Work vehicles

Abstract

To enhance stability of automatic driving of a work vehicle by reducing a work load of a worker.SOLUTION: A work vehicle includes a controller (30) which controls a travel device (2). The controller (30), when a first reference point (42) and a second reference point (43) that is apart by a prescribed distance from the first reference point (42) are acquired by manual traveling of a worker, sets a set path (46) by extending a straight reference path (41) that passes through the first reference point (42) and the second reference point (43) in a travel direction of a machine body from the second reference point (43), and controls the travel device (2) such that a machine body automatically travels along the set path (46). The controller (30) sets a new reference path (41) on the basis of the first reference point (42) and the new second reference point (43) when a setting switch (11B) of a steering unit (5) is input-operated at an operation angle of a control lever (12) of the steering unit (5) equal to or less than a prescribed angle, and stops the automatic traveling of the travel device (2) and switches to steering by the worker when the operation angle of the control lever (12) of the steering unit (5) is greater than the prescribed angle.SELECTED DRAWING: Figure 7

Description

[Technical field]

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

[0002] A conventional technique is known in which a first reference point is set on a row of culms planted in a field, a second reference point is set at a location on the row of culms a specified distance away from the first reference point, a linear reference path passing through the first and second reference points is generated, and a combine is automatically driven along a set path parallel to the reference path (Patent Document 1). In addition, a technique is known for resetting the reference path when the traveling position of the combine harvester deviates from the reference path by a predetermined distance or more, or when the traveling direction of the combine harvester deviates from the extension direction of the reference path by a predetermined angle or more (Patent Document 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-99224 A [Patent Document 2] JP 2020-103094 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the culm harvesting methods of Patent Documents 1 and 2, when resetting the reference path, new first and second reference points are set on the culm rows, which increases the workload of the worker and causes a significant change in the direction of travel of the combine, making the automatic operation of the combine unstable.

[0005] Therefore, an object of the present invention is to reduce the workload of workers and improve the stability of automatic driving of work vehicles. [Means for solving the problem]

[0006] The present invention which has solved the above problems is as follows.

[0007] That is, the invention described in claim 1 includes a controller (30) for controlling a traveling device (2), and when a first reference point (42) and a second reference point (43) are acquired by manual traveling by an operator, the controller (30) sets a set path (46) by extending a linear reference path (41) passing through the first reference point (42) and the second reference point (43) from the second reference point (43) in the traveling direction of the machine body. Then The aircraft automatically travels along the set route (46). Get started The working vehicle is configured to control the traveling device (2) so as to continue the traveling.

[0008] In the invention described in claim 2, when the operation angle of the operation lever (12) of the operation unit (5) is equal to or smaller than a predetermined angle and a setting switch (11B) of the operation unit (5) is operated, the controller (30) sets the first reference point (42) and Based on the vehicle position at the time of operating the setting switch (11B) This is a work vehicle as described in claim 1, in which a new reference path (41) is set based on a new second reference point (43), and when the operation angle of the operating lever (12) of the operating section (5) exceeds a predetermined angle, the automatic traveling of the traveling device (2) is stopped and switching to operation by an operator. Effect of the Invention

[0009] According to the present invention, the work vehicle can be automatically driven along a set route (46) to reduce the workload of the worker. [Brief description of the drawings]

[0010] [Figure 1] FIG. [Diagram 2] FIG. [Diagram 3] FIG. 2 is a connection diagram of the positioning unit. [Figure 4] FIG. 2 is a connection diagram of a controller. [Diagram 5] FIG. [Figure 7] FIG. [Figure 6] FIG. 13 is an explanatory diagram of a method for setting a reference route and a set route. [Figure 8] 13 is an explanatory diagram of the automatic driving of a combine harvester, where (a) shows the reference path and culm rows, (b) shows the automatic driving state of the combine harvester, (c) shows the state when the automatic driving of the combine harvester is stopped, and (d) shows the state when the reference path has been reset. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] As shown in Figures 1 and 2, a combine harvester has a traveling device 2 consisting of a pair of left and right crawlers that travels on the soil surface on the underside of a body frame 1, a harvesting device 3 that harvests grain stalks in the field is provided on the front side of the body frame 1, a threshing device 4 that threshes and sorts the harvested grain stalks is provided on the rear left side of the harvesting device 3, and a control unit 5 on which an operator rides is provided on the rear right side of the harvesting device 3.

[0012] An engine room 6 in which an engine E is mounted is provided below the control unit 5, and a grain tank 7 for storing threshed and sorted grains is provided behind the control unit 5. Behind the grain tank 7 is a discharge auger 8 consisting of a vertically extending grain lifting section and a horizontal discharge section extending in the front-to-back direction for discharging grains to the outside.

[0013] A monitor 11 that displays the traveling speed of the traveling device 2 and the like is provided in the center of the front panel in front of the driver's seat of the control unit 5, and an operating lever 12 that turns the traveling device 2 left and right and raises and lowers the reaping device 3 up and down is provided on the right side of the monitor 11, and a mode changeover switch 13 is provided between the monitor 11 and the operating lever 12 for switching between a reciprocating reaping mode M1 in which the culms are reaped while the traveling device 2 travels back and forth as shown in Fig. 5, and a circular reaping mode M2 ​​in which the culms are reaped while the traveling device 2 rotates counterclockwise as shown in Fig. 6. The operating state of the operating lever 12 is measured by an angle sensor 12A such as a potentiometer attached to the base of the operating lever 12.

[0014] A speed change lever 15 for increasing or decreasing the traveling speed of the traveling device 2 is provided at the front of the side panel on the left side of the cockpit of the control unit 5. The operating state of the speed change lever 15 is measured by an angle sensor 15A such as a potentiometer attached to the base of the speed change lever 15.

[0015] As shown in Fig. 3, the positioning unit 20, which is an RTK-GPS positioning method, is composed of a positioning satellite 21, a base station 22 installed at a known position, and a mobile station 26 installed in the combine. This makes it possible to accurately obtain the position of the mobile station 26, i.e., the position of the combine, from the position information transmitted from the positioning satellite 21 to the mobile station 26 and the correction position information transmitted from the base station 22 to the mobile station 26.

[0016] The base station 22 is composed of a fixed communication device 23, a fixed GPS antenna 24 that receives position information from the positioning satellite 21, and a fixed data transmission antenna 25 that transmits corrective position information to the mobile station 26.

[0017] The mobile station 26 is composed of a mobile communication device 27, a mobile GPS antenna 28 that receives position information from the positioning satellite 21, and a mobile data transmission antenna 29 that receives correction position information from the base station 22.

[0018] As shown in Figure 4, the combine controller 30 is made up of a processing unit 31 consisting of a CPU etc., a memory unit 32 consisting of a ROM, RAM, a hard disk drive, flash memory etc., and a communication unit 33 for data communication with the outside.

[0019] The processing unit 31 calculates the positions of a first reference point 42 and a second reference point 43 described later, and sets a reference path 41 and a set path 45 based on the first reference point 42 and the second reference point 43, and so on.

[0020] The storage unit 32 stores the positions of the first reference point 42 and the second reference point 43 calculated by the processing unit 31, a linear reference path 41 passing through the first reference point 42 and the second reference point 43, and the like.

[0021] The communication unit 33 receives position information from the positioning satellite 21 via the mobile GPS antenna 28 and from the base station 22 via the mobile data transmission antenna 29 .

[0022] The input side of the controller 30 includes a stalk sensor 3A that detects the presence or absence of stalks in the reaping device 3, a height sensor 3B that detects the lowered working position and the raised evacuation position of the reaping device 3, a first setting switch 11A that sets the first reference point 42, a second setting switch (referred to as the "setting switch" in the claims) 11B that sets the second reference point 43, a release switch 11C that stops automatic travel by the controller 30, an angle sensor 12A that measures the operating state of the operating lever 12, and a mode changeover switch 13 that changes between a reciprocating mowing mode M1 and a circular mowing mode M2. An angle sensor 15A that measures the operating state of the speed change lever 15, a mobile GPS antenna 28 that receives position information of the combine harvester transmitted from a positioning satellite 21, and a mobile data transmission antenna 29 that receives position information for correcting the combine harvester transmitted from a base station 22. A reference setting path switch 35 that sets the reference path 41 and the set path 45 based on the positions of the first reference point 42 and the second reference point 43, and an automatic operation switch 36 that causes the combine to run automatically are connected via a specified input interface circuit.

[0023] A braking device 38L that brakes the rotation of the left crawler of the traveling device 2 and a braking device 38R that brakes the rotation of the right crawler are connected to the output side of the controller 30 via a predetermined output interface circuit.

[0024] <Reciprocating mowing mode> 5, in reciprocating mowing mode M1, the operator operates the combine harvester to set a first reference point 42 and a second reference point 43, and the processing unit 31 of the controller 30 sets a linear reference path 41 passing through the first reference point 42 and the second reference point 43 based on the first reference point 42 and the second reference point 43, and sets a plurality of set paths ("first set paths" in claims) 45 parallel to the reference path 41 at positions spaced a predetermined distance below the reference path 41. Note that the predetermined distance is preferably set to the mowing width of the mowing device 3.

[0025] After steering the combine from the first reference point 42 to the second reference point 43, the operator turns the combine downward and rearward from the left end of the reference path 41 toward the left end of the set path 45 adjacent to and below the reference path 41.

[0026] Next, the operator operates the automatic operation switch 36 at the left end of the set route 45 to automatically run the combine along the set route 45 from the left end to the right end of the set route 45.

[0027] Next, the operator operates the release switch 11C at the right end of the set path 45 to rotate the combine downward and rearward from the right end of the set path 45 toward the right end of the set path 45 adjacent to the lower side of the set path 45.

[0028] Next, the operator operates the automatic operation switch 36 at the right end of the set route 45 to automatically run the combine along the set route 45 from the right end to the left end of the set route 45.

[0029] In reciprocating mowing mode M1, the combine is automatically caused to travel from the left end to the right end of the set path 45, and then the stalks are mowed while being automatically caused to travel from the right end to the left end of the set path 45. This reduces the workload of the worker and enables the combine to automatically travel along the set path 45 to efficiently harvest the stalks.

[0030] <Cycle mowing mode> As shown in Fig. 6, in the circular mowing mode M2, the operator operates the combine harvester to set a first reference point 42 and a second reference point 43 at the top of the field, and the processing unit 31 of the controller 30 sets a set path (the "second set path" in the claims) 46 in which the linear reference path 41 passing through the first reference point 42 and the second reference point 43 is extended leftward from the second reference point 43. Next, the operator operates the combine harvester to set the first reference point 42 and the second reference point 43 at the left part of the field, and the processing unit 31 sets a set path 46 in which the linear reference path 41 passing through the first reference point 42 and the second reference point 43 is extended downward from the second reference point 43. Next, the operator operates the combine harvester to set a first reference point 42 and a second reference point 43 at the bottom of the field, and the processing unit 31 of the controller 30 sets a set path 46 in which a straight-line reference path 41 passing through the first reference point 42 and the second reference point 43 is extended from the second reference point 43 in a rightward direction, and then the operator operates the combine harvester to set the first reference point 42 and the second reference point 43 at the left part of the field, and the processing unit 31 sets a set path 46 in which a straight-line reference path 41 passing through the first reference point 42 and the second reference point 43 is extended upward from the second reference point 43.

[0031] After steering the combine from the first reference point 42 to the second reference point 43, the operator operates the automatic operation switch 36 at the right end of the set route 46 near the second reference point 43 to automatically run the combine along the set route 46 from the right end to the left end of the set route 46, and then makes an α turn at the left end of the set route 46 so that the combine's direction of travel is from the left to downward.

[0032] Next, the operator steers the combine from the first reference point 42 to the second reference point 43, and then operates the automatic operation switch 36 at the upper end of the set route 46 near the second reference point 43 to automatically run the combine along the set route 46 from the upper end to the lower end of the set route 46, and then makes an α turn at the lower end of the set route 46 so that the combine's direction of travel is from below to the right.

[0033] Next, the operator steers the combine from the first reference point 42 to the second reference point 43, and then operates the automatic operation switch 36 at the left end of the set route 46 near the second reference point 43 to automatically run the combine along the set route 46 from the left end to the right end of the set route 46, and then makes an α turn at the right end of the set route 46 so that the combine's direction of travel is from the right to upward.

[0034] Next, the operator steers the combine from the first reference point 42 to the second reference point 43, and then operates the automatic operation switch 36 at the lower end of the set route 46 near the second reference point 43 to automatically run the combine along the set route 46 from the lower end to the upper end of the set route 46, and then makes an α turn at the upper end of the set route 46 so that the combine's direction of travel is from above to the left.

[0035] In the repeat cutting mode M2, the combine is automatically driven to perform cutting work along the standard path 41 and set path 46 extending in the left-right direction in the upper part of the field, the standard path 41 and set path 46 extending in the up-down direction in the left part of the field, the standard path 41 and set path 46 extending in the left-right direction in the lower part of the field, and the standard path 41 and set path 46 extending in the up-down direction in the right part of the field. This reduces the workload of the worker and enables the combine to automatically run along the set path 46 to efficiently cut the stalks.

[0036] <How to set the reference and route> As shown in Fig. 7, in step S1, the processing unit 31 of the controller 30 judges the switching state of the mode changeover switch 13. If it is judged that the mode changeover switch 13 is switched to a reciprocating mowing mode M1 in which the culms are mowed while the traveling device 2 is traveling back and forth, the process proceeds to step S2, and if it is judged that the mode changeover switch 13 is switched to a circular mowing mode M2 ​​in which the culms are mowed while the traveling device 2 is rotating counterclockwise, the process proceeds to step S9. This allows the mowing mode to be selected according to the planting state of the culms, and the culms to be mowed efficiently.

[0037] In step S2, the processor 31 judges whether the first setting switch 11A has been operated. As shown in Fig. 5, the input operation of the first setting switch 11A is preferably performed near the loading site 40A of the farm field 40. When the input operation of the first setting switch 11A is performed, the combine is being operated by the operator.

[0038] If it is determined that the first setting switch 11A has been operated, the position of the first reference point 42 is calculated based on the combine position information transmitted from the positioning satellite 21 and the combine correction position information transmitted from the base station 22, and the position of the first reference point 42 is stored in the memory unit 32 and the process proceeds to step S3, and if it is determined that the first setting switch 11A has not been operated, step S2 is repeated. The combine position information transmitted from the positioning satellite 21 is input to the controller 30 via the mobile GPS antenna 28, and the combine correction position information transmitted from the base station 22 is input to the controller 30 via the mobile data transmission antenna 29.

[0039] In step S3, the processor 31 judges whether the second setting switch 11B has been operated. As shown in Fig. 5, the second setting switch 11B is preferably operated in the vicinity of a ridge facing the loading site 40A in the farm field 40. When the second setting switch 11B is operated, the combine is being operated by the operator.

[0040] If it is determined that the second setting switch 11B has been operated, the position of the second reference point 43 is calculated based on the combine harvester position information transmitted from the positioning satellite 21 and the combine harvester correction position information transmitted from the base station 22, and the position of the second reference point 43 is stored in the memory unit 32 and the process proceeds to step S4. If it is determined that the second setting switch 11B has not been operated, step S3 is repeated. In step S4, the processing unit 31 judges whether or not an input operation has been performed on the reference setting route switch 35. When the reference setting route switch 35 is operated, the combine is being operated by the operator.

[0041] When it is determined that the reference setting path switch 35 has been operated, as shown in FIG. Based on a linear reference path 41 passing through a first reference point 42 and a second reference point 43, a set path 45 for automatically running a plurality of combine harvesters parallel to the reference path 41 is set at a position spaced a predetermined distance from the reference path 41, and the process proceeds to step S5. If it is determined that the reference set path switch 35 has not been operated, step S4 is repeated. This makes it possible to set the reference path 41 based on the first reference point 42 and the second reference point 43 that is sufficiently spaced from the first reference point 42 while suppressing the influence of meandering running.

[0042] In step S5, the processor 31 judges whether or not the release switch 11C has been operated. Note that when the release switch 11C is operated, the combine harvester is being operated by the operator.

[0043] If it is determined that the breakaway switch 11C has been operated for input, the process proceeds to step S6, and if it is determined that the breakaway switch 11C has not been operated for input, step S5 is repeated.

[0044] In this embodiment, the processing unit 31 judges whether the second setting switch 11B has been operated in step S3, judges whether the reference setting route switch 35 has been operated in step S4, and judges whether the release switch 11C has been operated in step S5, but steps S3 and S4 can be omitted. In that case, if it is judged in step S5 that the release switch 11C has been operated, the position of the second reference point 43 is calculated based on the position information of the combine transmitted from the positioning satellite 21 and the position information for correction of the combine transmitted from the base station 22, the position of the second reference point 43 is stored in the memory unit 32, and based on the linear reference route 41 connecting the first reference point 42 and the second reference point 43, a set route 45 for automatically running multiple combines parallel to the reference route 41 is set at a position spaced a predetermined distance from the reference route 41, and the process proceeds to step S6. If it is judged that the release switch 11C has not been operated, step S5 is repeated.

[0045] In step S6, the operator riding on the control unit 5 operates the operating lever 12 to turn the combine harvester, and moves the combine harvester from the end of the reference path 41 to the beginning of the set path 45 adjacent to the reference path 41, as shown in FIG. 5, and then proceeds to step S7.

[0046] In step S7, the processing unit 31 judges whether or not an input operation has been performed on the automatic operation switch 36. When the input operation of the automatic operation switch 36 is performed, the combine harvester is being operated by the operator.

[0047] If it is determined that the automatic driving switch 36 has been operated, the process proceeds to step S8, and if it is determined that the automatic driving switch 36 has not been operated, the process returns to step S6.

[0048] In step S8, the processing unit 31 operates the brake device 38L that brakes the rotation of the left crawler of the traveling device 2 and the brake device 38R that brakes the rotation of the right crawler to automatically steer the combine harvester, and as shown in FIG. 5, causes the combine harvester to automatically travel along the set route 45, and returns to step S5. The brake devices 38L and 38R are provided in a transmission (not shown) that increases or decreases the output rotation speed of the engine E. This reduces the workload of the operator, and allows the combine harvester to automatically travel along the set route 45 to efficiently harvest the stalks. In addition, when the combine harvester is automatically traveling, a display such as "automatic traveling" is displayed on the monitor 11. This allows the operator to be alerted and the combine harvester to travel safely.

[0049] In step S9, the processor 31 judges whether or not the first setting switch 11A has been operated. As shown in Fig. 6, the input operation of the first setting switch 11A is preferably performed near the loading site 40A of the farm field 40. When the input operation of the first setting switch 11A is performed, the combine is being operated by the operator.

[0050] If it is determined that the first setting switch 11A has been operated, the position of the first reference point 42 is calculated based on the combine position information transmitted from the positioning satellite 21 and the combine correction position information transmitted from the base station 22, and the position of the first reference point 42 is stored in the memory unit 32 and the process proceeds to step S10, and if it is determined that the first setting switch 11A has not been operated, step S9 is repeated. The combine position information transmitted from the positioning satellite 21 is input to the controller 30 via the mobile GPS antenna 28, and the combine correction position information transmitted from the base station 22 is input to the controller 30 via the mobile data transmission antenna 29.

[0051] In step S10, the processor 31 determines whether the second setting switch 11B has been operated. As shown in Fig. 6, the second setting switch 11B is preferably operated at a proximal position that is a predetermined distance away from the position where the first setting switch 11A is operated. When the second setting switch 11B is operated, the combine harvester is being operated by the operator.

[0052] If it is determined that the second setting switch 11B has been operated, the position of the second reference point 43 is calculated based on the combine's position information transmitted from the positioning satellite 21 and the combine's correction position information transmitted from the base station 22, and the position of the second reference point 43 is stored in the memory unit 32 and the process proceeds to step S11. If it is determined that the second setting switch 11B has not been operated, step S10 is repeated.

[0053] In step S11, the processing unit 31 judges whether or not an input operation has been performed on the reference setting route switch 35. When the reference setting route switch 35 is operated, the combine harvester is being operated by the operator.

[0054] When it is determined that the reference set route switch 35 has been operated, as shown in Fig. 8(a), a set route 46 is set by extending the linear reference route 41 passing through the first reference point 42 and the second reference point 43 from the second reference point 43 in the traveling direction of the combine harvester, and the process proceeds to step S12, and when it is determined that the reference set route switch 35 has not been operated, step S11 is repeated. This allows a long set route 46 to be set from the second reference point 43 in the traveling direction.

[0055] In step S12, the processing unit 31 judges whether or not an input operation has been performed on the automatic operation switch 36. When the input operation of the automatic operation switch 36 is performed, the combine harvester is being operated by the operator.

[0056] If it is determined that the automatic driving switch 36 has been operated, the process proceeds to step S13, and if it is determined that the automatic driving switch 36 has not been operated, step S12 is repeated.

[0057] In step S13, the processing unit 31 operates the brake device 38L that brakes the rotation of the left crawler of the traveling device 2 and the brake device 38R that brakes the rotation of the right crawler to automatically steer the combine harvester, and moves the combine harvester along the set route as shown in FIG. 46 The combine is then automatically driven along the set route, and the process proceeds to step S14. This reduces the workload of the operator and allows the combine to automatically drive along the set route. 46 The combine can run automatically along the track to efficiently harvest the stalks. When the combine is running automatically, the monitor 11 displays a message indicating that the combine is running automatically. This alerts the operator and allows the combine to run automatically safely.

[0058] In step S14, the processing unit 31 judges whether the traveling device 2 is traveling. If it is judged that the traveling device 2 is traveling, the process proceeds to step S15, and if it is judged that the traveling device 2 is stopped, the process proceeds to step S19. In this embodiment, the judgment of whether the traveling device 2 is traveling is performed based on the measurement value of the angle sensor 15A. If the measurement value of the angle sensor 15A indicates a forward tilted posture of the shift lever 15, it is judged that the traveling device 2 is traveling, and if the measurement value of the angle sensor 15A indicates a neutral tilted posture of the shift lever 15, it is judged that the traveling device 2 is stopped. Instead of the measurement value of the angle sensor 15A, the judgment can also be made based on the measurement value of a speed sensor (not shown) provided on the traveling device 2 that measures the traveling speed of the traveling device 2.

[0059] In step S15, the processing unit 31 judges whether the operation amount of the operation lever 12 operated by the operator is within a predetermined range. If the operation amount of the operation lever 12 operated by the operator is within the predetermined range, the process proceeds to step S16. If the operation amount of the operation lever 12 operated by the operator exceeds the predetermined range, the process proceeds to step S18. As a result, as shown in FIG. 8(b), when the set route 46 does not match the culm row 47, that is, when the set route 46 and the culm row 47 are not parallel, or when the set route 46 and the culm row 47 are parallel but separated by a predetermined distance, the operation lever 12 is operated to move the combine closer to the culm row 47, thereby suppressing the occurrence of uncut culms. Also, as shown in FIG. 8(c), when the set route 46 is significantly separated from the culm row 47, the automatic travel of the combine is stopped, and the automatic travel becomes unstable and the combine can be prevented from meandering. The reference numeral 48 indicates the travel route traveled by the combine.

[0060] In step S16, the processor 31 judges whether the second setting switch 11B has not been operated. If it is judged that the second setting switch 11B has not been operated, the process proceeds to step S17, and if it is judged that the second setting switch 11B has been operated, the process proceeds to step S20. As a result, when the operator judges that the set route 46 along which the combine automatically travels is significantly separated from the culm row 47, a new second reference point 43 is calculated, and a new straight set route 46 passing through the first reference point 42 and the new second reference point 43 is set, thereby suppressing the occurrence of uncut culms.

[0061] In step S17, the processing unit 31 judges whether or not the withdrawal switch 11C has been operated. If it is judged that the withdrawal switch 11C has been operated, the processing unit 31 proceeds to step S18, and if it is judged that the withdrawal switch 11C has not been operated, the processing unit 31 returns to step S14.

[0062] In step S18, the operator riding on the control unit 5 operates the operating lever 12 to rotate the combine, and as shown in FIG. 6, performs a so-called α turn from the end of the set path 46 to rotate the direction of travel of the combine clockwise by 270 degrees, and then returns to step S9. This allows the worker to set the first reference point 42 of the next reference path 41 to reduce the amount of uncut stalks.

[0063] In step S19, the processing unit 31 judges whether the traveling stop time of the traveling device 2 is within a predetermined time or not. If it is judged that the traveling stop time of the traveling device 2 is within the predetermined time, the processing returns to step S13, and if it is judged that the traveling stop time of the traveling device 2 is longer than the predetermined time, the processing proceeds to step S18.

[0064] In step S20, the processing unit 31 cancels the setting of the set route 46, calculates the position of the second reference point 43 based on the combine harvester position information transmitted from the positioning satellite 21 and the combine harvester correction position information transmitted from the base station 22, saves the position of the second reference point 43 in the storage unit 32, and proceeds to step S11. As a result, as shown in Fig. 8(d), the newly set set route 46 can be set in the proximal part of the culm row 47, thereby suppressing the occurrence of uncut culms. [Explanation of symbols]

[0065] 1 Aircraft frame 2 Running gear 3 Reaping device 5. Control Unit 11B Second setting switch (setting switch) 12 Operating lever 30 Controller 41 Reference Path 42 1st reference point 43 Second reference point 45 Set route (first set route) 46 Set route (second set route) 47 Grain culm row M1 Reciprocating mowing mode M2 Mowing mode

Claims

1. A controller (30) for controlling the traveling device (2), When a first reference point (42) and a second reference point (43) spaced a predetermined distance from the first reference point (42) are acquired by manual driving by an operator, the controller (30) sets a set route (46) by extending a straight-line reference route (41) passing through the first reference point (42) and the second reference point (43) from the second reference point (43) in the direction of travel of the vehicle, and controls the traveling device (2) so that the vehicle begins and continues automatic driving along the set route (46).

2. When the operation angle of the operation lever (12) of the operation unit (5) is equal to or smaller than a predetermined angle and a setting switch (11B) of the operation unit (5) is operated, the controller (30) sets a new reference path (41) based on the first reference point (42) and a new second reference point (43) based on the vehicle position at the time of operating the setting switch (11B), 2. The work vehicle according to claim 1, wherein when the operation angle of the operation lever (12) of the operation section (5) exceeds a predetermined angle, the automatic traveling of the traveling device (2) is stopped and switching is made to operation by an operator.

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