Agricultural implement, control method of agricultural implement, and computer program

Abstract

To provide an agricultural implement, a control method of the agricultural implement, and a computer program capable of achieving improvement in work efficiency.SOLUTION: An agricultural implement of the present disclosure having a function for a vehicle body to travel by automatic steering along a preset straight path includes a control unit 33 for determining whether or not the vehicle body has turned on the basis of a vehicle azimuth, and executing processing to permit turning on the function after performing a run-up for assisting the function when it is determined that the vehicle body has turned.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to an agricultural machine, a control method for an agricultural machine, and a computer program. [Background technology]

[0002] Conventionally, agricultural implements have been used that have a function for automatically steering the vehicle body along a preset straight path (hereinafter referred to as the automatic steering function). In agricultural implements equipped with a steering wheel, when the automatic steering function is off, the user manually steers the implement by operating the steering wheel. On the other hand, when the automatic steering function is on, the agricultural implement automatically moves straight, so that the user does not need to manually steer the implement to move in a straight line. This type of agricultural machine is disclosed in Patent Document 1, for example. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-134471 Summary of the Invention [Problem to be solved by the invention]

[0004] Conventional agricultural machines always perform a run-up to assist the automatic steering function in moving straight before turning on the automatic steering function, which can lead to a decrease in work efficiency.

[0005] An object of the present disclosure is to provide an agricultural work machine, a control method for the agricultural work machine, and a computer program that can improve work efficiency. [Means for solving the problem]

[0006] The agricultural work machine according to the present disclosure is an agricultural work machine having a function of automatically steering the vehicle body along a predetermined straight path, and is characterized in that it is equipped with a control unit that determines whether the vehicle body has turned based on the vehicle direction, and if it determines that the vehicle body has turned, performs a run-up to assist the function and then executes processing to allow the function to be turned on.

[0007] In the present disclosure, the control unit determines whether the vehicle has turned based on the vehicle heading. If it is determined that the vehicle has turned, the control unit allows the automatic steering function to be turned on after a run-up to assist the automatic steering function. In other words, whether or not a run-up is necessary is determined based on whether or not the vehicle has turned, and a run-up is performed when the vehicle has turned. In other words, there is no need to always perform a run-up, which improves work efficiency. A turn, as used herein, is a change of direction of greater than or equal to a predetermined threshold (eg, 90°, 120°, or 170°).

[0008] The agricultural work machine according to the present disclosure is characterized in that the control unit determines whether the absolute value of the difference between the vehicle orientation after the function is turned off and the vehicle orientation before the function is turned off or the orientation along the straight path is greater than or equal to a predetermined angle, and if it determines that the absolute value is greater than or equal to the predetermined angle, executes a process to determine that the vehicle body has turned.

[0009] In the present disclosure, the control unit determines whether the absolute value of the difference between the first orientation and the second orientation is equal to or greater than a predetermined angle. If it determines that the absolute value of the difference between the first orientation and the second orientation is equal to or greater than the predetermined angle, the control unit determines that the vehicle body has turned, and allows the automatic steering function to be turned on after a run-up. Here, the first direction is the vehicle direction after the automatic steering function is turned off, and the second direction is the vehicle direction before the automatic steering function is turned off, or the direction along the preset straight-line route before the automatic steering function is turned off. In other words, after the automatic steering function is turned off, a determination is made as to whether a run-up is necessary before the automatic steering function is turned on again, and if it is determined that a run-up is necessary, a run-up is performed.

[0010] The agricultural work machine according to the present disclosure is characterized in that, when the control unit determines that the angle is less than the predetermined angle, it executes a process to allow the function to be turned on without going through the run-up.

[0011] In the present disclosure, if it is determined that the absolute value of the difference between the first orientation and the second orientation is less than a predetermined angle, the control unit allows the automatic steering function to be turned on without a run-up. That is, after the automatic steering function is turned off, before the automatic steering function is turned on again, it is determined whether a run-up is necessary, and if it is determined that a run-up is not necessary, no run-up is performed.

[0012] The agricultural work machine according to the present disclosure is an agricultural work machine having a function of automatically steering the vehicle body along a preset straight path, and is characterized in that it is equipped with a control unit that determines whether the vehicle body has turned based on the vehicle direction, and if it determines that the vehicle body has not turned, executes processing to allow the function to be turned on without a run-up to assist the function.

[0013] In the present disclosure, the control unit determines whether the vehicle has turned based on the vehicle heading. If it determines that the vehicle body has not turned, the control unit allows the automatic steering function to be turned on without a run-up to assist the automatic steering function. In other words, whether or not a run-up is required is determined based on whether or not the vehicle is turning, and if the vehicle is not turning, no run-up is required. In other words, there is no need to always perform a run-up, which improves work efficiency.

[0014] The agricultural work machine according to the present disclosure further includes a position detection unit that detects the vehicle position, and the control unit is characterized in that, when the agricultural work machine is performing the approach run, it executes a process to determine the vehicle orientation based on the detection result of the position detection unit.

[0015] In the present disclosure, the position detection unit detects the vehicle position, and the control unit calculates the vehicle orientation based on the detection result of the position detection unit when the vehicle is running up, which means that there is no need to detect the vehicle orientation using a sensor that directly detects the vehicle orientation.

[0016] The agricultural work machine according to the present disclosure is characterized in that the position detection unit uses a global navigation satellite system (GNSS), and the control unit, when performing the approach run, acquires three or more vehicle positions using the position detection unit, calculates an orientation based on adjacent vehicle positions among the acquired vehicle positions, and executes a process of calculating the vehicle orientation based on an average value of the multiple orientations obtained.

[0017] In the present disclosure, a position detection unit detects the vehicle position using a Global Navigation Satellite System (GNSS). A control unit acquires three or more vehicle positions using the position detection unit when the vehicle is running up. The direction connecting adjacent vehicle positions in chronological order indicates the vehicle orientation. The control unit calculates the vehicle orientation based on the average value of the calculated orientations.

[0018] The agricultural work machine according to the present disclosure is characterized by further comprising an information display unit that displays information relating to the run-up when the run-up is being performed.

[0019] In the present disclosure, when a running run is performed, the information display unit displays information about the running run. By visually checking the information display unit, the user can grasp the information about the running run, allowing the user to use the agricultural machine with peace of mind.

[0020] The agricultural work machine according to the present disclosure further includes an operation unit that is operated when the function is turned on, and a permission display unit that displays information indicating permission for the function, and when the control unit gives permission to turn on the function, it causes the permission display unit to display the permission and executes a process to accept operation of the operation unit.

[0021] In the present disclosure, when permission is given to turn on the automatic steering function, the control unit causes the permission display unit to display information indicating permission for the automatic steering function and accepts operation from the operation unit. The user can see whether the automatic steering function is permitted by visually checking the permission display unit, and when the automatic steering function is permitted, the user operates the operation unit to turn on the automatic steering function. Therefore, when the automatic steering function is not permitted, the user is prevented from performing unnecessary operations.

[0022] The agricultural machine control method disclosed herein is a method for controlling an agricultural machine having a function of automatically steering the vehicle body along a predetermined straight path, and is characterized in that it determines whether the vehicle body has turned based on the vehicle direction, and if it is determined that the vehicle body has turned, it allows the function to be turned on after a run-up to assist the function.

[0023] In the present disclosure, whether or not a run-up is required is determined based on whether or not the vehicle has turned, and a run-up is performed if necessary. In other words, a run-up is not always required, which improves work efficiency.

[0024] The agricultural machine control method disclosed herein is a method for controlling an agricultural machine having a function of automatically steering the vehicle body along a preset straight path, and is characterized in that it determines whether the vehicle body has turned based on the vehicle direction, and if it determines that the vehicle body has not turned, it allows the function to be turned on without a run-up to assist the function.

[0025] In the present disclosure, whether or not a run-up is necessary is determined based on whether or not the vehicle has turned, and if a run-up is not necessary, the run-up is not performed. In other words, there is no need to always perform a run-up. Therefore, work efficiency can be improved.

[0026] The computer program according to the present disclosure is characterized in that it determines whether the vehicle has turned based on the vehicle orientation of an agricultural machine having a function of automatically steering the vehicle along a predetermined straight path, and if it is determined that the vehicle has turned, it causes the computer to execute a process that allows the function to be turned on after a run-up to assist the function.

[0027] The computer program according to the present disclosure is characterized in that it determines whether the vehicle body has turned based on the vehicle orientation of an agricultural machine that has the function of automatically steering the vehicle body along a predetermined straight path, and if it determines that the vehicle body has not turned, it causes the computer to execute a process that allows the function to be turned on without a run-up to assist the function.

[0028] In the present disclosure, the agricultural machine control method according to the present disclosure can be realized in software using the hardware elements of a computer. [Effects of the Invention]

[0029] According to the agricultural work machine, the control method for the agricultural work machine, and the computer program of the present disclosure, it is possible to improve work efficiency. [Brief explanation of the drawings]

[0030] [Figure 1] 1 is a schematic side view of an agricultural work machine according to an embodiment. FIG. [Figure 2] FIG. 2 is a block diagram showing the configuration of a control system of the agricultural machine. [Figure 3] 10 is a flowchart showing the procedure of a necessity determination process executed in the agricultural work machine. [Figure 4] FIG. 4 is a schematic diagram showing an example of a screen displayed on a display panel of an agricultural work machine. [Figure 5] 10 is a flowchart showing the procedure of an approach process executed by the agricultural work machine. [Figure 6] FIG. 10 is a schematic diagram for explaining the approach run. DETAILED DESCRIPTION OF THE INVENTION

[0031] Hereinafter, embodiments of the present disclosure will be described.

[0032] FIG. 1 is a schematic side view of an agricultural machine according to an embodiment. In the drawing, reference numeral 1 denotes an agricultural machine, and the agricultural machine 1 has a riding type vehicle body 11. Left and right front wheels 12 are provided on the front lower part of the vehicle body 11. Left and right rear wheels 13 are provided on the rear lower part of the vehicle body 11. An engine 14 is built into the front part of the vehicle body 11. The engine 14 drives the front wheels 12 and rear wheels 13. The front wheels 12 and rear wheels 13 are driven by the engine 14, causing the agricultural work machine 1 to move.

[0033] The agricultural work machine 1 in this embodiment is a tractor, and is provided with a work implement 15 at the rear of the vehicle body 11. The work implement 15 is a tilling implement for tilling, a fertilizer spreader for spreading fertilizer, a pesticide spreader for spreading pesticide, a harvesting implement for harvesting, a reaping implement for reaping grass or the like, a spreading implement for spreading grass or the like, a grass collecting implement for collecting grass or the like, a shaping implement for shaping grass or the like, etc. The work implement 15 is operated by receiving power output from an engine 14. It should be noted that the agricultural work machine 1 is not limited to a tractor, and may be a rice transplanter, a combine harvester, etc.

[0034] A seat 16 is provided on the upper rear side of the vehicle body 11. A safety bar 161 is provided around the seat 16 as a ROPs (operator protective structure). The safety bar 161 protects the user sitting in the seat 16 in the unlikely event that the agricultural machine 1 tips over. The safety bar 161 stands up from the upper rear side of the vehicle body 11. An annular steering handle 17 is provided on the upper front side of the vehicle body 11. The steering handle 17 is disposed in front of the seat 16. The steering handle 17 is coaxial with a rotation shaft 171 and can rotate integrally with the rotation shaft 171 in the circumferential direction of the rotation shaft 171.

[0035] A user drives the agricultural work machine 1 while sitting on the seat 16. When manually steering, the user operates the steering handle 17. At this time, the user rotates the steering handle 17. As the steering handle 17 rotates, the rotation shaft 171 rotates. An electric steering motor 18 is further built into the front of the vehicle body 11. The steering motor 18 is disposed near a rotation shaft 171 of the steering wheel 17. When the steering motor 18 drives the rotation shaft 171, the rotation shaft 171 rotates, and the steering wheel 17 rotates together with the rotation shaft 171.

[0036] The rotation of the rotary shaft 171 is transmitted to a steering mechanism (not shown), thereby adjusting the steering angle of the front wheels 12. The agricultural work machine 1 travels in a direction corresponding to the steering angle of the front wheels 12. When the steering handle 17 is in the neutral position, the agricultural work machine 1 moves straight, and when the steering handle 17 is rotated to the left (right) of the neutral position, the agricultural work machine 1 turns left (right).

[0037] The control device 3 is built into the vehicle body 11. The control device 3, the steering motor 18, etc. are supplied with power from an on-board battery (not shown). FIG. 2 is a block diagram showing the configuration of a control system of the agricultural work machine 1. The control device 3 is a computer, and includes a main memory unit 31, an auxiliary memory unit 32, and a control unit 33. The units of the control device 3 are interconnected via a bus.

[0038] The main memory unit 31 is volatile and is, for example, a RAM (Random Access Memory). The auxiliary storage unit 32 is nonvolatile and includes a ROM (Read Only Memory), a flash memory, a hard disk, an SSD (Solid State Drive), or the like. The auxiliary storage unit 32 stores in advance a program 3P (computer program) and various data required for executing the program 3P.

[0039] The control unit 33 includes one or more processors such as a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit). The control unit 33 uses the main memory unit 31 as a working area and executes various arithmetic processing and control processing in accordance with a program 3P stored in the auxiliary memory unit 32. The control unit 33 may include a logic circuit (for example, an FPGA). The control unit 33 executes a plurality of processes, such as a necessity determination process and a run-up process, which will be described later. The plurality of processes may be executed by a single processor included in the control unit 33, or may be executed in a distributed manner by a plurality of processors included in the control unit 33. There may be separate processors for executing the necessity determination process and for executing the run-up process.

[0040] The agricultural work machine 1 further includes a direction detection unit 21, a position detection unit 22, a switch unit 23, and a display panel 24. The orientation detection unit 21 includes, for example, an IMU (Inertial Measurement Unit) and detects the vehicle orientation (the direction of the vehicle body 11). The IMU detects the angular velocity in the direction of rotation around an axis extending up and down, and calculates the vehicle orientation based on the detection result. The position detection unit 22, for example, forms a satellite positioning system (GNSS) together with a positioning satellite (not shown), and detects the vehicle position (the current location of the vehicle body 11) by communicating with the positioning satellite.

[0041] In this embodiment, the direction detection unit 21 and the position detection unit 22 are integrated and are attached to the upper end of a safety bar 161, for example (see FIG. 1). The location of the orientation detection unit 21 and the position detection unit 22 is not limited to the upper end of the safety bar 161, and may be, for example, on the hood of the vehicle body 11. The agricultural work machine 1 is a ROPs machine equipped with a ROPs, but if the agricultural work machine 1 is a cabin machine equipped with a cabin, the orientation detection unit 21 and the position detection unit 22 may be located on the roof of the cabin. The orientation detection unit 21 and the position detection unit 22 may be separate units. The separate orientation detection unit 21 and position detection unit 22 may be arranged in different positions. For example, the orientation detection unit 21 is arranged below the seat 16, and the position detection unit 22 is arranged at the upper end of the safety bar 161.

[0042] The switch unit 23 is a push button, a lever, or the like, and is disposed in a position where the user can easily operate the switch unit 23, such as on the side of the seat 16 or near the steering handle 17. The display panel 24 includes a liquid crystal display screen, lamps, and the like.

[0043] The agricultural work machine 1 has an automatic steering function. When the automatic steering function is on, the agricultural work machine 1 travels (moves straight) along a preset straight path (hereinafter referred to as the set path). The set path is determined, for example, by the user manually steering the agricultural work machine 1 to drive it. To provide the agricultural work machine 1 with a set path, the user drives the agricultural work machine 1 along a reference straight path (hereinafter referred to as the reference path). The control unit 33 determines the reference path using, for example, the position detection unit 22. The control unit 33 uses each of a plurality of straight paths parallel to the determined reference path as the set path. The distance between adjacent set paths is constant and corresponds to the working width of the work implement 15.

[0044] The control unit 33 controls the operation of the steering motor 18 so that the agricultural work machine 1 moves straight along the set route, based on the detection results of the orientation detection unit 21 and the position detection unit 22. For example, if the detection result of the orientation detection unit 21 differs from the orientation of the set route, the control unit 33 determines a steering direction so that the vehicle orientation matches the orientation of the set route. Alternatively, if the detection result of the position detection unit 22 is not on the set route, the control unit 33 determines a steering direction so that the vehicle position matches the set route. The steering direction corresponds to the rotation direction of the steering wheel 17 relative to the neutral position of the steering wheel 17. If this rotation direction is rightward (leftward) as seen by the user, the steering direction is rightward (leftward).

[0045] The control unit 33 supplies a current having a current value corresponding to the determined steering direction to the steering motor 18 via a motor driver (not shown). The steering motor 18 rotates forward or reverse depending on the supplied current. The forward or reverse rotation of the steering motor 18 is supplied to the rotation shaft 171 of the steering handle 17 via a gear mechanism (not shown), causing the rotation shaft 171 to rotate left or right. In other words, the control unit 33 rotates the steering motor 18 according to the determined steering direction, thereby rotating the rotation shaft 171 of the steering handle 17 in the steering direction. As a result, the course of the agricultural work machine 1 curves in the steering direction.

[0046] When the vehicle heading matches the heading of the set route and the vehicle position matches the set route, the control unit 33 keeps the steering wheel 17 in the neutral position. As a result, the agricultural work machine 1 automatically moves straight along the set route. Therefore, when the automatic steering function is on, the user does not need to manually steer the agricultural work machine 1 to move straight.

[0047] When the automatic steering function is permitted, the control unit 33 displays information indicating that the automatic steering function is permitted on the display panel 24. Specifically, the control unit 33 displays characters or symbols indicating that the automatic steering function is permitted on the display screen of the display panel 24. Alternatively, the control unit 33 lights up a lamp on the display panel 24 indicating that the automatic steering function is permitted. When the automatic steering function is permitted, the user operates the switch unit 23 to turn on the automatic steering function. When the automatic steering function is on, the automatic steering function is turned off when the user operates the switch unit 23 or performs manual steering using the steering wheel 17.

[0048] When the orientation detection unit 21 includes an IMU, a non-negligible error may occur in the detection result of the orientation detection unit 21 as the agricultural work machine 1 turns. Therefore, conventionally, before the automatic steering function is turned on, a run-up is performed to assist the automatic steering function in moving straight. During this run-up, the control unit 33 obtains information for correcting the detection result of the orientation detection unit 21. If the agricultural work machine 1 has not turned after the automatic steering function has been turned off, the detection result of the direction detection unit 21 is sufficiently accurate. Nevertheless, if a run-up is performed before the automatic steering function is turned on again, work efficiency will deteriorate.

[0049] In agricultural work machine 1 of the present embodiment, it is determined whether or not a running run is required, and if a running run is required, a running run is performed. FIG. 3 is a flowchart showing the procedure of the necessity determination process executed by the agricultural work machine 1. FIG. 4 is a schematic diagram showing an example of a screen displayed on the display panel 24 of the agricultural work machine 1. As shown in FIG. The necessity determination process shown in FIG. 3 is executed when the automatic steering function is turned off. When the automatic steering function is turned off, the control unit 33 stores the direction of the set route as the reference direction in the main memory unit 31 (S11).

[0050] The orientation of the set route is the orientation along a preset straight route before the automatic steering function is turned off, and corresponds to the actual vehicle orientation before the automatic steering function is turned off. The reference orientation may be the detection result of the orientation detection unit 21 acquired when the automatic steering function is turned off. Because the agricultural machine 1 does not turn while the automatic steering function is on, the detection result of the orientation detection unit 21 acquired when the automatic steering function is turned off is approximately equal to the actual vehicle orientation before the automatic steering function was turned off.

[0051] Next, the control unit 33 acquires the detection result of the orientation detection unit 21 (S12) and determines whether the acquired detection result has changed by more than a predetermined angle from the reference orientation (S13). In S13, the control unit 33 subtracts the detection result of the orientation detection unit 21 from the reference orientation, for example, and compares the absolute value of the subtraction result with a predetermined angle. If the absolute value of the subtraction result is more than the predetermined angle, the detection result of the orientation detection unit 21 has changed from the reference orientation by more than the predetermined angle. If the absolute value of the subtraction result is less than the predetermined angle, the detection result of the orientation detection unit 21 has not changed from the reference orientation by more than the predetermined angle. The processing of S13 is processing for determining whether the agricultural work machine 1 has turned. The predetermined angle is stored in advance in the auxiliary storage unit 32 and is, for example, 120°. If the orientation detection unit 21 includes an IMU, the predetermined angle is preferably approximately 100 to 170°.

[0052] When the agricultural work machine 1 has turned, there is a possibility that the detection result of the orientation detection unit 21 contains an error, but since the error is sufficiently small compared to the turning angle, there is no particular problem in determining whether or not the agricultural work machine 1 has turned using the detection result of the orientation detection unit 21. When the orientation detection unit 21 is used, the orientation detection unit 21 directly detects the vehicle orientation, which has the advantage that the control unit 33 does not need to perform processing to determine the vehicle orientation from the detection result of the position detection unit 22, for example.

[0053] If the detection result of the orientation detection unit 21 has not changed by more than a predetermined angle from the reference orientation (NO in S13), the agricultural work machine 1 is not turning, and therefore it is considered that no error occurs in the detection result of the orientation detection unit 21. The control unit 33 causes the display panel 24 to display information indicating that the automatic steering function is permitted (S14). As a result of the processing of S14, for example, as shown in FIG. 4A, the words "AUTOMATIC STEERING OK" are displayed on the display panel 24 as information indicating that the automatic steering function is permitted. In this case, the display panel 24 functions as a permission display unit.

[0054] Furthermore, the control unit 33 receives an operation of the switch unit 23 by the user (S15), and determines whether or not the switch unit 23 has been operated (S16). If the switch unit 23 has not been operated (NO in S16), the control unit 33 returns the process to S13.

[0055] A user viewing the display panel 24 as shown in FIG. 4A knows that the automatic steering function is permitted, and operates the switch unit 23 when turning on the automatic steering function. If the switch unit 23 is operated (YES in S16), the control unit 33 turns on the automatic steering function (S17) and ends the necessity determination process. After this, the automatic steering function causes the agricultural work machine 1 to move straight. Since the automatic steering function is turned on by operating the switch unit 23, the switch unit 23 functions as an operation unit in this embodiment.

[0056] If the detection result of the orientation detection unit 21 has changed from the reference orientation by more than a predetermined angle (YES in S13), it is considered that the agricultural work machine 1 has turned and the error of the orientation detection unit 21 has become large. The control unit 33 causes the display panel 24 to display information indicating that a running run is being made (S18). As a result of the processing of S18, for example, as shown in FIG. 4B, the display panel 24 displays the words "Currently running" as information indicating that a running run is being made. In this case, the display panel 24 functions as an information display unit.

[0057] Furthermore, the control unit 33 executes an approach run process shown in Fig. 5 (S19), which will be described later. An approach run is performed by executing the approach run process. After the approach run process is completed, the control unit 33 shifts the process to S14. If, after executing the process of S15, the process of S16 determines NO and then the process of S13 determines YES, the control unit 33 will not accept operation of the switch unit 23 by the user until the process of S15 is executed again. In other words, if the detection result of the direction detection unit 21 has changed from the reference direction by more than a predetermined angle, the control unit 33 will not permit the automatic steering function to be turned on until the run-up is completed. Note that, if the process of S13 determines YES but the control unit 33 accepts operation of the switch unit 23 by the user, the user can operate the switch unit 23 to cause the control unit 33 to omit the run-up.

[0058] 4B, the user will understand that the automatic steering function is not permitted, and will not operate the switch unit 23 until the automatic steering function is permitted. This prevents the user from performing unnecessary operations. The control unit 33 may also cause the display panel 24 to display the reason for the approach run.

[0059] FIG. 5 is a flowchart showing the procedure of the approach process executed by the agricultural work machine 1. The control unit 33 keeps the steering wheel 17 in a neutral position, thereby moving the agricultural work machine 1 straight (S31). While the agricultural work machine 1 is moving straight ahead, the control unit 33 accumulates a history of the vehicle position of the agricultural work machine 1 (S32). In S32, the control unit 33 acquires three or more vehicle positions using GNSS.

[0060] That is, the control unit 33 acquires the detection results of the position detection unit 22 three or more times, associates them with the timing of acquisition, and stores them in the main memory unit 31. For example, the control unit 33 repeats acquiring the detection results of the position detection unit 22 every time a predetermined time elapses a predetermined number of times. Alternatively, the control unit 33 repeats acquiring the detection results of the position detection unit 22 every time a predetermined time elapses until the agricultural work machine 1 has traveled a predetermined distance.

[0061] The straight movement of the agricultural work machine 1 that occurs between the start of execution of the process of S31 and the end of execution of the process of S32 is the run-up. The most desirable run-up distance is 1 m, and the most desirable run-up time is 1 second, but the run-up may be longer than 1 m or 1 second, or may be shorter than 1 m or 1 second.

[0062] FIG. 6 is a schematic diagram for explaining the approach run. Even when traveling straight, the agricultural work machine 1 may meander slightly due to, for example, the unevenness of the field. In Figure 6, the travel path of the agricultural work machine 1 traveling straight is shown in an exaggerated manner. By obtaining the detection result of the position detection unit 22 three or more times, a first vehicle position A1, a second vehicle position A2, a third vehicle position A3, . . . are accumulated.

[0063] The control unit 33 executes the processes of S33 and S34 shown in FIG. 5 to determine the direction based on the vehicle positions adjacent to each other among the vehicle positions acquired in the process of S32. Specifically, after the process of S32 is completed, or in parallel with the process of S32, the control unit 33 obtains the history of the direction (S33). In S33, the control unit 33 determines a first direction B1 (see FIG. 6) connecting the position indicated by the first vehicle position A1 and the position indicated by the second vehicle position A2, based on the oldest first vehicle position A1 and the second oldest second vehicle position A2. Similarly, the control unit 33 determines a second direction B2, based on the second vehicle position A2 and the second oldest third vehicle position A3.

[0064] After the process of S33 is completed, the control unit 33 calculates the average value of the directions based on the history of the directions calculated in S33 (S34). In S34, for example, the average value of the first direction B1 and the second direction B2 is calculated. The control unit 33 stores the calculated average value of the directions as the vehicle direction in the main memory unit 31 (S35). Because turning of the agricultural work machine 1 does not adversely affect the detection results of the position detection unit 22, the vehicle direction stored in the main memory unit 31 in the processing of S35 is the correct vehicle direction of the agricultural work machine 1 during the run-up. After the process of S35 is completed, the control unit 33 shifts the process to a necessity determination process.

[0065] The vehicle direction stored in the main memory unit 31 in the processing of S35 can be used as information for correcting the detection result of the direction detection unit 21 in which an error has occurred due to the turning of the agricultural work machine 1. For example, the error included in the detection result of the direction detection unit 21 can be found by using the vehicle direction stored in the main memory unit 31 and the detection result of the direction detection unit 21 during the run-up. 4B on the display panel 24 as information indicating that a run-up is to be performed. The indicator 241 includes an image of a start line indicating the start position of the run-up, a finish line indicating the end position of the run-up, and an arrow extending from the start line toward the finish. The length of the arrow is extended every time the detection result of the position detection unit 22 is obtained in the process of S32, from the start to the end of the run-up.

[0066] With the agricultural work machine 1 described above, the control unit 33 determines whether a run-up is necessary before turning on the automatic steering function, depending on whether the agricultural work machine 1 turns after the automatic steering function is turned off. If it is determined that a run-up is necessary, a run-up is performed, and if it is determined that a run-up is not necessary, a run-up is not performed. In other words, there is no need to always perform a run-up. This can improve work efficiency. Since it is not always necessary to perform a run-up, the correction of the detection result of the azimuth detection unit 21 that accompanies the run-up is not always executed, and therefore the control unit 33 does not need to execute unnecessary processing.

[0067] The method for determining whether the agricultural work machine 1 has turned is not limited to the above. For example, it may be determined that the agricultural work machine 1 has turned based on the direction calculated from the detection result of the position detection unit 22. Furthermore, a steering sensor may be provided that detects the angular velocity of the steering handle 17, and it may be determined that the agricultural work machine 1 has turned based on the detection result of the steering sensor. Note that the detection result of the above-mentioned steering sensor is not limited to angular velocity, and may also be an operation angle, a torque value, angular acceleration, etc. Alternatively, it may be determined that the agricultural machine 1 has turned based on the detection result of the current value or torque value detected from the steering motor 18.

[0068] The program 3P is not limited to being stored in the auxiliary storage unit 32. For example, the program 3P may be stored in one or more servers that can communicate with the control device 3. The necessity determination process shown in Fig. 3 and the run-up process shown in Fig. 5 may be executed by one or more servers. In this case, for example, the detection results of the azimuth detection unit 21 and the detection results of the position detection unit 22 are sent from the control device 3 to the server. In addition, information indicating whether or not a run-up is to be performed and a correction value for correcting the detection result of the azimuth detection unit 21 are sent from the server to the control device 3.

[0069] The embodiments disclosed herein are to be considered as illustrative in all respects and not restrictive. The scope of the present invention is intended to include not only the above-mentioned meaning but also the meaning equivalent to the claims and all modifications within the scope of the claims. Independent and dependent claims may be combined with each other in any and all combinations, regardless of the reference format. Furthermore, while the claims may be written in a format in which a claim references two or more other claims (multiple claim format), this is not a limitation. Multiple claims that reference at least one other multiple claim (multiple multiple claim format) may also be written. [Explanation of symbols]

[0070] 1 Agricultural machinery 22 Position detection unit 23 Switch section (operation section) 24 Display panel (information display section, permission display section) 3. Control device (computer) 33 Control Unit 3P Program (Computer Program)

Claims

1. An agricultural work machine having a function of traveling a vehicle body by automatic steering along a preset straight path, determining whether the vehicle body has turned based on the vehicle heading; When it is determined that the vehicle body has turned, the function is permitted to be turned on after a run-up to assist the function is performed. An agricultural work machine comprising a control unit that executes processing.

2. The control unit determining whether an absolute value of a difference between the vehicle heading after the function is turned off and the vehicle heading or the heading along the straight-line route before the function is turned off is equal to or greater than a predetermined angle; If it is determined that the angle is equal to or greater than the predetermined angle, it is determined that the vehicle body has turned. The agricultural work machine according to claim 1, wherein the agricultural work machine executes a process.

3. The control unit If it is determined that the angle is less than the predetermined angle, the function is permitted to be turned on without the approach. The agricultural work machine according to claim 2, wherein the agricultural work machine executes a process.

4. An agricultural work machine having a function of traveling a vehicle body by automatic steering along a preset straight path, determining whether the vehicle body has turned based on the vehicle heading; If it is determined that the function is not enabled, the function is permitted to be enabled without any run-up to assist the function. An agricultural work machine comprising a control unit that executes processing.

5. Further, a position detection unit is provided to detect the vehicle position, The control unit When the vehicle is running, the vehicle direction is calculated based on the detection result of the position detection unit.

5. The agricultural work machine according to claim 1, wherein the agricultural work machine executes a process.

6. The position detection unit uses a global navigation satellite system (GNSS), The control unit When the vehicle is running, the position detection unit acquires three or more vehicle positions; determining a direction based on adjacent vehicle positions among the acquired vehicle positions; The vehicle direction is calculated based on the average value of the calculated directions. The agricultural work machine according to claim 5, wherein the agricultural work machine executes a process.

7. 5. The agricultural work machine according to claim 1, further comprising an information display unit that displays information about the approach run when the approach run is performed.

8. an operation unit that is operated when turning on the function; a permission display unit that displays information indicating permission for the function; Further provided with The control unit When the turning on of the function is permitted, the permission display unit displays the permission and the operation unit accepts the operation.

5. The agricultural work machine according to claim 1, wherein the agricultural work machine executes a process.

9. A method for controlling an agricultural machine having a function of traveling a vehicle body by automatic steering along a preset straight path, comprising: determining whether the vehicle body has turned based on the vehicle heading; A method for controlling an agricultural machine, characterized in that, when it is determined that the vehicle body has turned, a run-up is performed to assist the function, and then the function is permitted to be turned on.

10. A method for controlling an agricultural machine having a function of traveling a vehicle body by automatic steering along a preset straight path, comprising: determining whether the vehicle body has turned based on the vehicle heading; If it is determined that the function is not enabled, the method of controlling an agricultural machine allows the function to be turned on without a run-up to assist the function.

11. determining whether or not a vehicle body has turned based on a vehicle orientation of an agricultural work machine having a function of traveling by automatic steering along a preset straight path; When it is determined that the vehicle body has turned, the function is permitted to be turned on after a run-up to assist the function is performed. A computer program that causes a computer to execute a process.

12. determining whether or not a vehicle body has turned based on a vehicle orientation of an agricultural work machine having a function of traveling by automatic steering along a preset straight path; If it is determined that the function is not enabled, the function is permitted to be enabled without any run-up to assist the function. A computer program that causes a computer to execute a process.

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