Agricultural machinery

Abstract

To enable smooth shift to automatic travel when the automatic travel is performed after the vehicle body separated from at least a travel scheduled-line is brought close to the travel scheduled-line.SOLUTION: An agricultural machine includes: a vehicle body capable of traveling; a travel switch that commands the start of automatic travel of the vehicle body when operated; and an automatic travel control unit that automatically travels the vehicle body on the basis of a travel scheduled-line when the command is outputted. If one of a positional difference between a selected travel scheduled-line and the vehicle body and an azimuth difference between the travel scheduled-line and a direction of the vehicle body is equal to or larger than a first threshold value when the command by the travel switch is given, the automatic travel control unit executes line matching so that the positional difference and the azimuth difference become smaller than the first threshold value.SELECTED DRAWING: Figure 12D

Description

[Technical field]

[0001] The present invention relates to agricultural machinery such as a tractor, a combine harvester, a rice transplanter, etc. [Background technology]

[0002] Conventionally, an agricultural machine that performs automatic travel is known as disclosed in Patent Document 1. The agricultural machine (farm work vehicle) disclosed in Patent Document 1 includes a vehicle position calculation unit that calculates the vehicle position, a vehicle orientation calculation unit that calculates the travel orientation of the vehicle, a position deviation calculation unit that calculates a position deviation that is a lateral position deviation of the vehicle with respect to a target travel route, an orientation deviation calculation unit that calculates an orientation deviation between the orientation line of the target travel route and the travel orientation, a first control calculation unit that outputs a first steering value using the position deviation and the target position deviation as input parameters, a second control calculation unit that outputs a second steering value using the orientation deviation, the target orientation deviation, and the position deviation as input parameters, a target steering calculation unit that outputs a target steering value for traveling along the target travel route based on the first steering value and the second steering value, a steering drive control unit that outputs a steering drive signal using the target steering value as an input, and a steering drive unit that steers the steered wheels based on the steering drive signal. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-38535 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the agricultural machine disclosed in Patent Document 1, the position deviation and the azimuth deviation can be used to make the agricultural machine travel along a target travel route. However, in the agricultural machine of Patent Document 1, it is difficult to smoothly transition to automatic travel after interrupting automatic travel and moving the tractor away from the target travel route and then returning the agricultural machine to the target travel route. In view of the above-described circumstances, the present invention aims to provide an agricultural machine that can smoothly transition to automatic driving, at least when performing automatic driving after a vehicle body that has moved away from the planned driving line is brought closer to the planned driving line. [Means for solving the problem]

[0005] The agricultural machine of the present invention comprises a vehicle body capable of traveling, a traveling switch that commands the start of automatic traveling of the vehicle body when operated, a position detection device that detects the position of the vehicle body, and an automatic traveling control unit that performs the automatic traveling when the start of the automatic traveling is commanded by the traveling switch, and controls steering of the vehicle body while traveling the vehicle body based on a planned traveling line so that the position of the vehicle body detected by the position detection device coincides with the planned traveling line, the planned traveling line includes a plurality of straight traveling sections that cause the vehicle body to travel straight in order to perform work in a field using a work device attached to the vehicle body, and a turning unit that turns the vehicle body, and the automatic traveling control unit is configured to select any one of the plurality of straight traveling sections as a position at which the automatic traveling will be resumed by an operator after the automatic traveling based on the planned traveling line is interrupted. Select Selected and The vehicle body is disposed around the selected straight section, which is any one of the selected straight sections. manual operation Move with Then, when the start of the automatic driving is commanded by the driving switch, The above At least one of a position deviation between the selected straight-line section and the position of the vehicle body and an orientation deviation between the orientation of the selected straight-line section and the orientation of the vehicle body. Against is equal to or greater than a corresponding first threshold value, and , the position deviation and the orientation deviation are If the deviation is equal to or less than a corresponding second threshold value that is greater than the first threshold value, the vehicle body is turned around to perform line alignment to make the position deviation and the orientation deviation less than the first threshold value, and then the automatic traveling is started, and the automatic traveling control unit performs the turning around one or more times in the line alignment, where one turning around is performed by steering the vehicle body forward to approach the selected straight portion, and then steering the vehicle body while moving backward to adjust the orientation deviation to be less than the first threshold value. If at least one of the position deviation and the orientation deviation is greater than the corresponding second threshold value, the automatic driving control unit does not execute the line alignment and does not start the automatic driving. .

[0006] In one aspect of the present invention ,before The automatic driving control unit Seo By performing the above, the position deviation and the orientation deviation are reduced to less than the first threshold value which is greater than zero. Nissu do.

[0007] In another aspect of the present invention, The automatic driving control unit is configured to adjust the vehicle body of The vehicle performs the turning motion a plurality of times, and when the number of turning motions reaches or exceeds a predetermined number, the automatic traveling is started. In another aspect of the present invention, The automatic driving control unit is The automatic driving starts directive Be a vehicle body position that is the position of the vehicle body when the vehicle body is in the forward direction; The selected straight section If the distance between the end of the 、 The line alignment is not performed.

[0008] In addition, in one aspect of the present invention, the agricultural machine is equipped with an equipment acquisition unit that acquires equipment information indicating the type of work equipment attached to the vehicle body, and the automatic driving control unit does not perform the line alignment if the type of work equipment indicated in the equipment information acquired by the equipment acquisition unit is a predetermined work equipment. In another aspect of the present invention, ,before When the driving switch commands the start of the automatic driving, if the vehicle body position, which is the position of the vehicle body detected by the position detection device, is a start position set on the planned driving line, the automatic driving control unit moves the vehicle body forward and backward around the start position to perform the line alignment and then starts the automatic driving.

[0009] In one aspect of the present invention, the agricultural machine includes an input unit for selecting an accuracy of the work performed by the work device, and the automatic travel control unit sets the first threshold to a smaller value as the accuracy of the work selected by the input unit becomes higher. 。 Effect of the Invention

[0010] According to the present invention, at least when performing automatic driving after a vehicle body that has moved away from the planned travel line is brought closer to the planned travel line, a smooth transition to automatic driving can be made. [Brief description of the drawings]

[0011] [Figure 1] FIG. [Diagram 2] FIG. 2 is an overall side view of the tractor. [Diagram 3] FIG. 2 is an enlarged side view of the front of the tractor. [Figure 4] FIG. 4 is a front view of the tractor when the obstacle detection device is in a detection position. [Diagram 5] FIG. 4 is a front view of the tractor when the obstacle detection device is in a retracted position. [Figure 6] FIG. 2 is a block diagram of a control system of the tractor. [Figure 7] 4 is a plan view showing the obstacle detection device at a detection position and a cover thereof in phantom lines; FIG. [Figure 8] FIG. 4 is a side view of the front part of the tractor when the obstacle detection device is in the detection position. [Figure 9] FIG. 2 is a perspective view showing a state in which a separation cover is removed from a cover body. [Figure 10] FIG. 13 is a diagram showing an example of a creation screen M1. [Figure 11] FIG. 13 is a diagram showing an example of an operation screen M5. [Figure 12A] FIG. 2 is a diagram illustrating an example before automatic driving starts. [Figure 12B] FIG. 13 is a diagram showing an example of an automatic driving mode; [Figure 12C] FIG. 13 is a diagram showing an example in which manual driving is performed after automatic driving is interrupted. [Figure 12D] FIG. 13 is a diagram illustrating an example of line alignment. [Figure 12E] FIG. 13 is a diagram showing a state in which a straight portion is bent. [Figure 12F] FIG. 13 is a diagram showing an example of a case where automatic traveling is started halfway along a planned traveling line. [Figure 13]1 is a flow diagram showing an operation of automatic driving. [Figure 14] FIG. 13 is a diagram showing an example of a setting screen M6. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. 1 and 2 show one embodiment of an agricultural machine 1 according to the present invention. In this embodiment, the agricultural machine 1 will be described as a tractor 1. However, the agricultural machine 1 may be other agricultural machines (agricultural vehicles) such as a combine harvester, rice transplanter, etc., in addition to the tractor. 1 and 2 will be referred to as the forward direction, the rearward direction, the leftward direction, the rightward direction, and the width direction of the vehicle body. Also, the direction away from the center of the vehicle body width direction (arrow D1 direction) will be referred to as the outward direction (or outward direction) of the vehicle body width direction, and the direction toward the center of the vehicle body width direction (arrow D2 direction) will be referred to as the inward direction (or inward direction) of the vehicle body width direction.

[0013] <Tractor> As shown in FIG. 1 and FIG. 2, the tractor 1 includes a body 3, a prime mover 4, and a transmission 5. The body 3 is provided with a traveling device 7. The traveling device 7 supports the body 3 so that it can travel, and has front wheels 7F and rear wheels 7R. The front wheels 7F and rear wheels 7R are tire-type wheels in this embodiment, but may be crawler-type wheels. The prime mover 4 is an engine (diesel engine, gasoline engine), an electric motor, or the like. The transmission 5 can change the propulsive force of the traveling device 7 by changing the speed, and can switch the traveling device 7 between forward and reverse. The body 3 is provided with a driver's seat 10. The driver's seat 10 is protected by a protection device 9. In this embodiment, the protection device 9 is a cabin that protects the driver's seat 10 by surrounding the front, rear, upper, and sides of the driver's seat 10, but may also be a rope that protects the driver's seat 10 by covering at least the upper part of the driver's seat 10. A fender 13 is attached below the protection device 9, and covers the upper part of the rear wheel 7R.

[0014] A coupling section (not shown) configured with a three-point link mechanism or the like is provided at the rear of the vehicle body 3. A working implement (such as an implement) 2 can be detachably coupled to the coupling section. By coupling the working implement 2 to the coupling section, the working implement 2 can be towed by the vehicle body 3. The working implement 2 is a tilling implement for tilling, a fertilizer spreader for spreading fertilizer, a pesticide spreader for spreading pesticide, a harvesting implement for harvesting, a reaping implement for reaping grass or the like, a spreading implement for spreading grass or the like, a grass collecting implement for collecting grass or the like, a shaping implement for shaping grass or the like, etc.

[0015] The vehicle body 3 has a vehicle body frame 20. As shown in FIG. 1, the vehicle body frame 20 includes a vehicle body frame 20L provided on the left side and a vehicle body frame 20R provided on the right side. The vehicle body frame 20L and the vehicle body frame 20R are each extended forward from the transmission 5 side and support the lower part of the prime mover 4. The vehicle body frame 20L and the vehicle body frame 20R are spaced apart in the vehicle body width direction. The front end of the vehicle body frame 20L and the front end of the vehicle body frame 20R are connected by a front connecting plate 20F. The middle part of the vehicle body frame 20L and the middle part of the vehicle body frame 20R are connected by a middle connecting plate 20M. The vehicle body frame 20L and the vehicle body frame 20R support a front axle case 29. The front axle 15 (see FIG. 6) that rotatably supports the front wheel 7F is housed in the front axle case 29. That is, in this embodiment, the body frame 20 is a front axle frame that supports the front axle 15. Note that the body frame 20 may be a frame that supports a structure other than the front axle case 29 (a frame other than a front axle frame).

[0016] As shown in Figs. 1 to 3, a bonnet 25 is provided above the body frame 20. The bonnet 25 extends in the front-rear direction along the body frame 20. The bonnet 25 is disposed in front of the center of the width direction of the protection device 9. The bonnet 25 has a left side wall 25L provided on the left side, a right side wall 25R provided on the right side, and an upper wall portion 25U connecting the upper portions of the left side wall 25L and the right side wall 25R. An engine room is formed by the left side wall 25L, the right side wall 25R, and the upper wall portion 25U, and the engine room accommodates the prime mover 4, a cooling fan, a radiator, a battery, etc. Front wheels 7F are disposed to the left of the left side wall 25L and to the right of the right side wall 25R, respectively.

[0017] A weight 26 is provided on the front side of the bonnet 25, i.e., on the front sides of the body frames 20L, 20R. The weight 26 is attached to a weight bracket (weight mounting portion) 27 provided at the front part of the body 3. The weight bracket 27 is attached to the front connecting plate 20F of the body frame 20L with fasteners such as bolts. The periphery of the weight 26 is covered with a weight cover 100.

[0018] As shown in FIG. 6, the tractor 1 is equipped with a steering device 11. The steering device 11 has a handle (steering wheel) 11a, a rotating shaft (steering shaft) 11b that rotates with the rotation of the handle 11a, and an assist mechanism (power steering mechanism) 11c that assists the steering of the handle 11a. The assist mechanism 11c includes a hydraulic pump 21, a control valve 22 to which hydraulic oil discharged from the hydraulic pump 21 is supplied, and a steering cylinder 23 that is operated by the control valve 22. The control valve 22 is an electromagnetic valve that operates based on a control signal. The control valve 22 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 22 can also be switched by steering the steering shaft 11b. The steering cylinder 23 is connected to an arm (knuckle arm) 24 that changes the direction of the front wheels 7F.

[0019] Therefore, by operating the steering wheel 11a, the switching position and opening degree of the control valve 22 are switched in response to the steering wheel 11a, and the steering cylinder 23 extends or contracts to the left or right in response to the switching position and opening degree of the control valve 22, thereby changing the steering direction of the front wheels 7F. Note that the above-described steering device 11 is an example, and the configuration of the steering device 11 is not limited to the above-described configuration.

[0020] <Position detection device> As shown in Figures 1 and 2, the tractor 1 is equipped with a position detection device 30. The position detection device 30 is mounted on the front of the top plate of the protection device 9 via a mounting body 31. However, the mounting position of the position detection device 30 is not limited to the position shown in the figure, and the position detection device 30 may be mounted on the top plate of the protection device 9 or in another location on the vehicle body 3. The position detection device 30 may also be mounted on the working implement 2, such as the above-mentioned tilling implement. The position detection device 30 is a device that detects its own position (positioning information including latitude and longitude) by a satellite positioning system. That is, the position detection device 30 receives a signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from a positioning satellite, and detects its position (latitude, longitude) based on the received signal. The position detection device 30 may detect its own position (latitude, longitude) as a position corrected based on a signal such as a correction from a base station (reference station) that can receive a signal from the positioning satellite. The position detection device 30 may also have an inertial measurement device such as a gyro sensor or an acceleration sensor, and detect the position corrected by the inertial measurement device as its own position. The position detection device 30 can detect the position (traveling position) of the body 3 of the tractor 1.

[0021] <Obstacle detection device> As shown in FIG. 1, the tractor 1 is provided with a plurality of obstacle detection devices 45. Each of the plurality of obstacle detection devices 45 is capable of detecting an object present around the tractor 1, i.e., an obstacle. At least one of the plurality of obstacle detection devices 45 is provided in front of the protection device 9 and outside the bonnet 25. That is, at least one of the obstacle detection devices 45 is disposed in an area in front of the protection device 9 of the tractor 1, in an area to the left of the left side wall 25L of the bonnet 25, or in an area to the right of the right side wall 25R of the bonnet 25. In the case of this embodiment, the plurality of obstacle detection devices 45 include an obstacle detection device 45L provided on the left side of the vehicle body 3 (left side of the bonnet 25) and an obstacle detection device 45R provided on the right side of the vehicle body 3 (right side of the bonnet 25).

[0022] Moreover, the obstacle detection device 45 is provided in front of the front wheel 7F and outboard of the front wheel 7F. The obstacle detection device 45L is provided in front of the left front wheel 7F and outboard (to the left) of the left front wheel 7. The obstacle detection device 45R is provided in front of the right front wheel 7F and outboard (to the right) of the right front wheel 7F. In other words, the obstacle detection device 45L is provided to the left front of the left front wheel 7F, and the obstacle detection device 45R is provided to the right front of the right front wheel 7F. The obstacle detection device 45 is a laser scanner 45A, a sonar 45B, etc. The laser scanner 45A detects an object (obstacle) by emitting a laser as a detection wave. The laser scanner 45A detects the distance to the obstacle based on the time from emitting the laser to receiving the light. As shown in FIG. 9, the laser scanner 45A includes a light projecting and receiving unit 45A1 and a housing 45A2. The light projecting and receiving unit 45A1 emits a laser and receives the laser (reflected light) reflected by the irradiated laser hitting an obstacle. That is, the light projecting and receiving unit 45A1 includes an irradiating unit that emits a laser (detection wave) and a receiving unit that receives the laser (detection wave) reflected by the obstacle. The housing 45A2 is a case that houses and supports the light projecting and receiving unit 45A1. The container 45A2 has an upper body 45A3 arranged above the light emitting / receiving unit 45A1 and a lower body 45A4 arranged below the light emitting / receiving unit 45A1. Between the upper body 45A3 and the lower body 45A4, i.e., around the light emitting / receiving unit 45A1, all or part is open, allowing the laser (detection wave) to pass through.

[0023] The sonar 45B detects an object (obstacle) by emitting sound waves as detection waves. As shown in FIG. 9, the sonar 45B includes a sound emitting / receiving unit 45B1 and a housing 45B2. The sound emitting / receiving unit 45B1 emitting sound waves and receiving reflected sound that is generated when the emitting sound waves hit an obstacle. That is, the sound emitting / receiving unit 45B1 includes an emitting unit that emitting sound waves (detection waves) and a receiving unit that receives the sound waves (detection waves) that hit an obstacle and are reflected. The housing 45B2 is a case that houses and supports the sound emitting / receiving unit 45B1. The sonar 45B detects the distance to the obstacle based on the time from emitting the sound waves to receiving the reflected sound.

[0024] 1, the laser scanner 45A and the sonar 45B are disposed in front of the front wheel 7F and outboard of the front wheel 7F. More specifically, at least the receiving units (light projecting and receiving unit 45A1 and sound projecting and receiving unit 45B1) of the laser scanner 45A and the sonar 45B are disposed in front of the front wheel 7F and outboard of the front wheel 7F. 4, the laser scanner 45A and the sonar 45B are installed below the upper wall portion 25U of the bonnet 25 and at a position lower than the upper end portion of the front wheel 7F. Therefore, the light projecting and receiving unit 45A1 of the laser scanner 45A and the sound projecting and receiving unit 45B1 of the sonar 45B are also installed below the upper wall portion 25U of the bonnet 25 and at a position lower than the upper end portion of the front wheel 7F. In addition, the laser scanner 45A (light projecting and receiving unit 45A1) and the sonar 45B (sound projecting and receiving unit 45B1) are located below the upper end portion of the front wheel 7F and above the front axle 15.

[0025] 1 and 4, the laser scanner 45A is disposed outward of the sonar 45B. Specifically, as shown in Fig. 1, the laser scanner 45A (light emitting / receiving unit 45A1) is disposed outward of an imaginary line X1 that is positioned outward by the width (tread width) W1 of the front wheel 7F from the outer end in the width direction of the front wheel 7F when the front wheel 7F is in a position that causes the vehicle body 3 to move straight (when the steering wheel 11a is not turned). The sonar 45B is disposed inward of the imaginary line X1.

[0026] As shown in FIG. 7, the obstacle detection device 45 is supported on the vehicle body 3 by a support member 50. The support member 50 can change the position of the obstacle detection device 45 between a detection position (FIG. 4) and a retreat position (FIG. 5). The support member 50 includes a support member 50L that supports the obstacle detection device 45 on the left side of the vehicle body 3, and a support member 50R that supports the obstacle detection device 45 on the right side of the vehicle body 3. The support members 50L and 50R have the same configuration except that they are symmetrical with respect to the center line CL1 in the vehicle body width direction. The support member 50 extends outward from the vehicle body frame (front axle frame) 20 side. Specifically, the support member 50L extends leftward from the vehicle body frame 20L. The support member 50R extends rightward from the vehicle body frame 20R. As a result, the obstacle detection device 45 is located in front of the front wheels 7F and is capable of detecting obstacles to the sides and in front of the vehicle body 3.

[0027] <Control device, display device> As shown in Fig. 6, the tractor 1 is equipped with a control device 40 and a display device 80. The control device 40 is composed of a CPU, an electric circuit, an electronic circuit, etc., and performs various controls of the tractor 1. The display device 80 has a liquid crystal panel, an organic EL panel, etc., and displays various information. To the control device 40, a state detection device 41 that detects the driving state, etc., of the tractor 1, and an ignition switch 42 are connected. The state detection device 41 is, for example, a device that detects the state of a driving system, and detects the state of, for example, a crank sensor, a cam sensor, an engine rotation sensor, an accelerator sensor, a vehicle speed sensor, a steering angle sensor, a position detection device 30, etc. The state detection device 41 may be a device that detects something other than the state of the driving system, for example, a lift lever detection sensor, a PTO rotation detection sensor, etc.

[0028] The ignition switch 42 is installed around the driver's seat 10 and can be operated by an operator. The ignition switch 42 is a switch that can be switched between ON and OFF, and when it is turned ON, the prime mover 4 is driven, and when it is turned OFF, the drive of the prime mover 4 is stopped. Note that the ignition switch 42 may include an accessory switch for supplying power to electrical equipment, and in this case, the ignition switch 42 can be switched between a first ON position for driving the prime mover 4, a second ON position for supplying power to the electrically-operated equipment, and an OFF position.

[0029] <Autonomous driving> The control device 40 controls the driving system and the work system of the tractor 1. The control device 40 controls, for example, the engine speed, the vehicle speed, the steering angle of the steering device 11, and the like, based on the detection state detected by the state detection device 41. The control device 40 also controls automatic driving based on the detection state detected by the state detection device 41. Specifically, the control device 40 includes an automatic driving control unit 40A. The automatic driving control unit 40A is composed of an electric and electronic circuit provided in the control device 40, a program stored in the control device 40, and the like.

[0030] When performing automatic driving, a driving route (planned driving line) L1 is created using a display device 80 or the like, as shown in Fig. 10. First, the creation of the planned driving line L1 will be described. As shown in FIG. 10, when an operator or the like performs a predetermined operation on the display device 80, the display device 80 displays a creation screen M1 for creating a planned travel line L1. For example, when a predetermined field name is input to the field input section 86 of the creation screen M1, the display device 80 displays the field map input to the field input section 86 (field map MP2), that is, the map of the field H1 input to the field input section 86, on the creation screen M1 as the field map MP2. Also, when an operator or the like performs a predetermined operation on the display device 80, a travel route (planned travel line) L1 of the vehicle body 3 can be created on the field map MP2. In creating the planned travel line L1, for example, a straight section Lan (n=1, 2, 3, . . . n) indicating straight travel and a turning section Lbn (n=1, 2, 3, . . . n) indicating turning can be created as the planned travel line L1 in the field map MP2. For example, when a working width W1 is input in the working width input section 87a and a wrap width W2 is input in the wrap width input section 87b on the creation screen M1, the display device 80 calculates the interval K1 (K1=W1-2×W2) between the straight sections Lan, and sets multiple straight sections Lan at intervals K1 within the field H1. When multiple straight sections Lan are selected, the display device 80 sets a turning section Lbn that connects the ends of adjacent straight sections Lan among the multiple straight sections Lan. The number of straight sections Lan, etc. can be set arbitrarily.

[0031] Furthermore, when a predetermined position on the planned travel line L1 displayed on the creation screen M1 is selected with the pointer 88, the display device 80 sets the selected predetermined position as the start position P1 or the end position P2. In other words, the display device 80 can set (create) the planned travel line L1 (multiple straight sections Lan, multiple turning sections Lbn, start position P1, end position P2) for automatic travel within the field H1. Note that the planned travel line L1 created by an external device such as a server may be acquired by the tractor 1 and displayed on the display device 80.

[0032] When the creation of the planned travel line L1 is completed and a command to start automatic travel is issued, the automatic travel control unit 40A executes control of automatic travel (automatic travel control). As shown in FIG. 6, the command to start automatic travel is issued by a travel switch 85. The travel switch 85 is a switch that commands the start of automatic travel of the vehicle body 3 when operated. The travel switch 85 is a terminal (mobile terminal, tablet, etc.) 85a having a function that allows a command to start (start command) to be issued by remote operation, a first operation switch 85b that is installed near the driver's seat of the tractor 1 and that issues a start command when operated by the operator, a second operation switch 85c that issues a start command by selecting a symbol mark displayed on the display device 80, etc. The travel switch 85 may be a switch that allows a command to interrupt or end the automatic travel of the vehicle body 3 when operated.

[0033] In the automatic driving control, the automatic driving control unit 40A sets the switching position and opening degree of the control valve 22 so that at least the driving position of the vehicle body 3 (position detected by the position detection device 30) coincides with a preset driving route (driving path), i.e., so that the vehicle body 3 coincides with the planned driving line L1. In other words, the control device 40 sets the moving direction and moving amount of the steering cylinder 23 (the steering direction and steering angle of the front wheels 7F) so that the driving position of the tractor 1 coincides with the planned driving line L1.

[0034] In detail, the automatic driving control unit 40A compares the driving position of the vehicle body 3 with the position (planned driving position) indicated by the planned driving line L1, and if the driving position matches the planned driving position, it maintains the steering angle and steering direction (steering angle and steering direction of the front wheels 7F) of the handle 11a in the steering device 11 without changing them (it maintains the opening degree and switching position of the control valve 22 without changing them). If the driving position does not match the planned driving position, the automatic driving control unit 40A changes the steering angle and / or steering direction of the handle 11a in the steering device 11 so that the deviation (deviation amount) between the driving position and the planned driving position becomes zero (it changes the opening degree and / or switching position of the control valve 22).

[0035] In the above embodiment, the automatic driving control unit 40A changes the steering angle of the steering device 11 based on the deviation between the driving position and the planned driving position in the automatic driving control. However, when the orientation of the planned driving line L1 and the orientation (vehicle orientation) of the traveling direction (driving direction) of the tractor 1 (vehicle body 3) are different, the automatic driving control unit 40A may set the steering angle so that the vehicle orientation matches the orientation of the planned driving line L1. In addition, the automatic driving control unit 40A may set the final steering angle in the automatic driving control based on the steering angle calculated based on the deviation (position deviation) and the steering angle calculated based on the orientation deviation in the automatic driving control. In addition, the steering angle may be set by a method different from the method of setting the steering angle in the automatic driving control described above.

[0036] In addition, during automatic driving control, the automatic driving control unit 40A may control the rotation speed of the driving device 7, i.e., the front wheels 7F and / or the rear wheels 7R, so that the actual vehicle speed of the tractor 1 (body 3) matches a vehicle speed corresponding to a predetermined planned driving line L1. Furthermore, the automatic driving control unit 40A controls automatic driving based on the result of obstacle detection by the obstacle detection device 45. For example, if the obstacle detection device 45 does not detect an obstacle, the automatic driving continues, and if the obstacle detection device 45 detects an obstacle, the automatic driving stops. More specifically, if the obstacle detection device 45 detects an obstacle, the automatic driving control unit 40A stops the automatic driving by stopping the driving of the tractor 1 if the distance between the obstacle and the tractor 1 is equal to or less than a predetermined threshold (stop threshold).

[0037] In addition, the automatic driving control unit 40A continues automatic driving if the seating detection device 43 detects that a person is seated during automatic driving, and stops automatic driving if the seating detection device 43 detects that a person is not seated. 11, during automatic driving (during automatic driving), the display device 80 displays a driving screen M5. On the driving screen M5, a figure G1 indicating the tractor 1 (vehicle body 3) and an intended driving line L1 are displayed.

[0038] 12A, in order to perform unmanned automatic traveling in a field H1, first, an operator gets on the tractor 1 and moves the tractor 1 (body 3) toward a start position P1 by manual operation (manual traveling), and when the tractor 1 (body 3) reaches the start position P1, the operator gets off the tractor 1 (S1). When the operator or the like who gets off the tractor at the start position P1 satisfies the traveling start conditions and operates the traveling switch 85, a start command is input to the control device 40 (automatic traveling control unit 40A), and the automatic traveling control unit 40A starts automatic traveling (S2).

[0039] Running The start condition is a condition for judging whether the current position of the tractor 1 (body 3) is suitable for starting automatic traveling. As shown in Fig. 12A, when the position deviation ΔJ1 between a predetermined position (reference point) P10 of the tractor 1 (body 3) and the planned traveling line L1 is equal to or less than the threshold value J10 (for example, 5 m or less) and the orientation deviation ΔF3 between the body orientation F1 of the tractor 1 (body 3) and the orientation F2 of the planned traveling line L1 is equal to or less than the threshold value F10 (for example, 20° (deg) or less), the control device 40 (automatic traveling control unit 40A) judges that the traveling start condition is satisfied, and when the position deviation ΔJ1 exceeds the threshold value J10 (for example, more than 5 m) or the orientation deviation ΔF3 exceeds the threshold value F10 (for example, more than 20° (deg)), it judges that the traveling start condition is not satisfied.

[0040] As shown in FIG. 12A, Running The position deviation ΔJ1 for determining the start condition is the distance between the tractor 1 (body 3) and the planned travel line L1 in the travel direction (body orientation F2) of the tractor 1 (body 3), and is indicated by the range of an arc (central angle 20° deg) A10 with the reference point P10, which is the front end of the tractor 1 (body 3), as the center. In other words, when an arc with a radius of 5 m is drawn from the reference point P10, if the planned travel line L1 is within the range A10 of the arc, the control device 40 (automatic travel control unit 40A) determines that the position deviation ΔJ1 is 5 m or less. The reference point P10 can be obtained by adding or subtracting the distance to the front end of the tractor 1 to the travel position detected by the position detection device 30.

[0041] As shown in Fig. 12B, after the start of automatic traveling, the automatic traveling control unit 40A adjusts the steering and the vehicle speed so that the position deviation ΔJ5 in the width direction between the traveling position P20 of the tractor 1 (body 3) and the planned traveling line L1 is equal to or less than a threshold value. In addition, the automatic traveling control unit 40A sets (adjusts) the steering angle and the vehicle speed so that the azimuth deviation ΔF3 between the vehicle orientation F1 of the tractor 1 (body 3) and the orientation F2 of the planned traveling line L1 is equal to or less than a threshold value.

[0042] Now, during automatic traveling, automatic traveling can be interrupted by operating the traveling switch 85. As shown in FIG. 12C, after automatic traveling is interrupted, an operator can get on the tractor 1 and move the tractor 1 to another location by manual traveling. For example, as shown in the trajectory KG1 in FIG. 12C, automatic traveling can be interrupted at a position P30 in the middle of the third straight section La3, and then moved from the position P30 to another location. Here, when automatic traveling is resumed, a location to resume, that is, an arbitrary position on the planned traveling line L1 is selected. Specifically, as shown in FIG. 11, an operator selects a predetermined straight section Lan where automatic traveling is to be resumed from among a plurality of straight sections Lan displayed on the display device 80. Toward the selected predetermined straight section Lan (selected straight section) Lan, an operator drives the tractor 1 (vehicle body 3) by manual traveling and moves the tractor 1 (vehicle body 3) around the selected straight section Lan, and when the tractor 1 (vehicle body 3) reaches the periphery of the selected straight section Lan, the operator stops the tractor 1 and gets off.

[0043] For example, as shown in Fig. 12C, when the operator operates the travel switch 85 to issue a start command in a situation where the tractor 1 is located at a position where the tractor 1 has stopped and dismounted (stop and dismount position) P31, the automatic travel control unit 40A judges whether or not the travel start condition is satisfied. For example, when the selected straight section Lan is the fourth straight section La4, the automatic travel control unit 40A judges that the travel start condition is satisfied because the position deviation ΔJ1 between the stop and dismount position P31 and the straight section La4 is equal to or less than the threshold value J10 (for example, equal to or less than 5 m) and the orientation deviation ΔF3 is equal to or less than the threshold value F10 (for example, equal to or less than 20° (deg)). On the other hand, when the selected straight section Lan is the sixth straight section La6, the automatic driving control unit 40A determines that the driving start condition is not met because the position deviation ΔJ1 between the stop and disembarkation position P31 and the straight section La6 exceeds the threshold value J10 (e.g., exceeds 5 m) and the orientation deviation ΔF3 is equal to or less than the threshold value F10 (e.g., equal to or less than 20° (deg)).

[0044] For the sake of convenience, the following description will be given assuming that the selected straight-line portion Lan is the fourth straight-line portion La4. The fourth straight-line portion La4 will be referred to as the selected straight-line portion La4. When the tractor 1 is at the stop and disembarkation position P31, if the driving start condition is satisfied for the selected straight section La4, the automatic driving control unit 40A determines whether or not the line matching condition is satisfied. The line matching condition is different from the driving start condition, and is a condition for determining whether or not to align the tractor 1 (vehicle body 3) with a line when performing automatic driving.

[0045] As shown in FIG. 12C, for example, in the stop and dismount position P31 where the tractor 1 (body 3) is stopped by manual driving, if the position deviation ΔJ5 between the stop and dismount position P31 of the tractor 1 (body 3) and the selected straight section La4, which is the selected planned driving line L1, is less than the threshold value J11 (for example, less than 0.1 m), and the orientation of the selected straight section La4 and the vehicle orientation F1 are less than the threshold value F11 (for example, less than 7° (deg)), the automatic driving control unit 40A determines that the line alignment condition is not met. On the other hand, if the position deviation ΔJ5 between the stop and dismount position P31 of the tractor 1 (body 3) and the selected straight section La4 is equal to or greater than the threshold value J11, or the orientation of the selected straight section La4 and the vehicle orientation F1 are equal to or greater than the threshold value F11 (for example, equal to or greater than 7° (deg)), the automatic driving control unit 40A determines that the line alignment condition is met.

[0046] In other words, when a command to start driving is issued, if the position deviation ΔJ5 between the selected planned driving line L1 and the vehicle body 3 and the orientation deviation ΔF3 between the planned driving line L1 and the vehicle body orientation F1 are equal to or greater than the first threshold (equal to or greater than threshold J11, equal to or greater than threshold F11), the automatic driving control unit 40A executes line alignment to make the position deviation ΔJ5 and orientation deviation ΔF3 less than the first threshold (less than threshold J11, less than threshold F11). Note that the first threshold (threshold J11, threshold F11) of the line alignment condition is smaller than the second threshold (threshold J10, threshold F10) of the driving start condition. In other words, The second threshold value (threshold value J10, threshold value F10) of the driving start condition is the first threshold value (threshold value J11, threshold value F11) of the line alignment condition. )Yo It is also larger.

[0047] As shown in Fig. 12D, when performing line alignment, the automatic driving control unit 40A moves the vehicle body 3 forward (S10), and then performs a turn to move the vehicle body 3 backward (S11). As shown in Fig. 12D, for example, if the vehicle body 3 is shifted to the left with respect to the selected straight section La4, the automatic driving control unit 40A steers the vehicle body 3 to the right when moving forward so that the vehicle body 3 approaches the selected straight section La4. On the other hand, if the vehicle body 3 is shifted to the right with respect to the selected straight section La4, the automatic driving control unit 40A steers the vehicle body 3 to the left when moving forward so that the vehicle body 3 approaches the selected straight section La4.

[0048] In addition, in line matching, the automatic driving control unit 40A adjusts the azimuth deviation ΔF3 to be less than the first threshold value (less than the threshold value F11) by steering the front wheels 7F when moving backward after moving forward. As shown in FIG. 12D, when the travel switch 85 is operated at the stop and alighting position P31 to issue a start command, the automatic traveling control unit 40A does not perform line alignment if the distance L40 between the stop and alighting position (vehicle body position) which is the position of the vehicle body 3 and the end of the planned travel line L1 in the traveling direction of the vehicle body 3 (end P40 of the selected straight section La4) is shorter than a predetermined distance. For example, the automatic traveling control unit 40A does not perform line alignment if the distance L40 is less than 3.0 m. As shown in FIG. 12E, when the straight section Lan is bent (curved) on the way, the automatic traveling control unit 40A may not perform line alignment if the distance L40 between the vehicle body position of the vehicle body 3 and the bending point P41 is shorter than a predetermined distance.

[0049] Furthermore, when aligning the line, the automatic driving control unit 40A performs a forward movement (S10) to move the vehicle body 3 forward and a reverse movement (S11) to move the vehicle body 3 backward as one turn. If one turn does not cause the position deviation ΔJ5 and the orientation deviation ΔF3 to become less than the first threshold value (less than the threshold value J11, less than the threshold value F11), the automatic driving control unit 40A performs multiple turns by outputting a control signal to the tractor 1. Note that, when the number of turns during line alignment reaches a predetermined number (three or more), the automatic driving control unit 40A starts automatic driving after the turns are completed.

[0050] As shown in FIG. 6, the control device 40 may include a device acquisition unit 40E. The device acquisition unit 40E is composed of an electric / electronic circuit provided in the control device 40, a program stored in the control device 40, and the like. The device acquisition unit 40E acquires device information indicating the type and classification of the working device 2 mounted on the vehicle body 3. For example, the control device 40 and the working device 2 are connected by an in-vehicle network N1. When the working device 2 is connected to the vehicle body 3, the working device 2 outputs device information (type and classification) of the working device 2 connected to the in-vehicle network N1, and the device acquisition unit 40E acquires the device information output to the in-vehicle network N1. When a predetermined operation is performed, the device acquisition unit 40E may display a section (input unit) for inputting device information on the screen of the display device 80, and acquire the device information input to the input unit.

[0051] Even if the travel switch 85 is operated at the stop / drop-off position P31 to issue a start command, the automatic travel control unit 40A does not perform line alignment if the type and category of the work equipment 2 acquired by the equipment acquisition unit 40E is a predetermined work equipment 2, and performs line alignment if the work equipment 2 is not a predetermined work equipment 2. For example, if the work equipment 2 is a spraying device such as a broadcaster, the automatic travel control unit 40A does not perform line alignment and, when a start command is issued, Start If the conditions are satisfied, automatic traveling is started. Note that the types and categories of the working device 2 described above are merely examples and are not limiting.

[0052] In the above-described embodiment, whether or not to perform line alignment is determined based on the device information (type, category) of the working device 2. However, for example, a screen for asking whether or not to perform line alignment may be displayed on the display device 80, and the decision may be made by the driver (user) through selection. The first threshold value may be changed based on the accuracy of the work performed by the working device 2. As shown in FIG. 14, when a predetermined operation is performed, the display device 80 displays a setting screen M6. The setting screen M6 is a screen that displays an input section 46 for inputting the accuracy of the work (work accuracy), and for example, work accuracy divided into a plurality of levels can be input. Specifically, the input section 46 includes a first input section 46a for inputting (selecting) "high accuracy", a second input section 46b for inputting (selecting) "high efficiency", and a third input section 46c for inputting (selecting) "normal". High efficiency means performing work quickly, and high accuracy means performing work precisely.

[0053] For example, when "Normal" is selected on the selection screen M6, the automatic driving control unit 40A sets the first thresholds (threshold J11, threshold F11) to values ​​set as defaults (default values). When "High Efficiency" is selected on the selection screen M6, the automatic driving control unit 40A sets the first thresholds (threshold J11, threshold F11) to values ​​(first set values) larger than the default values ​​corresponding to "Normal," making it more difficult to perform line alignment.

[0054] Furthermore, when "High Accuracy" is selected on the selection screen M6, the automatic driving control unit 40A sets the first threshold value (threshold value J11, threshold value F11) to a value (second set value) smaller than the default value corresponding to "Normal", thereby making line alignment easier than normal. In this way, by changing the first threshold value according to the work accuracy, it is possible to make it easier to perform line alignment as the work accuracy becomes higher (high accuracy side), and to make it more difficult to perform line alignment as the work accuracy becomes lower (high efficiency side).

[0055] The above-mentioned operation accuracy is merely an example, and the level at which the operation accuracy is set, i.e., the number of input sections, is not limited as long as it is plural. In the above-described embodiment, as shown in Figures 12C and 12D, a case has been described in which automatic driving is interrupted and then the tractor 1 is stopped at a predetermined position on the planned driving line L1 by manual driving. However, the present invention can also be applied to a case in which automatic driving is started in the field H1, i.e., when the tractor 1 is brought close to the starting position P1.

[0056] When a start command is issued by the travel switch 85, if the vehicle body position detected by the position detection device P30 is the start position set on the planned travel line L1, the automatic travel control unit 40A performs alignment to align the vehicle body position to the start position. For example, when a worker or the like who gets off the vehicle at the start position P1 operates the travel switch 85 while satisfying the travel start conditions, the automatic travel control unit 40A judges whether the travel start condition and the line alignment condition are satisfied. If the line alignment is satisfied, the automatic travel control unit 40A performs line alignment to align the tractor 1 (vehicle body 3) with the first straight section La1 by moving the vehicle body 3 forward and backward around the start position P1, as in FIG. 12D.

[0057] In the above-described embodiment, the control device 40 (automatic driving control unit 40A) determines that the driving start condition is satisfied when the position deviation ΔJ1 is equal to or less than the threshold value J10 and the orientation deviation ΔF3 is equal to or less than the threshold value F10, but the control device 40 (automatic driving control unit 40A) may determine that the driving start condition is satisfied when either the position deviation ΔJ1 is equal to or less than the threshold value J10 (first condition) or the orientation deviation ΔF3 is equal to or less than the threshold value F10 (second condition). In other words, the control device 40 (automatic driving control unit 40A) may determine that the driving start condition is satisfied when either one of the first condition and the second condition is satisfied.

[0058] In the above embodiment, the control device 40 (automatic driving control unit 40A) determines that the line alignment condition is satisfied when the position deviation ΔJ5 is equal to or greater than the threshold value J11 and the orientation deviation ΔF3 is equal to or greater than the threshold value F11, but the control device 40 (automatic driving control unit 40A) may determine that the line alignment condition is satisfied when the position deviation ΔJ5 is equal to or greater than the threshold value J11 (third condition) and the orientation deviation ΔF3 is equal to or greater than the threshold value F11 (fourth condition). In other words, the control device 40 (automatic driving control unit 40A) may determine that the line alignment condition is satisfied when either one of the third condition and the fourth condition is satisfied.

[0059] FIG. 13 shows a flow of the operation of automatic traveling. As shown in FIG. 13, when the tractor 1 enters the field H1 and starts automatic traveling for the first time in the field H1, when the control device 40 acquires a start command by operating the traveling switch 85, the automatic traveling control unit 40A judges whether or not the traveling start condition is satisfied (S30). If the traveling start condition is satisfied (S30, Yes), the automatic traveling control unit 40A judges whether or not the line alignment condition is satisfied (S31). If the line alignment condition is satisfied (S31, Yes), the automatic traveling control unit 40A executes line alignment (S32). If the line alignment condition is not satisfied (S31, No), the automatic traveling control unit 40A starts automatic traveling (S33). If the control device 40 acquires an interrupt command by operating the traveling switch 85, the automatic traveling control unit 40A interrupts (stops) automatic traveling (S34). After the automatic driving is interrupted, when the control device 40 acquires a start command, the automatic driving control unit 40A judges whether or not the driving start condition is satisfied (S35). If the driving start condition is satisfied (S35, Yes), the automatic driving control unit 40A judges whether or not the line alignment condition is satisfied (S36). If the line alignment condition is satisfied (S36, Yes), the automatic driving control unit 40A executes line alignment (S37). If the line alignment condition is not satisfied (S36, No), the automatic driving control unit 40A resumes automatic driving (S38). Furthermore, the automatic driving control unit 40A resumes automatic driving after performing at least one or more turns due to line alignment (S38).

[0060] The agricultural machine 1 includes a travelable body 3, a travel switch 85 that commands the start of automatic travel of the body 3 when operated, and an automatic travel control unit 40A that performs automatic travel of the body 3 based on the planned travel line L1 when the command is output, and when a command is issued by the travel switch 85, the automatic travel control unit 40A performs line alignment to make the position deviation ΔJ5 and the orientation deviation ΔF3 less than the first threshold value (J11, F11) if either the position deviation ΔJ10 between the selected planned travel line L1 and the body 3 or the orientation deviation between the planned travel line L1 and the orientation of the body 3 is equal to or greater than a first threshold value (J11, F11). According to this, when automatic travel is performed for the first time or when automatic travel is resumed from an arbitrary position after being interrupted midway, when a command is issued by the travel switch 85, line alignment can be performed to make the position deviation ΔJ5 and the orientation deviation ΔF3 less than the first threshold value (J11, F11). That is, at least when automatic driving is performed after the vehicle body 3 that has moved away from the intended travel line L1 is brought closer to the intended travel line L1, a smooth transition to automatic driving can be achieved.

[0061] The planned travel line L1 includes a straight section Lan that moves the vehicle body 3 straight and a turning section Lbn that turns the vehicle body 3. The automatic travel control unit 40A judges whether either the position deviation ΔJ5 between the straight section Lan and the vehicle body 3 or the azimuth deviation ΔF3 between the straight section Lan and the azimuth of the vehicle body 3 is equal to or greater than a first threshold value (J11, F11). If the first threshold value (J11, F11) or greater is determined, the position deviation ΔJ5 and azimuth deviation ΔF3 relative to the straight section Lan are set to less than the first threshold value (J11, F11) as line alignment. According to this, when starting automatic straight travel from an arbitrary position on the planned travel line L1, line alignment can be performed by reducing either the position deviation ΔJ5 between the straight section Lan and the vehicle body 3 or the azimuth deviation ΔF3 between the straight section Lan and the azimuth of the vehicle body 3, so that a smooth transition to automatic straight travel can be made.

[0062] For example, when the work of the working device 2 by automatic travel is temporarily stopped at an arbitrary position P50 in Fig. 12F and then automatic travel is resumed from position P51, the agricultural machine 1 can be easily aligned with the straight section Lan. As a result, as shown in Fig. 12F, the location W30 where the work of the working device 2 has been completed can be changed arbitrarily. Note that the three straight sections Lan in Fig. 12F are the same straight section Lan.

[0063] In aligning the vehicle body 3 with the intended travel line L1, the automatic travel control unit 40A moves the vehicle body 3 forward and then reverses the vehicle body 3. This allows the vehicle body 3 to be easily aligned with the intended travel line L1, as shown in FIG. The automatic driving control unit 40A performs a plurality of turns during line alignment, and starts automatic driving when the number of turns reaches a predetermined number or more. This allows automatic driving to be started after adjusting the posture of the vehicle body 3 with respect to the planned travel line L1 through a plurality of line alignments.

[0064] The automatic driving control unit 40A does not perform line alignment when the distance L40 between the vehicle body position, which is the position of the vehicle body 3 when a command is issued by the driving switch 85, and the end of the planned driving line L1 in the traveling direction of the vehicle body 3 is shorter than a predetermined distance. According to this, when automatic driving is started midway and the distance from the current position of the agricultural machine 1 (vehicle body position) to the end of the planned driving line L1 is short and turning is difficult, it is possible to prevent unreasonable turning by switching to automatic driving without performing line alignment.

[0065] The agricultural machine 1 includes a device acquisition unit 40E that acquires the work device attached to the vehicle body 3, and the automatic traveling control unit 40A does not perform line alignment when the work device 2 acquired by the device acquisition unit 40E is a predetermined work device 2. This makes it possible to start automatic traveling without performing line alignment only for the predetermined work device 2. The agricultural machine 1 is equipped with a position detection device that detects the vehicle body position, which is the position of the vehicle body 3, and when a command is issued by the travel switch 85, the automatic travel control unit 40A aligns the vehicle body position to the start position if the vehicle body position detected by the position detection device is the start position set for the planned travel line L1. This makes it easier to align the posture of the agricultural machine 1 to the planned travel line L1 when automatic travel is first started, that is, when automatic travel is started after the agricultural machine 1 approaches the start position.

[0066] The automatic driving control unit 40A performs automatic driving of the vehicle body 3 when either the position deviation or the orientation deviation is equal to or greater than a second threshold value that is greater than the first threshold value. As a result, it is possible to determine whether to perform line alignment using the first threshold value after determining whether automatic driving can be started using the second threshold value, and therefore it is possible to both start automatic driving without performing line alignment and start automatic driving after performing line alignment, and it is possible to execute automatic driving smoothly according to the situation.

[0067] Although the embodiment of the present invention has been described above, the embodiment disclosed herein should be considered as illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0068] 1: Agricultural machinery (tractors) 2: Work equipment 3: Body 30: Position detection device 40A: Automatic driving control unit 40E: Equipment acquisition section 85: Driving switch F10: Threshold F11: Threshold F2: Direction J10: Threshold J11: Threshold L1: Planned driving line L40: distance Lan: Straight section (selected straight section) Lbn: Rotating part P1 :Start position P40: End ΔF3: Orientation deviation ΔJ1, J5, J10: Position deviation

Claims

1. A drivable vehicle body; a travel switch that, when operated, commands the start of automatic travel of the vehicle body; a position detection device for detecting a position of the vehicle body; an automatic driving control unit that performs the automatic driving, when a command to start the automatic driving is issued by the driving switch, controls steering of the vehicle body while driving the vehicle body based on a planned driving line so that the position of the vehicle body detected by the position detection device coincides with the planned driving line; Equipped with the planned travel line includes a plurality of straight travel sections that cause the vehicle body to travel straight in order to perform work in a farm field using a work implement attached to the vehicle body, and a turning section that turns the vehicle body, the automatic driving control unit, after the automatic driving based on the planned driving line is interrupted, when an operator selects one of the plurality of straight-line sections as a position for resuming the automatic driving and the vehicle body is manually moved around a selected straight-line section that is one of the selected straight-line sections, and then a command to start the automatic driving is issued by the driving switch, if at least one of a position deviation between the selected straight-line section and a position of the vehicle body and an orientation deviation between an orientation of the selected straight-line section and an orientation of the vehicle body is equal to or greater than a corresponding first threshold value and the position deviation and the orientation deviation are equal to or less than a corresponding second threshold value that is greater than the first threshold value, performs line alignment by turning the vehicle body so that the position deviation and the orientation deviation are less than the first threshold value, and then starts the automatic driving; the automatic traveling control unit, in the line alignment, performs the turning back one or more times, in which the vehicle body is steered forward to approach the selected straight section, and then the vehicle body is steered while moving backward to adjust the heading deviation to be less than the first threshold, The automatic driving control unit does not perform the line alignment and does not start the automatic driving if at least one of the position deviation and the orientation deviation is greater than the corresponding second threshold value.

2. The agricultural machinery of claim 1, wherein the automatic driving control unit performs the line alignment to reduce the position deviation and the orientation deviation to less than the first threshold value that is greater than zero.

3. 3. The agricultural machine according to claim 1, wherein the automatic driving control unit performs the turning of the vehicle body a plurality of times during the line alignment, and starts the automatic driving when the number of turning operations reaches or exceeds a predetermined number.

4. The agricultural machine according to any one of claims 1 to 3, wherein the automatic driving control unit does not perform the line alignment when a distance between a vehicle body position, which is the position of the vehicle body when the start of the automatic driving is commanded by the driving switch, and an end of the selected straight-line section in the traveling direction of the vehicle body is shorter than a predetermined distance.

5. a device acquisition unit that acquires device information indicating a type of working device mounted on the vehicle body, The agricultural machine according to any one of claims 1 to 4, wherein the automatic driving control unit does not perform the line alignment when a type of a work device indicated in the device information acquired by the device acquisition unit is a predetermined work device.

6. The agricultural machine according to any one of claims 1 to 5, wherein when the start of the automatic driving is commanded by the driving switch, if the vehicle body position, which is the position of the vehicle body detected by the position detection device, is a start position set on the planned driving line, the automatic driving control unit moves the vehicle body forward and backward around the start position to perform the line alignment and then starts the automatic driving.

7. an input unit for selecting a precision of the work performed by the work device; The agricultural machine according to any one of claims 1 to 6, wherein the automatic travel control unit sets the first threshold value to be smaller as the accuracy of the work selected by the input unit becomes higher.

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