Automatic travel method and automatic travel system

Abstract

To provide an automatic travel method and an automatic travel system capable of setting an appropriate set travel line and performing proper automatic straight travel work regardless of a working machine.SOLUTION: A combine 1 includes a control device 40 and a portable terminal 50. According to a control device 51 of the portable terminal 50, a reference travel line setting unit 60 sets a reference travel line 75 indicating a travel direction for automatic straight travel work of the combine 1, and a reference point setting unit 62 sets a reference point such as a working machine reference point 78 on the working machine. In particular, the reference travel line setting unit 60 sets the reference travel line by means of a setting point set on the basis of a position of the reference point when the setting is accepted. According to the control device 40 of the combine 1, an automatic travel unit 45 executes automatic travel of the combine 1 along a set travel line 76.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an automatic driving method and an automatic driving system for automatically driving straight ahead based on a reference driving line. [Background technology]

[0002] 2. Description of the Related Art Conventionally, some work vehicles, such as combine harvesters, automatically travel straight in a direction parallel to a preset reference travel line.

[0003] For example, the agricultural machine disclosed in Patent Document 1 is equipped with a running machine body that can be switched between manual running using manual steering and automatic running using automatic steering along a set running line that is set parallel to a reference running line, a changeover switch that can be switched between manual running and automatic running, and a start point setting unit that sets the planar position of the running machine body at the time when switching from manual running to automatic running using the changeover switch as the start point of the set running line. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2017-123803 Summary of the Invention [Problem to be solved by the invention]

[0005] In conventional work vehicles such as those described in Patent Document 1, the planar position of the traveling vehicle body is set as the starting point of the set travel line, but it is unclear which position on the traveling vehicle body to set. For example, in conventional technology, a set travel line parallel to the reference travel line is set using the work vehicle's turning center or the like as a reference point when starting automatic straight-line operation, and automatic straight-line operation is performed along this set travel line. Note that automatic straight-line operation is performed so that the work vehicle's reference point passes through the widthwise center of the set travel line. When starting automatic straight-line operation, the worker enters the work vehicle into the work area so that the work vehicle's implement is positioned on the desired work line in the work area. However, there are cases where the reference point, such as the work vehicle's turning center, at the time of entry is not located on the widthwise center of the desired work line, resulting in the set travel line being set off from the desired work line.

[0006] For example, if the work vehicle is a combine harvester or the like, the harvesting unit, which is a working implement, is located at the front of the vehicle, so the operator will enter the work vehicle so that the harvesting unit, which is located in front of a reference point such as the work vehicle's center of rotation, is on the desired work line. Also, if the work vehicle is a rice transplanter or the like, the transplanting unit, which is a working implement, is located at the rear of the vehicle, so the operator will enter the work vehicle so that the transplanting unit, which is located behind a reference point such as the work vehicle's center of rotation, is on the desired work line. Therefore, if the work vehicle is entered at an angle to the desired work line, the reference point, such as the work vehicle's center of rotation, will be offset from the center of the desired work line in the width direction, resulting in the setting of a set travel line that is offset from the desired work line. Note that some work vehicles are configured with interchangeable working implements, but different models and types of working implements will have different positions of the working implements relative to reference points such as the work vehicle's center of rotation, making it difficult to set an appropriate set travel line.

[0007] An object of the present invention is to provide an automatic traveling method and an automatic traveling system that can set an appropriate set traveling line regardless of the working machine and perform appropriate automatic straight traveling work. [Means for solving the problem]

[0008] In order to solve the above problems, the automatic traveling method of the present invention is an automatic traveling method for a work vehicle equipped with a work machine, which includes a reference traveling line setting step of setting a reference traveling line that indicates the traveling direction of the work vehicle during automatic straight-line traveling operation; On the work machine a reference point setting step of setting a reference point; Based on the reference driving line an automatic driving step for executing automatic driving of the work vehicle; The reference driving line setting step sets the reference driving line by a set point that is set based on the position of the reference point when the setting is accepted. It is characterized by:

[0009] In addition, in order to solve the above-mentioned problems, the automatic driving method of the present invention is an automatic driving method for a work vehicle equipped with a work machine, and is characterized by having a reference driving line setting process for setting a reference driving line that indicates the driving direction of the work vehicle's automatic straight-line operation, a reference point setting process for setting a reference point on the work machine, a set driving line setting process for setting a set driving line that is parallel to the reference driving line and passes through the position of the reference point based on the reference driving line and the reference point when the set driving line setting is accepted, and an automatic driving process for performing automatic driving of the work vehicle along the set driving line.

[0010] In order to solve the above problem, the automatic driving system of the present invention is an automatic driving system for a work vehicle equipped with a work machine, comprising: a reference driving line setting unit that sets a reference driving line that indicates the driving direction of the work vehicle during automatic straight-ahead operation; On the work machine a reference point setting unit that sets a reference point; Based on the reference driving line The above work vehicle an automatic driving unit that executes automatic driving of the vehicle; The reference driving line setting unit sets the reference driving line by a set point that is set based on the position of the reference point when the setting is accepted. It is characterized by:

[0011] In addition, in order to solve the above problems, the automatic driving system of the present invention is an automatic driving system for a work vehicle equipped with a work machine, and is characterized by having a reference driving line setting unit that sets a reference driving line that indicates the driving direction of the work vehicle's automatic straight-line work, a reference point setting unit that sets a reference point on the work machine, a set driving line setting unit that sets a set driving line that is parallel to the reference driving line and passes through the position of the reference point based on the reference driving line and the reference point when the set driving line setting is accepted, and an automatic driving unit that performs automatic driving of the work vehicle along the set driving line. [Effects of the Invention]

[0012] According to the present invention, an automatic traveling method and an automatic traveling system are provided that can set an appropriate set traveling line regardless of the working machine and perform appropriate automatic straight traveling work. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a side view of a combine harvester according to an embodiment of the present invention. FIG. [Figure 2] 1 is a block diagram of a combine harvester according to an embodiment of the present invention. FIG. [Figure 3] FIG. 10 is a plan view showing an example of a work screen displayed on a mobile terminal in a combine harvester according to an embodiment of the present invention. [Figure 4] 10 is a flowchart illustrating an example of a setting operation of a set travel line in a combine harvester according to an embodiment of the present invention. [Figure 5] FIG. 10 is an explanatory diagram showing an example in which the work vehicle is a tractor in another embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0014] A combine harvester 1 will be described as a work vehicle according to an embodiment of the present invention with reference to FIG. 1 and other figures. The combine harvester 1 travels through a field to be worked on, either automatically or manually, and performs tasks such as reaping to harvest crops from stalks planted in the field. The combine harvester 1 is configured to perform, for example, automatic operation (automatic straight-line operation) in which steering is controlled by automatic operation, while controlling the traveling speed in response to manual operation, or unmanned operation in which steering and traveling speed are controlled by automatic operation, and is capable of traveling, turning, and working autonomously within the field.

[0015] In particular, in this embodiment, the combine harvester 1 is configured to perform automatic straight-line operation, in which the combine harvester 1 automatically reaps while automatically traveling along a set traveling line 76 that is parallel to a predetermined reference traveling line 75 (see FIG. 3).

[0016] As shown in Figure 1, the combine harvester 1 is a so-called standard combine harvester, and includes a traveling section 2, a reaping section 3, a threshing section 4, a sorting section 5, a storage section 6, a straw waste processing section 7, a power section 8, and a steering section 9. The combine harvester 1 travels on the traveling section 2, threshers the stalks harvested by the reaping section 3 in the threshing section 4, sorts the grain in the sorting section 5, and stores it in the storage section 6. The combine harvester 1 processes the straw waste after threshing in the straw waste processing section 7. The combine harvester 1 drives the traveling section 2, the reaping section 3, the threshing section 4, the sorting section 5, the storage section 6, and the straw waste processing section 7 using power supplied by the power section 8.

[0017] The traveling unit 2 is provided below the machine frame 10 and includes a pair of left and right crawler-type traveling devices 11 and a transmission (not shown). The traveling unit 2 rotates the crawlers of the crawler-type traveling devices 11 using power (e.g., rotational power) transmitted from the engine 31 of the power unit 8, causing the combine 1 to travel in the forward and backward directions and turn left and right. The transmission transmits the power (rotational power) of the power unit 8 to the crawler-type traveling devices 11 and can also change the speed of the rotational power.

[0018] The reaping unit 3 is provided in front of the traveling unit 2 and reaps a predetermined reaping width of stalks in the unharvested area. 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.

[0019] 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 to assist in the reaping of the stalks guided by the dividers 13, thereby raising the stalks and raking in the tip side of the stalks. 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.

[0020] 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.

[0021] The feeder house 17 extends forward from the machine frame 10 and is disposed behind the raking auger 16. The feeder house 17 is supported on the machine frame 10 so as to be rotatable around the drive shaft 18a of the transfer conveyor 18. Rotation of the feeder house 17 raises and lowers the divider 13, raking reel 14, cutting blade 15, and raking auger 16 provided in front of the feeder house 17, thereby raising and lowering the reaping unit 3. The combine harvester 1 is equipped with an elevator device 19 on the machine frame 10 that rotates the feeder house 17 to raise and lower the reaping unit 3. The elevator device 19 is composed of, for example, a hydraulic cylinder or the like that is operated by power received from the engine 31.

[0022] The transport conveyor 18 is rotatably provided inside the feeder house 17 and moves in accordance with the rotation of the feeder house 17. 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.

[0023] The header portion of the reaping unit 3 may be configured to be replaceable with various types of implements having different models and model numbers on the body of the combine harvester 1, and may be replaced with, for example, a normal general-purpose header for harvesting rice or the like, a corn header for harvesting corn or the like, or a row crop header for harvesting soybeans or the like. The combine harvester 1 may be configured to replace any of various types of normal general-purpose headers as the header portion of the reaping unit 3. In this embodiment, a case will be described in which a predetermined normal general-purpose header is attached to the body of the combine harvester 1 as the header portion of the reaping unit 3, as shown in FIG. 1 .

[0024] 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 22 and a receiving net 23. The threshing drum 22 threshes the grains from the stalks transported from the feeder house 17, and transports the threshed grain stalks, i.e., waste straw, to the straw waste processing section 7. The receiving net 23 supports the stalks transported by the threshing drum 22, and sifts the grains to drop them.

[0025] The sorting section 5 is provided below the threshing section 4. The sorting section 5 is equipped with a oscillating sorting device 25, an air blowing sorting device 26, a grain conveying device (not shown), and a straw dust discharge device (not shown). The oscillating sorting device 25 sifts the threshing grains that have fallen from the threshing section 4 to separate them into grains, straw dust, etc. The air blowing sorting device 26 further separates the threshing grains that have fallen from the threshing section 4 and the threshing grains that have been sorted by the oscillating sorting device 25 into grains, straw dust, etc. The grain conveying device transports the grains that have been sorted by the oscillating sorting device 25 and the air blowing sorting device 26 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 25 and the air blowing sorting device 26 outside the machine.

[0026] The storage section 6 is provided to the right of the threshing section 4. The storage section 6 includes a grain tank 28 and a grain discharge device 29. The grain tank 28 stores the grains transported from the sorting section 5. The grain discharge device 29 is configured with a discharge auger and the like, and performs the grain discharge operation, discharging the grains stored in the grain tank 28 to any desired location.

[0027] The straw waste processing section 7 is provided behind the threshing section 4. The straw waste processing section 7 includes, for example, a straw waste conveying device (not shown) and a straw waste cutting device (not shown). The straw waste processing section 7 transports the straw transported from the threshing section 4 to the straw waste cutting device by the straw waste conveying device, cuts the straw by the straw waste cutting device, and then discharges it behind the combine 1.

[0028] The power unit 8 is provided above the traveling unit 2 and in front of the storage unit 6. The power unit 8 is equipped with an engine 31 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 31 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 (not shown) that stores fuel to be supplied to the engine 31 of the power unit 8.

[0029] 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 for instructing the body of the combine harvester 1 to turn, 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 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, 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 29 of the storage unit 6, etc.

[0030] 2, the combine harvester 1 is equipped with a positioning unit 33 that uses a satellite positioning system such as GPS to acquire position information of the combine harvester 1. The positioning unit 33 receives a positioning signal from a positioning satellite via a positioning antenna, and acquires position information of the positioning unit 33, i.e., position information of the combine harvester 1, based on the positioning signal.

[0031] Next, the control device 40 of the combine harvester 1 will be described with reference to Figure 2. The control device 40 is composed of a computer such as a CPU, and is connected to a storage unit 41 such as a ROM, RAM, hard disk drive, or flash memory, and a communication unit 42 that communicates with external devices.

[0032] The memory unit 41 stores programs and data for controlling the various components and functions of the combine harvester 1, and the control device 40 controls the various components and functions by executing arithmetic processing based on the programs and data stored in the memory unit 41. The control device 40, for example, controls the positioning unit 33 to acquire position information of the combine harvester 1 (for example, the position coordinates of the positioning antenna).

[0033] The communication unit 42 is capable of wireless communication with external devices such as a mobile terminal 50 held by the worker via a wireless communication antenna. The control device 40 controls the communication unit 42 to perform wireless communication with the mobile terminal 50 and transmits and receives various information to and from the mobile terminal 50.

[0034] Moreover, the control device 40 operates as an automatic driving unit 45 by executing a program stored in the storage unit 41. The automatic driving unit 45 realizes the automatic driving step of the automatic driving method according to the present invention.

[0035] The automatic driving unit 45 controls the automatic reaping driving of the combine harvester 1 so that the combine harvester 1 automatically moves straight along a set driving line 76 set for the field. For example, the automatic driving unit 45 acquires the set driving line 76 from the mobile terminal 50, and also acquires the driving reference point of the combine harvester 1 based on the position information of the combine harvester 1 measured by the positioning unit 33 (for example, the position coordinates of the positioning antenna).

[0036] The travel reference point may be a machine reference point 77 of the combine harvester 1, such as the position information of the combine harvester 1 or the turning center of the travel unit 2 of the combine harvester 1 based on the position information, or a work implement reference point 78 of the reaping unit 3 based on the position information (see FIG. 3). The combine harvester 1 may allow the operator to select either the machine reference point 77 or the work implement reference point 78 as the travel reference point; for example, the travel reference point may be selected in response to operation of the mobile terminal 50. The automatic travel unit 45 then controls the power unit 8, the travel unit 2, and the reaping unit 3 to perform automatic straight-line travel so that the travel reference point of the combine harvester 1 passes through the set travel line 76, thereby performing automatic reaping travel.

[0037] The mobile terminal 50 is one of the components of the combine harvester 1 and is a terminal capable of remotely controlling the combine harvester 1, and is configured, for example, as a tablet terminal with a touch panel or a laptop personal computer. Note that an operation device similar to the mobile terminal 50 may be provided in the control unit 9. In the present invention, the combine harvester 1 and the mobile terminal 50 configure an automatic driving system.

[0038] 3, the mobile terminal 50 includes a control device 51 configured by a computer such as a CPU, and the control device 51 is connected to a storage unit 52 such as a ROM, RAM, hard disk drive, or flash memory, and a communication unit 53 that communicates with external devices. The mobile terminal 50 also includes a display unit 54 such as a touch panel or monitor for displaying and outputting various information to the worker, and an input unit 55 such as a touch panel or operation keys for receiving input operations of various information from the worker.

[0039] The memory unit 52 stores programs and data for controlling the various components and functions of the mobile terminal 50, and the control device 51 controls the various components and functions of the mobile terminal 50 by executing calculations based on the programs and data stored in the memory unit 52. The memory unit 52 stores, for example, field information about the field that is the work target of the combine harvester 1. The field information includes the shape, size, and position information (coordinates, etc.) of the field edges that make up the perimeter of the field, as well as the shape, size, and position information (coordinates, etc.) of the work area of ​​the field.

[0040] The memory unit 52 also stores work machine information related to the reaping unit 3, which is the work machine of the combine harvester 1. The work machine information includes, for example, information such as the model, model number, working width, and number of rows that can be reaped of the work machine. In particular, in this embodiment, the work machine information includes, as work machine position information, position information such as the distance and direction of the work machine reference point 78 relative to a machine body reference point 77 of the combine harvester 1 (for example, the center of rotation or the position of the positioning unit 33), in order to set a work machine reference point 78 that indicates a predetermined position in the reaping unit 3 (for example, the front end of the reaping unit 3 and the center in the left-right direction of the reaping unit 3) as a reference point that serves as a reference for the set travel line 76 of the combine harvester 1 when the set travel line 76 is set.

[0041] Note that for each of the various types of work machines, work machine information specific to each work machine may be stored in the memory unit 52, or may be stored in an external server (not shown). The combine harvester 1 can be equipped with a normal general-purpose header, a corn header, a row crop header, etc. as the reaping unit 3, and the work machine information differs depending on the model and model number of the normal general-purpose header, the work machine information differs depending on the model and model number of the corn header, and may also differ depending on the model and model number of the row crop header.

[0042] The communication unit 53 is communicably connected to the communication unit 42 of the combine harvester 1 via a wireless communication antenna. The control device 51 controls the communication unit 53 to perform wireless communication with the combine harvester 1 and transmits and receives various information to and from the combine harvester 1.

[0043] The control device 51 of the mobile terminal 50 executes the programs stored in the memory unit 52 to operate as a reference travel line setting unit 60, a work machine information acquisition unit 61, a reference point setting unit 62, a set travel line setting unit 63, and a work display unit 64. The reference travel line setting unit 60, the work machine information acquisition unit 61, the reference point setting unit 62, the set travel line setting unit 63, and the work display unit 64 realize the reference travel line setting step, the work machine information acquisition step, the reference point setting step, the set travel line setting step, and the work display step of the automatic traveling method according to the present invention.

[0044] The reference travel line setting unit 60 sets a reference travel line 75 that indicates the travel direction of the combine harvester 1 in the automatic straight-line operation. The reference travel line setting unit 60 sets the reference travel line 75, which is made up of a start point 79 and an end point 80 in the field, Equivalent set points For example, when manually driving in a field, the start point 79 and the end point 80 can be set. Equivalent set points A reference driving line setting screen (not shown) on which the above can be set is displayed on the display unit 54.

[0045] When the reference travel line setting unit 60 accepts the setting of the start point 79, it receives from the combine harvester 1 the position information of the combine harvester 1 measured by the positioning unit 33 of the combine harvester 1 at that time, and sets the start point 79 based on that position information. Furthermore, when the reference travel line setting unit 60 accepts the setting of the end point 80, it receives from the combine harvester 1 the position information of the combine harvester 1 measured by the positioning unit 33 of the combine harvester 1 at that time, and sets the end point 80 based on that position information.

[0046] In addition, the starting point is 79 and the ending point is 80 Equivalent set points may be the position (coordinates) of the machine body reference point 77 of the combine harvester 1 based on the position information of the combine harvester 1, or may be the position (coordinates) of the work implement reference point 78 of the reaping unit 3 based on the position information. The mobile terminal 50 may allow the operator to select whether the start point 79 and the end point 80 should be the machine body reference point 77 or the work implement reference point 78. The reference travel line setting unit 60 then The reference driving line 75 is set by the set point, specifically, The reference driving line 75 is set by connecting the set start point 79 and end point 80 with a straight line and is stored in the storage unit 52.

[0047] The work machine information acquisition unit 61 acquires work machine information of work machines such as the reaping unit 3 attached to the combine harvester 1, and acquires work machine information corresponding to, for example, a normal general-purpose header, a corn header, a row crop header, etc. attached to the combine harvester 1. The work machine information acquisition unit 61 identifies the reaping unit 3 by a predetermined means, and based on the identification result, searches the memory unit 52 or an external server for work machine information specific to the reaping unit 3, thereby automatically acquiring and storing the information in the memory unit 52.

[0048] For example, the work machine information acquisition unit 61 may automatically identify the reaping unit 3 by performing image recognition on a work machine image of the reaping unit 3 itself captured by an imaging unit (not shown), such as a camera, provided on the mobile terminal 50, or may automatically identify the reaping unit 3 based on the results of reading a two-dimensional code, such as a QR Code (registered trademark), attached to the reaping unit 3 using the imaging unit. Alternatively, the mechanism that attaches the reaping unit 3 to the body of the combine harvester 1 may automatically identify the reaping unit 3 based on the connection status of the harness connection between the reaping unit 3 and the control device 40, and transmit the identification result to the mobile terminal 50.

[0049] Alternatively, in order to manually acquire the work machine information, the work machine information acquisition unit 61 can accept the input of the work machine information, and for example, displays a work machine information input screen (not shown) on the display unit 54 where the work machine information can be input. By accepting the input of the work machine information, the work machine information acquisition unit 61 manually acquires the input work machine information and stores it in the memory unit 52.

[0050] When the reaping unit 3 is replaced, the work machine information acquisition unit 61 reacquires the work machine information of the replaced reaping unit 3. When the work machine information cannot be reacquired, the work machine information acquisition unit 61 deletes the previous work machine information.

[0051] The reference point setting unit 62 sets the position (coordinates) of a work implement reference point 78 of the combine harvester 1, which serves as a reference when setting the set travel line 76, based on the work implement information acquired by the work implement information acquisition unit 61. The reference point setting unit 62 receives, from the combine harvester 1, position information of the combine harvester 1 measured by the positioning unit 33 of the combine harvester 1, and also acquires work implement position information corresponding to the work implement information. The reference point setting unit 62 calculates the position (coordinates) of the work implement reference point 78 based on a machine body reference point 77 of the combine harvester 1 based on the position information and work implement position information, which is position information from the machine body reference point 77 to the work implement reference point 78 of the reaping unit 3, and sets the position (coordinates) of the work implement reference point 78 of the combine harvester 1.

[0052] When the reaping unit 3 is replaced, the reference point setting unit 62 changes the position of the work machine reference point 78 based on the work machine information reacquired by the work machine information acquisition unit 61. When the work machine information cannot be acquired, the reference point setting unit 62 may notify the user by displaying on the display unit 54 that the work machine information cannot be acquired, or may set the position of the work machine reference point 78 based on the machine body reference point 77.

[0053] The set travel line setting unit 63 sets a set travel line 76 that is parallel to the reference travel line 75 based on the reference travel line 75 and the work implement reference point 78. The set travel line setting unit 63 is capable of accepting the setting of the set travel line 76, and displays, for example, a set travel line setting screen (not shown) on the display unit 54 that allows the setting of the set travel line 76 to be instructed.

[0054] When the set travel line setting unit 63 receives the setting of the set travel line 76, it acquires the work implement reference point 78 set by the reference point setting unit 62 at that time, and also acquires the reference travel line 75 set by the reference travel line setting unit 60 from the memory unit 52. Then, the set travel line setting unit 63 sets a straight line that is parallel to the reference travel line 75 and passes through the work implement reference point 78 as the set travel line 76, stores it in the memory unit 52, and also transmits it to the control device 40 of the combine harvester 1.

[0055] The work display unit 64 displays a work screen 70 relating to the automatic straight-line operation performed by the combine harvester 1 on the display unit 54. For example, the work display unit 64 displays a field perimeter 71 and an unworked area 72 on the work screen 70 based on field information, and also displays a set travel line 76 set by the set travel line setting unit 63 based on a work implement reference point 78 based on the latest position information of the combine harvester 1, superimposed on the unworked area 72. The work display unit 64 may also display a simulated diagram 81 (icon) of the combine harvester 1 on the work screen 70 based on the latest position information of the combine harvester 1. The work display unit 64 may also display an outer edge 82 of a work area in which the automatic straight-line operation is performed along the set travel line 76.

[0056] Alternatively, the work display unit 64 may be able to set the set travel line 76 on the work screen 70 instead of the set travel line setting screen described above. In this case, before the set travel line 76 is set by the set travel line setting unit 63, the work display unit 64 constantly displays on the work screen 70 a work line that passes through a work implement reference point 78 based on the position information of the combine 1 and is parallel to the reference travel line 75. Furthermore, as the combine 1 moves, the work line is updated based on the latest position information of the combine 1 and displayed on the work screen 70. Then, when the set travel line setting unit 63 accepts the setting of the set travel line 76 in response to an operation on the work screen 70, it sets the work line displayed on the work screen 70 at that time as the set travel line 76.

[0057] The work display unit 64 may be configured to set the start point 79 and the end point 80 of the reference travel line 75 on the work screen 70 instead of the reference travel line setting screen described above. In this case, the reference travel line setting unit 60 sets the start point 79 and the end point 80 in accordance with the setting operation of the start point 79 and the end point 80 on the work screen 70. Equivalent set points The work display unit 64 may also allow the work machine information to be input on the work screen 70 instead of the work machine information input screen described above, and in this case, the work machine information acquisition unit 61 accepts the input of the work machine information in response to an input operation of the work machine information on the work screen 70.

[0058] Next, an example of the operation of the combine harvester 1 to set the set travel line 76 will be described with reference to the flowchart of FIG.

[0059] In this operation example, first, the reference travel line setting unit 60 of the portable terminal 50 of the combine harvester 1 sets a reference travel line 75 indicating the travel direction of the combine harvester 1 in the automatic straight-ahead operation (step S1).

[0060] Next, the work machine information acquisition unit 61 acquires work machine information relating to the reaping unit 3, which is a work machine of the combine harvester 1 (step S2).

[0061] The operator manually drives the combine harvester 1 and moves the combine harvester 1 so that it is positioned on a desired work line in the field. Then, the operator operates the mobile terminal 50 to instruct the setting of a set travel line 76. The reference point setting unit 62 then receives, from the combine harvester 1, position information of the combine harvester 1 measured by the positioning unit 33 of the combine harvester 1. If the reference point setting unit 62 has been able to acquire the work implement information of the reaping unit 3, the reference point setting unit 62 sets the position of the work implement reference point 78 based on the position information of the combine harvester 1 and the work implement information (step S3).

[0062] Furthermore, the set travel line setting unit 63 sets a set travel line 76 that is parallel to the reference travel line 75 and passes through the work implement reference point 78 based on the reference travel line 75 and the work implement reference point 78 (step S4).

[0063] The work display unit 64 displays the set travel line 76 on the work screen 70, superimposed on the field perimeter 71 and the unworked area 72 (step S5).

[0064] In the combine harvester 1, the control device 40 receives the set driving line 76 from the mobile terminal 50 and, when receiving instructions for automatic straight-line operation, the automatic driving unit 45 controls the automatic reaping driving of the combine harvester 1 so that the combine harvester 1 automatically moves straight along the set driving line 76 (step S6).

[0065] In addition, when using the work implement reference point 78 to set the start point 79 and end point 80 of the reference travel line 75 in the setting operation of the set travel line 76 by the combine harvester 1, before setting the reference travel line 75 (step S1), work implement information is acquired and the work implement reference point 78 is set based on the position information and work implement information of the combine harvester 1, as in steps S2 and S3. In this case, in the subsequent flow, the acquisition of work implement information (step S2) may be omitted, and the work implement information acquired before setting the reference travel line 75 (step S1) may be applied in setting the work implement reference point 78 (step S3).

[0066] As described above, according to this embodiment, the combine harvester 1, which is a work vehicle equipped with a work implement, is equipped with the control device 40 and the mobile terminal 50. The control device 40 of the combine harvester 1 functions as the automatic driving unit 45, and the control device 51 of the mobile terminal 50 functions as the reference driving line setting unit 60, the work implement information acquisition unit 61, the reference point setting unit 62, the set driving line setting unit 63, and the work display unit 64. The reference driving line setting unit 60 sets a reference driving line 75 that indicates the driving direction of the combine harvester 1 during automatic straight-ahead operation. The work implement information acquisition unit 61 acquires work implement information related to the work implement. The reference point setting unit 62 sets the position of the work implement reference point 78 based on the work implement information. The set driving line setting unit 63 sets a set driving line 76 that is parallel to the reference driving line 75 based on the reference driving line 75 and the work implement reference point 78. The automatic driving unit 45 then causes the combine harvester 1 to automatically drive along the set driving line 76.

[0067] As a result, the work implement reference point 78 of the set travel line 76 used for automatic straight-line operation is set based on the position of the work implement, so the operator does not need to be aware of the machine body reference point 77, such as the center of rotation of the combine harvester 1, and can enter the combine harvester 1 toward the desired work line while checking the position of the work implement relative to the desired work line, thereby setting an appropriate set travel line 76 for the desired work line. Therefore, automatic straight-line operation can be performed along the appropriate set travel line 76, and work accuracy can be improved.

[0068] According to this embodiment, the work implement can be replaced with respect to the work vehicle. When the work implement is replaced, the work implement information acquisition unit 61 reacquires the work implement information of the replaced work implement, and the reference point setting unit 62 changes the position of the work implement reference point 78 based on the reacquired work implement information.

[0069] As a result, regardless of which of various types of work machines is used, work machine information specific to each work machine can be used, so position information from the machine body reference point 77 to the work machine reference point 68 specific to each work machine can be applied, and a work machine reference point 78 specific to each work machine can be set. As a result, the set travel line 76 can be set with greater accuracy, and work accuracy can be further improved.

[0070] According to this embodiment, the work vehicle is a combine harvester 1, and the work implement is a reaping unit 3 that is replaceable with respect to the combine harvester 1. Furthermore, when the reaping unit 3 is replaced, the work implement information acquisition unit 61 reacquires the work implement information of the replaced reaping unit 3, and the reference point setting unit 62 changes the position of the work implement reference point 78 based on the work implement information reacquired for the reaping unit 3.

[0071] As a result, regardless of which of various types of reaping units 3 is used, work machine information specific to each reaping unit 3 can be used, so that position information from the machine body reference point 77 to the work machine reference point 78 specific to each reaping unit 3 can be applied, and the work machine reference point 78 specific to each reaping unit 3 can be set. Therefore, the set traveling line 76 can be set with greater accuracy, and work accuracy can be further improved.

[0072] In the combine harvester 1 of this embodiment, the reference point setting unit 62 sets a work implement reference point 78 at the front end of the reaping unit 3 and at the center of the reaping unit 3.

[0073] As a result, the work implement reference point 78 of the set travel line 76 is set at the front end of the reaping unit 3 and in the center of the reaping unit 3, so the operator can move the combine 1 toward the desired work line while checking the position of the reaping unit 3 ahead, and set an appropriate set travel line 76 for the desired work line. Therefore, automatic straight-line operation can be performed along the appropriate set travel line 76, and work accuracy can be improved.

[0074] In the above-described embodiment, an example has been described in which work implement position information, which is positional information from the machine body reference point 77 of the combine harvester 1 to the work implement reference point 78 of the harvester 3, is set in advance, and the reference point setting unit 62 sets the work implement reference point 78 at the front end of the harvester 3 and at the center of the harvester 3, so that the front end of the harvester 3 and the center of the harvester 3 in the left-right direction is the work implement reference point 78. However, the present invention is not limited to this example. In another example, the reference point setting unit 62 may set the work implement reference point 78 at the front end of the harvester 3 and at one end of the harvester 3 in the left-right direction (for example, the tip and left or right end of the divider 13). In this case, work implement position information, which is positional information from the machine body reference point 77 of the combine harvester 1 to the work implement reference point 78 of the harvester 3, is set in advance, so that the front end of the harvester 3 and one end of the harvester 3 in the left-right direction is the work implement reference point 78.

[0075] This makes it possible to precisely control the automatic steering of the combine 1 based on the front end of the cutting section 3 and one of the left and right ends of the cutting section 3 (for example, the tip and left or right end of the divider 13), thereby improving the accuracy of the overlap allowance and row alignment of the cutting width.

[0076] According to this embodiment, the reference driving line setting unit 60 sets a starting point 79 and an end point 80 according to the operation during manual driving, and sets a reference driving line 75 by connecting the set starting point 79 and end point 80, and the starting point 79 and end point 80 are set based on the position of the work machine reference point 78 based on the work machine information.

[0077] As a result, the start point 79 and end point 80 that make up the reference driving line 75 are set based on the position of the work equipment reference point 78 that corresponds to the position of the work equipment, so the worker does not need to be aware of the machine reference point 77, such as the center of rotation of the combine 1, and can set the reference driving line 75 while checking the position of the work equipment, thereby improving work accuracy.

[0078] According to this embodiment, the control device 51 of the mobile terminal 50 functions as a work display unit 64. The work display unit 64 displays, on the display unit 54, an unworked area 72 in the field where the work vehicle will be working, and a work line that passes through a work implement reference point 78 based on the latest position information of the work vehicle and is parallel to a reference travel line 75, and the set travel line setting unit 63 sets the work line as a set travel line 76.

[0079] This allows the unworked area 72 and the work line based on the latest position information of the work vehicle to be displayed on the display unit 54, allowing the worker to confirm the work line that should be set as the set driving line 76 for the unworked area 72, and to set a more appropriate set driving line 76.

[0080] In the above embodiment, an example has been described in which the work vehicle is configured as a combine harvester 1 in which the reaping unit 3, which is a work implement, is mounted in front of the body, but the present invention is not limited to this example. For example, in other embodiments, the work vehicle may be configured as a tractor 90 (see FIG. 5) in which a rotary tiller 91, which is a work implement, is mounted in the rear of the body, or a rice transplanter in which a planting implement, which is a work implement, is mounted in the rear of the body.

[0081] The tractor 90 normally has a rotary tiller 91 attached to the rear of the body as a working implement, but the working implement reference point 78 is located rearward of the body reference point 77 of the tractor 90. The working implement reference point 78 of the tractor 90 may be at the rear end of the rotary tiller 91 and the center of the rotary tiller 91 in the left-right direction, or may be at the rear end of the rotary tiller 91 and one of the left-right ends of the rotary tiller 91. The tractor 90 can be replaced with any of various types of rotary tillers 91, and instead of the rotary tiller 91, any of working implements such as a ridger, a seed sowing / transplanting machine, or a feed preparation machine can be attached. The working implement does not necessarily have to be attached directly behind the body of the tractor 90, but may also be attached diagonally behind.

[0082] According to the present invention, it is possible to use work machine information specific to each of the various types of work machines, such as rotary tillers 91, ridgers, seed sowing and transplanters, and feed making machines, that are attached to the tractor 90. The work machine information acquisition unit 61 acquires work machine information according to the rotary tillers 91, ridgers, seed sowing and transplanters, feed making machines, etc. that are attached to the tractor 90, and therefore the reference point setting unit 62 can set a work machine reference point 78 according to the rotary tillers 91, ridgers, seed sowing and transplanters, feed making machines, etc. that are attached to the tractor 90. This makes it possible to set a set travel line 76 according to the work machine attached to the tractor 90 with respect to the reference travel line 75.

[0083] Similarly, while a rice transplanter normally has a planting implement attached to the rear of the machine body, the implement reference point 78 is located rearward of the rice transplanter's machine body reference point 77. The rice transplanter can be replaced with any of a variety of planting implements, and can also be fitted with any of the implements, such as a chemical sprayer or side-stripe chemical applicator.

[0084] According to the present invention, it is possible to use implement information specific to each of the various types of implements attached to the rice transplanter, such as planting implements, chemical sprayers, side row chemical applicators, etc. The implement information acquisition unit 61 acquires implement information according to the planting implement, chemical sprayer, side row chemical applicator, etc. attached to the rice transplanter, so the reference point setting unit 62 can set implement reference points 78 according to the planting implement, chemical sprayer, side row chemical applicator, etc. attached to the rice transplanter. This makes it possible to set a set travel line 76 according to the implement attached to the rice transplanter.

[0085] In the above embodiment, an example has been described in which the reference driving line setting unit 60 sets the reference driving line 75 connecting the start point 79 and the end point 80 as the reference driving line 75 for the automatic straight-line operation, but the present invention is not limited to this example. For example, in other embodiments, the reference driving line setting unit 60 may set one side of the field perimeter 71 as the reference driving line 75.

[0086] The present invention may be modified as appropriate within the scope that does not contradict the gist or concept of the invention that can be read from the claims and the entire specification, and the automatic driving method and automatic driving system that involve such modifications are also included in the technical concept of the present invention. [Explanation of symbols]

[0087] 1 Combine (work vehicle) 2 Running part 3 Reaping part 11 Crawler-type running device 33 Positioning Unit 40 Control device 45 Automatic driving unit 50 Mobile Devices 51 Control device 54 Display section 60 Reference driving line setting unit 61 Work equipment information acquisition section 62 Reference point setting section 63 Setting driving line setting section 64 Work display section 72 Unworked land 75 Reference driving line 76 Set driving line 78 Work equipment reference point 79 Starting Point 80 End

Claims

1. An automatic driving method for a work vehicle equipped with a work implement, comprising: a reference driving line setting step of setting a reference driving line that indicates the driving direction of the work vehicle during automatic straight-line driving operation; a reference point setting step of setting a reference point on the work machine; an automatic driving step of executing automatic driving of the work vehicle based on the reference driving line, The automatic driving method is characterized in that the reference driving line setting step sets the reference driving line using a set point that is set based on the position of the reference point when the setting is accepted.

2. The work implement is replaceable with respect to the work vehicle; 2. The automatic traveling method according to claim 1, wherein the reference point setting step changes the position of the reference point when the work machine is replaced.

3. 3. The automatic traveling method according to claim 1, wherein the reference point setting step sets the reference point at a center of the work machine.

4. A method for automatically driving a work vehicle equipped with a work implement, comprising: a reference driving line setting step of setting a reference driving line that indicates the driving direction of the work vehicle during automatic straight-line driving operation; a reference point setting step of setting a reference point on the work machine; a set travel line setting step of setting a set travel line that is parallel to the reference travel line and passes through the position of the reference point based on the reference travel line and the reference point at the time when the set travel line setting is accepted; an automatic driving step of executing automatic driving of the work vehicle along the set driving line.

5. An automatic driving system for a work vehicle equipped with a work machine, a reference driving line setting unit that sets a reference driving line that indicates the driving direction of the work vehicle during automatic straight-line driving operations; a reference point setting unit that sets a reference point on the work machine; an automatic driving unit that performs automatic driving of the work vehicle based on the reference driving line; Equipped with The reference driving line setting unit sets the reference driving line using a set point that is set based on the position of the reference point when the setting is accepted.

6. An automatic driving system for a work vehicle equipped with a work implement, a reference driving line setting unit that sets a reference driving line that indicates the driving direction of the work vehicle during automatic straight-line driving operations; a reference point setting unit that sets a reference point on the work machine; a set travel line setting unit that sets a set travel line that is parallel to the reference travel line and passes through the position of the reference point based on the reference travel line and the reference point at the time when the set travel line setting is accepted; an automatic driving unit that executes automatic driving of the work vehicle along the set driving line.

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