Method of automatic travelling, automatic travelling program, and automatic travelling system

Abstract

To provide a method of automatic travelling that allows a work vehicle to automatically travel with a simple operation method, and to provide an automatic travelling program and an automatic travelling system.SOLUTION: A combine harvester 1 includes a travel processing part 111 that receives an automatic travel start instruction from a user at a start operation part that is installed to an operation device 30 and starts automatic travel of the combine harvester 1 on the basis of a vehicle orientation of the combine harvester 1 when receiving the automatic travel start instruction.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a technique for automatically driving a work vehicle along a target route. [Background technology]

[0002] Conventionally, there are known techniques for generating a target route for automatically driving a work vehicle in a field. For example, there is known a route setting method in which, when an operation is performed to press an operation unit including a first switch and a second switch for teaching provided in a driver's unit, the reference orientation of the traveling vehicle body is set based on the operation (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6705686 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with conventional technology, a teaching operation is required to set a reference heading in order to start automatic driving, which is time-consuming.

[0005] An object of the present invention is to provide an automatic driving method, an automatic driving program, and an automatic driving system that enable a work vehicle to be automatically driven using a simple operation method. [Means for solving the problem]

[0006] An automatic driving method according to the present invention is an automatic driving method for automatically driving a work vehicle in response to a user operation on an operation device, the automatic driving method comprising the steps of: receiving an automatic driving start instruction from a user at a start operation unit provided on the operation device; and starting automatic driving of the work vehicle based on the vehicle orientation of the work vehicle at the time the automatic driving start instruction was received.

[0007] An automatic driving program according to the present invention is an automatic driving program for causing a work vehicle to automatically drive in response to a user operation on an operation device. The automatic driving program causes one or more processors to execute the following steps: receiving an automatic driving start instruction from a user at a start operation unit provided on the operation device; and starting automatic driving of the work vehicle based on the vehicle orientation of the work vehicle at the time the automatic driving start instruction was received.

[0008] The automated driving system of the present invention is an automated driving system that automatically drives a work vehicle in response to a user operation on an operating device. The automated driving system includes a driving processing unit that receives an automated driving start instruction from a user at a start operating unit provided on the operating device, and starts automated driving of the work vehicle based on the vehicle orientation of the work vehicle at the time the automated driving start instruction was received. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide an automatic driving method, an automatic driving program, and an automatic driving system that enable a work vehicle to be automatically driven using a simple operation method. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a functional block diagram showing the configuration of a traveling system according to an embodiment of the present invention. [Figure 2] FIG. 2 is an external side view showing the configuration of the combine harvester according to the embodiment of the present invention. [Figure 3] FIG. 3 is an external top view showing the configuration of the combine harvester according to the embodiment of the present invention. [Figure 4A] FIG. 4A is a diagram showing an example of a target route set in a farm field according to an embodiment of the present invention. [Figure 4B] FIG. 4B is a diagram showing an example of a target route set in a farm field according to the embodiment of the present invention. [Figure 5] FIG. 5 is a diagram showing an example of an operation procedure of a combine harvester according to an embodiment of the present invention. [Figure 6] FIG. 6 is a diagram showing a schematic configuration of an operating device provided in a combine harvester according to an embodiment of the present invention. [Figure 7] FIG. 7 is a diagram showing a specific configuration of an operating device provided in a combine harvester according to an embodiment of the present invention. [Figure 8A] FIG. 8A is a diagram showing an example of a method for generating a reference line of a combine harvester according to the first embodiment of the present invention. [Figure 8B] FIG. 8B is a diagram showing an example of a method for generating a reference line of the combine harvester according to the first embodiment of the present invention. [Figure 8C] FIG. 8C is a diagram showing an example of a method for generating a reference line of the combine harvester according to the first embodiment of the present invention. [Figure 8D] FIG. 8D is a diagram showing an example of a method for generating a reference line of a combine harvester according to the first embodiment of the present invention. [Figure 9A] FIG. 9A is a diagram illustrating an example of a method for generating a target route for a combine harvester according to the first embodiment of the present invention. [Figure 9B] FIG. 9B is a diagram illustrating an example of a method for generating a target route for a combine harvester according to the first embodiment of the present invention. [Figure 10A] FIG. 10A is a diagram showing an example of a method for generating a reference line of a combine harvester according to the first embodiment of the present invention. [Figure 10B] FIG. 10B is a diagram showing an example of a method for generating a reference line of the combine harvester according to the first embodiment of the present invention. [Figure 11] FIG. 11 is a flowchart showing an example of the procedure of the operation control process executed by the traveling system according to the first embodiment of the present invention. [Figure 12A] FIG. 12A is a diagram for explaining an automatic driving method according to the second embodiment of the present invention. [Figure 12B] FIG. 12B is a diagram for explaining the automatic driving method according to the second embodiment of the present invention. [Figure 13]FIG. 13 is a flowchart showing an example of the procedure of the operation control process executed by the traveling system according to the second embodiment of the present invention. [Figure 14] FIG. 14 is an external perspective view showing the configuration of a combine harvester according to the third embodiment of the present invention. [Figure 15A] FIG. 15A is a plan view showing the configuration of a combine harvester according to a third embodiment of the present invention. [Figure 15B] FIG. 15B is an enlarged plan view showing the configuration of the combine harvester according to the third embodiment of the present invention. [Figure 16] FIG. 16 is a cross-sectional perspective view showing the configuration of a combine harvester according to the third embodiment of the present invention. [Figure 17] FIG. 17 is a diagram showing another configuration of the operating device provided in the combine harvester according to the embodiment of the present invention. [Figure 18] FIG. 18 is a diagram showing the configuration of a monitor device according to an embodiment of the present invention. [Figure 19A] FIG. 19A is a diagram showing an example of a display screen (standard screen) of a monitor device according to an embodiment of the present invention. [Figure 19B] FIG. 19B is a diagram showing an example of a display screen (menu screen) of the monitor device according to the embodiment of the present invention. [Figure 19C] FIG. 19C is a diagram showing an example of a display screen (straight driving assist setting screen) of the monitor device according to the embodiment of the present invention. [Figure 19D] FIG. 19D is a diagram showing an example of a display screen (reference line creation screen) of the monitor device according to an embodiment of the present invention. [Figure 19E] FIG. 19E is a diagram showing an example of a display screen (straight driving assist setting screen) of the monitor device according to the embodiment of the present invention. [Figure 19F] FIG. 19F is a diagram showing an example of the display screen (straight ahead NOW setting screen) of the monitor device according to the embodiment of the present invention. [Figure 19G] FIG. 19G is a diagram showing an example of a display screen (straight driving assist setting screen) of the monitor device according to the embodiment of the present invention. [Figure 20A]FIG. 20A is a diagram showing an example of a display screen (driving screen) of a tablet terminal according to an embodiment of the present invention. [Figure 20B] FIG. 20B is a diagram showing an example of the display screen (driving screen) of the tablet terminal according to the embodiment of the present invention. [Figure 21] FIG. 21 is a diagram showing the configuration of an operating device according to an embodiment of the present invention. [Figure 22] FIG. 22 is a diagram showing an example of a route offset button according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0011] The following embodiment is an example of the present invention and does not limit the technical scope of the present invention.

[0012] [Embodiment 1] The travel system according to the first embodiment of the present invention includes a combine harvester 1, a satellite (not shown), and a base station (not shown). The combine harvester 1 is an example of a work vehicle of the present invention. The work vehicle of the present invention is not limited to the combine harvester 1, and may be a tractor, a rice transplanter, a construction machine, a snowplow, or the like.

[0013] The combine harvester 1 performs a predetermined task (e.g., reaping task) while traveling along a target route R1 in a field F (see FIG. 4A) in response to operation by a worker (operator). Specifically, the combine harvester 1 automatically travels along the target route R1 (e.g., a straight work route) in response to automatic steering in a work area within the field F, and manually travels in response to manual steering (driving operation) by the operator in a non-work area within the field F. The combine harvester 1 travels within the field F and performs work while switching between automatic traveling in the work area and manual traveling in the non-work area. The target route R1 may be generated in advance based on operation by the operator and stored as route data.

[0014] In this embodiment, automatic traveling refers to traveling while controlling (automatically steering) the steering amount (steering angle) of the combine harvester 1 so that it follows the target route R1. While the combine harvester 1 is traveling automatically, the operator can operate the main shift lever to change the vehicle speed (travel speed) and traveling direction (forward direction and reverse direction). In addition, the operator can stop the automatic traveling of the combine harvester 1 by performing a stop operation (such as pressing a stop switch or steering the steering wheel) while the combine harvester 1 is traveling automatically along the target route R1.

[0015] In this way, the combine harvester 1 of this embodiment is configured to perform only automatic steering (steering control processing) during automatic travel, and to perform the process of switching the vehicle speed and traveling direction and the process of stopping in response to the operator's operation. In another embodiment, the combine harvester 1 may be configured to automatically perform each of the automatic steering, the process of switching the vehicle speed and traveling direction, and the process of stopping without the operator's operation.

[0016] FIG. 4A shows an example of a target route R1 set for a field F. The combine harvester 1 performs harvesting work while automatically traveling along the target route R1 within the field F. For example, as shown in FIG. 4A, when multiple routes (parallel lines) parallel to a reference line L1 are set as the target route R1, the combine harvester 1 automatically travels along the set target route R1 in the vertical direction within the field F in the drawing. The reference line L1 is generated, for example, based on a start point A1 and an end point B1 registered at any position within the field F. Furthermore, the target route R1 along which the combine harvester 1 automatically travels is not limited to a straight route and may be a curved route. For example, if a straight reference line is generated, a straight target route is generated, and if a curved reference line is generated, a curved target route is generated.

[0017] An example of the operation procedure of the combine harvester 1 will be described with reference to FIG. 5. The combine harvester 1 performs reaping work in a farm field F while automatically traveling along a target route R1 (see FIG. 4A) generated based on, for example, a reference line L1. For example, the combine harvester 1 automatically travels along the target route R1 when traveling straight, and manually travels under manual steering by the operator when moving between routes by turning and traveling straight. Here, the combine harvester 1 performs reaping work ("circular reaping" and "reciprocating reaping") while traveling from the outer periphery to the inner periphery from a start position S to an end position G. First, the combine harvester 1 starts automatic traveling at the start position S and travels along the periphery of the farm field F while reaping stalks. For example, the combine harvester 1 makes two laps around the outer periphery F1 (dotted line route in FIG. 5).

[0018] After completing the reaping operation in the outer peripheral area F1, the combine harvester 1 enters the inner peripheral area F2 and begins reaping operation in the inner peripheral area F2. In the inner peripheral area F2, the combine harvester 1 performs reaping operation while traveling straight up and down, and moves between work paths by turning and traveling straight through the outer peripheral area F1 (the area already worked, the area already mowed) without performing reaping operation in the left and right directions (the solid line path in Figure 5). The combine harvester 1 performs reaping operation in the inner peripheral area F2, and when it reaches the end position G, it ends automatic traveling and reaping operation.

[0019] The combine harvester 1 performs reaping work within the field F while automatically traveling along a target route R1 (see FIG. 4A) corresponding to the reference line L1. The combine harvester 1 may perform reaping work in the vertical direction while automatically traveling along the target route R1 (see FIG. 4A) corresponding to the reference line L1, and may perform reaping work in the horizontal direction while automatically traveling along a target route R2 (see FIG. 4B) corresponding to an orthogonal line L2 perpendicular to the reference line L1. The orthogonal line L2 may be registered as a second reference line when the reference line L1 is registered.

[0020] The combine harvester 1 may also automatically travel forward along a straight path (working path) while performing a reaping operation, and then stop reaping and automatically travel backward along a completed path (already worked path).The combine harvester 1 may also automatically travel when moving between working paths.

[0021] The traveling system may include an operation terminal (tablet terminal, smartphone, etc.) operated by an operator. The operation terminal is capable of communicating with the combine harvester 1 via a communication network such as a mobile phone network, a packet network, or a wireless LAN. For example, the operator operates the operation terminal to register various information (work vehicle information, field information, work information, etc.). Furthermore, the operator can grasp the traveling status and work status of the combine harvester 1 from the traveling trajectory displayed on the operation terminal while in a location away from the combine harvester 1. The operation terminal may be mountable on the combine harvester 1.

[0022] [Combine 1] FIG. 2 shows an external view of the combine harvester 1 as seen from the side, and FIG. 3 shows an external view of the combine harvester 1 as seen from above. As shown in FIGS. 1 to 3, the combine harvester 1 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, a steering section 9, an operating device 30, a control device 11, a memory section 51, a positioning unit 52, a detection section 53, and a communication section 54. The combine harvester 1 travels using the traveling section 2, harvests stalks using the reaping section 3, threshes the harvested stalks in the threshing section 4, and sorts the grains in the sorting section 5 and stores them in the storage section 6. The combine harvester 1 also processes the straw waste after threshing in the straw waste processing section 7. The combine harvester 1 drives the traveling unit 2, the reaping unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7 using power supplied by the power unit 8.

[0023] The traveling unit 2 is provided below the machine frame 12 and includes a pair of left and right crawler-type traveling devices 23 and a transmission (not shown). The traveling unit 2 rotates the crawlers of the crawler-type traveling devices 23 using power (e.g., rotational power) transmitted from the engine 20 of the power unit 8, causing the combine 1 to travel in the forward / backward 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 23 and can also change the speed of the rotational power.

[0024] The reaping unit 3 is a working machine that performs work on the target field F. It is provided in front of the traveling unit 2 and reaps a predetermined reaping width of stalks in an unworked area of ​​the field F (an un-cut area). The reaping unit 3 is an example of a working unit of the present invention. 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 (not shown) that detects the rotation speed (working speed) of the rotation work for performing the reaping work. The rotation detection unit 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, the rotation speed of the transport conveyor 18, etc.

[0025] The dividers 13 are provided to protrude forward from the left and right front ends of the reaping unit 3 and guide the stalks in the unharvested area within the reaping width. The raking reel 14 is disposed behind the dividers 13 and is rotatable about a rotation axis extending in the left-right direction. The raking reel 14 is driven to rotate and raises the stalks while raking in the tip side of the stalks to assist in reaping the stalks guided by the dividers 13. The cutting blade 15 is disposed below the raking reel 14 and cuts the base side of the stalks raked in by the raking reel 14 to reaper the stalks.

[0026] The raking auger 16 is disposed behind the raking reel 14 and the cutting blade 15 and is rotatable around a rotation axis extending in the left-right direction. When the raking auger 16 is driven to rotate, it raks in the stalks cut by the cutting blade 15 and transports them rearward.

[0027] The feeder house 17 extends forward from the machine frame 12, is disposed behind the raking auger 16, and is supported on the machine frame 12 so as to be able to rise and fall. When the feeder house 17 rises and falls, the divider 13, the raking reel 14, the cutting blade 15, and the raking auger 16 rise and fall, i.e., the reaping unit 3 rises and falls.

[0028] The combine harvester 1 is provided with a lifting device 19 on the machine frame 12 that raises and lowers the feeder house 17 to raise and lower the reaping unit 3, thereby raising and lowering the reaping unit 3 between a working position (see FIG. 2) and a non-working position (not shown). The lifting device 19 is composed of, for example, a hydraulic cylinder or the like that is operated by receiving power from the engine 20.

[0029] The transport conveyor 18 is rotatably installed inside the feeder house 17 and moves as the feeder house 17 moves up and down. By rotating, the transport conveyor 18 transports the stalks transported into the feeder house 17 by the raking auger 16 further rearward to the threshing section 4.

[0030] The threshing section 4 is provided behind the feeder house 17 of the reaping section 3, and threshes the stalks 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 the grains from the stalks transported from the feeder house 17, and transports the threshed stalks, i.e., waste straw, to the straw waste processing section 7. The receiving net 22 supports the stalks transported by the threshing drum 21, and sifts the grains to drop them.

[0031] The sorting section 5 is provided below the threshing section 4. The sorting section 5 is equipped with a 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. 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 outside the machine.

[0032] The storage section 6 is provided on the right side of the threshing section 4. The storage section 6 includes a storage tank (grain tank) 27 and a grain discharge device 28. The storage 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 performs grain discharge work, discharging the grains stored in the storage tank 27 onto a transport vehicle at a preset discharge position.

[0033] The straw waste processing section 7 is provided behind the threshing section 4. The straw waste processing section 7 is equipped with, 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 then discharges it behind the combine 1.

[0034] The power unit 8 is provided above the traveling unit 2 and below the storage unit 6. The power unit 8 is equipped with an engine 20 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 20 to the traveling unit 2, the reaping unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7. The combine 1 also has a fuel tank that stores fuel to be supplied to the engine 20 of the power unit 8.

[0035] The control unit 9 is provided above the power unit 8. The control unit 9 is provided with operating tools for controlling the travel of the combine harvester 1, such as a handle 90 for instructing the turning of the combine harvester 1 body, and a main speed change lever and an auxiliary speed change lever for instructing changes in the forward and backward speed of the combine harvester 1, around the driver's seat 40 where the operator sits. The manual travel of the combine harvester 1 is performed by the travel unit 2, which receives operation of the handle 90, main speed change lever, and auxiliary speed change lever of the control unit 9. The control unit 9 also has mechanisms for operating the reaping operation by the reaping unit 3, the threshing operation by the threshing unit 4, the discharge operation by the grain discharge device 28 of the storage unit 6, etc.

[0036] The control unit 9 also includes an operating device 30 (see FIGS. 3 and 6) for setting a reference line corresponding to the target route. The operating device 30 is operated by an operator riding on the combine harvester 1. The operating device 30 may be a device that can be attached to and detached from the control unit 9.

[0037] The positioning unit 52 acquires the vehicle position of the combine harvester 1 using a satellite positioning system such as GPS. For example, the positioning unit 52 receives a positioning signal from a positioning satellite via a positioning antenna, and acquires position information of the positioning unit 52, i.e., the vehicle position (measurement point data) of the combine harvester 1, based on the positioning signal. The positioning unit 52 may be configured with a quantum compass instead of a positioning antenna.

[0038] The communication unit 54 is a communication interface that connects the combine 1 to a communication network (not shown) via a wired or wireless connection and performs data communication in accordance with a predetermined communication protocol with an external device such as an operation terminal via the communication network.

[0039] The storage unit 51 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. The storage unit 51 stores control programs such as an operation control program for causing the control device 11 to execute an operation control process (see FIG. 11 ), which will be described later. For example, the operation control program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 51. The operation control program may be downloaded to the combine 1 from a server (not shown) via a communication network and stored in the storage unit 51. The storage unit 51 also stores various setting information acquired from the operation device 30.

[0040] The detection unit 53 is a sensor that detects a detection target within a predetermined detection range using infrared rays, ultrasonic waves, etc. For example, the detection unit 53 may be a lidar sensor (distance sensor) that can measure the distance to the measurement target (detection target) in three dimensions using a laser, or a sonar sensor that has multiple sonars that can measure the distance to the measurement target using ultrasonic waves. The sonar sensor may also be configured without a distance measurement function.

[0041] The control device 11 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic operations. The ROM is a non-volatile storage unit that pre-stores control programs such as a BIOS and an OS that cause the CPU to execute various arithmetic operations. The RAM is a volatile or non-volatile storage unit that stores various information and is used as temporary storage memory for the various processes executed by the CPU. The control device 11 controls the combine harvester 1 by having the CPU execute various control programs pre-stored in the ROM or the storage unit 51.

[0042] Next, the configuration of the operation device 30 will be described with reference to FIG. 7. The operation device 30 is attached near the steering wheel 90 so that it can be operated by an operator sitting in the driver's seat (see FIG. 6), for example. Details regarding the attachment position of the operation device 30 will be described later with reference to FIGS. 15A and 15B. As shown in FIG. 7, the operation device 30 includes an automatic travel instruction unit 31, an automatic travel display unit 32, a start point setting unit 35, an end point setting unit 36, a start point setting display unit 37, and an end point setting display unit 38. The operation device 30 accepts a user operation to register the start point and end point of a reference line when the combine harvester 1 is caused to travel automatically.

[0043] The automatic driving instruction unit 31 is an operation unit for operating an instruction to start automatic driving by the combine harvester 1, and is configured to be able to accept a pressing operation using a circular operation button or the like. When the conditions for starting automatic driving are satisfied, the automatic driving instruction unit 31 transmits an instruction to start automatic driving to the control device 11 in response to the pressing operation.

[0044] The automatic driving instruction unit 31 may be pressable only when the start conditions are satisfied, or may always be pressable and transmit an instruction to start automatic driving only when the start conditions are satisfied and a pressing operation is performed. Alternatively, the automatic driving instruction unit 31 may always be pressable and always transmit an instruction to start automatic driving in response to a pressing operation, while the control device 11 may determine to accept a start instruction only when the start conditions are satisfied.

[0045] The automatic driving display unit 32 is composed of LEDs, lamps, etc. that indicate the status of automatic driving by the combine harvester 1, and is controlled by the control device 11 to display in different display states depending on whether or not the conditions for starting automatic driving are met. The automatic driving display unit 32 is formed, for example, in a ring shape that surrounds the automatic driving instruction unit 31. Note that in this embodiment, the automatic driving display unit 32 is configured separately from the automatic driving instruction unit 31, but the automatic driving display unit 32 may also be configured integrally with the automatic driving instruction unit 31.

[0046] For example, if the start conditions are not met, the automatic driving display unit 32 is turned off. On the other hand, if the start conditions are met, the automatic driving display unit 32 flashes before the automatic driving starts and is turned on while the automatic driving is being performed. Note that, if there are multiple start conditions, the automatic driving display unit 32 may display whether or not each start condition is met in a manner that makes it identifiable. For example, the automatic driving display unit 32 may be configured to be divided into multiple sections, each of which corresponds to a start condition. Furthermore, the automatic driving display unit 32 may identify the state of automatic driving by utilizing other display states.

[0047] The start point setting unit 35 is an operation unit that accepts a setting operation for the start point (point A) of the reference line L1, and is configured to be able to accept a pressing operation using an operation button or the like. The start point setting unit 35 transmits a start point setting instruction to the control device 11 in response to a setting operation such as a pressing operation. At this time, the control device 11 sets the vehicle position of the combine 1 as the start point of the reference line L1.

[0048] The end point setting unit 36 ​​is an operation unit that accepts a setting operation of the end point (point B) of the reference line L1, and is configured to be able to accept a pressing operation using an operation button or the like. The end point setting unit 36 ​​transmits an end point setting instruction to the control device 11 in response to a setting operation such as a pressing operation. At this time, the control device 11 sets the vehicle position of the combine harvester 1 as the end point of the reference line L1.

[0049] The start point setting display unit 37 is configured with an LED, lamp, etc. that indicates the setting status of the start point, and is controlled by the control device 11 to display in different display states depending on the operation of the start point setting unit 35. In this embodiment, the start point setting display unit 37 is configured integrally with the start point setting unit 35, but in other examples, the start point setting display unit 37 may be configured separately from the start point setting unit 35.

[0050] The start point setting display unit 37 is turned off when the start point can be set, i.e., when the start point has not been set, and is turned on when the start point cannot be set, i.e., when the start point has been set.

[0051] The end point setting display unit 38 is configured with an LED, lamp, etc. that indicates the setting status of the end point, and is controlled by the control device 11 to display in different display states depending on the operation of the end point setting unit 36. In this embodiment, the end point setting display unit 38 is configured integrally with the end point setting unit 36, but in other examples, the end point setting display unit 38 may be configured separately from the end point setting unit 36.

[0052] The end point setting display unit 38 is turned off when the end point can be set, i.e., when the end point has not been set, and is turned on when the end point cannot be set, i.e., when the end point has been set.

[0053] In this way, the operation device 30 accepts an operation for setting the reference line L1 and an operation for starting automatic traveling. In another embodiment, the operation device 30 may be configured as the operation terminal (mobile terminal) capable of data communication with the combine harvester 1.

[0054] However, in the conventional technology, the function of the operation unit (corresponding to the operation device 30) is limited to the function of registering reference positions (start point and end point) when setting a reference line, which is a problem of low convenience. In contrast, the traveling system according to the first embodiment of the present invention has a configuration that can improve the convenience of the operation device 30, as will be described below.

[0055] Specifically, as shown in Fig. 1, the control device 11 includes various processing units such as a driving processing unit 111, a generation processing unit 112, and a specific processing unit 113. The control device 11 functions as the various processing units by executing various processes in accordance with the operation control program using the CPU. Some or all of the processing units may be configured with electronic circuits. The operation control program may be a program for causing multiple processors to function as the processing units.

[0056] The travel processing unit 111 controls the travel of the combine harvester 1. For example, when the travel mode of the combine harvester 1 is manual travel (manual travel mode), the travel processing unit 111 manually travels the combine harvester 1 based on the operation (manual steering) of the operator. For example, the travel processing unit 111 acquires operation information corresponding to driving operations such as steering, gear shifting, travel direction switching, and braking by the operator, and causes the travel unit 2 to perform travel operations based on the operation information.

[0057] Furthermore, when the travel mode of the combine harvester 1 is automatic travel (automatic travel mode), the travel processing unit 111 automatically travels the combine harvester 1 based on position information (positioning information) indicating the current position of the combine harvester 1 measured by the positioning unit 52. For example, when the combine harvester 1 satisfies the conditions for starting automatic travel and receives a travel start instruction from the operator, the travel processing unit 111 starts automatic travel of the combine harvester 1 based on the positioning information. Furthermore, the travel processing unit 111 automatically travels the combine harvester 1 along a target route generated in advance. For example, when the combine harvester 1 satisfies the conditions for starting automatic travel and the operator presses the automatic travel instruction unit 31 (see FIG. 7) of the operation device 30, the travel processing unit 111 receives the travel start instruction and automatically travels the combine harvester 1 along the straight path (work route) of the target route.

[0058] Furthermore, the travel processing unit 111 switches the travel mode to manual travel when the combine harvester 1 reaches the target end position of the work path. The travel processing unit 111 may switch the travel mode to manual travel when it determines that the combine harvester 1 has reached the target end position of the work path, or may switch the travel mode to manual travel in response to an operator's operation. When the travel mode is switched to manual travel, for example, the operator manually steers the combine harvester 1 to make a turning movement (manual travel). The target end position of each work path may be a position a predetermined distance inward from the edge of the field F, a position designated in advance by the operator, a position on the immediately preceding work path that is aligned with the position where the operator switched from automatic travel to manual travel on the previously work path (a position where a line passing through the position where the switch was made to manual intersects with the work path and perpendicular to the work path, or a position where a line passing through the position where the switch was made to manual intersects with the work path and parallel to the edge of the field F), a position where a line passing through the end point (point B) of the reference line L1 intersects with the work path, or the like. When the combine harvester 1 approaches or reaches the target end position, the control device 11 may notify the operator by voice, display information, etc., to prompt the operator to switch to manual travel.

[0059] Furthermore, during the reaping operation, the travel processing unit 111 acquires the vehicle position of the combine harvester 1 from the positioning unit 52, and controls the travel unit 2, the reaping unit 3, and the power unit 8 so that the combine harvester 1 automatically travels and performs reaping work along the work path based on the vehicle position and the work path included in the target route. For example, as shown in Fig. 5, the travel processing unit 111 causes the combine harvester 1 to automatically travel and perform reaping work along the outer periphery in the outer periphery area F1 from the start position S, and then causes the combine harvester 1 to automatically travel and perform reaping work in the inner periphery area F2 to the end position G.

[0060] As described above, the travel processing unit 111 switches the travel mode in response to, for example, an operation by an operator, and causes the combine harvester 1 to perform automatic travel and reaping work by automatic steering, and to perform manual travel by manual steering.

[0061] The generation processing unit 112 generates a target route along which the combine harvester 1 is to automatically travel. Specifically, the generation processing unit 112 sets (generates) a reference line for the field F in response to an operation by an operator, and generates a target route based on the set reference line. The generation processing unit 112 is an example of a setting processing unit of the present invention.

[0062] Here, an example of a method for setting a reference line using the operation device 30 will be described with reference to FIGS. 8A to 8D. When setting a reference line, the operator moves the combine harvester 1 to an arbitrary position (e.g., an end) in the field F and presses the start point setting unit 35 (see FIG. 8A). The generation processing unit 112 registers the vehicle position of the combine harvester 1 when the start point setting unit 35 is pressed as the start point of the reference line L1 (start point A1 in FIG. 9A). When the generation processing unit 112 registers the start point A1, the start point setting display unit 37 lights up an LED (see FIG. 8B). Thereafter, the operator manually drives the combine harvester 1 and presses the end point setting unit 36 ​​at an arbitrary position (e.g., an end) (see FIG. 8C). The generation processing unit 112 registers the vehicle position of the combine harvester 1 when the end point setting unit 36 ​​is pressed as the end point of the reference line L1 (end point B1 in FIG. 9A). When the generation processing unit 112 registers the end point B1, the end point setting display unit 38 and the automatic travel display unit 32 each turn on an LED (see FIG. 8D).

[0063] When the generation processing unit 112 registers the start point A1 and the end point B1, it generates a straight line connecting the start point A1 and the end point B1 and registers the generated straight line as a reference line L1 (see FIG. 9A). The generation processing unit 112 stores the generated reference line L1 in the memory unit 51. In the present invention, the "reference line" may be a "reference orientation", and "line" and "orientation" are synonymous. Furthermore, the "orientation" may be specified by a direction or by a numerical value. The generation processing unit 112 may generate a reference orientation (numerical value) and store it in the memory unit 51.

[0064] As described above, the generation processing unit 112 sets the reference line (reference orientation) based on the start point A1 and the end point B1 set in the field F.

[0065] In the present invention, the method for setting the reference line is not limited to the above-described method. For example, the control device 11 may set the reference line (reference orientation) based on the azimuth angle (vehicle orientation) of the combine harvester 1. Specifically, when the operator performs an operation to register the start point A1 (by pressing the start point setting unit 35), the control device 11 registers the position (current position) of the combine harvester 1 as the start point A1 and sets a straight line passing through the start point A1 and extending in the direction of the current orientation (vehicle orientation) of the combine harvester 1 as the reference line L1. Furthermore, when the operator performs an operation to register the end point B1 (by pressing the end point setting unit 36), the control device 11 may register the position (current position) of the combine harvester 1 as the end point B1 and set a straight line passing through the end point B1 and extending in the direction of the current orientation (vehicle orientation) of the combine harvester 1 as the reference line L1.

[0066] As described above, the control device 11 may employ any of the following methods: a method of setting the reference line L1 based on the start point A1 and the end point B1 (first setting method), a method of setting the reference line L1 based on the start point A1 and the vehicle direction (second setting method), and a method of setting the reference line L1 based on the end point B1 and the vehicle direction (third setting direction). Furthermore, the control device 11 may set the reference line L1 using a setting method determined based on the operator's operation of the operating device 30, among the first to third setting methods, or may set the reference line L1 using a setting method selected by the operator.

[0067] Furthermore, the generation processing unit 112 can automatically generate an orthogonal line L2 (second reference line) based on the reference line L1. Specifically, when the generation processing unit 112 sets the reference line L1, it sets an orthogonal line L2 that passes through the end point B1 and forms an angle D1 of 90 degrees with the reference line L1, as shown in FIG. 9A. The generation processing unit 112 stores the set orthogonal line L2 as a second reference line in the storage unit 51. As a result, for example, for a rectangular field F, when an operator performs a registration operation for a reference line L1 that runs along one side (the left and right sides in FIG. 9A), second reference lines that run along the other sides (the top and bottom sides in FIG. 9A) can be automatically set and registered.

[0068] In another embodiment, the generation processing unit 112 may set as the second reference line a straight line that follows the outer shape of the field F (work area). For example, the generation processing unit 112 calculates the angle D1 based on the outer shape of the field F, and sets the second reference line based on the angle D1 and the reference line L1.

[0069] In another embodiment, the generation processing unit 112 may receive an input operation of the angle D1 from the operator, and set the second reference line based on the input angle D1 and the reference line L1.

[0070] The generation processing unit 112 stores the reference line L1 and the orthogonal line L2 in the storage unit 51 in a selectable manner. When the control device 11 starts automatic travel of the combine harvester 1, the control device 11 selects either the reference line L1 or the orthogonal line L2 based on a selection operation by the operator or on the position information, vehicle orientation, or the like of the combine harvester 1. The generation processing unit 112 generates an automatic travel route (target route) based on the selected reference line L1 or orthogonal line L2. For example, when the operator selects the reference line L1, the generation processing unit 112 generates an automatic travel route (target route) based on the reference line L1. When the target route generation mode is set to the "equal pitch mode," as shown in FIG. 9A, the generation processing unit 112 generates a target route R1 consisting of multiple straight lines parallel to the reference line L1. The generation processing unit 112 generates multiple parallel straight lines at equal intervals based on the reference line L1 based on the preset working width and lap width (the width overlapping with adjacent worked areas). The generation processing unit 112 stores the generated target route R1 in the storage unit 51.

[0071] When the operator presses the automatic driving instruction unit 31 when the vehicle orientation and position deviation (lateral deviation amount) of the combine 1 are within a predetermined range with respect to any of the multiple parallel straight lines generated (when the start conditions are met), the driving processing unit 111 starts automatic driving and causes the combine 1 to drive straight along the target route R1.

[0072] When the combine harvester 1 reaches the target end position of the target route R1 (straight route), the operator switches the mode to manual driving and manually drives the combine harvester 1. The driving processing unit 111 may switch the driving mode to manual driving when the combine harvester 1 reaches the target end position of the straight route or when the reaping unit 3 rises to the non-working position. When the driving mode is switched to manual driving mode, the operator manually drives the combine harvester 1 and aligns the vehicle orientation to the direction of the orthogonal line L2, thereby selecting the orthogonal line L2. The generation processing unit 112 generates an automatic driving route (target route) based on the orthogonal line L2. For example, when the target route generation mode is set to the "equal pitch mode," the generation processing unit 112 generates a target route R2 consisting of multiple straight lines parallel to the orthogonal line L2, as shown in FIG. 9B. The generation processing unit 112 stores the generated target route R2 in the memory unit 51. When the operator presses the automatic driving instruction unit 31 when the vehicle orientation and position deviation (lateral deviation amount) of the combine 1 are within a predetermined range relative to any of the multiple parallel straight lines generated (when the start conditions are met), the driving processing unit 111 starts automatic driving and causes the combine 1 to drive straight along the target route R2.

[0073] [Baseline setting process] Specific examples of methods for setting the reference line L1 (first to third setting methods) will be described below.

[0074] When the reference line L1 is set based on the start point A1 and the end point B1 (first setting method), a condition may be set for the distance between the start point A1 and the end point B1. For example, if the distance from the start point A1 to the end point B1 is short, the orientation of the reference line L1 set based on the start point A1 and the end point B1 is likely to deviate from the orientation intended by the operator. This may result in a decrease in operation accuracy when the combine harvester 1 is automatically driven according to the target route R1 generated based on the reference line L1. Therefore, to improve the orientation accuracy of the reference line L1, the generation processing unit 112 sets the reference line L1 to pass through the start point A1 and the end point B1 when the distance from the start point A1 to the end point B1 is equal to or greater than a predetermined distance (e.g., 5 m) (first setting method).

[0075] For example, when the end point setting unit 36 ​​receives a predetermined operation (short press operation) from the worker at a position that is a predetermined distance or more from the start point A1 that was registered in response to a predetermined operation (short press operation) on the start point setting unit 35, the generation processing unit 112 registers the end point B1 and sets a reference line L1 that passes through the start point A1 and the end point B1. Note that the "short press operation" refers to an operation in which the operation button is pressed and then released within a predetermined time, and the ON period of the operation button is within the predetermined time.

[0076] In contrast, if the distance from the starting point A1 to the end point B1 is less than a predetermined distance (e.g., 5 m), the generation processing unit 112 sets the reference line L1 based on the starting point A1 and the vehicle direction (second setting method), or the end point B1 and the vehicle direction (third setting method).

[0077] For example, when the end point setting unit 36 ​​receives a predetermined operation (short press operation) from the operator at a position less than a predetermined distance (for example, 5 m) from the start point A1 registered in response to a predetermined operation (short press operation) on the start point setting unit 35, the generation processing unit 112 sets the reference line L1 based on the vehicle orientation of the combine harvester 1 when the start point setting unit 35 received the short press operation (or when the start point A1 was registered) (second setting method). Specifically, the generation processing unit 112 sets the reference line L1 that passes through the start point A1 and extends in the direction of the vehicle orientation.

[0078] In another embodiment, when the end point setting unit 36 ​​receives a predetermined operation (short press operation) from the operator at a position less than a predetermined distance (for example, 5 m) from the start point A1 registered in response to a predetermined operation (short press operation) on the start point setting unit 35, the generation processing unit 112 may set the reference line L1 based on the vehicle orientation of the combine harvester 1 when the end point setting unit 36 ​​received the short press operation (or when the end point B1 was registered) (third setting method). Specifically, the generation processing unit 112 sets the reference line L1 that passes through the end point B1 and extends in the direction of the vehicle orientation.

[0079] In this way, when the distance from the position of the registration operation of the start point A1 to the position of the registration operation of the end point B1 (the travel distance of the combine harvester 1) is equal to or greater than a predetermined distance, the generation processing unit 112 sets the reference line L1 based on the start point A1 and the end point B1 (first setting method). When the distance is less than the predetermined distance (including when the distance is zero), the generation processing unit 112 sets the reference line L1 based on the start point A1 and the vehicle direction (second setting method) or the end point B1 and the vehicle direction (third setting method). Note that the control device 11 includes the first setting method, the second setting method, and the third setting method, and the operator may be able to select in advance either the second setting method or the third setting method as the method for setting the reference line L1 when the distance is less than the predetermined distance. Furthermore, the operator may be able to select in advance whether to permit or prohibit the setting of the reference line L1 (second setting method or third setting method) when the distance is less than the predetermined distance.

[0080] This allows the operator to register the start point A1, run the combine harvester 1 a predetermined distance, and then register the end point B1 to set the reference line L1. Furthermore, the operator can set the reference line L1 based on the vehicle direction even if the run distance of the combine harvester 1 after registering the start point A1 is less than the predetermined distance.

[0081] In addition, the generation processing unit 112 may notify the operator whether the start point setting unit 35 set the reference line L1 based on the vehicle orientation of the combine 1 when it received the operator's operation (short press operation), or whether the end point setting unit 36 ​​set the reference line L1 based on the vehicle orientation of the combine 1 when it received the operator's operation (short press operation).

[0082] In another embodiment, for example, after the reference line L1 is set based on the vehicle orientation of the combine harvester 1 when the start point setting unit 35 is operated, if the operator again operates the end point setting unit 36 ​​at a position that is a predetermined distance or more away from the start point A1, the generation processing unit 112 may delete the set reference line L1 and reset (update) the reference line L1 generated based on the start point A1 and the end point B1. Also, for example, after the reference line L1 is set based on the vehicle orientation of the combine harvester 1 when the end point setting unit 36 ​​is operated, if the operator again operates the end point setting unit 36 ​​at a position that is a predetermined distance or more away from the start point A1, the generation processing unit 112 may delete the set reference line L1 and reset (update) the reference line L1 generated based on the start point A1 and the end point B1.

[0083] Here, the generation processing unit 112 may cause the operation device 30 to display in a distinguishable manner whether the reference line L1 is set by the first setting method or the second setting method (or the third setting method). For example, while the travel distance of the combine harvester 1 after the start point A1 is registered is less than a predetermined distance, the generation processing unit 112 turns off the automatic travel display unit 32 as shown in FIG. 10A. Then, when the travel distance of the combine harvester 1 after the start point A1 is registered reaches the predetermined distance, the generation processing unit 112 turns on or blinks the automatic travel display unit 32 as shown in FIG. 10B. Note that the generation processing unit 112 may use different illumination colors corresponding to the configuration shown in FIG. 8D and the configuration shown in FIG. 10B.

[0084] In another embodiment, when the travel distance of the combine harvester 1 reaches a predetermined distance after the start point A1 is registered, the generation processing unit 112 may light or flash only the right side of the automatic travel display unit 32. Note that the lighting or flashing pattern of the automatic travel display unit 32 is not limited to this, and only the left side of the automatic travel display unit 32 may light or flash, or both the right and left sides may light or flash. In another embodiment, when the travel distance of the combine harvester 1 reaches a predetermined distance after the start point A1 is registered, the generation processing unit 112 may issue a buzzer sound, a guidance voice, or the like from the operation device 30. In this way, when the travel distance of the combine harvester 1 reaches a predetermined distance after the start point A1 is registered, the generation processing unit 112 may issue information indicating that a reference line can be set based on the start point A1 and the end point B1.

[0085] In another embodiment, the generation processing unit 112 may display information on a display unit of an operation terminal or the like that makes it possible to identify whether the reference line L1 is set by the first setting method or the second setting method (or the third setting method).

[0086] According to the above configuration, the worker can easily understand whether the reference line L1 is set by the first setting method or the second setting method (or the third setting method), thereby making it possible to prevent the reference line L1 from being set by a method not intended by the worker.

[0087] In the above-described embodiment, the generation processing unit 112 sets the reference line L1 when both the start point setting unit 35 and the end point setting unit 36 ​​receive a predetermined operation (short press operation) from the worker, but in another embodiment, the generation processing unit 112 may set the reference line L1 when either the start point setting unit 35 or the end point setting unit 36 ​​receives a predetermined operation from the worker.

[0088] For example, if the start point A1 has not been registered and the end point setting unit 36 ​​receives a predetermined operation (e.g., a long press) from the operator, the generation processing unit 112 sets the reference line L1 based on the vehicle orientation of the combine harvester 1 at the time the end point setting unit 36 ​​received the long press. Note that the "long press" refers to an operation in which the operation button is pressed and not released for a predetermined period of time or longer, and the ON period of the operation button is the predetermined period of time or longer. For example, if the operator performs a long press on the end point setting unit 36 ​​without performing the registration operation of the start point A1 (pressing the start point setting unit 35), the generation processing unit 112 sets the reference line L1 as a straight line that passes through the position (current position) of the combine harvester 1 at the time the end point setting unit 36 ​​was pressed and extended in the vehicle orientation of the combine harvester 1.

[0089] Furthermore, for example, when the start point setting unit 35 receives a predetermined operation (long press operation) from the operator, the generation processing unit 112 may set the reference line L1 based on the vehicle orientation of the combine harvester 1 at the time the start point setting unit 35 receives the long press operation. For example, when the operator performs a long press operation on the start point setting unit 35, the generation processing unit 112 sets a straight line that passes through the position of the combine harvester 1 at the time the start point setting unit 35 is long pressed (current position) and extends in the vehicle orientation direction of the combine harvester 1 as the reference line L1.

[0090] In this way, by the operator performing an operation (e.g., a long press operation) on the start point setting unit 35 or the end point setting unit 36 ​​that is different from the operation (e.g., a short press operation) used when registering the start point A1 or the end point B1, it becomes possible to set the reference line L1 without registering both the start point A1 and the end point B1.

[0091] As described above, when the end point setting unit 36 ​​is pressed and held down, the generation processing unit 112 sets the reference line L1 based on the vehicle orientation at the time of the long press. In contrast, when the end point setting unit 36 ​​is pressed and held down, the generation processing unit 112 may be configured to register the end point B1 if the start point A1 is registered, and not register the end point B1 if the start point A1 is not registered (ignoring the short press of the end point setting unit 36). Furthermore, when the end point setting unit 36 ​​is pressed and held down while the start point A1 is registered, the generation processing unit 112 may ignore the start point A1 and set the reference line L1 based on the vehicle orientation at the time the end point setting unit 36 ​​was operated.

[0092] As described above, the generation processing unit 112 executes the reference line setting process to set the reference line L1 when both the start point setting unit 35 and the end point setting unit 36 ​​receive a predetermined operation (short press operation) from the worker. The generation processing unit 112 also executes the reference line setting process when one of the start point setting unit 35 and the end point setting unit 36 ​​receives a predetermined operation (long press operation) from the worker. The generation processing unit 112 also generates the target route R1 (see FIG. 4A) based on the set reference line L1.

[0093] When the generation processing unit 112 generates the target route R1, the travel processing unit 111 automatically travels the combine harvester 1 along the target route R1. For example, the target route R1 may be generated for the position of the combine harvester 1 at the time the reference line L1 was set (e.g., the operating position of the start point setting unit 35 or the operating position of the end point setting unit 36), and when the combine harvester 1 satisfies a start condition, the travel processing unit 111 may start automatic travel from that position along the target route R1. In another embodiment, after the reference line L1 is generated, an operator manually aligns the combine harvester 1 to a target start position of the work route, generates the target route R1 at that position, and when the start condition is satisfied, the travel processing unit 111 may start automatic travel from that position along the target route R1. In another embodiment, after the target route R1 is generated based on the reference line L1, an operator manually aligns the combine harvester 1 to the target route R1 and when the start condition is satisfied, the travel processing unit 111 may start automatic travel from that position along the target route R1.

[0094] [Baseline deletion process] The identification processing unit 113 executes an identification process different from the reference line setting process when at least one of the start point setting unit 35 and the end point setting unit 36 ​​receives a predetermined operation from the operator. The identification process includes, for example, a process of deleting the start point A1, a process of deleting the end point B1, and a process of deleting the reference line L1. The identification processing unit 113 is an example of the identification processing unit of the present invention.

[0095] Specifically, when the start point A1 and the end point B1 are registered, if the overlap time (overlapping time) between the operation time of the start point setting unit 35 and the operation time of the end point setting unit 36 ​​is equal to or longer than a predetermined time, the identification processing unit 113 deletes the start point A1 and the end point B1. For example, after the operator registers the start point A1 and the end point B1, if the operator presses one of the start point setting unit 35 and the end point setting unit 36 ​​and then presses the other, or presses the start point setting unit 35 and the end point setting unit 36 ​​simultaneously, and the start point setting unit 35 and the end point setting unit 36 ​​remain ON for a predetermined time, the identification processing unit 113 deletes (resets) the start point A1 and the end point B1. Note that the timing at which the start point setting unit 35 turns ON and the timing at which the end point setting unit 36 ​​turns ON may be the same, or there may be a predetermined time difference between them.

[0096] In another embodiment, the identification processing unit 113 may delete one of the start point A1 and the end point B1 in response to the above operation. For example, the identification processing unit 113 deletes only the start point A1 when the start point setting unit 35 and the end point setting unit 36 ​​have been in the ON state for a predetermined time and then the start point setting unit 35 is released (when the state changes to the OFF state), and deletes only the end point B1 when the end point setting unit 36 ​​has been released (when the state changes to the OFF state) after the start point setting unit 35 and the end point setting unit 36 ​​have been in the ON state for a predetermined time. Furthermore, the identification processing unit 113 may delete one of the start point A1 and the end point B1 selected by the operator when receiving the above operation.

[0097] Furthermore, when deleting the start point A1 and the end point B1 in response to the above operation, the identification processing unit 113 may also delete the reference line L1. Furthermore, the identification processing unit 113 may be configured to delete the start point A1 and the end point B1 in response to the above operation, but not to delete the reference line L1. Furthermore, when only one of the start point A1 and the end point B1 is registered, the identification processing unit 113 may also delete the registered start point A1 or end point B1 if the overlap time is equal to or longer than a predetermined time.

[0098] In this way, the operator can delete the start point A1, the end point B1, and the reference line L1 by operating the operation units (start point setting unit 35 and end point setting unit 36) for setting the reference line L1 using a specific operation method. That is, the operation device 30 can be provided with a function for a reference line setting process and a function for a deletion process (an example of a specific process) for deleting the start point A1, the end point B1, and the reference line L1, thereby improving the convenience of the operation device 30.

[0099] In another embodiment, the identification processing unit 113 may execute the deletion process in response to an operation of one of the start point setting unit 35 and the end point setting unit 36. For example, the identification processing unit 113 deletes the start point A1 when the start point setting unit 35 is pressed and held down when only the start point A1 is registered. Furthermore, for example, the identification processing unit 113 deletes the end point B1 when the end point setting unit 36 ​​is pressed and held down when the start point A1 and the end point B1 are registered, and deletes the start point A1 when the start point setting unit 35 is pressed and held down when the start point A1 and the end point B1 are registered.

[0100] In another embodiment, for example, the specific processing unit 113 may delete the start point A1 and the end point B1 when the start point setting unit 35 or the end point setting unit 36 ​​is pressed and held while the start point A1 and the end point B1 are registered.

[0101] In addition, when the start point A1 and the end point B1 are registered, if the overlap time is less than a predetermined time, the identification processing unit 113 does not delete the start point A1 and the end point B1.

[0102] The identification processing unit 113 may also display whether the overlap time is equal to or greater than a predetermined time in a manner that allows the operator to easily determine whether the overlap time is equal to or greater than a predetermined time. For example, the identification processing unit 113 flashes the automatic travel display unit 32 (see FIG. 7 ) when both the start point setting unit 35 and the end point setting unit 36 ​​are turned on, and then sounds a buzzer when the overlap time reaches the predetermined time, thereby deleting the start point A1 and the end point B1. In contrast, the identification processing unit 113 flashes the automatic travel display unit 32 when both the start point setting unit 35 and the end point setting unit 36 ​​are turned on, and then turns off the automatic travel display unit 32 if at least one of the start point setting unit 35 and the end point setting unit 36 ​​is turned off before the overlap time reaches the predetermined time, thereby not deleting the start point A1 and the end point B1. This allows the operator to easily determine whether the deletion process was successfully performed.

[0103] As described above, when at least one of the start point setting unit 35 and the end point setting unit 36 ​​receives an operation (second operation) from the operator that is different from the operation (first operation) for setting the reference line L1, the specific processing unit 113 executes a process of deleting at least one of the start point A1, the end point B1, and the reference line L1.

[0104] The deletion process is an example of a specifying process of the present invention. The specifying process of the present invention may be, for example, a process of selecting a reference line to be used during automatic driving, or a process of switching the selected reference line during automatic driving. For example, when multiple reference lines (e.g., reference line L1, orthogonal line L2, etc.) are registered, if an operator performs a specific operation on at least one of the start point setting unit 35 and the end point setting unit 36 ​​when starting automatic driving, the control device 11 determines the reference line in accordance with the operation and generates the target route R1. The specific operation may be, for example, a double-click operation, or a combination of a double-click operation, a short press operation, and a long press operation.

[0105] In the above embodiment, the configuration when the target route generation mode is set to the "equal pitch mode" has been described, but in another embodiment, the target route generation mode may be set to the "own vehicle position reference mode." Below, a specific example of the procedure for starting autonomous driving when the target route is generated in the "own vehicle position reference mode" will be described.

[0106] First, the control device 11 sets and registers a reference line using the setting method described above. Next, the control device 11 selects a reference line. For example, if multiple reference lines (e.g., reference line L1, orthogonal line L2, etc.) are registered, the control device 11 selects one of the reference lines based on the operator's selection operation or the position information and vehicle orientation of the combine harvester 1. Next, the control device 11 generates a path (e.g., a straight path) (parallel line) parallel to the selected reference line and sets the generated path as the current position (reference point) of the combine harvester 1. Note that once the path is set as the reference point, when the combine harvester 1 is moved by manual steering by the operator, for example, the path moves parallel to the reference line so as to follow the reference point. Next, the operator manually drives the combine harvester 1 so that the vehicle orientation of the combine harvester 1 is within a predetermined range of the path (satisfying the conditions for starting automatic driving). When the operator presses the automatic driving instruction unit 31 when the combine harvester 1 meets the conditions for starting automatic driving, the control device 11 sets the route at that position as the target route and causes the combine harvester 1 to start automatic driving according to the target route.

[0107] Another example of the procedure for starting automatic traveling will be described. For example, after the control device 11 sets and selects a reference line in the same manner as in the above example, the operator manually drives the combine harvester 1 so that the vehicle orientation of the combine harvester 1 is within a predetermined range of the reference line (satisfying the conditions for starting automatic traveling). Next, when the operator presses the automatic traveling instruction unit 31 in a state in which the combine harvester 1 satisfies the conditions for starting automatic traveling, the control device 11 generates a path (e.g., a straight path) (parallel line) that is parallel to the reference line and passes through the current position (reference point) of the combine harvester 1, sets the generated path as a target path, and causes the combine harvester 1 to start automatic traveling along the target path.

[0108] [Operation Control Processing] Hereinafter, an example of the operation control process executed by the traveling system according to the first embodiment will be described with reference to FIG.

[0109] The present invention can be understood as an invention of an operation control method that executes one or more steps included in the operation control process. Furthermore, one or more steps included in the operation control process described herein may be omitted as appropriate. Furthermore, the steps in the operation control process may be executed in a different order as long as the same effects are achieved. Furthermore, while the description here uses an example in which the control device 11 of the combine harvester 1 executes the steps in the operation control process, another embodiment of the operation control method may also be considered in which one or more processors execute the steps in the operation control process in a distributed manner. For example, the control unit of the operation device 30 may execute the operation control process.

[0110] In step S11, the control device 11 determines whether or not a route generation start instruction has been received. If the route generation start instruction has been received (S11: Yes), the control device 11 shifts the processing to step S12. The control device 11 waits until the route generation start instruction has been received (S11: No).

[0111] In step S12, the control device 11 determines whether or not a predetermined operation (e.g., a short press operation) has been received from the worker on the start point setting unit 35 (see FIG. 7). If the control device 11 receives a short press operation on the start point setting unit 35 from the worker (S12: Yes), the control device 11 shifts the processing to step S13. If the control device 11 does not receive a short press operation on the start point setting unit 35 from the worker (S12: No), the control device 11 shifts the processing to step S121.

[0112] In step S13, the control device 11 registers the start point A1. Specifically, the control device 11 registers the position of the combine harvester 1 when the operator performs a short press on the start point setting unit 35 as the start point A1.

[0113] Next, in step S14, the control device 11 determines whether the combine harvester 1 has traveled a predetermined distance. For example, the control device 11 determines whether the combine harvester 1 has traveled 5 m from the starting point A1. If the control device 11 determines that the travel distance of the combine harvester 1 has reached 5 m (S14: Yes), the control device 11 shifts the processing to step S15. On the other hand, if the control device 11 determines that the travel distance of the combine harvester 1 has not reached 5 m (less than 5 m) (S14: No), the control device 11 shifts the processing to step S141. Note that the predetermined distance is not limited to 5 m and is set according to the size of the field.

[0114] In step S15, the control device 11 determines whether or not a predetermined operation (e.g., a short press operation) has been received from the worker on the end point setting unit 36 ​​(see FIG. 7). If the control device 11 receives a short press operation on the end point setting unit 36 ​​from the worker (S15: Yes), the control device 11 shifts the processing to step S16. The control device 11 waits until it receives a short press operation on the end point setting unit 36 ​​from the worker (S15: No).

[0115] In step S16, the control device 11 registers the end point B1. Specifically, the control device 11 registers the position of the combine harvester 1 when the operator performs the short press operation on the end point setting unit 36 ​​as the end point B1.

[0116] Next, in step S17, the control device 11 sets a reference line L1 based on the start point A1 and the end point B1. For example, the control device 11 generates a straight line connecting the registered start point A1 and end point B1, and sets and registers the generated straight line as the reference line L1 (see FIG. 9A). In another embodiment, the control device 11 may set an orthogonal line L2 based on the reference line L1, and register the reference line L1 and the orthogonal line L2. After step S17, the control device 11 transitions the process to step S18.

[0117] On the other hand, if the control device 11 does not receive a short press operation on the start point setting unit 35 from the worker in step S12 (S12: No), the control device 11 determines in the subsequent step S121 whether or not a long press operation on the start point setting unit 35 or the end point setting unit 36 ​​has been received from the worker. If the control device 11 receives a long press operation on the start point setting unit 35 or the end point setting unit 36 ​​from the worker (S121: Yes), the control device 11 shifts the processing to step S122. If the control device 11 does not receive a long press operation on the start point setting unit 35 or the end point setting unit 36 ​​from the worker (S121: No), the control device 11 shifts the processing to step S12.

[0118] In step S122, the control device 11 sets the reference line L1 based on the vehicle orientation of the combine harvester 1 when the long press operation of the start point setting unit 35 or the end point setting unit 36 ​​is accepted. For example, when the operator accepts a long press operation of the start point setting unit 35, the control device 11 sets the reference line L1 based on the vehicle orientation of the combine harvester 1 when the long press operation of the start point setting unit 35 is accepted, and when the operator accepts a long press operation of the end point setting unit 36, the control device 11 sets the reference line L1 based on the vehicle orientation of the combine harvester 1 when the long press operation of the end point setting unit 36 ​​is accepted. After step S122, the control device 11 transitions the processing to step S18.

[0119] In step S14, if the travel distance of the combine harvester 1 has not reached a predetermined distance (e.g., 5 m) (less than 5 m) (S14: No), in the subsequent step S141, the control device 11 determines whether or not a short press operation of the end point setting unit 36 ​​has been received from the operator. If the control device 11 receives a short press operation of the end point setting unit 36 ​​from the operator (S141: Yes), the control device 11 shifts the processing to step S142. If the control device 11 does not receive a short press operation of the end point setting unit 36 ​​from the operator (S141: No), the control device 11 shifts the processing to step S14.

[0120] In step S142, the control device 11 sets the reference line L1 based on the vehicle orientation of the combine harvester 1 when the control device 11 receives the short press operation of the start point setting unit 35. In another embodiment, the control device 11 may set the reference line L1 based on the vehicle orientation of the combine harvester 1 when the control device 11 receives the short press operation of the end point setting unit 36. After step S142, the control device 11 transitions the processing to step S18.

[0121] In step S18, the control device 11 determines whether or not a deletion operation of the reference line L1 has been accepted. For example, when the start point A1 and the end point B1 are registered, the control device 11 determines whether or not the overlapping time (overlap time) between the operation time for the start point setting unit 35 and the operation time for the end point setting unit 36 ​​is equal to or longer than a predetermined time. When the control device 11 determines that the overlapping time is equal to or longer than the predetermined time (S18: Yes), the control device 11 shifts the processing to step S181.

[0122] On the other hand, if the control device 11 does not receive an operation to delete the reference line L1 (S18: No), the control device 11 shifts the process to step S19. For example, if the control device 11 receives an instruction to generate a target route from the operator (S18: No), the control device 11 shifts the process to step S19.

[0123] In step S181, the control device 11 deletes the set reference line L1. For example, if the start point A1 and the end point B1 have been registered, the control device 11 deletes the reference line L1 and the start point A1 and the end point B1. Furthermore, if the control device 11 has registered either the start point A1 or the end point B1, the control device 11 deletes the reference line L1 and the registered start point A1 or the end point B1. Furthermore, if the vehicle direction has been registered, the control device 11 deletes the reference line L1 and the vehicle direction. After step S181, the control device 11 returns the process to step S12 and executes the above-mentioned process again. In the above-mentioned manner, the operator can set the reference line L1 or delete the set reference line L1 and reset it.

[0124] In step S19, the control device 11 generates a target route R1 (see FIG. 9A) based on the reference line L1 set by the above-described processing. The control device 11 generates the target route R1, and when the conditions for starting automatic traveling are satisfied, the control device 11 causes the combine harvester 1 to start automatic traveling according to the target route R1. In this manner, the control device 11 sets the reference line L1 in accordance with the operator's operation of the operation device 30 and generates the target route R1.

[0125] In another embodiment, in step S15, if the control device 11 does not receive a short press operation on the end point setting unit 36 ​​from the operator (S15: No), but receives a long press operation on the end point setting unit 36, the control device 11 may set the reference line L1 based on the vehicle orientation of the combine 1 at the time the long press operation on the end point setting unit 36 ​​was received.

[0126] As described above, the control device 11 according to the first embodiment controls the operation device 30, which includes a start point setting unit 35 (first setting unit) that receives a user operation to register a start point A1 (first reference position) of a reference line when the combine harvester 1 (work vehicle) is automatically driven, and an end point setting unit 36 ​​(second setting unit) that receives a user operation to register an end point B1 (second reference position) of the reference line. When at least one of the start point setting unit 35 and the end point setting unit 36 ​​receives a first operation (e.g., a short press operation) from the user, the control device 11 executes a reference line setting process that sets a reference line, and when at least one of the start point setting unit 35 and the end point setting unit 36 ​​receives a second operation (e.g., a simultaneous long press operation) from the user, the control device 11 executes a specific process (e.g., a reference line deletion process) that is different from the reference line setting process.

[0127] According to the above configuration, for example, the operator can register the start point A1 and the end point B1 and set the reference line L1 by briefly pressing the start point setting unit 35 and the end point setting unit 36, and can delete the set reference line L1 by long pressing both the start point setting unit 35 and the end point setting unit 36. In this way, the operation device 30 is provided with a function for setting the reference line L1 and a function different from that function, and each of the functions can be enabled in response to an operation on the operation device 30, thereby improving the convenience of the operation device 30.

[0128] [Embodiment 2] However, in conventional technology, a teaching operation to set a reference direction is required to start automatic traveling, which is time-consuming. In contrast, the traveling system according to the second embodiment of the present invention has a configuration that enables the combine harvester 1 to travel automatically with a simple operation method, as described below.

[0129] The following describes a traveling system according to embodiment 2. Note that, below, the same components as those in the traveling system and combine 1 according to embodiment 1 are denoted by the same reference numerals, and descriptions thereof will be omitted as appropriate. The traveling system according to embodiment 2 is an example of an automatic traveling system of the present invention.

[0130] The traveling system according to the second embodiment automatically travels the combine harvester 1 in response to a user operation on the operation device 30 (see FIG. 7). The traveling system also receives an automatic traveling start instruction from an operator at an automatic traveling instruction unit 31 (start operation unit) provided on the operation device 30, and starts automatic traveling of the combine harvester 1 based on the vehicle orientation (host vehicle orientation) of the combine harvester 1 at the time the automatic traveling start instruction was received. The memory unit 51 according to the second embodiment stores an automatic traveling program for causing the control device 11 to execute the automatic traveling process (see FIG. 13) described below.

[0131] Specifically, the control device 11 includes a first mode in which the combine harvester 1 is automatically driven according to a target route generated based on a reference line set in response to a user operation, and a second mode in which the combine harvester 1 is automatically driven according to a target route generated based on the vehicle orientation of the combine harvester 1 when an automatic driving start command is received. For example, in the first mode, the generation processing unit 112 sets a reference line using the setting method in the first embodiment (the first to third setting methods), and automatically drives the combine harvester 1 according to a target route generated based on the reference line.

[0132] The first mode may include a method of setting a reference line based on an azimuth angle (set azimuth angle) set by an operator and automatically running the combine harvester 1 along a target route generated based on the reference line. For example, when the operator inputs an angle relative to a reference azimuth angle (for example, north) on a setting screen (not shown) and then performs an operation to register a start point A1 (by pressing the start point setting unit 35), the control device 11 registers the position (current position) of the combine harvester 1 as the start point A1 and sets a straight line that passes through the start point A1 and extends in the direction of the input angle (set azimuth angle) as the reference line.

[0133] The control device 11 according to the second embodiment has, in addition to the first mode, the second mode in which the combine harvester 1 is automatically driven without setting a reference line. The generation processing unit 112 can switch between the first mode and the second mode according to predetermined conditions and starts the automatic driving of the combine harvester 1 by setting either mode. The second mode may be a mode in which the automatic driving is started based on the vehicle orientation (host vehicle orientation) of the combine harvester 1, or a mode in which a target route is generated based on the vehicle orientation (host vehicle orientation) of the combine harvester 1 and the automatic driving is started according to the target route.

[0134] For example, when an automatic travel start instruction is received (when the automatic travel instruction unit 31 is pressed) with no reference line set, the generation processing unit 112 starts the automatic travel of the combine harvester 1 in the second mode. With this configuration, the operator can start the automatic travel of the combine harvester 1 simply by manually aligning the combine harvester 1 with the target start position of the work route and issuing an automatic travel start instruction, without performing an operation to set a reference line (see FIGS. 8A to 8D).

[0135] In another embodiment, when a reference line is set, the generation processing unit 112 may start automatic traveling of the combine harvester 1 in the second mode if the orientation difference (see FIG. 12A) between the orientation of the reference line and the vehicle orientation of the combine harvester 1 when the automatic traveling start instruction is received is equal to or greater than a predetermined orientation difference. The predetermined orientation difference is the orientation difference at which automatic traveling can be started with respect to the reference line, and corresponds to the permission condition of the first mode. For example, the predetermined orientation difference is set to ±5 degrees with respect to the reference line. Note that the predetermined orientation difference may be arbitrarily set by the operator, or may be set by the control device 11 depending on the work content and the field.

[0136] For example, if a reference line corresponding to the first mode has been set in advance, the operator can select the reference line and start automatic traveling along a target route that passes through the current position of the combine harvester 1 (vehicle position reference mode). However, if the difference in orientation between the vehicle heading at the start of automatic traveling and the reference line is large (a predetermined orientation difference or greater), the permission conditions for the first mode are not met and automatic traveling cannot be started. Therefore, if the orientation difference is large (a predetermined orientation difference or greater), the generation processing unit 112 permits the start of automatic traveling in the second mode. For example, if the operator manually aligns the combine harvester 1 with a target start position on the work route and issues an automatic traveling start command, and the orientation difference at that position is 5 degrees or greater, the generation processing unit 112 starts automatic traveling of the combine harvester 1 based on the vehicle orientation of the combine harvester 1 at that position.

[0137] In this way, when a reference line is set, if the orientation difference is less than the predetermined orientation difference, the generation processing unit 112 starts the automatic traveling of the combine harvester 1 in the first mode, and if the orientation difference is equal to or greater than the predetermined orientation difference, the generation processing unit 112 starts the automatic traveling of the combine harvester 1 in the second mode. Note that if the orientation difference is less than the predetermined orientation difference, the operator may be able to select the first mode or the second mode.

[0138] In another embodiment, when a reference line is set, the generation processing unit 112 may start automatic traveling of the combine harvester 1 in the second mode if the lateral deviation (see FIG. 12B) between the target route generated based on the reference line and the position of the combine harvester 1 is equal to or greater than a predetermined deviation. The predetermined deviation is a lateral deviation at which automatic traveling can be started relative to the target route (multiple parallel straight lines corresponding to the equal pitch mode) generated based on the reference line, and corresponds to the permission condition for the first mode. For example, the predetermined deviation is the deviation of the vehicle width center position (antenna position) of the combine harvester 1 relative to the target route (see FIG. 12B) and is set to ±50 cm. Note that the predetermined deviation may be arbitrarily set by the operator, or may be set by the control device 11 depending on the work content and the field.

[0139] For example, if a reference line corresponding to the first mode has been set in advance, the operator can select the reference line and start automatic traveling along the target route (equal-pitch mode). However, if the lateral deviation between the vehicle position at the start of automatic traveling and the target route is large (a predetermined deviation or greater), the permission conditions for the first mode are not met and automatic traveling cannot be started. Therefore, if the lateral deviation is large (a predetermined deviation or greater), the generation processing unit 112 permits the start of automatic traveling in the second mode. For example, if the operator manually aligns the combine harvester 1 with the target start position of the work route and issues an automatic traveling start command, and the lateral deviation at that position is 50 cm or greater, the generation processing unit 112 starts automatic traveling of the combine harvester 1 based on the vehicle orientation of the combine harvester 1 at that position.

[0140] In this way, when a reference line is set, if the lateral deviation is less than the predetermined deviation, the generation processing unit 112 starts the automatic traveling of the combine harvester 1 in the first mode, and if the lateral deviation is equal to or greater than the predetermined deviation, the generation processing unit 112 starts the automatic traveling of the combine harvester 1 in the second mode. Note that if the lateral deviation is less than the predetermined deviation, the operator may be able to select the first mode or the second mode.

[0141] In addition, in the above configuration, when a reference line is set, the generation processing unit 112 may start automatic driving of the combine 1 in the second mode if the orientation difference (see Figure 12A) between the orientation of the reference line and the vehicle orientation of the combine 1 is greater than or equal to the predetermined orientation difference, and the lateral deviation (see Figure 12B) between the target route generated based on the reference line and the position of the combine 1 is greater than or equal to the predetermined deviation.

[0142] In another embodiment, when the automatic driving instruction unit 31 is continuously operated (long press operation) by the operator for a predetermined period of time or more, the generation processing unit 112 may start automatic driving based on the vehicle orientation (the second mode) of the combine harvester 1. For example, when the operator manually drives the combine harvester 1 to a target start position of the work route and performs a long press operation on the automatic driving instruction unit 31, the generation processing unit 112 starts automatic driving of the combine harvester 1 based on the vehicle orientation of the combine harvester 1 at that position.

[0143] According to the above configuration, regardless of whether a reference line has been set, the automatic travel of the combine harvester 1 can be started in the second mode by a predetermined operation by the operator on the operation device 30 (for example, a long press on the automatic travel instruction unit 31). The predetermined operation is not limited to a long press on the automatic travel instruction unit 31, but may also be a specific operation on the start point setting unit 35 and the end point setting unit 36.

[0144] In another embodiment, when a reference line is set, the generation processing unit 112 may start automatic traveling of the combine harvester 1 in the second mode if the difference in orientation between the orientation of the reference line and the vehicle orientation of the combine harvester 1 at the time the automatic traveling start instruction was received is less than a predetermined orientation difference and the automatic traveling instruction unit 31 is continuously operated (long press operation) by the operator for a predetermined time or more. Specifically, when the orientation difference is less than the predetermined orientation difference, the generation processing unit 112 starts automatic traveling of the combine harvester 1 in the first mode when the operator performs a short press operation (operation within a predetermined time) on the automatic traveling instruction unit 31, and starts automatic traveling of the combine harvester 1 in the second mode when the operator performs a long press operation (continuous operation for a predetermined time or more) on the automatic traveling instruction unit 31.

[0145] In this way, in a state where the orientation difference is less than the predetermined orientation difference, the first mode or the second mode may be selectable depending on the operating method of the operating device 30 by the operator.

[0146] In another embodiment, the generation processing unit 112 may switch between the first mode and the second mode depending on the location within the field F (see FIG. 5) where the combine harvester 1 is to travel automatically. For example, there may be a location within the field F where automatic travel in the first mode is appropriate and a location where automatic travel in the second mode is appropriate. In this case, the generation processing unit 112 selects an appropriate mode depending on the location within the field F and executes automatic travel. For example, when the orientation and position of each side of the field outline can be determined, the generation processing unit 112 selects the first mode near an outline edge where the position of the combine harvester 1 is close to the orientation of the reference line, and selects the second mode near an outline edge where the position of the combine harvester 1 is different from the orientation of the reference line.

[0147] Furthermore, the generation processing unit 112 may switch between the first mode and the second mode depending on the work content or the work machine. For example, the generation processing unit 112 may permit only automatic traveling in the first mode in the case of work that requires high work precision, and permit automatic traveling in the second mode (permit switching between the first mode and the second mode) in the case of work that does not require high work precision.

[0148] In another embodiment, the control device 11 may set the automatic driving mode in response to an operator's operation to switch between the first mode and the second mode. For example, the operator may switch between the first mode and the second mode on a setting screen (not shown). Alternatively, the operator may operate the operation device 30 to switch between the first mode and the second mode.

[0149] According to the above-described embodiments, the combine harvester 1 starts automatic traveling simply by the operator pressing the automatic traveling instruction unit 31. This makes it difficult for the operator to determine whether automatic traveling has started according to a target route corresponding to a reference line (the first mode) or according to the vehicle heading (the second mode). Therefore, the generation processing unit 112 may notify the operator of information that enables the operator to identify whether automatic traveling has started in the first mode or the second mode. For example, the generation processing unit 112 may cause the automatic traveling display unit 32 (see FIG. 7 ) of the operation device 30 to light up or flash in a color corresponding to the mode, display the information on a display screen of the operation terminal, or output a buzzer sound, guidance voice, or the like from the operation device 30 or the operation terminal.

[0150] In addition, when automatic driving (the second mode) is started based on the vehicle direction, the control device 11 may use the route offset function to move the driving route of the combine 1 in parallel, or may use the route angle offset function to change the driving direction of the combine 1.

[0151] [Automatic driving processing] Hereinafter, an example of the automatic driving process executed by the driving system according to the second embodiment will be described with reference to FIG.

[0152] The present invention can be considered as an invention of an automatic driving method that executes one or more steps included in the automatic driving process. One or more steps included in the automatic driving process described herein may be omitted as appropriate. The steps in the automatic driving process may be executed in a different order as long as the same effects are achieved. While the description here uses an example in which the control device 11 of the combine harvester 1 executes each step in the automatic driving process, another embodiment of the automatic driving method may also be considered in which one or more processors execute each step in the automatic driving process in a distributed manner. For example, the control unit of the operating device 30 may execute the automatic driving process.

[0153] In step S21, the control device 11 determines whether or not an automatic driving start instruction has been received. For example, when an operator presses the automatic driving instruction unit 31 of the operation device 30 (see FIG. 7), the control device 11 determines that an automatic driving start instruction has been received. When the control device 11 receives an automatic driving start instruction (S21: Yes), it shifts the processing to step S22. The control device 11 waits until an automatic driving start instruction is received (S21: No).

[0154] In step S22, the control device 11 determines whether or not a reference line has been set. For example, if the worker has previously performed an operation to set a reference line using the operation device 30 (see FIGS. 8A to 8D), the control device 11 determines that the reference line has been set. If the control device 11 determines that the reference line has been set (S22: Yes), it shifts the process to step S23. On the other hand, if the control device 11 determines that the reference line has not been set (S22: No), it shifts the process to step S221.

[0155] In step S23, the control device 11 determines whether the orientation difference (see FIG. 12A) between the orientation of the reference line and the vehicle orientation of the combine harvester 1 when the automatic travel start instruction was received is less than a predetermined orientation difference. For example, the control device 11 determines whether the orientation difference at the time the automatic travel start instruction was received from the operator is less than 5 degrees. If the orientation difference is less than the predetermined orientation difference (5 degrees) (S23: Yes), the control device 11 shifts the processing to step S24, and if the orientation difference is equal to or greater than the predetermined orientation difference (5 degrees) (S23: No), the control device 11 shifts the processing to step S221.

[0156] As another embodiment of step S23, the control device 11 may determine whether the lateral deviation (see FIG. 12B) between the target route generated based on the reference line and the position of the combine harvester 1 is less than a predetermined deviation. For example, the control device 11 determines whether the lateral deviation at the time when the control device 11 receives an automatic travel start instruction from the operator is less than 50 cm. If the lateral deviation is less than the predetermined deviation (50 cm) (S23: Yes), the control device 11 shifts the processing to step S24, and if the lateral deviation is equal to or greater than the predetermined deviation (50 cm) (S23: No), the control device 11 shifts the processing to step S221. As yet another embodiment, the control device 11 may perform a determination process that combines the heading difference and the lateral deviation.

[0157] In step S24, the control device 11 determines whether the operation to issue an instruction to start automatic driving in step S21 is a continuous operation (long press operation) for a predetermined time or more. If the control device 11 determines that the operation to issue an instruction to start automatic driving is a long press operation (S24: Yes), it shifts the processing to step S221. On the other hand, if the control device 11 determines that the operation to issue an instruction to start automatic driving is not a long press operation (short press operation) (S24: No), it shifts the processing to step S25.

[0158] In step S25, the control device 11 starts the automatic traveling of the combine harvester 1 in the first mode. For example, the control device 11 generates a target route based on a set reference line and causes the combine harvester 1 to automatically travel along the generated target route. The control device 11 may generate a target route (see FIG. 4A) consisting of multiple straight lines parallel to the reference line (equal pitch mode), or may generate a target route consisting of a single straight line passing through the host vehicle position and parallel to the reference line (host vehicle position reference mode). Thus, in step S25, the combine harvester 1 starts automatic traveling along the target route generated based on the reference line.

[0159] In response to this, in step S221, the control device 11 starts the automatic traveling of the combine harvester 1 in the second mode. For example, the control device 11 causes the combine harvester 1 to automatically travel based on the vehicle orientation of the combine harvester 1 when the control device 11 receives the automatic traveling start instruction.

[0160] For example, when the control device 11 receives the automatic travel start instruction in a state where the reference line has not been set (S22: No), the control device 11 starts automatic travel based on the vehicle orientation of the combine harvester 1.

[0161] Also, for example, when a reference line is set and the direction difference (see Figure 12A) between the reference line and the vehicle direction of the combine 1 at the time of receiving the automatic driving start instruction is greater than or equal to the predetermined direction difference (S23: No), the control device 11 starts automatic driving based on the vehicle direction.

[0162] Furthermore, for example, when a reference line is set, the direction difference is less than the predetermined direction difference, and the operation for instructing the start of automatic driving is a long press operation (S24: Yes), the control device 11 starts automatic driving based on the vehicle direction of the combine 1.

[0163] In this way, in step S221, the combine harvester 1 starts automatic traveling based on the vehicle direction at the time when the automatic traveling start command is received, regardless of the reference line.

[0164] As described above, when the control device 11 receives an instruction to start automatic traveling from the operator, it starts the automatic traveling of the combine harvester 1 in the first mode or the second mode depending on predetermined conditions.

[0165] In step S26, the control device 11 determines whether the combine harvester 1 has finished working. If the control device 11 determines that the combine harvester 1 has finished working (S26: Yes), it ends the automatic travel processing. If the control device 11 determines that the combine harvester 1 has not finished working (S26: No), it returns to step S21 and executes the above-mentioned processing.

[0166] The control device 11 repeatedly executes the processes of steps S21 to S26 described above until the combine harvester 1 finishes work.

[0167] As described above, the control device 11 according to the second embodiment automatically drives the combine harvester 1 (work vehicle) in response to a user operation on the operation device 30. The control device 11 also receives an automatic driving start instruction from the operator at the automatic driving instruction unit 31 provided in the operation device 30, and starts the automatic driving of the combine harvester 1 based on the vehicle orientation of the combine harvester 1 at the time the automatic driving start instruction was received.

[0168] According to the above configuration, for example, the operator can start the automatic traveling of the combine harvester 1 by pressing the automatic traveling instruction unit 31 of the operation device 30 without performing the operation of setting the reference line (see FIGS. 8A to 8D). Therefore, the combine harvester 1 can be automatically traveled by a simple operation method.

[0169] Furthermore, when a reference line is set, the control device 11 may determine the first mode or the second mode and start automatic traveling based on at least one of the heading difference and the lateral deviation at the time when the automatic traveling start instruction is received. Furthermore, when a reference line is set, the control device 11 may determine the first mode or the second mode and start automatic traveling based on the operation method (short press operation or long press operation) of the automatic traveling start instruction.

[0170] According to the above configuration, the combine harvester 1 can be automatically driven by a simple operation method, and the convenience of the operation device 30 can be improved.

[0171] [Embodiment 3] The following describes a traveling system according to embodiment 3. Note that, in the following, the same components as those in the traveling systems and combine harvester 1 according to embodiments 1 and 2 are denoted by the same reference numerals, and descriptions thereof will be omitted as appropriate.

[0172] In the traveling system according to the third embodiment, the operating device 30 is provided in a position that does not obstruct the field of view of the operator riding on the combine harvester 1 when the combine harvester 1 is traveling automatically. FIGS. 14 and 15 show the positional relationship between the steering unit 9 and the reaping unit 3. FIGS. 14 and 15 also show the line of sight X1 when the operator checks ahead while the combine harvester 1 is traveling automatically, particularly when checking the right front end of the divider 13 of the reaping unit 3. FIG. 15B is an enlarged view of portion P1 in FIG. 15A. As shown in FIG. 14, the operating device 30 is provided in a position that does not overlap with the line of sight X1.

[0173] Specifically, while the combine harvester 1 is automatically traveling and performing harvesting work, the operator in the driver's seat checks whether the right front end of the divider 13 is aligned with the end of the unharvested stalks in order to confirm the traveling position of the combine harvester 1. For this reason, it is desirable that there is nothing obstructing the view from the operator to the divider 13 (line of sight X1).

[0174] Therefore, in the traveling system according to the third embodiment, the operating device 30 is placed outside the range (line of sight X1) from the driver's seat where the operator sits to the right front end of the divider 13. For example, as shown in FIG. 15A, the operating device 30 is placed at a position that does not overlap with the line of sight X1 that connects the driver's seat (operator) and the right front end of the divider 13.

[0175] Furthermore, in order to ensure a clear view of the front from the driver's seat, the operating device 30 may be disposed to the right of the line of sight X1 (toward the side mirror 91) (see FIG. 15B). The operating device 30 and the side mirror 91 are provided at approximately the same height from the ground and at approximately the same height as the handlebars 90 (see FIG. 3).

[0176] Furthermore, if the operating device 30 overlaps the side mirror 91 as seen by the operator in the driver's seat, it becomes difficult for the operator to check behind the vehicle through the side mirror 91, and therefore it is desirable to place the operating device 30 in a position where it does not overlap the side mirror 91. In other words, it is desirable to place the operating device 30 in an area between the line of sight X1 connecting the driver's seat (operator) and the right front end of the divider 13 and the line of sight X2 connecting the driver's seat (operator) and the side mirror 91 (see FIG. 15B).

[0177] According to the above configuration, it is possible to prevent the operation device 30 from obstructing the operator's field of vision (forward and backward checks) while the combine harvester 1 is traveling automatically.

[0178] If the operating device 30 is placed in the above position (see FIG. 15B), the light (LED light) emitted when the operating device 30 is turned on may be reflected in the right window glass of the driver's seat and overlap with the side mirror 91, which may make it difficult for the worker to check behind using the side mirror 91. For example, as shown in FIG. 16, when the automatic driving display unit 32, start point setting display unit 37, and end point setting display unit 38 of the operating device 30 (see FIG. 7) are turned on, the light is reflected in the right window glass 92 of the driver's seat. If the light reflected in the right window glass 92 overlaps with the side mirror 91, it becomes difficult for the worker to check behind using the side mirror 91.

[0179] Therefore, the operating device 30 may have a function for adjusting brightness. For example, the operating device 30 reduces the brightness of each display unit in the night mode compared to the brightness in the daytime (daytime) mode. Specifically, when the brightness of each display unit in the daytime mode is set to a duty ratio of 100%, the operating device 30 sets the brightness of each display unit in the night mode to a duty ratio of 20%.

[0180] 17, the operation device 30 may include a backlight 31L that illuminates the automatic driving instruction unit 31, a backlight 35L that illuminates the start point setting unit 35, and a backlight 36L that illuminates the end point setting unit 36. The operation device 30 sets the brightness of the backlights 31L, 35L, and 36L to a duty ratio of 0% in the daytime mode, and sets the brightness of the backlights 31L, 35L, and 36L to a duty ratio of 100% in the nighttime mode. In addition, the operation device 30 sets the brightness of the start point setting display unit 37 and the end point setting display unit 38 to a value lower than the brightness of the backlights 31L, 35L, and 36L in the nighttime mode. This prevents the start point setting display unit 37 and the end point setting display unit 38 from being too bright at night, and also makes the letters "AUTO" on the automatic driving instruction unit 31, the letter "A" on the start point setting unit 35, and the letter "B" on the end point setting unit 36 ​​stand out, making it easier to recognize the position of each button.

[0181] In another embodiment, the operation device 30 may set the lighting color of each display unit to a warm color in the night mode. In yet another embodiment, the operation device 30 may light up the display units in the daytime mode and flash them at a lower flashing frequency in the night mode. In yet another embodiment, the operation device 30 may light up all of the automatic driving display unit 32, the start point setting display unit 37, and the end point setting display unit 38 in the daytime mode, and light up only a part of the start point setting display unit 37 and the end point setting display unit 38 in the night mode.

[0182] [Other ways to set the baseline] Another embodiment of the method for setting (generating) a reference line will be described. Specifically, when the operator presses and holds the end point setting unit 36 ​​(see FIG. 7) of the operation device 30 while the start point A1 (point A) and the end point B1 (point B) are not registered, the generation processing unit 112 registers the position (current position) of the combine harvester 1 at the time of the long press of the end point setting unit 36 ​​as the start point A1, registers a position a predetermined distance (for example, 1 km) from the start point A1 in the vehicle heading direction of the combine harvester 1 as the end point B1, and sets a reference line passing through the start point A1 and the end point B1.

[0183] In another embodiment, when the operator presses and holds the start point setting unit 35 (see Figure 7) of the operating device 30 when the start point A1 and the end point B1 have not been registered, the generation processing unit 112 registers the current position of the combine 1 at the time the start point setting unit 35 was pressed and held as the start point A1, registers a position a predetermined distance from the start point A1 in the vehicle heading direction of the combine 1 as the end point B1, and sets a reference line passing through the start point A1 and the end point B1.

[0184] In another embodiment, when the start point A1 and the end point B1 are registered and the operator presses and holds the end point setting unit 36 ​​of the operating device 30, the generation processing unit 112 maintains the start point A1 as it is, re-registers (updates) the position (current position) of the combine 1 at the time the end point setting unit 36 ​​is pressed and held as the end point B1, and sets a reference line passing through the start point A1 and the updated end point B1.

[0185] In another embodiment, when the start point A1 and end point B1 are registered and the operator presses and holds the start point setting unit 35 of the operating device 30, the generation processing unit 112 maintains the end point B1, re-registers (updates) the position (current position) of the combine 1 at the time the start point setting unit 35 is pressed and held as the start point A1, and sets a reference line passing through the updated start point A1 and end point B1.

[0186] In another embodiment, when the start point A1 and the end point B1 are registered and the operator presses and holds the start point setting unit 35 of the operation device 30, the generation processing unit 112 may delete the end point B1 and re-register (update) the position (current position) of the combine harvester 1 at the time of the long press of the start point setting unit 35 as the start point A1. In this case, when the operator presses and holds the end point setting unit 36, the generation processing unit 112 re-registers the end point B1 and sets a reference line passing through the start point A1 and the end point B1.

[0187] In another embodiment, when the start point A1 and the end point B1 are registered and the operator presses and holds the start point setting unit 35 of the operating device 30, the generation processing unit 112 changes the end point B1 to the start point A1, re-registers (updates) the position (current position) of the combine 1 at the time the start point setting unit 35 was pressed and held as the end point B1, and sets a reference line passing through the changed start point A1 and end point B1.

[0188] [How to set the route generation mode] A method for setting the route generation mode for generating a target route will be described. The route generation modes include a first route generation mode ("Point A + Point B" mode) in which a reference line passing through a start point A1 and an end point B1 registered by a registration operation by the operator is set and a target route is generated based on the reference line; a second route generation mode ("Point A + Set Azimuth" mode) in which a reference line is set that passes through the start point A1 registered by a registration operation by the operator and extends in the direction of an angle (set azimuth) set by an input operation by the operator, and a third route generation mode ("Straight NOW" mode or "Vehicle Azimuth" mode) in which a reference line is set that extends in the direction of the azimuth (vehicle orientation) at the position (current position) of the combine harvester 1 when an automatic travel start operation is received from the operator, and a target route is generated based on the reference line. The third route generation mode does not include a registration operation for a start point or an end point. The route generation mode may also include a route generation mode ("Point A + vehicle heading angle" mode) in which a straight line passing through the start point A1 registered by the operator's registration operation and extending in the direction of the heading (vehicle heading) at the position (current position) of the combine 1 when the automatic driving start operation is received from the operator is set as a reference line, and a target route is generated based on the reference line.

[0189] The operator can select and set the route generation mode on the monitor device 50. As shown in FIGS. 3 and 18, the monitor device 50 is installed near the center of the steering wheel 90, independently of the steering wheel 90. FIG. 19A shows an example of a standard screen D0 displayed on the monitor device 50. The standard screen D0 displays driving and work conditions such as engine load (engine RPM), vehicle speed, remaining tank capacity, and harvest yield. The standard screen D0 also has a route generation mode display field K1 (see FIG. 19A), and the currently set route generation mode ("Straight NOW" mode in FIG. 19A) is displayed in the display field K1.

[0190] When setting or changing the route generation mode, the operator presses the menu button (see FIG. 19A) on the standard screen D0. When the menu button is pressed, the monitor device 50 displays a menu screen D2 shown in FIG. 19B and displays multiple setting items on the menu screen D2. The setting items include a setting item related to automatic driving ("Straight line assist setting"). When the operator selects "Straight line assist setting" on the menu screen D2, the monitor device 50 displays a straight line assist setting screen D3 shown in FIG. 19C and displays setting items related to automatic driving on the straight line assist setting screen D3. The setting items include a setting item for setting the route generation mode ("Create reference line"). When the operator selects "Create reference line" on the straight line assist setting screen D3, the monitor device 50 displays a reference line creation screen D4 shown in FIG. 19D and displays multiple route generation modes on the reference line creation screen D4. For example, the monitor device 50 displays a "point A + point B" mode, a "point A + set azimuth" mode, and a "straight ahead NOW" mode so that the user can select from these modes.

[0191] The operator can select a desired route generation mode on the reference line creation screen D4. When the operator selects a route generation mode and presses the "Change" button, the monitor device 50 sets the selected route generation mode. The generation processing unit 112 sets a reference line and generates a target route based on the route generation mode set on the monitor device 50.

[0192] The straight driving assist setting screen D3 is not limited to the display mode shown in FIG. 19C, and may be the display mode shown in FIG. 19E. The straight driving assist setting screen D3 shown in FIG. 19E displays the setting items "Create reference line" and "Straight driving NOW" separately. When the operator selects "Straight driving NOW" on the straight driving assist setting screen D3, the monitor device 50 displays the straight driving NOW setting screen D5 shown in FIG. 19F, allowing the operator to select whether to enable ("ON") or disable ("OFF") the "Straight driving NOW" mode. The monitor device 50 also displays the setting status of the "Straight driving NOW" mode ("ON" or "OFF") on the straight driving assist setting screen D3.

[0193] The straight driving assist setting screen D3 may also be displayed in a manner shown in FIG. 19G. The straight driving assist setting screen D3 shown in FIG. 19G displays the setting items "Create reference line" and "Straight driving NOW" separately, and also displays the setting status of the setting items "Create reference line" and "Straight driving NOW." For example, when the operator selects "Create reference line" on the straight driving assist setting screen D3 and then selects "Point A + set azimuth," the monitor device 50 displays "Point A + set azimuth" and the azimuth set by the operator on the straight driving assist setting screen D3. Furthermore, when the "Straight driving NOW" mode is enabled ("ON"), the monitor device 50 may gray out "Create reference line" and "Point A + set azimuth" so that they cannot be selected.

[0194] When the operator selects the "Go straight NOW" mode, a tablet terminal (not shown) carried by the operator may display a message prompting the operator to perform an automatic driving start operation on, for example, a driving screen D6 shown in Fig. 20A. The driving screen D6 may be displayed on the monitor device 50.

[0195] Here, when the route generation mode is set to the "straight ahead NOW" mode, the operation device 30 may light up or flash at least one of the automatic travel display units 32, as shown in FIG. 21. This allows the operator to determine whether the current route generation mode is the "straight ahead NOW" mode. When the operator presses the "AUTO" button on the operation device 30, the generation processing unit 112 sets a straight line extending in the vehicle heading direction at the position (current position) of the combine harvester 1 when the operator presses the "AUTO" button as a reference line and generates a target route based on the reference line. Then, the travel processing unit 111 causes the combine harvester 1 to start automatic travel along the target route. In this way, the combine harvester 1 generates a target route based on the vehicle heading at the time the operator presses the "AUTO" button and starts automatic travel. When automatic travel begins, the tablet terminal (or the monitor device 50) displays a travel screen D6 shown in FIG. 20B. Furthermore, when automatic traveling starts, the operation device 30 may turn on the start point setting display unit 37, the end point setting display unit 38, and the automatic traveling display unit 32 (see FIG. 8D).

[0196] When the route generation mode is set to the "straight ahead NOW" mode, the operation device 30 may permit the automatic travel start operation (permit the acceptance of an automatic travel start instruction) when predetermined conditions are met. For example, the operation device 30 permits the automatic travel start operation when the reaping unit 3 has descended to a working position (working height), and prohibits the automatic travel start operation when the reaping unit 3 has risen to a non-working position (non-working height). The operation device 30 also permits the automatic travel start operation when the steering wheel 90 is positioned within a predetermined angle (neutral), and prohibits the automatic travel start operation when the steering wheel 90 is positioned outside the predetermined angle. The operation device 30 also permits the automatic travel start operation when the speed of the combine harvester 1 is less than a predetermined speed, and prohibits the automatic travel start operation when the speed of the combine harvester 1 is equal to or greater than the predetermined speed. The operation device 30 also permits the automatic travel start operation when the auxiliary gearshift lever is positioned at "work," and prohibits the automatic travel start operation when the auxiliary gearshift lever is positioned at "travel." In addition, the operation device 30 permits the automatic travel start operation when the inclination (left / right, front / rear direction) of the body of the combine 1 is less than a predetermined angle, and prohibits the automatic travel start operation when the inclination of the body is equal to or greater than the predetermined angle.

[0197] Furthermore, when the predetermined condition is satisfied, the operation device 30 may cause at least one of the automatic driving display units 32 to light up or flash, as shown in FIG.

[0198] [Baseline maintenance function] The control device 11 may switch whether to retain the reference line depending on the route generation mode. For example, when the route generation mode is the "point A + point B" mode or the "point A + set azimuth" mode, the control device 11 retains the generated reference line in the storage unit 51. On the other hand, when the route generation mode is the "straight ahead NOW" mode, the control device 11 does not retain the generated reference line in the storage unit 51. In this case, the control device 11 may delete the reference line every time automatic driving ends, or may delete the previous reference line when the next reference line is generated.

[0199] [Automatic driving start operation] A specific example of an operation to start automatic traveling will be described. For example, when the route generation mode is the "point A + point B" mode or the "point A + set azimuth" mode, if the operator briefly presses the automatic traveling instruction unit 31 (AUTO button) of the operation device 30, the traveling processing unit 111 starts the automatic traveling of the combine harvester 1. Also, when the route generation mode is the "straight ahead NOW" mode, if the operator presses and holds the automatic traveling instruction unit 31 (AUTO button), the traveling processing unit 111 starts the automatic traveling of the combine harvester 1.

[0200] In another embodiment, when the path generation mode is the "straight NOW" mode, the travel processing unit 111 may start the automatic travel of the combine harvester 1 when the operator operates the operation switch 94 (see FIG. 18 ) provided on the handle 90. The operation switch 94 is an operation unit that allows the operator to execute a predetermined function in the manual travel mode. For example, the operation switch 94 accepts an operation to drive the threshing unit 4 to discharge residue remaining in the combine harvester 1 while the combine harvester 1 is stopped. When the path generation mode is the "straight NOW" mode, the function of the operation switch 94 in the manual travel mode is switched to a function corresponding to the "straight NOW" mode. For example, when the path generation mode is the "straight NOW" mode, the travel processing unit 111 starts the automatic travel of the combine harvester 1 when the operator operates the operation switch 94. In this way, the operation switch 94 may function as a start operation unit that accepts an instruction to start automatic travel.

[0201] [Automatic straight-line driving] The travel processing unit 111 may cause the combine harvester 1 to travel automatically in a straight line in the automatic travel mode, and when the operator steers the steering wheel 90 from the neutral position (reference position (0 degrees)) by a predetermined amount (±1 degree from the reference position) or more, switch to the manual travel mode and cause the combine harvester 1 to travel manually. The travel processing unit 111 may also resume automatic straight-line travel when the operator returns the steering wheel 90 to its original position (neutral position). In other words, the travel processing unit 111 causes the combine harvester 1 to travel automatically in a straight line path, and to travel manually on a non-straight line path (such as a turning path) in response to manual steering by the operator. In this way, the steering wheel 90 may function as a start operation unit that accepts an automatic travel start instruction.

[0202] The travel processing unit 111 may start automatic travel when the handle 90 is in the neutral position and predetermined conditions are met. The predetermined conditions may include at least one of the following: a predetermined time has elapsed since the handle 90 was in the neutral position; the reaping unit 3 has descended to the working position (working height); the speed of the combine harvester 1 has fallen below a predetermined speed; and the inclination of the body of the combine harvester 1 (in the left-right, front-rear, and rear directions) has fallen below a predetermined angle.

[0203] The control device 11 may also notify the outside that the combine 1 has entered automatic travel by using a lamp, a buzzer, vibration, or the like.

[0204] Furthermore, the travel processing unit 111 may adjust the direction (azimuth angle) of the target route in response to operation of the operation switch 94 during automatic travel. For example, when the operator presses the operation switch 94 once to the left while the combine harvester 1 is automatically traveling, the travel processing unit 111 rotates the target route to the left by a predetermined angle based on the current position. The travel processing unit 111 rotates by the predetermined angle each time the operation switch 94 is operated. Furthermore, when the operator presses the operation switch 94 continuously, the travel processing unit 111 may rotate the target route by a predetermined angle at predetermined time intervals while the switch is pressed.

[0205] The driving processing unit 111 may change the orientation of the target route in response to operation of the operation switch 94 when the route generation mode is the "straight ahead NOW" mode, and may change the position (left / right position) of the target route (shift the route) in response to operation of the operation switch 94 when the route generation mode is the "point A + point B" mode or the "point A + set azimuth" mode. In another embodiment, a route offset button 93 (see FIG. 22) may be used instead of the operation switch 94. That is, the driving processing unit 111 may change the orientation of the target route in response to operation of the route offset button 93 when the route generation mode is the "straight ahead NOW" mode, and may shift the target route in response to operation of the route offset button 93 when the route generation mode is the "point A + point B" mode or the "point A + set azimuth" mode. The operation unit shown in FIG. 22 may be provided in the operation device 30.

[0206] [Appendix 1 of the invention] Below, we will add a summary of the invention extracted from the above-mentioned embodiment 1. Note that the configurations and processing functions described in the following addendum can be selected and combined as desired.

[0207] <Appendix 1> An operation control method for an operation device including a first setting unit that accepts a user operation to register a first reference position of a reference line when a work vehicle is automatically driven, and a second setting unit that accepts a user operation to register a second reference position of the reference line, when at least one of the first setting unit and the second setting unit receives a first operation from a user, executes a reference line setting process to set the reference line; When at least one of the first setting unit and the second setting unit receives a second operation from a user, a specific process different from the reference line setting process is executed. Operation control method.

[0208] <Appendix 2> when the first reference position and the second reference position are registered, and an overlapping time between an operation time of the second operation on the first setting unit and an operation time of the second operation on the second setting unit is equal to or longer than a predetermined time, delete the first reference position and the second reference position. 10. The operational control method according to claim 1.

[0209] <Appendix 3> when the first reference position and the second reference position are registered, and the operation time of the second operation on the first setting unit overlaps with the operation time of the second operation on the second setting unit for less than the predetermined time, the first reference position and the second reference position are not deleted. 10. The operational control method according to claim 2.

[0210] <Appendix 4> When the second setting unit receives the first operation from a user at a position that is less than a predetermined distance from the first reference position that is registered in response to the first operation on the first setting unit, the reference line is set based on the vehicle orientation of the work vehicle when the first setting unit receives the first operation. An operation control method according to any one of Supplementary Notes 1 to 3.

[0211] <Appendix 5> When the second setting unit receives the first operation from a user at a position that is less than a predetermined distance from the first reference position that is registered in response to the first operation on the first setting unit, the second setting unit sets the reference line based on the vehicle orientation of the work vehicle when the second setting unit receives the first operation. An operation control method according to any one of Supplementary Notes 1 to 3.

[0212] <Appendix 6> a setting method for setting the reference line based on a vehicle orientation of the work vehicle when the first setting unit receives the first operation, when the second setting unit receives the first operation from a user at a position less than a predetermined distance from the first reference position registered in response to the first operation on the first setting unit; and a setting method for setting the reference line based on the vehicle orientation of the work vehicle when the second setting unit receives the first operation, Accepting an operation from the user to select one of the setting methods; An operation control method according to any one of Supplementary Notes 1 to 5.

[0213] <Appendix 7> When the second setting unit receives the first operation from a user at a position that is less than a predetermined distance from the first reference position that is registered in response to the first operation on the first setting unit, the reference line is set based on the vehicle orientation of the work vehicle when the first setting unit receives the first operation or the vehicle orientation of the work vehicle when the second setting unit receives the first operation, notifying a user whether the first setting unit has set the reference line based on the vehicle orientation of the work vehicle when the first operation is received, or whether the second setting unit has set the reference line based on the vehicle orientation of the work vehicle when the first operation is received; An operation control method according to any one of Supplementary Notes 1 to 6.

[0214] <Appendix 8> When the first reference position is not registered and the second setting unit receives a predetermined operation from a user, the second setting unit sets the reference line based on the vehicle orientation of the work vehicle when the second setting unit receives the first operation. An operation control method according to any one of Supplementary Notes 1 to 7.

[0215] <Appendix 9> When the first setting unit receives a predetermined operation from a user continuously for a predetermined time or more, the first setting unit sets the reference line based on the vehicle orientation of the work vehicle when the first setting unit receives the first operation. An operation control method according to any one of Supplementary Notes 1 to 8.

[0216] <Appendix 10> when the second setting unit receives the first operation from a user at a position that is a predetermined distance or more from the first reference position that is registered in response to the first operation on the first setting unit, the second setting unit registers the second reference position and sets the reference line that passes through the first reference position and the second reference position. An operation control method according to any one of Supplementary Notes 1 to 9.

[0217] <Appendix 11> When the work vehicle reaches a position that is equal to or greater than the predetermined distance from the first reference position, a user is notified of information indicating that the reference line can be set based on the first reference position and the second reference position. 11. The operational control method of claim 10.

[0218] [Appendix 2 of the invention] Below, we will add a summary of the invention extracted from the above-mentioned embodiment 2. Note that the configurations and processing functions explained in the following addendum can be selected and combined as desired.

[0219] <Appendix 1> An automatic driving method for automatically driving a work vehicle in response to a user operation on an operation device, comprising: receiving an automatic driving start instruction from a user at a start operation unit provided in the operation device; starting automatic traveling of the work vehicle based on the vehicle orientation of the work vehicle when the automatic traveling start instruction was received; An automated driving method that performs the above.

[0220] <Appendix 2> a first mode in which the work vehicle is automatically driven along a target route that is generated based on a reference line that is set in response to a user operation; a second mode in which the work vehicle is automatically driven according to a target route generated based on the vehicle orientation of the work vehicle when the automatic driving start command is received; Including, When the automatic driving start instruction is received in a state in which the reference line has not been set, the automatic driving of the work vehicle is started in the second mode. 1. The automated driving method according to claim 1.

[0221] <Appendix 3> a first mode in which the work vehicle is automatically driven along a target route that is generated based on a reference line that is set in response to a user operation; a second mode in which the work vehicle is automatically driven according to a target route generated based on the vehicle orientation of the work vehicle when the automatic driving start command is received; Including, When the reference line is set, if the difference in direction between the reference line and the vehicle direction of the work vehicle at the time the automatic driving start instruction is received is equal to or greater than a predetermined difference in direction, the automatic driving of the work vehicle is started in the second mode. 10. The automated driving method according to claim 1 or 2.

[0222] <Appendix 4> When the reference line is set and the direction difference is less than the predetermined direction difference, the automatic traveling of the work vehicle is started in the first mode. 1. The automated driving method described in Appendix 3.

[0223] <Appendix 5> a first mode in which the work vehicle is automatically driven along a target route that is generated based on a reference line that is set in response to a user operation; a second mode in which the work vehicle is automatically driven according to a target route generated based on the vehicle orientation of the work vehicle when the automatic driving start command is received; Including, When the reference line is set, if a lateral deviation between the target route generated based on the reference line and the position of the work vehicle is equal to or greater than a predetermined deviation, starting automatic traveling of the work vehicle in the second mode. 5. The automatic driving method according to any one of appendices 1 to 4.

[0224] <Appendix 6> When the reference line is set and the lateral deviation is less than the predetermined deviation, the automatic traveling of the work vehicle is started in the first mode. 1. The automated driving method according to claim 5.

[0225] <Appendix 7> When the start operation unit is continuously operated by a user for a predetermined time or more, automatic traveling of the work vehicle is started based on the vehicle direction of the work vehicle. 7. An automatic driving method according to any one of appendices 1 to 6.

[0226] <Appendix 8> a first mode in which the work vehicle is automatically driven along a target route that is generated based on a reference line that is set in response to a user operation; a second mode in which the work vehicle is automatically driven according to a target route generated based on the vehicle orientation of the work vehicle when the automatic driving start command is received; Including, When the reference line is set, if the difference in direction between the reference line and the vehicle direction of the work vehicle at the time the automatic driving start instruction is received is less than a predetermined direction difference, and if the start operation unit is operated by a user continuously for a predetermined time or more, automatic driving of the work vehicle is started in the second mode. An automatic driving method according to any one of appendices 1 to 7.

[0227] <Appendix 9> When the reference line is set, if the difference in direction between the reference line and the vehicle direction of the work vehicle at the time the automatic driving start instruction is received is less than a predetermined direction difference, and if the start operation unit is operated by a user within a predetermined time, automatic driving of the work vehicle is started in the first mode. 10. The automated driving method according to claim 8.

[0228] <Appendix 10> a first mode in which the work vehicle is automatically driven along a target route that is generated based on a reference line that is set in response to a user operation; a second mode in which the work vehicle is automatically driven according to a target route generated based on the vehicle orientation of the work vehicle when the automatic driving start command is received; Including, switching between the first mode and the second mode depending on a position within a work area where the work vehicle is to be automatically driven; An automatic driving method according to any one of appendices 1 to 9. [Explanation of symbols]

[0229] 1: Combine (work vehicle) 11: Control device 30: Operating device 31: Automatic driving instruction unit (start operation unit) 32: Automatic driving display unit 35: Start point setting section (first setting section) 36: Start point setting section (second setting section) 37: Start point setting display section 38: End point setting display section 50: Monitor device 111: Driving processing unit 112: Generation processing unit 113: Specific processing unit A1: Starting point (first reference position) B1: End point (second reference position) F: Field L1: Reference line R1: Target route R2: Target route

Claims

1. An automatic driving method for automatically driving a work vehicle in response to a user operation on an operation device, comprising: receiving an automatic driving start instruction from a user at a start operation unit provided in the operation device; starting automatic traveling of the work vehicle based on the vehicle orientation of the work vehicle when the automatic traveling start instruction was received; An automated driving method that performs the above.

2. a first mode in which the work vehicle is automatically driven along a target route that is generated based on a reference line that is set in response to a user operation; a second mode in which the work vehicle is automatically driven according to a target route generated based on the vehicle orientation of the work vehicle when the automatic driving start command is received; Including, When the automatic driving start instruction is received in a state in which the reference line has not been set, the automatic driving of the work vehicle is started in the second mode. The automatic driving method according to claim 1 .

3. a first mode in which the work vehicle is automatically driven along a target route that is generated based on a reference line that is set in response to a user operation; a second mode in which the work vehicle is automatically driven according to a target route generated based on the vehicle orientation of the work vehicle when the automatic driving start command is received; Including, When the reference line is set, if the difference in direction between the reference line and the vehicle direction of the work vehicle at the time the automatic driving start instruction is received is equal to or greater than a predetermined difference in direction, the automatic driving of the work vehicle is started in the second mode. The automatic driving method according to claim 1 .

4. When the reference line is set and the direction difference is less than the predetermined direction difference, the automatic traveling of the work vehicle is started in the first mode. The automatic driving method according to claim 3.

5. a first mode in which the work vehicle is automatically driven along a target route that is generated based on a reference line that is set in response to a user operation; a second mode in which the work vehicle is automatically driven according to a target route generated based on the vehicle orientation of the work vehicle when the automatic driving start command is received; Including, When the reference line is set, if a lateral deviation between the target route generated based on the reference line and the position of the work vehicle is equal to or greater than a predetermined deviation, the automatic traveling of the work vehicle is started in the second mode. The automatic driving method according to claim 1 .

6. When the reference line is set and the lateral deviation is less than the predetermined deviation, the automatic traveling of the work vehicle is started in the first mode. The automatic driving method according to claim 5.

7. When the start operation unit is continuously operated by a user for a predetermined time or more, automatic traveling of the work vehicle is started based on the vehicle direction of the work vehicle. The automatic driving method according to claim 1 .

8. a first mode in which the work vehicle is automatically driven along a target route that is generated based on a reference line that is set in response to a user operation; a second mode in which the work vehicle is automatically driven according to a target route generated based on the vehicle orientation of the work vehicle when the automatic driving start command is received; Including, When the reference line is set, if the difference in direction between the reference line and the vehicle direction of the work vehicle at the time the automatic driving start instruction is received is less than a predetermined direction difference, and if the start operation unit is operated by a user continuously for a predetermined time or more, automatic driving of the work vehicle is started in the second mode. The automatic driving method according to claim 1 .

9. When the reference line is set, if the difference in direction between the reference line and the vehicle direction of the work vehicle at the time the automatic driving start instruction is received is less than a predetermined direction difference, and if the start operation unit is operated by a user within a predetermined time, automatic driving of the work vehicle is started in the first mode. The automatic driving method according to claim 8.

10. a first mode in which the work vehicle is automatically driven along a target route that is generated based on a reference line that is set in response to a user operation; a second mode in which the work vehicle is automatically driven according to a target route generated based on the vehicle orientation of the work vehicle when the automatic driving start command is received; Including, switching between the first mode and the second mode depending on a position within a work area in which the work vehicle is to be automatically driven; The automatic driving method according to any one of claims 1 to 9.

11. An automatic driving program that causes a work vehicle to automatically drive in response to a user operation on an operation device, receiving an automatic driving start instruction from a user at a start operation unit provided in the operation device; starting automatic traveling of the work vehicle based on the vehicle orientation of the work vehicle when the automatic traveling start instruction was received; An automated driving program for executing the above on one or more processors.

12. An automatic driving system that automatically drives a work vehicle in response to a user operation on an operation device, An automatic driving system comprising a driving processing unit that receives an automatic driving start instruction from a user at a start operation unit provided in the operation device, and starts automatic driving of the work vehicle based on the vehicle direction of the work vehicle at the time the automatic driving start instruction is received.

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