Work vehicle

Abstract

The present invention provides a work vehicle that allows for easy modification of the straight-line end point before transitioning from straight-line driving to turning driving. [Solution] A work vehicle that performs work on a field by repeatedly alternating between turning and straight-line driving, comprising: a machine body 1; a driving device provided on the machine body 1; a machine body position calculation unit that calculates the position of the machine body 1; a straight-line path IPL for performing straight-line driving; a straight-line path end position EP that generates a point where straight-line driving ends and turning driving begins; and an end position changing unit that changes the straight-line path end position according to human input.

Description

Technical Field

[0001] The present invention relates to a work vehicle that performs work running on a field by repeating turning running and straight running.

Background Art

[0002] As disclosed in Patent Document 1, a rice transplanter, which is a work vehicle, performs work running on a field by repeating turning running and straight running. In such a rice transplanter, when performing straight running, it runs straight on a preset straight running path. When the running on the preset straight running path ends, turning running is started.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In such a rice transplanter, when a portion in front of the front wheels (hereinafter referred to as the "front end portion") is higher than the height of the ridge, the rice transplanter may be advanced until the front end portion of the rice transplanter is positioned above the ridge. However, in a field with a high ridge height, in order to avoid a collision between the front end portion of the rice transplanter and the ridge, it is necessary to operate the rice transplanter so as to end straight running at a position farther from the ridge than in a field with a low ridge height.

[0005] As described above, in a work vehicle, it is necessary to change the position where the straight running path is ended according to the situation, and a work vehicle that can easily change the straight running path end position has been desired.

[0006] An object of the present invention is to provide a work vehicle that can easily change the straight running path end position where straight running ends and turning running starts.

Means for Solving the Problems

[0007] The work vehicle of the present invention is a work vehicle that performs work on a field by repeatedly performing turning and straight-line driving, and comprises a machine body, a driving device provided on the machine body, a machine body position calculation unit that calculates the position of the machine body, a straight-line driving path for performing the straight-line driving, a straight-line driving path end position that ends the straight-line driving and starts the turning driving, and an end position changing unit that changes the straight-line driving path end position in accordance with human operation input.

[0008] According to this invention, the operator can easily change the end position of the straight path by inputting an operation.

[0009] In the present invention, it is preferable that the end position changing unit is configured to change the end position of the straight path only from the end position of the straight path generated by the path generation unit toward the starting position on the straight path.

[0010] This configuration makes it possible to avoid the operator mistakenly setting the end point of the straight path closer to the ridge.

[0011] In the present invention, it is preferable that the device is equipped with an operating device that allows the user to manually input the end position of the straight path.

[0012] With this configuration, the operator can easily change the end position of the straight-line path using a control tool.

[0013] In the present invention, the operating device is preferably a touch panel.

[0014] With this configuration, the operator can easily change the end position of the straight-ahead path using the touch panel.

[0015] In the present invention, it is preferable that the touch panel has a display unit that displays the end position of the straight path.

[0016] According to this configuration, the operator can change the straight-ahead path end position while checking the straight-ahead path end position by using the touch panel.

[0017] In the present invention, it is preferable that a notification unit for notifying the straight-ahead path end position is provided.

[0018] According to this configuration, an operator riding on the work vehicle can know that the straight-ahead path end position is approaching by the notification of the notification unit.

[0019] In the present invention, an automatic travel mode for steering the aircraft based on the position of the aircraft calculated by the aircraft position calculation unit and the path generated by the path generation unit, a manual travel mode for steering the aircraft based on manual operation, and a stop mode for temporarily stopping the aircraft in the automatic travel mode are provided. It is preferable that the end position changing unit is configured to be able to change the straight-ahead path end position only in the automatic travel mode and the stop mode.

[0020] According to this configuration, in the manual travel mode in which the operator needs to manually steer the aircraft, a configuration is adopted in which the straight-ahead path end position cannot be changed. It is difficult for the operator to change the straight-ahead path end position while steering the aircraft, but it is possible to avoid such difficulties.

Brief Description of the Drawings

[0021] [Figure 1] It is a side view of the rice transplanter. [Figure 2] It is a plan view of the rice transplanter. [Figure 3] It is a diagram for explaining the work travel. [Figure 4] It is a diagram for explaining the turning travel. [Figure 5] It is a diagram for explaining the configuration of the touch panel screen. [Figure 6]It is a diagram for explaining the configuration of the end position change screen. [Figure 7] It is a diagram for explaining the positional relationship between the working vehicle and the ridge when the height of the ridge is low. [Figure 8] It is a diagram for explaining the positional relationship between the working vehicle and the ridge when the height of the ridge is high. [Figure 9] It is a diagram for explaining the functional configuration for controlling the automatic driving.

Embodiments for Carrying out the Invention

[0022] Hereinafter, as an example of the working vehicle, a rice transplanter that travels and works in a field will be described. In the following description, unless otherwise specified, the direction of arrow F in the figure is "front", the direction of arrow B is "rear", the direction of arrow L is "left", and the direction of arrow R is "right". Also, the direction of arrow U in the figure is "up", and the direction of arrow D is "down".

[0023] 〔Overall Configuration of the Rice Transplanter〕 As shown in FIGS. 1 and 2, the rice transplanter includes a body 1 of a riding type and a four-wheel drive type. The body 1 includes a link mechanism 13 of a parallel four-link type that is connected to the rear part of the body 1 so as to be able to swing up and down, a hydraulic lift link 13a that swings and drives the link mechanism 13, and a seedling planting device 3 that is connected to the rear end region of the link mechanism 13 so as to be able to roll. The seedling planting device 3 is an example of a working device, and as other working devices, a fertilizer application device, a chemical spraying device, etc. may be mounted.

[0024] The body 1 includes wheels 12 as a traveling device, an engine 2, and a hydraulic continuously variable transmission 9 that is a main transmission device. The continuously variable transmission 9 is, for example, an HST (Hydro-Static Transmission), and changes the driving force output from the engine 2 by adjusting the angles of the motor swash plate and the pump swash plate. The wheels 12 have left and right front wheels 12A that can be steered and left and right rear wheels 12B that cannot be steered. The engine 2 and the continuously variable transmission 9 are mounted on the front part of the body 1. The power output from the engine 2 is supplied to the front wheels 12A, the rear wheels 12B, the working device, etc. via the continuously variable transmission 9, etc.

[0025] The seedling planting device 3 is configured, for example, as an 8-row planting type. The seedling planting device 3 includes a seedling tray 21, an 8-row planting mechanism 22, five floats 15, etc. This seedling planting device 3 can be changed to 2-row, 4-row, 6-row planting types, etc., by controlling each row clutch (planting clutch 23).

[0026] The seedling tray 21 is a base on which eight rows of mat-shaped seedlings are placed. The seedling tray 21 moves back and forth in the left-right direction with a constant stroke corresponding to the left-right width of the mat-shaped seedlings, and each time the seedling tray 21 reaches the left or right end of the stroke, each mat-shaped seedling on the seedling tray 21 is moved vertically at a predetermined pitch toward the lower end of the seedling tray 21.

[0027] The eight planting mechanisms 22 are rotary in type and are arranged horizontally at regular intervals corresponding to the planting rows. Each planting mechanism 22 receives power from the engine 2 when the planting clutch 23 is engaged, and it cuts off one seedling from the bottom of each mat of seedlings placed on the seedling tray 21 and plants it in the prepared muddy soil. In this way, the seedling planting device 3 can take seedlings from the mat of seedlings placed on the seedling tray 21 and plant them in the muddy soil of the paddy field.

[0028] The floats 15 prepare the field during seedling planting. Each float 15 is installed in conjunction with two rows of planting mechanisms 22.

[0029] The machine body 1 is equipped with an operating section 14 in its rear section. The operating section 14 includes a steering wheel 10 for steering the front wheels, a main gear lever 7 for adjusting the vehicle speed by shifting gears of the continuously variable transmission 9, an operation lever 11 for operating the raising and lowering of the seedling planting device 3 and switching the planting clutch 23 on and off (switching between a powered state and a non-powered state), and an operator's seat 16 for the operator (driver / worker). The steering wheel 10, the main gear lever 7, and the operation lever 11 are located on an operating panel 6 in front of the operator's seat 16. Furthermore, a spare seedling storage device 17A for storing spare seedlings is supported by a spare seedling support frame 17 in front of the operating section 14.

[0030] Furthermore, a positioning unit 8 is provided in the spare seedling support frame 17. The positioning unit 8 outputs positioning data for calculating the position and bearing of the aircraft 1. The positioning unit 8 includes a satellite positioning module 8A that receives radio waves from satellites of the Global Navigation Satellite System (GNSS) and an inertial measurement module 8B that detects the tilt and acceleration of the three axes of the aircraft 1.

[0031] [Work run] The operation and movement of the rice transplanter as it performs rice planting in the field will be explained using Figure 3, with reference to Figures 1 and 2.

[0032] In this embodiment, the rice transplanter can be selectively operated manually or automatically. Manual operation is performed by the operator manually operating the steering wheel 10, main gear lever 7, work operation lever 11, and other work operation tools. Automatic operation is performed by the rice transplanter under automatic control, performing straight-line work along the straight-line path IPL (Integrated Plane Line) described later, interspersed with turning. In this case, the turning is not performed by generating a travel path, but is automatically controlled according to a predetermined procedure. In this way, the rice transplanter performs work on the field by repeatedly performing turning and straight-line work. Here, for example, when the rice transplanter is operating outside the field, manual operation is selected.

[0033] When a rice transplanter performs planting work, the field is divided into an outer area (OA) and an inner area (IA), and the machine operates according to the requirements for each area.

[0034] In the internal area IA, multiple straight-line paths (IPLs) are generated that are roughly parallel to one side of the field. Each straight-line path IPL is a travel path that covers the entire internal area IA, and each straight-line path IPL is traveled back and forth with a turn in between. Each time a turn is performed, the next straight-line path IPL to be traveled is generated sequentially.

[0035] After work is performed in the inner area IA, work is performed in the outer area OA. Work in the outer area OA is performed by automatic or manual operation. When automatic work is performed in the outer area OA, one circular route RL is generated in this embodiment, which circles within the outer area OA along the outer perimeter of the field. By performing work along the circular route RL, work is performed throughout the outer area OA. Note that there may be two or more circular routes RL circulating within the outer area OA.

[0036] [Automatic turning and driving] Next, we will explain automatic turning and driving using Figure 4, referring to Figures 1 and 3.

[0037] The automatic turning maneuver shown on the left of Figure 4 is initiated by a predetermined manual operation. The automatic turning maneuver is performed in the outer perimeter area OA, but in particular, in the area inside the field by a predetermined distance from the ridge RW. The automatic turning maneuver is not performed along a travel path, but rather in a predetermined procedure by controlling the travel device, such as the wheels 12, in a predetermined manner.

[0038] In automatic turning, when the vehicle reaches the straight-line end position EP, which is the starting position of the straight-line path IPL, it reverses if necessary, and the front wheels 12A (running gear) are operated to a predetermined steering angle, for example, the maximum steering angle, to perform turning. In Figure 4, the path along which turning is performed is indicated by the symbol "TPL".

[0039] When the vehicle reaches the starting position SP of the straight-line IPL (Integrated Purpose Line) for the next work run, automatic driving control is activated to drive along the straight-line IPL. This transitions the automatic driving control from automatic turning to automatic straight-line driving. As shown on the left of Figure 4, if necessary, the vehicle reverses after turning before driving along the straight-line IPL.

[0040] [Operation to change the end position of the straight-ahead route] As shown in Figure 5, the rice transplanter is equipped with a touch panel 41 (corresponding to the "operating device" of the present invention) that allows the user to manually input the end position EP of the straight path. The touch panel 41 may be located on the operation panel 6 (see Figure 1), or it may be composed of a dedicated information terminal or smartphone, and is not limited to these.

[0041] The touch panel 41 includes a work status display unit 41a that displays the work status and an input unit 41b that inputs various settings. When the operator presses (touches) the "Automatic Operation Settings" icon on the input unit 41b, various setting screens are displayed.

[0042] One of the various settings screens is the End Position Change screen 41c, which allows you to change the end position EP of the straight path. Figure 6 shows the End Position Change screen 41c, which is the "One-Loop Planting Stop Position Adjustment" screen. The End Position Change screen 41c has a "-" icon Mi and a "+" icon Pi.

[0043] The operator can change the straight-line path end position EP of the straight-line path IPL by pressing (touching) the "-" icon Mi and the "+" icon Pi. Specifically, by pressing (touching) the "-" icon Mi and the "+" icon Pi, the "round-trip planting stop position" is changed within the range of "0" to "-6". Here, the "round-trip planting stop position" is the change value CV from the position of the straight-line path end position EP (hereinafter referred to as "initial position EP0") calculated when the path generation unit 33, described later, generates the straight-line path IPL. When the change value CV is "0", the initial position EP0 becomes the end position of the straight-line path IPL. By changing the change value CV to "-1" to "-6", the straight-line path end position EP is changed from the initial position EP0 toward the straight-line path start position SP side (the side away from the ridge RW).

[0044] In this embodiment, when the change value CV is changed from "-1" to "-6", the straight path end position EP is moved 10 cm away from the initial position EP0 towards the straight path start position SP (the side away from the ridge RW) for every -1 value. In other words, when the change value CV is changed to "-6", the straight path end position EP is moved 60 cm away from the initial position EP0 towards the straight path start position SP.

[0045] Figure 4 shows the state before the change in the straight path end position EP (left) and after the change in the straight path end position EP (right). As shown on the left of Figure 4, before the change in the straight path end position EP, the rice transplanter moves forward to the initial position EP0 of the straight path end position EP of the straight path IPL. At this time, the rice transplanter approaches the ridge RW to the state shown in Figure 7. If necessary, it reverses as shown on the right of Figure 4, and then turns towards the next straight path IPL.

[0046] By changing the straight-line path end position EP, as shown on the left in Figure 4, the straight-line path end position EP of the straight-line path IPL is changed to a position further from the ridge RW compared to the position before the change (right figure). Here, when the operator changes the change value CV from "-1" to "-6", the straight-line path end positions EP of the straight-line path IPL are changed to the changed end positions EP1 to EP6, respectively. In Figure 4, these are collectively referred to as "EPn", and the distance between the initial position EP0 and the changed end position EPn is shown as "g". In this embodiment, when the operator sets the change value CV to "-6", the distance g between the initial position EP0 and the changed end position EPn (EP6) is 60 cm.

[0047] During automatic turning, the machine turns while approaching the ridge RW. In this embodiment, as shown in Figure 7, if the height of the ridge RW is lower than the lower end of the front end portion 1T, which is in front of the front wheel 12A of the machine body 1, the machine body 1 can approach the ridge RW to a position above the ridge RW and turn. However, as shown in Figure 8, if the height of the ridge RW is higher than the lower end of the front end portion 1T of the machine body 1, the machine body 1 needs to adjust to turn at a position away from the ridge RW so that the front end portion 1T does not collide with the ridge RW. Therefore, as described above, by changing the straight path end position EP, it is possible to adjust the machine body 1 so that the front end portion 1T does not collide with the ridge RW.

[0048] [Automatic driving control configuration] Next, referring to Figures 1 and 4, we will explain the control configuration during autonomous driving using Figure 9.

[0049] In automated operation, the work and movement of the rice transplanter are controlled by a control unit 30 equipped with a processor such as a CPU, based on various control parameters (set values). The control unit 30 includes a machine position calculation unit 31, a travel control unit 32, a path generation unit 33, an end position change unit 34, and a storage unit 35.

[0050] The aircraft position calculation unit 31 intermittently or continuously calculates the position and direction of travel of the aircraft 1 in the field based on the positioning data received from the positioning unit 8.

[0051] The driving control unit 32 has an automatic driving mode in which the aircraft 1 is steered based on the position of the aircraft 1 calculated by the aircraft position calculation unit 31 and the path generated by the path generation unit 33; a manual driving mode in which the aircraft 1 is steered based on manual operation; and a pause mode in which the aircraft 1 is temporarily stopped.

[0052] In automatic driving mode, the rice transplanter drives automatically, and the driving control unit 32 controls the wheels 12 and controls automatic work driving along the straight path IPL based on the position of the machine body 1. When the machine body reaches the straight path end position EP of the straight path IPL, it controls the machine body 1 to turn according to a predetermined procedure. In this embodiment, the machine detects that it has reached the straight path end position EP based on positioning data received from the positioning unit 8.

[0053] In manual driving mode, the rice transplanter is driven manually, and the driving control unit 32 does not perform any particular control over the wheels 12. The operator manually operates the work driving device to perform the work.

[0054] When the driving control unit 32 is in automatic driving mode, there are times when the machine 1 is stopped by the operator, for example, when replenishing seedlings. At this time, the driving control unit 32 enters a pause mode and temporarily stops the control of automatic driving.

[0055] The path generation unit 33 calculates at least one of a basic straight line and a reference direction for generating a straight-line IPL for straight-line driving, based on the teaching driving performed. Then, using the calculated basic straight line or reference direction, the path generation unit 33 generates the next straight-line IPL to be driven each time a turning drive is performed. At this time, a straight-line start position SP, which is the starting position of the straight-line IPL, and a straight-line end position EP, which is the ending position of the straight-line IPL and marks the end of the straight-line driving before starting the turning drive, are generated. In this embodiment, the path generation unit 33 generates the next straight-line IPL, etc., based on the positioning data received from the positioning unit 8 during the previous straight-line IPL drive.

[0056] The end position change unit 34 changes the straight-ahead path end position EP based on the change value CV, which is the value of the "one-lap planting stop position" set by the operator through manual input on the end position change screen 41c ("one-lap planting stop position adjustment" screen) shown in Figure 6 via the touch panel 41. The end position change unit 34 is configured to change the straight-ahead path end position EP only from the straight-ahead path end position EP (initial position EP0) generated by the path generation unit 33 toward the starting position on the straight-ahead path IPL (straight-ahead path start position SP). The end position change unit 34 is configured to change the straight-ahead path end position EP only when the driving control unit 32 is in automatic driving mode or pause mode.

[0057] The memory unit 35 stores various information, including route information such as the straight-line route IPL, the straight-line route start position SP, and the straight-line route end position EP, as well as various control parameters (set values). In this embodiment, the memory unit 35 also stores the changed value CV. The various information stored in the memory unit 35 remains even when the rice transplanter is turned OFF. In other words, when the operator changes the value of "one-turn planting stop position" on the end position change screen 41c shown in Figure 6, the changed value CV is stored even when the rice transplanter is turned OFF and then ON again. As a result, the straight-line route end position EP is set to the position after the change based on the position of the changed value CV.

[0058] [Another embodiment] The following are examples of alternative embodiments that modify the above embodiments.

[0059] (1) In the above embodiment, the touch panel 41 is provided with a work status display unit 41a that displays the work status and an input unit 41b that inputs various upward directions, and the "one-circle planting stop position" can be confirmed and changed by operating the input unit 41b to display the end position change screen 41c ("one-circle planting stop position adjustment" screen). However, the present invention is not limited to the above embodiment, and the touch panel 41 may be configured to have an end position display unit (corresponding to the "display unit" of the present invention) that displays the straight path end position EP instead of the work status display unit 41a and the input unit 41b, and in this case, the "one-circle planting stop position" can be confirmed and changed using the end position display unit.

[0060] (2) In the above embodiment, a configuration in which a touch panel 41 is provided was described as an example, but the present invention is not limited to the above embodiment, and in addition to the touch panel 41, or in place of the touch panel 41, a notification unit that notifies the end position EP of the straight path may be provided. In this case, the notification unit may be configured to notify that the aircraft 1 is approaching the end position EP of the straight path.

[0061] (3) In the above embodiment, the memory unit 35 was described as storing the value of the change value CV ("Planting Stop Position Around One Circle") set by the operator on the end position change screen 41c ("Adjusting the Stop Position Around One Circle") shown in Figure 6 as the end position change value, but the present invention is not limited to the above embodiment. For example, the memory unit 35 may be configured to store the changed straight-ahead end position EP when the operator changes the change value CV on the end position change screen 41c shown in Figure 6. Alternatively, the memory unit 35 may be configured not to store the change value CV.

[0062] (4) In the above embodiment, the end position changing unit 34 was described as being configured to change the straight-ahead end position EP only when the driving control unit 32 is in automatic driving mode or pause mode, but the present invention is not limited to the above embodiment. For example, the end position changing unit 34 may be configured to change the straight-ahead end position EP only in automatic driving mode, or to change the straight-ahead end position EP only in pause mode, or to be configured to change it in manual driving mode.

[0063] (5) In the above embodiment, a configuration in which the straight-ahead path end position EP is changed by the operator manually inputting information on the touch panel 41 was described as an example, but the present invention is not limited to the above embodiment. For example, a lidar sensor or the like may be provided, and in addition to manual input on the touch panel 41, the straight-ahead path end position EP may be changed automatically based on the detection results of the lidar sensor or the like.

[0064] (6) In the above embodiment, a configuration in which the change value CV (the "round-around planting stop position" on the end position change screen 41c) can be changed within the range of "0" to "-6" was described as an example. However, the present invention is not limited to the above embodiment, and the change value CV may be changed within the range of "1" or more, or within the range of "-7" or less. Specifically, when the upper and lower limits of the change value CV are "n", in Figure 4, "n" is an integer value and can be set from the initial position EP0 to the changed end position EPn. In this embodiment, the distance g between the initial position EP0 and the changed end position EPn is "n × 10 cm", and the configuration allows the plant to be changed to a position "n × 10 cm" away from the initial position EP0. The upper and lower limits of the change value CV may be values ​​that are automatically calculated based on the distance from the straight path end position EP to the ridge RW, or they may be predetermined values. Furthermore, when the operator changes the straight-ahead path end position EP on the end position change screen 41c shown in Figure 6, the system may be configured to prevent setting values ​​that would cause the position to exceed the ridge RW. Additionally, if the operator sets the straight-ahead path end position EP to a value that would cause the position to exceed the ridge RW, the system may be configured to notify the operator with a warning message or sound.

[0065] (7) In the above embodiment, the present invention has been described as an example in which the system detects when the straight-line path end position EP has been reached based on positioning data received from the positioning unit 8, and the route generation unit 33 generates the next straight-line path IPL, etc., to be traveled based on positioning data received from the positioning unit 8 during the previous straight-line path IPL travel. However, the present invention is not limited to the above embodiment. For example, the system may detect the travel distance of the machine 1 in the previous straight-line path IPL, and when the travel distance detected in the straight-line path IPL during work travel is reached, the system may detect when the straight-line path end position EP has been reached. In this case, for example, the system may detect the travel distance of the machine 1 in the straight-line path IPL by detecting the rotation speed of the wheels 12 during the straight-line path IPL travel. Alternatively, the route generation unit 33 may generate the next straight-line path IPL, etc., to be traveled based on the travel distance calculated from the rotation speed of the wheels 12 detected during the previous straight-line path IPL travel. In addition to the rotation speed of the wheels 12, the system may also use a camera or the like to detect the number of seedlings (crops) in the work area, and when the detected number reaches a certain value, it may be configured to detect that the straight-line path end position EP has been reached. Alternatively, the system may detect the number of seedlings planted (worked on), and when the detected number reaches a certain value, it may be configured to detect that the straight-line path end position EP has been reached. Thus, any configuration can be adopted, such as a configuration that detects that the straight-line path end position EP has been reached based on the work history, and a configuration in which the path generation unit 33 generates the next straight-line path IPL, etc., based on this work history. Furthermore, even with such a configuration, the straight-line path end position EP can be changed by the end position changing unit 34.

[0066] Furthermore, the configurations disclosed in the above embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with configurations disclosed in other embodiments, as long as no inconsistencies arise. In addition, the embodiments disclosed herein are illustrative, and the embodiments of the present invention are not limited thereto, and can be modified as appropriate without departing from the object of the present invention. [Industrial applicability]

[0067] This invention can be applied to rice transplanters, agricultural vehicles that operate in fields while turning, and various other types of work vehicles that operate in work areas while turning. [Explanation of Symbols]

[0068] 1: Aircraft 31: Aircraft position calculation unit 32: Driving control unit 33: Route generation unit 34: End position change section 41: Touch panel (operating device, display unit) IPL: Straight path EP: End of straight path

Claims

1. A work vehicle that performs work in a field by repeatedly alternating between turning and straight-line driving, The aircraft and, A traveling device provided on the aforementioned aircraft, An aircraft position calculation unit that calculates the position of the aircraft, A path generation unit that generates a straight path for performing the aforementioned straight-line driving, and a straight-line path termination position where the straight-line driving ends and the turning driving begins, A work vehicle equipped with an end position changing unit that changes the end position of the straight path in response to manual input.

2. The work vehicle according to claim 1, wherein the end position changing unit is configured to change the end position of the straight path only from the straight path end position generated by the path generation unit toward the starting position on the straight path.

3. The work vehicle according to claim 1, further comprising an operating device that allows for the manual input of the end position of the straight-ahead path.

4. The work vehicle according to claim 3, wherein the operating device is a touch panel.

5. The work vehicle according to claim 4, wherein the touch panel has a display unit that displays the end position of the straight path.

6. The work vehicle according to claim 1, further comprising a notification unit for notifying the end position of the straight-ahead path.

7. The vehicle is equipped with a driving control unit that has an automatic driving mode for steering the vehicle based on the vehicle's position calculated by the vehicle position calculation unit and the path generated by the path generation unit, a manual driving mode for steering the vehicle based on manual operation, and a pause mode for temporarily pausing the vehicle in the automatic driving mode. The work vehicle according to claim 1, wherein the end position changing unit is configured to change the end position of the straight path only when in the automatic driving mode and the temporary stop mode.

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