Automatic driving method, work vehicle, and automatic driving system

Abstract

To provide an automatic driving method, a work vehicle and an automatic driving system which can perform automatic travel in which operability is improved.SOLUTION: A combine-harvester 1 is a work vehicle which can switch between a manual travel mode for traveling on the basis of the operation of an operation tool including a handle 29 being a turning operation tool and an automatic travel mode for traveling on the basis of a preset travel route and comprises a control device 50 which functions as an automatic travel control unit 62 that controls the travel in the automatic travel mode of the combine-harvester 1 based on the travel route. The combine-harvester 1 switches the mode to the manual travel mode from the automatic travel mode without stopping a machine body when the handle 29 is operated during execution of the automatic travel mode.SELECTED DRAWING: Figure 2

Description

Technical Field

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

Background Art

[0002] Conventionally, work vehicles such as combines and tractors are equipped with a turning operation tool such as a steering wheel that instructs the turning of the vehicle body, and when performing manual driving, they accept the turning operation of the turning operation tool. In addition, some work vehicles perform automatic driving based on a preset travel route. In automatic driving, turning is performed based on the travel route without accepting the turning operation of the turning operation tool.

[0003] For example, Patent Document 1 discloses a harvester capable of automatic driving in a field. This harvester has an operation tool having a function capable of changing the state of the vehicle body while continuing automatic driving during automatic driving, a vehicle body state detection unit that detects the state of the vehicle body, and a function setting unit that validates or invalidates the function according to the state of the vehicle body detected by the vehicle body state detection unit when the operation tool is operated. For example, the operation tool is a turning operation tool that instructs the turning of the vehicle body, and the function setting unit invalidates the function of the turning operation tool during automatic driving and instructs stopping when the turning operation tool is operated more than a preset operation amount.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in a conventional work vehicle such as the harvesting machine of Patent Document 1, the turning operation of the vehicle body cannot be performed during automatic driving. When a turning operation is desired, it is necessary to stop the vehicle body once and switch to manual driving. Therefore, when performing automatic driving, it is not possible to easily perform trajectory correction according to the operator's intention, resulting in a decrease in operability. In addition, each time the trajectory is corrected, it is necessary to perform an interruption operation of the automatic driving to stop the vehicle, which may reduce the work efficiency.

[0006] An object of the present invention is to provide an automatic driving method, a work vehicle, and an automatic driving system capable of performing automatic driving with improved operability.

Means for Solving the Problems

[0007] In order to solve the above problems, an automatic driving method of the present invention is an automatic driving method for a work vehicle capable of switching between a manual driving mode in which the vehicle travels based on an operation of an operating tool including a turning operation tool and an automatic driving mode in which the vehicle travels based on a preset travel route. The method includes a turning instruction step of turning the work vehicle in response to a turning operation of the turning operation tool provided in the work vehicle, and an automatic driving control step of executing the automatic driving mode and controlling the travel of the work vehicle based on the travel route. During the execution of the automatic driving mode, when the turning operation tool is operated, the automatic driving mode is switched to the manual driving mode without stopping the vehicle body.

[0008] Further, in order to solve the above problems, a work vehicle of the present invention is a work vehicle capable of switching between a manual driving mode in which the vehicle travels based on an operation of an operating tool including a turning operation tool and an automatic driving mode in which the vehicle travels based on a preset travel route. The work vehicle is provided with an automatic driving control unit that controls the travel in the automatic driving mode based on the travel route. During the execution of the automatic driving mode, when the turning operation tool is operated, the automatic driving mode is switched to the manual driving mode without stopping the vehicle body.

[0009] In addition, in order to solve the above problems, an automatic driving system of the present invention is an automatic driving system provided with a work vehicle capable of switching between a manual driving mode in which the vehicle travels based on an operation of an operating tool including a turning operation tool and an automatic driving mode in which the vehicle travels based on a preset travel route, the automatic driving system including an automatic driving control unit that controls the travel of the work vehicle in the automatic driving mode based on the travel route, and when the turning operation tool is operated during the execution of the automatic driving mode, switching from the automatic driving mode to the manual driving mode without stopping the vehicle body is characterized.

Effect of the Invention

[0010] According to the present invention, there is provided an automatic driving method, a work vehicle, and an automatic driving system capable of performing automatic driving with improved operability.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Embodiment for Carrying Out the Invention

[0012] The combine 1 which is an embodiment of the work vehicle of the present invention will be described with reference to FIG. 1 and the like. The work vehicle is capable of automatic driving based on a preset traveling route. The combine 1 travels on a field to be worked by automatic driving or manual operation, and performs operations such as cutting in order to perform a harvesting operation of crops from the grain straws planted in the field.

[0013] One of a manual traveling mode and an automatic traveling mode is set for the combine 1. When the manual traveling mode is set for the combine 1, it is configured to perform manual traveling in accordance with the operation of the operation unit 9 by an operator.

[0014] On the other hand, when the automatic traveling mode is set for the combine 1, it is configured to perform an automatic cutting traveling in which automatic cutting is performed while automatically traveling according to a preset traveling route. For example, the combine 1 performs an automatic cutting traveling of a traveling pattern such as reciprocating cutting in which a plurality of working routes are reciprocated in an area having uncut grain straws in the field (hereinafter referred to as an uncut area), or circumferential cutting in which the circumferential movement of the working route along the inner circumference of the uncut area is repeatedly shifted toward the center side.

[0015] As shown in Fig. 1, the combine harvester 1 includes a traveling unit 2, a cutting unit 3, a threshing unit 4, a separating unit 5, a storage unit 6, a straw processing unit 7, a power unit 8, and a control unit 9, and is configured as a so-called self-threshing combine harvester. While traveling by the traveling unit 2, the combine harvester 1 threshes the cereal straw cut by the cutting unit 3 with the threshing unit 4, separates the cereal grains with the separating unit 5, and stores them in the storage unit 6. The combine harvester 1 processes the straw after threshing with the straw processing unit 7. The combine harvester 1 drives the traveling unit 2, the cutting unit 3, the threshing unit 4, the separating unit 5, the storage unit 6, and the straw processing unit 7 with the power supplied by the power unit 8.

[0016] The traveling unit 2 is provided below the machine body frame 10 and includes a pair of left and right crawler traveling devices 11 and a power transmission mechanism 12 (see Fig. 2). The traveling unit 2 rotates the crawlers of the crawler traveling device 11 by the power (for example, rotational power) transmitted from the engine 26 of the power unit 8 to travel the combine harvester 1 in the front-rear direction or turn it in the left-right direction. The power transmission mechanism 12 is composed of a transmission or the like and transmits the power (rotational power) of the power unit 8 to the crawler traveling device 11, and can also shift the rotational power.

[0017] The cutting unit 3 is provided in front of the traveling unit 2 and performs cutting work on rows within the maximum number of cut rows, and the cutting width is determined by the number of rows to be cut. The cutting unit 3 includes a divider 13, a lifter 14, a cutting device 15, and a conveying device 16. The divider 13 weeds the cereal straw in the field row by row and guides the cereal straw for a predetermined number of rows within the maximum number of cut rows to the lifter 14. The lifter 14 lifts the cereal straw guided by the divider 13. The cutting device 15 cuts the cereal straw lifted by the lifter 14. The conveying device 16 conveys the cereal straw cut by the cutting device 15 to the threshing unit 4.

[0018] The threshing unit 4 is provided behind the cutting unit 3. The threshing unit 4 includes a feed chain 18 and a threshing cylinder 19. The feed chain 18 conveys the cereal straws conveyed from the conveying device 16 of the cutting unit 3 for threshing, and further conveys the cereal straws after threshing, that is, the straw discharges, to the straw discharge processing unit 7. The threshing cylinder 19 threshes the cereal straws conveyed by the feed chain 18.

[0019] The sorting unit 5 is provided below the threshing unit 4. The sorting unit 5 includes a shaking sorting device 21, a winnowing sorting device 22, a grain conveying device (not shown), and a straw waste discharging device (not shown). The shaking sorting device 21 sifts the threshed materials that have fallen from the threshing unit 4 to sort them into grains and straw waste, etc. The winnowing sorting device 22 further sorts the threshed materials sorted by the shaking sorting device 21 into grains and straw waste, etc. by blowing air. The grain conveying device conveys the grains sorted by the shaking sorting device 21 and the winnowing sorting device 22 to the storage unit 6. The straw waste discharging device discharges the straw waste, etc. sorted by the shaking sorting device 21 and the winnowing sorting device 22 to the outside of the machine.

[0020] The storage unit 6 is provided on the right side of the threshing unit 4. The storage unit 6 includes a grain tank 23 and a discharging device 24. The grain tank 23 stores the grains conveyed from the sorting unit 5. The discharging device 24 is composed of an auger or the like, performs the discharging operation of the grains, and discharges the grains stored in the grain tank 23 to an arbitrary location. The discharging device 24 is controlled by the control device 50 (see FIG. 2) to perform the discharging operation automatically or manually according to the operation of the control unit 9.

[0021] The straw discharge processing unit 7 is provided behind the threshing unit 4. The straw discharge processing unit 7 includes a straw discharge conveying device (not shown) and a straw discharge cutting device (not shown). For example, the straw discharge processing unit 7 discharges the straw discharges conveyed from the feed chain 18 of the threshing unit 4 directly to the outside of the machine (for example, behind or below the combine 1) by the straw discharge conveying device. Alternatively, the straw discharge processing unit 7 conveys the straw discharges to the straw discharge cutting device by the straw discharge conveying device, cuts them by the straw discharge cutting device, and then discharges them to the outside of the machine (for example, behind the combine 1).

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

[0023] The control unit 9 is provided above the power unit 8. As shown in FIG. 3, the control unit 9 includes operating tools for controlling the traveling of the combine 1 around the driver's seat 28 which is a seat for the operator to sit on. The control unit 9 includes, as operating tools, a steering wheel 29 which is a turning operation tool for instructing the turning of the combine 1 body, a main transmission lever 30 and a sub-transmission lever 31 which are transmission operation tools for instructing the speed change of the forward and backward movement of the combine 1, and the like. The manual traveling of the combine 1 is executed by the traveling unit 2 (power transmission mechanism 12) that receives the operations of the steering wheel 29, the main transmission lever 30, and the sub-transmission lever 31 of the control unit 9.

[0024] The control unit 9 includes a mechanism for operating the cutting operation by the cutting unit 3, the threshing operation by the threshing unit 4, the discharging operation by the discharging device 24 of the storage unit 6, and the like. Further, the control unit 9 includes a display unit 33 such as a monitor for displaying various information and outputting it to the operator (see FIG. 2).

[0025] The steering wheel 29 transmits the turning operation by the operator to the power transmission mechanism 12 of the traveling unit 2 to change the traveling direction of the combine 1, that is, to perform a turning operation on the combine 1. The steering wheel 29 has a margin of about ±5 degrees in the rotational direction, and is configured not to transmit the operation within this margin to the traveling unit 2. Note that the margin of the steering wheel 29 is not limited to ±5 degrees and can be artificially adjusted.

[0026] For example, during the execution of the manual driving of the combine 1, the traveling unit 2 (power transmission mechanism 12) always accepts the turning operation of the steering wheel 29 by the operator. On the other hand, during the execution of the automatic forward driving of the combine 1, when the steering wheel 29 is operated, the traveling unit 2 switches the automatic driving to manual driving without stopping the running of the combine 1. Also, during the execution of the automatic reverse driving of the combine 1, when the steering wheel 29 is operated, the traveling unit 2 switches the automatic driving to the restricted manual driving described later without stopping the running of the combine 1. In other words, when the steering wheel 29 is operated beyond the above margin during the automatic driving, the traveling unit 2 can turn the machine body in response to the turning operation of the steering wheel 29 without stopping the machine body.

[0027] The main shift lever 30 and the sub-shift lever 31 transmit the shift operation by the operator to the power transmission mechanism 12 of the traveling unit 2 to switch the set speed of the running of the combine 1. For example, when the manual driving mode is set, if the main shift lever 30 is at the central neutral position 34, the combine 1 is stopped. Also, when the main shift lever 30 is tilted to the forward speed change region 35 in front of the neutral position 34, the forward running operation of the combine 1 is transmitted to the traveling unit 2, and a forward set speed corresponding to the longitudinal position of the main shift lever 30 in the longitudinally long forward speed change region 35 is set for the traveling unit 2. When the main shift lever 30 located in the forward speed change region 35 is tilted forward from the neutral side, the forward set speed is increased, while when it is tilted from the forward side to the neutral side, the forward set speed is decreased.

[0028] On the other hand, when the main shift lever 30 is tilted to the reverse speed change region 36 behind the neutral position 34, the reverse running operation of the combine 1 is transmitted to the traveling unit 2, and a reverse set speed corresponding to the longitudinal position of the main shift lever 30 in the longitudinally long reverse speed change region 36 is set for the traveling unit 2. When the main shift lever 30 located in the reverse speed change region 36 is tilted backward from the neutral side, the reverse set speed is increased, while when it is tilted from the backward side to the neutral side, the reverse set speed is decreased.

[0029] Also, when the automatic driving mode is set and the combine 1 performs automatic driving, the main transmission lever 30 is located in the forward speed change region 35. When the automatic driving mode is set, it may be one of the automatic driving start conditions of the combine 1 that the main transmission lever 30 is located in the forward speed change region 35. In automatic forward driving, the set vehicle speed is set within the range of 0 to 100% by the mobile terminal 53 or the like, and the forward set speed based on the speed set value corresponding to the front-back position of the main transmission lever 30 in the forward speed change region 35 and the above set vehicle speed is set for the traveling unit 2. For example, when the main transmission lever 30 is tilted forward from the neutral side during automatic driving, the forward set speed is increased, while when it is tilted from the front to the neutral side, the forward set speed is decreased. For example, when the set vehicle speed is 50% and the speed set value is 2 m / s, the forward set speed is set to 1 m / s. Also, in automatic reverse driving, the set vehicle speed is set within the range of 0 to 100% by the mobile terminal 53 or the like, and the reverse set speed based on the speed set value corresponding to the front-back position of the main transmission lever 30 in the forward speed change region 35 and the above set vehicle speed is set for the traveling unit 2.

[0030] The sub-transmission lever 31 switches the rotational power transmitted from the power transmission mechanism 12 to the traveling unit 2 to at least either low speed or high speed. For example, the sub-transmission lever 31 is switched to low speed when the combine 1 is in a working state of traveling with a harvesting operation, while it is switched to high speed when the combine 1 is in a traveling state of traveling without performing a harvesting operation. In the automatic driving mode, the sub-transmission lever 31 may be automatically switched to low speed or high speed according to the operating state of the harvesting unit 3.

[0031] As shown in FIG. 2, the combine 1 is provided with a positioning unit 38 that acquires the position information of the combine 1 using a satellite positioning system such as GPS. The positioning unit 38 receives a positioning signal from a positioning satellite via a positioning antenna, and acquires the position information of the positioning unit 38, that is, the position information of the combine 1 based on the positioning signal.

[0032] Note that the combine 1 may be configured to communicate with a base station (not shown) installed on ridges or the like around the field. The base station receives a positioning signal from a positioning satellite via a positioning antenna and acquires the position information of the base station based on the positioning signal. The base station transmits correction information based on the position information of the base station to the combine 1 (for example, the positioning unit 38). The combine 1 (for example, the positioning unit 38) receives the correction information from the base station and corrects the position information of the positioning unit 38, that is, the position information of the combine 1, based on the correction information.

[0033] Next, the control device 50 of the combine 1 will be described with reference to FIG. 2. The control device 50 is composed of a computer such as a CPU and is connected to a storage unit 51 such as a ROM, a RAM, a hard disk drive, and a flash memory, and a communication unit 52 that communicates with external devices. The storage unit 51 stores programs and data for controlling various components and functions of the combine 1, and the control device 50 controls various components and functions by executing arithmetic processing based on the programs and data stored in the storage unit 51. The control device 50 controls, for example, the positioning unit 38 to acquire the position information of the combine 1.

[0034] The storage unit 51 stores, for example, the field information of the field that is the work target of the combine 1. The field information includes the shape, size, and position information (coordinates, etc.) of the field edge that constitutes the outer periphery of the field, and the shape, size, and position information (coordinates, etc.) of the uncut area of the field.

[0035] The communication unit 52 can perform wireless communication with external devices such as the portable terminal 53 held by the operator via a wireless communication antenna. The control device 50 controls the communication unit 52 to perform wireless communication with the portable terminal 53 and transmit and receive various information to and from the portable terminal 53.

[0036] The mobile terminal 53 is one of the components of the combine 1 and is a terminal capable of remotely operating the combine 1. For example, it is composed of a tablet terminal equipped with a touch panel, a notebook personal computer, or the like. The mobile terminal 53 includes a display unit 54 such as a touch panel and a monitor for displaying various information and outputting it to the operator, and also includes an input unit such as a touch panel and operation keys for receiving input operations of various information from the operator. Note that an operating device similar to the mobile terminal 53 may be provided in the control unit 9. For example, the mobile terminal 53 displays on the display unit 54 a screen (for example, a home screen or a mode setting screen) capable of setting either a manual driving mode or an automatic driving mode of the combine 1, and transmits the set driving mode to the combine 1 according to the operation of the operator.

[0037] The mobile terminal 53 is configured to receive an input operation via the input unit for field information related to the field to be worked, and for example, displays a field information setting screen on which the field information can be set. The mobile terminal 53 can also display a field map based on the field information on the field information setting screen and display the traveling route of the combine 1 on the field map so that the traveling direction can be understood. The mobile terminal 53 transmits the field information set on the field information setting screen to the combine 1.

[0038] The mobile terminal 53 has a function of receiving the selection of the traveling pattern of the automatic harvesting travel of the combine 1, and when creating the traveling route of the automatic harvesting travel, displays on the display unit 54 a screen (for example, a traveling selection screen) for selecting a traveling pattern of reciprocating cutting or circular cutting. The mobile terminal 53 transmits the input traveling pattern (reciprocating cutting or circular cutting) to the combine 1 according to the operation of the operator to instruct the creation of the traveling route. The mobile terminal 53 may preset the set vehicle speed within the range of 0 to 100% and associate it with the traveling route.

[0039] When the combine 1 executes automatic mowing operation, as shown in FIG. 4, the mobile terminal 53 displays a work screen 55 for automatic mowing operation on the display unit 54. On the work screen 55, for example, a stop button 56 for operating the temporary stop of the machine body is displayed operably. Also, on the work screen 55, the current position of the combine 1 is displayed so that it can be confirmed together with the field and the traveling route that are the targets of the automatic mowing operation. On the work screen 55, the set traveling mode is displayed discriminably in the title bar 57, and not only the automatic traveling mode is displayed, but also the traveling mode automatically switched according to the work situation is displayed. The mobile terminal 53 may enable the setting vehicle speed to be set within the range of 0 to 100% on the work screen 55.

[0040] Also, the control device 50 operates as a field information setting unit 60, a traveling route creation unit 61, an automatic driving control unit 62, and an automatic mowing control unit 63 by executing the program stored in the storage unit 51. The traveling route creation unit 61, the automatic driving control unit 62, and the automatic mowing control unit 63 realize the traveling route creation process, the automatic driving control process, and the automatic mowing control process of the automatic driving method according to the present invention. The traveling unit 2 (power transmission mechanism 12) functions as a turning instruction unit that instructs the turning of the combine 1 according to the turning operation of the steering wheel 29, and realizes the turning instruction process of the automatic driving method according to the present invention.

[0041] The field information setting unit 60 automatically or manually sets the field information related to the field to be worked and stores it in the storage unit 51. For example, the field information setting unit 60 manually sets the field information according to the input operation of the field information on the field information setting screen of the mobile terminal 53. Alternatively, the field information setting unit 60 may automatically set the field information received from the server (not shown) by communicating with the server. The field information setting unit 60 may make the field information received from the server editable on the field information setting screen of the mobile terminal 53.

[0042] Incidentally, as another example, the field information setting unit 60 may acquire a field image obtained by photographing the field to be worked, and set field information based on the result of image analysis of the field image. Further, the field information setting unit 60 may obtain more accurate field information by making the field information set according to the operation of the mobile terminal 53, the field information received from the server, and the field information analyzed from the field image consistent with each other.

[0043] The field image may be photographed by the aircraft camera provided in the combine 1, or the image photographed by the mobile camera provided in the mobile terminal 53 may be received by the communication unit 52, or the image photographed by the aerial camera provided in an aerial photography device such as a drone may be received by the communication unit 52. The field information setting unit 60 may analyze the field information from the field images of one of the aircraft camera, the mobile camera, or the aerial camera, or may analyze the field information from the field images of two or more cameras. Incidentally, the control device 50 may display the field image photographed by the aircraft camera, the mobile camera, or the aerial camera on the display unit 33 of the control unit 9, or may transmit it to the mobile terminal 53 and display it on the display unit 54 of the mobile terminal 53.

[0044] The travel route creation unit 61 creates a travel route for the combine 1 to automatically travel and automatically cut (automatic cutting travel) in the field and stores it in the storage unit 51. The travel route includes not only travel settings related to automatic travel but also work settings related to operations such as automatic cutting. The travel settings include, in addition to the travel position in the field, the traveling direction (steering direction and forward or backward) and the set vehicle speed at each travel position. The work settings include the operation or stop of cutting, the cutting speed and cutting height, the number of cutting rows, and information related to other operations at each travel position.

[0045] The travel route creation unit 61 sets a work route for mowing while traveling in the forward direction in an uncut area in the field in a straight line, and sets a travel route by combining a plurality of work routes. Also, the travel route creation unit 61 sets an idle running route for turning and traveling on the headland between two consecutive work routes. That is, the travel route creation unit 61 creates a travel route consisting of a plurality of work routes and the idle running routes between each work route. Note that, in addition to the work route and the idle running route, the travel route creation unit 61 may create a travel route by setting a moving route that travels in a straight line in the forward or reverse direction or a moving route that travels while turning in the already cut area of the field for the purpose of moving.

[0046] The travel route creation unit 61 creates a travel route according to a travel pattern (reciprocating mowing or circumferential mowing) selected according to an operation of the mobile terminal 53 or the like. For example, the travel route creation unit 61 creates a circumferential mowing travel route that repeatedly shifts the circumvention of the work route along the inner circumference of the uncut area toward the center side, or a reciprocating mowing travel route that reciprocates a plurality of work routes in the uncut area. The travel route creation unit 61 sets a start position where the automatic mowing travel starts and an end position where the automatic mowing travel is completed in the travel route.

[0047] When the automatic travel mode is set, the automatic travel control unit 62 controls the power unit 8 and the travel unit 2 based on the travel setting of the travel route created by the travel route creation unit 61 to execute automatic travel according to the travel route. Note that the combine 1 is provided with a gyro sensor and an azimuth sensor to acquire the displacement information and azimuth information of the combine 1, and the automatic travel control unit 62 may adjust the automatic travel of the combine 1 based on the displacement information and azimuth information.

[0048] In addition, the automatic driving control unit 62 sets a forward set speed or a reverse set speed based on a speed set value corresponding to the position of the main transmission lever 30 in the front-rear direction and the set vehicle speed as the set speed for automatic driving. On the other hand, during the execution of automatic forward driving, when the main transmission lever 30 is operated, the set speed of the automatic driving is changed according to the position of the main transmission lever 30. For example, during automatic forward driving, when the main transmission lever 30 located in the forward speed change region 35 is tilted forward from the neutral side, the automatic driving control unit 62 increases the forward set speed according to the position of the main transmission lever 30 in the front-rear direction. On the other hand, when it is tilted from the forward side to the neutral side, the forward set speed is decelerated according to the position of the main transmission lever 30 in the front-rear direction.

[0049] When the steering wheel 29 is operated during the execution of automatic forward driving, the automatic driving control unit 62 stops the automatic forward driving without stopping the running of the combine 1, and the combine 1 continues to run while maintaining the running state (traveling direction, set speed, etc.) based on the steering wheel 29 and the main transmission lever 30 at the time of stopping the automatic forward driving, and shifts to manual forward driving. The traveling unit 2 will perform manual driving according to the operations of the steering wheel 29 and the main transmission lever 30. In addition, the combine 1 switches the driving mode from the automatic driving mode to the manual driving mode.

[0050] In addition, when the steering wheel 29 is operated during the execution of automatic reverse driving, the automatic driving control unit 62 stops the automatic reverse driving without stopping the running of the combine 1, and the combine 1 shifts to restricted manual driving. The traveling unit 2 performs restricted manual driving according to the operations of the steering wheel 29 and the main transmission lever 30. In addition, the combine 1 switches the driving mode from the automatic driving mode to the restricted manual driving mode. In restricted manual driving, the traveling unit 2 performs the turning operation of the combine 1 according to the turning operation of the steering wheel 29, while performing the shifting operation and the forward-reverse switching operation of the combine 1 according to a preset control pattern.

[0051] Incidentally, since the automatic reverse running is performed with the main shift lever 30 positioned in the forward speed change region 35, when stopping the automatic reverse running and directly shifting to the manual running, the reverse speed at the stop of the automatic reverse running does not match the forward set speed based on the position of the main shift lever 30. At this time, if the forward set speed is directly set for the combine 1 that was in automatic reverse running, the acceleration when immediately switching from the reverse speed to the forward set speed is steep, and since it is suddenly switched from reverse running to forward running, it will give the operator a sense of discomfort in operation and also pose a danger in running. Also, when directly setting the forward set speed for the combine 1 during reverse running in normal manual running, the acceleration when immediately switching from the reverse speed to the forward set speed is also steep.

[0052] Therefore, in the restricted manual running, after the automatic running control unit 62 stops the automatic reverse running in response to the operation of the steering wheel 29, the traveling unit 2 decelerates from the running state at the stop of the automatic reverse running, and then, when the reverse speed becomes zero, it performs manual forward running and gently accelerates until the forward speed reaches the forward set speed based on the position of the main shift lever 30, and completely switches to the manual forward running when reaching the forward set speed. In this way, in the restricted manual running, by gently setting the acceleration so that the running speed of the combine 1 gradually switches from the reverse speed to the forward set speed, rather than the acceleration when directly setting the forward set speed for the combine 1 during reverse running in normal manual running in the manual running mode, the sense of discomfort in operation given to the operator is reduced and the danger in running is also suppressed.

[0053] As a running mode when performing restricted manual running, when the combine 1 performs manual forward running in restricted manual running and the forward speed reaches the forward set speed, the running mode is switched from the restricted manual running mode to the manual running mode. Incidentally, the combine 1 may control the restricted manual running so as to reach the forward set speed within a predetermined adjustment running time (for example, 20 seconds) after starting the restricted manual running.

[0054] When the automatic mowing control unit 63 is set to the automatic driving mode, based on the work settings of the driving route created by the driving route creation unit 61, it controls the power unit 8 and the mowing unit 3 to perform automatic mowing according to the driving route. The automatic mowing control unit 63 automatically mows the uncut cereal straws on the driving route by the mowing unit 3. Further, along with automatic mowing, the automatic mowing control unit 63 controls the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw discharge processing unit 7 to automatically perform operations such as threshing of the cut cereal straws, sorting of the grains and chaff after threshing, storage of the sorted grains, and processing of the discharged straw after threshing.

[0055] The driving operation example of the combine 1 in this embodiment will be described with reference to the flowchart of FIG. 5. Note that the mowing operation of the combine 1 is performed as necessary in the uncut area of the field, but the description thereof will be omitted below.

[0056] When the automatic driving mode is set for the combine 1 (step S1: Yes), first, the driving route creation unit 61 creates a driving route for automatic driving of the field to be worked and stores it in the storage unit 51 (step S2). Next, when the combine 1 satisfies various automatic driving start conditions (step S3: Yes), the automatic driving control unit 62 controls the power unit 8 and the driving unit 2 based on the driving settings of the created driving route to start automatic driving (step S4). Note that when the automatic driving mode is not set (step S1: No) or when the automatic driving start conditions are not satisfied (step S3: No), automatic driving is not started.

[0057] When the operator operates the steering wheel 29 during automatic driving (step S5: Yes), and when the automatic driving control unit 62 is performing automatic forward driving of the combine 1 (step S6: Yes), the combine 1 switches the driving mode from the automatic driving mode to the manual driving mode, and the automatic driving control unit 62 stops the automatic forward driving based on the driving settings (step S7), and the driving unit 2 continues to drive while maintaining the driving state at the time of stopping the automatic forward driving and shifts to manual driving (step S8).

[0058] On the other hand, when an operator operates the steering wheel 29 during automatic driving (step S5: Yes), if the automatic reverse driving of the combine 1 is being executed by the automatic driving control unit 62 (step S6: No), the combine 1 switches the driving mode from the automatic driving mode to the restricted manual driving mode, and the automatic driving control unit 62 stops the automatic reverse driving based on the driving settings (step S9). For example, in FIG. 6, an example is shown in which, after the combine 1 switches from automatic forward driving to automatic reverse driving, at time T1 during the execution of automatic reverse driving, the operator operates the steering wheel 29. In FIG. 6, the driving mode is switched to the restricted manual driving mode at time T1. In FIG. 6, the set speed corresponding to the position of the main transmission lever 30 is indicated by a dashed line, and the actual speed of the combine 1 is indicated by a solid line. In FIG. 6, the horizontal axis represents time, and the vertical axis represents the operation amount of the main transmission lever 30. In particular, the operation amount of the main transmission lever 30 indicates the neutral position 34 of the main transmission lever 30 as 0%, and the position of the main transmission lever 30 (i.e., the speed setting value) in the forward speed change region 35 during automatic forward driving is indicated as 0% - 100%, and the position of the main transmission lever 30 (i.e., the speed setting value) in the forward speed change region 35 during automatic reverse driving is indicated as - 100% - 0%.

[0059] The traveling unit 2 shifts to restricted manual driving (step S10) and decelerates from the traveling state at the stop of automatic reverse driving (step S11). In FIG. 6, it shifts to restricted manual driving from time T1. Also, when the reverse speed becomes zero (step S12: Yes), the traveling unit 2 performs manual forward driving (step S13). In FIG. 6, the reverse speed becomes zero at time T2 and is switched to manual forward driving. Further, the traveling unit 2 gradually accelerates the forward speed of the manual forward driving, and when the forward speed reaches the forward set speed based on the position of the main transmission lever 30 (step S14: Yes), the combine 1 ends the restricted manual driving, switches the driving mode from the restricted manual driving mode to the manual driving mode, and completely switches to manual forward driving (step S15). In FIG. 6, the forward set speed is reached at time T3, and it is switched to the manual driving mode and completely switched to manual forward driving.

[0060] As described above, according to this embodiment, the combine 1, which is an example of a work vehicle, is a work vehicle capable of switching between a manual driving mode in which it travels based on the operation of an operating tool including a handle 29 which is a turning operating tool, and an automatic driving mode in which it travels based on a preset travel route, and includes a control device 50 that functions as an automatic driving control unit 62 for controlling the travel of the combine 1 in the automatic driving mode based on the travel route. When the handle 29 is operated during the execution of the automatic driving mode, the combine 1 switches from the automatic driving mode to the manual driving mode without stopping the vehicle body.

[0061] Thereby, when the combine 1 is performing automatic driving, by simply operating the handle 29 to switch to manual driving and applying the turning operation of the handle 29, the combine 1 can correct the trajectory according to the operator's intention, and the operability can be improved. Also, even when correcting the trajectory during automatic driving, since it is not necessary to interrupt the automatic driving operation or stop the vehicle, the work efficiency can be improved.

[0062] According to this embodiment, the automatic driving control unit 62 and the traveling unit 2 of the combine 1 may apply different controls to the travel of the combine 1 according to the traveling direction of the combine 1 when the handle 29 is operated during the execution of the automatic driving mode.

[0063] Thereby, when the combine 1 switches from automatic driving to manual driving, it can travel with control adapted to the traveling direction.

[0064] According to this embodiment, in the combine 1, when the main shift lever 30, which is a shift operating tool for instructing speed changes in the forward and reverse movement of the combine 1, is located in the forward speed change region 35, the automatic driving control unit 62 executes the automatic driving mode. Then, when the steering wheel 29 is operated during the execution of the automatic forward driving in the automatic driving mode, the combine 1 switches to the manual driving mode and performs manual forward driving based on the position of the main shift lever 30 in the forward speed change region 35. On the other hand, as control according to the traveling direction, when the steering wheel 29 is operated during the execution of the automatic reverse driving in the automatic driving mode, it switches to the restricted manual driving mode, and based on the operation of the steering wheel 29 and the position of the main shift lever 30 in the forward speed change region 35, it performs restricted manual driving in the forward direction with an acceleration gentler than the acceleration when directly setting the forward set speed for the combine 1 during the reverse driving in the manual driving mode.

[0065] As a result, even when the steering wheel 29 is turned during the execution of the automatic reverse driving of the combine 1, the combine 1 gradually switches from the reverse speed to the forward set speed with a gentle acceleration, so it will be gradually switched from reverse to forward, reducing the sense of discomfort in operation given to the operator and suppressing the danger during traveling.

[0066] In the above-described embodiment, an example has been described in which the traveling unit 2 of the combine 1 controls the forward speed of the manual forward driving to be the forward set speed based on the position of the main shift lever 30 in the restricted manual driving. However, during the execution of the restricted manual driving, the forward set speed may be changed when the operator operates the main shift lever 30.

[0067] For example, in FIG. 7, after starting the automatic driving, the operation of the steering wheel 29 is performed at time T11 during the execution of the automatic reverse driving, decelerates from the driving state at the stop of the automatic reverse driving, and the reverse speed becomes zero at time T12, and it is switched to the manual forward driving. This manual forward driving is controlled to reach the forward set speed at time T14 after the elapse of a predetermined adjustment driving time (for example, 20 seconds) with the forward set speed based on the position of the main transmission lever 30 as the target, and the main transmission lever 30 is operated at time T13 to lower the forward set speed.

[0068] Therefore, when the main transmission lever 30 is operated in the restricted manual driving, the combine 1 performs acceleration and deceleration in conjunction with the position of the main transmission lever 30. For example, when the forward set speed is increased, the acceleration is increased, and when the forward set speed is decreased, the acceleration is decreased. However, as shown in FIG. 7, when the forward set speed is decreased below the actual speed, the combine 1 decelerates to reach the forward set speed at time T14. For example, the combine 1 sets a deceleration filter so as to reach 100% after the elapse of the adjustment driving time, and performs speed control at the target speed calculated by the operation amount of the main transmission lever 30 × the deceleration filter.

[0069] Thereby, even when the main transmission lever 30 is operated during the execution of the restricted manual driving, the combine 1 performs speed control in conjunction with the operation of the main transmission lever 30, so that the sense of discomfort in operation given to the operator is reduced.

[0070] By the way, even when the steering wheel 29 is operated during the execution of the automatic forward driving, or when the steering wheel 29 is operated during the execution of the automatic reverse driving to perform the restricted manual driving, the manual forward driving is performed so as to reach the forward set speed based on the position of the main transmission lever 30. However, compared with the case where the manual forward driving is switched from the automatic reverse driving to the restricted manual driving, there is less sense of discomfort when the manual forward driving is switched from the automatic forward driving.

[0071] Therefore, when the combine 1 switches from automatic forward travel to manual forward travel with restricted manual travel, the acceleration toward the forward set speed in the case of manual forward travel may be made steeper than the acceleration toward the forward set speed in the case of manual forward travel performed from automatic reverse travel, that is, the adjustment travel time may be set shorter. For example, in FIG. 8, the forward speed is restricted to a speed lower than the forward set speed by operating the mobile terminal 53 with respect to the forward set speed based on the position of the main transmission lever 30. At this time, since the operator is operating the steering wheel 29 at time T21 during the execution of automatic forward travel, the adjustment travel time is set shorter compared to the case where it is switched from automatic reverse travel to restricted manual travel, and the slope (acceleration) toward the forward set speed is made steeper.

[0072] In the above-described embodiment, the traveling unit 2 of the combine 1 has been described as an example in which, in restricted manual travel, manual forward travel is maintained until the forward speed of manual forward travel reaches the forward set speed based on the position of the main transmission lever 30, but the present invention is not limited to this example.

[0073] In another example, the combine 1 monitors the position information of the combine 1 in the field based on the measurement result of the positioning unit 38, and when the combine 1 is about to jump out of the field, the traveling unit 2 stops the manual forward travel and controls to stop the combine 1. For example, the combine 1 may determine that the combine 1 is about to jump out of the field when the manual forward travel of the combine 1 intersects the field edge and the combine 1 advances within a predetermined regulation range from the field edge.

[0074] Further, the combine 1 is provided with a seating sensor or the like in the driver's seat 28 of the control unit 9, and when it is detected that the operator has left the driver's seat 28, the traveling unit 2 stops the manual forward travel and controls to stop the combine 1.

[0075] For example, in FIG. 9, after the start of the autonomous driving, the operation of the steering wheel 29 is performed at time T31 during the execution of the reverse driving, decelerates from the driving state at the stop of the reverse driving, and the reverse speed becomes zero at time T32 and is switched to the manual forward driving. Thereafter, when the operator leaves the driver's seat 28 at time T33, the traveling unit 2 controls to stop the manual forward driving and stop the combine 1. Note that the traveling unit 2 may gradually decelerate and stop the manual forward driving.

[0076] In the above-described embodiment, in the restricted manual driving of the traveling unit 2 of the combine 1, when the forward speed of the manual forward driving becomes the forward set speed based on the position of the main shift lever 30, the restricted manual driving ends and the driving shifts to the manual driving. An example in which the combine 1 switches the driving mode from the restricted manual driving mode to the manual driving mode has been described, but the present invention is not limited to this example.

[0077] In the first modification, the traveling unit 2 of the combine 1 may switch the restricted manual driving to the normal manual driving when a predetermined release operation is performed during the execution of the restricted manual driving. Note that this release operation is an operation in which the operator operates the combine 1 with the intention of releasing the restricted manual driving.

[0078] Thereby, the combine 1 can be switched from the restricted manual driving to the normal manual driving according to the intention of the operator, so that the operability can be improved.

[0079] Specifically, the combine 1 is provided with a release operation unit such as a release button 58 (see FIG. 4) for releasing the restricted manual driving in the operation unit 9 or the mobile terminal 53, and the traveling unit 2 may use the operation of the release operation unit as a release operation during the execution of the restricted manual driving. For example, the release button 58 may be operably displayed on the work screen 55 (see FIG. 4) of the mobile terminal 53 (see FIG. 2), or the traveling unit 2 may use the operation of an existing operation tool such as the sub-shift lever 31 as a release operation during the execution of the restricted manual driving.

[0080] As a result, the combine harvester 1 can receive the operator's intention by the release operation unit and switch from the restricted manual traveling to the normal manual traveling, so that the operability can be improved.

[0081] Alternatively, during the execution of the restricted manual traveling, the traveling unit 2 may regard an operation of the steering wheel 29 with an operation amount (such as a steering angle) equal to or greater than a predetermined operation amount threshold per a predetermined unit time as a release operation.

[0082] As a result, the combine harvester 1 can receive the operator's intention according to the operation of the steering wheel 29 and switch from the restricted manual traveling to the normal manual traveling, so that the operability can be improved.

[0083] In the above-described embodiment, an example has been described in which when an operation of the steering wheel 29 is performed during the execution of the automatic reverse traveling, the traveling unit 2 of the combine harvester 1 switches to the restricted manual traveling in the forward direction, but the present invention is not limited to this example.

[0084] In the second modification, when an operation of the steering wheel 29 is performed during the execution of the automatic reverse traveling, instead of the restricted manual traveling, the traveling unit 2 may continue traveling while maintaining the traveling state at the stop of the automatic reverse traveling and shift to the manual reverse traveling regardless of the position of the main shift lever 30 in the forward speed change region 35. In this case, when the main shift lever 30 is operated to the neutral position 34, the traveling unit 2 releases the traveling state at the stop of the automatic reverse traveling and shifts to the normal manual traveling, and then performs the manual traveling at a forward set speed or a reverse set speed according to the position of the main shift lever 30.

[0085] Note that, as the traveling mode in this case, when the steering wheel 29 is operated during the execution of the automatic reverse traveling, the combine harvester 1 may switch the traveling mode from the automatic traveling mode to the restricted manual traveling mode, and then, when the main shift lever 30 is operated to the neutral position 34, switch the traveling mode from the restricted manual traveling mode to the manual traveling mode.

[0086] An example of the traveling operation of the combine 1 according to the second modification will be described with reference to the flowchart of FIG. 10. In the second modification, first, until steps S21 to S25 of the traveling operation example shown in FIG. 10 are performed in the same manner as steps S1 to S5 of the traveling operation example shown in FIG. 5, the combine 1 performs automatic traveling, and the steering wheel 29 is operated during the automatic traveling.

[0087] When the automatic travel control unit 62 is executing the automatic forward travel of the combine 1 (step S26: Yes), in the same manner as steps S7 to S8 of the traveling operation example shown in FIG. 5, the automatic travel control unit 62 stops the automatic travel (step S27), and the traveling unit 2 maintains the traveling state at the time of stopping the automatic travel and shifts to manual forward travel (step S28).

[0088] On the other hand, when the automatic travel control unit 62 is executing the automatic reverse travel of the combine 1 (step S26: No), the combine 1 switches the travel mode from the automatic travel mode to the restricted manual travel mode, and the automatic travel control unit 62 stops the automatic reverse travel based on the travel setting (step S29).

[0089] The combine 1 switches the travel mode from the automatic travel mode to the restricted manual travel mode and shifts to restricted manual travel (step S30). The traveling unit 2 continues the manual reverse travel while maintaining the traveling state at the time of stopping the automatic reverse travel regardless of the position of the main shift lever 30 in the forward speed change region 35 (step S31). Further, when the main shift lever 30 is operated to the neutral position 34 (step S32: Yes), the combine 1 ends the restricted manual travel, switches the travel mode from the restricted manual travel mode to the manual travel mode, and the traveling unit 2 releases the traveling state at the time of stopping the automatic reverse travel and completely switches to manual travel (step S33).

[0090] As described above, according to the second modification example, in the combine 1, the automatic driving control unit 62 executes the automatic driving mode when the main shift lever 30 that instructs the speed change of the forward and reverse movement of the combine 1 is located in the forward speed change region 35. Then, when the steering wheel 29 is operated during the execution of the automatic forward movement in the automatic driving mode, it switches to the manual driving mode and performs the manual forward movement based on the position of the main shift lever 30 in the forward speed change region 35. On the other hand, as control according to the traveling direction, when the steering wheel 29 is operated during the execution of the automatic reverse movement in the automatic driving mode, regardless of the position of the main shift lever 30 in the forward speed change region 35, the traveling in the reverse direction is maintained, that is, the manual reverse movement is performed.

[0091] Thereby, when the steering wheel 29 is operated during the execution of the automatic reverse movement of the combine 1, the combine 1 maintains the traveling in the reverse direction regardless of the position of the main shift lever 30, so that the operability can be improved, and it is not suddenly switched from reverse to forward, reducing the sense of discomfort in operation given to the operator and suppressing the danger during traveling.

[0092] Also, in the above-described embodiment, an example has been described in which the combine 1 switches from the automatic driving mode to the manual driving mode without stopping the machine body when the steering wheel 29 is operated during the execution of the automatic driving, but the present invention is not limited to this example.

[0093] In the third modification example, the combine 1 may be configured to switch from the automatic driving mode to the manual driving mode without stopping the machine body when the main shift lever 30 is operated within the forward speed change region 35 during the execution of the automatic driving.

[0094] For example, when the main transmission lever 30 is operated within the forward speed change region 35 during automatic forward travel, the automatic travel control unit 62 changes the forward speed while maintaining the automatic forward travel. At this time, the combine 1 maintains the travel mode in the automatic travel mode, and the automatic travel control unit 62 sets the forward set speed based on the speed set value corresponding to the front-rear direction position of the main transmission lever 30 in the forward speed change region 35 and the set vehicle speed to the travel unit 2, and the travel unit 2 performs automatic forward travel so as to reach the set forward set speed.

[0095] On the other hand, when the main transmission lever 30 is operated within the forward speed change region 35 during automatic reverse travel, the automatic travel control unit 62 stops the automatic travel based on the travel setting. At this time, the combine 1 switches the travel mode from the automatic travel mode to the restricted manual travel mode, and the automatic travel control unit 62 and the travel unit 2 perform the above-described restricted manual travel.

[0096] An example of the traveling operation of the combine 1 according to the third modification will be described with reference to the flowchart of FIG. 11. In the third modification, first, the operations up to steps S41 to S44 of the traveling operation example shown in FIG. 10 are performed in the same manner as the operations up to steps S1 to S4 of the traveling operation example shown in FIG. 5, and the combine 1 performs automatic travel.

[0097] When the operator operates the main transmission lever 30 within the forward speed change region 35 during automatic travel (step S45: Yes), and when the automatic travel control unit 62 is executing the automatic forward travel of the combine 1 (step S46: Yes), the combine 1 switches the travel mode from the automatic travel mode to the manual travel mode, the automatic travel control unit 62 stops the automatic travel based on the travel setting (step S47), and the travel unit 2 continues to travel while maintaining the travel state at the time of stopping the automatic travel and shifts to manual travel (step S48).

[0098] On the one hand, when an operator operates the main shift lever 30 within the forward speed change region 35 during automatic driving (step S45: Yes), and when the automatic driving control unit 62 of the combine 1 is not executing automatic reverse driving (step S46: No), the combine 1 switches the driving mode from the automatic driving mode to the restricted manual driving mode. The automatic driving control unit 62 stops the automatic reverse driving based on the driving settings (step S49), and the traveling unit 2 shifts to restricted manual driving (step S50). In the third modification example, restricted manual driving is performed in the same manner as the operations from steps S11 to S15 of the traveling operation example shown in FIG. 5 for the operations from steps S51 to S55 of the traveling operation example shown in FIG. 10.

[0099] As described above, according to the third modification example, in the combine 1, the automatic driving control unit 62 executes the automatic driving mode when the main shift lever 30 that instructs the speed change of the forward and reverse movement of the combine 1 is positioned in the forward speed change region 35. During the execution of automatic forward driving in the automatic driving mode, when the main shift lever 30 is operated within the forward speed change region 35, it switches to the manual driving mode and maintains the forward driving based on the position of the main shift lever 30 in the forward speed change region 35, that is, performs manual forward driving. On the other hand, as control according to the traveling direction, when the main shift lever 30 is operated within the forward speed change region 35 during the execution of automatic reverse driving in the automatic driving mode, it switches to the restricted manual driving mode and performs restricted manual driving in the forward direction with an acceleration gentler than the acceleration when directly setting the forward set speed for the combine 1 during reverse driving in the manual driving mode based on the operation of the steering wheel 29 and the position of the main shift lever 30 in the forward speed change region 35.

[0100] As a result, even when the combine 1 is performing autonomous driving, by simply operating the main transmission lever 30, the combine can be switched to manual driving and the turning operation of the steering wheel 29 can be applied. Thus, the operator can correct the trajectory according to their intention, improving the operability. Also, even when correcting the trajectory during autonomous driving, it is not necessary to interrupt the autonomous driving or stop the vehicle, so the work efficiency can be improved. Further, when the main transmission lever 30 is operated during the execution of the automatic reverse driving, the vehicle gradually switches from the reverse speed to the forward set speed with a gentle acceleration, so it will be gradually switched from reverse to forward. This reduces the sense of discomfort in operation given to the operator and also suppresses the danger during driving.

[0101] In the third modification described above, an example was explained in which the traveling unit 2 of the combine 1 switches to restricted manual driving in the forward direction when the main transmission lever 30 is operated during the execution of the automatic reverse driving. However, the present invention is not limited to this example.

[0102] In other examples, when the main transmission lever 30 is operated during the execution of the automatic reverse driving, after the automatic reverse driving based on the driving settings is stopped by the automatic driving control unit 62, instead of restricted manual driving, the traveling unit 2 may continue to travel while maintaining the traveling state at the stop of the automatic reverse driving regardless of the position of the main transmission lever 30 in the forward speed change region 35 and shift to manual reverse driving. In this case, when the main transmission lever 30 is operated to the neutral position 34, the traveling unit 2 releases the traveling state at the stop of the automatic reverse driving and shifts to normal manual driving, and then performs manual driving at the forward set speed or reverse set speed according to the position of the main transmission lever 30.

[0103] Note that as the driving mode in this case, when the main transmission lever 30 is operated during the execution of the automatic reverse driving, the combine 1 switches the driving mode from the automatic driving mode to the restricted manual driving mode, and then, when the main transmission lever 30 is operated to the neutral position 34, switches the driving mode from the restricted manual driving mode to the manual driving mode.

[0104] Alternatively, when the main transmission lever 30 is operated during the execution of the automatic reverse running, after the automatic running control unit 62 stops the automatic reverse running based on the running setting, the running unit 2 may stop and park the running of the combine 1 regardless of the position of the main transmission lever 30 in the forward speed change area 35, instead of the restricted manual running. In this case, the running unit 2 gently decelerates after stopping the automatic reverse running until the reverse speed becomes zero. Further, after the running unit 2 stops the running of the combine 1, when the main transmission lever 30 is operated to the neutral position 34, it switches to manual running, and then runs at the forward set speed or the reverse set speed according to the position of the main transmission lever 30.

[0105] In the above-described embodiment, when the combine 1 performs automatic running according to the running route, it is premised that the main transmission lever 30 is located in the forward speed change area 35. In the automatic reverse running, an example in which the reverse set speed based on the speed set value corresponding to the position of the main transmission lever 30 in the forward speed change area 35 and the set vehicle speed is set for the running unit 2 has been described, but the present invention is not limited to this example. For example, when the automatic running control unit 62 is executing the automatic forward running of the combine 1 according to the running route, if the main transmission lever 30 is operated from the forward speed change area 35 to the reverse speed change area 36, the automatic running control unit 62 may execute the automatic reverse running of the combine 1 according to the running route at the reverse set speed based on the speed set value corresponding to the position of the main transmission lever 30 in the reverse speed change area 36 and the set vehicle speed. In this case, the automatic running control unit 62 accelerates or decelerates the reverse set speed according to the position of the main transmission lever 30 in the reverse speed change area 36 and sets it for the running unit 2.

[0106] In the above-described embodiment, an example in which the control device 50 of the combine 1 functions as the field information setting unit 60, the travel route creation unit 61, the automatic travel control unit 62, and the automatic cutting control unit 63 has been described. However, the present invention is not limited to this example. For example, in other embodiments, the mobile terminal 53 may be configured to function as the field information setting unit 60, the travel route creation unit 61, the automatic travel control unit 62, and the automatic cutting control unit 63. In other words, the automatic driving system according to the present invention applies at least one of the control device 50 of the combine 1 and the mobile terminal 53 to function as the field information setting unit 60, the travel route creation unit 61, the automatic travel control unit 62, and the automatic cutting control unit 63. When the steering wheel 29 is operated during the execution of the automatic travel, the vehicle body may be switched from the automatic travel mode to the manual travel mode without stopping the vehicle body.

[0107] In the above-described embodiment, an example in which the work vehicle of the present invention is configured by the self-threshing combine 1 has been described. However, the present invention is not limited to this example, and the work vehicle of the present invention may be configured by a conventional combine, a tractor, a riding mower, a riding rice transplanter, a transport vehicle, a snow removal vehicle, a wheel loader, or other riding work vehicles, or an unmanned work vehicle such as an unmanned mower.

[0108] Note that the present invention can be appropriately modified within a range not contrary to the gist or idea of the invention that can be read from the claims and the entire specification. An automatic driving method, a work vehicle, and an automatic driving system accompanied by such changes are also included in the technical idea of the present invention.

Explanation of Reference Numerals

[0109] 1 Combine (Work Vehicle) 2 Travel Unit 9 Control Unit 12 Power Transmission Mechanism 29 Steering Wheel (Swing Operation Tool) 30 Main Transmission Lever (Transmission Operation Tool) 50 Control Device 51 Storage Unit 53 Mobile Terminal 60 Field Information Setting Unit 61 Travel Route Creation Unit 62 Automatic driving control unit 63 Automatic mowing control unit

Claims

1. An automatic driving method for a work vehicle capable of switching between a manual driving mode in which the vehicle travels based on the operation of an operating tool including a turning operation tool and an automatic driving mode in which the vehicle travels based on a preset travel route, a turning instruction step of turning the work vehicle in response to a turning operation of the turning operation tool provided in the work vehicle; an automatic driving control step of executing the automatic driving mode and controlling the travel of the work vehicle based on the travel route, and having, when the turning operation tool is operated during the execution of the automatic driving mode, switching from the automatic driving mode to the manual driving mode without stopping the vehicle body, the automatic driving control step executes the automatic driving mode when a speed change operation tool for instructing a forward / backward speed change of the work vehicle is located in a forward speed change area, when the turning operation tool is operated during the execution of the automatic driving mode in the forward direction, switching to the manual driving mode and performing manual forward travel based on the position of the speed change operation tool in the forward speed change area, when the turning operation tool is operated during the execution of the automatic driving mode in the reverse direction, switching to a restricted manual driving mode, and based on the operation of the turning operation tool and the position of the speed change operation tool in the forward speed change area, performing restricted manual driving in the forward direction with an acceleration gentler than the acceleration when directly setting a forward set speed for the work vehicle during reverse travel in the manual driving mode. The automatic driving method is characterized by this.

2. When a predetermined release operation is performed during the execution of the restricted manual driving mode, switching the restricted manual driving mode to the manual driving mode. The automatic driving method according to Claim 1 is characterized by this.

3. When a release operation unit provided in the work vehicle is operated as the predetermined release operation during the execution of the restricted manual driving mode, switching the restricted manual driving mode to the manual driving mode. The automatic driving method according to Claim 2 is characterized by this.

4. When the turning operation tool is operated with an operation amount equal to or greater than a predetermined operation amount threshold per predetermined unit time as the predetermined release operation during the execution of the restricted manual driving mode, switching the restricted manual driving mode to the manual driving mode. The automatic driving method according to Claim 2 is characterized by this. A method for automatically driving a work vehicle capable of switching between a manual driving mode in which the vehicle travels based on the operation of an operating tool including a turning operation tool and an automatic driving mode in which the vehicle travels based on a preset travel route, a turning instruction step of turning the work vehicle in response to a turning operation of the turning operation tool provided in the work vehicle; an automatic driving control step of executing the automatic driving mode and controlling the travel of the work vehicle based on the travel route, and when the turning operation tool is operated during the execution of the automatic driving mode, switching from the automatic driving mode to the manual driving mode without stopping the vehicle body, the automatic driving control step executes the automatic driving mode when a speed change operation tool for instructing a forward / backward speed change of the work vehicle is located in a forward speed change region, when the turning operation tool is operated during the execution of the automatic driving mode in the forward direction, switching to the manual driving mode and performing manual forward travel based on the position of the speed change operation tool in the forward speed change region, on the other hand, when the turning operation tool is operated during the execution of the automatic driving mode in the reverse direction, the travel in the reverse direction is maintained regardless of the position of the speed change operation tool in the forward speed change region. The automatic driving method is characterized by this. A method for automatically driving a work vehicle capable of switching between a manual driving mode in which the vehicle travels based on the operation of an operating tool including a turning operation tool and an automatic driving mode in which the vehicle travels based on a preset travel route, a turning instruction step of turning the work vehicle in response to a turning operation of the turning operation tool provided in the work vehicle; an automatic driving control step of executing the automatic driving mode and controlling the travel of the work vehicle based on the travel route, and when the turning operation tool is operated during the execution of the automatic driving mode, switching from the automatic driving mode to the manual driving mode without stopping the vehicle body, the automatic driving control step executes the automatic driving mode when a speed change operation tool for instructing a forward / backward speed change of the work vehicle is located in a forward speed change region, when the speed change operation tool is operated within the forward speed change region during the execution of the automatic driving mode in the forward direction, the travel of the automatic driving mode in the forward direction is maintained based on the position of the speed change operation tool in the forward speed change region, When the shift operation tool is operated within the forward speed change range during the execution of the reverse automatic driving mode, the operation switches to a restricted manual driving mode, and based on the operation of the turning operation tool and the position of the shift operation tool in the forward speed change range, restricted manual driving in the forward direction is performed with an acceleration gentler than the acceleration when directly setting a forward set speed for the work vehicle during reverse driving in the manual driving mode. An automatic driving method characterized by this.

7. A work vehicle capable of switching between a manual driving mode in which driving is based on the operation of an operation tool including a turning operation tool and an automatic driving mode in which driving is based on a preset driving route, comprising an automatic driving control unit that controls the driving in the automatic driving mode based on the driving route, when the turning operation tool is operated during the execution of the automatic driving mode, the operation switches from the automatic driving mode to the manual driving mode without stopping the machine body, the automatic driving control unit executes the automatic driving mode when a shift operation tool that instructs a speed change of the work vehicle forward and backward is located in the forward speed change range, when the turning operation tool is operated during the execution of the forward automatic driving mode, the operation switches to the manual driving mode, and manual forward driving is performed based on the position of the shift operation tool in the forward speed change range, when the turning operation tool is operated during the execution of the reverse automatic driving mode, the operation switches to a restricted manual driving mode, and based on the operation of the turning operation tool and the position of the shift operation tool in the forward speed change range, restricted manual driving in the forward direction is performed with an acceleration gentler than the acceleration when directly setting a forward set speed for the work vehicle during reverse driving in the manual driving mode. A work vehicle characterized by this.

8. An automatic driving system including a work vehicle capable of switching between a manual driving mode in which driving is based on the operation of an operation tool including a turning operation tool and an automatic driving mode in which driving is based on a preset driving route, comprising an automatic driving control unit that controls the driving of the work vehicle in the automatic driving mode based on the driving route, when the turning operation tool is operated during the execution of the automatic driving mode, the operation switches from the automatic driving mode to the manual driving mode without stopping the machine body, When the shift operation tool for instructing speed change for forward and backward movement of the work vehicle is located in the forward speed change region, the automatic driving control unit executes the automatic driving mode. When the turning operation tool is operated during execution of the automatic driving mode in the forward direction, the manual driving mode is switched, and manual forward driving is performed based on the position of the shift operation tool in the forward speed change region. When the turning operation tool is operated during execution of the automatic driving mode in the reverse direction, the limited manual driving mode is switched, and based on the operation of the turning operation tool and the position of the shift operation tool in the forward speed change region, limited manual driving is performed in the forward direction with an acceleration gentler than the acceleration when directly setting the forward set speed for the work vehicle during reverse driving in the manual driving mode. An automatic driving system characterized by this.

Images