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 turning off an automatic steering function appropriately in response to a user's manual steering when the automatic steering function is on.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 steering handle 17 and a control unit 33. The control unit 33 determines whether or not manual steering by an operation of the steering handle 17 is detected after the function is turned on, and executes processing to turn off the function on the basis of the number of times that the manual steering is detected.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.

[0003] When the automatic steering function is on, for example when avoiding an obstacle in the path, the user must manually operate a push button or lever to turn off the automatic steering function and then manually steer the agricultural machine to change direction, which is a cumbersome procedure. Therefore, if manual steering is detected after the automatic steering function is turned on, the agricultural work machine turns off the automatic steering function and starts traveling in the direction desired by the user. This type of agricultural work machine is disclosed, for example, in Patent Document 1. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-081982 Summary of the Invention [Problem to be solved by the invention]

[0005] However, Patent Document 1 does not mention means for preventing erroneous detection of manual steering. If manual steering is erroneously detected, the user may feel dissatisfied, as if the agricultural machine has arbitrarily turned off the automatic steering function.

[0006] An object of the present disclosure is to provide an agricultural machine, a control method for the agricultural machine, and a computer program that can appropriately turn off the automatic steering function in response to manual steering by a user when the automatic steering function is on. [Means for solving the problem]

[0007] 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 equipped with a steering wheel and a control unit, and the control unit is characterized in that after the function is turned on, it determines whether manual steering due to operation of the steering wheel has been detected, and executes processing to turn off the function based on the number of times that manual steering has been detected.

[0008] In the present disclosure, the agricultural work machine has an automatic steering function. When the automatic steering function is on, the agricultural work machine moves straight along a preset straight path. The control unit determines whether manual steering (hereinafter simply referred to as manual steering) caused by operating the steering wheel has been detected after the automatic steering function has been turned on, and turns off the automatic steering function based on the number of times manual steering has been detected.

[0009] If the number of times manual steering is detected is high, there is little possibility that manual steering has been mistakenly detected. In other words, there is a high possibility that the user wants to turn off the automatic steering function. On the other hand, if the number of times manual steering is detected is low, there is a high possibility that manual steering has been mistakenly detected. In other words, there is a high possibility that the user wants to continue using the automatic steering function. Therefore, by turning off the automatic steering function based on the number of times manual steering is detected, the automatic steering function can be appropriately turned off in accordance with the user's manual steering when the automatic steering function is on.

[0010] The agricultural work machine according to the present disclosure further includes a detection unit that detects a physical quantity related to the manual steering, and the control unit is characterized in that, when the absolute value of the detection result of the detection unit is greater than or equal to a predetermined threshold value, it determines that the manual steering has been detected and executes a process of incrementing the number of times.

[0011] In the present disclosure, a detection unit detects a physical quantity related to manual steering. If the absolute value of the detection result of the detection unit is equal to or greater than a predetermined threshold, there is a possibility that manual steering has not been erroneously detected. Therefore, the control unit determines that manual steering has been detected and increments the number of times manual steering has been detected.

[0012] The agricultural work machine according to the present disclosure is characterized in that the control unit determines the steering direction indicated by the manual steering based on the detection result, and when the absolute value of the detection result is equal to or greater than the predetermined threshold value and the determined steering direction is opposite to the steering direction based on the function, determines that the manual steering has been detected and executes a process of incrementing the number of times.

[0013] In the present disclosure, the control unit determines the steering direction indicated by the manual steering based on the absolute value of the detection result of the detection unit. If the absolute value of the detection result of the detection unit is equal to or greater than a predetermined threshold value and the steering direction indicated by the manual steering is opposite to the steering direction based on the automatic steering function, there is a possibility that manual steering is not erroneously detected. Therefore, the control unit determines that manual steering has been detected and increments the number of times manual steering has been detected.

[0014] The agricultural work machine according to the present disclosure is characterized in that the control unit executes a process of further incrementing the number of times when the absolute value of the detection result is equal to or greater than a second predetermined threshold value that is greater than the predetermined threshold value.

[0015] In the present disclosure, a second predetermined threshold value that is greater than the predetermined threshold value is used. When the absolute value of the detection result of the detection unit is equal to or greater than the second predetermined threshold, there is a higher possibility that manual steering has not been erroneously detected compared to when the absolute value of the detection result of the detection unit is equal to or greater than the predetermined threshold but less than the second predetermined threshold. Therefore, the control unit further increments the number of times manual steering has been detected.

[0016] The agricultural work machine according to the present disclosure further includes an operation unit that is operated when the function is turned off, and the control unit is characterized in that it executes a process to reset the number of times when the absolute value of the detection result is less than the predetermined threshold value or when the operation unit is operated.

[0017] In the present disclosure, if the absolute value of the detection result of the detection unit is less than a predetermined threshold, there is a high possibility that manual steering has been erroneously detected. Therefore, the control unit resets the number of times manual steering has been detected. The user operates the operation unit when turning off the automatic steering function without relying on manual steering. When the operation unit is operated, there is no need to detect manual steering to turn off the automatic steering function. Therefore, the control unit resets the number of times manual steering has been detected.

[0018] The agricultural work machine according to the present disclosure is characterized in that the control unit intermittently acquires the detection results, determines whether the acquired detection results are positive or negative, and if the positive or negative value of the detection results differs between the previous and current detection results, executes a process to reset the number of times.

[0019] In the present disclosure, the control unit intermittently acquires the detection result of the detection unit and determines whether the acquired detection result is a positive value or a negative value. If the positive and negative detection results of the detection unit differ between the previous and current detections, there is a high possibility that manual steering has been erroneously detected. Therefore, the control unit resets the number of times manual steering has been detected.

[0020] The agricultural work machine according to the present disclosure further includes an electric steering motor that drives the steering handle when the function is on, and the detection unit detects the current value or torque value of the steering motor.

[0021] In the present disclosure, a detection unit detects a current value or a torque value of an electric steering motor. During manual steering, the user operates (e.g., rotates) the steering wheel. When the auto-steering function is on, the steering motor drives (in this case, rotates) the steering wheel. The current value or torque value of the steering motor when the automatic steering function is on and the user is not performing manual steering is different from the current value or torque value of the steering motor when the automatic steering function is on and the user is performing manual steering. Therefore, it is possible to determine whether manual steering is being performed based on the detection result of the detection unit.

[0022] The agricultural work machine according to the present disclosure is characterized by further comprising a notification unit that, when turning off the function, notifies the driver that the function will be turned off by manual steering.

[0023] In the present disclosure, when the automatic steering function is turned off, the notification unit notifies the driver that the automatic steering function will be turned off by manual steering. The user who recognizes the notification from the notification unit can know that the automatic steering function has been turned off and the reason why.

[0024] The agricultural work machine according to the present disclosure is characterized by further comprising a display unit that displays an indication of when the function will be turned off based on the number of times.

[0025] In the present disclosure, the display unit displays an indication of when the automatic steering function will be turned off based on the number of times manual steering is detected. The user can visually confirm the indication displayed on the display unit and perform further manual steering to turn off the automatic steering function. Alternatively, the user can recognize that they have mistakenly performed manual steering despite wanting to continue using the automatic steering function.

[0026] In the agricultural work machine according to the present disclosure, the control unit turns off the function and resets the number of times when the number of times is equal to or greater than a predetermined number of times.

[0027] In the present disclosure, if the number of times manual steering is detected is equal to or greater than a predetermined number, the control unit turns off the automatic steering function. After the automatic steering function is turned off, there is no need to detect manual steering to turn off the automatic steering function. Therefore, the control unit resets the number of times manual steering is detected.

[0028] The agricultural machine control method according to the present disclosure 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 after the function is turned on, it is determined whether manual steering caused by operation of a steering handle provided on the agricultural machine is detected, and the function is turned off based on the number of times that manual steering is detected.

[0029] In the present disclosure, whether to turn off the automatic steering function is determined based on the number of times manual steering is detected after the automatic steering function is turned on. As a result, when the automatic steering function is on, the automatic steering function can be appropriately turned off in accordance with manual steering by the user.

[0030] The computer program according to the present disclosure is characterized in that after a function of an agricultural work machine having a function of automatically steering the vehicle body along a predetermined straight path is turned on, the computer determines whether manual steering caused by operating a steering handle provided on the agricultural work machine has been detected, and executes a process to turn off the function based on the number of times that manual steering has been detected.

[0031] 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]

[0032] According to the agricultural machine, the control method for the agricultural machine, and the computer program of the present disclosure, when the automatic steering function is on, the automatic steering function can be appropriately turned off in response to manual steering by the user. [Brief explanation of the drawings]

[0033] [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 steps of a manual steering detection process executed in the agricultural work machine. [Figure 4] 5 is a flowchart showing the procedure of a steering switch determination process executed in the agricultural work machine. [Figure 5] FIG. 4 is a schematic diagram showing an example of a screen displayed on a display panel of an agricultural work machine. DETAILED DESCRIPTION OF THE INVENTION

[0034] Hereinafter, embodiments of the present disclosure will be described.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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).

[0040] 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.

[0041] 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.

[0042] 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 manual steering detection process and a steering switch determination 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 manual steering detection process and for executing the steering switch determination process.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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).

[0048] 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.

[0049] 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.

[0050] 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.

[0051] Even when the automatic steering function is on, the user often holds the steering wheel 17. When manual steering is performed using the steering wheel 17, the automatic steering function is turned off. Therefore, for example, if the user performs manual steering to avoid an obstacle ahead while the agricultural work machine 1 is moving straight ahead using the automatic steering function, the automatic steering function is automatically turned off, and the agricultural work machine 1 follows the user's manual steering. Therefore, there is no need for the user to operate the switch unit 23 to turn off the automatic steering function and then perform manual steering using the steering wheel 17.

[0052] The agricultural work machine 1 further includes a current detection unit 25. The current detection unit 25 detects the current value of the steering motor 18. The positive or negative detection result of the current detection unit 25 corresponds to the rotation direction of the rotation shaft 171 of the steering wheel 17. When the detection result of the current detection unit 25 is a positive value (or a negative value), the rotation shaft 171 of the steering wheel 17 is rotating counterclockwise, and when the detection result of the current detection unit 25 is a negative value (or a positive value), the rotation shaft 171 of the steering wheel 17 is rotating clockwise. In other words, the detection result of the current detection unit 25 corresponds to the steering direction. The current detection unit 25 functions as a detection unit that detects a physical quantity related to manual steering.

[0053] 3 is a flowchart showing the steps of the manual steering detection process executed by the agricultural work machine 1. The manual steering detection process is repeatedly executed at a predetermined cycle (for example, every 10 msec) when the automatic steering function is on. The default value of a manual detection counter C1, which will be described later, is "0".

[0054] The control unit 33 determines whether the automatic steering function is on or not (S11). If the automatic steering function is on (YES in S11), the control unit 33 acquires the detection result A1 of the current detection unit 25 (S12). Next, the control unit 33 determines whether the absolute value of the detection result A1 of the current detection unit 25 acquired in S12 is equal to or greater than a first threshold value B1 (S13). The first threshold value B1 is a predetermined threshold value in this embodiment, and is smaller than, for example, 0.5 times the rated current value of the steering motor 18.

[0055] If |A1|≧B1 (YES in S13), there is a possibility that manual steering has been performed. Therefore, the control unit 33 determines the steering direction D1 indicated by the manual steering based on the detection result A1 of the current detection unit 25 (S14). Next, the control unit 33 determines whether the steering direction D1 determined in S14 is opposite to the steering direction D2 based on the automatic steering function (S15). As described above, the steering direction D2 is determined by the control unit 33 based on the detection results of the direction detection unit 21 and the position detection unit 22 in order to realize the automatic steering function.

[0056] When the steering direction D1 ≠ the steering direction D2 (YES in S15), it is highly likely that manual steering has been performed. Therefore, the control unit 33 increments the manual detection counter C1 by “1” (S16). The manual detection counter C1 is, for example, a predetermined variable stored in the main memory unit 31. The numerical value indicated by the manual detection counter C1 is the number of times manual steering has been detected.

[0057] After the processing of S16 is completed, the control unit 33 determines whether the absolute value of the detection result A1 of the current detection unit 25 is greater than or equal to the second threshold value B2 (S17). The second threshold value B2 is the second predetermined threshold value in the present embodiment and is larger than the first threshold value B1. The second threshold value B2 is, for example, a value that is 0.5 times the rated current value of the steering motor 18. When |A1| ≥ B2 (YES in S17), it is very likely that manual steering has been performed. Therefore, the control unit 33 further increments the manual detection counter C1 by “1” (S18). After the execution of the processing of S18, the control unit 33 executes the next processing of S19. When |A1| < B2 (NO in S17), the control unit 33 executes the next processing of S19 without performing any processing on the manual detection counter C1.

[0058] The control unit 33 determines whether each of the detection result A1 of the current detection unit 25 and the previous detection result A2 is a positive value or a negative value (S19), and determines whether the determined positive and negative are the same as each other (S20). The manual steering detection process is repeatedly (i.e., intermittently) executed at a predetermined cycle. However, it is possible that the execution of the manual steering detection process is the first time and the previous detection result A2 does not exist yet. In this case, the control unit 33 stores the detection result A1 as the previous detection result A2 in the main memory unit 31, and then omits the processing after S20 to end the manual steering detection process.

[0059] When the sign of detection result A1 is different from the sign of the previous detection result A2 (NO in S20), it is highly likely that an abnormal fluctuation in the current flowing through the steering motor 18 has been misdetected as manual steering. That is, it is highly likely that manual steering is not being performed. Therefore, the control unit 33 resets the manual detection counter C1 to "0" (S21), stores the detection result A1 as the previous detection result A2 in the main memory unit 31, and then ends the manual steering detection process. When the sign of the detection result A1 of the current detection unit 25 is the same as the sign of the previous detection result A2 (YES in S20), the control unit 33 executes the steering switch determination process shown in FIG. 4 described later (S22) and ends the manual steering detection process.

[0060] When the steering direction D1 = the steering direction D2 (NO in S15), there is an equal possibility that manual steering has been performed and that manual steering has been misdetected. Therefore, the control unit 33 stores the detection result A1 as the previous detection result A2 in the main memory unit 31 and then ends the manual steering detection process without performing any processing on the manual detection counter C1. When |A1| < B1 (NO in S13), it is highly likely that manual steering is not being performed. Therefore, the control unit 33 transfers the process to S21. As a result, the manual detection counter C1 is reset to "0", and after the detection result A1 is stored as the previous detection result A2 in the main memory unit 31, the manual steering detection process ends.

[0061] When the automatic steering function is off (NO in S11), there is no need to determine whether manual steering has been misdetected. Therefore, the control unit 33 transfers the process to S21. As a result, the manual detection counter C1 is reset to "0" and then the manual steering detection process ends.

[0062] FIG. 4 is a flowchart showing the procedure of the steering switch determination process executed in the agricultural work machine 1. FIG. 5 is a schematic diagram showing an example of the screen displayed on the display panel 24 of the agricultural work machine 1. As shown in FIG. 4, the control unit 33 determines whether the value indicated by the manual detection counter C1 is equal to or greater than a predetermined number C2 (S31). The predetermined number C2 is, for example, 30 times. When C1 < C2 (NO in S31), since it is difficult to say that manual steering has surely been performed, there is a problem in turning off the automatic steering function. Therefore, the control unit 33 executes the following process of S32 without executing the process of S35 described later.

[0063] The control unit 33 determines whether the switch unit 23 has been operated (S32). When the switch unit 23 has not been operated (NO in S32), the control unit 33 causes the display panel 24 to display information indicating a guideline of the timing at which the automatic steering function is turned off by manual steering (S33). In this case, the display panel 24 functions as a display unit in the present embodiment. By the process of S33, for example, as shown in FIG. 5A, a number of circles 241 corresponding to the predetermined number C2 are displayed side by side in a row on the display panel 24. Among the circles 241, the number of circles 241 corresponding to the value indicated by the manual detection counter C1 are displayed as black circles "●" in order from the left, and the remaining circles 241 are displayed as white circles "○".

[0064] A user who wants to turn off the automatic steering function can know the guideline of the timing at which the automatic steering function is turned off by visually recognizing the display panel 24 and perform manual steering until the automatic steering function is turned off. On the other hand, a user who desires to continue using the automatic steering function can notice that manual steering has been accidentally performed by visually recognizing the display panel 24 and stop unnecessary manual steering before the automatic steering function is turned off. Further, the control unit 33 causes the main storage unit 31 to store the detection result A1 of the current detection unit 25 as the previous detection result A2 (S34), and returns the process to the manual steering detection process.

[0065] When C1 ≥ C2 (YES in S31), since manual steering has surely been performed, the control unit 33 turns off the automatic steering function (S35). As a result, the agricultural work machine 1 travels in the direction desired by the user by manual steering. Further, the control unit 33 causes the display panel 24 to display information indicating that the automatic steering function is turned off by manual steering (S36).

[0066] As a result of the processing of S36, for example, as shown in FIG. 5B, the display panel 24 displays the words "Automatic steering due to manual steering," and further displays the word "Off" in a highlighted manner. This means that the automatic steering function has been turned off due to manual steering by the user. In this case, the display panel 24 functions as the notification unit in this embodiment. The notification may also be made by voice. The user who receives the notification will not be confused because they will recognize that the automatic steering function has been turned off and the reason why the automatic steering function has been turned off.

[0067] The control unit 33 resets the manual detection counter C1 to "0" (S37), deletes the previous detection result A2 stored in the main memory unit 31 (S38), and returns the process to the manual steering detection process. If the switch unit 23 is operated (YES in S32), the control unit 33 proceeds to S35. Note that the control unit 33 determines whether the switch unit 23 is operated at an appropriate timing in parallel with the execution of the manual steering detection process shown in Fig. 3, and if the switch unit 23 is operated, it executes the same processes as S35 to S38. The automatic steering function is turned off by manual steering using the steering wheel 17 or by operating the switch unit 23, so the switch unit 23 and the steering wheel 17 function as an operation unit in this embodiment.

[0068] The detection unit in this embodiment is the current detection unit 25, but is not limited to this. The detection unit may detect the torque value of the steering motor 18 as a physical quantity related to manual steering. In this case, too, the manual detection counter C1 is incremented based on the detection result of the detection unit. For example, when the absolute value of the detected torque value is equal to or greater than a predetermined threshold value and the steering direction calculated based on the detected torque value is opposite to the steering direction based on the automatic steering function, the manual detection counter C1 is incremented.

[0069] The conditions for incrementing the manual detection counter C1 are not limited to those described above. For example, if the absolute value of the detection result A1 of the current detection unit 25 is equal to or greater than the first threshold value B1, the manual detection counter C1 may be incremented regardless of the steering directions D1 and D2. Alternatively, the rotation angle of the steering wheel 17 from the neutral position may be detected, and when the absolute value of the detection result is equal to or greater than a predetermined angle, the manual detection counter C1 may be incremented. Alternatively, the angular velocity of the rotation shaft 171 of the steering wheel 17 is detected, and the manual detection counter C1 may be incremented when the difference between the detection result and the angular velocity to be applied to the rotation shaft 171 for the automatic steering function is greater than or equal to a predetermined threshold.

[0070] According to the agricultural work machine 1 described above, the control unit 33 turns off the automatic steering function based on the manual detection counter C1, which indicates the number of times manual steering has been detected. If the manual detection counter C1 is equal to or greater than the predetermined number C2, there is little possibility that manual steering has been erroneously detected. In other words, there is a high possibility that the user wishes to turn off the automatic steering function. On the other hand, if the manual detection counter C1 is less than the predetermined number C2, there is a high possibility that manual steering has been erroneously detected. In other words, there is a high possibility that the user wishes to continue using the automatic steering function. Therefore, by turning off the automatic steering function based on the value indicated by the manual detection counter C1, the automatic steering function can be appropriately turned off in response to manual steering by the user when the automatic steering function is on.

[0071] 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 manual steering detection process shown in Fig. 3 and the steering switch determination process shown in Fig. 4 may be executed by one or more servers. In this case, for example, information indicating that the automatic steering function is on and the detection result A1 of the current detection unit 25 are sent from the control device 3 to the server. In addition, information indicating whether to turn off the automatic steering function or keep it on, information to be displayed on the display panel 24, etc. are sent from the server to the control device 3.

[0072] 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]

[0073] 1 Agricultural machinery 17 Steering handle (operating part) 171 Rotation axis 18 Steering motor 23 Switch section (operation section) 24 Display panel (notification section, display section) 25 Current detection unit (detection unit) 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, A steering handle and Control unit and Equipped with The control unit After the function is turned on, it is determined whether manual steering caused by operation of the steering wheel is detected, and Turning off the function based on the number of times the manual steering is detected An agricultural machine characterized by performing processing.

2. a detection unit that detects a physical quantity related to the manual steering, The control unit When the absolute value of the detection result of the detection unit is equal to or greater than a predetermined threshold value, it is determined that the manual steering has been detected, and the number of times is incremented. The agricultural work machine according to claim 1, wherein the agricultural work machine executes a process.

3. The control unit determining a steering direction indicated by the manual steering based on the detection result; When the absolute value of the detection result is equal to or greater than the predetermined threshold value and the determined steering direction is opposite to the steering direction based on the function, it is determined that the manual steering has been detected, and the number of times is incremented. The agricultural work machine according to claim 2, wherein the agricultural work machine executes a process.

4. The control unit When the absolute value of the detection result is equal to or greater than a second predetermined threshold value that is greater than the first predetermined threshold value, the number of times is further incremented.

4. The agricultural work machine according to claim 2, wherein the agricultural work machine executes a process.

5. further comprising an operation unit that is operated when turning off the function, The control unit If the absolute value of the detection result is less than the predetermined threshold value, or if the operation unit is operated, the number of times is reset.

4. The agricultural work machine according to claim 2, wherein the agricultural work machine executes a process.

6. The control unit Intermittently obtaining the detection results; Determine whether the acquired detection result is a positive value or a negative value; If the positive or negative sign of the detection result differs between the previous and current detections, the number of times is reset.

4. The agricultural work machine according to claim 2, wherein the agricultural work machine executes a process.

7. an electric steering motor that drives the steering wheel when the function is on; Further provided with 4. The agricultural machine according to claim 2, wherein the detection unit detects a current value or a torque value of the steering motor.

8. The agricultural work machine according to claim 1, further comprising a notification unit that notifies the driver that the function will be turned off by the manual steering when the function is turned off.

9. The agricultural machine according to claim 1, further comprising a display unit that displays an indication of when the function will be turned off based on the number of times.

10. The agricultural machine according to claim 1 , wherein the control unit turns off the function and resets the number of times when the number of times is equal to or greater than a predetermined number of times.

11. A method for controlling an agricultural machine having a function of traveling along a predetermined straight path by automatic steering, comprising: determining whether manual steering caused by operation of a steering handle provided in the agricultural work machine has been detected after the function has been turned on; A method for controlling an agricultural machine, characterized in that the function is turned off based on the number of times that manual steering is detected.

12. determining whether manual steering caused by operation of a steering handle of an agricultural work machine is detected after the agricultural work machine has a function of automatically steering a vehicle body along a predetermined straight path and the function is turned on; Turning off the function based on the number of times the manual steering is detected A computer program that causes a computer to execute a process.

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