28, and the correction position information of the combine transmitted from the base station 22 is input to the controller 30 via the mobile data transmission antenna 29.

[0039] In step S3, the processing unit 31 determines whether the second setting switch 11B has been input-operated. As shown in FIG. 5, it is preferable to perform the input operation of the second setting switch 11B near the ridge facing the loading location 40A in the field 40. Also, when the second setting switch 11B is input-operated, the combine is being operated by an operator.

[0040] If it is determined that the second setting switch 11B has been input-operated, the position of the second reference point 43 is calculated based on the position information of the combine transmitted from the positioning satellite 21 and the correction position information of the combine transmitted from the base station 22, and the position of this second reference point 43 is stored in the storage unit 32 and the process proceeds to step S4. If it is determined that the second setting switch 11B has not been input-operated, step S3 is repeated. In step S4, the processing unit 31 determines whether the reference setting path switch 35 has been input-operated. When the reference setting path switch 35 is input-operated, the combine is being operated by an operator.

[0041] When it is determined that the reference setting path switch 35 has been input-operated, as shown in FIG. 5, Based on the reference path 41 which is a straight line passing through the first reference point 42 and the second reference point 43, a setting path 45 for automatically running a plurality of combines parallel to the reference path 41 at a position separated from the reference path 41 by a predetermined interval is set, and the process proceeds to step S5. When it is determined that the reference setting path switch 35 has not been input-operated, step S4 is repeated. Thereby, based on the first reference point 42 and the second reference point 43 which are sufficiently separated from the first reference point 42, the influence of the meandering travel can be suppressed and the reference path 41 can be set.

[0042] In step S5, the processing unit 31 determines whether or not the detachment switch 11C has been input-operated. When the detachment switch 11C is input-operated, the combine is being operated by the operator.

[0043] When it is determined that the detachment switch 11C has been input-operated, the process proceeds to step S6. When it is determined that the detachment switch 11C has not been input-operated, step S5 is repeated.

[0044] In the present embodiment, the processing unit 31 determines whether or not the second setting switch 11B has been input-operated in step S3, determines whether or not the reference setting path switch 35 has been input-operated in step S4, and determines whether or not the detachment switch 11C has been input-operated in step S5. However, steps S3 and S4 can also be omitted. In that case, in step S5, when it is determined that the detachment switch 11C has been input-operated, the position of the second reference point 43 is calculated based on the position information of the combine transmitted from the positioning satellite 21 and the correction position information of the combine transmitted from the base station 22, the position of this second reference point 43 is stored in the storage unit 32, and based on the reference path 41 which is a straight line connecting the first reference point 42 and the second reference point 43, a setting path 45 for automatically running a plurality of combines parallel to the reference path 41 at a position separated from the reference path 41 by a predetermined interval is set, and the process proceeds to step S6. When it is determined that the detachment switch 11C has not been input-operated, step S5 is repeated.

[0045] In step S6, the operator boarding the control unit 5 operates the operation lever 12 to turn the combine harvester, and as shown in FIG. 5, moves the combine harvester from the terminal end of the reference path 41 to the start end of the set path 45 adjacent to the reference path 41, and proceeds to step S7.

[0046] In step S7, the processing unit 31 determines whether the automatic operation switch 36 has been input-operated. Note that when the automatic operation switch 36 is input-operated, the combine harvester is being operated by the operator.

[0047] If it is determined that the automatic operation switch 36 has been input-operated, the process proceeds to step S8, and if it is determined that the automatic operation switch 36 has not been input-operated, the process returns to step S6.

[0048] In step S8, the processing unit 31 operates the braking device 38L that brakes the rotation of the left crawler of the traveling device 2 and the braking device 38R that brakes the rotation of the right crawler to automatically steer the combine harvester, and as shown in FIG. 5, automatically runs the combine harvester along the set path 45 and returns to step S5. Note that the braking devices 38L and 38R are provided in a transmission (not shown) that increases or decreases the output rotational speed of the engine E. Thereby, the work load of the operator is reduced, and the combine harvester can be automatically run along the set path 45 to efficiently cut the cereal straw. Also, when the combine harvester is automatically running, a display indicating that it is in the middle of automatic running is shown on the monitor 11. Thereby, the operator is alerted and the automatic running of the combine harvester can be performed safely.

[0049] In step S9, the processing unit 31 determines whether the first setting switch 11A has been input-operated. Note that as shown in FIG. 6, the input operation of the first setting switch 11A is preferably performed near the loading location 40A of the farm field 40. When the first setting switch 11A is input-operated, the combine harvester is being operated by the operator.

[0050] When it is determined that the first setting switch 11A has been input-operated, the position of the first reference point 42 is calculated based on the position information of the combine transmitted from the positioning satellite 21 and the correction position information of the combine transmitted from the base station 22, and the position of this first reference point 42 is stored in the storage unit 32, then proceed to step S10. When it is determined that the first setting switch 11A has not been input-operated, step S9 is repeated. Note that the position information of the combine transmitted from the positioning satellite 21 is input to the controller 30 via the mobile GPS antenna 28, and the correction position information of the combine transmitted from the base station 22 is input to the controller 30 via the mobile data transmission antenna 29.

[0051] In step S10, the processing unit 31 determines whether the second setting switch 11B has been input-operated. As shown in FIG. 6, it is preferable that the input operation of the second setting switch 11B is performed at a proximal portion separated from the input operation position of the first setting switch 11A by a predetermined distance. Also, when the second setting switch 11B is input-operated, the combine is being operated by the operator.

[0052] When it is determined that the second setting switch 11B has been input-operated, the position of the second reference point 43 is calculated based on the position information of the combine transmitted from the positioning satellite 21 and the correction position information of the combine transmitted from the base station 22, and the position of this second reference point 43 is stored in the storage unit 32, then proceed to step S11. When it is determined that the second setting switch 11B has not been input-operated, step S10 is repeated.

[0053] In step S11, the processing unit 31 determines whether the reference setting path switch 35 has been input-operated. Note that when the reference setting path switch 35 is input-operated, the combine is being operated by the operator.

[0054] When it is determined that the reference setting path switch 35 has been input-operated, as shown in FIG. 8(a), a setting path 46 is set by extending a linear reference path 41 passing through the first reference point 42 and the second reference point 43 from the second reference point 43 in the traveling direction of the combine, and the process proceeds to step S12. When it is determined that the reference setting path switch 35 has not been input-operated, step S11 is repeated. Thereby, a long setting path 46 can be set in the traveling direction from the second reference point 43.

[0055] In step S12, the processing unit 31 determines whether or not the automatic driving switch 36 has been input-operated. When the automatic driving switch 36 is input-operated, the combine is being operated by the operator.

[0056] When it is determined that the automatic driving switch 36 has been input-operated, the process proceeds to step S13. When it is determined that the automatic driving switch 36 has not been input-operated, step S12 is repeated.

[0057] In step S13, the processing unit 31 operates a braking device 38L that brakes the rotation of the left crawler of the traveling device 2 and a braking device 38R that brakes the rotation of the right crawler to automatically steer the combine. As shown in FIG. 6, the combine is automatically traveled along the setting path 45, and the process proceeds to step S14. Thereby, the working burden on the operator is reduced, and the combine can be automatically traveled along the setting path 45 to efficiently cut the grain straw. Also, when the combine is automatically traveling, a display indicating that it is in the process of automatic traveling is shown on the monitor 11. Thereby, the operator can be alerted and the automatic traveling of the combine can be performed safely.

[0058] In step S14, the processing unit 31 determines whether the traveling device 2 is traveling. If it is determined that the traveling device 2 is traveling, the process proceeds to step S15. If it is determined that the traveling of the traveling device 2 has stopped, the process proceeds to step S19. In this embodiment, the determination of whether the traveling device 2 is traveling is made based on the measured value of the angle sensor 15A. When the measured value of the angle sensor 15A indicates the forward tilt posture of the shift lever 15, it is determined that the device is traveling. When the measured value of the angle sensor 15A indicates the neutral tilt posture of the shift lever 15, it is determined that the traveling has stopped. Instead of the measured value of the angle sensor 15A, it is also possible to make the determination based on the measured value of a speed sensor (not shown) that measures the traveling speed of the traveling device 2 provided on the traveling device 2.

[0059] In step S15, the processing unit 31 determines whether the operation amount of the operation lever 12 operated by the operator is within a predetermined range. If the operation amount of the operation lever 12 operated by the operator is within the predetermined range, the process proceeds to step S16. If the operation amount of the operation lever 12 operated by the operator exceeds the predetermined range, the process proceeds to step S18. Thereby, as shown in FIG. 8(b), when the set path 46 does not coincide with the grain straw row 47, that is, when the set path 46 and the grain straw row 47 are not parallel or when the set path 46 and the grain straw row 47 are parallel but separated by a predetermined distance, the operator can operate the operation lever 12 to bring the combine closer to the grain straw row 47 and suppress the generation of uncut grain straws. Also, as shown in FIG. 8(c), when the set path 46 is largely separated from the grain straw row 47, the automatic traveling of the combine can be stopped to prevent the automatic traveling from becoming unstable and meandering. Note that reference numeral 48 indicates the traveling path traveled by the combine.

[0060] In step S16, the processing unit 31 determines whether or not the second setting switch 11B has been input-operated. If it is determined that the second setting switch 11B has not been input-operated, the process proceeds to step S17. If it is determined that the second setting switch 11B has been input-operated, the process proceeds to step S20. Thus, when the operator determines that the set path 46 along which the combine automatically travels is significantly separated from the grain straw row 47, a new second reference point 43 can be calculated, and a new linear set path 46 passing through the first reference point 42 and the new second reference point 43 can be set to suppress the generation of uncut grain straw.

[0061] In step S17, the processing unit 31 determines whether or not the disengagement switch 11C has been input-operated. If it is determined that the disengagement switch 11C has been input-operated, the process proceeds to step S18. If it is determined that the disengagement switch 11C has not been input-operated, the process returns to step S14.

[0062] In step S18, the operator boarding the control unit 5 operates the operation lever 12 to turn the combine, and as shown in FIG. 6, turns the combine so-called α-turn from the end portion of the set path 46 to turn the traveling direction of the combine 270 degrees clockwise and returns to step S9.

[0063] Thereby, the operator can set the first reference point 42 of the next reference path 41 to reduce uncut grain straw.

[0064] In step S19, the processing unit 31 determines whether or not the traveling stop time of the traveling device 2 is within a predetermined time. If it is determined that the traveling stop time of the traveling device 2 is within the predetermined time, the process returns to step S13. If it is determined that the traveling stop time of the traveling device 2 is longer than the predetermined time, the process proceeds to step S18.

[0065] In step S20, the processing unit 31 cancels the setting of the setting path 46, calculates the position of the second reference point 43 based on the position information of the combine transmitted from the positioning satellite 21 and the correction position information of the combine transmitted from the base station 22, stores the position of this second reference point 43 in the storage unit 32, and proceeds to step S11. As a result, as shown in FIG. 8(d), it is possible to set the newly set setting path 46 to the proximal part of the grain straw row 47 to suppress the generation of uncut grain straws.

Explanation of Signs

[0066] 1 Body frame 2 Travel device 3 Cutting device 5 Control unit 11B Second setting switch (setting switch) 12 Operation lever 30 Controller 41 Reference path 42 First reference point 43 Second reference point 45 Setting path (first setting path) 46 Setting path (second setting path) 47 Grain straw row M1 Reciprocating cutting mode M2 Rotary cutting mode

Claims

【Claim 1】 A work vehicle comprising a controller (30) for controlling a traveling device (2), wherein when a straight reference path (41) is taught by manual traveling of an operator, the controller (30) controls the traveling device (2) so as to start and continue automatic traveling with the reference path (41) as a set path (46) along which the work vehicle should travel during automatic traveling.

Images