Automatic driving method, work vehicle, and automatic driving system

Abstract

To provide an automatic traveling method, a working vehicle, and an automatic traveling system capable of performing appropriate automatic straight advancing work by setting an appropriate preset traveling line even though being a working machine.SOLUTION: A combine harvester 1 includes a control device 40 and a portable terminal 50. According to a control device 51 of the portable terminal 50, a reference travelling line setting unit 60 sets a reference travelling line 75 indicating a travelling direction in an automatic straight advancing work of the combine harvester 1, a working machine information acquisition unit 61 acquires working machine information regarding a working machine, a reference point setting unit 62 sets a position of a working machine reference point 78 on the basis of the working machine information, and a preset travelling line setting unit 63 sets a preset travelling line 76 being parallel to the reference travelling line 75 on the basis of the reference travelling line 75 and the working machine reference point 78. According to the control device 40 of the combine harvester 1, an automatic travelling unit 45 executes the automatic travel of the combine harvester 1 along the preset travelling line 76.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 that perform automatic straight driving work based on a reference driving line.

Background Art

[0002] Conventionally, some work vehicles such as combines perform automatic straight driving work parallel to a preset reference driving line based on the reference driving line.

[0003] For example, the agricultural work machine disclosed in Patent Document 1 includes a traveling body that can switch between manual driving by manual steering and automatic driving by automatic steering along a set driving line set parallel to the reference driving line, a switching switch that can switch between manual driving and automatic driving, and a starting point setting unit that sets the planar position of the traveling body at the time of switching from manual driving to automatic driving by the switching switch as the starting point of the set driving line.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Conventional work vehicles such as Patent Document 1 set the planar position of the traveling body as the starting point of the set traveling line, but it is not clear which position on the traveling body is set. For example, in the prior art, when starting the automatic straight-ahead operation, a set traveling line parallel to the reference traveling line is set with a reference point such as the turning center of the work vehicle as a reference, and the automatic straight-ahead operation is performed along this set traveling line. Note that the automatic straight-ahead operation is performed so that the reference point of the work vehicle passes through the center in the width direction of the set traveling line. When starting the automatic straight-ahead operation, the operator enters the work vehicle into the work area so that the working machine of the work vehicle is arranged on a desired working line in the work area. However, the reference point such as the turning center of the work vehicle at the time of entry may not be on the center in the width direction of the desired working line. In this case, a set traveling line deviated from the desired working line is set.

[0006] For example, when the work vehicle is a combine or the like, since the cutting unit as the working machine is provided in front of the machine body, the operator enters the work vehicle so that the cutting unit in front of the reference point such as the turning center of the work vehicle is on the desired working line. Further, when the work vehicle is a rice transplanter or the like, since the transplanting unit as the working machine is provided behind the machine body, the operator enters the work vehicle so that the transplanting unit behind the reference point such as the turning center of the work vehicle is on the desired working line. Therefore, when the work vehicle enters obliquely with respect to the desired working line, the reference point such as the turning center of the work vehicle deviates from the center in the width direction of the desired working line, and a set traveling line deviated from the desired working line is set. Note that there are work vehicles configured to be able to replace the working machine, but if the type and kind of the working machine are different, the position of the working machine with respect to the reference point such as the turning center of the work vehicle is also different, so it is difficult to set an appropriate set traveling line.

[0007] An object of the present invention is to provide an automatic driving method, a work vehicle, and an automatic driving system capable of setting an appropriate set traveling line regardless of the working machine and performing an appropriate automatic straight-ahead operation.

Means for Solving the Problems

[0008] In order to solve the above problems, an automatic driving method of the present invention is an automatic driving method for a work vehicle equipped with a working machine, and includes a reference driving line setting step of setting a reference driving line indicating a driving direction of an automatic straight driving operation of the work vehicle, a working machine information acquisition step of acquiring working machine information regarding the working machine, a reference point setting step of setting a position of a working machine reference point based on the working machine information, a setting driving line setting step of setting a setting driving line parallel to the reference driving line based on the reference driving line and the working machine reference point, and an automatic driving step of executing automatic driving of the work vehicle along the setting driving line.

[0009] Further, in order to solve the above problems, a work vehicle of the present invention is a work vehicle equipped with a working machine, and includes a reference driving line setting unit that sets a reference driving line indicating a driving direction of an automatic straight driving operation of the work vehicle, a working machine information acquisition unit that acquires working machine information regarding the working machine, a reference point setting unit that sets a position of a working machine reference point based on the working machine information, a setting driving line setting unit that sets a setting driving line parallel to the reference driving line based on the reference driving line and the working machine reference point, and an automatic driving unit that executes automatic driving of the working machine along the setting driving line.

[0010] Further, in order to solve the above problems, an automatic driving system of the present invention is an automatic driving system for a work vehicle equipped with a working machine, and includes a reference driving line setting unit that sets a reference driving line indicating a driving direction of an automatic straight driving operation of the work vehicle, a working machine information acquisition unit that acquires working machine information regarding the working machine, a reference point setting unit that sets a position of a working machine reference point based on the working machine information, a setting driving line setting unit that sets a setting driving line parallel to the reference driving line based on the reference driving line and the working machine reference point, and an automatic driving unit that executes automatic driving of the working machine along the setting driving line.

Advantages of the Invention

[0011] According to the present invention, there are provided an automatic driving method, a work vehicle, and an automatic driving system that can set an appropriate set driving line regardless of the work machine and perform appropriate automatic straight-ahead work.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Modes for Carrying Out the Invention

[0013] As the work vehicle according to the embodiment of the present invention, the combine 1 will be described with reference to FIG. 1 and the like. The combine 1 travels on a field to be worked by automatic driving or manual operation, and performs operations such as mowing in order to perform a harvesting operation of crops from the cereal straws planted in the field. The combine 1 is configured to perform, for example, an auto work (automatic straight-ahead work) that controls steering by automatic driving while controlling the traveling speed according to manual operation, or a unmanned work that controls steering and traveling speed by automatic driving, and can autonomously travel, turn, and work in the field.

[0014] In particular, in the present embodiment, the combine 1 is configured to perform an automatic straight-ahead work of automatically mowing while automatically traveling along a set driving line 76 parallel to a predetermined reference driving line 75 (see FIG. 3).

[0015] As shown in Fig. 1, the combine 1 includes a traveling unit 2, a cutting unit 3, a threshing unit 4, a sorting unit 5, a storage unit 6, a straw processing unit 7, a power unit 8, and an operation unit 9, and is configured as a so-called ordinary combine. While the combine 1 travels by the traveling unit 2, it threshes the grain straw cut by the cutting unit 3 with the threshing unit 4, sorts the grains with the sorting unit 5, and stores them in the storage unit 6. The combine 1 processes the straw after threshing with the straw processing unit 7. The combine 1 drives the traveling unit 2, the cutting unit 3, the threshing unit 4, the sorting 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 transmission (not shown). The traveling unit 2 rotates the crawlers of the crawler traveling device 11 by the power (for example, rotational power) transmitted from the engine 31 of the power unit 8 to travel the combine 1 in the front-rear direction or turn it in the left-right direction. The transmission 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 cuts the grain straw with a predetermined cutting width in the uncut area. The cutting unit 3 includes a divider 13, a reel 14, a cutting blade 15, a reel auger 16, a feeder house 17, and a conveying conveyor 18.

[0018] The divider 13 is provided to protrude forward from the left front end and the right front end of the cutting unit 3 and guides the grain straw in the uncut area within the cutting width. The reel 14 is arranged behind the divider 13 and is rotatably provided around a rotation axis extending in the left-right direction. The reel 14 is rotationally driven to assist in cutting the grain straw guided by the divider 13, and while raising the grain straw, scrapes in the ear tip side of the grain straw. The cutting blade 15 is arranged below the reel 14 and cuts the stalk base side of the grain straw scraped in by the reel 14 to cut the grain straw.

[0019] The raking auger 16 is disposed behind the raking reel 14 and the cutting blade 15, and is rotatably provided around a rotation axis extending in the left - right direction. By rotationally driving the raking auger 16, the cereal straw cut by the cutting blade 15 is raked in and conveyed rearward.

[0020] The feeder house 17 extends forward from the machine body frame 10 and is disposed behind the raking auger 16, and is supported by the machine body frame 10 so as to be rotatable around the drive shaft 18a of the conveying conveyor 18. Further, when the feeder house 17 rotates, the divider 13, the raking reel 14, the cutting blade 15, and the raking auger 16 provided in front of the feeder house 17 are raised and lowered, that is, the cutting unit 3 is raised and lowered. The combine 1 is provided with a lifting device 19 on the machine body frame 10 for rotating the feeder house 17 to raise and lower the cutting unit 3. The lifting device 19 is composed of, for example, a hydraulic cylinder that operates receiving power from the engine 31.

[0021] The conveying conveyor 18 is rotatably provided in the feeder house 17 and moves along with the rotation of the feeder house 17. By rotationally driving the conveying conveyor 18, the cereal straw conveyed into the feeder house 17 by the raking auger 16 is further conveyed rearward to the threshing unit 4.

[0022] The header portion of the cutting unit 3 may be configured to be replaceable with various types of working machines having different models and model numbers with respect to the machine body of the combine 1. For example, it can be replaced with any one of a general - purpose header for harvesting rice etc., a corn header for harvesting corn etc., a low - crop header for harvesting soybeans etc. The combine 1 may also be configured to be replaceable with any one of various types of general - purpose headers as the header portion of the cutting unit 3. In the present embodiment, as shown in FIG. 1, the case where a predetermined general - purpose header is attached to the machine body of the combine 1 as the header portion of the cutting unit 3 will be described.

[0023] The threshing unit 4 is provided behind the feeder house 17 of the cutting unit 3, and threshes the grain straw conveyed from the feeder house 17. The threshing unit 4 includes a handling cylinder 22 and a receiving screen 23. The handling cylinder 22 threshes the grains from the grain straw conveyed from the feeder house 17, and conveys the threshed grain straw, that is, the discharged straw, to the straw processing unit 7. The receiving screen 23 supports the grain straw conveyed by the handling cylinder 22, and sifts the grains and causes them to fall.

[0024] The sorting unit 5 is provided below the threshing unit 4. The sorting unit 5 includes a rocking sorting device 25, a blowing sorting device 26, a grain conveying device (not shown), and a straw residue discharging device (not shown). The rocking sorting device 25 sifts the threshed material that has fallen from the threshing unit 4 into grains and straw residues, etc. The blowing sorting device 26 further sorts the threshed material that has fallen from the threshing unit 4 and the threshed material sorted by the rocking sorting device 25 into grains and straw residues, etc. by blowing. The grain conveying device conveys the grains sorted by the rocking sorting device 25 and the blowing sorting device 26 to the storage unit 6. The straw residue discharging device discharges the straw residues, etc. other than the grains sorted by the rocking sorting device 25 and the blowing sorting device 26 outside the machine.

[0025] The storage unit 6 is provided on the right side of the threshing unit 4. The storage unit 6 includes a grain tank 28 and a grain discharging device 29. The grain tank 28 stores the grains conveyed from the sorting unit 5. The grain discharging device 29 is configured to have a discharge auger, etc., performs the operation of discharging the grains, and discharges the grains stored in the grain tank 28 to an arbitrary location.

[0026] The straw processing unit 7 is provided behind the threshing unit 4. The straw processing unit 7 includes, for example, a straw conveying device (not shown) and a straw cutting device (not shown). The straw processing unit 7 conveys the discharged straw conveyed from the threshing unit 4 to the straw cutting device by the straw conveying device, cuts it by the straw cutting device, and then discharges it behind the combine 1.

[0027] 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 31 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 31 to the traveling unit 2, the cutting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw discharging processing unit 7. Further, the combine 1 includes a fuel tank (not shown) that stores fuel supplied to the engine 31 of the power unit 8.

[0028] The control unit 9 is provided above the power unit 8. Around the driver's seat which is a seat for the operator to sit on, the control unit 9 is provided with an operation tool for controlling the traveling of the combine 1, such as a steering wheel for instructing the turning of the body of the combine 1, a main transmission lever and a sub-transmission lever for instructing the change of the forward and backward speed of the combine 1, and the like. The manual traveling of the combine 1 is executed by the traveling unit 2 that receives the operations of the steering wheel, the main transmission lever, and the sub-transmission lever of the control unit 9. Further, the control unit 9 is provided with 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 grain discharging device 29 of the storage unit 6, and the like.

[0029] As shown in FIG. 2, the combine 1 includes a positioning unit 33 that acquires the position information of the combine 1 using a satellite positioning system such as GPS. The positioning unit 33 receives a positioning signal from a positioning satellite via a positioning antenna, and acquires the position information of the positioning unit 33, that is, the position information of the combine 1 based on the positioning signal.

[0030] Next, the control device 40 of the combine 1 will be described with reference to FIG. 2. The control device 40 is composed of a computer such as a CPU, and is connected to a storage unit 41 such as a ROM, a RAM, a hard disk drive, a flash memory, and a communication unit 42 that communicates with an external device.

[0031] The storage unit 41 stores programs and data for controlling various components and functions of the combine 1, and the control device 40 controls various components and functions by executing arithmetic processing based on the programs and data stored in the storage unit 41. For example, the control device 40 controls the positioning unit 33 to acquire the position information of the combine 1 (for example, the position coordinates of the positioning antenna).

[0032] The communication unit 42 can perform wireless communication with external devices such as the portable terminal 50 held by the operator via a wireless communication antenna. The control device 40 controls the communication unit 42 to perform wireless communication with the portable terminal 50 and transmit and receive various information between the control device 40 and the portable terminal 50.

[0033] Also, the control device 40 operates as the automatic driving unit 45 by executing the program stored in the storage unit 41. The automatic driving unit 45 realizes the automatic driving process of the automatic driving method according to the present invention.

[0034] The automatic driving unit 45 controls the automatic mowing operation of the combine 1 so that the combine 1 automatically moves straight along the set driving line 76 set for the field. For example, the automatic driving unit 45 acquires the set driving line 76 from the portable terminal 50, and also acquires the driving reference point of the combine 1 based on the position information of the combine 1 (for example, the position coordinates of the positioning antenna) measured by the positioning unit 33.

[0035] Note that the driving reference point may be the body reference point 77 of the combine 1 such as the position information of the combine 1 or the turning center of the traveling unit 2 of the combine 1 based on the position information, or may be the working machine reference point 78 of the mowing unit 3 based on the position information (see FIG. 3). The combine 1 may be made selectable by the operator whether to set the driving reference point to either the body reference point 77 or the working machine reference point 78. For example, the driving reference point can be selected according to the operation of the portable terminal 50. Then, the automatic driving unit 45 controls the power unit 8, the traveling unit 2, and the mowing unit 3 so as to perform an automatic straight movement operation in which the driving reference point of the combine 1 passes through the set driving line 76, and executes an automatic mowing operation.

[0036] The mobile terminal 50 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. Note that an operating device similar to the mobile terminal 50 may be provided in the control unit 9. In the present invention, the combine 1 and the mobile terminal 50 constitute an automatic driving system.

[0037] As shown in FIG. 3, the mobile terminal 50 includes a control device 51 composed of a computer such as a CPU. The control device 51 is connected to a storage unit 52 such as a ROM, a RAM, a hard disk drive, and a flash memory, and a communication unit 53 that communicates with an external device. The mobile terminal 50 also includes a display unit 54 such as a touch panel and a monitor for displaying various information and outputting it to the operator, and an input unit 55 such as a touch panel and operation keys for receiving input operations of various information from the operator.

[0038] The storage unit 52 stores programs and data for controlling various components and functions of the mobile terminal 50. The control device 51 executes arithmetic processing based on the programs and data stored in the storage unit 52 to control various components and functions of the mobile terminal 50. The storage unit 52 stores, for example, 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 work area of the field.

[0039] In addition, the storage unit 52 stores work implement information regarding the mowing unit 3 which is a work implement of the combine 1. The work implement information includes information such as the model, model number, working width, and number of rows that can be mowed of the work implement. In particular, in the present embodiment, when setting the set travel line 76, the work implement information sets a work implement reference point 78 indicating a predetermined position (for example, the front end of the mowing unit 3 and the center portion in the left - right direction of the mowing unit 3) in the mowing unit 3 as a reference point for the set travel line 76 of the combine 1, and includes position information such as the distance and direction of the work implement reference point 78 with respect to the machine body reference point 77 (for example, the turning center or the position of the positioning unit 33) of the combine 1 as work implement position information.

[0040] Note that for each of various types of work implements, the storage unit 52 may store work implement information unique to each work implement, or it may be stored in an external server (not shown). In the combine 1, since a general - purpose header, a corn header, a low - crop header, etc. can be attached as the mowing unit 3, the work implement information differs depending on the model and model number of the general - purpose header, the work implement information differs depending on the model and model number of the corn header, and the work implement information may differ depending on the model and model number of the low - crop header.

[0041] The communication unit 53 is communicably connected to the communication unit 42 of the combine 1 via a wireless communication antenna. The control device 51 controls the communication unit 53 to perform wireless communication with the combine 1 and transmit and receive various information with the combine 1.

[0042] The control device 51 of the mobile terminal 50 operates as a reference travel line setting unit 60, a work implement information acquisition unit 61, a reference point setting unit 62, a set travel line setting unit 63, and a work display unit 64 by executing the program stored in the storage unit 52. Note that the reference travel line setting unit 60, the work implement information acquisition unit 61, the reference point setting unit 62, the set travel line setting unit 63, and the work display unit 64 implement the reference travel line setting process, the work implement information acquisition process, the reference point setting process, the set travel line setting process, and the work display process of the automatic travel method according to the present invention.

[0043] The reference travel line setting unit 60 sets a reference travel line 75 indicating the travel direction of the automatic straight travel operation of the combine 1. The reference travel line setting unit 60 enables the setting of the start point 79 and the end point 80 in the field in order to set the reference travel line 75 consisting of the start point 79 and the end point 80 with respect to the field. For example, when manually traveling in the field, a reference travel line setting screen (not shown) that enables the setting of the start point 79 and the end point 80 is displayed on the display unit 54.

[0044] When the reference travel line setting unit 60 receives the setting of the start point 79, it receives the position information of the combine 1 measured by the positioning unit 33 of the combine 1 at that time from the combine 1, and sets the start point 79 based on the position information. Further, when the reference travel line setting unit 60 receives the setting of the end point 80, it receives the position information of the combine 1 measured by the positioning unit 33 of the combine 1 at that time from the combine 1, and sets the end point 80 based on the position information.

[0045] Note that the start point 79 and the end point 80 may be the position (coordinates) of the machine body reference point 77 of the combine 1 based on the position information of the combine 1, or may be the position (coordinates) of the working machine reference point 78 of the harvesting unit 3 based on the position information. The mobile terminal 50 may enable the operator to select whether the start point 79 and the end point 80 are either the machine body reference point 77 or the working machine reference point 78. Then, the reference travel line setting unit 60 sets the reference travel line 75 by connecting the set start point 79 and end point 80 with a straight line and stores it in the storage unit 52.

[0046] The working machine information acquisition unit 61 acquires the working machine information of the working machines such as the harvesting unit 3 attached to the combine 1. For example, it acquires the working machine information corresponding to a normal general-purpose header, a corn header, a low crop header, etc. attached to the combine 1. The working machine information acquisition unit 61 identifies the harvesting unit 3 by a predetermined means, and automatically acquires and stores it in the storage unit 52 by searching for the working machine information unique to the harvesting unit 3 based on the identification result from the storage unit 52 or an external server.

[0047] For example, the work implement information acquisition unit 61 may automatically identify the mowing unit 3 by performing image recognition on a work implement image of the mowing unit 3 itself captured by an imaging unit (not shown) such as a camera provided in the mobile terminal 50, or may automatically identify the mowing unit 3 based on a reading result obtained by reading a two-dimensional code such as a QR code (registered trademark) added to the mowing unit 3 by the imaging unit. Alternatively, in a mechanism for attaching the mowing unit 3 to the body of the combine 1, the mowing unit 3 may be automatically identified based on the connection status of the harness connection between the mowing unit 3 and the control device 40, and the identification result may be transmitted to the mobile terminal 50.

[0048] Alternatively, the work implement information acquisition unit 61 enables reception of an input of work implement information in order to manually acquire the work implement information. For example, a work implement information input screen (not shown) capable of inputting work implement information is displayed on the display unit 54. The work implement information acquisition unit 61 manually acquires the input work implement information by receiving the input of the work implement information and stores it in the storage unit 52.

[0049] When the mowing unit 3 is replaced, the work implement information acquisition unit 61 re-acquires the work implement information of the replaced mowing unit 3. If the work implement information cannot be re-acquired, the work implement information acquisition unit 61 deletes the previous work implement information.

[0050] Based on the work implement information acquired by the work implement information acquisition unit 61, the reference point setting unit 62 sets the position (coordinates) of the work implement reference point 78 of the combine 1 that serves as a reference when setting the set travel line 76. The reference point setting unit 62 receives, from the combine 1, the position information of the combine 1 measured by the positioning unit 33 of the combine 1, and also acquires work implement position information corresponding to the work implement information. The reference point setting unit 62 calculates the position (coordinates) of the work implement reference point 78 based on the body reference point 77 of the combine 1 based on the position information and the work implement position information that is the position information from the body reference point 77 to the work implement reference point 78 of the mowing unit 3, and sets it as the work implement reference point 78 of the combine 1.

[0051] When the mowing unit 3 is replaced, the reference point setting unit 62 changes the position of the work implement reference point 78 based on the work implement information re-acquired by the work implement information acquisition unit 61. Further, when the work implement information cannot be acquired, the reference point setting unit 62 may display and notify the display unit 54 that the work implement information cannot be acquired, or may set the position of the work implement reference point 78 based on the vehicle body reference point 77.

[0052] The set travel line setting unit 63 sets a set travel line 76 parallel to the reference travel line 75 based on the reference travel line 75 and the work implement reference point 78. The set travel line setting unit 63 enables reception of the setting of the set travel line 76, and for example, displays on the display unit 54 a set travel line setting screen (not shown) capable of instructing the setting of the set travel line 76.

[0053] When the set travel line setting unit 63 receives the setting of the set travel line 76, it acquires the work implement reference point 78 set by the reference point setting unit 62 at that time, and also acquires the reference travel line 75 set by the reference travel line setting unit 60 from the storage unit 52. Then, the set travel line setting unit 63 sets a straight line parallel to the reference travel line 75 and passing through the work implement reference point 78 as the set travel line 76, stores it in the storage unit 52, and transmits it to the control device 40 of the combine 1.

[0054] The work display unit 64 displays on the display unit 54 a work screen 70 related to the automatic straight travel work performed by the combine 1. For example, the work display unit 64 displays on the work screen 70 the field outer periphery 71 and the unworked area 72 based on the field information, and also overlays and displays the set travel line 76 set by the set travel line setting unit 63 based on the work implement reference point 78 based on the latest position information of the combine 1 on the unworked area 72. Note that the work display unit 64 may display a simulated diagram 81 (icon) of the combine 1 on the work screen 70 based on the latest position information of the combine 1. Further, the work display unit 64 may display the outer edge 82 of the work area where the automatic straight travel work is performed along the set travel line 76.

[0055] Alternatively, instead of the above-described set travel line setting screen, the work display unit 64 may enable setting of the set travel line 76 on the work screen 70. In this case, before the set travel line 76 is set by the set travel line setting unit 63, the work display unit 64 always displays on the work screen 70 a work line parallel to the reference travel line 75 passing through the work implement reference point 78 based on the position information of the combine 1. Further, in accordance with the movement of the combine 1, the work line is updated based on the latest position information of the combine 1 and displayed on the work screen 70. Then, when the set travel line setting unit 63 accepts the setting of the set travel line 76 in response to an operation on the work screen 70, it sets the work line displayed on the work screen 70 at that time as the set travel line 76.

[0056] Note that instead of the above-described reference travel line setting screen, the work display unit 64 may enable setting of the start point 79 and the end point 80 of the reference travel line 75 on the work screen 70. In this case, the reference travel line setting unit 60 accepts the setting of the start point 79 and the end point 80 in response to the setting operations of the start point 79 and the end point 80 on the work screen 70. Further, instead of the above-described work implement information input screen, the work display unit 64 may enable input of work implement information on the work screen 70. In this case, the work implement information acquisition unit 61 accepts the input of work implement information in response to the input operation of work implement information on the work screen 70.

[0057] Next, an example of the setting operation of the set travel line 76 by the combine 1 will be described with reference to the flowchart of FIG. 4.

[0058] In this operation example, first, on the portable terminal 50 of the combine 1, the reference travel line setting unit 60 sets a reference travel line 75 indicating the travel direction of the automatic straight travel operation of the combine 1 (step S1).

[0059] Next, the work implement information acquisition unit 61 acquires work implement information regarding the cutting unit 3 which is a work implement of the combine 1 (step S2).

[0060] After the operator drives the combine 1 manually and maneuvers the combine 1 to be positioned on the desired working line in the field, the portable terminal 50 is operated to instruct the setting of the set travel line 76. Then, the reference point setting unit 62 receives, from the combine 1, the position information of the combine 1 measured by the positioning unit 33 of the combine 1. When the working machine information of the harvesting unit 3 can be obtained, the reference point setting unit 62 sets the position of the working machine reference point 78 based on the position information of the combine 1 and the working machine information (step S3).

[0061] Also, the set travel line setting unit 63 sets a set travel line 76 that is parallel to the reference travel line 75 and passes through the working machine reference point 78 based on the reference travel line 75 and the working machine reference point 78 (step S4).

[0062] The work display unit 64 displays the set travel line 76 on the work screen 70 overlaid on the field outer periphery 71 and the unworked area 72 (step S5).

[0063] In the combine 1, when the control device 40 receives the set travel line 76 from the portable terminal 50 and receives an instruction for automatic straight-ahead work, the automatic travel unit 45 controls the automatic harvesting travel of the combine 1 so that the combine 1 automatically travels straight along the set travel line 76 (step S6).

[0064] In addition, in the setting operation of the set travel line 76 by the combine 1, when using the working machine reference point 78 when setting the start point 79 and the end point 80 of the reference travel line 75, before the setting of the reference travel line 75 (step S1), similar to steps S2 and S3, the acquisition of the working machine information and the setting of the working machine reference point 78 based on the position information of the combine 1 and the working machine information are performed. In this case, in the subsequent flow, the acquisition of the working machine information (step S2) may be omitted, and in the setting of the working machine reference point 78 (step S3), the working machine information acquired before the setting of the reference travel line 75 (step S1) may be applied.

[0065] As described above, according to this embodiment, the combine 1, which is a work vehicle equipped with a working machine, includes a control device 40 and a mobile terminal 50. The control device 40 of the combine 1 functions as an automatic traveling unit 45, and the control device 51 of the mobile terminal 50 functions as a reference traveling line setting unit 60, a working machine information acquisition unit 61, a reference point setting unit 62, a set traveling line setting unit 63, and a working display unit 64. The reference traveling line setting unit 60 sets a reference traveling line 75 indicating the traveling direction of the automatic straight traveling operation of the combine 1. The working machine information acquisition unit 61 acquires working machine information regarding the working machine. The reference point setting unit 62 sets the position of the working machine reference point 78 based on the working machine information. The set traveling line setting unit 63 sets a set traveling line 76 parallel to the reference traveling line 75 based on the reference traveling line 75 and the working machine reference point 78. Then, the automatic traveling unit 45 executes the automatic traveling of the combine 1 along the set traveling line 76.

[0066] Thereby, since the working machine reference point 78 of the set traveling line 76 used for the automatic straight traveling operation is set based on the position of the working machine, the operator does not need to be aware of the machine body reference point 77 such as the turning center of the combine 1, and enters the combine 1 while checking the position of the working machine with respect to the desired working line, and can set an appropriate set traveling line 76 with respect to the desired working line. Therefore, the automatic straight traveling operation can be performed along the appropriate set traveling line 76, and the working accuracy can be improved.

[0067] According to this embodiment, the working machine is replaceable with respect to the work vehicle. Further, when the working machine is replaced, the working machine information acquisition unit 61 re-acquires the working machine information of the replaced working machine, and the reference point setting unit 62 changes the position of the working machine reference point 78 based on the re-acquired working machine information.

[0068] As a result, no matter which type of work implement is used, the work implement information unique to each work implement can be utilized. Therefore, the position information from the vehicle reference point 77 to the work implement reference point 68 unique to each work implement can be applied, and the work implement reference point 78 unique to each work implement can be set. Thus, the set travel line 76 can be set with higher accuracy, and the work accuracy can be further improved.

[0069] According to the present embodiment, the work vehicle is the combine 1, and the work implement is the cutting unit 3 that is replaceable with respect to the combine 1. Further, when the cutting unit 3 is replaced, the work implement information acquisition unit 61 re-acquires the work implement information of the cutting unit 3 after replacement, and the reference point setting unit 62 changes the position of the work implement reference point 78 based on the work implement information re-acquired for the cutting unit 3.

[0070] As a result, no matter which type of cutting unit 3 is used, the work implement information unique to each cutting unit 3 can be utilized. Therefore, the position information from the vehicle reference point 77 to the work implement reference point 78 unique to each cutting unit 3 can be applied, and the work implement reference point 78 unique to each cutting unit 3 can be set. Thus, the set travel line 76 can be set with higher accuracy, and the work accuracy can be further improved.

[0071] In the combine 1 of the present embodiment, the reference point setting unit 62 sets the work implement reference point 78 at the front end of the cutting unit 3 and at the central portion of the cutting unit 3.

[0072] As a result, by setting the work implement reference point 78 of the set travel line 76 at the front end of the cutting unit 3 and at the central portion of the cutting unit 3, the operator can enter the combine 1 with respect to the desired work line while checking the position of the front cutting unit 3, and can set an appropriate set travel line 76 with respect to the desired work line. Therefore, automatic straight travel work can be performed along the appropriate set travel line 76, and the work accuracy can be improved.

[0073] In the above-described embodiment, the working machine position information, which is the position information from the machine body reference point 77 of the combine 1 to the working machine reference point 78 of the cutting unit 3, is preset so that the front end of the cutting unit 3 and the center portion in the left-right direction of the cutting unit 3 are used as the working machine reference point 78, and an example in which the reference point setting unit 62 sets the working machine reference point 78 at the front end of the cutting unit 3 and at the center portion of the cutting unit 3 has been described. However, the present invention is not limited to this example. In another example, the reference point setting unit 62 may set the working machine reference point 78 at the front end of the cutting unit 3 and at one end portion in the left-right direction of the cutting unit 3 (for example, the tip end and the left end or the right end of the divider 13). In this case, the working machine position information, which is the position information from the machine body reference point 77 of the combine 1 to the working machine reference point 78 of the cutting unit 3, is preset so that the front end of the cutting unit 3 and one end portion in the left-right direction of the cutting unit 3 are used as the working machine reference point 78.

[0074] Thereby, it becomes possible to accurately control the automatic steering of the combine 1 with reference to the front end of the cutting unit 3 and one end portion in the left-right direction of the cutting unit 3 (for example, the tip end and the left end or the right end of the divider 13), and it becomes possible to improve the overlap margin of the cutting width and the accuracy of strip alignment.

[0075] According to the present embodiment, the reference travel line setting unit 60 sets the start point 79 and the end point 80 according to the operation during manual travel, and sets the reference travel line 75 by connecting the set start point 79 and end point 80. The start point 79 and the end point 80 are set based on the position of the working machine reference point 78 based on the working machine information.

[0076] Thereby, since the start point 79 and the end point 80 constituting the reference travel line 75 are set based on the position of the working machine reference point 78 corresponding to the position of the working machine, the operator does not need to be conscious of the machine body reference point 77 such as the turning center of the combine 1, and can set the reference travel line 75 while checking the position of the working machine, so that the working accuracy can be improved.

[0077] According to this embodiment, the control device 51 of the mobile terminal 50 functions as a work display unit 64. The work display unit 64 causes the display unit 54 to display an unworked area 72 of the field where the work vehicle performs work and a work line parallel to the reference travel line 75 passing through the work implement reference point 78 based on the latest position information of the work vehicle. The set travel line setting unit 63 sets the work line as the set travel line 76.

[0078] Thereby, by causing the display unit 54 to display the unworked area 72 and the work line based on the latest position information of the work vehicle, the operator can confirm the work line to be the set travel line 76 with respect to the unworked area 72, and can set a more appropriate set travel line 76.

[0079] In the above-described embodiment, an example in which the work vehicle is configured by the combine 1 in which the cutting unit 3, which is a work implement, is provided in front of the machine body has been described, but the present invention is not limited to this example. For example, in other embodiments, the work vehicle may be configured by a tractor 90 (see FIG. 5) in which a rotary tillage device 91, which is a work implement, is provided behind the machine body, a rice transplanter in which a planting work implement, which is a work implement, is provided behind the machine body, or the like.

[0080] Normally, the rotary tillage device 91 is attached as a work implement behind the tractor 90. The work implement reference point 78 is located behind the machine body reference point 77 of the tractor 90. The work implement reference point 78 of the tractor 90 may be the rear end and the center in the left-right direction of the rotary tillage device 91, or may be the rear end and one end in the left-right direction of the rotary tillage device 91. The tractor 90 can be replaced with any of various types of rotary tillage devices 91, and in place of the rotary tillage device 91, any work implement such as a ridging machine, a seeding / transplanting machine, or a feed making machine can be attached. Note that the work implement is not limited to being directly behind the machine body of the tractor 90 and may be attached diagonally behind.

[0081] According to the present invention, it is possible to utilize the work implement information unique to each of various types of rotary tillers 91, ridging machines, seeding / transplanting machines, feed production machines, etc. attached to the tractor 90. Since the work implement information acquisition unit 61 acquires work implement information according to the rotary tiller 91, ridging machine, seeding / transplanting machine, feed production machine, etc. attached to the tractor 90, the reference point setting unit 62 can set a work implement reference point 78 according to the rotary tiller 91, ridging machine, seeding / transplanting machine, feed production machine, etc. attached to the tractor 90. Thereby, a set travel line 76 corresponding to the work implement attached to the tractor 90 can be set with respect to the reference travel line 75.

[0082] Similarly, in the rice transplanter, usually, a planting work implement is attached as a work implement to the rear of the machine body, and the work implement reference point 78 is located behind the machine body reference point 77 of the rice transplanter. The rice transplanter is replaceable with any of various types of planting work implements, and further, any work implement such as a chemical sprayer or a side-dressing chemical applicator can be attached.

[0083] According to the present invention, it is possible to utilize the work implement information unique to each of various types of planting work implements, chemical sprayers, side-dressing chemical applicators, etc. attached to the rice transplanter. Since the work implement information acquisition unit 61 acquires work implement information according to the planting work implement, chemical sprayer, side-dressing chemical applicator, etc. attached to the rice transplanter, the reference point setting unit 62 can set a work implement reference point 78 according to the planting work implement, chemical sprayer, side-dressing chemical applicator, etc. attached to the rice transplanter. Thereby, a set travel line 76 corresponding to the work implement attached to the rice transplanter can be set.

[0084] In the above-described embodiment, an example in which the reference travel line setting unit 60 sets a reference travel line 75 connecting the start point 79 and the end point 80 as the reference travel line 75 for the automatic straight travel work has been described, but the present invention is not limited to this example. For example, in other embodiments, the reference travel line setting unit 60 may set one side of the field outer periphery 71 as the reference travel line 75.

[0085] 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, and an automatic driving method, a work vehicle, and an automatic driving system involving such modifications are also included in the technical idea of the present invention.

Explanation of Signs

[0086] 1 Combine (work vehicle) 2 Traveling section 3 Mowing section 11 Crawler-type traveling device 33 Positioning unit 40 Control device 45 Automatic driving section 50 Portable terminal 51 Control device 54 Display section 60 Reference traveling line setting section 61 Work implement information acquisition section 62 Reference point setting section 63 Set traveling line setting section 64 Work display section 72 Unworked area 75 Reference traveling line 76 Set traveling line 78 Work implement reference point 79 Starting point 80 End point

Claims

1. An automatic driving method for a work vehicle equipped with a working machine, comprising: a reference driving line setting step of setting a reference driving line indicating a driving direction of the automatic straight-ahead operation of the work vehicle; a working machine information acquisition step of acquiring working machine information regarding the working machine; a reference point setting step of setting a position of a working machine reference point based on the working machine information; a set driving line setting step of setting a set driving line that is parallel to the reference driving line and passes through the position of the working machine reference point at the time when the set driving line setting is received, based on the reference driving line and the position of the working machine reference point at the time when the set driving line setting is received; an automatic driving step of executing automatic driving of the work vehicle along the set driving line, characterized in that it has the above steps.

2. The working machine is replaceable with respect to the work vehicle, in the working machine information acquisition step, when the working machine is replaced, the working machine information of the replaced working machine is re-acquired, the reference point setting step is characterized by changing the position of the working machine reference point based on the re-acquired working machine information, according to the automatic driving method described in Claim 1.

3. The work vehicle is a combine, the working machine is a cutting unit that is replaceable with respect to the combine, in the working machine information acquisition step, when the cutting unit is replaced, the working machine information of the replaced cutting unit is re-acquired, the reference point setting step is characterized by changing the position of the working machine reference point based on the working machine information re-acquired for the cutting unit, according to the automatic driving method described in Claim 1 or 2.

4. The reference point setting step is characterized by setting the working machine reference point at the front end and the central part of the cutting unit, according to the automatic driving method described in Claim 3.

5. The reference point setting step is characterized by setting the working machine reference point at the front end and one end in the left-right direction of the cutting unit, according to the automatic driving method described in Claim 3.

6. In the reference driving line setting step, a start point and an end point are set according to the operation during manual driving, and the reference driving line is set by connecting the set start point and the end point, the start point and the end point are set based on the position of the working machine reference point based on the working machine information, according to the automatic driving method described in any one of Claims 1 to 5.

7. A work display step of constantly displaying on a display unit an unworked area of a farm field where the work vehicle performs work and a work line parallel to the reference travel line passing through the work implement reference point based on the latest position information of the work vehicle regardless of the travel state of the work vehicle. The set travel line setting step sets the work line at the time when the set travel line setting is received as the set travel line. The automatic travel method according to any one of claims 1 to 6, characterized in that.

8. A work vehicle equipped with a work implement, A reference travel line setting unit that sets a reference travel line indicating the travel direction of the automatic straight travel work of the work vehicle, A work implement information acquisition unit that acquires work implement information regarding the work implement, A reference point setting unit that sets the position of the work implement reference point based on the work implement information, A set travel line setting unit that sets a set travel line that is parallel to the reference travel line and passes through the position of the work implement reference point at the time when the set travel line setting is received, based on the reference travel line and the position of the work implement reference point at the time when the set travel line setting is received, An automatic travel unit that executes automatic travel of the work implement along the set travel line, A work vehicle characterized by comprising.

9. An automatic travel system for a work vehicle equipped with a work implement, A reference travel line setting unit that sets a reference travel line indicating the travel direction of the automatic straight travel work of the work vehicle, A work implement information acquisition unit that acquires work implement information regarding the work implement, A reference point setting unit that sets the position of the work implement reference point based on the work implement information, A set travel line setting unit that sets a set travel line that is parallel to the reference travel line and passes through the position of the work implement reference point at the time when the set travel line setting is received, based on the reference travel line and the position of the work implement reference point at the time when the set travel line setting is received, An automatic travel unit that executes automatic travel of the work implement along the set travel line, An automatic travel system characterized by comprising.

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