Autonomous driving method, work vehicle, and automated driving system

Abstract

To provide an autonomous operation method, a work vehicle, and an autonomous operation system capable of executing an autonomous operation with improved operability.SOLUTION: A combine 1 is a work vehicle that can execute autonomous travelling on the basis of a travelling route set beforehand, and includes a handle which is a turning operation tool for receiving a turning operation for commanding turning of the combine 1, a control device 50 that functions as an autonomous travelling control unit 62 for controlling autonomous travelling of the combine 1 based on the travelling route, and an override button 32, which is a turning operation permission unit for permitting the turning operation of the handle 29 while autonomous travelling is executed. A travelling unit 2 does not normally receive the turning operation while autonomous travelling is executed, but receives the turning operation when the override button 32 is operated.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] Conventionally, a work vehicle such as a combine harvester or a tractor is provided with a turning operation tool such as a handle for instructing the turning of the machine body, and accepts the turning operation of the turning operation tool when manually traveling. Some work vehicles perform automatic traveling based on a preset traveling route, and in the automatic traveling, the vehicle turns based on the traveling route without accepting the turning operation of the turning operation tool.

[0003] For example, Patent Document 1 discloses a harvester capable of automatic travel in a field. This harvester includes an operating tool having a function capable of changing the state of the machine while continuing automatic travel during automatic travel, a machine state detection unit that detects the state of the machine, and a function setting unit that enables or disables a function according to the state of the machine detected by the machine state detection unit when the operating tool is operated. For example, the operating tool is a turning operating tool that instructs the machine to turn, and the function setting unit disables the function of the turning operating tool during automatic travel and instructs the machine to stop when the turning operating tool is operated to a greater extent than a preset operation amount. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-18238 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in conventional work vehicles such as the harvester of Patent Document 1, the machine body cannot be turned during automatic driving, and when turning is desired, it is necessary to stop the machine once and switch to manual driving. Therefore, when automatic driving is performed, the trajectory cannot be corrected according to the operator's intention with a simple operation, which reduces operability, and also, since it is necessary to interrupt automatic driving and stop the machine every time a trajectory correction is performed, there is a risk of reducing work efficiency.

[0006] An object of the present invention is to provide an automatic driving method, a work vehicle, and an automatic driving system that are capable of performing automatic driving with improved operability. [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 a turning instruction process for instructing the work vehicle to turn in accordance with a turning operation of a turning operation device provided on the work vehicle, an automatic driving control process for controlling the automatic driving of the work vehicle based on the driving route, and a permission operation process for permitting turning operation of the turning operation device while the automatic driving is being executed in accordance with operation of a turning operation permission unit provided on the work vehicle, wherein the turning instruction process normally does not accept turning operation of the turning operation device while the automatic driving is being executed, but accepts turning operation of the turning operation device when the turning operation permission unit 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 a turning operation device that accepts a turning operation that instructs turning, an automatic driving control unit that controls the automatic driving based on the driving route, and a turning operation permission unit for permitting turning operation of the turning operation device while the automatic driving is being performed, and is characterized in that the turning operation device does not normally accept a turning operation while the automatic driving is being performed, but accepts a turning operation when the turning operation permission unit is operated.

[0009] In addition, in order to solve the above problems, the automatic driving system of the present invention is an automatic driving system equipped with a work vehicle that performs automatic driving based on a predetermined driving route, and is equipped with a turning operation device that accepts a turning operation that instructs the work vehicle to turn, an automatic driving control unit that controls the automatic driving of the work vehicle based on the driving route, and a turning operation permission unit for permitting the turning operation of the turning operation device while the automatic driving is being performed, and is characterized in that the turning operation device does not normally accept a turning operation while the automatic driving is being performed, but accepts a turning operation when the turning operation permission unit is operated. Effect of the Invention

[0010] The present invention provides an automatic driving method, a work vehicle, and an automatic driving system that are capable of performing automatic driving with improved operability. [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. [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] FIG. 11 is a plan view showing an example of a work screen displayed on a mobile device in a combine harvester according to one embodiment of the work vehicle of the present invention. [Diagram 5] 4 is a flowchart showing an example of a traveling operation of a combine harvester according to an embodiment of the work vehicle of the present invention. [Figure 6] 5 is a flowchart showing an example of a traveling operation of a first modified example of a combine harvester according to an embodiment of the work vehicle of the present invention. [Figure 7] 13 is a flowchart showing an example of a traveling operation of a second modified example of a combine harvester according to an embodiment of the work vehicle of the present invention. [Figure 8] 13 is a flowchart showing an example of a traveling operation of a third modified example of a combine harvester according to an embodiment of the work vehicle of the present invention. [Figure 9] 13 is a flowchart showing an example of a traveling operation of a fourth modified example of a combine harvester according to an 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 the work vehicle of the present invention, will be described with reference to Fig. 1 etc. The work vehicle is capable of automatic travel based on a preset travel route, and 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 by going back and forth along multiple work routes in an area of ​​a field having uncut stalks (hereinafter referred to as an uncut area) and circular reaping by repeating a circuit of the work route 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 power transmission mechanism 12 (see FIG. 2). The traveling unit 2 rotates the crawlers of the crawler-type traveling devices 11 using power (e.g., rotational power) transmitted from the 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 power transmission mechanism 12 is composed of a transmission or the like, and transmits the power (rotational power) of the power unit 8 to the crawler-type traveling devices 11, and is also capable of changing 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, behind 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, behind 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 for operating the traveling of the combine harvester 1, around a driver's seat 28 where an operator sits. The operating tools of the control unit 9 include a handle 29 which is a turning operating tool for instructing the turning of the body of the combine harvester 1, and a main speed change lever 30 and an auxiliary speed change lever 31 which are speed change operating tools for instructing a change in the forward and backward speed of the combine harvester 1. The manual traveling of the combine harvester 1 is performed by the traveling unit 2 (power transmission mechanism 12) which receives the operation of the handle 29, the main speed change lever 30, and the auxiliary speed change lever 31 of the control unit 9.

[0024] The control unit 9 is provided with an override button 32 as a turning operation permission unit for permitting turning operation of the handle 29, which is a turning operation tool, while the combine harvester 1 is running automatically. The control unit 9 is provided with 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. The control unit 9 also has a display unit 33, such as a monitor, for displaying and outputting various information to the operator (see FIG. 2).

[0025] The handle 29 transmits a turning operation by an operator to the power transmission mechanism 12 of the traveling unit 2 to change the traveling direction of the combine harvester 1, i.e., to turn the combine harvester 1. For example, while the combine harvester 1 is being manually driven, the traveling unit 2 (power transmission mechanism 12) constantly accepts the turning operation of the handle 29 by the operator. On the other hand, while the combine harvester 1 is being automatically driven, the traveling unit 2 normally does not accept the turning operation of the handle 29 by the operator, but will accept the turning operation of the handle 29 when the override button 32 is operated. 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. The margin of the handle 29 is not limited to ±5 degrees, and can be manually adjusted.

[0026] The main speed change lever 30 and the sub speed change lever 31 transmit the speed change operation by the operator to the power transmission mechanism 12 of the traveling section 2 to change the set traveling speed of the combine harvester 1. For example, when the manual traveling mode is set, the main speed change lever 30 stops the combine harvester 1 when it is in the central neutral position 34. When the main speed change lever 30 is tilted to a forward speed change region 35 forward of the neutral position 34, it transmits the forward traveling operation of the combine harvester 1 to the traveling section 2 and sets the forward set speed to the traveling section 2 according to the forward / rearward position of the main speed change lever 30 in the forward speed change region 35 which is long in the forward / rearward direction. When the main speed change lever 30 located in the forward speed change region 35 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.

[0027] On the other hand, when the main speed change lever 30 is tilted to a reverse speed change region 36 rearward of the neutral position 34, it transmits the reverse travel operation of the combine 1 to the traveling section 2, and sets a reverse set speed in the traveling section 2 according to the fore-and-aft position of the main speed change lever 30 in the reverse speed change region 36, which is long in the fore-and-aft direction. When the main speed change lever 30 located in the reverse speed change region 36 is tilted rearward from the neutral side, it increases the reverse set speed, and when it is tilted from rearward to the neutral side, it decreases the reverse set speed.

[0028] Also, 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 35. When the automatic travel mode is set, the main speed change lever 30 being located in the forward speed change region 35 may be one of the conditions for starting automatic travel of the combine harvester 1. In automatic forward travel, the set vehicle speed is set in the range of 0 to 100% by the mobile terminal 53 or the like, and a forward set speed based on the speed set value corresponding to the forward / rearward position of the main speed change lever 30 in the forward speed change region 35 and the set vehicle speed is set in the traveling unit 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, and when the main speed change lever 30 is tilted forward from the neutral side, the forward set speed is decreased. For example, when the set vehicle speed is 50% and the speed set value is 2 m / s, the forward set speed is set to 1 m / s. Also, in the case of automatic reverse driving, the set vehicle speed is set within the range of 0 to 100% by a mobile terminal 53 or the like, and a reverse set speed based on the speed setting value corresponding to the fore-and-aft position of the main shift lever 30 in the forward speed change area 35 and the above set vehicle speed is set in the driving unit 2.

[0029] The override button 32 is provided, for example, on the steering wheel 29 and placed at a position where the fingers of an operator sitting in the driver's seat 28 and gripping the steering wheel 29 can rest. Alternatively, the override button 32 may be placed on a work screen 55 (see FIG. 4) of a mobile terminal 53 (see FIG. 2) and arranged alongside the stop button 56 of the machine.

[0030] The override button 32 is configured to switch between on and off in response to an operation by an operator. During the execution of the automatic travel of the combine harvester 1, the traveling unit 2 accepts a turning operation of the handle 29 when the override button 32 is on, and does not accept a turning operation of the handle 29 when the override button 32 is off. Alternatively, the override button 32 may be configured to completely switch the traveling mode from the automatic traveling mode to the manual traveling mode by the control device 50 when the override button 32 is operated (pressed) by the operator while the automatic traveling mode is set and the combine harvester 1 is performing automatic traveling. In this case, the combine harvester 1 switches from automatic traveling to manual traveling, and the traveling unit 2 enters a state in which it accepts a turning operation of the handle 29. Even if the override button 32 is operated again, the control device 50 does not switch the traveling mode to the automatic traveling mode.

[0031] For example, the override button 32 may be configured as a one-touch (alternate) push button, in which case it switches between on and off each time it is pressed. Alternatively, the override button 32 may be configured as a long-press push button, in which case it switches on in response to a long press operation for a predetermined time (e.g., 5 seconds) or more, and then switches off in response to a one-touch operation or a long press operation. Alternatively, the override button 32 may be configured as a momentary push button that switches on only when pressed, in which case it switches on when pressed, i.e., when it is pressed, and switches off when the press operation is released, i.e., when it is not pressed.

[0032] 2, the combine harvester 1 includes a positioning unit 38 that uses a satellite positioning system such as a GPS to acquire position information of the combine harvester 1. The positioning unit 38 receives a positioning signal from a positioning satellite via a positioning antenna, and acquires position information of the positioning unit 38, i.e., position information of the combine harvester 1, based on the positioning signal.

[0033] 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 38). The combine harvester 1 (e.g., the positioning unit 38) receives the correction information from the base station, and corrects the position information of the positioning unit 38, i.e., the position information of the combine harvester 1, based on the correction information.

[0034] 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 38.

[0035] 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.

[0036] 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.

[0037] 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-type personal computer equipped with a touch panel. The mobile terminal 53 includes a display unit 54 such as a touch panel or a monitor for displaying various information and outputting it to the operator, and also includes an input unit such as a touch panel or operation keys for receiving input operations of various information from the operator. Note that an operation device similar to the mobile terminal 53 may be provided in the control unit 9. For example, the mobile terminal 53 displays, on the display unit 54, 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 set driving mode to the combine harvester 1 according to the operator's operation.

[0038] The mobile terminal 53 is configured to receive input operations via the input unit regarding 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.

[0039] 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 a screen (for example, a travel selection screen) for selecting a travel pattern of reciprocating mowing or circular mowing on the display unit 54. The mobile terminal 53 transmits the travel pattern (reciprocating mowing or circular mowing) input in response to an operation by the operator to the combine harvester 1, and instructs the creation of a travel route. The mobile terminal 53 may previously set a set vehicle speed within a range of 0 to 100% and associate it with the travel route.

[0040] When the combine harvester 1 performs automatic reaping travel, the mobile terminal 53 displays a work screen 55 for automatic reaping travel on the display unit 54 as shown in FIG. 4. For example, the work screen 55 displays a stop button 56 for temporarily stopping the machine and the above-mentioned override button 32 in an operable manner. The work screen 55 also displays the current position of the combine harvester 1 so that it can be confirmed, along with the field and travel route that are the subject of automatic reaping travel. The work screen 55 displays the set travel mode in a identifiable manner in a title field 57, and not only displays the automatic travel mode, but also displays the travel mode that is automatically switched depending on the work situation. The mobile terminal 53 may be configured so that the set vehicle speed can be set within a range of 0 to 100% on the work screen 55.

[0041] The control device 50 also operates as a field information setting unit 60, a travel route creation unit 61, an automatic travel control unit 62, and an automatic reaping control unit 63 by executing the programs stored in the storage unit 51. The travel route creation unit 61, the automatic travel control unit 62, and the automatic reaping control unit 63 realize the travel route creation step, the automatic travel control step, and the automatic reaping control step of the automatic driving method according to the present invention. The traveling unit 2 (power transmission mechanism 12) functions as a turning instruction unit that instructs the combine harvester 1 to turn in response to the turning operation of the handle 29, and realizes the turning instruction step of the automatic driving method according to the present invention. The override button 32 functions as a turning operation permission unit that permits the turning operation of the handle 29 while the combine harvester 1 is being automatically driven, and realizes the permission operation step of the automatic driving method according to the present invention.

[0042] 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.

[0043] 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.

[0044] The field image may be taken by an on-board camera provided on the combine harvester 1, an image taken by a mobile camera provided on the mobile terminal 53 may be received by the communication unit 52, or an image taken by an aerial camera provided on 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 on-board 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 on-board camera, the mobile camera, or the aerial camera on the display unit 33 of the operation unit 9, or transmit it to the mobile terminal 53 to display it on the display unit 54 of the mobile terminal 53.

[0045] The travel route creation unit 61 creates a travel route that the combine harvester 1 references in order to automatically drive and automatically mow (automatic mowing travel) in the field, and stores the created travel route in the memory unit 51. The travel route includes not only travel settings related to automatic driving, but also work settings related to work such as automatic mowing. The travel settings include, in addition to the travel position in the field, the direction of travel (steering direction and forward or reverse) and set vehicle speed at each travel position. The work settings include information regarding whether mowing is started or stopped at each travel position, the mowing speed and mowing height, the number of mowing rows, and other work.

[0046] The travel path creation unit 61 sets a linear work path for mowing while traveling forward in unmowed areas of the field, and sets a travel path by combining multiple work paths. The travel path creation unit 61 also sets a free travel path for traveling while turning around the headland between two consecutive work paths. In other words, the travel path creation unit 61 creates a travel path consisting of multiple work paths and free travel paths between each work path. Note that the travel path creation unit 61 may create travel paths by setting a movement path that travels linearly in the forward or backward direction or a movement path that travels while turning in order to move in already-mowed areas of the field, in addition to the work paths and free travel paths.

[0047] The travel route creation unit 61 creates a travel route according to a travel pattern (reciprocating mowing or circular mowing) selected in response to operation of the mobile terminal 53, etc. For example, the travel route creation unit 61 creates a travel route for circular mowing that repeats a circuit of a work route along the inner circumference of an unmowed area while shifting toward the center, or a travel route for reciprocating mowing that travels back and forth along multiple work routes in an 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 on the travel route.

[0048] 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.

[0049] Furthermore, the automatic traveling control unit 62 sets a forward set speed or a reverse set speed based on a speed set value corresponding to the longitudinal position of the main shift lever 30 and the set vehicle speed as the set speed for automatic traveling, while when the main shift lever 30 is operated during automatic forward traveling, the set speed for automatic traveling 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 35 is tilted forward from the neutral side during automatic forward traveling, the automatic traveling control unit 62 increases the forward set speed according to the longitudinal position of the main shift lever 30, while when it is tilted from the forward side to the neutral side, the automatic traveling control unit 62 decelerates the forward set speed according to the longitudinal position of the main shift lever 30.

[0050] Even if the steering wheel 29 is operated during automatic driving, the automatic driving control unit 62 normally continues automatic driving based on the driving settings, since the driving unit 2 is in a state in which it does not accept turning operations of the steering wheel 29. However, if the override button 32 is operated and turned on during automatic driving, the driving unit 2 is in a state in which it accepts turning operations of the steering wheel 29, so the automatic driving control unit 62 stops automatic driving based on the driving settings. At this time, the driving unit 2 may continue driving while maintaining the driving state (traveling direction, driving speed, etc.) based on the main shift lever 30 etc. when automatic driving was stopped, and may transition to manual driving. Note that, when the override button 32 is operated during automatic driving, the automatic driving control unit 62 may switch the driving mode from automatic driving mode to manual driving mode.

[0051] In addition, when the automatic driving is switched to the manual driving in response to the operation of the override button 32, and then the override button 32 is operated again to turn it off, the automatic driving control unit 62 resumes the automatic driving based on the driving route if the distance between the combine harvester 1 and the driving route is within a predetermined return distance. In addition to the case where the distance is within the return distance, the condition for resuming the automatic driving may also be added when the direction of the combine harvester 1 is within a predetermined angle with respect to the direction of the driving route. At this time, the driving unit 2 is in a state in which it does not accept the turning operation of the handle 29. In addition, the automatic driving control unit 62 may switch the driving mode from the manual driving mode to the automatic driving mode. On the other hand, when the distance between the combine harvester 1 and the driving route exceeds the return distance, the automatic driving control unit 62 may not resume the automatic driving based on the driving route, and the driving unit 2 may continue the manual driving of the combine harvester 1. In addition, in addition to the case where the distance exceeds the return distance, the condition for not resuming the automatic driving may also be added when the direction of the combine harvester 1 exceeds a predetermined angle with respect to the direction of the driving route. In this case, the mobile terminal 53 may gray out the override button 32 displayed on the work screen 55 of the display unit 54 to make it inoperable, thereby visually notifying the operator that automatic driving cannot be resumed.

[0052] 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.

[0053] An example of the traveling operation of the combine harvester 1 of this embodiment will be described with reference to the flowchart of Fig. 5. Note that the reaping operation of the combine harvester 1 is performed as necessary in an unmowed area of ​​the farm field, but a description thereof will be omitted below.

[0054] When the combine harvester 1 is set to the automatic travel mode (step S1: Yes), the travel route creation unit 61 first creates a travel route for automatic travel in the field to be worked on and stores it in the memory unit 51 (step S2). Next, when the combine harvester 1 satisfies various automatic travel start conditions (step S3: Yes), the automatic travel control unit 62 controls the power unit 8 and the travel unit 2 based on the travel settings of the created travel route to start automatic travel (step S4). While automatic travel is being performed, the travel unit 2 is in a state in which it does not accept the turning operation of the handle 29 by the operator. Note that when the automatic travel mode is not set (step S1: No) or the automatic travel start conditions are not satisfied (step S3: No), automatic travel does not start.

[0055] If the operator operates the override button 32 while automatic driving is being performed (step S5: Yes), the traveling unit 2 enters a state in which it can accept turning of the steering wheel 29 by the operator (step S6). In addition, the automatic driving control unit 62 switches the driving mode from the automatic driving mode to the manual driving mode and stops automatic driving based on the driving settings (step S7), and the traveling unit 2 continues driving while maintaining the driving state when automatic driving was stopped, and transitions to manual driving (step S8).

[0056] After that, when the operator operates the override button 32 again while manual travel is being performed (step S9: Yes), if the distance from the combine 1 to the travel route is within a predetermined return distance (step S10: Yes) and the orientation of the machine body is within a predetermined angle with respect to the orientation of the travel route (step S11: Yes), the travel mode is switched from the manual travel mode to the automatic travel mode, and the automatic travel control unit 62 resumes automatic travel based on the travel route (step S12). At this time, the travel unit 2 enters a state in which it does not accept turning operation of the handle 29 (step S13).

[0057] On the other hand, if the override button 32 is not operated again (step S9: No), if the distance from the combine 1 to the travel path exceeds the return distance (step S10: No), or if the orientation of the machine body exceeds a predetermined angle with respect to the direction of the travel path (step S11: No), the automatic travel control unit 62 does not resume automatic travel based on the travel path, and the travel unit 2 continues manual travel of the combine 1 (step S14). Alternatively, if the distance from the combine 1 to the travel path exceeds the return distance (step S10: No) or if the orientation of the machine body exceeds a predetermined angle with respect to the direction of the travel path (step S11: No), manual travel may be ended to end the travel operation of the combine 1.

[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 handle 29, which is a turning operation tool that accepts a turning operation to instruct the combine harvester 1 to turn, the control device 50 that functions as an automatic travel control unit 62 that controls the automatic travel of the combine harvester 1 based on the travel route, and the override button 32, which is a turning operation permission unit for permitting the turning operation of the handle 29 during automatic travel. The traveling unit 2 does not normally accept a turning operation during automatic travel, but accepts a turning operation when the override button 32 is operated.

[0059] As a result, the combine harvester 1 does not normally accept turning operation of the handle 29 when automatically traveling, so erroneous operation can be suppressed. On the other hand, even when automatically traveling, the handle 29 can be turned by a simple operation of operating the override button 32, so that the trajectory can be corrected according to the operator's intention, improving operability. In addition, even when correcting the trajectory during automatic traveling, there is no need to interrupt automatic traveling or stop the vehicle, so work efficiency can be improved.

[0060] In the combine harvester 1 of this embodiment, when the traveling unit 2 accepts a turning operation of the handle 29 in response to the operation of the override button 32 during automatic traveling and then the override button 32 is operated again, if the distance from the combine harvester 1 to the traveling route is within a predetermined return distance, the automatic traveling control unit 62 executes automatic traveling based on the traveling route. Alternatively, the automatic traveling control unit 62 may execute automatic traveling based on the traveling route when the distance is within the return distance and the direction of the combine harvester 1 body is within a predetermined angle with respect to the direction of the traveling route.

[0061] As a result, the combine harvester 1 can return to automatic driving based on the driving path if the movement when the override button 32 is operated is within a return distance from the driving path or if the orientation of the combine harvester 1 is within a predetermined angle with respect to the orientation of the driving path. Therefore, by combining the turning operation using the override button 32 with automatic driving, driving according to the operator's intention can be easily achieved, and operability can be improved.

[0062] In the combine harvester 1 of this embodiment, the traveling unit 2 accepts the turning operation of the handle 29 while the override button 32 is pressed during automatic traveling. When the override button 32 is released, if the distance from the combine harvester 1 to the traveling path is within a predetermined return distance and the direction of the combine harvester 1 is within a predetermined angle with respect to the direction of the traveling path, the traveling unit 2 is in a state where it does not accept the turning operation of the handle 29, and the automatic traveling control unit 62 executes automatic traveling based on the traveling path. Alternatively, the automatic traveling control unit 62 may execute automatic traveling based on the traveling path when the distance is within the return distance and the direction of the combine harvester 1 is within a predetermined angle with respect to the direction of the traveling path. On the other hand, when the distance exceeds the return distance, the combine harvester 1 is caused to travel in a state where the traveling unit 2 accepts the turning operation of the handle 29, that is, manual traveling is performed. Alternatively, the combine 1 may be manually driven when the separation distance exceeds the return distance and when the orientation of the combine 1 body exceeds a predetermined angle with respect to the orientation of the travel path.

[0063] As a result, during automatic travel, the combine harvester 1 allows the handle 29 to be turned only while the override button 32 is pressed, so that erroneous operation of the handle 29 can be more reliably prevented. Furthermore, the combine harvester 1 can return to automatic travel based on the travel route if the override button 32 is released while the movement when the override button 32 is operated is within a return distance from the travel route or while the orientation of the combine harvester 1 is within a predetermined angle with respect to the orientation of the travel route. Therefore, by combining the turning operation using the override button 32 with automatic travel, travel according to the operator's intention can be easily achieved, and operability can be improved.

[0064] In the above embodiment, an example has been described in which the traveling unit 2 of the combine 1 accepts operation of the override button 32 without setting any particular conditions while automatic traveling is being performed, but the present invention is not limited to this example.

[0065] According to the first modified example, the traveling unit 2 may be configured not to accept operation of the override button 32 under a predetermined inoperable condition. The combine harvester 1 may set an automatic traveling section where it is undesirable to accept turning operation of the handle 29 as the inoperable condition of the override button 32, for example, an automatic turning traveling section or an automatic reverse traveling section.

[0066] That is, when the automatic travel control unit 62 is executing the automatic forward travel of the combine harvester 1, the travel unit 2 accepts a turning operation of the handle 29, whereas when the automatic travel control unit 62 is executing the automatic turning travel or automatic reverse travel of the combine harvester 1, the travel unit 2 does not accept a turning operation of the handle 29. Note that, when the travel route creation unit 61 creates a travel route in the combine harvester 1, a section in which the override button 32 cannot be operated may be set in advance for the travel route, or the inoperable section may be made editable for the created travel route.

[0067] A travel operation example of the combine harvester 1 of the first modified example will be described with reference to the flowchart of Fig. 6. In the first modified example, first, the operations from steps S21 to S24 of the travel operation example shown in Fig. 6 are performed in the same manner as the operations from steps S1 to S4 of the travel operation example shown in Fig. 5, so that the combine harvester 1 performs automatic travel.

[0068] When the operator operates the override button 32 while automatic driving is being performed (step S25: Yes), if the automatic driving control unit 62 is performing automatic forward driving of the combine 1 (step S26: Yes), the traveling unit 2 enters a state in which it can accept turning operation of the handle 29 by the operator (step S27).

[0069] On the other hand, when the automatic driving control unit 62 is executing the automatic turning driving or automatic reverse driving of the combine harvester 1 (step S26: No), the traveling unit 2 maintains a state in which it does not accept the turning operation of the handle 29 by the operator.

[0070] The operations (steps S28 to S35) performed after the traveling unit 2 receives a turning operation of the handle 29 while the automatic traveling is being performed are similar to the operations from steps S7 to S14 in the traveling operation example shown in FIG.

[0071] According to the first variant, in situations where it is undesirable to accept turning operations of the steering wheel 29 during automatic driving, operation of the override button 32 is not accepted, thereby suppressing turning operations and erroneous operation of the override button 32, thereby improving safety.

[0072] In the above embodiment, an example has been described in which the combine 1 transitions to manual driving after stopping automatic driving in response to operation of the override button 32, regardless of whether the automatic driving direction is forward or backward, and the running unit 2 continues running while maintaining the running state when automatic driving was stopped. However, the present invention is not limited to this example.

[0073] As another example, in the present invention, the automatic travel control unit 62 and the travel unit 2 of the combine harvester 1 may apply different controls to the travel of the combine harvester 1 depending on the traveling direction of the combine harvester 1 when the override button 32 is operated during automatic travel. This allows the combine harvester 1 to travel under control that matches the traveling direction when switching from automatic travel to manual travel.

[0074] For example, according to the second modified example, after the automatic travel control unit 62 stops the automatic forward travel in response to the operation of the override button 32, the travel unit 2 continues traveling while maintaining the traveling state at the time of stopping the automatic forward travel and transitions to manual forward travel, while as a control according to the traveling direction, after the automatic travel control unit 62 stops the automatic reverse travel in response to the operation of the override button 32, the automatic travel control unit 62 and the travel unit 2 perform limited manual travel. In limited manual travel, the travel unit 2 performs the turning operation of the combine harvester 1 in response to the turning operation of the handle 29, while the speed change operation and the forward / reverse switching operation of the combine harvester 1 may be performed according to a control pattern set in advance. The operator may be notified that limited manual travel is to be performed by displaying the information on the display unit 33 of the operation unit 9 or the display unit 54 of the mobile terminal 53, or an alarm may be output by a speaker or a buzzer provided on the operation unit 9 or the mobile terminal 53.

[0075] Incidentally, the automatic reverse travel is performed with the main speed change lever 30 positioned in the forward speed change region 35, so when the automatic reverse travel is stopped and shifted to manual travel, the reverse speed at the time of stopping the automatic reverse travel does not match the forward set speed based on the position of the main speed change lever 30. At this time, if the forward set speed is directly set for the combine harvester 1 that was traveling in automatic reverse travel, the acceleration when the reverse speed is immediately switched to the forward set speed is steep, and the reverse travel is suddenly switched to forward travel, which gives the operator a sense of incongruity in operation and also creates a danger during travel. Similarly, when the forward set speed is directly set for the combine harvester 1 traveling in reverse in normal manual travel, the acceleration when the reverse speed is immediately switched to the forward set speed is steep.

[0076] Therefore, in limited manual traveling, after the automatic traveling control unit 62 stops the automatic reverse traveling in response to the operation of the override button 32, the traveling unit 2 decelerates from the traveling state at the time when the automatic reverse traveling was stopped, and then, when the reverse traveling speed becomes zero, the traveling unit 2 performs manual forward traveling, gradually accelerating until the forward speed becomes the forward set speed based on the position of the main speed change lever 30, and when the forward set speed is reached, completely switches to manual forward traveling. In this way, in limited manual traveling, the acceleration is set more gradually so that the traveling speed of the combine 1 gradually switches from the reverse speed to the forward set speed than the acceleration when the forward set speed is directly set for the combine 1 during reverse traveling in normal manual traveling in the manual traveling mode, thereby reducing the discomfort in operation given to the operator and suppressing the danger of traveling.

[0077] When the override button 32 is operated during automatic reverse traveling, the combine harvester 1 switches the traveling mode from the automatic traveling mode to the limited manual traveling mode. Also, when manual forward traveling is performed during limited manual traveling and the forward speed reaches the forward setting speed, the combine harvester 1 switches the traveling mode from the limited manual traveling mode to the manual traveling mode.

[0078] An example of the traveling operation of the combine harvester 1 of the second modified example will be described with reference to the flowchart of Fig. 7. In the second modified example, first, the combine harvester 1 performs automatic reverse traveling in the same manner as steps S41 to S47 of the traveling operation example shown in Fig. 7 in the traveling operation example shown in Fig. 5, and in response to operation of the override button 32, the traveling unit 2 enters a state in which it can accept turning operation of the handle 29, and the automatic traveling control unit 62 stops automatic reverse traveling based on the traveling setting. Note that step S47 differs from step S7 in that the combine harvester 1 switches the traveling mode from the automatic traveling mode to the limited manual traveling mode.

[0079] The traveling unit 2 transitions to limited manual traveling (step S48) and decelerates from the traveling state at the time of stopping the automatic reverse traveling (step S49). When the reverse traveling speed becomes zero (step S50: Yes), the traveling unit 2 performs manual forward traveling (step S51). Furthermore, the traveling unit 2 gradually accelerates the forward traveling speed of the manual forward traveling, and when the forward traveling speed becomes the forward traveling set speed based on the position of the main speed change lever 30 (step S52: Yes), the combine 1 ends the limited manual traveling, switches the traveling mode from the limited manual traveling mode to the manual traveling mode, and switches completely to the manual forward traveling (step S53).

[0080] As described above, according to the second modification, in the combine harvester 1, the automatic travel control unit 62 executes automatic travel when the main speed change lever 30, which is a speed change operating tool that instructs a speed change between forward and reverse travel of the combine harvester 1, is located in the forward speed change region 35. Then, when the override button 32 is operated during automatic forward travel, the travel unit 2 maintains forward travel based on the position of the main speed change lever 30 in the forward speed change region 35 in a state in which the handle 29 can be turned, i.e., manual forward travel is performed. On the other hand, as a control according to the traveling direction, when the override button 32 is operated during automatic reverse travel, the travel unit 2 switches to forward travel at a slower acceleration than the acceleration when the forward set speed is directly set for the combine harvester 1 during normal manual reverse travel, based on the position of the main speed change lever 30 in the forward speed change region 35 in a state in which the handle 29 can be turned, i.e., manual forward travel is performed.

[0081] As a result, even if the override button 32 is operated while the combine 1 is in automatic reverse travel, the speed is gradually switched from the reverse speed to the forward setting speed by gentle acceleration, so that the speed is gradually switched from reverse to forward, reducing any discomfort felt by the operator in operation and minimizing any danger during travel.

[0082] According to the third modified example, as a control according to the traveling direction, after the automatic traveling control unit 62 stops automatic reverse traveling in response to the operation of the override button 32, the traveling unit 2 may continue traveling and transition to manual reverse traveling without switching to manual forward traveling, while maintaining the traveling state when automatic reverse traveling was stopped, regardless of the position of the main shift lever 30 in the forward speed change region 35. In this case, when the main shift lever 30 is operated to the neutral position 34, the traveling unit 2 cancels the traveling state when automatic reverse traveling was stopped and transitions to normal manual traveling, and then performs manual traveling at the forward set speed or reverse set speed according to the position of the main shift lever 30.

[0083] In this case, as the travel mode of the combine harvester 1, when the override button 32 is operated while the combine harvester 1 is performing automatic forward travel, the travel mode may be switched from the automatic travel mode to the manual travel mode.

[0084] An example of the traveling operation of the combine harvester 1 of the third modified example will be described with reference to the flowchart of Fig. 8. In the third modified example, first, the combine harvester 1 performs automatic reverse traveling in the same manner as steps S61 to S67 of the traveling operation example shown in Fig. 8, as in steps S1 to S7 of the traveling operation example shown in Fig. 5, and in response to operation of the override button 32, the traveling unit 2 enters a state in which it can accept turning operation of the handle 29, and the automatic traveling control unit 62 stops the automatic reverse traveling based on the traveling setting.

[0085] The combine harvester 1 switches the travel mode from the automatic travel mode to the manual travel mode, and the travel unit 2 transitions to manual reverse travel while maintaining the travel state when the automatic reverse travel was stopped, regardless of the position of the main speed change lever 30 in the forward speed change region 35 (step S68). Also, when the main speed change lever 30 is operated to the neutral position 34 (step S69: Yes), the combine harvester 1 ends the manual reverse travel and switches to the manual travel mode in which the combine harvester 1 travels according to the position of the main speed change lever 30, and the travel unit 2 cancels the travel state when the automatic reverse travel was stopped and switches completely to manual travel (step S70).

[0086] As described above, according to the third modification, in the combine harvester 1, the automatic travel control unit 62 executes automatic travel when the main speed change lever 30, which instructs a change in forward and reverse speed of the combine harvester 1, is located in the forward speed change region 35. Then, when the override button 32 is operated during automatic forward travel, the traveling unit 2 maintains forward travel based on the position of the main speed change lever 30 in the forward speed change region 35 in a state in which the traveling unit 2 accepts turning operations of the handle 29, i.e., manual forward travel is performed. On the other hand, as a control according to the traveling direction, when the override button 32 is operated during automatic reverse travel, the traveling unit 2 maintains reverse travel regardless of the position of the main speed change lever 30 in the forward speed change region 35 in a state in which the traveling unit 2 accepts turning operations of the handle 29, i.e., manual reverse travel is performed.

[0087] As a result, even if the override button 32 is operated while the combine 1 is in automatic reverse travel, the combine 1 will maintain travel in the reverse direction regardless of the position of the main shift lever 30, thereby improving operability and preventing a sudden switch from reverse to forward travel, reducing the discomfort felt by the operator during operation and minimizing dangers during travel.

[0088] According to the fourth modified example, when the automatic traveling control unit 62 stops the automatic reverse traveling in response to the operation of the override button 32 as a control according to the traveling direction, the traveling unit 2 may stop traveling of the combine harvester 1 and stop the combine harvester 1, regardless of the position of the main speed change lever 30 in the forward speed change region 35. In this case, the traveling unit 2 gradually decelerates from the time the automatic reverse traveling is stopped until the reverse speed becomes zero.

[0089] Furthermore, when the override button 32 is operated again after the combine harvester 1 has stopped traveling, the traveling unit 2 switches to manual traveling and gradually accelerates the traveling speed of the combine harvester 1 until it reaches the forward set speed or reverse set speed corresponding to the position of the main speed change lever 30. Alternatively, when the main speed change lever 30 is operated to the neutral position 34 after the combine harvester 1 has stopped traveling, the traveling unit 2 switches to manual traveling and then causes the combine harvester 1 to travel at the forward set speed or reverse set speed corresponding to the position of the main speed change lever 30.

[0090] In this case, when the override button 32 is operated while the combine harvester 1 is performing automatic forward traveling, the combine harvester 1 switches the traveling mode from the automatic traveling mode to the manual traveling mode.

[0091] An example of the traveling operation of the combine harvester 1 according to the fourth modified example will be described with reference to the flowchart of Fig. 9. In the fourth modified example, the combine harvester 1 performs automatic reverse traveling by performing the operations from steps S81 to S86 of the traveling operation example shown in Fig. 9 in the same manner as the operations from steps S41 to S45 and S47 of the traveling operation example shown in Fig. 7, and the automatic traveling control unit 62 stops the automatic reverse traveling based on the traveling setting in response to the operation of the override button 32. Note that in the fourth modified example, when the override button 32 is operated, the traveling unit 2 may maintain a state in which it does not accept a turning operation of the handle 29, or the traveling unit 2 may enter a state in which it accepts a turning operation of the handle 29.

[0092] At this time, the traveling unit 2 stops traveling of the combine harvester 1 and stops it (step S87), regardless of the position of the main speed change lever 30 in the forward speed change region 35. After that, when the override button 32 is operated again or the main speed change lever 30 is operated to the neutral position 34 (step S88: Yes), the combine harvester 1 switches the traveling mode to a manual traveling mode in which the combine harvester 1 travels according to the position of the main speed change lever 30 and is placed in a state in which turning operation of the handle 29 is accepted, and the traveling unit 2 switches to completely manual traveling (step S89).

[0093] As described above, according to the fourth modification, when the override button 32 is operated while the combine harvester 1 is in automatic forward travel, the travel unit 2 maintains travel in the forward direction in a state in which it can accept turning operations of the handle 29, i.e., manual forward travel is performed. On the other hand, as control according to the travel direction, when the override button 32 is operated while automatic reverse travel is being performed, the automatic travel control unit 62 stops travel of the combine harvester 1 and stops it.

[0094] As a result, when the override button 32 is operated while the combine harvester 1 is in automatic reverse travel, the combine harvester 1 is stopped, and the combine harvester 1 does not suddenly switch from reverse to forward travel, thereby reducing driving hazards and ensuring safety.

[0095] Alternatively, according to a fourth modified example, in the combine harvester 1, the automatic travel control unit 62 executes automatic travel when the main speed change lever 30, which instructs a change in forward and reverse speed of the combine harvester 1, is located in the forward speed change area 35. Then, as control according to the traveling direction, when the override button 32 is operated while automatic reverse travel is being performed, the automatic travel control unit 62 stops the travel of the combine harvester 1, and when the main speed change lever 30 is shifted to the neutral position 34, the traveling unit 2 accepts a turning operation of the handle 29, that is, manual travel is performed.

[0096] As a result, when the override button 32 is operated while the combine harvester 1 is in automatic reverse driving mode, the combine harvester 1 is stopped, ensuring safety. Furthermore, since manual driving is performed in response to the operation of the main speed change lever 30 to the neutral position 34, manual driving can be performed according to the operator's intention, improving operability.

[0097] In the above embodiment, the combine harvester 1 has been described as an example in which the traveling unit 2 accepts turning operation of the handle 29 when the override button 32 is operated during automatic traveling, but the present invention is not limited to this example. In another example, when the main shift lever 30 is operated within the forward speed change region 35 during automatic reverse traveling, the automatic traveling control unit 62 may stop automatic reverse traveling and the traveling unit 2 may be in a state in which it accepts turning operation of the handle 29. After stopping automatic reverse traveling in response to the operation of the main shift lever 30 in this way, the automatic traveling control unit 62 and the traveling unit 2 may perform limited manual traveling.

[0098] In this case of limited manual driving, similarly to the above, after the automatic driving control unit 62 stops the automatic reverse driving in response to the gear shift operation of the main shift lever 30, the traveling unit 2 continues manual reverse driving while maintaining the driving state when the automatic reverse driving was stopped, and gradually decelerates until the reverse speed becomes zero. After that, the traveling unit 2 switches to manual forward driving and gradually accelerates until the forward speed becomes the forward set speed based on the position of the main shift lever 30.

[0099] Alternatively, after automatic reverse driving is stopped in response to the operation of the main shift lever 30, the traveling unit 2 may continue traveling while maintaining the traveling state when automatic driving was stopped, and transition to manual reverse driving, regardless of the position of the main shift lever 30. In this case, when the main shift lever 30 is operated to the neutral position 34, the traveling unit 2 cancels the traveling state when automatic reverse driving was stopped and transitions to normal manual driving, and then performs manual driving at a forward set speed or reverse set speed according to the position of the main shift lever 30.

[0100] Alternatively, after stopping the automatic reverse travel in response to the operation of the main speed change lever 30, the traveling unit 2 may stop the travel of the combine harvester 1 and stop the combine harvester 1 regardless of the position of the main speed change lever 30. In this case, the traveling unit 2 gradually decelerates from stopping the automatic reverse travel until the reverse speed becomes zero. Also, after stopping the travel of the combine harvester 1, when the main speed change lever 30 is operated to the neutral position 34, the traveling unit 2 switches to manual travel, and then travels at a forward set speed or reverse set speed according to the position of the main speed change lever 30.

[0101] In the above embodiment, an example has been described in which the combine harvester 1 sets an inoperable condition that does not accept operation of the override button 32. However, in other examples, an operable condition that accepts operation of the override button 32 may be set. For example, the operable condition for the override button 32 may be that the combine harvester 1 is temporarily stopped during automatic traveling. In this case, the combine harvester 1 is provided with a stop button 56 on the operation unit 9 or the mobile terminal 53, and the automatic traveling control unit 62 temporarily stops the automatic traveling of the combine harvester 1 in response to operation of the stop button 56. Then, while the automatic traveling of the combine harvester 1 is temporarily stopped, the traveling unit 2 accepts operation of the override button 32.

[0102] In the above embodiment, the combine harvester 1 transitions from automatic travel to manual travel in response to the operation of the override button 32, and when the override button 32 is operated again, if the distance from the combine harvester 1 to the travel path exceeds the return distance, or if the orientation of the combine harvester 1 exceeds a predetermined angle with respect to the orientation of the travel path, the automatic travel control unit 62 does not resume automatic travel based on the travel path, and the travel unit 2 continues manual travel of the combine harvester 1. However, the present invention is not limited to this example. For example, even if the distance from the combine harvester 1 to the travel path exceeds the return distance, or if the orientation of the combine harvester 1 exceeds a predetermined angle with respect to the orientation of the travel path, the combine harvester 1 creates an automatic return path from the combine harvester 1 to the travel path in response to the re-operation of the override button 32 or the operation of a return button (not shown) provided on the operation unit 9 or the mobile terminal 53, and the automatic travel control unit 62 executes automatic return travel to return the combine harvester 1 to the travel path according to the automatic return path.

[0103] In the above embodiment, when the combine harvester 1 performs automatic travel according to the travel route, it is assumed that the main speed change lever 30 is located in the forward speed change region 35, and in the automatic reverse travel, a constant reverse travel setting speed is set in the travel unit 2 regardless of the position of the main speed change lever 30 in the forward and reverse directions. However, the present invention is not limited to this example. For example, when the automatic travel control unit 62 is performing automatic forward travel of the combine harvester 1 according to the travel route, if the main speed change lever 30 is operated from the forward speed change region 35 to the reverse speed change region 36, the automatic travel control unit 62 may perform automatic reverse travel of the combine harvester 1 according to the travel route at a reverse travel setting speed according to the position of the main speed change lever 30 in the reverse speed change region 36. In this case, the automatic travel control unit 62 accelerates or decelerates the reverse travel setting speed and sets it in the travel unit 2 according to the position of the main speed change lever 30 in the reverse speed change region 36.

[0104] In the above embodiment, an example has been described in which the override button 32 is configured as a push button as a swing operation permission unit for permitting the swing operation of the handle 29, which is a swing operation tool, while the combine harvester 1 is running automatically, but the present invention is not limited to this example. For example, the swing operation permission unit may be configured as a lever that is integrally provided with the handle 29, and the swing operation permission unit may be pressed when the operator grips the lever together with the handle 29.

[0105] 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 and the mobile terminal 53 of the combine harvester 1 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 traveling unit 2 normally does not accept a turning operation during automatic traveling, but accepts a turning operation when the override button 32 is operated.

[0106] 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.

[0107] 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]

[0108] 1 Combine (work vehicle) 2 Running part 9. Control Section 12 Power transmission mechanism 29 Handle (rotation tool) 30 Main shift lever (shift operation device) 32 Override button (rotation operation permission 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 performs automatic driving based on a preset driving route, A turning instruction process of instructing the turning of the work vehicle in response to a turning operation of a turning operation tool provided on the work vehicle; an automatic travel control step of controlling the automatic travel of the work vehicle based on the travel route; and an enabling operation step of enabling the turning operation of the turning operation tool during the execution of the automatic traveling in response to an operation of a turning operation enabling unit provided in the work vehicle, The automatic driving method is characterized in that the turning instruction process does not normally accept turning operations of the turning operation device while the automatic driving is being executed, but when the turning operation permission unit is operated, accepts turning operations of the turning operation device while the automatic driving is being executed.

2. The automatic driving method described in Claim 1, characterized in that when the turning instruction process accepts the turning operation of the turning operation device in response to the operation of the turning operation permission unit, and the turning operation permission state is released, if the distance from the work vehicle to the driving path is within a predetermined return distance, the automatic driving control process executes the automatic driving based on the driving path.

3. The automatic driving method described in claim 2, characterized in that when the turning operation permission unit is operated again after the turning instruction process accepts the turning operation of the turning operation device in response to the operation of the turning operation permission unit, if the distance from the work vehicle to the driving route is within a predetermined return distance, the automatic driving control process executes the automatic driving based on the driving route.

4. The automatic driving method described in claim 3, characterized in that when the turning instruction process accepts a turning operation of the turning operation device in response to operation of the turning operation permission unit, and the turning operation permission unit is operated again, if the orientation of the work vehicle is within a predetermined angle with respect to the orientation of the driving route, the automatic driving based on the driving route is executed.

5. The turning instruction step includes accepting a turning operation of the turning operation tool while the turning operation permission unit is pressed during the execution of the automatic traveling, When the pressing of the turning operation permission unit is released, if the distance from the work vehicle to the travel route is within a predetermined return distance, the turning instruction process is in a state in which the turning operation of the turning operation tool is not accepted, and the automatic travel control process executes the automatic travel based on the travel route, On the other hand, when the separation distance exceeds the return distance, the turning instruction process causes the work vehicle to travel in a state in which the turning operation of the turning operation tool is accepted.

6. The turning instruction step includes accepting a turning operation of the turning operation tool while the turning operation permission unit is pressed during the execution of the automatic traveling, When the pressing of the turning operation permission unit is released, if the orientation of the work vehicle is within a predetermined angle with respect to the orientation of the travel route, the turning instruction process is in a state in which the turning operation of the turning operation tool is not accepted, and the automatic travel control process executes the automatic travel based on the travel route, On the other hand, when the direction of the work vehicle exceeds a predetermined angle with respect to the direction of the travel path, the automatic driving method described in claim 5 is characterized in that the turning instruction process causes the work vehicle to travel in a state in which the turning operation of the turning operating device is accepted.

7. 7. The automatic driving method according to claim 1, wherein the turning instruction step does not accept the operation of the turning operation permission unit under a predetermined operation disabled condition.

8. The automatic driving method according to any one of claims 1 to 6, characterized in that the automatic driving control process applies different controls to the driving of the work vehicle depending on the direction of travel of the work vehicle when the turning operation permission unit is operated during execution of the automatic driving.

9. the automatic travel control step executes the automatic travel when a gear shift operating tool that instructs a forward / reverse speed change of the work vehicle is located in a forward speed change area, When the turning operation permission unit is operated during the execution of the automatic traveling in the forward direction, the traveling in the forward direction is maintained based on the position of the speed change device in the forward speed change region in a state in which the turning instruction process accepts the turning operation of the turning operation device, The automatic driving method described in claim 8, characterized in that when the turning operation permission unit is operated while the automatic driving in the reverse direction is being performed, the turning instruction process accepts the turning operation of the turning operation device, and based on the position of the shift operating device in the forward speed change area, the driving is switched to the forward direction at an acceleration that is gentler than the acceleration when a forward set speed is directly set for the work vehicle during normal manual reverse driving.

10. the automatic travel control step executes the automatic travel when a gear shift operating tool that instructs a forward / reverse speed change of the work vehicle is located in a forward speed change area, When the turning operation permission unit is operated during the execution of the automatic traveling in the forward direction, the traveling in the forward direction is maintained based on the position of the speed change device in the forward speed change region in a state in which the turning instruction process accepts the turning operation of the turning operation device, On the other hand, the automatic driving method described in claim 8, characterized in that when the turning operation permission unit is operated while the automatic driving in the reverse direction is being performed, the turning instruction process is in a state where it accepts the turning operation of the turning operation device, and the driving in the reverse direction is maintained regardless of the position of the speed change operation device in the forward speed change area.

11. When the turning operation permission unit is operated during the execution of the automatic traveling in the forward direction, the traveling in the forward direction is maintained in a state in which the turning instruction process accepts the turning operation of the turning operation tool, On the other hand, the automatic driving method according to claim 8, characterized in that, when the turning operation permission unit is operated while the automatic driving in the reverse direction is being performed, the automatic driving control step stops the driving of the work vehicle.

12. A work vehicle that automatically travels based on a preset travel route, A turning operation tool that receives a turning operation that instructs turning; an automatic driving control unit that controls the automatic driving based on the driving route; a turning operation permission unit for permitting turning operation of the turning operation tool during execution of the automatic traveling, A work vehicle characterized in that the turning operation device does not normally accept turning operations while the automatic driving is being performed, but accepts turning operations while the automatic driving is being performed when the turning operation permission unit is operated.

13. An automatic driving system including a work vehicle that automatically travels based on a preset travel route, A turning operation tool that receives a turning operation to instruct the work vehicle to turn; an automatic driving control unit that controls the automatic driving of the work vehicle based on the driving route; a turning operation permission unit for permitting turning operation of the turning operation tool during execution of the automatic traveling, An autonomous driving system characterized in that the turning operation device does not normally accept turning operations while the autonomous driving is being performed, but accepts turning operations while the autonomous driving is being performed when the turning operation permission unit is operated.

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