Cruise control system

Abstract

To provide a travel control system in which a travel position of a work vehicle easily becomes a proper position.SOLUTION: There is provided a travel control system for controlling travel of a work vehicle having a positioning unit 80. The positioning unit 80 comprises: a reference determination part which is configured to measure a position of the positioning unit 80, and determines a reference part ST out of the work vehicle; a position calculating part which calculates a position of the reference part ST on the basis of a measurement result by the positioning unit 80; a path generation part which generates a target path LI for travel of the work vehicle; and a travel control part which performs distance control for controlling travel of the work vehicle so that a distance between the reference part ST and the target path LI becomes a prescribed distance Y, where the reference determination part changes the reference part ST according to a work state of the work vehicle.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a driving control system for controlling the driving of a work vehicle having a positioning device. [Background technology]

[0002] A known example of such a driving control system is described in Patent Document 1. This driving control system controls the driving of a work vehicle (a "combine" in Patent Document 1) based on the measurement results from a positioning device (a "satellite positioning module" in Patent Document 1) and a target route (a "driving route" in Patent Document 1) along which the work vehicle (a "combine" in Patent Document 1) should travel. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-106983 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the travel control system described in Patent Document 1, it is conceivable to set the position of the positioning device as a reference position for the work vehicle, and control the travel of the work vehicle so that the deviation between the reference position and the target route is small. In this case, the travel of the work vehicle can be controlled so that the positioning device moves along the target route. However, even if the positioning device is located on the target route, depending on the situation, it is conceivable that the travel position of the work vehicle may not be appropriate.

[0005] For example, when controlling the travel of a combine harvester equipped with a harvester that harvests planted stalks in a field, if the combine harvester's body orientation is tilted relative to the direction of the target route, it is possible that the harvester may be positioned in an inappropriate position even if the positioning device is positioned on the target route. In such a case, some stalks may not be harvested.

[0006] An object of the present invention is to provide a driving control system that makes it easier to position a work vehicle appropriately. [Means for solving the problem]

[0007] The present invention is characterized by a positioning device and working equipment have At the same time, the vehicle is capable of traveling while performing work using the working device. A driving control system for controlling the driving of a work vehicle, the positioning device being configured to measure the position of the positioning device, the system comprising: a reference determination unit that determines a reference location within the work vehicle; a position calculation unit that calculates the location of the reference location based on a measurement result by the positioning device; a route generation unit that generates a target route for the work vehicle to travel; and a driving control unit that performs distance control that controls the driving of the work vehicle so that a distance between the location of the reference location and the target route becomes a predetermined distance, Whether or not the vehicle is engaged in work driving The purpose of the present invention is to change the reference portion according to the above.

[0008] According to this configuration, the travel of the work vehicle is controlled so that the distance between the position of the reference part and the target route is a predetermined distance. The reference part is then changed depending on the work situation. Therefore, if the most important part is determined as the reference part depending on the work situation, the position of the most important part can be controlled with high precision. As a result, the travel position of the work vehicle is likely to be appropriate.

[0009] For example, in the case where the work vehicle is a combine harvester equipped with a harvester for harvesting planted stalks in a farm field, if the harvester is determined as the reference position when the combine harvester performs harvesting, the position of the harvester can be controlled with high precision. As a result, the traveling position of the combine harvester is likely to be appropriate.

[0010] That is, with this configuration, a driving control system can be realized that makes it easier for the work vehicle to be positioned appropriately.

[0011] Furthermore, in the present invention, it is preferable that the work vehicle is provided with an orientation acquisition unit that acquires the vehicle orientation, and the position calculation unit calculates the position of the reference portion based on the measurement results by the positioning device and the vehicle orientation.

[0012] The positional relationship between the positioning device in the work vehicle and each part other than the positioning device can be checked in advance. Therefore, according to this configuration, a configuration can be realized in which the position of the reference part is calculated based on the positional relationship, the measurement result by the positioning device, and the vehicle orientation. This makes it easy to calculate the position of the reference part with high accuracy.

[0013] Furthermore, in the present invention, it is preferable that the predetermined distance is set so that the positioning device is positioned on the target route by the distance control.

[0014] In a work vehicle having a positioning device, the positioning device is often located in the lateral center of the vehicle body. When the positioning device is located in the lateral center of the vehicle body, the position of the reference part is likely to be within a relatively narrow range centered on the positioning device, regardless of the part of the reference part, compared to when the positioning device is located at the left or right end of the vehicle body. In other words, the distance between the positioning device and the reference part in a plan view is likely to be relatively short.

[0015] Therefore, according to this configuration, it is easier to avoid a situation where the predetermined distance must be set to a relatively long distance, compared to a case where the predetermined distance is set so that a specific part other than the positioning device is located on the target route by distance control, and therefore it is easier to avoid a situation where the predetermined distance is set to a relatively long distance, resulting in large errors that may occur in distance control.

[0016] Further, in the present invention, the criterion determination unit memorandum It is preferable that the left or right end of the industrial device can be determined as the reference portion.

[0017] According to this configuration, for example, when a work vehicle is performing comprehensive work in a farm field, the position of the left or right end of the work implement is controlled with high precision. As a result, the overlap width of the work area of ​​the work implement is controlled with high precision. This makes the work performed by the work vehicle more efficient.

[0018] In this way, with this configuration, a driving control system can be realized that makes work by the work vehicle more efficient.

[0019] Furthermore, in the present invention, it is preferable that the reference determination section is capable of determining, as the reference portion, a central portion that is a portion located in the left-right central position of a traveling device of the work vehicle.

[0020] According to this configuration, in a work situation where the position of the traveling gear is important, a configuration can be realized in which the central part, which is the part located in the center in the left-right direction of the traveling gear, is determined as the reference part. This makes it possible to realize a traveling control system that makes it easy to make the traveling position of the work vehicle appropriate in a work situation where the position of the traveling gear is important. [Brief description of the drawings]

[0021] [Figure 1] FIG. [Diagram 2] FIG. [Diagram 3] FIG. 13 is a diagram showing a farm field at the time when the outermost circumference travel is completed. [Figure 4] FIG. 2 is a block diagram showing a configuration relating to a control unit. [Diagram 5] FIG. [Figure 6] FIG. 13 is a diagram showing how a combine harvester automatically travels. [Figure 7] 11 is a plan view illustrating distance control during automatic driving along a target mowing route. FIG. [Figure 8] FIG. 2 is a plan view showing the positional relationship of each part in the combine harvester. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] The embodiment of the present invention will be described with reference to the drawings. In the following description, unless otherwise specified, the direction of the arrow F in the drawing is "forward", the direction of the arrow B is "backward", the direction of the arrow L in the drawing is "left", and the direction of the arrow R is "right". In addition, the direction of the arrow U in the drawing is "upward", and the direction of the arrow D is "downward".

[0023] [Overall configuration of the combine] As shown in Figure 1, a standard combine harvester 1 (corresponding to the "work vehicle" of the present invention) is equipped with a harvesting section H (corresponding to the "working device" of the present invention), a traveling device 2 having left and right crawlers 11, a driving section 12, a threshing device 13, a grain tank 14, a conveying section 16, a grain discharge device 18, and a satellite positioning module 80 (corresponding to the "positioning device" of the present invention).

[0024] The traveling device 2 is provided on the lower part of the combine harvester 1. The traveling device 2 is driven by power from an engine (not shown) mounted on the combine harvester 1. The combine harvester 1 can travel by using the traveling device 2.

[0025] The driving section 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 2. The driving section 12 has a driver's seat 12a. An operator can ride in the driving section 12.

[0026] The grain discharge device 18 is provided on the upper side of the grain tank 14. In addition, a satellite positioning module 80 is attached to the upper surface of the driving unit 12.

[0027] The harvesting section H is provided at the front of the combine 1. The transport section 16 is provided at the rear of the harvesting section H. The harvesting section H also includes left and right dividing tools 10, a cutting blade 15, and a reel 17.

[0028] The left and right weed dividing tools 10 are provided at the left and right ends of the front end of the harvesting section H. The left and right weed dividing tools 10 divide the planted culms in the field into those to be harvested and those not to be harvested. The planted culms to the right of the left weed dividing tool 10 and to the left of the right weed dividing tool 10 are divided as those to be harvested. The planted culms to the left of the left weed dividing tool 10 and the planted culms to the right of the right weed dividing tool 10 are divided as those not to be harvested.

[0029] The cutting blade 15 cuts the planted culms that have been divided as harvest targets by the left and right weed dividing tools 10. The reel 17 rakes in the planted culms to be harvested while rotating around a reel axis 17b that runs along the left-right direction of the machine body. The cut culms cut by the cutting blade 15 are sent to the conveying section 16.

[0030] With this configuration, the harvesting section H harvests grains in the field. The combine harvester 1 is capable of reaping travel, traveling on the traveling device 2 while reaping planted culms in the field with the cutting blade 15.

[0031] The reaped stalks harvested by the harvesting section H are transported to the rear of the machine body by the transport section 16. As a result, the reaped stalks are transported to the threshing device 13.

[0032] The harvested stalks are threshed in the threshing device 13. The grains obtained by the threshing process are stored in a grain tank 14. The grains stored in the grain tank 14 are discharged outside the machine by a grain discharge device 18 as necessary.

[0033] 1, a communication terminal 4 is disposed in the driving unit 12. The communication terminal 4 is configured to be capable of displaying various information. In this embodiment, the communication terminal 4 is fixed to the driving unit 12. However, the present invention is not limited to this, and the communication terminal 4 may be configured to be detachable from the driving unit 12, or the communication terminal 4 may be located outside the combine harvester 1.

[0034] Here, when the combine harvester 1 performs a reaping operation in a farm field, it is configured to perform an outermost traveling run and then perform reaping running by automatic traveling as shown in Fig. 2 and Fig. 3. Note that the outermost traveling run is a reaping run performed in the outermost area SA of the farm field by manual operation. However, the present invention is not limited to this, and the reaping run performed in the outermost area SA may be performed by automatic traveling.

[0035] In the present embodiment, the outermost circumference travel is a reaping travel that goes around the field once. However, the present invention is not limited to this, and two or more circumference travels may be performed.

[0036] The traveling of the combine harvester 1 is controlled by a traveling control system A (see FIG. 4). That is, the traveling control system A controls the traveling of the combine harvester 1 having a satellite positioning module 80. The traveling control system A will be described in detail below.

[0037] [Calculation of unworked area] 4, the driving control system A includes a control unit 20 and a satellite positioning module 80. The control unit 20 includes a position calculation unit 21 and an area calculation unit 22. The control unit 20 and the satellite positioning module 80 are mounted on the combine harvester 1.

[0038] The satellite positioning module 80 receives a GPS signal from an artificial satellite GS (see FIG. 1) used in the GPS (Global Positioning System). As a result, the satellite positioning module 80 is configured to measure the position of the satellite positioning module 80. Then, as shown in FIG. 4, the satellite positioning module 80 sends the measurement result to the position calculation unit 21.

[0039] However, the present invention is not limited to this. The satellite positioning module 80 does not have to use GPS. For example, the satellite positioning module 80 may use GNSS (GLONASS, Galileo, Michibiki, BeiDou, etc.) other than GPS.

[0040] The position calculation unit 21 calculates the position coordinates of the combine harvester 1 over time based on the measurement results output by the satellite positioning module 80. In this way, the position calculation unit 21 calculates the trajectory of the combine harvester 1. Then, the area calculation unit 22 acquires the trajectory of the combine harvester 1 calculated by the position calculation unit 21. In particular, the area calculation unit 22 acquires the trajectory of the combine harvester 1 when the combine harvester 1 makes the above-mentioned outermost running.

[0041] More specifically, the trajectory calculated by the position calculation unit 21 in this embodiment is the trajectory of the inner end of the field of the harvesting section H. In other words, the trajectory calculated by the position calculation unit 21 is the trajectory of the grass dividing tool 10 that is located on the inner side of the field, out of the left and right grass dividing tools 10. Then, the area calculation unit 22 acquires this trajectory.

[0042] However, the present invention is not limited to this. The trajectory calculated by the position calculation unit 21 and the trajectory acquired by the area calculation unit 22 may be the trajectory of the satellite positioning module 80, for example.

[0043] In FIG. 2, the trajectory of the harvesting section H at the inner end of the field when traveling on the outermost periphery is shown by a solid arrow. Also, the trajectory of the satellite positioning module 80 when traveling on the outermost periphery is shown by a virtual arrow. Note that, in actual traveling on the outermost periphery, the combine 1 changes direction by repeatedly moving forward and backward at the corners of the field. In FIG. 2, only the forward trajectory is shown, and the backward trajectory is omitted.

[0044] The area calculation unit 22 calculates an unworked area UA (see FIG. 3) in the field at the time of completing the outermost circumference travel, based on the acquired trajectory.

[0045] In this embodiment, the unworked area UA is an area where the combine harvester 1 has not harvested planted stalks. The unworked area UA is also an area surrounded by the area where the combine harvester 1 has performed harvesting travel. The contour of the unworked area UA is defined by the trajectory of the inner end of the field of the harvesting section H over the entire circumference. The contour of the unworked area UA may or may not be polygonal.

[0046] Incidentally, the control unit 20 and each element included in the control unit 20, such as the position calculation unit 21, may be a physical device such as a microcomputer, or may be a functional unit in software.

[0047] [Generation of target driving route] When the combine 1 completes its outermost travel, the area calculation unit 22 shown in Fig. 4 determines a polygonal work target area CA based on the acquired trajectory. As shown in Fig. 5, in this embodiment, the work target area CA is a quadrangle defined by a first side C1, a second side C2, a third side C3, and a fourth side C4. However, the present invention is not limited to this, and the work target area CA may be, for example, a triangular shape or a pentagonal shape.

[0048] As shown in Fig. 5, the work area CA includes the unworked area UA at the time of the completion of the outermost periphery travel. The contour of the work area CA is in contact with the contour of the unworked area UA at the time of the completion of the outermost periphery travel.

[0049] As shown in Fig. 4, the control unit 20 has a route generating unit 23. Information indicating the work area CA calculated by the area calculating unit 22 is sent from the area calculating unit 22 to the route generating unit 23. The route generating unit 23 generates a plurality of target reaping routes LI (corresponding to the "target route" according to the present invention) (see Fig. 5) based on the information indicating the work area CA sent from the area calculating unit 22.

[0050] The multiple target reaping paths LI are paths for the combine harvester 1 to reap and travel in an area inside the outermost peripheral area SA. The path generating unit 23 generates the multiple target reaping paths LI so that the entire work target area CA is covered by the multiple target reaping paths LI.

[0051] That is, the travel control system A includes a route generating unit 23 that generates a target reaping route LI along which the combine 1 travels.

[0052] As shown in FIG. 5, in this embodiment, the multiple target reaping routes LI are multiple mesh lines extending in the vertical and horizontal directions.

[0053] 4, the travel control system A includes an inertial measurement unit 81. The control unit 20 includes an orientation acquisition unit 24. The inertial measurement unit 81 is mounted on the combine harvester 1.

[0054] The inertial measurement unit 81 detects the angular velocity of the yaw angle of the body of the combine harvester 1 and the acceleration in three mutually orthogonal axial directions over time. The detection results by the inertial measurement unit 81 are sent to the orientation acquisition unit 24.

[0055] The orientation acquisition unit 24 receives the position coordinates of the combine harvester 1 from the position calculation unit 21. Then, the orientation acquisition unit 24 calculates the vehicle orientation of the combine harvester 1 based on the detection result by the inertial measurement device 81 and the position coordinates of the combine harvester 1.

[0056] More specifically, first, while the combine harvester 1 is traveling, the orientation acquisition unit 24 calculates an initial vehicle orientation based on the current position coordinates of the combine harvester 1 and the position coordinates of the combine harvester 1 at the point where the combine harvester 1 was traveling immediately before. Next, when the combine harvester 1 travels for a certain period of time after the initial vehicle orientation is calculated, the orientation acquisition unit 24 calculates the amount of change in the vehicle orientation by integrating the angular velocity detected by the inertial measurement unit 81 during the certain period of travel.

[0057] Then, the orientation acquisition unit 24 updates the calculation result of the aircraft orientation by adding the amount of change in the aircraft orientation thus calculated to the initial aircraft orientation. After that, the amount of change in the aircraft orientation is similarly calculated at regular time intervals, and the calculation result of the aircraft orientation is successively updated.

[0058] With the above configuration, the orientation acquisition unit 24 calculates the vehicle orientation of the combine harvester 1. As a result, the orientation acquisition unit 24 acquires the vehicle orientation of the combine harvester 1.

[0059] That is, the travel control system A includes an orientation acquisition unit 24 that acquires the machine orientation of the combine harvester 1.

[0060] 4, the control unit 20 has a route selection unit 25. The control unit 20 also has a travel control unit 26. The travel control unit 26 is configured to be able to control the travel of the combine harvester 1 by controlling the travel device 2.

[0061] The travel control unit 26 controls the travel of the combine harvester 1 so that the combine harvester 1 repeats the reaping travel along the target reaping route LI that has not yet been traveled among the multiple target reaping routes LI. This allows the reaping travel in the field to be performed automatically.

[0062] In detail, the route selection unit 25 selects a target reaping route LI along which the combine harvester 1 should travel next, based on the position coordinates of the combine harvester 1 received from the position calculation unit 21 and the multiple target reaping routes LI generated by the route generation unit 23. Information indicating the target reaping route LI selected by the route selection unit 25 is sent to the travel control unit 26.

[0063] The travel control unit 26 also receives position coordinates of the combine harvester 1 from the position calculation unit 21. The travel control unit 26 then controls the automatic travel of the combine harvester 1 based on the position coordinates of the combine harvester 1 received from the position calculation unit 21 and information indicating the target reaping route LI selected by the route selection unit 25. More specifically, the travel control unit 26 controls the travel of the combine harvester 1 so that reaping travel is performed by automatic travel along the target reaping route LI.

[0064] In this automatic travel, as shown in FIG. 4, the route selection unit 25 sends information indicating the selected target reaping route LI to the route generation unit 23. Based on the information, as shown in FIG. 6, the route generation unit 23 generates a target turning route TL (corresponding to the "target route" according to the present invention) that connects an end of the target reaping route LI on which the combine harvester 1 is currently traveling and an end of the target reaping route LI on which the combine harvester 1 is to travel next. As shown in FIG. 4, information indicating the generated target reaping route TL is sent from the route generation unit 23 to the travel control unit 26. As shown in FIG. 6, the travel control unit 26 controls the travel of the combine harvester 1 so that, after reaping travel along the currently traveling target reaping route LI, reaping travel along the target reaping route TL is performed, and then reaping travel along the next traveling target reaping route LI (i.e., the target reaping route LI selected by the route selection unit 25) is performed. That is, the route generation unit 23 generates the target reaping route TL for the combine harvester 1 to travel.

[0065] [Reference part] As shown in Fig. 4, the control unit 20 has a reference determination unit 27. The reference determination unit 27 determines a reference portion ST (see Fig. 7) from among the portions of the body of the combine harvester 1.

[0066] That is, the travel control system A includes a reference determination unit 27 that determines a reference site ST within the combine 1.

[0067] In this embodiment, the reference determination unit 27 can determine the left end or the right end of the harvesting section H as the reference position ST. More specifically, the reference determination unit 27 can determine the front end 10a of the left or right grass dividing tool 10 as the reference position ST, as shown in Fig. 7. In the example shown in Fig. 7, the front end 10a of the right grass dividing tool 10 is determined as the reference position ST.

[0068] The front end 10a of the left weed dividing tool 10 is a specific example of the left end of the harvesting section H. The front end 10a of the right weed dividing tool 10 is a specific example of the right end of the harvesting section H.

[0069] In this way, the reference determination unit 27 can determine the left end or the right end of the harvesting section H of the combine 1 as the reference section ST.

[0070] In this embodiment, the reference determination unit 27 can determine the central portion 2a (see FIG. 6) as the reference portion ST. The central portion 2a is a portion that is located at the central position of the traveling device 2 in the left-right direction.

[0071] That is, the reference determination unit 27 can determine the central portion 2a, which is a portion located at the central position in the left-right direction of the traveling device 2 of the combine 1, as the reference portion ST.

[0072] The reference determination unit 27 is configured to determine the reference site ST in accordance with the working status of the combine harvester 1. The determination of the reference site ST will be described in detail below.

[0073] When the combine harvester 1 is automatically traveling, as shown in Fig. 4, the travel control unit 26 sends information indicating the working status of the combine harvester 1 to the reference determination unit 27. The reference determination unit 27 determines the reference position ST based on the information. With this configuration, the reference determination unit 27 determines the reference position ST based on the working status of the combine harvester 1.

[0074] More specifically, as shown in Fig. 7, when the combine 1 is automatically traveling along the target reaping path LI, the reference determination unit 27 determines the left end or the right end of the harvesting part H as the reference part ST. In this case, in this embodiment, the front end part 10a of the right dividing tool 10 is determined as the reference part ST.

[0075] However, the present invention is not limited to this. When the combine 1 is automatically traveling along the target reaping path LI, the reference determination unit 27 may determine the front end portion 10a of the left grass dividing tool 10 as the reference position ST. Also, for example, the reference determination unit 27 may determine the front end portion 10a of the grass dividing tool 10 located on the inside of the field out of the left and right grass dividing tools 10 as the reference position ST, or may determine the front end portion 10a of the grass dividing tool 10 located on the outside of the field as the reference position ST.

[0076] Further, as shown in the enlarged view of FIG. 6, when the combine harvester 1 is turning along the target turning path TL, the reference determination unit 27 determines the central portion 2a as the reference portion ST.

[0077] With this configuration, when the combine harvester 1 starts turning along the target turning path TL after turning along the target mowing path LI, the reference determination unit 27 changes the reference position ST from the front end portion 10a of the right dividing tool 10 to the central portion 2a. Also, when the combine harvester 1 starts turning along the target mowing path LI after turning along the target turning path TL, the reference determination unit 27 changes the reference position ST from the central portion 2a to the front end portion 10a of the right dividing tool 10.

[0078] That is, the reference determination unit 27 changes the reference site ST depending on the working status of the combine harvester 1.

[0079] [Distance Control] 4, the orientation acquisition unit 24 sends the machine orientation of the combine harvester 1 to the position calculation unit 21. In addition, the reference determination unit 27 sends information indicating the determined reference part ST to the position calculation unit 21. The position calculation unit 21 calculates the position of the reference part ST over time based on the information, the measurement results by the satellite positioning module 80, and the machine orientation of the combine harvester 1. The position of the reference part ST calculated by the position calculation unit 21 is a position in the field.

[0080] That is, the driving control system A includes a position calculation unit 21 that calculates the position of the reference part ST based on the measurement results by the satellite positioning module 80. In addition, the position calculation unit 21 calculates the position of the reference part ST based on the measurement results by the satellite positioning module 80 and the aircraft orientation.

[0081] For example, in the example shown in FIG. 8, the front end 10a of the right grass dividing tool 10 is determined as the reference position ST. In the combine harvester 1 of this embodiment, the front end 10a of the right grass dividing tool 10 is located in a direction tilted to the right by a predetermined angle E with respect to the front as viewed from the satellite positioning module 80. The distance between the satellite positioning module 80 and the front end 10a of the right grass dividing tool 10 in a plan view is the first distance D1. Such a positional relationship between the satellite positioning module 80 and the front end 10a of the right grass dividing tool 10 is stored in advance in the position calculation unit 21. In FIG. 8, the dashed arrow passing through the satellite positioning module 80 indicates the front of the machine body.

[0082] In the example shown in Figure 8, the position calculation unit 21 calculates the position of the reference location ST to be a position that is tilted at a predetermined angle E to the right relative to the front of the combine 1's body when viewed from the position of the satellite positioning module 80 in the field, and is away from the position of the satellite positioning module 80 in the field by a first distance D1.

[0083] 8, in the combine harvester 1 of this embodiment, the central portion 2a is located immediately behind the satellite positioning module 80. The distance between the satellite positioning module 80 and the central portion 2a in a plan view is a second distance D2. The positional relationship between the satellite positioning module 80 and the central portion 2a is stored in advance in the position calculation unit 21.

[0084] Then, when the central location 2a is determined as the reference location ST, the position calculation unit 21 calculates the position of the reference location ST to be a position that is located immediately behind the position of the satellite positioning module 80 in the field and is away from the position of the satellite positioning module 80 in the field by a second distance D2.

[0085] As shown in FIG. 4, the position of the reference site ST calculated by the position calculation unit 21 is sent to the travel control unit 26. When the combine harvester 1 is automatically traveling along the target reaping route LI, the travel control unit 26 controls the traveling of the combine harvester 1 based on the position of the reference site ST and the target reaping route LI. At this time, as shown in FIG. 7, the travel control unit 26 performs distance control to control the traveling of the combine harvester 1 so that the distance between the position of the reference site ST and the target reaping route LI becomes a predetermined distance. In the example shown in FIG. 7, the predetermined distance is the reaping distance Y.

[0086] As shown in FIG. 7, the reaping distance Y is set so that the satellite positioning module 80 is positioned on the target reaping path LI by distance control.

[0087] As shown in the enlarged view of FIG. 6, when the combine harvester 1 is automatically traveling along the target turning path TL, the travel control unit 26 controls the traveling of the combine harvester 1 based on the position of the reference part ST and the target turning path TL. At this time, the travel control unit 26 performs distance control to control the traveling of the combine harvester 1 so that the distance between the position of the reference part ST and the target turning path TL becomes a predetermined distance. In the example shown in the enlarged view of FIG. 6, the predetermined distance is 0 (zero). The unit of distance here is not particularly limited, but may be 0 meters or 0 centimeters.

[0088] That is, when the combine harvester 1 is automatically traveling along the target turning path TL, the traveling of the combine harvester 1 is controlled so that the reference site ST moves on the target turning path TL.

[0089] In this way, the traveling control system A is equipped with a traveling control unit 26 that performs distance control to control the traveling of the combine 1 so that the distance between the position of the reference location ST and the target mowing path LI or the target turning path TL becomes a predetermined distance.

[0090] Incidentally, this "predetermined distance" may be changed depending on the working conditions of the combine 1 and the reference portion ST, or may be a fixed value that does not change.

[0091] According to the configuration described above, the travel of the combine harvester 1 is controlled so that the distance between the position of the reference site ST and the target reaping path LI or the target turning path TL is a predetermined distance. Then, the reference site ST is changed depending on the work situation. Therefore, if the configuration is such that the most important site depending on the work situation is determined as the reference site ST, the position of the most important site can be controlled with high precision. As a result, the travel position of the combine harvester 1 is likely to be appropriate.

[0092] For example, when the combine harvester 1 equipped with the harvesting section H performs harvesting travel, if the front end portion 10a of the right grass dividing tool 10 in the harvesting section H is determined as the reference position ST, the position of the front end portion 10a of the right grass dividing tool 10 is controlled with high precision. As a result, the travel position of the combine harvester 1 is likely to be appropriate.

[0093] That is, according to the configuration described above, it is possible to realize the running control system A that makes it easier for the running position of the combine harvester 1 to become appropriate.

[0094] Other embodiments (1) The traveling device 2 may be of a wheel type or a semi-crawler type.

[0095] (2) In the above embodiment, the target mowing route LI generated by the route generating unit 23 is a plurality of mesh lines extending vertically and horizontally. However, the present invention is not limited to this, and the target mowing route LI generated by the route generating unit 23 does not have to be a plurality of mesh lines extending vertically and horizontally. For example, the target mowing route LI generated by the route generating unit 23 may be a spiral-shaped travel route. In addition, the target mowing route LI does not have to be perpendicular to another target mowing route LI. In addition, the target mowing route LI generated by the route generating unit 23 may be a plurality of parallel lines that are parallel to each other.

[0096] (3) The travel control system A may be configured to control the travel of a work vehicle other than the combine harvester 1. For example, the travel control system A may control the travel of a tractor or a rice transplanter. In this case, the tractor and the rice transplanter both correspond to the "work vehicle" according to the present invention. Furthermore, when the tractor performs tilling work or agricultural material spreading work (e.g., fertilizer spreading work), the tilling device and the spreading device both correspond to the "working device" according to the present invention. Furthermore, when the rice transplanter performs seedling planting work, the seedling planting device corresponds to the "working device" according to the present invention.

[0097] (4) The travel control unit 26 may be configured not to perform distance control when the combine 1 is automatically traveling along the target turning path TL.

[0098] (5) The locations determined as the reference locations ST in the above embodiment are merely examples, and any location of the combine 1 may be determined as the reference location ST.

[0099] (6) The specified distance in the distance control when the combine 1 is automatically traveling along the target mowing route LI does not have to be set so that the satellite positioning module 80 is positioned on the target mowing route LI by the distance control.

[0100] (7) The position calculation unit 21 may be configured so as not to be able to calculate the trajectory of the inner end of the harvesting unit H in the field.

[0101] The configurations disclosed in the above-mentioned embodiments (including other embodiments, the same applies below) can be applied in combination with configurations disclosed in other embodiments, unless a contradiction occurs. In addition, the embodiments disclosed in this specification are merely examples, and the present invention is not limited to these embodiments, and can be appropriately modified within the scope of the present invention. [Industrial Applicability]

[0102] The present invention can be used not only in normal combine harvesters, but also in various work vehicles such as head-feeding combine harvesters, tractors, rice transplanters, corn harvesters, potato harvesters, carrot harvesters, and construction machines. [Explanation of symbols]

[0103] 1 Combine (work vehicle) 2 Running gear 2a Central part 21 Position calculation section 23 Route Generation Unit 24 Direction acquisition part 26 Driving control unit 27 Standard Determination Department 80 Satellite positioning module (positioning device) A. Driving control system H Harvesting section (working equipment) LI Target reaping path (target path) ST reference site TL Target turning route (target route)

Claims

1. A travel control system for controlling travel of a work vehicle having a positioning device and a work device and capable of work travel while performing work using the work device, the positioning device is configured to measure a position of the positioning device; a reference determination unit for determining a reference portion within the work vehicle; a position calculation unit that calculates the position of the reference portion based on a measurement result by the positioning device; a route generating unit that generates a target route along which the work vehicle travels; a travel control unit that performs distance control to control the travel of the work vehicle so that a distance between the position of the reference portion and the target route becomes a predetermined distance, The reference determination unit is a driving control system that changes the reference portion depending on whether the work vehicle is performing work driving.

2. An orientation acquisition unit for acquiring an orientation of the vehicle body of the work vehicle, The cruise control system according to claim 1 , wherein the position calculation unit calculates the position of the reference portion based on a measurement result by the positioning device and the aircraft orientation.

3. 3. The cruise control system according to claim 1, wherein the predetermined distance is set so that the positioning device is positioned on the target route by the distance control.

4. The travel control system according to claim 1 , wherein the reference determination unit is capable of determining a left end or a right end of the working implement as the reference part.

5. The travel control system according to claim 1 , wherein the reference determination unit is capable of determining, as the reference portion, a central portion that is a portion located at a central position in the left-right direction of a travel device of the work vehicle.

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