Work vehicles

Abstract

To provide a work vehicle capable of automatically travelling smoothly without damaging a farm field.SOLUTION: A work vehicle includes a control unit 40 for, upon receipt of an instruction for starting automatic work travelling, causing a travelling vehicle body to carry out moving travelling automatically without executing work along headland travelling routes R1b, R2a, and R2b to a work start point S in a reciprocal travelling route R1a. The control unit 40 includes a braking device capable of executing single braking for braking right and left rear wheels one by one without executing a backing operation after turning in a turning operation during automatic moving travelling without executing work in the headland travelling routes R1b, R2a, and R2b. The headland travelling routes include a plurality of straight lines R1b-1, R1b-2, .... When moving from one side R1b-1 to another side R1b-2 on the headland travelling route by turning, the turning is carried out without using the single braking.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a work vehicle such as a tiller. [Background technology]

[0002] A work vehicle is known that is equipped with a route generation unit that sets a driving area and generates a driving path for the vehicle in the driving area, and that drives autonomously along the generated route, wherein the driving area includes a first area that includes a work path along which work is performed by a work machine, and a second area that is set around the first area, and when an instruction to start work is given in the second area, if the angular difference between the azimuth angle in which the vehicle body is facing and the azimuth angle from the current position to the work start point is within a specified range, the work vehicle drives from the current position to the start position of the work path and then starts work (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6594805 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with conventional technology, unnecessary sharp turns and reversals may be required when moving to the work start position, which may result in unnecessary damage to the field.

[0005] In the present invention , field To provide a work vehicle capable of smooth automatic travel without disturbing the site. [Means for solving the problem]

[0006] The first invention is a work vehicle having a traveling body that travels on a reciprocating traveling route set inside a farm field, which repeats reciprocating traveling, and a headland traveling route that travels along the outer circumferential shape of the reciprocating traveling route, and a control unit that, upon receiving an instruction to start automatic work traveling, causes the traveling body to automatically perform travel traveling that does not involve work along the headland traveling route to a work start point on the reciprocating traveling route, and the control unit is equipped with a braking device that is capable of applying single-sided braking to each of the left and right rear wheels, one at a time, when turning during the automatic travel traveling that does not involve work on the headland traveling route, without performing a reverse operation after turning, The headland travel path has a plurality of straight lines, and when turning from one side to another side on the headland travel path, the turning is performed without the one-sided braking. This is a work vehicle characterized by the above.

[0007] The second aspect of the present invention is A plurality of the headland travel routes are set from the inside to the outside in the headland area, The control unit automatically selects the headland traveling route other than the outermost route as a route for moving and traveling the traveling vehicle body without performing work. This is a work vehicle according to the first aspect of the present invention.

[0008] The third aspect of the present invention is the control unit performs the turning with one brake when the traveling vehicle body turns and moves to a traveling line that is substantially parallel to a traveling route during automatic travel not involving work, When turning from a traveling path to a traveling line that is approximately perpendicular to the path, the turning is performed without applying the single brake. This is a work vehicle according to the first or second aspect of the present invention. Effect of the Invention

[0009] According to the first aspect of the present invention, when traveling for work, it is necessary to turn and then reverse to fill in the working area in order to perform the work evenly, but this is not necessary when traveling for non-work purposes, so by omitting this step, it is possible to move without unnecessarily disturbing the field. In addition, by suppressing unnecessary braking when traveling along the headland travel route, it is possible to move without unnecessarily disturbing the field.

[0010] According to the second aspect of the present invention, deviation from the field area can be suppressed, and stopping can be prevented.

[0011] According to the third aspect of the present invention, when traveling along a route that requires a sharp turn, one side of the brake is applied to allow the vehicle to move appropriately to the work starting point. When it is possible to turn gently, unnecessary braking is suppressed, allowing the machine to move without unnecessarily disturbing the field. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a side view of a work vehicle according to an embodiment of the present invention; [Diagram 2] Configuration diagram of the control unit of the work vehicle [Diagram 3] FIG. 2 is a simplified plan view showing a travel route of the work vehicle traveling in a farm field. [Figure 4] A simplified plan view to explain the travel route of the work vehicle (Case 1) [Diagram 5] A simplified plan view to explain the travel route of the work vehicle (Case 2) [Figure 6] A simplified plan view to explain the travel route of the work vehicle (Case 3) [Figure 7] A simplified plan view to explain the travel route of the work vehicle (Case 4) DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. Fig. 1 is a side view of a tractor as an example of a work vehicle according to an embodiment of the present invention.

[0014] First, the overall configuration of a tractor 1 will be described with reference to FIG.

[0015] The tractor 1, which is a work vehicle, is an agricultural tractor that travels by itself to perform work in fields, etc. In addition to the tractor 1 being operated by an operator (also called an operator) and traveling in a field to perform a predetermined task, the tractor 1 also performs a predetermined task while traveling automatically in the field by controlling each part using a control system centered on a control unit 40 (see FIG. 2), which will be described later.

[0016] In the following description, the forward / rearward direction is the direction in which the tractor 1 travels when traveling straight, with the forward side in the direction of travel being defined as "front" and the rear side being defined as "rear." The forward direction of the tractor 1 is the direction from the operator's seat 8 (described later) toward the steering wheel 9 when traveling straight (see FIG. 1).

[0017] The left-right direction is a direction that is horizontally perpendicular to the front-rear direction. Hereinafter, left and right are defined as facing the "front." In other words, when the operator of the tractor 1 (also called the "operator") is seated in the operator's seat 8 and facing forward, the left hand side is the "left" and the right hand side is the "right."

[0018] The up-down direction is the vertical direction. The front-rear direction, the left-right direction, and the up-down direction are perpendicular to each other. Note that each direction is defined for the convenience of explanation, and the present invention is not limited to these directions. In addition, hereinafter, the tractor 1 may be referred to as the "machine body."

[0019] 1, the tractor 1 includes a traveling body 2 and a work implement W. The traveling body 2 includes a body frame 3, front wheels 4, rear wheels 5, a bonnet 6, an engine E, a control unit 7, and a transmission case 10. The body frame 3 is a main frame of the traveling body 2.

[0020] The front wheels 4 are a pair, one on the left and one on the right, and are primarily used for steering (steered wheels). The rear wheels 5 are a pair, one on the left and one on the right, and are primarily used for driving (drive wheels). The tractor 1 may be configured to be switchable between two-wheel drive (2WD) in which the rear wheels 5 are driven, and four-wheel drive (4WD) in which both the front wheels 4 and the rear wheels 5 are driven. In this case, both the front wheels 4 and the rear wheels 5 are driven wheels. The traveling body 2 may be equipped with a crawler device instead of the wheels (front wheels 4 and rear wheels 5). In this case, the traveling crawlers are the drive wheels.

[0021] The bonnet 6 is provided at the front of the traveling body 2 so as to be freely opened and closed. The bonnet 6 can be rotated (opened and closed) in the vertical direction with the rear part as the center of rotation. When closed, the bonnet 6 covers the engine E mounted on the body frame 3. The engine E is the drive source of the tractor 1, and is a heat engine such as a diesel engine or a gasoline engine.

[0022] The control section 7 is provided on the upper part of the traveling vehicle body 2, and includes a cockpit 8 and a steering wheel 9. The control section 7 may be formed by being covered by a cabin 7a provided on the upper part of the traveling vehicle body 2. The cockpit 8 is a seat for the driver. The steering wheel 9 is operated by the driver when steering the front wheels 4. The control section 7 includes a display section (meter panel) in front of the steering wheel 9 that displays various information.

[0023] The control unit 7 also includes various operation levers, such as a forward / reverse lever, an accelerator lever, a main speed change lever, and an auxiliary speed change lever, as well as various operation pedals, such as an accelerator pedal, a brake pedal, and a clutch pedal.

[0024] The transmission case 10 houses a transmission (speed change mechanism). The transmission 10 appropriately reduces the speed of power (rotational power) transmitted from the engine E and transmits the power to rear wheels 5, which are driving wheels, and a PTO (Power Take-off) shaft.

[0025] A work machine W that performs work in a field is connected to the rear of the traveling body 2, and a PTO shaft that transmits power to drive the work machine W protrudes rearward from the transmission case 10. The PTO shaft transmits rotational power that has been appropriately reduced by the transmission to the work machine W attached to at least the rear of the traveling body 2.

[0026] Further, a lifting device 12 for raising and lowering the work machine W is provided at the rear of the traveling body 2. The lifting device 12 moves the work machine W to a non-working position by raising the work machine W. Further, the lifting device 12 moves the work machine W to a ground work position by lowering the work machine W.

[0027] The working machine W is a machine that performs work in a farm field. In the example shown in Fig. 1, the working machine W is a rotary tiller W1 that performs tilling work in a farm field. The rotary tiller W1 tills the farm land (soil) by rotating the tiller tines by power transmitted from a PTO shaft.

[0028] The tractor 1 also includes a control unit 40 as shown in Fig. 2. The control unit 40 controls the engine E (40a is an engine ECU) and also controls the traveling speed of the traveling body 2 (40b is a traveling system ECU). The control unit 40 also controls the work equipment W. 40c is a recording unit that records various data.

[0029] The tractor 1 also includes a positioning device 30. The positioning device 30 is provided on the upper part of the traveling body 2, and measures the position of the traveling body 2. The positioning device 30 is, for example, a Global Navigation Satellite System (GNSS), and can perform positioning and timing by receiving radio waves from a navigation satellite Sa orbiting in the sky.

[0030] The tractor 1 also includes an obstacle sensor 20. The obstacle sensor 20 includes a front sensor 21 and a rear sensor 22. The front sensor 21 is disposed at the front of the traveling body 2, for example, by being attached to a sensor mounting stay 13 provided in front of the bonnet 6, and detects an object (obstacle) present in front of the traveling body 2. The rear sensor 22 is disposed at the upper rear of the traveling body 2, for example, by being attached to an upper portion of the cabin 7a, and detects an object (obstacle) present behind the traveling body 2.

[0031] Moreover, both the front sensor 21 and the rear sensor 22 are mid-range sensors, preferably infrared sensors, which emit an infrared beam and detect the light reflected from an obstacle.

[0032] The front sensor 21 and the rear sensor 22 can detect the distance to an obstacle by, for example, measuring the time from emitting an infrared beam until detecting reflected light from the obstacle. The front sensor 21 and the rear sensor 22, which are infrared sensors, detect obstacles two-dimensionally, with a detection range of, for example, several meters to several tens of meters. Note that it is also possible to use a medium-range sensor other than an infrared sensor as the obstacle sensor 20, such as an ultrasonic sensor. Reference numeral 100 denotes a remote control device (remote controller), and the tractor 1 can be remotely controlled by an operator operating the remote control device 100.

[0033] Next, an outline of how to cultivate a farm field with the tractor 1 will be described.

[0034] 3 is a diagram showing a typical travel route of the tractor 1. Here, 50 indicates a farm field, 50a indicates a main range area in the approximate center of the farm field 50 where the tractor travels back and forth, and 50b indicates a headland area outside the main range area 50a. 51 indicates a bank, and 52 indicates an entrance and exit. The headland travel route in the headland area 50b is set up into multiple steps (3 routes), with one revolution being one step.

[0035] As shown by the dashed line, the tractor 1 performs automatic work travel in a reciprocating manner in the main range area 50a, then performs automatic work travel once around the headland area 50b immediately surrounding the outer periphery, and stops at a temporary stop position 50c. R1a indicates the reciprocating travel route, and R1a-1 indicates the first travel line in the reciprocating travel. R1b is the innermost travel route for one revolution in the headland area 50b, and is the automatic work travel route as described above.

[0036] Such a route is pre-recorded in the recording unit 40c of the control unit 40, and the traveling system ECU 40b operates the steering device 9 and the transmission 10 while comparing the satellite signals received by the positioning device 30 with the pre-recorded route data to cause the tractor 1 to travel autonomously for work.

[0037] Then, for the remaining area of ​​the headland area 50b, as shown by the solid line, an operator 53 gets on the tractor 1 at the temporary stop position 50c and manually drives the tractor 1 for work. Note that the getting on position can be other than the temporary stop position 50c.

[0038] Here, R2a is the outermost travel route in the headland area 50b, that is, the travel route adjacent to the bank 51. R2b is the travel route in the center of the headland area 50b. That is, in FIG. 3, three travel routes (R1b, R2a, R2b) are set as the travel route in the headland area 50b. Note that, even if the two outer travel routes R2a and R2b in the headland area 50b are travel routes performed manually for work, the data of these travel routes R2a and R2b are stored in advance in the recording unit 40c of the control unit 40. For example, they are used to warn when the worker 53 deviates significantly from the travel routes R2a and R2b during manual driving.

[0039] In such traveling of the tractor 1, S is the work start point of the automatic work traveling in the main range area 50a, that is, in the round-trip travel route R1a.

[0040] Now, when an instruction to start automatic work driving is received, the control unit 40 will explain, in several cases, how to automatically move the tractor 1 located at the entrance / exit 52 at the bank 51 to the work start point S so that the tractor 1 can perform automatic work driving in the main range area 50a where it travels back and forth.

[0041] This movement is an automatic travel without working. The shape of the field 50 is taken as an example of a substantially rectangular shape as shown in Figures 4 to 7, and the "up and down, left and right" indicating the positions are defined on those drawings.

[0042] (1) As shown in FIG. 4, when the work start point S is on the diagonal side of the entrance / exit 52, the control unit 40 causes the tractor 1 to perform automatic non-working traveling as follows.

[0043] That is, the tractor 1 located at the entrance / exit 52 automatically travels by selecting the innermost route R1b or the middle route R2b other than the outermost route R2a among the three travel routes R1b, R2a, and R2b in the headland area 50b. This is because if the tractor 1 travels on the outermost route R2a, it is likely to deviate from the field area and to stop frequently. For the same reason, the outermost route R2a is not used in the following cases.

[0044] For example, when traveling along the innermost route R1b, the vehicle travels along the right-hand route R1b-1, then turns RD1 to move to the upper side R1b-2, and then turns RDS1 to move to the first travel line R1a-1 of the round-trip travel route R1a. The turn RD1 is made at a nearly right angle, so the turning radius is relatively large and gentle control is sufficient. So-called side brakes are not used.

[0045] Alternatively, if the middle route R2b is used, the vehicle travels along the right-hand route R2b-1, then turns RD2 to move to the upper side R2b-2, then turns RDS2 to move to the first travel line R1a-1 of the round-trip travel route R1a. The turning RD2 also turns at a nearly right angle, so the turning radius is relatively large and gentle control is sufficient. The so-called side brake is not used.

[0046] Unlike the robot traveling (turning method) on the headland where normal work is performed, reverse motion is not performed during these turns RD1 and RD2. This avoids disturbing the surface of the headland and also eliminates unnecessary motion, allowing the robot to move quickly to the work start point S. Of course, in order to standardize the control software, it is possible to perform reverse motion. However, reverse motion is possible after entering the work start point S.

[0047] (2) As shown in FIG. 5, when the work start point S is located above on the same side as the entrance / exit 52, the control unit 40 causes the tractor 1 to perform automatic non-working traveling as follows.

[0048] That is, the tractor 1 positioned at the entrance / exit 52 automatically travels along the innermost route R1b or the middle route R2b other than the outermost route R2a among the three travel routes R1b, R2a, and R2b in the headland area 50b.

[0049] For example, when traveling along the innermost route R1b, the vehicle travels along the route R1b-1 on the right side. It then makes a turn RDS3 to move to the first travel line R1a-1 of the round trip travel route R1a. This turn RDS3 is not a right-angle turn as described above, but is on a nearly parallel line, so it is necessary to make a sharper turn than the right-angle turn described above, such as a one-point turn. In other words, the vehicle is provided with a braking device capable of applying one-sided braking to each of the left and right rear wheels 5.5, and a one-point turn is performed using the one-sided brake.

[0050] Alternatively, if the middle route R2b is used, the vehicle travels along route R2b-1 on the right side, then turns RDS4 to move to the first travel line R1a-1 of the round-trip travel route R1a. This turn RDS4 is not a right-angle turn as described above, but is on a nearly parallel line, so it is necessary to make a sharper turn than a right-angle turn, for example, by making a one-point turn (using the brakes, etc.).

[0051] Furthermore, even though they are both single-point turns, when comparing turn RDS4 for the middle route R2b with turn RDS3 for the innermost route R1b described above, the distance to the driving line R1a-1 is different, so turn RDS3 for the innermost route R1b requires a sharper turn.

[0052] In other words, when turning to the work start point S from route R2b other than the innermost headland travel route R1b among the route portions of the headland travel route that are set at a parallel angle to the route portion where the work start point S of the round trip travel route is located, the single brake braking force is weakened compared to when turning to the work start point S from the innermost headland travel route R1b portion.

[0053] (3) As shown in FIG. 6, when the work starting point S is located at the lower left side of the entrance / exit 52 and the tractor 1 is not facing the work starting point S, the control unit 40 causes the tractor 1 to perform non-working automatic driving as follows.

[0054] That is, the tractor 1 positioned at the entrance / exit 52 automatically travels along the innermost route R1b or the middle route R2b other than the outermost route R2a among the three travel routes R1b, R2a, and R2b in the headland area 50b.

[0055] For example, when traveling along the innermost route R1b, the vehicle travels along route R1b-1 on the right side, then turns RD1 to move to the upper side R1b-2, then turns RD3 to move to route R1b-3 on the left side, and then turns RDS5 to move to the first travel line R1a-1 of the round-trip travel route R1a.

[0056] The RDS5 does not make right-angle turns, but rather turns on a nearly parallel line, so the turn must be sharper than a right-angle turn, for example by making a single-point turn (using the brakes, for example).

[0057] Alternatively, if the middle route R2b is used, the vehicle travels along the route R2b-1 on the right side, then turns RD2 to move to the upper side R2b-2, then turns RD4 to move to the route R1b-3 on the left side. This route is the same as when the vehicle travels along the innermost route R1b described above. Then, the vehicle turns RDS5 to move to the first travel line R1a-1 of the round-trip travel route R1a. Note that after turning RD4, the vehicle may also use the middle route R2b-3 on the left side.

[0058] These turning RD3 and turning RD4 are turned at almost right angles, so it is sufficient to turn relatively gently. There is no need to use the so-called side brake.

[0059] Furthermore, unlike the robot travel (turning method) on the headland where normal work is performed, no forward or backward movement is performed during these turns RD3 and RD4. This avoids disturbing the surface of the headland and also eliminates unnecessary movements, allowing the robot to move quickly to the starting point S. Of course, in order to standardize the control software, it is also possible to perform a reverse movement. However, reverse movement is possible after entering the work starting point S.

[0060] (4) As shown in Figure 7, when the work starting point S is located at the lower left side of the entrance / exit 52 and the direction of the tractor 1 is different from that shown in Figure 6 and faces the work starting point S, the control unit 40 causes the tractor 1 to perform non-working automatic driving as follows.

[0061] That is, the tractor 1 travels counterclockwise in principle, but when it travels clockwise, the work start point S is in the closest position and the tractor 1 is facing toward the work start point S.

[0062] In this case, the tractor 1 positioned at the entrance / exit 52 also selects the innermost route R1b or the middle route R2b other than the outermost route R2a as the route out of the three driving routes R1b, R2a, and R2b in the headland area 50b, and automatically drives to the left.

[0063] For example, when traveling along the innermost route R1b, the vehicle travels along the lower route R1b-4, turns RDS6, and moves to the first traveling line R1a-1 of the round-trip traveling route R1a. Since the vehicle turns at a nearly right angle during the turn RDS6, the turning radius is relatively large and gentle control is sufficient.

[0064] Alternatively, if the middle route R2b is used, the vehicle travels along the lower route R2b-4, turns RDS7, and moves to the first travel line R1a-1 of the round-trip travel route R1a. The turning RDS7 also turns at a nearly right angle, so the turning radius is relatively large and gentle control is sufficient.

[0065] Next, in any of the above four cases, after entering the work start point S, the tractor 1 advances a predetermined distance, then reverses while automatically steering to the work start point S and stops temporarily. At this time, it is also possible to sound a buzzer. This makes it possible to work without leaving any residual tillage. The remote control device 100 causes the temporarily stopped tractor 1 to start working on the round trip travel route R1a.

[0066] As a further modified example, after reversing to the work start point S, the machine reversing further to 1 m before the edge 51 of the field 50, then moving forward in the opposite direction to align with the line and temporarily stopping at the work start point S. As a result, the machine enters the work start point S while moving forward, so the approach angle is stable and straightness at the start of work is improved.

[0067] Furthermore, after reaching the work starting point S as described above, it is also desirable to start the original work drive without stopping temporarily. If the vehicle stops temporarily, it is necessary to operate the remote control to start the drive again, which is time-consuming and inefficient.

[0068] Next, the conditions for starting the headland automatic traveling to the work start point S described above will be explained.

[0069] 1. When selecting the innermost route R1b other than the outermost route R2a among the three driving routes R1b, R2a, and R2b in the headland area 50b, automatic driving is permitted only when the tractor 1 is located within 1 m of the route R1b.

[0070] If the distance is too long, unexpected accidents may occur, and the control specifications for putting the vehicle on the route will be simple. 1m is a design factor and can be changed.

[0071] Also, when the middle route R2b is selected as the route, the tractor 1 needs to be located within 1 m from the route R2b.

[0072] 2. If the innermost route R1b and the middle route R2b are suitable routes, the route closest to the current position of the tractor 1 (self-position) is automatically selected. For example, if both of these two routes are within 1m, the closer route is automatically selected and put on the route. Alternatively, it is also possible to always select the innermost route R1b.

[0073] 3. When the tractor 1 starts automatic travel to the work starting point S, the heading state of the tractor 1 must be parallel to the line of the nearby ridge 51 or within a predetermined angle. This is to ensure safety.

[0074] 4. The condition is that the position of the tractor 1 when starting automatic travel to the work start point S does not deviate from the field 50, and that the tractor does not deviate from the field when it advances 3 m from that position. In other words, using the positioning device 30 that measures the position of the work vehicle, the control unit 40 has information on the field area and the work width of the work vehicle, and if it is assumed that the work vehicle will advance a specified distance from its current position, the control unit 40 uses the position of the work vehicle measured by the positioning device 30 to determine whether any part of the work vehicle will deviate from the field area, and only if it will not deviate, the traveling vehicle body is automatically moved to the work start point S on the round-trip travel route.

[0075] 5. If the work start point S is close to the current position of the tractor 1, for example, if the work start point S is close to the entrance / exit 52, automatic traveling is prohibited. Since moving manually is more efficient, automatic traveling is prohibited.

[0076] Regarding the vehicle speed of the tractor 1, the control unit 40 can set the vehicle speed in the headland area up to the work start point S and the vehicle speed during work separately because the traveling loads are different. By setting the vehicle speed in the headland area faster, time can be saved.

[0077] During work, the vehicle speed for the round-trip route and the headland area can be set separately. By doing so, it becomes unnecessary to change the speed using the tablet when the tractor 1 moves from the round-trip route to the headland area.

[0078] In addition, during work, the round trip travel route, the front wheel drive setting for turning in the headland area travel, and the auto brake setting can be set separately. By doing so, it is no longer necessary to change the settings on the tablet each time the tractor 1 enters the headland area travel. Also, it is possible to avoid the risk of poor ground leveling or deviation from the area as a result of forgetting to make changes.

[0079] Also, when working on a round trip route, the front wheel drive and brake settings are set separately for the turning process of the adjacent tillage and other processes. For the turning process, strong braking and full turn are applied, while for other processes, no braking and auto 4WD are the default. This eliminates the need to change the settings on the tablet each time. It also prevents the risk of going out of bounds.

[0080] When manually moving the tractor 1 from the entrance / exit 52 to the starting position for automatic headland travel to the work start point S, it is sufficient to move the tractor 1 within 1 m of the innermost route R1b or the middle route R2b. In other words, it is not necessary to manually place the tractor 1 strictly on those routes.

[0081] At that time, it is desirable to show the 1 m range on the display, and when the tractor 1 is actually moved manually within that range, a lamp indicating this is turned on in green. [Industrial Applicability]

[0082] INDUSTRIAL APPLICABILITY The present invention is useful for tractors because it can provide a work vehicle that can smoothly and automatically travel to a work starting point without damaging the field. [Explanation of symbols]

[0083] 1 Tractor 2 Running vehicle 3 Body frame 4, 5 wheels 7. Control Section 8. Cockpit 30 Positioning device 40 Control section 40c Recording section 50 Fields 50a Main range area (round trip area) 50b Headland area 50c Pause position 51 ridge 52 Entrance / Exit 53 Workers 100 Remote control device R1a round trip route R1b, R2a, R2b Headland route

Claims

1. A work vehicle including a traveling vehicle body that travels on a reciprocating travel path that is set inside a farm field and that repeats reciprocating travel, and a headland travel path that travels along an outer circumferential shape of the reciprocating travel path, a control unit that, when receiving an instruction to start automatic work travel, automatically causes the traveling vehicle body to travel along the headland travel route without performing work to a work start point on the round-trip travel route; The control unit does not perform a reverse movement operation after a turning operation during a turning operation during automatic travel traveling without work on the headland travel route, Equipped with a braking device that can brake one side at a time on each rear wheel, The headland traveling path has a plurality of straight lines, and when turning from one side on the headland traveling path to another side, the work vehicle performs the turning without applying the single brake.

2. The headland travel route is set in a plurality of ways from the inside to the outside in the headland area, The work vehicle according to claim 1 , wherein the control unit selects the headland traveling route other than the outermost route as a route for moving and traveling the traveling body automatically not involving work.

3. The control unit performs the turning with the one-side brake when the traveling vehicle body turns and moves to a traveling line that is approximately parallel to the traveling path during automatic traveling without work, 3. The work vehicle according to claim 1, wherein when turning from a traveling path to a traveling line that is substantially perpendicular to the traveling line, the turning is performed without applying the single brake.

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