Work vehicles

Abstract

To provide a work vehicle that can reduce the workload on workers and shorten working time. [Solution] The control unit (5) is provided with a mode change switch (11D) for switching the mode of harvesting work. The controller (30) of the work vehicle is configured to automatically drive the work vehicle in a straight line based on the first reference line (41, 51, 61) of the mode. When the mode change switch (11D) is pressed, if the intersection angle (θ) between the first reference line (41, 51, 61) of the mode before pressing and the direction of travel of the work vehicle after pressing is less than or equal to a predetermined angle, the controller (30) will automatically drive in a straight line based on the first reference line (41, 51, 61) of the mode before pressing. If the intersection angle (θ) exceeds the predetermined angle, the controller (30) will acquire the first reference line (41, 51, 61) of the mode after pressing by manual driving and use it as the reference line for automatic straight driving.

Description

Technical Field

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[0001] The present invention relates to a work vehicle that automatically travels in a field.

Background Art

[0002] In Patent Document 1, there is known a technique of setting a set path at a predetermined interval based on a preset reference path and automatically driving a riding rice transplanter in a reciprocating mode of reciprocating along the set path.

[0003] In Patent Document 2, when a combine is automatically driven in a strip / horizontal mode or a reciprocating mode to perform peripheral cutting work or middle cutting work, if the combine deviates from the set path by more than a predetermined amount, there is known a technique of resetting the set path in order to prevent the combine from trampling down the grain straws planted in the adjacent strip by its snake-like running.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the techniques of Patent Documents 1 and 2, when changing the mode according to the lodging state of the grain straws, it is necessary to set the reference path each time, so there is a problem that the workload of the operator increases and the harvesting work time becomes longer.

[0006] Therefore, an object of the present invention is to provide a work vehicle that can reduce the workload of an operator and shorten the work time.

Means for Solving the Problems

[0007] The present invention, which solves the above problems, is as follows. In other words, the invention described in claim 1 is a work vehicle having a running device (2) for traveling in a field on the lower side of the machine frame (1) and a control unit (5) on the upper side of the machine frame (1) where an operator sits, A mobile station (26) is provided on the aforementioned work vehicle. The control unit (5) is provided with a mode selector switch (11D) for switching the mode of harvesting work, and the controller (30) of the work vehicle is, The location information of the work vehicle received by the location information device (34) of the mobile station (26) and The controller (30) is configured to automatically drive the work vehicle in a straight line based on the first reference line (41, 51, 61) of the mode when the mode selector switch (11D) is pressed. If the intersection angle (θ) of the first reference line (41, 51, 61) of the mode before pressing and the direction of travel of the work vehicle after pressing is less than or equal to a predetermined angle, the controller (30) will automatically drive in a straight line based on the first reference line (41, 51, 61) of the mode before pressing. If the intersection angle (θ) exceeds the predetermined angle, the controller (30) will acquire a new first reference line (41, 51, 61) of the mode after pressing by manual driving and use that as the reference line for automatic straight-line driving. The controller (30) calculates the direction of travel of the work vehicle based on the current travel position information of the work vehicle and the travel position information of the work vehicle immediately before. This is a work vehicle characterized by the following features.

[0008] The invention described in claim 2 is a work vehicle according to claim 1, wherein the modes consist of a furrow / horizontal mode (M1) used for cutting around grain stalks, a reciprocating mode (M2) used for cutting back and forth or splitting grain stalks, and a unidirectional mode (M3) used for cutting lodged grain stalks or cutting in one direction.

[0009]

[0010] Claim 3The invention described is that, when the mode is switched from the reciprocating mode (M2) or unidirectional mode (M3) to the strip / lateral mode (M1), the controller (30) calculates a second reference line (42) perpendicular to the first reference line (51, 61) of the reciprocating mode (M2) or unidirectional mode (M3) before pressing, and if the intersection angle (θ) between the calculated second reference line (42) and the direction of travel of the work vehicle after pressing is less than or equal to a predetermined angle, the automatic straight-line travel is performed based on the second reference line (42), and if the intersection angle (θ) exceeds the predetermined angle, the second reference line (42) of the strip / lateral mode (M1) is newly acquired by manual travel and used as the reference line for automatic straight-line travel. 2 This is the work vehicle described.

[0011] Claim 4 The invention described is a work vehicle according to claim 1, wherein the intersection angle (θ) is set to -10 degrees to 10 degrees. [Effects of the Invention]

[0012] According to the invention described in claim 1, A mobile station (26) is set up in the work vehicle. The control unit (5) is equipped with a mode selector switch (11D) for switching the mode of harvesting work, and the controller (30) of the work vehicle is, The location information of the work vehicle received by the location information device (34) of the mobile station (26) and The controller (30) is configured to automatically drive the work vehicle in a straight line based on the first reference line (41, 51, 61) of the mode when the mode selector switch (11D) is pressed. If the intersection angle (θ) between the first reference line (41, 51, 61) of the mode before pressing and the direction of travel of the work vehicle after pressing is less than or equal to a predetermined angle, the controller (30) will automatically drive in a straight line based on the first reference line (41, 51, 61) of the mode before pressing. If the intersection angle (θ) exceeds the predetermined angle, the controller (30) will acquire a new first reference line (41, 51, 61) of the mode after pressing through manual driving and use that as the reference line for automatic straight-line driving. The controller (30) then calculates the direction of travel for the work vehicle based on the current travel position information of the work vehicle and the travel position information of the work vehicle immediately before it. Therefore, by reducing the frequency with which a new first reference path (41, 51, 61) is set when the mode switching switch (11D) is pressed, the workload on the operator is reduced, and the harvesting time can be shortened. Furthermore, the direction of travel of the controller (30) can be accurately calculated to determine the intersection angle (θ).

[0013] According to the invention described in claim 2, in addition to the effects of the invention described in claim 1, the modes include a strip / horizontal mode (M1) used for peripheral cutting work around the cereal straws, a reciprocating mode (M2) used for reciprocating cutting and intermediate cutting work of the cereal straws, and a one-way mode (M3) used for toppling cutting and one-way cutting work of the cereal straws. Therefore, an optimal cutting work mode can be selected according to the lodging state of the cereal straws.

[0014]

[0015] Claim 3 According to the invention described, in addition to the effects of the invention described in claim 2 When the mode can be switched from the reciprocating mode (M2) or the one-way mode (M3) to the strip / horizontal mode (M1), the controller (30) calculates a second reference line (42) perpendicular to the first reference lines (51, 61) of the reciprocating mode (M2) or the one-way mode (M3) before pressing. When the intersection angle (θ) between the calculated second reference line (42) and the traveling direction of the work vehicle after pressing is less than or equal to a predetermined angle, straight-ahead automatic driving is performed based on the second reference line (42). When the intersection angle (θ) exceeds the predetermined angle, the second reference line (42) in the strip / horizontal mode (M1) is newly obtained by manual driving and used as the reference line for straight-ahead automatic driving. Therefore, the frequency of newly setting the second reference line (42) when the mode switch switch (11D) is pressed is reduced, the working burden of the operator is further reduced, and the cutting work time can be further shortened.

[0016] Claim 4 According to the invention described, in addition to the effects of the invention described in claim 1, the intersection angle (θ) is set to -10 degrees to 10 degrees. Therefore, the snake-like running of the work vehicle can be suppressed, and it is possible to prevent the cereal straws planted in adjacent strips from being trampled down due to the snake-like running of the work vehicle.

Brief Description of the Drawings

[0017] [Figure 1] It is a left side view of the combine. [Figure 2] It is a plan view of the combine. [Figure 3] It is a connection diagram of the positioning unit. [Figure 4] It is a connection diagram of the controller. [Figure 5] It is an explanatory diagram of the reference line and path in the strip / horizontal mode. [Figure 6] It is an explanatory diagram of the reference line and path in the reciprocating mode. [Figure 7] It is an explanatory diagram of the reference line and path in the one-way mode. [Figure 8] It is an explanatory diagram of the correction of the reference line. [Figure 9] It is an explanatory diagram of the operation of cutting the grain straw. [Figure 10] It is a flowchart of the input interruption of the mode switch in the strip / horizontal mode M1 state. [Figure 11] It is a flowchart of the input interruption of the mode switch in the reciprocating mode M2 state. [Figure 12] It is a flowchart of the automatic driving in the strip / horizontal mode M1 state. [Figure 13] It is a flowchart of the automatic driving in the reciprocating mode M2 state. [Figure 14] It is a flowchart of the automatic driving in the one-way mode M3 state.

Embodiments for Carrying Out the Invention

[0018] As shown in FIGS. 1 and 2, the combine harvester is provided with a traveling device 2 composed of a pair of left and right crawlers that travel on the soil surface below the machine body frame 1, a cutting device 3 for cutting the grain straw in the field is provided in the front of the machine body frame 1, a threshing device 4 for threshing and sorting the cut grain straw is provided on the left rear side of the cutting device 3, and a control unit 5 for an operator to board is provided on the right rear side of the cutting device 3.

[0019] An engine room 6 for mounting an engine is provided below the control unit 5, a grain tank 7 for storing the threshed and sorted grain is provided behind the control unit 5, and a discharge auger 8 consisting of an elevating part extending in the vertical direction for discharging the grain to the outside and a horizontal discharge extending in the front-rear direction is provided behind the grain tank 7.

[0020] A touch-panel monitor 11 that displays the travel speed of the travel device 2 is provided in the center of the front panel in front of the cockpit of the control unit 5, and an operating lever 12 for operating the turning of the travel device 2 and the raising and lowering of the harvesting device 3 is provided to the right of the monitor 11.

[0021] Between the monitor 11 and the operating lever 12, there is a straight-line assist switch 13 that automatically drives the combine along a first reference line 41, which will be described later. Pressing the straight-line assist switch 13 activates the straight-line assist, and the straight-line assist is deactivated when the operator moves the operating lever 12 far to the left or right. The straight-line assist function is a function that allows the combine to automatically drive in a straight line without the operator operating the steering wheel, based on the position information received by the combine's position information acquisition device. The posture of the operating lever 12 is measured by an angle sensor 12A, such as a potentiometer, attached to the base of the operating lever 12.

[0022] A gear shift lever 16 for increasing or decreasing the speed of the travel device 2 is provided on the front of the left side panel of the cockpit of the control unit 5, and an inertial measuring device 17 is provided behind the gear shift lever 16. This allows for the measurement of the yawing angle, rolling angle, and pitching angle of the aircraft frame 1.

[0023] As shown in Figure 3, the positioning unit 20, which uses an RTK-GPS positioning system or a differential positioning system, is formed from multiple positioning satellites 21A to 21D, a base station 22 located at a known location, and a mobile station 26 installed on the combine harvester. As a result, positioning signals transmitted from multiple positioning satellites 21A to 21D are received and positioned by GNSS receivers installed on the base station 22 and the mobile station 26. The mobile station 26 can then accurately determine the combine harvester's position by performing high-precision positioning using correction signals from the base station 22.

[0024] The base station 22 consists of a fixed communication device 23, a fixed GPS antenna 24 that receives position information from positioning satellites 21, and a fixed data transmission antenna 25 that transmits correction position information to the mobile station 26.

[0025] The mobile station 26 is equipped with a mobile communication device 27 and position information from positioning satellites 21. ("Travel position information" in the claim) A mobile GPS antenna 28 that receives data, and position information for correction from the base station 22. ("Travel position information" in the claim) It is formed from a mobile data receiving antenna 29 that receives signals. Preferably, the GPS antenna 28 is positioned in the center of the combine harvester in both the front-to-back and left-to-right directions.

[0026] <Controller> As shown in Figure 4, the combine harvester's controller 30 is composed of a processing unit 31 consisting of a CPU and the like, a storage unit 32 consisting of ROM, RAM, a hard disk drive, flash memory, and the like, and a communication unit 33 for data communication with the outside.

[0027] The processing unit 31 calculates the first reference line 41, the travel position and direction of the combine harvester, etc., based on the first reference point 41A and the second reference point 41B, which will be described later.

[0028] The memory unit 32 stores location information of the first reference point 41A and the second reference point 41B acquired by the positioning unit 20.

[0029] The input side of the controller 30 is connected via a predetermined input interface circuit to a first reference point setting switch 11A for setting the first reference point 41A, a second reference point setting switch 11B for setting the second reference point 41B, a third reference point setting switch 11C for setting the turning point 41C, a mode switching switch 11D for changing the harvesting mode, an angle sensor 12A for measuring the amount of operation of the operating lever 12, a straight-line assist switch 13 for automatically driving the combine along the first reference line 41, an inertial measuring device 17 for measuring the yawing angle of the combine, a GPS antenna 28 for receiving position information from positioning satellites 21, and a data receiving antenna 29 for receiving correction position information from base station 22. Hereafter, the GPS antenna 28 and the data receiving antenna 29 are collectively referred to as the position information device 34. Switches 11A to 11D are displayed on the monitor screen of monitor 11.

[0030] On the output side of the controller 30, an automatic steering device 35 that automatically drives the combine along the first reference line 41, etc., and a brake 36 that brakes the left and right pair of crawlers of the running gear 2 based on the amount of operation of the operating lever 12 are connected via a predetermined output interface circuit.

[0031] <Reference line> When the operator presses the straight-line assist switch 13, the straight-line assist function is activated. At this time, the processing unit 31 controls the combine harvester to automatically travel in a straight line. Furthermore, the operator selects a harvesting mode so that the harvesting can be performed optimally for the field. The harvesting modes include a row / horizontal mode M1 used for cutting around grain stalks, a reciprocating mode M2 ​​used for reciprocating harvesting or splitting grain stalks, and a one-way mode M3 used for lodging harvesting or one-way harvesting of grain stalks. The processing unit 31 uses a reference line to perform automatic straight-line travel.

[0032] There are two types of reference lines: a first reference line and a second reference line. The first reference line is the standard straight-line direction for automatic straight-line driving and can be arbitrarily determined. The data for the first reference line can be any information that determines the direction, such as the position information of the first reference point and the second reference point, or the direction data connecting the first reference point and the second reference point. The second reference line is the standard straight-line direction for automatic straight-line driving and is orthogonal to the first reference line. The data for the second reference line can be any information that determines the direction, such as the position information of the second reference point and the second reference point that are orthogonal to the first reference line, or the direction data connecting the second reference point and the second reference point. By using the standard straight-line directions of the first and second reference lines and the position information of the starting point of the combined harvester (hereinafter referred to as the starting point), the row and lateral paths of the rectangular field can be determined, and automatic straight-line driving can be performed while continuing harvesting work. The calculation method for the first and second reference lines in the stripe / horizontal mode M1 is described below.

[0033] <Embodiment 1> Figure 5 illustrates a first reference line 41 extending horizontally in the row / horizontal mode M1 set at the top of the field 40, a second reference line 42 extending vertically on the left side, a path 43 extending parallel to the first reference line 41 at the bottom, and a path 44 extending parallel to the second reference line 42 on the right side. In this embodiment, the spacing is predetermined to the cutting width of the harvesting device 3. The arrows in Figure 5 indicate the direction of travel of the combine harvester.

[0034] The first reference line 41 is set as a reference direction by a straight line passing through the first reference point 41A, which is located to the left of the loading area 40A for combine harvesters and other equipment in the field 40, and the second reference point 41B, which is located in front of the first reference point 41A in the direction of travel, and is stored in the memory unit 32. It is preferable that the distance between the first reference point 41A and the second reference point 41B be about 5m.

[0035] The position of the first reference point 41A is determined when the operator presses the first reference point setting switch 11A displayed on the monitor 11. The processing unit 31 stores the position information received by the position information device 34 as the first reference point of the first reference line in the storage unit 32, based on the position information of the combine transmitted from the positioning satellite 21 and base station 22 at the time of the press. Alternatively, the position of the first reference point 41A can also be calculated by the processing unit 31 based on the position information of the combine transmitted from the positioning satellite 21 and base station 22 when the travel distance of the traveling device 2 reaches a predetermined distance, and the same applies to the first reference points 42A, 43A, and 44A described later.

[0036] The position of the second reference point 41B is determined when the operator presses the second reference point setting switch 11B displayed on the monitor 11. The processing unit 31 then uses the position information of the combine harvester transmitted from the positioning satellite 21 and base station 22 at the time of the press, and stores the received position information in the storage unit 32 as the second reference point of the first reference line. Alternatively, the position of the second reference point 41B can also be calculated by the processing unit 31 based on the position information of the combine harvester transmitted from the positioning satellite 21 and base station 22 when the travel distance of the traveling device 2 reaches a predetermined distance, and the same applies to the second reference point 42B, which will be described later.

[0037] The first reference line 41 is a straight line extending in the left-right direction, passing through the first reference point 41A and the second reference point 41B.

[0038] In the path between the first reference point 41A and the second reference point 41B on the first reference line 41, the operator manually controls the combine harvester by operating the control lever 12. Once the combine passes the second reference point 41B, the processing unit 31 automatically controls the combine along the first reference line 41. This reduces the workload on the operator.

[0039] Next, when the operator determines that the combine has reached the turning point 41C in Figure 5, they stop the combine's automatic movement and operate the control lever 12 to rotate the travel device 2 so that the combine's direction of travel is perpendicular to the first reference line 41 and directed downwards. When the operator presses the straight-line assist switch 13 and the processing unit 31 detects the input of the straight-line assist switch 13, the position information device 34 uses the combined's position information received as the first reference point 42A, calculates a second reference line 42 that passes through the first reference point 42A and is perpendicular to the first reference line 41, and stores the second reference line 42 in the storage unit 32.

[0040] After the second reference line 42 is set, the processing unit 31 automatically moves the combine harvester along the second reference line 42. This reduces the workload on the operator.

[0041] Next, when the operator determines that the combine has reached the turning point 42C in Figure 5, they stop the combine's automatic movement and operate the control lever 12 to rotate the travel device 2 so that the combine's direction of travel is perpendicular to the second reference line 42 and directed to the right. When the operator presses the straight-ahead assist switch 13 and the processing unit 31 detects the input of the straight-ahead assist switch 13, the position information device 34 uses the received position information of the combine as the first reference point 43A, calculates a path 43 that passes through the first reference point 43A and is parallel to the first reference line 41, and stores the path 43 in the storage unit 32.

[0042] After the route 43 is set, the processing unit 31 automatically drives the combine harvester along the route 43. This reduces the workload on the workers.

[0043] Next, when the operator determines that the combine has reached the turning point 43C in Figure 5, they stop the combine's automatic movement and operate the control lever 12 to rotate the travel device 2 so that the combine's direction of travel is perpendicular to the path 43 and directed upward. When the operator presses the straight-line assist switch 13 and the processing unit 31 detects the input of the straight-line assist switch 13, the position information device 34 uses the combined's position information received as the first reference point 44A, calculates a path 44 that passes through the first reference point 44A and is parallel to the second reference line, and stores the path 44 in the storage unit 32.

[0044] After the route 44 is set, the processing unit 31 automatically drives the combine harvester along the route 44. This reduces the workload on the workers.

[0045] Next, when the operator determines that the combine has reached the turning point 44C in Figure 5, they stop the combine's automatic movement and operate the control lever 12 to rotate the travel device 2 so that the combine's direction of travel is perpendicular to the path 44 and directed to the left. When the operator presses the straight-ahead assist switch 13 and the processing unit 31 detects the input of the straight-ahead assist switch 13, the position information device 34 uses the received position information of the combine as the first reference point (not shown), calculates a path 46 that passes through the first reference point and is parallel to the first reference line 41, and stores the path 46 in the storage unit 32.

[0046] After the route 46 is set, the processing unit 31 automatically drives the combine along the route 46. This reduces the workload on the operator. Similarly, the processing unit 31 calculates a route along the first reference route 41 and the second reference line 42, and then automatically drives the combine along the route.

[0047] Based on the above, after acquiring the first reference line 41, the second reference line 42 is also determined based on the first reference line 41, and the combine harvester can be made to automatically travel in a straight line using the two reference directions of the first reference line 41 and the second reference line 42. The operator only needs to stop the combine harvester when it reaches the turning position and perform the turn. After the operation of the control lever 12 is completed (i.e., after the turn is completed), the processing unit 31 activates the straight-line assist switch 13 to enable the straight-line assist function, and then uses the received position information of the combine harvester and the first reference line 41 or the second reference line 42 stored in the storage unit 32 to control the combine harvester's automatic straight-line travel.

[0048] Furthermore, once the first reference line 41 is acquired, even if the harvesting mode is changed, the combined harvester can automatically drive straight after turning using the acquired first reference line 41. For example, as shown in Figure 9, if the harvesting mode is changed to the reciprocating mode M2 ​​after acquiring the first reference line 41 and the second reference line 42 in row / cross mode M1 and performing two round-trip harvesting, either the first reference line 41 or the second reference line 42 parallel to the combine's direction of travel is selected, and automatic steering control is performed to drive straight along a path parallel to the selected first reference line 41 or second reference line 42 and passing through the position information of the combine received by the position information device 34, which is the starting point of the straight-line drive. Here, the direction of travel of the combine is the current combine's travel position. ("Travel position information" in the claim) and the combine harvester's position at the previous sampling time. ("Travel position information" in the claim) The calculation is based on the following. After the first reference line 41 is acquired in the row direction and the second reference line 42 in the lateral direction in row / lateral mode M1, when the harvesting mode is changed to reciprocating mode M2, the processing unit 31 uses the first reference line 41 as the reference direction for straight-line travel if the combine's travel direction is in the row direction, and the second reference line 42 as the reference direction for straight-line travel if the combine's travel direction is in the lateral direction. This reduces the number of operations required for the operator, thereby reducing the workload, and also suppresses meandering.

[0049] <Embodiment 2> Figure 6 shows a first reference line 51 extending horizontally in the reciprocating mode M2 ​​set at the top of the field 40, and a path 56 below the first reference line 51, spaced vertically at predetermined intervals. In this embodiment, the interval is set in advance to the cutting width of the harvesting device 3. The arrows in Figure 6 indicate the direction of travel of the combine harvester.

[0050] The first reference line 51 is set by extending a straight line in the left-right direction, passing through the first reference point 51A, which is located to the left of the loading area 40A for combine harvesters and other equipment in the field 40, and the second reference point 51B, which is located in front of the first reference point 51A in the direction of travel.

[0051] The location information of the first reference point 51A is obtained by the processing unit 31, which calculates it based on the position information of the combine transmitted from the positioning satellite 21 and the base station 22 when the first reference point setting switch 11A is pressed, and then stores it in the storage unit 32. Note that pressing the first reference point setting switch 11A may be replaced with pressing it immediately after starting to drive, or after driving for a predetermined time or distance.

[0052] The position information of the second reference point 51B is obtained by the processing unit 31, which calculates it based on the position information of the combine harvester transmitted from the positioning satellite 21 and the base station 22 when the second reference point setting switch 11B is pressed, and then stores it in the storage unit 32. Alternatively, pressing the second reference point setting switch 11B may be replaced with the release of the input from the grain stalk sensor (not shown) which detects the presence or absence of grain stalks in the harvesting device 3.

[0053] The first reference line 51 is a straight line extending in the left-right direction, passing through the first reference point 51A and the second reference point 51B, with the starting point being the first reference point 51A and the ending point being the second reference point 51B. In addition, along the path between the first reference point 51A and the second reference point 51B on the first reference line 51, the operator manually moves the vehicle by operating the control lever 12.

[0054] Next, the operator operates the control lever 12 to rotate the travel device 2 so that the combine's direction of travel is parallel to the first reference line 51 and directed to the right. When the processing unit 31 detects the end of the operation of the control lever 12, it uses the position information of the combine received by the position information device 34 as the first reference point (not shown), calculates a path 56 that passes through the first reference point and is parallel to the first reference line 51, and controls the combine to travel in a straight line along the path 56.

[0055] As described above, after acquiring the first reference line 51, the second reference line 52 is also determined based on the first reference line 51, enabling automatic straight-line driving using the two reference directions of the first reference line 51 and the second reference line 52. The operator only needs to stop driving and perform the turning operation when the combine reaches the turning position, and the processing unit 31 controls the automatic straight-line driving using the position information of the combine received after the operation of the operating lever 12 is completed (i.e., after the turning is completed) and the first reference line 51 or the second reference line 52 stored in the storage unit 32. For example, if harvesting in the row direction is performed in the reciprocating mode M2, even if harvesting is performed in the lateral reciprocating mode M2 ​​midway through, the second reference line 52 can be determined based on the acquired first reference line 51, so that automatic straight-line driving harvesting can be continued in the lateral reciprocating mode M2. This reduces the workload on workers, suppresses the meandering movement of the combine harvester, and prevents the combine harvester from trampling over grain stalks planted in adjacent rows due to its meandering movement.

[0056] <Embodiment 3> Figure 7 shows a first reference line 61 extending horizontally in a one-way mode M3 set at the top of the field 40, and a path 66 below the first reference line 61, spaced vertically at predetermined intervals. In this embodiment, the interval is set in advance to the cutting width of the harvesting device 3. The arrows in Figure 7 indicate the direction of travel of the combine harvester.

[0057] The first reference line 61 is set by extending a straight line in the left-right direction, passing through the first reference point 61A, which is located to the left of the loading area 40A for combine harvesters and other equipment in the field 40, and the second reference point 61B, which is located in front of the first reference point 61A in the direction of travel.

[0058] The acquisition of the position information of the first reference point 61A is performed by the processing unit 31, similar to the line / horizontal mode M1, based on the position information of the combine transmitted from the positioning satellite 21 and base station 22 when the first reference point setting switch 11A is pressed, and then stored in the storage unit 32. Note that pressing the first reference point setting switch 11A may be replaced with pressing it immediately after starting to travel, or after traveling for a predetermined time or distance.

[0059] The location information of the second reference point 61B is obtained by the processing unit 31, which calculates it based on the combine harvester's location information transmitted from the positioning satellite 21 and base station 22 when the second reference point setting switch 11B is pressed, and then stores it in the storage unit 32. Note that pressing the second reference point setting switch 11B may be replaced with detecting that the grain stalk sensor is OFF.

[0060] The first reference line 61 is a straight line extending in the left-right direction, passing through the first reference point 61A and the second reference point 61B, with the starting point being the first reference point 61A and the ending point being the second reference point 61B. In addition, along the path between the first reference point 51A and the second reference point 51B on the first reference line 61, the operator manually moves the vehicle by operating the control lever 12.

[0061] Next, the operator operates the control lever 12 and the gear shift lever 16 to move the combine harvester backward along the first reference line 61 to the starting point of the first reference line 61. Then, the operator operates the control lever 12 and the gear shift lever 16 to rotate the travel device 2 so that the direction of travel of the combine harvester is parallel to the first reference line 61 and directed to the left. When the processing unit 31 detects the end of operation of the control lever 12, it uses the position information of the combine harvester received by the position information device 34 as the first reference point (not shown), calculates a path 66 that passes through the first reference point and is parallel to the first reference line 61, and controls the combine harvester to travel in a straight line along the path 66.

[0062] Similar to Embodiment 2, after acquiring the first reference line 61, the second reference line 62 is also determined based on the first reference line 61, enabling automatic straight-line travel using the two reference directions of the first reference line 61 and the second reference line 62. The operator only needs to stop the combine when it reaches the turning position and perform the turn. The processing unit 31 controls the automatic straight-line travel using the combine's position information received after the operation of the control lever 12 is completed (i.e., after the turn is completed) and the first reference line 61 or second reference line 62 stored in the storage unit 32. For example, if harvesting is being performed in a row direction in one-way mode M3, even if the harvesting mode is changed to reciprocating mode M2 ​​midway through, the automatic straight-line harvesting can continue based on the acquired first reference line 61. This reduces the workload on the operator, suppresses meandering of the combine, and prevents the combine from trampling over grain stalks planted in adjacent rows due to meandering. Furthermore, when the combine harvester is reversing, if the operator presses the reverse assist switch, the processing unit 31 can use the combine harvester's position information at the start of reversing and the first reference line 61 to automatically drive the combine harvester in reverse. This further reduces the workload on the operator.

[0063] Although the example described uses the straight-ahead assist switch 13, it is not necessary to use the activation of the straight-ahead assist switch 13 as the trigger for starting automatic straight-ahead driving. For example, the processing unit 31 may be configured to control automatic straight-ahead driving based on a reference line acquired through manual driving when it does not detect any left or right movement of the operating lever 12.

[0064] <Correction of the baseline> If an operator wants to correct the reference line, which is the reference direction for straight-line travel, while the combine is automatically traveling in a straight line, they can move the combine in the desired direction by operating the control lever 12 left or right. At this time, the processing unit 31 may detect the operator's left or right operation of the control lever 12 during automatic travel, and if it determines that the intersection angle θ between the combine's travel direction and the reference line after the operation of the control lever 12 is within a predetermined range (for example, less than 30 degrees), it may be configured to acquire a new reference line and update the reference line in the storage unit 32 if the combine then travels under predetermined conditions, and then automatically travel in a straight line based on the new reference line. In Figure 8, the rectangle represents the combine, and the thick line represents the combine's travel path.

[0065] <Harvesting of grain stalks> In large fields, after performing fringe mowing along the ridges of the outer perimeter of the field in row / lateral mode M1, reciprocating mowing in reciprocating mode M2 ​​or over-mowing in unidirectional mode M3 is performed depending on the degree of lodging of the grain stalks. Figure 9 illustrates a work pattern in which fringe mowing is performed along the outer perimeter of the field in row / lateral mode M1, followed by reciprocating mowing of the upper part of the field in reciprocating mode M2, and then over-mowing of the lower part of the field in unidirectional mode M3. The arrows in Figure 9 indicate the direction of travel of the combine harvester.

[0066] To facilitate understanding, we will explain using an example where the combine harvester performs fringe cutting in row / lateral mode M1 as shown in Figure 9, then reciprocating cutting in reciprocating mode M2 ​​depending on the lodging state of the grain stalks, and finally over-cutting in unidirectional mode M3 depending on the lodging state of the grain stalks. As a prerequisite, it is assumed that the reference lines (first reference line and second reference line) have already been acquired by the combine harvester's movement and are set in the memory unit 32.

[0067] Figure 10 shows a flowchart of what happens when there is an input interrupt to the mode selector switch in the strip / horizontal mode M1 state. When there is an input interrupt to the mode selector switch in the strip / horizontal mode M1 state, the controller 30 executes step S3. Here, we will explain an example where the mode switches to round-trip mode M2.

[0068] If, in step S3, it is determined that the mode switching switch 11D has been pressed and the system has switched from strip / horizontal mode M1 to reciprocating mode M2, the system transitions from strip / horizontal mode M1 to reciprocating mode M2 ​​and proceeds to step S4.

[0069] In step S4, the processing unit 31 calculates the intersection angle θ at which the combine's travel direction when the mode switching switch 11D is pressed intersects with the reference line stored in the memory unit 32. If the calculated intersection angle θ is less than or equal to a predetermined intersection angle, the process proceeds to step S5; if the calculated intersection angle θ exceeds a predetermined intersection angle, the process proceeds to step S6. In this embodiment, the intersection angle is set to between -10 degrees and 10 degrees.

[0070] In step S5, the processing unit 31 determines whether the straight-ahead assist switch 13 has been pressed. If it determines that the straight-ahead assist switch 13 has been pressed, the process proceeds to step S9; otherwise, step S5 is repeated.

[0071] In step S6, the processing unit 31 determines whether the first reference point setting switch 11A has been pressed. If it determines that the first reference point setting switch 11A has been pressed, it calculates the first reference point 51A for the reciprocal mode M2, stores it in the storage unit 32, and proceeds to step S7. If it determines that the first reference point setting switch 11A has not been pressed, it repeats step S6.

[0072] In step S7, the processing unit 31 determines whether the second reference point setting switch 11B has been pressed. If it determines that the second reference point setting switch 11B has been pressed, it calculates the second reference point 51B for the round-trip mode M2 ​​and stores it in the storage unit 32. Then, based on the stored first reference point 51A and second reference point 51B, it calculates the first reference line 51 and proceeds to step S8. If it determines that the second reference point setting switch 11B has not been pressed, it repeats step S7.

[0073] In step S8, the processing unit 31 determines whether the straight-ahead assist switch 13 has been pressed. If it determines that the straight-ahead assist switch 13 has been pressed, the process proceeds to step S9 in Figure 13. If it determines that the straight-ahead assist switch 13 has not been pressed, the process repeats step S8.

[0074] Figure 11 shows a flowchart of what happens when there is an input interrupt to the mode selector switch in the round-trip mode M2 ​​state. When there is an input interrupt to the mode selector switch in the round-trip mode M2 ​​state, the controller 30 executes step S11. Here, we will explain an example where the mode switches to unidirectional mode M3.

[0075] If, in step S11, it is determined that the mode switching switch 11D has been pressed and the system has switched from reciprocating mode M2 ​​to unidirectional mode M3, the system transitions from reciprocating mode M2 ​​to unidirectional mode M3 and proceeds to step S12.

[0076] In step S12, the processing unit 31 calculates the intersection angle θ at which the combine's travel direction when the mode switching switch 11D is pressed intersects with the reference line stored in the memory unit 32. If the calculated intersection angle θ is less than or equal to a predetermined intersection angle, the process proceeds to step S13; if the calculated intersection angle θ exceeds a predetermined intersection angle, the process proceeds to step S14. In this embodiment, the intersection angle is set to between -10 degrees and 10 degrees.

[0077] In step S13, the processing unit 31 determines whether the straight-ahead assist switch 13 has been pressed. If it determines that the straight-ahead assist switch 13 has been pressed, the process proceeds to step S17; otherwise, step S13 is repeated.

[0078] In step S14, the processing unit 31 determines whether the first reference point setting switch 11A has been pressed. If it determines that the first reference point setting switch 11A has been pressed, it calculates the first reference point 61A for one-way mode M3, stores it in the memory unit 32, and proceeds to step S15. If it determines that the first reference point setting switch 11A has not been pressed, it repeats step S14.

[0079] In step S15, the processing unit 31 determines whether the second reference point setting switch 11B has been pressed. If it determines that the second reference point setting switch 11B has been pressed, it calculates the second reference point 61B for one-way mode M3 and stores it in the storage unit 32. Then, based on the stored first reference point 61A and second reference point 61B, it calculates the first reference line 61 and proceeds to step S16. If it determines that the second reference point setting switch 11B has not been pressed, it repeats step S15.

[0080] In step S16, the processing unit 31 determines whether the straight-ahead assist switch 13 has been pressed. If it determines that the straight-ahead assist switch 13 has been pressed, the process proceeds to step S17 in Figure 14. If it determines that the straight-ahead assist switch 13 has not been pressed, the process repeats step S16.

[0081] To facilitate understanding, the explanation uses the example shown in Figure 9, where the modes switch in the order of strip / horizontal mode M1, reciprocating mode M2, and unidirectional mode M3. However, the same state transitions and flowcharts are followed when the modes switch in the order of strip / horizontal mode M1, unidirectional mode M3, and reciprocating mode M2, or in the order of reciprocating mode M2, unidirectional mode M3, or unidirectional mode M3, and reciprocating mode M2.

[0082] When switching from reciprocating mode M2 ​​or unidirectional mode M3 to row / cross mode M1, the intersection angle θ between the reference line and the combine harvester's travel path is calculated. If the calculated intersection angle θ is less than or equal to a predetermined intersection angle, the reference line is used in row / cross mode M1. If the calculated intersection angle θ exceeds the predetermined intersection angle, a new reference line is acquired.

[0083] Figure 12 shows a flowchart of automatic driving in row / cross mode M1. As shown in Figure 12, in step S1, the processing unit 31 drives the automatic steering device 35 to make the combine automatically drive along the reference line in row / cross mode M1 and proceed to step S50.

[0084] In step S50, the processing unit 31 calculates the intersection angle θ between the combine harvester's travel direction and the path the combine harvester is automatically traveling along. If the intersection angle θ is less than or equal to a preset intersection angle interval, the process returns to step S1; if the intersection angle θ exceeds a preset intersection angle, the process proceeds to step 51. This further suppresses meandering movement of the combine harvester and more effectively prevents the combine harvester from trampling over grain stalks planted in adjacent rows due to meandering movement.

[0085] In step S51, the processing unit 31 reads the measurement value from the angle sensor 12A. If the measured value is greater than a preset value and it is determined that the operating lever 12 has been moved significantly to the left or right, the drive of the automatic control device 35 is stopped, the automatic movement of the combine is stopped, and the process proceeds to step S52. If the measured value is less than or equal to a preset value and it is determined that the operating lever 12 has not been moved significantly to the left or right, step S51 is repeated.

[0086] In step S52, the processing unit 31 determines whether the straight-ahead assist switch 13 has been pressed. If it determines that the straight-ahead assist switch 13 has been pressed, the process proceeds to step S1; otherwise, it determines that the straight-ahead assist switch 13 has not been pressed, and the process repeats in step S52.

[0087] Figure 13 shows a flowchart of automatic driving in the reciprocating mode M2 ​​state. As shown in Figure 13, in step S9, the processing unit 31 drives the automatic steering device 35 to make the combine automatically drive along the reference line and proceed to step S60.

[0088] In step S60, the processing unit 31 calculates the intersection angle θ between the combine's travel direction and the path 56 on which the combine is automatically traveling. If the intersection angle θ is less than or equal to a preset intersection angle interval, the process returns to step S9; if the intersection angle θ exceeds a preset intersection angle, the process proceeds to step 61. This further suppresses meandering movement of the combine and makes it more difficult to prevent the combine from trampling over grain stalks planted in adjacent rows due to meandering movement.

[0089] In step S61, the processing unit 31 reads the measurement value from the angle sensor 12A. If the measured value is greater than a preset value and it is determined that the operating lever 12 has been moved significantly to the left or right, the drive of the automatic control device 35 is stopped, the automatic movement of the combine is stopped, and the process proceeds to step S62. If the measured value is less than or equal to a preset value and it is determined that the operating lever 12 has not been moved significantly to the left or right, step S61 is repeated.

[0090] In step S62, the processing unit 31 determines whether the straight-ahead assist switch 13 has been pressed. If it determines that the straight-ahead assist switch 13 has been pressed, the process proceeds to step S9; otherwise, step S62 is repeated.

[0091] Figure 14 shows a flowchart of automatic driving in unidirectional mode M3 state. As shown in Figure 14, in step S17, the processing unit 31 drives the automatic steering device 35 to automatically drive the combine along the reference line and proceed to step S70.

[0092] In step S70, the processing unit 31 calculates the intersection angle θ between the combine's direction of travel and the reference line on which the combine is automatically traveling. If the intersection angle θ is less than or equal to a preset intersection angle interval, the process returns to step S17; if the intersection angle θ exceeds a preset intersection angle, the process proceeds to step 71. This further suppresses the combine's meandering movement and more effectively prevents the combine from trampling over grain stalks planted in adjacent rows due to its meandering movement.

[0093] In step S71, the processing unit 31 reads the measurement value from the angle sensor 12A. If the measured value is greater than a preset value and it is determined that the operating lever 12 has been moved significantly to the left or right, the drive of the automatic control device 35 is stopped, the automatic movement of the combine is stopped, and the process proceeds to step S72. If the measured value is less than or equal to a preset value and it is determined that the operating lever 12 has not been moved significantly to the left or right, step S71 is repeated.

[0094] In step S72, the processing unit 31 determines whether the straight-ahead assist switch 13 has been pressed. If it determines that the straight-ahead assist switch 13 has been pressed, the process proceeds to step S17; otherwise, step S72 is repeated.

[0095] <Other Embodiments> Although various embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above and can be implemented in various modified forms. It is applicable not only to combine harvesters but also to other work vehicles such as tractors and rice transplanters. Furthermore, even if the operator switches modes by operating a switch on the control unit 5, the controller 30 can be configured to control the automatic steering of the work vehicle in response to an operation request from a remote control device operated from outside the work vehicle. Alternatively, even if the operator switches modes by operating the mode switching switch 11 on the control unit 5, the controller 30 can be configured to control the automatic steering of the work vehicle in response to an operation request from a remote control device operated from outside the work vehicle. [Explanation of Symbols]

[0096] 1. Aircraft frame 2. Traveling device 5. Control Unit 11D Mode Switch 30 controllers 41. First reference line 42. Second reference line 51. First reference line 61. First Reference Line M1 Strip / Horizontal Mode M2 reciprocal mode M3 One-Way Mode θ Intersection angle

Claims

1. In a work vehicle having a running device (2) for traveling in a field on the lower side of the machine frame (1) and a control unit (5) for the operator to ride on the upper side of the machine frame (1), The control unit (5) is provided with a mode selector switch (11D) for switching the mode of harvesting work. The controller (30) of the work vehicle is configured to make the work vehicle automatically travel in a straight line based on the first reference lines (41, 51, 61) of the mode. The controller (30) is characterized in that, when the mode switching switch (11D) is pressed, if the intersection angle (θ) between the first reference line (41, 51, 61) of the mode before pressing and the direction of travel of the work vehicle after pressing is less than or equal to a predetermined angle, the work vehicle will automatically travel in a straight line based on the first reference line (41, 51, 61) of the mode before pressing; and if the intersection angle (θ) exceeds the predetermined angle, the first reference line (41, 51, 61) of the mode after pressing will be newly acquired by manual driving and used as the reference line for automatic straight-line driving.

2. The work vehicle according to claim 1, wherein the modes consist of a furrow / horizontal mode (M1) used for cutting around grain stalks, a reciprocating mode (M2) used for cutting back and forth or splitting grain stalks, and a unidirectional mode (M3) used for cutting lodged grain stalks or cutting in one direction.

3. The work vehicle according to claim 1 or 2, wherein the direction of travel of the work vehicle is calculated based on the position information of the work vehicle received by the controller (30).

4. When the mode is switched from the reciprocating mode (M2) or the one-way mode (M3) to the strip / lateral mode (M1), the controller (30) calculates a second reference line (42) perpendicular to the first reference line (51, 61) of the reciprocating mode (M2) or the one-way mode (M3) before the button is pressed. If the intersection angle (θ) between the calculated second reference line (42) and the direction of travel of the work vehicle after the button is less than or equal to a predetermined angle, the work vehicle performs automatic straight-line travel based on the second reference line (42). If the intersection angle (θ) exceeds the predetermined angle, the work vehicle uses the second reference line (42) of the strip / lateral mode (M1) as the reference line for automatic straight-line travel, newly acquired by manual driving.

5. The work vehicle according to claim 1, wherein the intersection angle (θ) is set to -10 degrees to 10 degrees.

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