Work support methods, work vehicles, and work support systems

Abstract

The present invention provides a work support method, a work vehicle, and a work support system that can prevent mud and straw from getting caught in the work area and entering unworked areas. [Solution] The combine harvester 1 comprises a harvesting unit 3 that performs harvesting work while traveling in the field, a control device 30, and a portable terminal 40. The control device 30 functions as a travel control unit 35 that performs a first forward travel 53 in which the combine harvester moves forward in a first direction D1 while working in an unworked area 51 of the field, a first reverse travel 54 in which the combine harvester moves backward in an already worked area 52 of the field after the first forward travel 53, and a second forward travel 55 in which the combine harvester moves forward in a direction intersecting the first direction D1 towards an unworked area 51 adjacent to the already worked area 52 in a direction perpendicular to the first direction D1. When performing the second forward travel 55, the travel control unit 35 automatically tilts the harvesting unit 3 so that one side of the harvesting unit 3 is higher in the width direction of the combine harvester 1.

Description

Technical Field

[0001] The present invention relates to a work support method for a work vehicle that performs work while traveling in a field, the work vehicle, and a work support system.

Background Art

[0002] In a work vehicle such as a combine, a harvested area is formed by performing a predetermined work such as a crop harvesting work (a work of cutting grain straws) while traveling in an unworked area of a field. Conventionally, in order to avoid leaving work residues such as crop harvesting residues (unharvested grain straws) at the corners of the field, forward travel involving work in an unworked area and reverse travel in a harvested area are repeated.

[0003] For example, in the automatic travel route generation system disclosed in Patent Document 1, a corner travel route, which is an automatic harvesting travel route at the corner of a field, is generated. The corner travel route includes a first route that advances while harvesting crops along one of the sides forming the corner, a second route that reverses along the first route, a third route that advances while harvesting crops in a direction intersecting the first route while leaving an unworked area between the first route and the second route, a fourth route that reverses along the third route, and a route that advances while harvesting the crops in the unworked area between the first route and the third route, advances in the direction between the first route and the third route, turns, and reaches a state of advancing along the other side of the sides forming the corner.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] When a work vehicle moves forward, including turning, from an already worked area to an unworked area, the ground may be raised or covered with fallen straw on one side in the width direction of the work vehicle. In this case, if the work vehicle enters the unworked area while the work vehicle is caught on the raised mud or fallen straw, there is a risk that the mud or fallen straw will knock down the grain stalks in the unworked area, thus damaging the area. If the grain stalks in the unworked area are knocked down in this way, harvesting (cutting) may not proceed smoothly, and work efficiency may decrease.

[0006] The present invention aims to provide a work support method, a work vehicle, and a work support system that can prevent mud and straw from getting caught in the work area and causing the vehicle to enter unworked areas. [Means for solving the problem]

[0007] To solve the above problems, the present invention provides a work support method for a work vehicle having a work unit that performs work while traveling in a field, comprising a travel step of performing a first forward travel in which work is performed while moving forward in a first direction in an unworked area of ​​the field, a first reverse travel in which the vehicle reverses in an already worked area of ​​the field after the first forward travel, and a second forward travel in which work is performed while moving forward in a direction intersecting the first direction toward an unworked area adjacent to the already worked area in a direction perpendicular to the first direction, wherein the travel step is characterized in that when performing the second forward travel, the work unit is automatically tilted so that one side of the work unit is higher in the width direction of the work vehicle body.

[0008] Furthermore, in order to solve the above problems, the present invention provides a work vehicle comprising: a work unit that performs work while traveling in a field; a travel control unit that performs a first forward travel, which involves moving forward in a first direction while performing work in an unworked area of ​​the field; a first reverse travel, which involves moving backward in an already worked area of ​​the field after the first forward travel; and a second forward travel, which involves moving forward in a direction intersecting the first direction toward an unworked area adjacent to the already worked area in a direction perpendicular to the first direction while performing work; wherein the travel control unit automatically tilts the work unit such that one side of the work unit is higher in the width direction of the work vehicle.

[0009] Furthermore, in order to solve the above problems, the work support system of the present invention is a work support system for a work vehicle having a work unit that performs work while traveling in a field, and comprises a travel control unit that performs a first forward travel, which is performed by moving forward in a first direction while performing work in an unworked area of ​​the field; a first reverse travel, which is performed by moving backward in an already worked area of ​​the field after the first forward travel; and a second forward travel, which is performed by moving forward in a direction intersecting the first direction toward an unworked area adjacent to the already worked area in a direction perpendicular to the first direction, and the travel control unit is characterized in that when performing the second forward travel, the work unit is automatically tilted such that one side of the work unit is higher in the width direction of the work vehicle body. [Effects of the Invention]

[0010] The present invention provides a work support method, a work vehicle, and a work support system that can prevent mud and straw from getting caught in the work area and entering unworked areas. [Brief explanation of the drawing]

[0011] [Figure 1] This is a side view of a combine harvester according to the first embodiment of the present invention. [Figure 2] This is a front view of a combine harvester according to the first embodiment of the present invention. [Figure 3] This is a front view showing the tilted state of a combine harvester according to the first embodiment of the present invention. [Figure 4]This is a block diagram of a combine harvester according to the first embodiment of the present invention. [Figure 5] This is a plan view showing an example of a field in which a combine harvester according to the first embodiment of the present invention operates. [Figure 6] This is a plan view showing an example of a field in which a combine harvester according to the first embodiment of the present invention performs a first forward movement. [Figure 7] This is a plan view showing an example of a field in which a combine harvester according to the first embodiment of the present invention performs first reverse travel and second forward travel. [Figure 8] This is a plan view showing another example of a field in which a combine harvester according to the first embodiment of the present invention performs first reverse travel and second forward travel. [Figure 9] This is a plan view showing an example of a support screen displayed on a portable terminal of a combine harvester according to the first embodiment of the present invention. [Figure 10] This is a plan view showing an example of a work screen displayed on a portable terminal of a combine harvester according to the first embodiment of the present invention. [Figure 11] This is a plan view showing an example of a field in which a combine harvester according to a second embodiment of the present invention performs a second reverse movement and a third forward movement. [Figure 12] This is a plan view showing an example of a field in which a combine harvester according to the third embodiment of the present invention performs first forward travel, first reverse travel, and second forward travel. [Figure 13] This is a plan view showing an example of a field in which a combine harvester according to the third embodiment of the present invention performs second reverse travel and third forward travel. [Modes for carrying out the invention]

[0012] The work vehicle of the present invention is for performing work while traveling in a farm field. As an example of the work vehicle according to an embodiment of the present invention, the combine 1 will be described with reference to FIG. 1 and the like. The combine 1 travels in the farm field to be worked, whether automatically or manually, and performs operations such as cutting in order to perform a harvesting operation of crops from the cereal straws planted in the farm field. The combine 1 is configured to perform, for example, auto work in which steering is controlled by automatic driving while the traveling speed is controlled according to manual operation, or unmanned work in which steering and traveling speed are controlled by automatic driving, and can autonomously travel, turn, and work within the farm field.

[0013] The combine 1 performs a cutting operation on a plurality of rows of cereal straws while traveling along a linear row having a predetermined number of rows within the number of rows that can be cut as the cutting width. The combine 1 is set to either a manual traveling mode or an automatic traveling mode. When the manual traveling mode is set, the combine 1 is configured to perform manual traveling only or manual cutting traveling involving a cutting operation according to the operation of the control unit 9 by an operator.

[0014] On the other hand, when the automatic traveling mode is set, the combine 1 is configured to perform an automatic cutting traveling in which it automatically cuts while automatically traveling along an automatic traveling route set in the farm field. It performs an automatic cutting traveling with a traveling pattern such as reciprocating cutting in which it reciprocates a plurality of straight traveling routes in an uncut area (unworked area) having uncut cereal straws in the farm field, or circumferential cutting in which it repeatedly circles a straight traveling route along the inner circumference of the uncut area while shifting it toward the center side. Note that before performing the automatic cutting traveling, the combine 1 performs an outer peripheral cutting traveling in which it travels while cutting along the outer peripheral shape of the farm field to form a headland in the farm field, and sets the inside of the headland as the working area for the automatic cutting traveling.

[0015] In the first embodiment, as shown in FIGS. 1 and 2, the combine 1 includes a traveling unit 2 and a cutting unit 3 (working unit). As shown in FIG. 1, it also includes a threshing unit 4, a sorting unit 5, a storage unit 6, a straw disposal unit 7, a power unit 8, and an operation unit 9, and is configured as a so-called self-threshing combine. While traveling by the traveling unit 2, the combine 1 threshes the crop straw cut by the cutting unit 3 with the threshing unit 4, sorts the grains with the sorting unit 5, and stores them in the storage unit 6. The combine 1 processes the discharged straw after threshing with the straw disposal unit 7. The combine 1 drives the traveling unit 2, the cutting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw disposal unit 7 with the power supplied by the power unit 8.

[0016] [[ID=B]] The traveling unit 2 is provided below the machine body frame 10 and includes a pair of left and right crawler-type traveling devices 11 and a transmission (not shown). The traveling unit 2 rotates the crawlers of the crawler-type traveling devices 11 by the power (for example, rotational power) transmitted from the engine 27 of the power unit 8 to travel the combine 1 in the front-rear direction or turn it in the left-right direction. The transmission transmits the power (rotational power) of the power unit 8 to the crawler-type traveling devices 11 and can also shift the rotational power.

[0017] As a horizontal control mechanism for horizontally controlling the cutting unit 3 in the machine body width direction with respect to the field surface (ground), the traveling unit 2 is provided with, for example, a pair of left and right rolling mechanisms 12 for a pair of left and right crawler-type traveling devices 11 respectively. Each rolling mechanism 12 has a rolling cylinder, and adjusts the height of the machine body frame 10 with respect to each crawler-type traveling device 11 by expanding and contracting the rolling cylinder to adjust the height of the cutting unit 3. When the combine 1 performs normal cutting work, each rolling mechanism 12 adjusts the height of the machine body frame 10 so that the cutting unit 3 is at the normal cutting height horizontal to the field surface. When the combine 1 performs moving travel without performing cutting work, each rolling mechanism 12 adjusts the height of the machine body frame 10 so that the cutting unit 3 is at the height of the standby position.

[0018] Furthermore, the pair of left and right rolling mechanisms 12 can adjust the left-right tilt angle of the machine frame 10 with respect to the horizontal direction of the field (the height of the left and right ends from the field), and the left-right tilt angle of the harvesting unit 3 (the height of the left and right ends from the field) is adjusted according to the left-right tilt angle of the machine frame 10. Each rolling mechanism 12 can raise one side of the harvesting unit 3 in the width direction (left-right direction), that is, tilt the harvesting unit 3 so that one side is higher, or raise the other side of the harvesting unit 3, that is, tilt the harvesting unit 3 so that the other side is higher.

[0019] For example, the rolling mechanism 12 on the right side raises the machine frame 10 relative to the crawler-type running device 11 on the right side, thereby tilting the harvesting section 3 so that the right side is higher. On the other hand, the rolling mechanism 12 on the left side raises the machine frame 10 relative to the crawler-type running device 11 on the left side, thereby tilting the harvesting section 3 so that the left side is higher. As shown in Figure 3, if the area in front of the left side of the machine is unworked land 51 (see Figure 5, etc.), but the area in front of the right side of the machine is already worked land 52 (see Figure 5, etc.) with discarded straw on it, the combine harvester 1 should tilt the harvesting section 3 so that the right side is higher using the pair of left and right rolling mechanisms 12.

[0020] The harvesting unit 3 is mounted on the machine frame 10 in front of the traveling unit 2 and performs harvesting work on rows up to the number of harvestable rows. The harvesting unit 3 includes a divider 13, a lifting device 14, a cutting device 15, and a conveying device 16. The divider 13 separates the grain stalks in the field into individual rows and guides a predetermined number of grain stalks up to the lifting device 14, within the number of harvestable rows. The lifting device 14 lifts the grain stalks guided by the divider 13. The cutting device 15 cuts the grain stalks lifted by the lifting device 14. The conveying device 16 conveys the grain stalks cut by the cutting device 15 to the threshing unit 4. If the harvesting unit 3 is configured to allow control of driving and stopping for each row, the driving of one side of the harvesting unit 3, which is tilted higher by the pair of left and right rolling mechanisms 12 of the traveling unit 2, may be stopped.

[0021] The threshing unit 4 is located behind the harvesting unit 3. The threshing unit 4 comprises a feed chain 18 and a threshing drum 19. The feed chain 18 transports the stalks of grain conveyed from the conveying device 16 of the harvesting unit 3 for threshing, and further transports the threshed stalks, i.e., the discarded straw, to the discarded straw processing unit 7. The threshing drum 19 threshes the stalks of grain being transported by the feed chain 18.

[0022] The sorting unit 5 is located below the threshing unit 4. The sorting unit 5 includes an oscillating sorting device 21, a blown-air sorting device 22, a grain conveying device (not shown), and a straw debris discharge device (not shown). The oscillating sorting device 21 separates the threshed grain that has fallen from the threshing unit 4 into grain and straw debris by sieving. The blown-air sorting device 22 further separates the threshed grain separated by the oscillating sorting device 21 into grain and straw debris by blowing air. The grain conveying device conveys the grain separated by the oscillating sorting device 21 and the blown-air sorting device 22 to the storage unit 6. The straw debris discharge device discharges the straw debris separated by the oscillating sorting device 21 and the blown-air sorting device 22 to the outside of the machine.

[0023] The storage unit 6 is located to the right of the threshing unit 4. The storage unit 6 comprises a grain tank 24 and a discharge device 25. The grain tank 24 stores the grain transported from the sorting unit 5. The discharge device 25 consists of an auger and the like, and discharges the grain stored in the grain tank 24 to any desired location.

[0024] The straw removal section 7 is located behind the threshing section 4. The straw removal section 7 includes a straw conveying device (not shown) and a straw cutting device (not shown). The straw conveying device conveys the straw transported from the feed chain 18 of the threshing section 4 to the straw cutting device. The straw cutting device cuts the straw transported by the straw conveying device and discharges it outside the machine.

[0025] The power unit 8 is located above the traveling unit 2 and in front of the storage unit 6. The power unit 8 includes an engine 27 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 27 to the traveling unit 2, the harvesting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7.

[0026] The control unit 9 is located above the power unit 8. The control unit 9 is located around the driver's seat, where the operator sits, and includes a drive control section for controlling the movement of the combine harvester 1. This section includes a steering wheel for instructing the turning of the combine harvester 1, and a main and sub-speed levers for instructing changes in the forward and reverse speed of the combine harvester 1. The control unit 9 also includes an operation control section for operating the raising and lowering of the harvesting unit 3, harvesting operations by the harvesting unit 3, threshing operations by the threshing unit 4, and discharge operations by the discharge device 25 of the storage unit 6. When manual driving mode is set, the power unit 8 and the drive unit 2 are driven in response to the operation of the drive control section of the control unit 9 to perform manual driving of the combine harvester 1, and the power unit 8 and the harvesting unit 3 are driven in response to the operation of the operation control section to perform manual operations of the combine harvester 1.

[0027] The combine harvester 1 is equipped with a positioning unit 28 that acquires its own position using a satellite positioning system such as GPS. The positioning unit 28 receives positioning signals from positioning satellites via a positioning antenna and acquires the position information of the positioning unit 28, i.e., the own position of the combine harvester 1, based on the positioning signals.

[0028] Next, the control device 30 of the combine harvester 1 will be described with reference to Figure 4. The control device 30 is composed of a computer such as a CPU and is connected to a storage unit 31 such as ROM, RAM, hard disk drive, and flash memory, and a communication unit 32 that communicates with external devices.

[0029] The memory unit 31 stores programs and data for controlling various components and functions of the combine harvester 1, and the control device 30 controls the various components and functions by executing calculations based on the programs and data stored in the memory unit 31. For example, the control device 30 obtains the position of the combine harvester 1 from the positioning unit 28, and also obtains the direction of travel of the combine harvester 1 at its current position.

[0030] The communication unit 32 can communicate wirelessly with external devices such as a mobile terminal 40 held by the worker via a wireless communication antenna. The control device 30 controls the communication unit 32 to communicate wirelessly with the mobile terminal 40 and transmit and receive various information between the two devices. For example, the communication unit 32 receives field information, automatic travel routes 79 (see Figure 10), and support information set for the field from the mobile terminal 40 and stores them in the storage unit 31.

[0031] For example, a field has an outer shape that follows the perimeter of the field, which includes unworked areas 51 where harvesting or other work has not yet been performed, and worked areas 52 where work has already been completed. The field information includes information such as the shape, size, and location (coordinates, etc.) of the outer shape of the field, and the shape, size, and location (coordinates, etc.) of the unworked areas 51 and worked areas 52. The automatic travel route 79 includes travel information and work information related to automatic harvesting and other operations. The travel information includes the travel position in the field, as well as the direction of travel and set vehicle speed at each travel position. The work information includes information on the operation or stop of various operations such as harvesting at each travel position, and information on the lifting and lowering operation of the harvesting unit 3.

[0032] Furthermore, the control device 30 operates as a driving control unit 35 by executing a program stored in the storage unit 31. The driving control unit 35 implements the driving process of the work support method according to the present invention.

[0033] When the automatic driving mode is set, the driving control unit 35 controls the automatic harvesting of the combine harvester 1. For example, the driving control unit 35 obtains field information and the automatic driving route 79 set for the field from the mobile terminal 40. When automatic harvesting starts, the driving control unit 35 obtains the position of the combine harvester 1 from the positioning unit 28 and controls the power unit 8, the driving unit 2, and the harvesting unit 3 so that the combine harvester 1 performs automatic harvesting along the automatic driving route 79 based on the position of the combine harvester 1, the field information, and the automatic driving route 79.

[0034] The travel control unit 35 controls the pair of left and right rolling mechanisms 12 of the travel unit 2 to raise one side of the harvesting unit 3 in the width direction of the combine harvester 1, based on the support information set in the work support unit 47 of the mobile terminal 40, thereby automatically tilting the harvesting unit 3. The travel control unit 35 also controls the pair of left and right rolling mechanisms 12 to maintain the other side of the harvesting unit 3 at the normal harvesting height.

[0035] For example, when manual driving mode is set, the driving control unit 35 receives a slope instruction based on support information from the mobile terminal 40 via the communication unit 32 when the combine harvester 1 is traveling in the field at the slope start position 56 based on support information, and controls the pair of left and right rolling mechanisms 12 of the driving unit 2 to raise one side (left or right) indicated by the slope instruction. Also, when automatic driving mode is set, the driving control unit 35 controls the pair of left and right rolling mechanisms 12 of the driving unit 2 to raise one side (left or right) indicated by the support information when the combine harvester 1 is traveling in the field at the slope start position 56 based on support information incorporated into the automatic driving route 79.

[0036] The support information may include predetermined release conditions for releasing the tilted state of the harvesting unit 3. For example, the support information may include a release condition when the harvesting unit 3 detects entry into the unworked field 51 on the tilted side. Specifically, when one side of the harvesting unit 3 passes through the already worked field 52 and the other side passes through the unworked field 51 in the width direction of the combine harvester 1, the system is set to raise one side of the harvesting unit 3. When the travel control unit 35 detects that one side of the harvesting unit 3 has entered the unworked field 51, it automatically restores the tilt of the harvesting unit 3 to its original position, making the harvesting unit 3 horizontal in the width direction of the machine relative to the field surface (ground). Furthermore, when the combine harvester 1 is turned with the harvesting unit 3 tilted, the support information may include a release condition when the turn is completed and the machine travels straight ahead.

[0037] The driving control unit 35, for example, is equipped with grain stalk sensors on both sides of the combine harvester 1 in the width direction of the machine body to detect grain stalks in front of the harvesting unit 3, and detects when the harvesting unit 3 enters the unworked area 51 on one side based on the detection results of the grain stalk sensors. Alternatively, the work support unit 47 of the mobile terminal 40 may acquire the position of the combine harvester 1 relative to the unworked area 51 and the worked area 52 based on the position of the combine harvester 1 acquired by the positioning unit 28 and field information regarding the unworked area 51 and the worked area 52, and detect when the harvesting unit 3 enters the unworked area 51 on one side based on the position of the combine harvester 1, and the driving control unit 35 receives the detection result from the mobile terminal 40 via the communication unit 32. The driving control unit 35 may also detect the state of the combine harvester 1 just before one side of the harvesting unit 3 enters the unworked area 51, and automatically return the inclination of the harvesting unit 3 to its original position at the time of this detection.

[0038] The portable terminal 40 is one of the components of the combine harvester 1 and is a terminal capable of remotely controlling the combine harvester 1. It is composed of, for example, a tablet terminal equipped with a touch panel or a notebook-type personal computer. A similar operating device to the portable terminal 40 may also be provided on the control unit 9. In this invention, the combine harvester 1 and the portable terminal 40 constitute a work support system.

[0039] As shown in Figure 4, the mobile terminal 40 is equipped with a terminal-side control unit 41 which is composed of a computer such as a CPU. The terminal-side control unit 41 is connected to a terminal-side storage unit 42 which includes ROM, RAM, a hard disk drive, and flash memory, and a terminal-side communication unit 43 which communicates with external devices. The mobile terminal 40 is also equipped with a display unit 44 such as a touch panel or monitor for displaying and outputting various information to the worker, and an input unit 45 such as a touch panel or operation keys for receiving input operations of various information from the worker.

[0040] The terminal-side storage unit 42 stores programs and data for controlling various components and functions of the mobile terminal 40, and the terminal-side control device 41 controls the various components and functions of the mobile terminal 40 by executing calculations based on the programs and data stored in the terminal-side storage unit 42. The terminal-side storage unit 42 also stores field information of the field that the combine harvester 1 is working on and the automatic travel route 79.

[0041] The terminal-side communication unit 43 is connected to the combine harvester 1's communication unit 32 via a wireless communication antenna. The terminal-side control device 41 controls the terminal-side communication unit 43 to communicate wirelessly with the combine harvester 1 and transmit and receive various information between the two devices.

[0042] The terminal-side control device 41 of the mobile terminal 40 operates as a field selection unit 46, a work support unit 47, a route creation unit 48, and a display control unit 49 by executing a program stored in the terminal-side storage unit 42. The route creation unit 48 implements the route creation process of the work support method according to the present invention, while the work support unit 47 and the display control unit 49 support the driving process of the work support method according to the present invention.

[0043] The field selection unit 46 manually or automatically selects a field to be operated on by the automated vehicle, sets the outer shape of the field, i.e., the field outline, and stores it in the terminal-side storage unit 42. For example, the field selection unit 46 displays a field selection screen (not shown) on the display unit 44 for selecting a field to be operated on. On the field selection screen, if field information including the field outline is already stored in the terminal-side storage unit 42, the field corresponding to that field information can be selected. When any field is selected on the field selection screen in response to a manual operation, the field selection unit 46 selects the selected field as the target of operation and reads the field information corresponding to the selected field from the terminal-side storage unit 42.

[0044] Furthermore, the field selection screen allows for the creation of new fields. When the creation of a new field is selected on the field selection screen, the field selection unit 46 selects the new field at the combine harvester 1's current location as the work target. Then, when the combine harvester 1 circles around the outer perimeter of the new field and performs outer perimeter harvesting, the field selection unit 46 receives the combine harvester 1's current location, which has been determined by the combine harvester 1's positioning unit 28, and records the position information of the outer perimeter of the new field and the position information of the outer perimeter harvesting route. Based on the position information acquired during the outer perimeter harvesting, the field selection unit 46 creates the outline of the new field, creates field information including the outline of the field, and stores it in the terminal-side storage unit 42.

[0045] As shown in Figure 5, the work support unit 47 sets multi-stage harvesting support information, including forward and reverse movement, to ensure that there are no unharvested crops (unharvested grain stalks) when the combine harvester 1 performs harvesting in a predetermined first direction D1 in an unharvested area 51 such as a corner of the field 50, and then continues harvesting in a second direction D2 perpendicular to the first direction D1. In Figures 5 to 13, the unharvested area 51 is shown with hatching that slopes downward to the left, and the already harvested area 52 is shown as blank. The work support unit 47 may set multi-stage harvesting support information regardless of whether the driving mode is manual or automatic.

[0046] For example, the work support unit 47 sets the support information to perform the following: a first forward run 53 (see Figure 6) in which the combine harvester 1 moves forward in a first direction D1 while performing harvesting work in an untouched area 51 of the field 50; a first reverse run 54 (see Figures 7 and 8) in which the combine harvester moves backward in the already worked area 52a formed by the first forward run 53; and a second forward run 55 (see Figures 7 and 8) in which the combine harvester moves forward in a direction intersecting the first direction D1 towards an untouched area 51a adjacent to the already worked area 52a in a second direction D2 while performing harvesting work. Furthermore, when performing the second forward run 55, the work support unit 47 sets the support information to tilt one side of the harvesting unit 3 higher in the width direction of the combine harvester 1.

[0047] Furthermore, the travel control unit 35 of the control device 30 performs the first forward travel 53, the first reverse travel 54, and the second forward travel 55 in that order according to the support information, and controls the travel unit 2 so that one side of the harvesting unit 3 is tilted higher during the second forward travel 55. In manual travel mode, when the combine harvester 1 performs the second forward travel 55, the work support unit 47 tilts one side of the harvesting unit 3 by transmitting a tilt instruction to the combine harvester 1 based on the support information. For example, when the positioning unit 28 detects that the combine harvester 1 is performing the second forward travel 55 at a predetermined turning position such as a corner or middle section of the field, based on the position of the combine harvester 1, or when the operation unit 9 detects a predetermined turning operation (for example, operation of the turning switch, a series of shift operations, steering wheel operation, etc.), the work support unit 47 transmits a tilt instruction to the combine harvester 1. In automatic driving mode, the support information is incorporated into the automatic driving path 79 by the path creation unit 48, which will be described later, so that when the combine 1 performs the second forward movement 55, one side of the harvesting unit 3 is tilted.

[0048] Specifically, when the combine harvester 1 changes direction at a predetermined turning point such as a corner or middle section of a field, the work support unit 47 sets support information including a first forward run 53, a first reverse run 54, and a second forward run 55 in association with the turning point. In this case, the support information may include position information for the start and end points of the first forward run 53, the first reverse run 54, and the second forward run 55. The start point of the first reverse run 54 is set to the end point of the first forward run 53, and the start point of the second forward run 55 is set to the end point of the first reverse run 54. The direction of intersection with the first direction D1 in which the second forward run 55 is performed is set to an acute angle with respect to the first direction D1.

[0049] In the support information, the first forward travel 53 is set to straight travel, as shown in Figure 6. As shown in Figure 7, when the direction change to the unworked area 51a is performed by the second forward travel 55, the first reverse travel 54 is set to straight travel only, and the second forward travel 55 is set to straight travel after a turning travel to change direction. In this case, the second forward travel 55 may be set to a turning travel that gradually changes direction only, or it may be set to a combination of a pivot turn to change direction and straight travel.

[0050] Alternatively, as shown in Figure 8, when the direction change to the unworked area 51a is performed by the first reverse travel 54, the first reverse travel 54 is set to combine a straight travel with a turning travel that changes direction, and the second forward travel 55 is set to straight travel only. In this case, the field 50 has low ridges and other structures forming its outer shape, and the combine 1 may travel to the outside of the field by the first reverse travel 54. In this case, the first reverse travel 54 may be set to turn travel that gradually changes direction only, or it may be set to combine straight travel with a pivot turn that changes direction, and in this case, the second forward travel 55 may be set to combine straight travel with a turning travel that changes direction, or it may be set to turn travel that gradually changes direction only.

[0051] Furthermore, the work support unit 47 sets support information to automatically tilt the harvesting unit 3 when performing the second forward travel 55, such that one side of the harvesting unit 3 is higher than the other side in the width direction of the combine harvester 1. At this time, the work support unit 47 should set the side of the already worked area 52 to be the side on which the harvesting unit 3 is raised, i.e., the tilted side. The work support unit 47 should also set support information to control the harvesting unit 3 to the normal harvesting height during the first forward travel 53 when harvesting is performed, and to control the harvesting unit 3 to the standby position height during the first reverse travel 54 when no harvesting is performed.

[0052] Specifically, the work support unit 47, as support information, sets the starting position 56 of the inclination of the harvesting unit 3 at the starting point of the second forward travel 55, as shown in Figures 7 and 8, and automatically inclins the harvesting unit 3 at the timing of switching from the first reverse travel 54 to the second forward travel 55. In addition, the work support unit 47, as support information, sets the side of the predetermined already worked area 52a, which is reached by the first reverse travel 54, as the side to which the harvesting unit 3 should be raised (the inclined side), when viewed from the predetermined unworked area 51a that the second forward travel 55 is heading.

[0053] Furthermore, the work support unit 47 sets the inclination angle (or inclination height) to raise one side of the harvesting unit 3 as support information. For example, when the work support unit 47 changes direction towards the unworked area 51a using the second forward travel 55, it sets the inclination angle of the harvesting unit 3 based on the turning angle when turning with the second forward travel 55 to face the unworked area 51a. In this case, it is preferable to set the inclination angle (or inclination height) to increase as the turning angle increases.

[0054] Alternatively, when the work support unit 47 makes a change of direction towards the unworked area 51a using the first reverse travel 54, it sets the inclination angle (or inclination height) of the harvesting unit 3 based on the turning angle when turning using the first reverse travel 54 to face the unworked area 51a, and it is preferable to set the inclination angle (or inclination height) to increase as the turning angle increases. The work support unit 47 may also set the vehicle speed of the combine 1 (traveling unit 2) based on the turning angle during the first reverse travel 54, and it is preferable to set the vehicle speed to decrease as the turning angle increases. The work support unit 47 may also set both the inclination angle of the harvesting unit 3 and the vehicle speed of the combine 1 based on the turning angle during the first reverse travel 54. Alternatively, the work support unit 47 may set the inclination angle (or inclination height) of the harvesting unit 3 based on the length of the harvesting unit 3 in the width direction of the combine harvester 1, and in this case, the longer the length of the harvesting unit 3, the greater the inclination angle (or inclination height) may be set.

[0055] The route creation unit 48 creates an automatic travel route 79 (see Figure 10, etc.) for automatically harvesting the field selected by the field selection unit 46, stores it in the terminal-side storage unit 42, and transmits it to the combine harvester 1 via the terminal-side communication unit 43. The route creation unit 48 creates multiple straight-line routes for harvesting while traveling in the forward direction, according to the travel pattern (reciprocal harvesting or circular harvesting) selected by the operation of the mobile terminal 40 for the field, and creates the automatic travel route 79 by combining the multiple straight-line routes and multiple turning routes that connect each straight-line route.

[0056] Furthermore, the route creation unit 48 creates an automatic travel route 79 that incorporates the support information set by the work support unit 47. That is, if the work support unit 47 sets support information including a first forward run 53, a first reverse run 54, and a second forward run 55 at turning points such as each corner of the field, the route creation unit 48 creates an automatic travel route 79 that includes a first forward run 53b for automatically performing the first forward run 53 of the support information, a first reverse run 54b for automatically performing the first reverse run 54, and a second forward run 55b for automatically performing the second forward run 55, with respect to the turning point (for example, with the turning point as the endpoint of the first forward run 53) (see Figure 10). In addition, the route creation unit 48 sets the inclination start position 56 of the support information set by the work support unit 47 to automatically incline the harvesting unit 3 at the corresponding position in the automatic travel route 79. Furthermore, the path creation unit 48 sets whether the side on which the harvesting unit 3 is tilted is the left or the right side, in relation to the tilt start position 56, that is, it sets the tilt side of the support information and also sets the tilt angle of the support information.

[0057] When manual driving mode is set, the display control unit 49 controls the display unit 44 to display a support screen 60 for manual harvesting driving of the target field, as shown in Figure 9. The display control unit 49 displays at least a map section 61 on the support screen 60, and in the map section 61, displays the field outline 65 on the map based on the field information of the field selected by the field selection unit 46, and further displays the combine harvester 1's own position, which has been determined by the combine harvester 1's positioning unit 28, as well as the combine harvester 1's own marking 66. The display control unit 49 may display unworked areas 67 and worked areas 68 within the field outline 65 in a distinguishable manner by changing the display method such as line type, line color, and background color. The display control unit 49 updates the position of the own marking 66 and the ranges of the unworked areas 67 and worked areas 68 according to the progress of the combine harvester 1's harvesting driving.

[0058] Furthermore, the display control unit 49 displays the support information set by the work support unit 47 on the map section 61 of the support screen 60. For example, if the work support unit 47 sets support information including a first forward run 53, a first reverse run 54, and a second forward run 55 at turning positions such as corners of the field, the display control unit 49 displays the support routes 53a, 54a, and 55a corresponding to the first forward run 53, the first reverse run 54, and the second forward run 55 in the map section 61 in an identifiable manner for those turning positions (for example, with the turning position as the endpoint of the first forward run 53). In addition, the display control unit 49 displays the inclination position indicator 56a corresponding to the inclination start position 56 of the support information set by the work support unit 47 in order to inclinate the harvesting unit 3 on the map section 61.

[0059] When the automatic driving mode is set, the display control unit 49 controls the display unit 44 to display a work screen 70 for performing automatic harvesting of the field to be worked on, as shown in Figure 10. On the work screen 70, the display control unit 49 displays at least the map section 71 and makes the work start button 72 operable.

[0060] The display control unit 49 displays the field outline 75 on the map in the map section 71 based on the field information of the field selected by the field selection unit 46, and further displays the combine harvester 1's vehicle marking 76 at the combine harvester 1's position determined by the combine harvester 1's positioning unit 28. The display control unit 49 may distinguish between unworked areas 77 and worked areas 78 within the field outline 75 by changing the display method such as line type, line color, and background color. The display control unit 49 updates the position of the vehicle marking 76 and the ranges of the unworked areas 77 and worked areas 78 according to the progress of the combine harvester 1's harvesting run.

[0061] The display control unit 49 displays the automated driving route 79 created by the route creation unit 48 overlaid on the field outline 75 in the map section 71. Furthermore, if support information set by the work support unit 47 is incorporated into the automated driving route 79, the display control unit 49 displays the support information incorporated into the automated driving route 79 in the map section 71 of the work screen 70. For example, if the route creation unit 48 creates an automated driving route 79 that includes a first forward drive 53b corresponding to the first forward drive 53, a first reverse drive 54b corresponding to the first reverse drive 54, and a second forward drive 55b corresponding to the second forward drive 55, based on support information including a first forward drive 53, a first reverse drive 54, and a second forward drive 55 set by the work support unit 47, the display control unit 49 displays the first forward drive 53b, the first reverse drive 54b, and the second forward drive 55b in an identifiable manner in the automated driving route 79 displayed in the map section 71. Furthermore, the display control unit 49 displays an inclination position indicator 56b on the map section 71 that corresponds to the inclination start position 56 of the support information set by the work support unit 47 in order to inclinate the harvesting unit 3.

[0062] As described above, according to the first embodiment, the combine harvester 1 is equipped with a harvesting unit 3 (working unit) that performs harvesting work while traveling in the field, a control device 30 and a portable terminal 40. The control device 30 functions as a travel control unit 35 that performs a first forward travel 53 in which work is performed while moving forward in a first direction D1 in an uncultivated area 51 of the field, a first reverse travel 54 in which work is performed in reverse in an area 52 formed by the first forward travel 53, and a second forward travel 55 in which work is performed while moving forward in a direction intersecting the first direction D1 toward an uncultivated area 51 adjacent to the area 52 in a direction perpendicular to the first direction D1 (second direction D2). When performing the second forward travel 55, the travel control unit 35 automatically tilts the harvesting unit 3 so that one side of the harvesting unit 3 is higher in the width direction of the combine harvester 1. The mobile terminal 40 is equipped with a terminal-side control device 41, which functions as a work support unit 47 that sets support information to perform the first forward movement 53, the first reverse movement 54, and the second forward movement 55 in that order.

[0063] In other words, the present invention provides a work support method for a work vehicle such as a combine harvester 1 having a harvesting unit 3 (working unit) that performs work while traveling in a field, which includes a travel process comprising: a first forward travel 53 in which work is performed while moving forward in a first direction D1 in an uncultivated area 51 of the field; a first reverse travel 54 in which work is performed in reverse in an area 52 that has been formed by the first forward travel 53; and a second forward travel 55 in which work is performed while moving forward in a direction that intersects with the first direction D1, toward an uncultivated area 51 adjacent to the area 52 that is perpendicular to the first direction D1 (second direction D2). In the travel process, when performing the second forward travel 55, the harvesting unit 3 is automatically tilted so that one side of the harvesting unit 3 is higher in the width direction of the combine harvester 1.

[0064] As a result, even if the ground is raised or there is fallen straw on one side in the width direction of the machine body, the combine harvester 1 can raise one side in the width direction of the machine body when performing the second forward movement 55, thereby preventing the harvester 3 from getting caught on the ground or fallen straw. Therefore, when the combine harvester 1 enters the unworked area 51 during the second forward movement 55, it is possible to prevent the unworked area 51 from being damaged by mud or fallen straw that the harvester 3 has caught on, such as by knocking down the grain stalks in the unworked area 51.

[0065] Furthermore, according to the first embodiment, the travel control unit 35 performs a first forward travel 53 toward the corner of the field.

[0066] As a result, when the combine harvester 1 performs a second forward movement 55 after performing a first forward movement 53 at the corner of the field, raising one side of the cutting unit 3 in the machine width direction prevents it from getting caught on the ground or straw at the corner of the field and entering the unworked area 51.

[0067] According to the first embodiment, when the driving control unit 35 detects that one side of the raised harvesting unit 3 is entering the unworked area 51 during the second forward travel 55, it automatically returns the slope of the harvesting unit 3 to its original position. Alternatively, the driving control unit 35 may automatically return the slope of the harvesting unit 3 to its original position just before one side of the harvesting unit 3 enters the unworked area 51.

[0068] This allows the cutting unit 3 to be tilted on one side, and then returned to its normal cutting height in the unworked area 51, enabling cutting work to be performed at an appropriate tilt angle.

[0069] According to the first embodiment, when the driving control unit 35 performs a second forward travel 55 from a predetermined work area 52 to a predetermined unworked area 51, it automatically tilts the harvesting unit 3 so that the side of the predetermined work area 52 is higher when viewed from the predetermined unworked area 51.

[0070] This prevents the ground piled up during the first forward movement 53, as well as the straw from the harvested crops, from getting caught in the harvesting unit 3 and entering the unworked area 51.

[0071] According to the first embodiment, the travel control unit 35 sets the inclination angle of the harvesting unit 3 based on the turning angle when turning in the second forward travel 55 so as to face the unworked ground 51.

[0072] This allows the inclination angle of the harvesting unit 3 to be set based on the range that the harvesting unit 3 covers when the second forward travel 55 turns, so that the harvesting unit 3 can be tilted by the required angle.

[0073] Alternatively, according to the first embodiment, the travel control unit 35 sets the inclination angle of the harvesting unit 3 based on the turning angle when turning in the first reverse travel 54 so as to face the unworked ground 51.

[0074] This allows the inclination angle of the harvesting unit 3 to be set based on the range that the harvesting unit 3 covers when the first reverse travel 54 turns, so that the harvesting unit 3 can be tilted by the required angle.

[0075] Alternatively, according to the first embodiment, the driving control unit 35 sets the inclination angle of the harvesting unit 3 based on the length of the harvesting unit 3 in the width direction of the combine harvester 1.

[0076] This allows the angle of inclination of the cutting unit 3 to be set based on the range that the cutting unit 3 wraps around, corresponding to the length of the cutting unit 3, so that the cutting unit 3 can be inclined by the required angle.

[0077] Furthermore, according to the first embodiment, the terminal-side control device 41 of the mobile terminal 40 functions as a path creation unit 48 that creates a first forward path 53b for automatically performing the first forward travel 53, a first reverse path 54b for automatically performing the first reverse travel 54, and a second forward path 55b for automatically performing the second forward travel 55. The path creation unit 48 creates the second forward path 55b such that there is unworked land 51 between the first forward path 53b and the second forward path 55b. The travel control unit 35 automatically tilts the harvesting unit 3 so that one side is higher when switching from the first reverse path 54b to the second forward path 55b.

[0078] As a result, when the combine harvester 1 performs automatic harvesting, the harvesting unit 3 is tilted so that one side is higher when it starts automatic travel on the second forward path 55b. Therefore, even if the ground is raised or there is fallen straw on one side in the width direction of the machine, the combine harvester 1 can more reliably prevent the harvesting unit 3 from getting caught on the ground or the fallen straw. Consequently, when the combine harvester 1 enters the unworked area 51 in the second forward travel 55 during automatic harvesting, the harvesting unit 3 can more reliably prevent damage to the unworked area 51, such as knocking down the grain stalks in the unworked area 51 with mud or fallen straw that it has caught on.

[0079] In the first embodiment described above, the work support unit 47 was shown to set support information for a first forward run 53 that performs harvesting work while moving forward in a first direction D1, a first reverse run 54 that moves backward across the already worked area 52a formed by the first forward run 53, and a second forward run 55 that performs harvesting work while moving forward in a direction intersecting with the first direction D1 toward an unworked area 51a adjacent to the already worked area 52a in a second direction D2. However, the present invention is not limited to this example.

[0080] For example, in the second embodiment, the work support unit 47 may set support information to perform, as shown in Figures 6 and 7, a first forward run 53, a first reverse run 54, and a second forward run 55, followed by, as shown in Figure 11, a second reverse run 57 that reverses across the already worked area 52b formed by the second forward run 55, and a third forward run 58 that performs harvesting work while moving forward in a direction intersecting the first direction D1 towards the uncultivated area 51b remaining between the already worked area 52a of the first forward run 53 and the already worked area 52b of the second forward run 55. Furthermore, the work support unit 47 sets support information to tilt one side of the harvesting unit 3 higher in the width direction of the combine harvester 1, not only when performing the second forward run 55 but also when performing the third forward run 58. In the second embodiment, a description of the same configuration as in the first embodiment will be omitted.

[0081] In the second embodiment, the travel control unit 35 controls the travel unit 2 to perform a third forward run 58 that is inside the first forward run 53 and outside the second forward run 55, in accordance with the support information, and tilts one side of the harvesting unit 3 higher during the second forward run 55 and the third forward run 58. In manual travel mode, the work support unit 47 tilts one side of the harvesting unit 3 by transmitting a tilt instruction to the combine harvester 1 based on the support information when the combine harvester 1 performs the second forward run 55 and the third forward run 58. For example, when the positioning unit 28 detects that the combine harvester 1 is performing the second forward run 55 and the third forward run 58 at a predetermined turning position such as a corner or middle section of a field, based on the position of the combine harvester 1, or when the operation unit 9 detects a predetermined turning operation (e.g., operation of the turning switch, a series of shift operations, steering wheel operation, etc.), the work support unit 47 transmits a tilt instruction to the combine harvester 1. In automatic driving mode, the support information is incorporated into the automatic driving path 79 by the path creation unit 48, which will be described later, so that when the combine 1 performs the second forward movement 55 and the third forward movement 58, one side of the harvesting unit 3 is tilted.

[0082] In the support information, as shown in Figure 11, the second reverse travel 57 is set by combining straight travel and turning travel, and the third forward travel 58 is set by combining straight travel and turning travel to change direction towards the unworked area 51b. In this case, the second reverse travel 57 may be set to straight travel only, and the third forward travel 58 may be set to turning travel that gradually changes direction only, or it may be set by combining pivot turning that changes direction and straight travel.

[0083] Furthermore, when the combine harvester 1 performs the third forward movement 58, the work support unit 47 sets support information to automatically tilt the harvesting unit 3 so that one side of the harvesting unit 3 is higher than the other side in the width direction of the machine body. At this time, the work support unit 47 may set the side of the already worked area 52a formed by the first forward movement 53, as the side to which the harvesting unit 3 is raised (the tilted side), when viewed from the unworked area 51b that the third forward movement 58 is heading.

[0084] The work support unit 47 sets the inclination start position 59 of the harvesting unit 3 at the starting point of the third forward travel 58, in addition to the inclination start position 56, as support information, and automatically inclins the harvesting unit 3 at the timing when switching from the second reverse travel 57 to the third forward travel 58. Furthermore, it is preferable to perform the third forward travel 58 with the edge of the unworked area 51b aligned with the other side of the harvesting unit 3. In addition, the work support unit 47 sets the support information to control the harvesting unit 3 to the height of the standby position during the second reverse travel 57, when harvesting is not performed.

[0085] In the second embodiment as well, the route creation unit 48 creates an automatic travel route 79 that incorporates the support information set by the work support unit 47, that is, it creates an automatic travel route 79 that includes a first forward route 53b, a first reverse route 54b, a second forward route 55b, a second reverse route (not shown), and a third forward route (not shown) for automatically performing the first forward travel 53, first reverse travel 54, second forward travel 55, second reverse travel 57, and third forward travel 58 of the support information. The route creation unit 48 also sets the inclination start positions 56 and 59 of the support information set by the work support unit 47 to automatically incline the harvesting unit 3 to the corresponding positions in the automatic travel route 79. Furthermore, the route creation unit 48 sets the inclination side of the support information that inclines the harvesting unit 3 in association with the inclination start positions 56 and 59, and also sets the inclination angle of the support information.

[0086] Furthermore, in the second embodiment as well, when manual driving mode is set, the display control unit 49 displays the support information set by the work support unit 47 on the map section 61 of the support screen 60. For example, the display control unit 49 displays in the map section 61 the support routes corresponding to the first forward drive 53, the first reverse drive 54, the second forward drive 55, the second reverse drive 57, and the third forward drive 58 for each turning position such as the corners of the field. The display control unit 49 also displays in the map section 61 in the inclination position indicators 56a, etc., corresponding to the inclination start positions 56, 59 of the support information set by the work support unit 47 to inclinate the harvesting unit 3.

[0087] In the second embodiment as well, when the automatic driving mode is set, the display control unit 49 displays the support information set by the work support unit 47 on the map section 71 of the work screen 70. For example, in the automatic driving route 79 displayed on the map section 71, the display control unit 49 displays the first forward route 53b, the first reverse route 54b, the second reverse route 57, and the third forward route 58, corresponding to the first forward route 53, the first reverse route 54, the second forward route 55, the second reverse route 57, and the third forward route 58, in an identifiable manner. In addition, the display control unit 49 displays inclination position indicators 56b, etc., on the map section 71, corresponding to the inclination start positions 56, 59 of the support information set by the work support unit 47 to inclinate the harvesting unit 3.

[0088] As described above, according to the second embodiment, in the combine harvester 1, the path creation unit 48 creates a second reverse path (not shown) for automatically performing a second reverse travel 57 along the second forward path 55b, and a third forward travel path (not shown) for automatically performing a third forward travel 58 while working in the unworked area 51 between the first forward path 53b and the second forward path 55b. The travel control unit 35 automatically tilts the harvesting unit 3 so that one side is higher when switching from the second reverse path to the third forward path.

[0089] As a result, when the combine harvester 1 performs automatic harvesting, the harvesting unit 3 is tilted so that one side is higher when it starts automatic travel on the third forward path. Therefore, even if the ground is raised or there is straw debris on one side in the width direction of the machine, the combine harvester 1 can more reliably prevent the harvesting unit 3 from getting caught on the ground or the straw debris. Consequently, when the combine harvester 1 enters the unworked area 51 in the third forward travel 58 during automatic harvesting, the harvesting unit 3 can more reliably prevent damage to the unworked area 51, such as knocking down the grain stalks in the unworked area 51 with mud or straw debris it has caught on.

[0090] In the second embodiment described above, the combine harvester 1 performs harvesting work on unworked land 51 by making three runs: a first forward run 53, a second forward run 55, and a third forward run 58, at a predetermined turning point in the field, such as a corner or a central division. However, the present invention is not limited to this example. For example, in another example, the combine harvester 1 may perform harvesting work on unworked land 51 by making four or more runs, adding a fourth forward run and a fifth forward run to the first forward run 53, the second forward run 55, and the third forward run 58 at a turning point in the field.

[0091] On the other hand, in the third embodiment, as shown in Figure 12, the work support unit 47 may set support information to perform a second forward run 55, which, after performing a first forward run 53 and a first reverse run 54, moves forward in a direction intersecting the first direction D1 towards the adjacent unworked area 51c without leaving a gap from the already worked area 52a formed by the first forward run 53, and performs harvesting work. Alternatively, as shown in Figure 13, the work support unit 47 may set support information to perform a second reverse run 57 after the second forward run 55, which moves backward across the already worked area 52c formed by the second forward run 55, and then performs a third forward run 58, which, without leaving a gap from the already worked area 52c, moves forward in a direction intersecting the first direction D1 towards the adjacent unworked area 51d, and performs harvesting work. Furthermore, the work support unit 47 may set support information to tilt one side of the harvesting unit 3 higher in the width direction of the combine harvester 1 not only when performing the second forward run 55 but also when performing the third forward run 58. In the third embodiment, a description of the configuration similar to that of the first embodiment will be omitted.

[0092] In the third embodiment, the travel control unit 35 controls the travel unit 2 to perform a second forward travel 55 inside the first forward travel 53, and a third forward travel 58 inside the second forward travel 55, in accordance with the support information, and tilts one side of the harvesting unit 3 higher during the second forward travel 55 and the third forward travel 58. In manual travel mode, the work support unit 47 tilts one side of the harvesting unit 3 by transmitting a tilt instruction to the combine harvester 1 based on the support information when the combine harvester 1 performs the second forward travel 55 and the third forward travel 58. For example, when the positioning unit 28 detects that the combine harvester 1 is performing the second forward travel 55 and the third forward travel 58 at a predetermined turning position such as a corner or middle section of a field, based on the position of the combine harvester 1, or when the operation unit 9 detects a predetermined turning operation (e.g., operation of the turning switch, a series of shift operations, steering wheel operation, etc.), the work support unit 47 transmits a tilt instruction to the combine harvester 1. In automatic driving mode, the support information is incorporated into the automatic driving path 79 by the path creation unit 48, which will be described later, so that when the combine 1 performs the second forward movement 55 and the third forward movement 58, one side of the harvesting unit 3 is tilted.

[0093] In the support information, as shown in Figure 12, the second forward travel 55 is set to consist of a turning travel that changes direction towards the unworked area 51c, followed by straight travel. In this case, the second forward travel 55 may be set to consist only of a turning travel that gradually changes direction, or it may be set to consist of a combination of a pivot turn that changes direction and straight travel.

[0094] Furthermore, as shown in Figure 13, the second reverse travel 57 is set to combine straight travel and turning travel, and the third forward travel 58 is set to combine turning travel to change direction towards the unworked area 51d followed by straight travel. In this case, the second reverse travel 57 may be set to straight travel only, and the third forward travel 58 may be set to turning travel with a gradual change of direction only, or it may be set to combine pivot turning with straight travel.

[0095] Furthermore, when performing the second forward travel 55 and the third forward travel 58, the work support unit 47 sets support information to automatically tilt the harvesting unit 3 so that one side of the harvesting unit 3 is higher than the left side in the width direction of the combine harvester 1. At this time, in the case of the second forward travel 55, the work support unit 47 sets the side of the already worked area 52a formed by the first forward travel 53 as the side to which the harvesting unit 3 is raised (the tilted side) when viewed from the unworked area 51c that the second forward travel 55 is heading, and in the case of the third forward travel 58, the work support unit 47 sets the side of the already worked area 52c formed by the first forward travel 53 as the tilted side when viewed from the unworked area 51d that the third forward travel 58 is heading.

[0096] The work support unit 47 sets the starting position 56 of the cutting unit 3's inclination at the start of the second forward travel 55 as support information, and automatically inclins the cutting unit 3 at the timing of switching from the first reverse travel 54 to the second forward travel 55. It also sets the starting position 59 of the cutting unit 3's inclination at the start of the third forward travel 58, and automatically inclins the cutting unit 3 at the timing of switching from the second reverse travel 57 to the third forward travel 58. Furthermore, the work support unit 47 sets the support information to control the cutting unit 3 to the standby position height during the second reverse travel 57, when no cutting travel is performed.

[0097] In the third embodiment, the route creation unit 48 creates an automatic travel route 79 that incorporates the support information set by the work support unit 47, that is, it creates an automatic travel route 79 that includes a first forward route 53b, a first reverse route 54b, a second forward route 55b, a second reverse route (not shown), and a third forward route (not shown) for automatically performing the first forward travel 53, first reverse travel 54, second forward travel 55, second reverse travel 57, and third forward travel 58 of the support information. The route creation unit 48 also sets the inclination start positions 56 and 59 of the support information set by the work support unit 47 to automatically incline the harvesting unit 3 to the corresponding positions in the automatic travel route 79. Furthermore, the route creation unit 48 sets the inclination side of the support information that inclines the harvesting unit 3 in association with the inclination start positions 56 and 59, and also sets the inclination angle of the support information.

[0098] Furthermore, in the third embodiment as well, when manual driving mode is set, the display control unit 49 displays the support information set by the work support unit 47 on the map section 61 of the support screen 60. For example, the display control unit 49 displays in the map section 61 the support routes corresponding to the first forward drive 53, the first reverse drive 54, the second forward drive 55, the second reverse drive 57, and the third forward drive 58 for each turning position such as the corners of the field. The display control unit 49 also displays in the map section 61 in the inclination position indicators 56a, etc., corresponding to the inclination start positions 56, 59 of the support information set by the work support unit 47 to inclinate the harvesting unit 3.

[0099] In the third embodiment as well, when the automatic driving mode is set, the display control unit 49 displays the support information set by the work support unit 47 on the map section 71 of the work screen 70. For example, the display control unit 49 displays the routes corresponding to the first forward driving 53, the first reverse driving 54, the second forward driving 55, the second reverse driving 57, and the third forward driving 58 in the automatic driving route 79 displayed on the map section 71. The display control unit 49 also displays the inclination position indicator 56b, etc., on the map section 71, which corresponds to the inclination start positions 56, 59 of the support information set by the work support unit 47 to inclinate the harvesting unit 3.

[0100] In the third embodiment described above, the combine harvester 1 performs harvesting work on unworked land 51 by making three runs: a first forward run 53, a second forward run 55, and a third forward run 58, at a predetermined turning point in the field, such as a corner or a central division. However, the present invention is not limited to this example. For example, in another example, the combine harvester 1 may perform harvesting work on unworked land 51 by making four or more runs, adding a fourth forward run and a fifth forward run to the first forward run 53, the second forward run 55, and the third forward run 58 at a turning point in the field.

[0101] In the embodiments described above, in the second forward travel 55 and third forward travel 58, which perform harvesting work while moving forward in a direction perpendicular to the first direction D1 toward the unworked area 51 adjacent to the already worked area 52 in a direction perpendicular to the first direction D1 of the first forward travel 53, the work support unit 47 was described as setting the side of the already worked area 52 to be the side that raises the harvesting unit 3 (the sloping side), assuming that there is fallen straw or the ground is raised in the already worked area 52. However, the present invention is not limited to this example. For example, in the second forward travel 55 and third forward travel 58, if the ground is raised in the unworked area 51, or if it is necessary to raise the harvesting unit 3 in the unworked area 51, the work support unit 47 may set the side of the unworked area 51 to be the side that raises the harvesting unit 3 (the sloping side).

[0102] In the embodiments described above, during the second forward travel 55 and the third forward travel 58, the work support unit 47 sets one side to raise the harvesting unit 3, and the travel control unit 35 raises one side of the harvesting unit 3 and tilts it. However, the present invention is not limited to this example. For example, during the second forward travel 55 and the third forward travel 58, the work support unit 47 may set a predetermined height to raise the entire harvesting unit 3, and the travel control unit 35 may raise the entire harvesting unit 3 to the predetermined height.

[0103] In the embodiments described above, an example was explained in which the harvesting unit 3 is tilted relative to the field surface by a pair of left and right rolling mechanisms 12 of the traveling unit 2, but the present invention is not limited to this example. For example, in another example, the combine harvester 1 may tilt the harvesting unit 3 relative to the field surface by a device that moves the harvesting unit 3, such as a lifting device that raises and lowers the harvesting unit 3 relative to the machine frame 10. For example, if the lifting device is configured to raise and lower the harvesting unit 3 by simultaneously driving a pair of left and right hydraulic cylinders, one hydraulic cylinder may be driven to control the raising of one side of the harvesting unit 3, or the other hydraulic cylinder may be driven to control the raising of the other side of the harvesting unit 3.

[0104] In the embodiments described above, an example of a combine harvester 1 consisting of a self-propelled combine harvester was explained, but the present invention is not limited to this example, and the combine harvester 1 may be composed of a conventional combine harvester.

[0105] Furthermore, although the above-described embodiment illustrates an example in which the work vehicle is composed of a combine harvester 1, the present invention is not limited to this example. For example, the work vehicle of the present invention may be composed of other agricultural machinery for harvesting crops, or it may be composed of other work vehicles other than agricultural machinery.

[0106] Furthermore, the present invention may be modified as appropriate, provided that it does not contradict the gist or idea of ​​the invention as can be inferred from the claims and the specification as a whole. Automated driving methods, work vehicles, and automated driving methods that involve such modifications are also included in the technical concept of the present invention.

[0107] [Notes on the invention] The following is an overview of the invention extracted from the above-described embodiments. Note that each configuration and processing function described below can be selected and combined as desired.

[0108] <Note 1> A method for supporting the work of a work vehicle having a work unit that performs work while driving in a field, The first forward movement involves performing work while moving forward in a first direction in the unworked area of ​​the aforementioned field, Following the first forward run, there is a first reverse run that moves backward through the already worked area of ​​the field, The vehicle has a travel process that includes a second forward travel process in which it works while moving forward in a direction intersecting the first direction toward an unworked area adjacent to the already worked area in a direction perpendicular to the first direction, The aforementioned driving process is characterized in that, when performing the second forward driving, the work support method automatically tilts the work section such that one side of the work section is higher in the width direction of the work vehicle.

[0109] <Note 2> The work support method according to Appendix 1, characterized in that the aforementioned travel step is performed by the first forward travel toward the corner of the field.

[0110] <Note 3> The work support method according to Appendix 1 or 2, characterized in that the aforementioned travel process automatically returns the inclination of the work unit to its original position after one side of the work unit, which was raised when the second forward travel was performed, enters the unworked area.

[0111] <Note 4> The work support method according to any one of the appendices 1 to 3, characterized in that when the aforementioned travel process performs the second forward travel from a predetermined work area to a predetermined unworked area, the work section is automatically tilted so that the side of the predetermined work area is higher when viewed from the predetermined unworked area.

[0112] <Note 5> The work support method according to any one of the appendices 1 to 4, characterized in that the aforementioned travel step sets the inclination angle of the work section based on the length of the work section in the width direction of the work vehicle.

[0113] <Note 6> The work support method according to any one of the appendices 1 to 5, further comprising a path creation step of creating a first forward path for automatically performing the first forward driving, a first reverse path for automatically performing the first reverse driving, and a second forward path for automatically performing the second forward driving.

[0114] <Note 7> The aforementioned path creation step creates the second forward path such that there is unworked land between the first forward path and the second forward path. The work support method according to Appendix 6, characterized in that the aforementioned travel process automatically tilts the work section so that one side is higher at the timing when switching from the first reverse path to the second forward path.

[0115] <Note 8> The aforementioned path creation process creates a second reverse path for automatically performing a second reverse drive along the second forward path, and a third forward path for automatically performing a third forward drive while working in the unworked area between the first forward path and the second forward path. The work support method according to Appendix 7, characterized in that the aforementioned travel process automatically tilts the work section so that one side is higher at the timing when switching from the second reverse path to the third forward path.

[0116] <Note 9> It is a work vehicle, The work unit performs tasks while the vehicle is moving in the field, The first forward movement involves performing work while moving forward in a first direction in the unworked area of ​​the aforementioned field, Following the first forward run, there is a first reverse run that moves backward through the already worked area of ​​the field, The system includes a travel control unit that performs a second forward travel, which involves working while moving forward in a direction intersecting the first direction toward an unworked area adjacent to the already worked area in a direction perpendicular to the first direction, A work vehicle characterized in that, when performing the second forward travel, the travel control unit automatically tilts the work section such that one side of the work section is higher in the width direction of the work vehicle body.

[0117] <Note 10> The work vehicle according to Appendix 9, characterized in that the travel control unit performs the first forward travel toward the corner of the field.

[0118] <Note 11> The work vehicle according to Appendix 9 or 10, characterized in that the driving control unit automatically returns the inclination of the work section to its original position after one side of the raised work section enters an unworked area when performing the second forward driving.

[0119] <Note 12> The work vehicle according to any one of the appendices 9 to 11, characterized in that when the travel control unit performs the second forward travel from a predetermined work area to a predetermined unworked area, the work section is tilted so that the side of the predetermined work area is higher when viewed from the predetermined unworked area.

[0120] <Note 13> The work vehicle according to any one of the appendices 9 to 12, characterized in that the travel control unit sets the inclination angle of the work section based on the length of the work section in the width direction of the work vehicle body.

[0121] <Note 14> A work vehicle according to any one of the appendices 9 to 13, further comprising a path creation unit that creates a first forward path for automatically performing the first forward driving, a first reverse path for automatically performing the first reverse driving, and a second forward path for automatically performing the second forward driving.

[0122] <Note 15> The route creation unit creates the second forward path such that there is unworked land between the first forward path and the second forward path. The work vehicle according to Appendix 14, characterized in that the travel control unit automatically tilts the work section so that one side is higher when switching from the first reverse path to the second forward path.

[0123] <Note 16> The route creation unit creates a second reverse route for automatically performing a second reverse drive along the second forward route, and a third forward route for automatically performing a third forward drive while performing work in the unworked area between the first forward route and the second forward route. The work vehicle according to Appendix 15, characterized in that the travel control unit automatically tilts the work section so that one side is higher when switching from the second reverse path to the third forward path.

[0124] <Note 17> A work support system for a work vehicle having a work unit that performs work while driving in a field, The first forward movement involves performing work while moving forward in a first direction in the unworked area of ​​the aforementioned field, Following the first forward run, there is a first reverse run that moves backward through the already worked area of ​​the field, The system includes a travel control unit that performs a second forward travel, which involves working while moving forward in a direction intersecting the first direction toward an unworked area adjacent to the already worked area in a direction perpendicular to the first direction, A work support system characterized in that, when the driving control unit performs the second forward driving, it automatically tilts the work section such that one side of the work section is higher in the width direction of the work vehicle.

[0125] <Note 18> The work support system according to Appendix 17, characterized in that the travel control unit performs the first forward travel toward the corner of the field.

[0126] <Note 19> The work support system according to Appendix 17 or 18, characterized in that the travel control unit automatically returns the inclination of the work unit to its original position after one side of the work unit, which is raised when the second forward travel is performed, enters an unworked area.

[0127] <Note 20> The work support system according to any one of the appendices 17 to 19, characterized in that when the travel control unit performs the second forward travel from a predetermined work area to a predetermined unworked area, it automatically tilts the work section such that the side of the predetermined work area is higher when viewed from the predetermined unworked area.

[0128] <Note 21> The work support system according to any one of appendices 17 to 20, characterized in that the travel control unit sets the inclination angle of the work section based on the length of the work section in the width direction of the work vehicle.

[0129] <Note 22> The work support system according to any one of the appendices 17 to 21, further comprising a path creation unit that creates a first forward path for automatically performing the first forward movement, a first reverse path for automatically performing the first reverse movement, and a second forward path for automatically performing the second forward movement.

[0130] <Note 23> The route creation unit creates the second forward path such that there is unworked land between the first forward path and the second forward path. The work support system according to Appendix 22, characterized in that the travel control unit automatically tilts the work section so that one side is higher when switching from the first reverse path to the second forward path.

[0131] <Note 24> The route creation unit creates a second reverse route for automatically performing a second reverse drive along the second forward route, and a third forward route for automatically performing a third forward drive while performing work in the unworked area between the first forward route and the second forward route. The work support system according to Appendix 23, characterized in that the travel control unit automatically tilts the work section so that one side is higher when switching from the second reverse path to the third forward path. [Explanation of Symbols]

[0132] 1. Combine harvester (work vehicle) 2. Running section 3 Reaping part 30 Control device 35. Driving control unit 40 Mobile devices 41 Control device 46 Field Selection Section 47. Work Support Department 48 Route Creation Section 51, 51a, 51b, 51c, 51d Unworked land 52, 52a, 52b, 52c Existing work area 53 First forward run 54 First Reverse Driving 55 Second forward movement 57 Second reverse driving 58 Third forward movement 53b First Forward Path 54b First reverse path 55b Second forward path 79 Automated driving routes

Claims

1. A method for supporting the work of a work vehicle having a work unit that performs work while driving in a field, A first forward movement is performed in which work is carried out while moving forward in a first direction in the unworked area of ​​the aforementioned field, Following the first forward run, there is a first reverse run that moves backward through the already worked area of ​​the field, The vehicle has a driving process that includes a second forward driving process in which it performs work while moving forward in a direction intersecting the first direction toward an unworked area adjacent to the already worked area in a direction perpendicular to the first direction, The aforementioned driving process is characterized in that, when performing the second forward driving, the work support method automatically tilts the work section such that one side of the work section is higher in the width direction of the work vehicle.

2. The work support method according to claim 1, characterized in that the aforementioned travel step is performed by the first forward travel toward the corner of the field.

3. The work support method according to claim 1 or 2, characterized in that the aforementioned travel process automatically returns the inclination of the work part to its original position after one side of the work part, which was raised when the second forward travel was performed, enters the unworked area.

4. The work support method according to claim 1 or 2, characterized in that when the travel process performs the second forward travel from a predetermined work area to a predetermined unworked area, the work unit is automatically tilted so that the side of the predetermined work area is higher when viewed from the predetermined unworked area.

5. The work support method according to claim 1 or 2, characterized in that the aforementioned travel step sets the inclination angle of the work section based on the length of the work section in the width direction of the work vehicle.

6. The work support method according to claim 1 or 2, further comprising a path creation step of creating a first forward path for automatically performing the first forward driving, a first reverse path for automatically performing the first reverse driving, and a second forward path for automatically performing the second forward driving.

7. The aforementioned path creation step creates the second forward path such that there is unworked land between the first forward path and the second forward path. The work support method according to claim 6, characterized in that the work section is automatically tilted so that one side is higher when the travel process switches from the first reverse path to the second forward path.

8. The aforementioned path creation process includes a second reverse path for automatically performing a second reverse driving along the second forward path, A third forward path is created for automatically performing a third forward movement that carries out work while moving forward in the unworked area between the first forward path and the second forward path. The work support method according to claim 7, characterized in that the work section is automatically tilted so that one side is higher when the travel process switches from the second reverse path to the third forward path.

9. It is a work vehicle, The work unit performs tasks while the vehicle is moving in the field, A first forward movement is performed in which work is carried out while moving forward in a first direction in the unworked area of ​​the aforementioned field, Following the first forward run, there is a first reverse run that moves backward through the already worked area of ​​the field, The system includes a travel control unit that performs a second forward travel, which involves working while moving forward in a direction intersecting the first direction toward an unworked area adjacent to the already worked area in a direction perpendicular to the first direction, The aforementioned driving control unit is characterized in that, when performing the second forward driving, it automatically tilts the working part such that one side of the working part is higher in the width direction of the work vehicle body.

10. A work support system for a work vehicle having a work unit that performs work while driving in a field, A first forward movement is performed in which work is carried out while moving forward in a first direction in the unworked area of ​​the aforementioned field, Following the first forward run, there is a first reverse run that moves backward through the already worked area of ​​the field, The system includes a travel control unit that performs a second forward travel, which involves working while moving forward in a direction intersecting the first direction toward an unworked area adjacent to the already worked area in a direction perpendicular to the first direction, The aforementioned driving control unit is characterized in that, when performing the second forward driving, it automatically tilts the work section such that one side of the work section is higher in the width direction of the work vehicle.

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