Autonomous driving method, work vehicle, and automated driving system

Abstract

To provide an autonomous driving method, a work vehicle, and an autonomous driving system with which it is possible to suppress autonomous travel not intended by an operator.SOLUTION: A combine 1 is a work vehicle that autonomously travels on the basis of a preset travel route, and is provided with; an autonomous travel enable switch 34 that is an autonomous travel enable operation member for enabling autonomous travel; and a control device 50 that functions as an autonomous travel control part 62 for controlling autonomous travel on the basis of the travel route. The autonomous travel control part 62 executes autonomous travel on the basis of the travel route while the autonomous travel enable switch 34 is being operated (pressed).SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an automatic driving method for a work vehicle that automatically travels based on a preset driving route, a work vehicle, and an automatic driving system. [Background technology]

[0002] 2. Description of the Related Art Conventionally, some work vehicles, such as combine harvesters and tractors, perform automatic travel based on a preset travel route.

[0003] For example, the autonomous driving system disclosed in Patent Document 1 is equipped with a driving control unit that causes a work vehicle to drive autonomously, and in an embodiment of Patent Document 1, a user operates a wireless communication terminal to instruct the start of autonomous driving, causing the tractor to perform work while driving along straight and turning paths. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-92621 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, with conventional work vehicles, an operator may mistakenly instruct the start of automatic driving by simply touching a start button or an operation key on a touch panel intended to instruct the start of automatic driving, which may result in automatic driving being performed and continuing unintentionally by the operator.

[0006] An object of the present invention is to provide an automatic driving method, a work vehicle, and an automatic driving system that can suppress automatic driving unintended by a worker. [Means for solving the problem]

[0007] In order to solve the above problems, the automatic driving method of the present invention is an automatic driving method for a work vehicle that performs automatic driving based on a predetermined driving route, and includes an operation step of operating an automatic driving permission operating member that permits the automatic driving, and an automatic driving control step of controlling the automatic driving based on the driving route, and is characterized in that the automatic driving control step executes the automatic driving based on the driving route while the automatic driving permission operating member is operated.

[0008] In addition, in order to solve the above problems, the work vehicle of the present invention is a work vehicle that performs automatic driving based on a predetermined driving route, and is equipped with an automatic driving permission operating member that permits the automatic driving, and an automatic driving control unit that controls the automatic driving based on the driving route, and is characterized in that the automatic driving control unit executes the automatic driving based on the driving route while the automatic driving permission operating member is operated.

[0009] In addition, in order to solve the above problems, the autonomous driving system of the present invention is an autonomous driving system equipped with a work vehicle that performs autonomous driving based on a predetermined driving route, and is equipped with an autonomous driving permission operating member that permits the autonomous driving, and an autonomous driving control unit that controls the autonomous driving based on the driving route, and is characterized in that the autonomous driving control unit executes the autonomous driving based on the driving route while the autonomous driving permission operating member is operated. Effect of the Invention

[0010] The present invention provides an automatic driving method, a work vehicle, and an automatic driving system that can suppress automatic driving unintended by a worker. [Brief description of the drawings]

[0011] [Figure 1] 1 is a side view of a combine harvester according to one embodiment of a work vehicle of the present invention. [Diagram 2] 1 is a block diagram of a combine harvester according to one embodiment of a work vehicle of the present invention. FIG. [Diagram 3]FIG. 2 is a plan view of a steering section of a combine harvester according to one embodiment of the work vehicle of the present invention. [Figure 4] 4 is a flowchart showing an automatic traveling operation of a combine harvester according to one embodiment of the work vehicle of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] A combine harvester 1, which is one embodiment of a work vehicle of the present invention, will be described with reference to Fig. 1 etc. The combine harvester 1 travels in a field to be worked on by automatic or manual operation, and performs work such as reaping to harvest crops from culms planted in the field.

[0013] The combine harvester 1 is set to one of a manual driving mode and an automatic driving mode. When the combine harvester 1 is set to the manual driving mode, the combine harvester 1 is configured to perform manual driving in response to the operation of the control unit 9 by an operator.

[0014] On the other hand, when the automatic travel mode is set, the combine harvester 1 is configured to perform automatic reaping travel, which performs automatic reaping while automatically traveling along a preset travel route. For example, the combine harvester 1 performs automatic reaping travel with a travel pattern such as reciprocating reaping, which makes multiple trips back and forth in an area of ​​a field having uncut stalks (hereinafter referred to as an uncut area), and circular reaping, which repeats a trip along the inner circumference of the uncut area while shifting it toward the center.

[0015] As shown in FIG. 1, the combine harvester 1 is equipped with a traveling section 2, a reaping section 3, a threshing section 4, a sorting section 5, a storage section 6, a straw waste processing section 7, a power section 8, and a steering section 9, and is configured as a so-called head-threshing combine. While traveling on the traveling section 2, the combine harvester 1 threshes the stalks harvested by the reaping section 3 in the threshing section 4, and sorts the grains in the sorting section 5 and stores them in the storage section 6. The combine harvester 1 processes the straw waste after threshing in the straw waste processing section 7. The combine harvester 1 drives the traveling section 2, the reaping section 3, the threshing section 4, the sorting section 5, the storage section 6, and the straw waste processing section 7 with power supplied by the power section 8.

[0016] The traveling unit 2 is provided below the machine frame 10, and includes a pair of left and right crawler-type traveling devices 11, and a transmission (not shown). The traveling unit 2 rotates the crawlers of the crawler-type traveling devices 11 using power (e.g., rotational power) transmitted from an engine 26 of the power unit 8, causing the combine 1 to travel in the forward / rearward direction and turn in the left / right direction. The transmission transmits the power (rotational power) of the power unit 8 to the crawler-type traveling devices 11, and can also change the speed of the rotational power.

[0017] The reaping unit 3 is provided in front of the traveling unit 2, and performs reaping work on rows up to the maximum number of reaping rows, with the reaping width being determined by the number of rows to be reaped. The reaping unit 3 is equipped with a divider 13, a raising device 14, a cutting device 15, and a conveying device 16. The divider 13 separates the culms in the field row by row, and guides a predetermined number of culms up to the maximum number of reaping rows to the raising device 14. The raising device 14 raises the culms guided by the divider 13. The cutting device 15 cuts the culms raised by the raising device 14. The conveying device 16 conveys the culms cut by the cutting device 15 to the threshing unit 4.

[0018] The threshing unit 4 is provided behind the reaping unit 3. The threshing unit 4 includes a feed chain 18 and a threshing drum 19. The feed chain 18 transports the stew transported from the transport device 16 of the reaping unit 3 for threshing, and further transports the threshed stew, i.e., waste straw, to the straw waste processing unit 7. The threshing drum 19 threshes the stew transported by the feed chain 18.

[0019] The sorting section 5 is provided below the threshing section 4. The sorting section 5 includes an oscillating sorting device 21, a wind sorting device 22, a grain conveying device (not shown), and a straw dust discharge device (not shown). The oscillating sorting device 21 sifts the threshed grains that have fallen from the threshing section 4 to separate them into grains, straw dust, etc. The wind sorting device 22 further separates the threshed grains sorted by the oscillating sorting device 21 into grains, straw dust, etc. by blowing air. The grain conveying device transports the grains sorted by the oscillating sorting device 21 and the wind sorting device 22 to the storage section 6. The straw dust discharge device discharges the straw dust, etc. sorted by the oscillating sorting device 21 and the wind sorting device 22 to the outside of the machine.

[0020] The storage section 6 is provided to the right of the threshing section 4. The storage section 6 includes a grain tank 23 and a discharge device 24. The grain tank 23 stores the grains transported from the sorting section 5. The discharge device 24 is composed of an auger or the like, and discharges the grains by discharging the grains stored in the grain tank 23 to any desired location. The discharge device 24 discharges automatically under the control of a control device 50 (see Figure 2), or manually in response to the operation of the operating section 9.

[0021] The straw waste processing section 7 is provided behind the threshing section 4. The straw waste processing section 7 includes a straw waste conveying device (not shown) and a straw waste cutting device (not shown). For example, the straw waste processing section 7 discharges the straw transported from the feed chain 18 of the threshing section 4 directly outside the machine (for example, to the rear or below the combine 1) by the straw waste conveying device. Alternatively, the straw waste processing section 7 transports the straw waste transported by the straw waste conveying device to the straw waste cutting device, cuts it by the straw waste cutting device, and then discharges it outside the machine (for example, to the right side of the rear of the combine 1).

[0022] The power unit 8 is provided above the traveling section 2 and in front of the storage section 6. The power unit 8 is equipped with an engine 26 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 26 to the traveling section 2, the reaping section 3, the threshing section 4, the sorting section 5, the storage section 6, and the straw waste processing section 7. The combine 1 also includes a fuel tank (not shown) that stores fuel to be supplied to the engine 26 of the power unit 8.

[0023] The control unit 9 is provided above the power unit 8. As shown in Fig. 3, the control unit 9 is provided with operating tools such as a handle 29 for controlling the travel of the combine harvester 1, a main speed change lever 30, and an auxiliary speed change lever 31, around a driver's seat 28. The control unit 9 also includes mechanisms for operating the reaping operation by the reaping unit 3, the threshing operation by the threshing unit 4, the discharge operation by the discharge device 24 of the storage unit 6, and the like.

[0024] The driver's seat 28 is a seat where an operator sits, and is provided, for example, on the right side of the combine harvester 1. An armrest 32 is provided on the right side of the driver's seat 28, and a handrail section 33 is provided in front of the armrest 32. An automatic travel permission switch 34, which is an example of an automatic travel permission operating member, is provided on the handrail section 33, and the automatic travel permission switch 34 is disposed, for example, at a position on the handrail section 33 where the fingers of the right hand of an operator sitting in the driver's seat 28 rest when the operator rests his / her right arm on the armrest 32. For example, the automatic travel permission switch 34 is configured as a push button, and is turned on when it is operated (pressed), i.e., when it is pressed, and is turned off when it is released from the operation (pressing), i.e., when it is not pressed.

[0025] The automatic travel permission switch 34 is for permitting automatic travel based on a travel route while it is pressed when the automatic travel mode is set. In other words, even if the automatic travel mode is set, automatic travel based on a travel route is not permitted unless the automatic travel permission switch 34 is pressed. Details of the automatic travel operation of the combine harvester 1 in response to the operation of the automatic travel permission switch 34 will be described later.

[0026] The handle 29 transmits the rotation operation by the operator to the traveling unit 2 to change the traveling direction of the combine harvester 1, that is, to steer the combine harvester 1. For example, when the manual traveling mode is set, the traveling unit 2 constantly accepts the steering operation of the handle 29 by the operator. On the other hand, when the automatic traveling mode is set, the traveling unit 2 does not accept the steering operation of the handle 29 by the operator, but when the handle 29 is operated, the combine harvester 1 switches the traveling mode from the automatic traveling mode to the manual traveling mode. The handle 29 has a margin of about ±5 degrees in the rotation direction, and is configured not to transmit operations within this margin to the traveling unit 2. Note that the margin of the handle 29 is not limited to ±5 degrees and can be manually adjusted.

[0027] The main speed change lever 30 and the sub-speed change lever 31 change the set travel speed of the combine harvester 1 in response to the operation by the operator. For example, when the manual travel mode is set, the main speed change lever 30 stops the combine harvester 1 when it is in the central neutral position 35. When the main speed change lever 30 is tilted to a forward speed change region 36 forward of the neutral position 35, it transmits the forward travel operation of the combine harvester 1 to the travel section 2 and sets the forward set speed to the travel section 2 according to the forward / rearward position of the main speed change lever 30 in the forward speed change region 36 which is long in the forward / rearward direction. When the main speed change lever 30 located in the forward speed change region 36 is tilted forward from the neutral side, it increases the forward set speed, and when it is tilted from the front to the neutral side, it decreases the forward set speed.

[0028] On the other hand, when the main speed change lever 30 is tilted to a reverse speed change region 37 rearward of the neutral position 35, it transmits the reverse driving operation of the combine 1 to the traveling section 2 and sets a reverse set speed in the traveling section 2 according to the forward / rearward position of the main speed change lever 30 in the reverse speed change region 37 which is long in the forward / rearward direction. When the main speed change lever 30 located in the reverse speed change region 37 is tilted rearward from the neutral side, it increases the reverse set speed, whereas when it is tilted from rearward to the neutral side, it decreases the reverse set speed.

[0029] When the automatic travel mode is set and the combine harvester 1 performs automatic travel, the main speed change lever 30 is located in the forward speed change region 36. When the automatic travel mode is set, the main speed change lever 30 being located in the forward speed change region 36 may be one of the conditions for starting automatic travel of the combine harvester 1. In the automatic forward travel, a forward set speed corresponding to the position of the main speed change lever 30 in the forward / rearward direction is set in the traveling section 2. For example, when the main speed change lever 30 is tilted forward from the neutral side during automatic travel, the forward set speed is increased, whereas when the main speed change lever 30 is tilted from the forward side to the neutral side, the forward set speed is decreased. In the automatic reverse travel, a constant reverse set speed is set in the traveling section 2 regardless of the position of the main speed change lever 30 in the forward / rearward direction.

[0030] 2, the combine harvester 1 includes a positioning unit 39 that uses a satellite positioning system such as GPS to acquire position information of the combine harvester 1. The positioning unit 39 receives a positioning signal from a positioning satellite via a positioning antenna, and acquires position information of the positioning unit 39, i.e., position information of the combine harvester 1, based on the positioning signal.

[0031] The combine harvester 1 may be configured to be able to communicate with a base station (not shown) installed on the ridges around the field. The base station receives a positioning signal from a positioning satellite via a positioning antenna, and acquires the position information of the base station based on the positioning signal. The base station transmits correction information based on the position information of the base station to the combine harvester 1 (e.g., the positioning unit 39). The combine harvester 1 (e.g., the positioning unit 39) receives the correction information from the base station, and corrects the position information of the positioning unit 39, i.e., the position information of the combine harvester 1, based on the correction information.

[0032] Next, the control device 50 of the combine harvester 1 will be described with reference to Fig. 2. The control device 50 is composed of a computer such as a CPU, and is connected to a storage unit 51 such as a ROM, a RAM, a hard disk drive, a flash memory, and a communication unit 52 that communicates with external devices. The storage unit 51 stores programs and data for controlling the various components and functions of the combine harvester 1, and the control device 50 controls the various components and functions by executing arithmetic processing based on the programs and data stored in the storage unit 51. The control device 50 acquires position information of the combine harvester 1, for example, by controlling the positioning unit 39.

[0033] The storage unit 51 stores, for example, field information of the field that is the work target of the combine harvester 1. The field information includes the shape, size, and position information (coordinates, etc.) of the field edge that constitutes the periphery of the field, and the shape, size, and position information (coordinates, etc.) of the uncut area of ​​the field.

[0034] The communication unit 52 is capable of wireless communication with external devices such as a mobile terminal 53 held by a worker via a wireless communication antenna. The control device 50 controls the communication unit 52 to perform wireless communication with the mobile terminal 53 and transmits and receives various information to and from the mobile terminal 53.

[0035] The mobile terminal 53 is one of the components of the combine harvester 1 and is a terminal capable of remotely operating the combine harvester 1, and is configured, for example, as a tablet terminal or a notebook personal computer equipped with a touch panel. For example, the mobile terminal 53 displays, on the touch panel, a screen (for example, a home screen or a mode setting screen) on which the driving mode of the combine harvester 1 can be set to either the manual driving mode or the automatic driving mode, and transmits the driving mode set in response to the operation of the operator to the combine harvester 1. Note that an operation device similar to the mobile terminal 53 may be provided in the control unit 9.

[0036] The mobile terminal 53 is configured to receive input operations, such as touch operations on a touch panel, for field information related to the field to be worked on, and displays, for example, a field information setting screen on which the field information can be set. On the field information setting screen, the mobile terminal 53 can also display a field map based on the field information, and display the travel path of the combine harvester 1 on the field map so that the traveling direction can be seen. The mobile terminal 53 transmits the field information set on the field information setting screen to the combine harvester 1.

[0037] The mobile terminal 53 has a function of accepting the selection of a travel pattern for automatic reaping travel of the combine harvester 1, and when creating a travel route for automatic reaping travel, displays on the touch panel a screen (for example, a travel selection screen) for selecting a travel pattern of reciprocating mowing or circular mowing. The mobile terminal 53 transmits the travel pattern (reciprocating mowing or circular mowing) inputted in response to an operation by the operator to the combine harvester 1, and instructs the creation of a travel route.

[0038] Moreover, the control device 50 operates as a field information setting unit 60, a travel route creation unit 61, an automatic driving control unit 62, and an automatic reaping control unit 63 by executing the programs stored in the memory unit 51. The travel route creation unit 61, the automatic driving control unit 62, and the automatic reaping control unit 63 realize the travel route creation step, the automatic driving control step, and the automatic reaping control step of the automatic driving method according to the present invention. The automatic driving permission switch 34 functions as an operation unit for operating whether or not to permit automatic driving, and realizes the operation step of the automatic driving method according to the present invention.

[0039] The field information setting unit 60 automatically or manually sets field information related to the field that is the target of the work and stores it in the memory unit 51. For example, the field information setting unit 60 manually sets the field information in response to an input operation of the field information on the field information setting screen of the mobile terminal 53. Alternatively, the field information setting unit 60 may receive field information stored in a server (not shown) through communication with the server and automatically set the field information. The field information setting unit 60 may make the field information received from the server editable on the field information setting screen of the mobile terminal 53.

[0040] As another example, the field information setting unit 60 may acquire a field image of the field to be worked on and set the field information based on the result of image analysis of the field image. The field information setting unit 60 may also acquire more accurate field information by ensuring consistency between the field information set in response to the operation of the mobile terminal 53 or the field information received from the server and the field information analyzed from the field image.

[0041] The field image may be taken by a machine camera provided in the combine harvester 1, an image taken by a fixed camera provided in a base station may be received by the communication unit 52, an image taken by a mobile camera provided in the mobile terminal 53 may be received by the communication unit 52, or an image taken by an aerial camera provided in an aerial photography device such as a drone may be received by the communication unit 52. The field information setting unit 60 may analyze the field information from a field image taken by one of the machine camera, the fixed camera, the mobile camera, or the aerial camera, or may analyze the field information from field images taken by two or more cameras. The control device 50 may display the field image taken by the machine camera, the fixed camera, the mobile camera, or the aerial camera on the monitor of the operation unit 9, or transmit it to the mobile terminal 53 to display it on the monitor of the mobile terminal 53.

[0042] The travel path creation unit 61 creates a travel path that is referenced by the combine harvester 1 to automatically travel and automatically mow (automatic mowing travel) in the field, and stores the travel path in the memory unit 51. The travel path includes not only travel settings related to automatic travel, but also work settings related to work such as automatic mowing. The travel settings include the travel position in the field as well as the direction of travel (steering direction and forward or backward) at each travel position. The work settings include information on whether mowing is started or stopped at each travel position, the mowing speed and mowing height, the number of mowing rows, and other work.

[0043] The travel route creation unit 61 sets a linear path for mowing while traveling through unmowed areas in the field, and sets a travel route by combining multiple linear paths. The travel route creation unit 61 creates a travel route according to a travel pattern (reciprocal mowing or circular mowing) selected by operating the mobile terminal 53 or the like. For example, the travel route creation unit 61 creates a travel route for circular mowing that repeats a path around the inner circumference of the unmowed area while shifting it toward the center, or a travel route for reciprocal mowing that makes multiple trips back and forth in the unmowed area. The travel route creation unit 61 sets a start position for starting automatic mowing travel and an end position for completing automatic mowing travel in a series of travel routes consisting of multiple linear paths.

[0044] When the automatic travel mode is set, the automatic travel control unit 62 controls the power unit 8 and the travel unit 2 based on the travel settings of the travel route created by the travel route creation unit 61 to perform automatic travel according to the travel route. The combine harvester 1 may be equipped with a gyro sensor and a direction sensor to acquire displacement information and direction information of the combine harvester 1, and the automatic travel control unit 62 may adjust the automatic travel of the combine harvester 1 based on the displacement information and direction information.

[0045] When the steering wheel 29 is operated during automatic driving, the automatic driving control unit 62 switches the driving mode from the automatic driving mode to the manual driving mode. The automatic driving control unit 62 sets a forward set speed or a constant reverse set speed according to the position of the main shift lever 30 in the front-rear direction as the set speed for automatic driving, while when the main shift lever 30 is operated during forward automatic driving, the set speed for automatic driving is changed according to the position of the main shift lever 30. For example, when the main shift lever 30 located in the forward speed change region 36 is tilted forward from the neutral side during automatic driving, the automatic driving control unit 62 increases the forward set speed regardless of the forward set speed set for the driving route, while when the main shift lever 30 is tilted forward from the neutral side, the automatic driving control unit 62 decreases the forward set speed regardless of the forward set speed set for the driving route.

[0046] When the automatic driving mode is set, the automatic reaping control unit 63 controls the power unit 8 and the reaping unit 3 based on the work settings of the driving route created by the driving route creation unit 61, and performs automatic reaping according to the driving route. The automatic reaping control unit 63 automatically reaps uncut stalks on the driving route by the reaping unit 3. In addition, in conjunction with the automatic reaping, the automatic reaping control unit 63 controls the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7 to automatically perform threshing of the stalks after reaping, sorting of the grains and straw waste after threshing, storage of the sorted grains, processing of the straw waste after threshing, etc.

[0047] In particular, the automatic travel control unit 62 controls the automatic travel operation of the combine harvester 1 in response to the operation of the automatic travel permission switch 34. The automatic travel operation of the combine harvester 1 will be described with reference to the flowchart of FIG. 4. When the automatic travel mode is set (step S1: Yes) and the combine harvester 1 satisfies various automatic travel start conditions (step S2: Yes), the automatic travel control unit 62 enters a state in which automatic travel can be started, i.e., an automatic travel enabled state (step S3). Note that when the automatic travel mode is not set (step S1: No) or when the automatic travel start conditions are not satisfied (step S2: No), the automatic travel operation is not performed.

[0048] Then, when the automatic driving permission switch 34 is operated (pressed) in the automatic driving possible state (step S4: Yes), the automatic driving control unit 62 permits automatic driving and executes automatic driving (step S5). On the other hand, when the automatic driving permission switch 34 is not operated (pressed) in the automatic driving possible state (step S4: No), the automatic driving control unit 62 does not permit automatic driving and does not execute automatic driving. When the automatic driving permission switch 34 is released (step S6: Yes) while the automatic driving permission switch 34 is pressed and automatic driving is being executed, the automatic driving control unit 62 stops (temporarily suspends) automatic driving (step S7). Also, when the automatic driving permission switch 34 is released and automatic driving is stopped, the automatic driving control unit 62 resumes automatic driving when the automatic driving permission switch 34 is pressed again. When the automatic driving permission switch 34 is released in this manner and automatic driving is stopped, the automatic driving control unit 62 may proceed to step S1, or may proceed to step S4, in which it waits for operation of the automatic driving permission switch 34 while memorizing the released state of the automatic driving permission switch 34.

[0049] When the automatic travel control unit 62 is in an automatic travel-enabled state, it is preferable that the automatic travel start conditions are satisfied, and that automatic travel is performed by operating the automatic travel permission switch 34, and that the automatic travel control unit 62 notifies the operator by displaying a screen on the monitor of the operation unit 9 or the mobile terminal 53. The automatic travel permission switch 34 may be equipped with an LED, for example, and configured to change the color of the LED depending on whether the combine harvester 1 satisfies various automatic travel start conditions and the automatic travel control unit 62 is in an automatic travel-enabled state or not.

[0050] For example, the automatic driving control unit 62 may continue automatic driving for a predetermined duration or distance after the automatic driving permission switch 34 is released, and then stop the automatic driving. In this case, the automatic driving control unit 62 may continue automatic driving by setting a speed slower than the forward set speed or the constant reverse set speed according to the position of the main shift lever 30, and may gradually decelerate the set speed until automatic driving is stopped. Furthermore, the automatic driving control unit 62 may immediately stop automatic driving in response to the operation of a stop button provided on the operation unit 9 or the mobile terminal 53, or in response to the deceleration operation of the main shift lever 30, even while automatic driving is continuing for a predetermined duration or distance.

[0051] Alternatively, the automatic driving control unit 62 may immediately stop the automatic driving when the automatic driving permission switch 34 is released. The automatic driving control unit 62 may notify the operator by voice output or by displaying on the monitor of the operation unit 9 or the mobile terminal 53 that the automatic driving permission switch 34 has been released and the vehicle is decelerating, or that the automatic driving will be stopped after a predetermined duration or distance has elapsed.

[0052] When continuing automatic driving after the automatic driving permission switch 34 is released, the automatic driving control unit 62 does not reflect the speed increase operation to the set speed even if the main shift lever 30 is operated to increase the set speed. In this case, the automatic driving control unit 62 reflects the speed increase operation to the set speed when the automatic driving permission switch 34 is released, when the automatic driving permission switch 34 is pressed again to resume automatic driving.

[0053] The automatic driving control unit 62 sets the predetermined duration or distance for which automatic driving continues after the automatic driving permission switch 34 is released to be shorter during reverse driving than during forward driving, or sets it to zero during reverse driving. In other words, the automatic driving control unit 62 sets the duration for reverse driving to be shorter than the duration for forward driving, and preferably, when the automatic driving permission switch 34 is released during reverse automatic driving, the automatic driving is immediately stopped without being continued.

[0054] If a change operation is performed on the operating conditions of the combine harvester 1 (e.g., the set speed or steering of the combine harvester, the reaping height of the reaper, etc.) by operating the operation unit 9 or the mobile terminal 53 during the period from when the automatic travel permission switch 34 is released until the automatic travel is stopped, i.e., during the predetermined duration or distance during which the automatic travel continues, the automatic travel control unit 62 may extend the duration or distance, or may reset the count of the duration or distance. The change operation on the operating conditions while the automatic travel permission switch 34 is released may be reflected while the automatic travel continues, or may be reflected when the automatic travel permission switch 34 is pressed again.

[0055] The extension of the duration or distance may be the same as the initial duration or distance, for example, if the initial duration is 5 seconds and the main shift lever 30 is operated within 5 seconds after the automatic travel permission switch 34 is released, the duration is extended by 5 seconds to 10 seconds. Also, if another operation is performed within 10 seconds after the automatic travel permission switch 34 is released, the duration is extended by 5 seconds to 15 seconds.

[0056] Alternatively, the automatic driving control unit 62 may prohibit the stopping of automatic driving instead of extending the duration or distance if a change in the operating conditions of the combine 1 is performed by operating the control unit 9 or the mobile terminal 53 within a predetermined duration or distance after the automatic driving permission switch 34 is released.

[0057] In addition, when automatic driving is continuing after the automatic driving permission switch 34 is released, the automatic driving control unit 62 may stop automatic driving if the forward or reverse section along the driving route ends and a turning section is entered.

[0058] As described above, according to this embodiment, the combine harvester 1, which is an example of a work vehicle, is a work vehicle that performs automatic travel based on a preset travel route, and includes the automatic travel permission switch 34, which is an example of an automatic travel permission operating member that permits automatic travel, and the control device 50 that functions as the automatic travel control unit 62 that controls automatic travel based on the travel route. The automatic travel control unit 62 executes automatic travel based on the travel route while the automatic travel permission switch 34 is being operated (pressed).

[0059] As a result, the combine 1 performs automatic driving based on the driving route while the operator is operating (pressing) the automatic driving permission switch 34, so that automatic driving will not continue even if the operator simply touches the automatic driving permission switch 34 by mistake, and automatic driving unintended by the operator can be suppressed.

[0060] In the above embodiment, the automatic travel permission switch 34 is turned on when pressed, and the automatic travel control unit 62 executes automatic travel when the automatic travel permission switch 34 is pressed. However, the present invention is not limited to this example. For example, in another example, when the automatic travel mode is set and the combine harvester 1 satisfies various automatic travel start conditions, that is, when the combine harvester 1 is in an automatic travel-enabled state, the automatic travel control unit 62 may execute automatic travel regardless of the pressing operation of the automatic travel permission switch 34 when the combine harvester 1 is on a forward automatic travel route. On the other hand, when the combine harvester 1 is in an automatic travel-enabled state and the combine harvester 1 is on a route that is more dangerous than forward automatic travel (for example, a route for reverse automatic travel), the automatic travel control unit 62 may permit automatic travel and execute automatic travel when the automatic travel permission switch 34 is pressed.

[0061] In the above embodiment, an example has been described in which the automatic driving permission switch 34 is turned on when the operator operates (presses) it, and the automatic driving control unit 62 executes automatic driving, but the present invention is not limited to this example. For example, in another example, the automatic driving permission switch 34 may be configured to be in a state in which the automatic driving permission switch 34 remains operated (pressed) (press lock state) even after the automatic driving permission switch 34 is released by pressing the automatic driving permission switch 34 for a predetermined time (e.g., 5 seconds) or more. In this case, the press lock state is released by operating (pressing) the automatic driving permission switch 34 again.

[0062] When the automatic driving permission switch 34 is in the pressed lock state, the automatic driving control unit 62 will continuously execute automatic driving, but when the route on which automatic driving is performed enters a turning section or when the vehicle enters a reverse section from a forward section, the pressed lock state may be maintained, or the pressed lock state may be released to stop automatic driving. Also, the automatic driving permission switch 34 may be capable of switching to the pressed lock state in the case of forward automatic driving, while it may be prohibited from switching to the pressed lock state in the case of reverse automatic driving.

[0063] In the combine harvester 1 of this embodiment, when the automatic driving permission switch 34 is pressed and automatic driving is being performed at a predetermined set speed, if the automatic driving permission switch 34 is released, the automatic driving control unit 62 continues automatic driving at a speed slower than the set speed.

[0064] As a result, even if the operator releases the automatic travel permission switch 34, the combine 1 continues automatic travel at a slower speed than when the automatic travel permission switch 34 is pressed, so the operator can calmly perform operations such as changing the operating conditions without stopping the automatic travel.

[0065] In the combine harvester 1 of this embodiment, when the automatic travel permission switch 34 is pressed and automatic travel is being performed at a predetermined set speed, if the automatic travel permission switch 34 is released and an operation to increase the set speed is performed, the automatic travel control unit 62 does not reflect the speed increase operation in the set speed, but waits until the automatic travel permission switch 34 is pressed again before reflecting the speed increase operation in the set speed.

[0066] As a result, even if the set speed is increased or decreased using the main speed change lever 30 or the like while the operator has released the automatic travel permission switch 34, the travel speed of the combine 1 will not be increased or decreased, so the operator can calmly carry out operations such as changing the operating conditions without stopping the automatic travel.

[0067] In the combine harvester 1 of this embodiment, when the automatic driving permission switch 34 is pressed and automatic driving is being performed at a predetermined set speed, if the automatic driving permission switch 34 is released, the automatic driving control unit 62 stops automatic driving after a predetermined duration has elapsed.

[0068] As a result, the combine 1 stops a predetermined time after the operator releases the automatic travel permission switch 34, thereby preventing the automatic travel from continuing unintentionally by the operator.

[0069] In the combine harvester 1 of this embodiment, if an operation for changing the operating conditions is performed between the time when the automatic travel permission switch 34 is released and the time when the automatic travel is stopped, the automatic travel control unit 62 extends the duration.

[0070] As a result, the duration of automatic driving of the combine harvester 1 while the operator has released the automatic driving permission switch 34 can be extended if the operator performs an operation to change the operating conditions, thereby preventing the combine harvester 1 from stopping unintentionally when the operator is changing the operating conditions.

[0071] In the combine harvester 1 of this embodiment, the automatic travel control unit 62 sets the duration time for reverse travel to be shorter than the duration time for forward travel.

[0072] As a result, the combine harvester 1 can be stopped immediately when automatically traveling backwards, since the visibility is poorer and safety is lower than when automatically traveling forwards, and therefore the urgency of stopping is high.

[0073] In the combine harvester 1 of this embodiment, the automatic travel permission switch 34 is disposed on the handrail portion 33 in front of the armrest 32 of the control unit 9 of the combine harvester 1.

[0074] This allows the operator to operate the automatic travel permission switch 34 while resting his / her elbow on the armrest 32, thereby reducing the operator's burden when operating the automatic travel of the combine harvester 1. In addition, the operator can operate the automatic travel permission switch 34 while holding the handrail portion 33, thereby ensuring the safety of the operator during automatic travel.

[0075] In the above embodiment, an example has been described in which the armrest 32 and handrail portion 33 are provided on the right side of the driver's seat 28, and the automatic travel permission switch 34 is provided on the right handrail portion 33, but the present invention is not limited to this example. For example, in another example, the armrest 32 and handrail portion 33 may be provided on the left side of the driver's seat 28, and the automatic travel permission switch 34 may be provided on the left handrail portion 33. Alternatively, in another example, the armrest 32 and handrail portion 33 may be provided on both the left and right sides of the driver's seat 28, and the automatic travel permission switch 34 may be provided on the handrail portions 33 on both the left and right sides.

[0076] Alternatively, in another example, the automatic driving permission switch 34 may be provided in a position other than the armrest 32 and the handrail portion 33 (e.g., the handlebar 29 or the main shift lever 30) within the cabin of the cockpit 9, or the automatic driving permission switch 34 may be provided on the portable terminal 53.

[0077] In another embodiment, multiple automatic travel permission switches 34 may be provided at multiple positions, such as the right handrail section 33, the left handrail section 33, the handle 29, the main shift lever 30, and the mobile terminal 53. In this case, when at least one automatic travel permission switch 34 is pressed, the automatic travel control unit 62 executes automatic travel, i.e., does not stop automatic travel. This makes it possible to prevent the combine harvester 1 from stopping unintentionally by the operator.

[0078] Alternatively, in another embodiment, when multiple (e.g., two) automatic travel permission switches 34 are provided at multiple (e.g., two) positions such as the right handrail section 33, the left handrail section 33, the handle 29, the main shift lever 30, and the mobile terminal 53, the automatic travel control unit 62 executes automatic travel at a predetermined set speed when all the automatic travel permission switches 34 are pressed. On the other hand, when at least one automatic travel permission switch 34 is pressed, the automatic travel control unit 62 executes automatic travel at a speed slower than the set speed. Also, when none of the automatic travel permission switches 34 are pressed, the automatic travel control unit 62 stops automatic travel, i.e., stops the combine harvester 1.

[0079] As a result, if the operator presses any one of the automatic driving permission switches 34, the combine 1 will continue automatic driving at a low speed, so the operator can calmly perform operations such as changing the operating conditions without stopping the automatic driving.

[0080] In the above embodiment, the automatic travel control unit 62 executes automatic travel when the automatic travel permission switch 34 is pressed when the automatic travel mode is set and the combine harvester 1 satisfies various automatic travel start conditions and is in an automatic travel-enabled state, but the present invention is not limited to this example. For example, in another embodiment, the automatic travel control unit 62 may be configured to execute automatic travel when the automatic travel permission switch 34 is pressed after receiving a start instruction in response to the operation of an automatic travel start button provided on the operation unit 9 or the mobile terminal 53, even if the automatic travel is enabled.

[0081] In the above embodiment, the automatic travel permission switch 34 is configured as a push button, but the present invention is not limited to this example. For example, the automatic travel permission switch 34 may be configured as a lever that is integral with the handrail portion 33 or the handlebar 29, and the automatic travel permission switch 34 may be pressed when the operator grips the lever together with the handrail portion 33 or the handlebar 29.

[0082] For example, the mobile terminal 53 has a function of accepting the start of automatic driving (automatic reaping driving) of the combine harvester 1, and displays an automatic driving execution screen having an automatic driving start button on the touch panel. The automatic driving execution screen displays the start button in an operable manner when the automatic driving mode is set and the combine harvester 1 satisfies various automatic driving start conditions. The mobile terminal 53 transmits an instruction to start automatic driving to the combine harvester 1 in response to operation of the start button on the automatic driving execution screen.

[0083] In the above embodiment, an example has been described in which the control device 50 of the combine harvester 1 functions as the field information setting unit 60, the travel route creation unit 61, the automatic travel control unit 62, and the automatic reaping control unit 63, but the present invention is not limited to this example. For example, in another embodiment, the mobile terminal 53 may be configured to function as the field information setting unit 60, the travel route creation unit 61, the automatic travel control unit 62, and the automatic reaping control unit 63. In other words, the automatic driving system according to the present invention applies at least one of the control device 50 of the combine harvester 1 and the mobile terminal 53 to function as the field information setting unit 60, the travel route creation unit 61, the automatic travel control unit 62, and the automatic reaping control unit 63, and the automatic travel control unit 62 executes automatic travel based on the travel route while an automatic travel permission operating member such as the automatic travel permission switch 34 is being operated.

[0084] In the above embodiment, an example has been described in which the work vehicle of the present invention is configured as a self-detaching combine harvester 1, but the present invention is not limited to this example, and the work vehicle of the present invention may be configured as a riding work vehicle such as a standard combine harvester, tractor, riding mower, riding rice transplanter, transporter, snowplow, wheel loader, or an unmanned work vehicle such as an unmanned mower.

[0085] Furthermore, the present invention can be modified as appropriate within the scope that does not contradict the gist or concept of the invention that can be read from the claims and the entire specification, and the automated driving method, work vehicle, and automated driving system that involve such modifications are also included in the technical concept of the present invention. [Explanation of symbols]

[0086] 1 Combine (work vehicle) 2 Running part 9. Control Unit 28 Driver's seat 29 Handle 30 Main gear shift lever 32 Armrest 33 Handrail section 34 Automatic driving permission switch (automatic driving permission operation part) 50 Control device 51 Storage section 53 Mobile Devices 60 Field information setting section 61 Driving route creation section 62 Automatic driving control unit 63 Automatic reaping control unit

Claims

1. An automatic driving method for a work vehicle that automatically travels based on a preset travel route, an operation step of operating an automatic travel permission switch to permit the automatic travel; and an automatic driving control step of controlling the automatic driving based on the driving route, The automatic driving method is characterized in that the automatic driving control step executes the automatic driving based on the driving route while the automatic driving permission switch is pressed.

2. The automatic driving method according to claim 1, characterized in that, when the automatic driving permission switch is pressed and the automatic driving is being performed at a predetermined set speed, if the automatic driving permission switch is released, the automatic driving continues at a speed slower than the set speed.

3. The automatic driving method according to claim 1, characterized in that, when the automatic driving permission switch is pressed and the automatic driving is being performed at a predetermined set speed, if the automatic driving permission switch is released and an operation to increase the set speed is performed, the automatic driving control step does not reflect the speed increase operation in the set speed, and waits until the automatic driving permission switch is pressed again before reflecting the speed increase operation in the set speed.

4. The automatic driving method according to claim 1, characterized in that, when the automatic driving permission switch is pressed and the automatic driving is being performed at a predetermined set speed, if the automatic driving permission switch is released, the automatic driving is stopped after a predetermined duration has elapsed.

5. The automatic driving method according to claim 4, characterized in that the automatic driving control step extends the duration if a change operation of the driving conditions is performed between the time when the pressing operation of the automatic driving permission switch is released and the time when the automatic driving is stopped is detected.

6. 5. The automatic driving method according to claim 4, wherein the automatic driving control step sets the duration time for reverse driving to be shorter than the duration time for forward driving.

7. The automatic driving method according to claim 1, characterized in that the automatic driving control step does not stop the automatic driving when at least one of the automatic driving permission switches provided in the work vehicle is pressed.

8. The automatic driving method according to claim 1, characterized in that the automatic driving control process executes the automatic driving at a predetermined set speed when all of the automatic driving permission switches among the multiple automatic driving permission switches provided on the work vehicle are pressed, and executes the automatic driving at a speed slower than the set speed when at least one of the automatic driving permission switches is pressed.

9. A work vehicle that automatically travels based on a preset travel route, an automatic driving permission switch that permits the automatic driving; an automatic driving control unit that controls the automatic driving based on the driving route, The automatic travel control unit executes the automatic travel based on the travel route while the automatic travel permission switch is pressed.

10. 10. The work vehicle according to claim 9, wherein the automatic travel permission switch is disposed on a handrail portion in front of an armrest of a steering section of the work vehicle.

11. An automatic driving system including a work vehicle that automatically travels based on a preset travel route, an automatic driving permission switch that permits the automatic driving; an automatic driving control unit that controls the automatic driving based on the driving route, The automatic driving control unit executes the automatic driving based on the driving route while the automatic driving permission switch is pressed.

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