Work vehicles

Abstract

To provide a work vehicle capable of preventing a travel machine body from snaking when a manual steering mode is switched to an automatic steering mode.SOLUTION: A work vehicle comprises: a travel machine body capable of traveling on an agricultural field; a steering section to steer the travel machine body; and a camera capable of taking an image of a ground surface in front of the travel machine body and a long-distance image. The work vehicle also has: a control section capable of executing a manual steering mode in which an operator steers the travel machine body and an automatic steering mode in which the steering section is controlled on the basis of image data obtained through imaging operation of the camera; and a display 206 capable of displaying an image. In the manual steering mode, the control section causes the display 206 to display a display image D0 obtained through superimposing a guide line GL to be a reference when the work vehicle travels in the agricultural field on a captured image D1 corresponding to the image data obtained through the imaging operation of the camera.SELECTED DRAWING: Figure 8

Description

[Technical Field]

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

[0002] Conventionally, as disclosed in Patent Documents 1 and 2, for example, there is known a technique for controlling the travel of a work vehicle in a field using captured images. When turning a work vehicle in a headland of a field, the operator must turn off the travel control of the work vehicle and manually turn the work vehicle by steering the steering unit. Then, once the work vehicle has completed turning, the travel control can be turned on again, allowing the work vehicle to travel automatically in the field. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-146061 [Patent Document 2] Japanese Patent Application Laid-Open No. 2017-211893 Summary of the Invention [Problem to be solved by the invention]

[0004] In this way, for example, in headlands, the operator needs to steer the traveling machine body. Therefore, if travel control is executed when the work vehicle is not parallel to the edge of the work trail in the field, the work vehicle may snake as it adjusts its traveling direction.

[0005] Therefore, an object of the present invention is to provide a work vehicle that can prevent the traveling body from meandering when switching from manual steering mode to automatic steering mode. [Means for solving the problem]

[0006] The work vehicle (1) of the present invention comprises a traveling body (4) capable of traveling in a field (F1); a steering unit (25) for steering the traveling machine body (4); an imaging unit (15) capable of imaging the ground and distant view in front of the traveling machine body (4); a control unit (101) capable of executing a manual steering mode in which an operator steers the traveling machine body (4) and an automatic steering mode in which the steering unit (25) is controlled based on image data obtained by an imaging operation of the imaging unit (15); a display unit (206) capable of displaying an image; In the manual steering mode, the control unit (101) causes the display unit (206) to display a display image (D0) in which a guideline (GL) serving as a reference when traveling on a work path in the field (F1) is superimposed on an imaged image (D1) corresponding to image data obtained by the imaging operation of the imaging unit (15).

[0007] For example, referring to FIGS. 5 and 8, the control unit (101) sets the angle (θ) of the guide line (GL) relative to the bottom side (B1) of the captured image (D1) based on input data input by an operator.

[0008] For example, referring to Figures 8, 9 and 10, the input data includes data on the mounting height (H) of the imaging unit (15), data on the width (W) of the work implement (6) attached to the traveling body (4), and data on the overlap distance (Δ) by which the work implement (6) overlaps with the work mark (T1) in the field.

[0009] For example, referring to FIG. 8, the input data includes data on the angle (θ) of the guide line (GL).

[0010] The reference numerals in parentheses are used for comparison with the drawings, but do not limit the configuration of the present invention in any way. [Effects of the Invention]

[0011] According to the present invention as set forth in claim 1, it is possible to prevent the traveling machine body from meandering when switching from manual steering mode to automatic steering mode.

[0012] Also, Claim 1 According to the present invention, the operator can adjust the angle of the guide line appropriately depending on the situation.

[0013] Claim 2 According to the invention, the operator does not need to manually calculate the angle of the guide line appropriate for the traveling machine body, the work implement attached to the traveling machine body, and the lap allowance, thereby improving operability.

[0014] Claim 3 According to the invention, for example, when fine-tuning the angle of a guide line, the operator can directly adjust the angle of the guide line by inputting angle data, thereby improving operability. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a side view of a tractor that is an example of a work vehicle according to an embodiment. [Figure 2] (a) is a perspective view of the tractor seen from the front, and (b) is a perspective view of the tractor seen from the rear. [Figure 3] FIG. [Figure 4] FIG. 2 is a block diagram of the main parts of a control system of a tractor. [Figure 5] FIG. 1 is a block diagram of a mobile terminal. [Figure 6] 6A and 6B are flowcharts showing control processing by the CPU of the control module. [Figure 7] (a) and (b) are schematic diagrams of an example of tractor operation in a farm field. [Figure 8] FIG. 4 is an explanatory diagram showing an example of a display image displayed on a display. [Figure 9] FIG. [Figure 10]10A and 10B are diagrams for explaining input data. DETAILED DESCRIPTION OF THE INVENTION

[0016] An embodiment of the present invention will be described below with reference to the drawings. Fig. 1 is a side view of a tractor 1 which is an example of a work vehicle according to an embodiment of the present invention, Fig. 2(a) is a perspective view of the tractor 1 in Fig. 1 as seen from the front, and Fig. 2(b) is a perspective view of the tractor 1 as seen from the rear.

[0017] The tractor 1 includes a traveling body 4 having a pair of left and right front and rear wheels 2 and 3, and a work implement 6 connected to the rear of the traveling body 4 via a lift link 5 so that it can be raised and lowered. The traveling body 4 is configured to be able to travel on fields and roads. The traveling body 4 includes a body frame 7 supported by the front and rear wheels 2 and 3, a hood 8 that covers the top of an engine (not shown) installed at the front of the body frame 7, and a cabin 10 installed behind the hood 8 and equipped with a control panel 9 where an operator sits and operates the tractor. The engine drives the front and rear wheels 2 and 3 via a transmission (not shown) and supplies driving force to the work implement 6 via a PTO shaft (not shown). The work implement 6 is used to perform tasks such as sowing seeds and making ridges in fields, and is, for example, a rotary tiller.

[0018] The control section 9 includes a seat 11 on which an operator sits, and a steering section 25 including a steering handle 12 disposed in front of the seat 11 and a steering shaft 21 extending in the vertical direction. The steering section 25 is used by the operator or the drive unit 20 to steer the traveling machine body 4.

[0019] The control unit 9 also includes a display panel 13 arranged in front of the steering handle 12, a forward / reverse switch lever 14 arranged on the left side of the steering handle 12, a throttle lever (not shown) arranged on the right side of the steering handle 12, a lift lever (not shown) arranged in front of the throttle lever for operating the lifting and lowering operation of the work machine 6, a turn signal lever 16 arranged behind the throttle lever, a floor step 18 which is a floor surface provided between the seat 11 and the steering handle 12, and an operation panel 19 arranged on the right side of the seat 11.

[0020] The cabin 10 has a pair of front frames 10a, a pair of rear frames 10b, and a ceiling 10c supported by these frames 10a and 10b, with the control section 9 formed inside. A camera 15, which is an example of an imaging section, is provided in the front part of the ceiling 10c of the cabin 10.

[0021] A drive unit 20 is provided between the rotation axis of the steering handle 12 and the upper end of the steering shaft 21, which drives the steering shaft 21 to rotate and control (assist) the steering of the traveling machine body 4. The drive unit 20 is attached to the upper end side of the steering shaft 21, and is fixedly attached to the upper side of a steering column 22 that covers the steering shaft 21. As a result, the steering shaft 21 is axially rotated (steered) by the operator via the steering handle 12, and is configured to control (assist) the steering operation by being driven to rotate the axis by the drive unit 20. The tractor 1 includes an operation panel 27 arranged on a case of the drive unit 20, and a control module 100 arranged inside the case of the drive unit 20.

[0022] 3 is a plan view of operation panel 27 according to the embodiment. Operation panel 27 has an operation ON / OFF switch 31, a distant view straight ahead button 33, multiple tracking buttons 34-36, a sensitivity adjustment button 37, an alarm unit 40, and multiple LEDs 43-46. Alarm unit 40 is configured to be able to issue an alarm to the operator, and in this embodiment includes a lamp 41 and a buzzer 42.

[0023] 4 is a block diagram of the main parts of the control system of the tractor 1 according to the embodiment. The control module 100 is configured by a computer such as a microcomputer. The control module 100 is configured by a computer different from the ECU (not shown) that controls the traveling machine body 4 and the work machine 6. The drive unit 20 shown in FIG. 1 includes a steering angle sensor 30 and a drive motor 39.

[0024] The control module 100 includes a CPU 101, which is an example of a processor, a ROM 102 and a RAM 103, which are examples of a storage unit, an I / O 104, which is an example of an input / output interface, and a communication unit 105. The communication unit 105 is configured to be able to communicate data with the mobile terminal 200 wirelessly, such as via Wi-Fi (registered trademark) or Bluetooth (registered trademark), or via a wired connection.

[0025] The input side of the control module 100 is connected to the camera 15, steering angle sensor 30, operation ON / OFF switch 31, distant view straight ahead button 33, follow buttons 34 to 36, and sensitivity adjustment button 37. On the other hand, the output side of the control module 100 is connected to the drive motor 39, notification unit 40, and LEDs 43 to 46.

[0026] The camera 15 is disposed in a position where it can capture images of the ground and horizon in the direction of travel of the traveling machine body 4, which is the target for vehicle travel. The camera 15 is a monocular digital camera that captures an image of a subject (scenery) to generate image data and outputs the image data to the control module 100.

[0027] The steering angle sensor 30 is a device that detects the steering angle of the front wheels 2. The drive motor 39 is an electric motor, such as a stepping motor, that rotates the steering shaft 21 about its axis. The drive motor 39 is controlled by the control module 100 when the control module 100 executes an automatic steering mode, which will be described later. A reduction mechanism (not shown) that reduces the speed using gears is provided on the motor output shaft of the drive motor 39. The rotational output of the drive motor 39 is reduced by the reduction mechanism and transmitted to the steering shaft 21. Therefore, in the automatic steering mode, the steering operation is controlled by rotating the steering shaft 21 about its axis using the motor output of the drive motor 39.

[0028] The lamp 41 is for issuing an alarm to the operator by lighting up, blinking, etc. The buzzer 42 is a sound emitting device that emits sound, and for issuing an alarm to the operator by emitting sound.

[0029] The operation ON / OFF switch 31 is a switch that can be operated by an operator, and is, for example, a push button switch with a lamp. The operation ON / OFF switch 31 is in an ON state with the lamp lit as a first state, and in an OFF state with the lamp extinguished as a second state. The operation ON / OFF switch 31 alternates between the ON state and the OFF state every time it is operated by the operator.

[0030] The CPU 101 of the control module 100 can selectively execute a work mode in which work is performed in a field and a travel mode in which the vehicle travels on roads or in a field. In the work mode, the CPU 101 is configured to selectively execute a manual steering mode in which the operator steers the traveling machine body 4, and an automatic steering mode in which the steering of the traveling machine body 4 is controlled based on image data I2 obtained by the imaging operation of the camera 15. In this embodiment, there are four automatic steering modes.

[0031] The distant view straight ahead button 33 and the follow buttons 34 to 36 are each a button switch that allows the operator to select a corresponding automatic steering mode from among four automatic steering modes. By turning the operation ON / OFF switch 31 to the ON state, the automatic steering mode corresponding to the distant view straight ahead button 33 and the follow buttons 34 to 36 can be selected.

[0032] Hereinafter, the automatic steering mode corresponding to the distant view straight ahead button 33 will be referred to as the "distant view straight ahead mode," the automatic steering mode corresponding to the follow button 34 will be referred to as the "previous process follow mode," the automatic steering mode corresponding to the follow button 35 will be referred to as the "ridge follow mode," and the automatic steering mode corresponding to the follow button 36 will be referred to as the "V-groove follow mode."

[0033] The sensitivity adjustment button 37 is a button for adjusting the steering sensitivity of the steering when the automatic steering mode is executed.

[0034] 5 is a block diagram of a mobile terminal 200 according to an embodiment. The mobile terminal 200 is a computer terminal, such as a tablet PC or a smartphone. The mobile terminal 200 includes a CPU 201, which is an example of a processor; a ROM 202 and a RAM 203, which are examples of a storage unit; an I / O 204, which is an example of an input / output interface; and a communication unit 205. The communication unit 205 is configured to be capable of wireless or wired data communication with the communication unit 105 of the control module 100. The mobile terminal 200 also includes a display 206, which is an example of a display unit capable of displaying images. In this embodiment, the display 206 is a touch panel display and also functions as an input unit.

[0035] In this embodiment, the CPU 101 of the control module 100 functions as a control unit.

[0036] The control process by the control module 100 will be described below with reference to the flowcharts shown in Figures 6(a) and 6(b). The control process shown in Figures 6(a) and 6(b) is executed repeatedly at a predetermined interval. The CPU 101 of the control module 100 determines whether the operation ON / OFF switch 31 is in the ON state (S101). When working in a field with the tractor 1, the operator turns the operation ON / OFF switch 31 to the ON state.

[0037] If the operation ON / OFF switch 31 is in the ON state (S101: YES), the CPU 101 executes the work mode (S102). The work mode is a mode in which work is performed in the field by the work implement 6, and the CPU 101 enters a state in which it is possible to receive input operations of the distant view straight ahead button 33 and the follow buttons 34 to 36 by the operator.

[0038] The CPU 101 determines whether any of the distant view straight ahead button 33 and the follow buttons 34 to 36 has been operated (i.e., turned ON) (S103). If any of the buttons has been operated (S103: YES), the CPU 101 executes the automatic steering mode corresponding to the operated button (S104).

[0039] When the operation ON / OFF switch 31 is in the ON state and the distant view straight ahead button 33 is operated, the CPU 101 turns on the LED 43 and executes the distant view straight ahead mode. When the operation ON / OFF switch 31 is in the ON state and the follow button 34 is operated, the CPU 101 turns on the LED 44 and executes the front process follow mode. When the operation ON / OFF switch 31 is in the ON state and the follow button 35 is operated, the CPU 101 turns on the LED 45 and executes the ridge follow mode. When the operation ON / OFF switch 31 is in the ON state and the follow button 36 is operated, the CPU 101 turns on the LED 46 and executes the V groove follow mode.

[0040] The automatic steering mode executed in step S104 will be described. In the distant view straight ahead mode, the CPU 101 causes the camera 15 to perform an imaging operation and acquires image data I2 generated by the imaging operation of the camera 15. Then, the CPU 101 determines a target point based on the image data I2 and automatically causes the traveling machine body 4 to travel straight ahead toward the target point.

[0041] In the upstream process tracking mode, the CPU 101 causes the camera 15 to perform an imaging operation and acquires image data I2 generated by the imaging operation of the camera 15. Then, the CPU 101 detects a work trace extending in a straight line on the side of the traveling machine body 4 based on the image data I2, and causes the traveling machine body 4 to automatically travel along the work trace.

[0042] In the ridge following mode, the CPU 101 causes the camera 15 to perform an imaging operation and acquires image data I2 generated by the imaging operation of the camera 15. Then, the CPU 101 detects the ridge on the side of the traveling machine body 4 based on the image data I2, and causes the traveling machine body 4 to automatically travel along the ridge.

[0043] In the V-groove following mode, the CPU 101 causes the camera 15 to perform an imaging operation and acquires image data I2 generated by the imaging operation of the camera 15. Then, the CPU 101 detects a V-groove extending in a straight line based on the image data I2, and causes the traveling machine body 4 to automatically travel along the V-groove.

[0044] Furthermore, even if the operation ON / OFF switch 31 is in the ON state (S101: YES), if none of the buttons 33 to 36 is operated (S103: NO), the CPU 101 executes the manual steering mode (S105). That is, in the manual steering mode, the CPU 101 does not perform assist control using the drive motor 39, and the traveling machine body 4 travels according to the steering of the operator.

[0045] Note that CPU 101 may be configured to stop the automatic steering mode and transition to manual steering mode if the operator operates a corresponding button among buttons 33 to 36 again while one of the automatic steering modes is being executed. Also, CPU 101 may be configured to stop the automatic steering mode and transition to manual steering mode if the operator rotates steering wheel 12 while one of the automatic steering modes is being executed. When switching from automatic steering mode to manual steering mode, CPU 101 turns off any of LEDs 43 to 46 that were turned on.

[0046] If the operation ON / OFF switch 31 is in the OFF state (S101: NO), the CPU 101 executes the travel mode (S106). The travel mode is a mode for traveling on roads such as public roads and in farm fields, and like the manual steering mode, the tractor travels in accordance with steering by the operator. However, unlike the work mode, the travel mode does not accept input operation of the buttons 33 to 36 by the operator. In the travel mode, the work implement 6 is in a raised state. When the tractor 1 is moving, the operation ON / OFF switch 31 is set to the OFF state by the operator.

[0047] 7(a) and 7(b) are schematic diagrams of an example of work by the tractor 1 in a field F1. In the field F1, the operator turns the operation ON / OFF switch 31 to the ON state, setting the tractor 1 to work mode. In a work area W1 in the field F1, the operator sets the work mode to automatic steering mode. By setting the tractor 1 to automatic steering mode, the tractor 1 automatically performs work such as plowing in the work area W1. On the other hand, in a headland M1 in the field F1, the operator sets the work mode to manual steering mode. By setting the mode to manual steering mode, the operator manually steers the tractor 1 so that the tractor 1 turns on the headland M1. Then, by manually steering the tractor 1, the operator adjusts the traveling direction of the tractor 1 so that it is parallel to a line S1 at the edge of the work mark T1 made by the tractor 1. Then, when the operator sets the tractor 1 to automatic steering mode, the tractor 1 automatically travels in the work area W1 and performs work such as plowing.

[0048] Here, immediately after switching from manual steering mode to automatic steering mode, if the direction of travel of the tractor 1 is parallel to the line S1 at the edge of the work trace T1 as shown in Figure 7(a), the tractor 1 will automatically travel parallel to the line S1. However, immediately after switching from manual steering mode to automatic steering mode, if the direction of travel of the tractor 1 is inclined with respect to the line S1 at the edge of the work trace T1 as shown in Figure 7(b), the tractor 1 may meander before traveling parallel to the line S1. In particular, meandering of the tractor 1 is likely to occur immediately after switching to the previous process following mode as the automatic steering mode. Therefore, in this embodiment, the following processing is executed in the manual steering mode at step S105.

[0049] The manual steering mode of step S105 will be specifically described with reference to the flowchart of Figure 6(b). The CPU 101 causes the camera 15 to perform an imaging operation (S201). The imaging period of the camera 15 is the same predetermined period as the control processing. The camera 15 generates image data I1 by capturing an image of the foreground as seen from the traveling body 4. The foreground includes the ground in front of the traveling body 4 and a distant view. The ground includes a field F1.

[0050] CPU 101 transmits image data I1 to mobile terminal 200 via communication unit 105, and causes display 206 to display an image corresponding to image data I1 (S202). Figure 8 is an explanatory diagram showing an example of display image D0 displayed on display 206.

[0051] The display image D0 includes a captured image D1 based on image data I1, a reference image D2 superimposed on the captured image D1, and an operation image D3 that the operator can operate to input. The captured image D1 is a landscape image looking forward from the traveling machine body 4, and is a grayscale image in black and white or color. The captured image D1 is updated every time new image data I1 is acquired by the mobile terminal 200.

[0052] The reference image D2 is an image that allows the operator to visually view various information. The reference image D2 includes a guideline GL that serves as a reference when the tractor 1 travels on the work path PH in the field F1 shown in FIG. 7(a). The guideline GL is a straight line that is displayed at a fixed position in the display image D0 even when the captured image D1 is updated. The guideline GL is a straight line that extends diagonally in the captured image D1. Here, the work path PH is a target path for the traveling body 4 that extends in a straight line along the line S1 at the edge of the work trace T1. Note that the reference image D2 may also include numbers and other characters that indicate the operating status of the tractor 1. It is preferable that the numbers and other characters be set to a size that is easy for the operator to see.

[0053] In the captured image D1, the image corresponding to the work trace T1 in the work area W1 is darker than the image corresponding to the portion before work. Therefore, while visually viewing the display image D0, the operator steers the tractor 1 so that the edge line of the darker portion in the captured image D1 roughly aligns with the guide line GL, thereby making the direction of travel of the tractor 1 roughly parallel to the line S1 at the edge of the work trace T1. This also allows the edge of the work implement 6 to be aligned with the edge of the work trace T1, or the work implement 6 and the work trace T1 to overlap by a predetermined overlap. When the manual steering mode is switched to the automatic steering mode in this state, as shown in FIG. 7(a), the tractor 1 automatically travels in a straight line along the line S1 at the edge of the work trace T1. At this time, the automatic steering mode set by the operator may be any of the distant view straight mode, previous process following mode, ridge following mode, and V-groove following mode. For example, if it is difficult to detect the work trace T1 from the previous process using image processing, it is possible to have the tractor 1 perform work in distant view straight ahead mode rather than previous process follow-up mode, even from the second process onwards. In this case, the operator aligns the traveling body 4 of the tractor 1 roughly parallel to the line S1 at the edge of the work trace T1 from the previous process, so the tractor 1 can automatically travel in a straight line along the line S1 at the edge of the work trace T1. This makes it possible to prevent the work implement 6 from leaving work unfinished in the work area W1.

[0054] Here, when looking forward from the traveling body 4, the work trace T1 appears on the right side of the tractor 1 when the tractor 1 turns right on the headland M1, and on the left side of the tractor 1 when the tractor 1 turns left on the headland M1. For this reason, in this embodiment, the CPU 101 displays a pair of guidelines GL symmetrically with respect to a center line L1 located in the center of the left-right direction of the captured image D1. The center line L1 is a straight line extending in the vertical direction in the captured image D1, and may be a virtual straight line, or may be displayed on the captured image D1. Note that each guide line GL may be set so that it moves away from the center line L1 from top to bottom on the captured image D1.

[0055] In the display image D0, the guide line GL or an extension of the guide line GL passes through the vanishing point V in the captured image D1. The vanishing point V is determined according to the mounting height of the camera 15 relative to the traveling machine body 4. The vanishing point V may be displayed superimposed on the captured image D1.

[0056] The data of the angle θ of the guide line GL may be stored (set) in advance in a storage unit of the mobile terminal 200 or the control module 100. The stored (set) data of the angle θ of the guide line GL may be adjusted by the operator as appropriate depending on the situation.

[0057] In this embodiment, CPU 101 sets the angle θ of guide line GL relative to the bottom side B1 of captured image D1 based on input data input by the operator. The input data includes data on the angle θ of guide line GL. In this embodiment, the data on angle θ can be input using operation image D3.

[0058] The operation image D3 is a user interface image and includes a slide bar D31 extending in the longitudinal direction of the display image D0 and a knob D32 that moves on the slide bar D31. The operator can input numerical data for the angle θ corresponding to the longitudinal position of the slide bar D31 by sliding the knob D32 longitudinally along the slide bar D31. The CPU 101 sets the numerical data for the angle θ according to the position of the knob D32 operated by the operator.

[0059] The operation image D3 also includes a box D33 in which the numerical value of the angle θ is displayed. The set numerical value of the angle θ is displayed in the box D33. Note that the configuration may also be such that the operator sets the numerical data of the angle θ by directly inputting the numerical value into the box D33 using a numeric keypad (not shown) or the like.

[0060] The operation image D3 also includes a button D34 for switching between displaying and hiding the guideline GL. When it is detected that the operator has pressed the button D34, the CPU 101 hides the guideline GL if it was displayed, and displays the guideline GL if it was not displayed.

[0061] 9, which accepts input data (parameters) for calculating the angle θ. When detecting that the button D35 has been pressed by the operator, the CPU 101 transitions the operation image D3 to the transition image D4. The transition image D4 includes a window D41 for accepting input of machine information and a window D42 for displaying the calculation result of the angle θ.

[0062] Window D41 includes a box D411 for receiving input of numerical data for the mounting height H of the camera 15 shown in FIG. 10(a), a box D412 for receiving input of numerical data for the width W of the work implement 6 shown in FIG. 10(b), and a box D413 for receiving input of data for the overlap Δ by which the work implement 6 overlaps the work trace T1. Here, the mounting height H of the camera 15 is the height of the center of the lens of the camera 15 relative to the plane on which the traveling body 4 is in contact. Window D41 also includes a button D414 for causing the CPU 101 to calculate the angle θ based on the data input in boxes D411 to D413. When the CPU 101 detects that the operator has pressed button D414, it performs a predetermined calculation based on the data input in boxes D411 to D413 to determine the numerical data for the angle θ. Window D42 includes a box D421 in which the numerical data for the angle θ determined by the calculation is displayed. For example, the angle θ of the guideline GL can be calculated by arctan(H / (W-Δ)). The value of the angle θ may be displayed in box D421 in radian units, or may be converted from radian units to degrees and displayed in box D421.

[0063] As described above, according to this embodiment, in manual steering mode, steering the traveling vehicle 4 so that the guide line GL overlaps with the edge line of the image corresponding to the work trace T1 of the previous process makes it possible to make the traveling direction of the traveling vehicle 4 approximately parallel to the edge line S1 of the work trace T1. In particular, when the operator turns the traveling vehicle 4 around the headland M1, the guide line GL is displayed on the display 206 together with the captured image D1, making it easier to align the traveling vehicle 4 with the work trace T1, improving the workability of the alignment. This prevents the traveling vehicle 4 from meandering through the work area W1 in the field F1, i.e., from working in a meandering manner, when switching from manual steering mode to automatic steering mode. Since meandering of the traveling vehicle 4 is suppressed, the work trace by the work implement 6 becomes linear. Furthermore, it is possible to prevent unfinished work from occurring between two adjacent work traces that extend linearly in the work area W1. Furthermore, when the traveling body 4 is automatically made to travel along the work traces of the previous process in the next process, the traveling body 4 can be prevented from meandering because the work traces of the previous process are straight and not meandering.

[0064] Furthermore, according to this embodiment, the operator can set the angle θ of the guide line GL by inputting input data, which allows the angle θ of the guide line GL to be set appropriately according to the situation.

[0065] Furthermore, according to this embodiment, the operator inputs parameters into the boxes D411 to D413 shown in Fig. 9, and the CPU 101 automatically calculates the angle θ of the guide line GL. Therefore, the operator does not need to manually calculate the angle of the guide line GL that is suitable for the traveling machine body 4, the work machine 6 attached to the traveling machine body 4, and the lap allowance, improving operability.

[0066] Furthermore, according to this embodiment, for example, when fine-tuning the angle θ of the guideline GL, the operator can directly adjust the angle θ of the guideline GL by inputting data for the angle θ, thereby improving operability.

[0067] In the above embodiment, the case where the control unit is CPU 101 has been described, but the present invention is not limited to this. For example, CPU 201 of mobile terminal 200 may function as the control unit, or two CPUs 101, 201 may function as control units. In this case, application software may be installed in mobile terminal 200 so that CPU 201 of mobile terminal 200 functions as the control unit. In addition, the case where the display unit is display 206 of mobile terminal 200 has been described, but the present invention is not limited to this. For example, the display unit may be a display installed on traveling body 4.

[0068] Furthermore, although the case where the control module 100 is configured as a computer different from the ECU has been described, the present invention is not limited to this. For example, the control module 100 may be part of the functions of the ECU.

[0069] Furthermore, although the image processing is performed by the CPU 101 of the control module 100 in the above description, the present invention is not limited to this, and the image processing may be performed by another computer.

[0070] Furthermore, although the case where camera 15 is a monocular camera has been described, the present invention is not limited to this. For example, camera 15 may be a stereo camera.

[0071] The display image D0 may also include a hidden button. When the operator taps the hidden button multiple times, the display may switch to a setting screen. The setting screen is preferably configured to allow various processes and settings, such as aircraft parameters, software updates, and image collection. When the operator taps the hidden button once more, the display may return to the display image D0 shown in FIG. 8.

[0072] The setting screen may also be configured to allow the range of steering sensitivity in automatic steering mode to be set in multiple stages, and the steering sensitivity may be further finely set using sensitivity adjustment button 37 within the range set on the setting screen.

[0073] Furthermore, the setting screen may be configured so that multiple setting contents can be displayed in a pull-down menu, and the operator can select one of the multiple setting contents by tapping on it.

[0074] Also, an image (for example, a +) indicating the center of the traveling body 4 may be displayed on the captured image D1. Also, an image (for example, an inverted V-shaped line) indicating the target to be followed may be displayed on the captured image D1.

[0075] The reference image D2 may also include an image D22 showing the amount of lateral deviation of the traveling machine body 4 with respect to a following line, which is an imaginary straight line heading towards the target to be followed, and an arrow showing the direction of the lateral deviation.

[0076] In addition, in the previous process follow-up mode, a text image indicating whether or not the edge of the work trace has been detected may be displayed superimposed on the captured image D1. [Explanation of symbols]

[0077] 1 Tractor (work vehicle) 4 Running body 15 Camera (imaging unit) 25 Steering section 101 CPU (control unit) 206 Display (display unit)

Claims

1. a traveling machine body capable of traveling in a field; A steering unit that steers the traveling machine body; An imaging unit capable of imaging the ground and distant view in front of the traveling machine body; A control unit capable of executing a manual steering mode in which an operator steers the traveling machine body and an automatic steering mode in which the steering unit is controlled based on image data obtained by the imaging operation of the imaging unit; a display unit capable of displaying an image, the control unit, in the manual steering mode, causes the display unit to display a display image in which a guideline serving as a reference when traveling on a work path in the field is superimposed on an image corresponding to image data obtained by the imaging operation of the imaging unit, the control unit sets an angle of the guide line with respect to a bottom side of the captured image based on input data input by an operator. A work vehicle characterized by:

2. The input data includes data on the mounting height of the imaging unit, data on the width of the work implement attached to the traveling machine body, and data on an overlap amount for overlapping the work implement with the work trace in the field.

2. The work vehicle according to claim 1.

3. The input data includes data on the angle of the guide line.

2. The work vehicle according to claim 1.

Images