Work support method, work vehicle, and work support system

Abstract

To provide a work support method capable of preventing mud and waste straw from being scattered to a work part and suppressing entry to a pre-working place, a work vehicle, and a work support system.SOLUTION: A combine 1 comprises: a reaping part 3 for reaping during travel in a farm field; a control unit 30; and a portable terminal 40. The control unit 30 functions as a travel control part 35 which performs: first forward travel 53 for performing work while advancing in a first direction D1 in a pre-working place 51 in the farm field; first backing travel 54 for backing in a post-working place 52 formed by the first forward travel 53; and second forward travel 55 for performing work while advancing in a direction being crossing the first direction D1 toward the pre-working place 51 which is adjacent to the post-working place 52 in an orthogonal direction to the first direction D1. The travel control part 35 automatically inclines the reaping part 3 so that one side of the reaping part 3 is higher in a machine body width direction of the combine 1 when performing the second forward travel 55.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a work support method for a work vehicle that performs work while traveling in a field, the work vehicle, and a work support system. [Background technology]

[0002] Work vehicles such as combine harvesters travel through unworked areas of a field while performing prescribed tasks such as harvesting crops (cutting stalks), creating a worked area. Conventionally, however, the vehicles repeatedly travel forward while working in the unworked area and then travel backward through the worked area to ensure that no work, such as unharvested crops (uncut stalks), is left in the corners of the field.

[0003] For example, the automatic driving path generation system disclosed in Patent Document 1 generates corner driving paths that are paths for automatic harvesting travel in corners of a field. The corner driving paths include a first path that moves forward while harvesting crops along one of the sides that form the corner, a second path that moves backward along the first path, a third path that moves forward while harvesting crops in a direction that intersects with the first path while leaving unworked land between the first path and the third path, a fourth path that moves backward along the third path, and a fifth path that moves forward while harvesting crops in the unworked land between the first path and the third path, moving in a direction between the first path and the third path, turning and moving along the other side that forms the corner. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-83387 Summary of the Invention [Problem to be solved by the invention]

[0005] When a work vehicle travels forward, including turning, from an already worked area toward an unworked area, the ground may be raised or straw may have fallen on one side of the work vehicle's body in the width direction. In this case, if the work vehicle enters the unworked area while getting the mud or straw piled up on the ground caught in its working section, there is a risk that the caught mud or straw may knock down the stalks in the unworked area, damaging the unworked area. If the stalks in the unworked area are knocked down in this way, the harvesting work (reaping work) cannot proceed smoothly, and there is a risk of reducing work efficiency.

[0006] The present invention aims to provide a work support method, a work vehicle, and a work support system that can prevent mud or straw from getting caught on the working part and entering unworked land. [Means for solving the problem]

[0007] In order to solve the above problems, the work assistance method of the present invention is a work assistance method for a work vehicle having a working unit that performs work while traveling in a field, and includes a traveling process of performing a first forward traveling in which work is performed while moving forward in a first direction in an unworked area of ​​the field, a first backward traveling in which work is performed backward through an already worked area formed by the first forward traveling, and a second forward traveling in which work is performed while moving forward in a direction intersecting the first direction toward an unworked area adjacent to the already worked area in a direction perpendicular to the first direction, and the traveling process is characterized in that when performing the second forward traveling, the working unit is automatically tilted so that one side of the working unit is higher in the width direction of the body of the work vehicle.

[0008] In addition, in order to solve the above-mentioned problems, the work vehicle of the present invention is a work vehicle comprising a working unit that performs work while traveling in a field, and a travel control unit that performs a first forward travel in which work is performed while moving forward in a first direction in an unworked area of ​​the field, a first backward travel in which work is performed while moving backward through an already worked area formed by the first forward travel, and a second forward travel in which work is performed while moving forward in a direction intersecting the first direction toward an unworked area adjacent to the already worked area in a direction perpendicular to the first direction, and is characterized in that when performing the second forward travel, the travel control unit automatically tilts the working unit so that one side of the working unit is higher in the width direction of the body of the work vehicle.

[0009] In addition, in order to solve the above-mentioned problems, the work assistance system of the present invention is a work assistance system for a work vehicle having a working unit that performs work while traveling in a field, and is equipped with a travel control unit that performs first forward travel, in which work is performed while moving forward in a first direction in an unworked area of ​​the field, first backward travel, in which work is performed while moving backward through an already worked area formed by the first forward travel, and second forward travel, in which work is performed while moving forward in a direction intersecting the first direction toward an unworked area adjacent to the already worked area in a direction perpendicular to the first direction, and is characterized in that when performing the second forward travel, the travel control unit automatically tilts the working unit so that one side of the working unit is higher in the width direction of the body of the work vehicle. [Effects of the Invention]

[0010] According to the present invention, a work support method, a work vehicle, and a work support system are provided that can prevent mud or straw from getting caught on the working part and entering unworked areas. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a side view of a combine harvester according to a first embodiment of the present invention. [Figure 2] 1 is a front view of a combine harvester according to a first embodiment of the present invention. [Figure 3] 1 is a front view showing a tilted state of a combine harvester according to a first embodiment of the present invention. FIG. [Figure 4]1 is a block diagram of a combine harvester according to a first embodiment of the present invention. [Figure 5] 1 is a plan view showing an example of a farm field on which a combine harvester according to a first embodiment of the present invention travels. FIG. [Figure 6] 1 is a plan view showing an example of a farm field in which a combine harvester according to a first embodiment of the present invention performs a first forward travel. FIG. [Figure 7] 1 is a plan view showing an example of a farm field in which a combine harvester according to a first embodiment of the present invention performs first backward traveling and second forward traveling. FIG. [Figure 8] FIG. 10 is a plan view showing another example of a field in which the combine harvester according to the first embodiment of the present invention performs the first backward traveling and the second forward traveling. [Figure 9] 3 is a plan view showing an example of a support screen displayed on a mobile terminal of the combine harvester according to the first embodiment of the present invention. FIG. [Figure 10] 1 is a plan view showing an example of a work screen displayed on a mobile terminal of a combine harvester according to a first embodiment of the present invention. FIG. [Figure 11] FIG. 10 is a plan view showing an example of a farm field in which a combine harvester according to a second embodiment of the present invention performs second backward traveling and third forward traveling. [Figure 12] FIG. 10 is a plan view showing an example of a farm field in which a combine harvester according to a third embodiment of the present invention performs first forward traveling, first reverse traveling, and second forward traveling. [Figure 13] FIG. 10 is a plan view showing an example of a farm field in which a combine harvester according to a third embodiment of the present invention performs second backward traveling and third forward traveling. DETAILED DESCRIPTION OF THE INVENTION

[0012] The work vehicle of the present invention performs work while traveling in a field, and a combine harvester 1 will be described as an example of a work vehicle according to an embodiment of the present invention with reference to FIG. 1 and other figures. The combine harvester 1 travels through a field to be worked on by automatic or manual operation, and performs work such as reaping to harvest crops from stalks planted in the field. The combine harvester 1 is configured to perform, for example, automatic operation in which steering is controlled by automatic operation and traveling speed is controlled in response to manual operation, or unmanned operation in which steering and traveling speed are controlled by automatic operation, and is capable of traveling, turning, and working autonomously within a field.

[0013] The combine harvester 1 harvests multiple rows of stalks while traveling along a straight line with a harvest width of a predetermined number of rows within the number of harvestable rows. The combine harvester 1 can be set to either a manual driving mode or an automatic driving mode. When the manual driving mode is set, the combine harvester 1 is configured to perform manual driving (driving only) or manual harvesting driving (removing) in response to the operator's operation of the control unit 9.

[0014] Meanwhile, when the automatic travel mode is set, the combine harvester 1 is configured to perform automatic reaping travel, in which the combine harvester automatically travels along an automatic travel route set in the field and automatically reaps. The combine harvester performs automatic reaping travel using travel patterns such as back-and-forth mowing, which travels back and forth along multiple straight routes in uncut land (unworked land) with uncut stalks in the field, and circular mowing, which repeats a circuit of a straight route along the inner periphery of the uncut land while shifting toward the center. Before performing automatic reaping travel, the combine harvester 1 performs peripheral mowing travel, in which the combine harvester travels around the periphery of the field and reaps while traveling, forming a headland in the field, and the inside of the headland is used as the working area for automatic reaping travel.

[0015] In the first embodiment, the combine harvester 1 comprises a traveling section 2 and a reaping section 3 (working section), as shown in Figures 1 and 2, and also comprises a threshing section 4, a sorting section 5, a storage section 6, a straw waste processing section 7, a power section 8, and a steering section 9, as shown in Figure 1, and is configured as a so-called head-feeding combine. The combine harvester 1 travels on the traveling section 2, threshes the stalks harvested by the reaping section 3 in the threshing section 4, sorts the grain in the sorting section 5, and stores it in the storage section 6. The combine harvester 1 processes the straw waste after threshing in the straw waste processing section 7. The combine harvester 1 drives the traveling section 2, reaping section 3, threshing section 4, sorting section 5, storage section 6, and straw waste processing section 7 using power supplied by the power section 8.

[0016] Traveling unit 2 is provided below machine frame 10 and includes a pair of left and right crawler-type traveling devices 11 and a transmission (not shown). Traveling unit 2 rotates the crawlers of crawler-type traveling devices 11 using power (e.g., rotational power) transmitted from engine 27 of power unit 8, causing combine 1 to travel in the forward / backward direction and turn left and right. The transmission transmits the power (rotational power) of power unit 8 to crawler-type traveling devices 11 and can also change the speed of the rotational power.

[0017] The traveling unit 2 is provided with, for example, a pair of left and right rolling mechanisms 12 for each of the pair of left and right crawler-type traveling devices 11 as a horizontal control mechanism that controls the reaping unit 3 horizontally in the width direction of the machine body relative to the field (ground). Each rolling mechanism 12 has a rolling cylinder that extends and retracts to adjust the height of the machine body frame 10 relative to each crawler-type traveling device 11, thereby adjusting the height of the reaping unit 3. When the combine harvester 1 is performing normal reaping work, each rolling mechanism 12 adjusts the height of the machine body frame 10 so that the reaping unit 3 is at a normal reaping height that is horizontal to the field, and when the combine harvester 1 is traveling and not performing reaping work, each rolling mechanism 12 adjusts the height of the machine body frame 10 so that the reaping unit 3 is at a standby position height.

[0018] Furthermore, the pair of left and right rolling mechanisms 12 can adjust the left-right tilt angle of the machine body frame 10 relative to the horizontal direction of the field surface (the height of the left and right ends from the field surface), and the left-right tilt angle of the reaping unit 3 (the height of the left and right ends from the field surface) is adjusted according to the left-right tilt angle of the machine body frame 10. Each rolling mechanism 12 can lift one side of the reaping unit 3 in the width direction of the machine body (left-right direction), i.e., tilt the reaping unit 3 so that one side is higher, or lift the other side of the reaping unit 3, i.e., tilt the reaping unit 3 so that the other side is higher.

[0019] For example, the right-side rolling mechanism 12 raises the machine frame 10 relative to the right-side crawler-type traveling device 11, thereby tilting the reaping unit 3 so that the right side is higher, while the left-side rolling mechanism 12 raises the machine frame 10 relative to the left-side crawler-type traveling device 11, thereby tilting the reaping unit 3 so that the left side is higher. As shown in Figure 3, if the front left side of the machine body is an unworked area 51 (see Figure 5, etc.) but the front right side of the machine body is an already worked area 52 (see Figure 5, etc.) where discarded straw has been placed, the combine harvester 1 can tilt the reaping unit 3 so that the right side is higher using the pair of left and right rolling mechanisms 12.

[0020] The reaping unit 3 is mounted on the machine frame 10 in front of the traveling unit 2 and performs reaping work on rows within the number of rows that can be reaped. The reaping unit 3 includes a divider 13, a lifting device 14, a cutting device 15, and a transporting device 16. The divider 13 separates the stalks in the field row by row and guides a predetermined number of stalks within the number of rows that can be reaped to the lifting device 14. The lifting device 14 lifts the stalks guided by the divider 13. The cutting device 15 cuts the stalks lifted by the lifting device 14. The transporting device 16 transports the stalks cut by the cutting device 15 to the threshing unit 4. Note that if the reaping unit 3 is configured so that its drive and stop can be controlled for each row, the drive of one side of the reaping unit 3 that is tilted higher by the pair of left and right rolling mechanisms 12 on the traveling unit 2 may be stopped.

[0021] The threshing unit 4 is provided behind the reaping unit 3. The threshing unit 4 includes a feed chain 18 and a threshing drum 19. The feed chain 18 transports the stalks transported from the transport device 16 of the reaping unit 3 for threshing, and further transports the threshed stalks, i.e., waste straw, to the straw waste processing unit 7. The threshing drum 19 threshes the stalks transported by the feed chain 18.

[0022] The sorting section 5 is provided below the threshing section 4. The sorting section 5 comprises an oscillating sorting device 21, an air blowing sorting device 22, a grain conveying device (not shown), and a straw dust discharge device (not shown). The oscillating sorting device 21 sifts the threshed grains that have fallen from the threshing section 4 to separate them into grains, straw dust, etc. The air blowing sorting device 22 further separates the threshed grains sorted by the oscillating sorting device 21 into grains, straw dust, etc. The grain conveying device transports the grains sorted by the oscillating sorting device 21 and the air blowing sorting device 22 to the storage section 6. The straw dust discharge device discharges the straw dust, etc. sorted by the oscillating sorting device 21 and the air blowing sorting device 22 outside the machine.

[0023] The storage section 6 is provided to the right of the threshing section 4. The storage section 6 comprises a grain tank 24 and a discharge device 25. The grain tank 24 stores the grains transported from the sorting section 5. The discharge device 25 is composed of an auger or the like, and discharges the grains stored in the grain tank 24 to any desired location.

[0024] The straw waste processing section 7 is located behind the threshing section 4. The straw waste processing section 7 is equipped with a straw waste conveying device (not shown) and a straw waste cutting device (not shown). The straw waste conveying device transports the straw transported from the feed chain 18 of the threshing section 4 to the straw waste cutting device. The straw waste cutting device cuts the straw transported by the straw waste conveying device and discharges it outside the machine.

[0025] The power unit 8 is provided above the traveling unit 2 and in front of the storage unit 6. The power unit 8 is equipped with an engine 27 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 27 to the traveling unit 2, the reaping unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7.

[0026] The control unit 9 is provided above the power unit 8. The control unit 9 is provided with a driving operation unit around the driver's seat where the operator sits, which includes a handle for instructing the turning of the combine harvester 1 body, a main speed change lever and a sub-speed change lever for instructing changes in the forward and backward speed of the combine harvester 1, and the like, as driving operation units for controlling the driving of the combine harvester 1. The control unit 9 also includes a work operation unit for controlling the lifting and lowering of the reaping unit 3, reaping work by the reaping unit 3, threshing work by the threshing unit 4, discharge work by the discharge device 25 of the storage unit 6, and the like. When the manual driving mode is set, the control unit 9 drives the power unit 8 and driving unit 2 in response to operation of the driving operation unit to manually drive the combine harvester 1, and drives the power unit 8 and reaping unit 3 in response to operation of the work operation unit to manually drive the combine harvester 1.

[0027] The combine harvester 1 is equipped with a positioning unit 28 that uses a satellite positioning system such as GPS to acquire the vehicle position of the combine harvester 1. The positioning unit 28 receives a positioning signal from a positioning satellite via a positioning antenna, and acquires position information of the positioning unit 28, i.e., the vehicle position of the combine harvester 1, based on the positioning signal.

[0028] Next, the control device 30 of the combine harvester 1 will be described with reference to Figure 4. The control device 30 is composed of a computer such as a CPU, and is connected to a storage unit 31 such as a ROM, RAM, hard disk drive, or flash memory, and a communication unit 32 that communicates with external devices.

[0029] The memory unit 31 stores programs and data for controlling the various components and functions of the combine harvester 1, and the control device 30 controls the various components and functions by executing calculations based on the programs and data stored in the memory unit 31. The control device 30 acquires, for example, the position of the combine harvester 1 from the positioning unit 28, and also acquires the direction of travel of the combine harvester 1 at its own position.

[0030] The communication unit 32 is capable of wireless communication with external devices such as a mobile terminal 40 held by the worker via a wireless communication antenna. The control device 30 controls the communication unit 32 to perform wireless communication with the mobile terminal 40 and transmits and receives various information to and from the mobile terminal 40. For example, the communication unit 32 receives field information, an automatic driving route 79 (see FIG. 10 ), and support information set for the field from the mobile terminal 40 and stores them in the memory unit 31.

[0031] For example, within the field outline, which is a shape that follows the perimeter of the field, there are unworked areas 51 where work such as reaping has not yet been performed, and worked areas 52 where work has already been completed. The field information includes information such as the shape, size, and location information (coordinates, etc.) of the field outline, and the shape, size, and location information (coordinates, etc.) of the unworked areas 51 and the worked areas 52. The automatic driving route 79 includes driving information related to driving and work information related to work such as automatic reaping. The driving information includes not only the driving position in the field, but also the direction of travel and the set vehicle speed at each driving position. The work information includes information related to the operation or stop of various work such as reaping work at each driving position, and information related to the lifting and lowering operation of the reaping unit 3.

[0032] The control device 30 also operates as a travel control unit 35 by executing a program stored in the storage unit 31. The travel control unit 35 implements the travel step of the work assistance method according to the present invention.

[0033] When the automatic travel mode is set, the travel control unit 35 controls the automatic reaping travel of the combine harvester 1. For example, the travel control unit 35 acquires field information and automatic travel route 79 set for the field from the mobile terminal 40. When automatic reaping travel begins, the travel control unit 35 acquires the vehicle position of the combine harvester 1 from the positioning unit 28, and controls the power unit 8, travel unit 2, and reaping unit 3 based on the vehicle position, the field information, and the automatic travel route 79 so that the combine harvester 1 performs automatic reaping travel along the automatic travel route 79.

[0034] Based on the support information set by the work support unit 47 of the mobile terminal 40, the travel control unit 35 controls the pair of left and right rolling mechanisms 12 of the travel unit 2 so as to raise one side of the reaping unit 3 in the machine body width direction of the combine harvester 1, thereby automatically tilting the reaping unit 3. The travel control unit 35 also controls the pair of left and right rolling mechanisms 12 so as to raise the other side of the reaping unit 3 to a normal reaping height.

[0035] For example, when the manual travel mode is set, the travel control unit 35 receives a tilt instruction based on the support information from the mobile terminal 40 via the communication unit 32 when the combine harvester 1 travels through the tilt start position 56 based on the support information in the field, and controls the pair of left and right rolling mechanisms 12 of the travel unit 2 to raise one side (left or right) indicated by the tilt instruction. Also, when the automatic travel mode is set, the travel control unit 35 controls the pair of left and right rolling mechanisms 12 of the travel unit 2 based on the support information incorporated into the automatic travel path 79 when the combine harvester 1 travels through the tilt start position 56 in the field, so as to raise one side (left or right) indicated by the support information.

[0036] The support information may include a predetermined release condition for releasing the tilted state of the reaping unit 3. For example, the support information may set a release condition when it is detected that the reaping unit 3 has entered unworked land 51 on the sloped side. Specifically, when one side of the reaping unit 3 in the width direction of the combine harvester 1 passes through worked land 52 and the other side passes through unworked land 51, one side of the reaping unit 3 is set to be elevated. However, when it is detected that one side of the reaping unit 3 has entered unworked land 51, the travel control unit 35 automatically returns the tilt of the reaping unit 3 to its original state, making the reaping unit 3 horizontal in the width direction of the vehicle with respect to the field surface (ground). Furthermore, when the combine harvester 1 is turned with the reaping unit 3 in an inclined state, the support information may set a release condition for the tilted state when the reaping unit 3 finishes turning and travels straight.

[0037] For example, the travel control unit 35 may include stalk sensors on both sides of the combine harvester 1 in the width direction to detect stalks in front of the reaping unit 3, and detect the entry of one side of the reaping unit 3 into the unworked land 51 based on the detection results of the stalk sensors. Alternatively, the work support unit 47 of the mobile terminal 40 may acquire the position of the combine harvester 1 relative to the unworked land 51 and the worked land 52 based on the vehicle position of the combine harvester 1 acquired by the positioning unit 28 and field information regarding the unworked land 51 and the worked land 52, and detect the entry of one side of the reaping unit 3 into the unworked land 51 based on the position of the combine harvester 1. The travel control unit 35 receives the detection results from the mobile terminal 40 via the communication unit 32. The travel control unit 35 may detect the state of the combine harvester 1 immediately before one side of the reaping unit 3 enters the unworked land 51, and automatically return the tilt of the reaping unit 3 to its original position upon detection.

[0038] The mobile terminal 40 is one of the components of the combine harvester 1 and is a terminal capable of remotely controlling the combine harvester 1, and is configured, for example, as a tablet terminal with a touch panel or a laptop personal computer. Note that an operation device similar to the mobile terminal 40 may be provided in the control unit 9. In the present invention, the combine harvester 1 and the mobile terminal 40 form a work support system.

[0039] 4, the mobile terminal 40 is equipped with a terminal-side control device 41 configured with a computer such as a CPU, and the terminal-side control device 41 is connected to a terminal-side storage unit 42 such as a ROM, RAM, hard disk drive, flash memory, etc., and a terminal-side communication unit 43 that communicates with external devices. The mobile terminal 40 also has a display unit 44 such as a touch panel or monitor for displaying and outputting various information to the worker, and an input unit 45 such as a touch panel or operation keys for receiving input operations of various information from the worker.

[0040] The terminal-side storage unit 42 stores programs and data for controlling the various components and functions of the mobile terminal 40, and the terminal-side control device 41 controls the various components and functions of the mobile terminal 40 by executing calculations based on the programs and data stored in the terminal-side storage unit 42. The terminal-side storage unit 42 stores field information and an automatic travel route 79 for the field on which the combine harvester 1 is to work.

[0041] The terminal-side communication unit 43 is communicably connected to the communication unit 32 of the combine harvester 1 via a wireless communication antenna. The terminal-side control device 41 controls the terminal-side communication unit 43 to perform wireless communication with the combine harvester 1 and transmits and receives various information to and from the combine harvester 1.

[0042] The terminal control device 41 of the mobile terminal 40 executes a program stored in the terminal storage unit 42 to operate as a field selection unit 46, a work support unit 47, a route creation unit 48, and a display control unit 49. The route creation unit 48 realizes the route creation step of the work support method according to the present invention, and the work support unit 47 and the display control unit 49 support the traveling step of the work support method according to the present invention.

[0043] The field selection unit 46 manually or automatically selects a field to be worked on by the autonomous driving vehicle, sets the outer peripheral shape of the field, i.e., the field outline, and stores it in the terminal memory unit 42. For example, the field selection unit 46 displays a field selection screen (not shown) on the display unit 44 for selecting the field to be worked on. If field information including the field outline is already stored in the terminal memory unit 42, the field selection screen makes it possible to select the field corresponding to that field information. When a field is manually selected on the field selection screen, the field selection unit 46 selects the selected field as the work target and reads out the field information corresponding to the selected field from the terminal memory unit 42.

[0044] The field selection screen also allows the creation of a new field. When the creation of a new field is selected on the field selection screen, the field selection unit 46 selects the new field at the location of the combine harvester 1 as the work target. When the combine harvester 1 performs periphery mowing by circling along the periphery shape of the new field, the field selection unit 46 receives the vehicle position of the combine harvester 1 measured by the positioning unit 28 of the combine harvester 1 from the combine harvester 1, and records position information on the periphery shape of the new field and the route of the periphery mowing. The field selection unit 46 creates the field outline of the new field based on the position information acquired during the periphery mowing, and creates field information including the field outline and stores it in the terminal memory unit 42.

[0045] As shown in Fig. 5, when the combine harvester 1 performs reap-travel in a predetermined first direction D1 in an unworked area 51, such as a corner of a field 50, and then continues to perform reap-travel in a second direction D2 perpendicular to the first direction D1, the work support unit 47 sets support information for multi-stage reap-travel, including forward traveling and backward traveling, so as to leave no work unfinished, such as unharvested crops (uncut stalks). In Figs. 5 to 13, the unworked area 51 is shown with hatching slanting downward to the left, and the already-worked area 52 is shown blank. The work support unit 47 may set support information for multi-stage reap-travel, regardless of whether the travel mode is manual or automatic.

[0046] For example, the work support unit 47 sets the support information so that the combine harvester 1 performs a first forward run 53 (see FIG. 6) in which it performs reaping work while moving forward in a first direction D1 in an unworked area 51 of the field 50, a first backward run 54 (see FIGS. 7 and 8) in which it moves backward through a previously worked area 52a formed by the first forward run 53, and a second forward run 55 (see FIGS. 7 and 8) in which it performs reaping work while moving forward in a direction intersecting the first direction D1 toward an unworked area 51a adjacent to the previously worked area 52a in a second direction D2. Furthermore, the work support unit 47 sets the support information so that when performing the second forward run 55, one side of the reaping unit 3 of the combine harvester 1 is tilted higher in the width direction of the machine body.

[0047] The travel control unit 35 of the control device 30 performs first forward travel 53, first reverse travel 54, and second forward travel 55 in this order in accordance with the support information, and controls the travel unit 2 to tilt one side of the reaping unit 3 highly during second forward travel 55. In the manual travel mode, when the combine harvester 1 performs second forward travel 55, the work support unit 47 tilts one side of the reaping unit 3 by transmitting a tilt instruction to the combine harvester 1 based on the support information. For example, when the combine harvester 1 detects, based on the position of the combine harvester 1 measured by the positioning unit 28, that the combine harvester 1 will perform second forward travel 55 at a predetermined direction change position such as a corner or middle of a field, or when the work support unit 47 detects a predetermined direction change operation of the steering unit 9 (for example, operation of a direction change switch, a series of shift operations, steering operation, etc.), the work support unit 47 transmits the tilt instruction to the combine harvester 1. In the automatic driving mode, the route creation unit 48 described later incorporates support information into the automatic driving route 79, causing one side of the cutting unit 3 to tilt when the combine 1 performs the second forward drive 55.

[0048] Specifically, when the combine harvester 1 changes direction at a predetermined direction change position such as a corner or the middle of a field, the work support unit 47 sets support information including first forward traveling 53, first backward traveling 54, and second forward traveling 55 in association with the direction change position. At this time, the support information may include position information of the start and end points of the first forward traveling 53, the first backward traveling 54, and the second forward traveling 55. The start point of the first backward traveling 54 is set to the end point of the first forward traveling 53, and the start point of the second forward traveling 55 is set to the end point of the first backward traveling 54. The direction in which the second forward traveling 55 intersects with the first direction D1 is set to form an acute angle with respect to the first direction D1.

[0049] In the support information, first forward travel 53 is set as straight travel, as shown in Fig. 6. When a turn into unworked land 51a is performed by second forward travel 55, as shown in Fig. 7, first reverse travel 54 is set as straight travel only, and second forward travel 55 is set as a combination of turning travel to turn direction followed by straight travel. Note that second forward travel 55 in this case may be set as turning travel to gradually change direction only, or may be set as a combination of pivot turning to change direction and straight travel.

[0050] Alternatively, as shown in Figure 8, when a change of direction into unworked land 51a is performed by first reverse travel 54, first reverse travel 54 is set to be a combination of straight travel and then a turning travel in which the combine harvester turns, and second forward travel 55 is set to be straight travel only. In this case, the field 50 has low ridges or the like that define its outline, and the combine harvester 1 may travel to the outside of the field by first reverse travel 54. Note that in this case, first reverse travel 54 may be set to be a turning travel in which the combine harvester turns gradually, or may be set to be a combination of straight travel and a pivot turn in which the combine harvester turns. Furthermore, second forward travel 55 in this case may be set to be a combination of straight travel and a turning travel in which the combine harvester turns, or may be set to be a turning travel in which the combine harvester turns gradually.

[0051] Furthermore, the work support unit 47 sets the support information so that the inclination of the reaping unit 3 when performing second forward travel 55 is automatically tilted so that one side of the reaping unit 3 is higher, either the left or right side in the width direction of the combine harvester 1. At this time, the work support unit 47 may set the side of the already worked land 52 as the side on which the reaping unit 3 is to be raised, i.e., the inclined side. Note that the work support unit 47 may set the support information so that the reaping unit 3 is controlled to a normal reaping height during first forward travel 53, in which reaping work is performed, and the reaping unit 3 is controlled to a standby position height during first backward travel 54, in which reaping travel is not performed.

[0052] Specifically, as shown in Figures 7 and 8, the work support unit 47 sets the tilt start position 56 of the reaping unit 3 at the start point of the second forward travel 55 as support information, and automatically tilts the reaping unit 3 at the timing when the first reverse travel 54 switches to the second forward travel 55. Also, as support information, the work support unit 47 sets the side of the predetermined already-worked land 52a that the reaping unit 3 has reversed to in the first reverse travel 54 as one side (inclined side) on which to raise the reaping unit 3, as viewed from the predetermined unworked land 51a to which the second forward travel 55 is headed.

[0053] Furthermore, work support unit 47 sets, as support information, an inclination angle (or inclination height) that raises one side of reaping unit 3. For example, when changing direction to unworked land 51a is performed by second forward travel 55, work support unit 47 sets the inclination angle of reaping unit 3 based on the turning angle when turning by second forward travel 55 so as to face unworked land 51a, and at this time, it is preferable to set the inclination angle (or inclination height) to be larger as the turning angle is larger.

[0054] Alternatively, when a turn toward unworked land 51a is performed during first reverse traveling 54, the work support unit 47 sets the inclination angle (or inclination height) of the reaping unit 3 based on the turning angle when turning during first reverse traveling 54 so as to face unworked land 51a, and at this time, it is preferable to set the inclination angle (or inclination height) so that the greater the turning angle, the greater the inclination angle (or inclination height). Furthermore, the work support unit 47 may set the vehicle speed of the combine 1 (traveling unit 2) based on the turning angle during first reverse traveling 54, and at this time, it is preferable to set the vehicle speed so that the greater the turning angle, the slower the vehicle speed. Note that the work support unit 47 may set both the inclination angle of the reaping unit 3 and the vehicle speed of the combine 1 based on the turning angle during first reverse traveling 54. Alternatively, the work support unit 47 may set the inclination angle (or inclination height) of the cutting unit 3 based on the length of the cutting unit 3 in the width direction of the combine 1 body, and at this time, the longer the length of the cutting unit 3, the larger the inclination angle (or inclination height) may be set.

[0055] The route creation unit 48 creates an automatic driving route 79 (see FIG. 10, etc.) for automatic mowing travel in the field selected by the field selection unit 46, stores it in the terminal-side memory unit 42, and transmits it to the combine harvester 1 via the terminal-side communication unit 43. The route creation unit 48 creates multiple straight routes for mowing while traveling forward in the field according to the travel pattern (reciprocating mowing or circular mowing) selected by operating the mobile terminal 40, and creates the automatic driving route 79 by combining the multiple straight routes with multiple turning routes connecting each of the straight routes.

[0056] Furthermore, the route creation unit 48 creates an automatic travel route 79 so as to incorporate the support information set by the work support unit 47. That is, when the work support unit 47 sets support information including first forward travel 53, first reverse travel 54, and second forward travel 55 at a direction change position such as each corner of the field, the route creation unit 48 creates an automatic travel route 79 so as to include, for the direction change position (for example, with the direction change position set as the end point of the first forward travel 53), a first forward route 53b for automatically performing the first forward travel 53 of the support information, a first reverse route 54b for automatically performing the first reverse travel 54, and a second forward route 55b for automatically performing the second forward travel 55 (see FIG. 10 ). Furthermore, the route creation unit 48 sets the tilt start position 56 of the support information set by the work support unit 47 to automatically tilt the reaping unit 3 to a corresponding position on the automatic travel route 79. Furthermore, the path creation unit 48 sets, in association with the tilt start position 56, whether the side on which the reaping unit 3 is to be tilted is the left or right side, i.e., the tilt side of the support information, and also sets the tilt angle of the support information.

[0057] When the manual travel mode is set, the display control unit 49 controls the display unit 44 to display a support screen 60 for performing manual reaping travel in the field that is the work target, as shown in FIG. 9 . The display control unit 49 displays at least a map field 61 on the support screen 60. In the map field 61, the display control unit 49 displays a field outline 65 on the map based on the field information of the field selected by the field selection unit 46. The display control unit 49 also displays a vehicle marker 66 for the combine harvester 1 at the vehicle position of the combine harvester 1 determined by the positioning unit 28 of the combine harvester 1. The display control unit 49 may distinguishably display an unworked area 67 and a worked area 68 within the field outline 65 by changing the display method, such as the line type, line color, or background color. The display control unit 49 updates the position of the vehicle marker 66 and the ranges of the unworked area 67 and the worked area 68 according to the progress of the reaping travel of the combine harvester 1.

[0058] Furthermore, the display control unit 49 displays the support information set by the work support unit 47 in a map field 61 of the support screen 60. For example, when the work support unit 47 sets support information including first forward traveling 53, first backward traveling 54, and second forward traveling 55 at a direction change position such as each corner of the field, the display control unit 49 identifiably displays support routes 53a, 54a, and 55a corresponding to the first forward traveling 53, first backward traveling 54, and second forward traveling 55 with respect to the direction change position (for example, with the direction change position set as the end point of the first forward traveling 53) in the map field 61. Furthermore, the display control unit 49 displays in the map field 61 a tilt position indicator 56a corresponding to the tilt start position 56 of the support information set by the work support unit 47 to tilt the reaping unit 3.

[0059] When the automatic driving mode is set, the display control unit 49 controls the display unit 44 to display a work screen 70 for performing automatic reaping driving in the field that is the work target, as shown in Fig. 10. On the work screen 70, the display control unit 49 displays at least a map field 71 and also displays a work start button 72 in an operable manner.

[0060] The display control unit 49 displays a field outline 75 on the map in the map field 71 based on the field information of the field selected by the field selection unit 46, and further displays a vehicle marker 76 of the combine harvester 1 at the vehicle position of the combine harvester 1 determined by the positioning unit 28 of the combine harvester 1. The display control unit 49 may distinguishably display unworked land 77 and worked land 78 within the field outline 75 by changing the display method, such as the line type, line color, or background color. The display control unit 49 updates the position of the vehicle marker 76 and the range of the unworked land 77 and worked land 78 according to the progress of the combine harvester 1's harvesting travel.

[0061] The display control unit 49 displays the automatic driving route 79 created by the route creation unit 48 in the map field 71, superimposed on the field outline 75. Furthermore, if support information set by the work support unit 47 is incorporated into the automatic driving route 79, the display control unit 49 displays the support information incorporated into the automatic driving route 79 in the map field 71 of the work screen 70. For example, if the route creation unit 48 creates an automatic driving route 79 including a first forward route 53b corresponding to the first forward traveling 53, a first backward route 54b corresponding to the first backward traveling 54, and a second forward route 55b corresponding to the second forward traveling 55, based on support information including a first forward traveling 53, a first backward traveling 54, and a second forward traveling 55 set by the work support unit 47, the display control unit 49 displays the first forward traveling route 53b, the first backward traveling route 54b, and the second forward traveling route 55b in a distinguishable manner in the automatic driving route 79 displayed in the map field 71. Furthermore, the display control unit 49 displays in the map field 71 a tilt position indicator 56b corresponding to the tilt start position 56 of the support information set by the work support unit 47 in order to tilt the reaping unit 3.

[0062] As described above, according to the first embodiment, the combine harvester 1 includes a reaping unit 3 (working unit) that performs reaping work while traveling in a field, a control device 30, and a mobile terminal 40. The control device 30 functions as a travel control unit 35 that performs first forward travel 53, in which the combine harvester works while moving forward in a first direction D1 in an unworked area 51 in the field; first backward travel 54, in which the combine harvester works while moving backward through a previously worked area 52 formed by the first forward travel 53; and second forward travel 55, in which the combine harvester works while moving forward in a direction perpendicular to the first direction D1 (a second direction D2) toward an unworked area 51 adjacent to the previously worked area 52. When performing the second forward travel 55, the travel control unit 35 automatically tilts the reaping unit 3 so that one side of the reaping unit 3 is higher in the vehicle width direction of the combine harvester 1. The mobile terminal 40 is equipped with a terminal-side control device 41, which functions as a work support unit 47 that sets support information so that a first forward run 53, a first backward run 54, and a second forward run 55 are performed in this order.

[0063] In other words, in the present invention, the method for supporting work of a work vehicle such as a combine harvester 1 having a reaping unit 3 (working unit) that works while traveling in a field includes a traveling step of performing first forward traveling 53 in which work is performed while moving forward in a first direction D1 in an unworked area 51 in the field, first backward traveling 54 in which work is performed backward in a previously worked area 52 formed by the first forward traveling 53, and second forward traveling 55 in which work is performed while moving forward in a direction intersecting with the first direction D1 toward an unworked area 51 adjacent to the previously worked area 52 in a direction perpendicular to the first direction D1 (second direction D2). During the traveling step, the reaping unit 3 is automatically tilted so that one side of the reaping unit 3 is higher in the vehicle width direction of the combine harvester 1 when performing second forward traveling 55.

[0064] As a result, even if the ground is raised or discarded straw has fallen on one side of the machine body width direction, the combine harvester 1 can prevent the ground or discarded straw from getting caught on the harvester unit 3 by raising one side of the machine body width direction of the harvester unit 3 when performing the second forward travel 55. Therefore, when the combine harvester 1 enters the unworked land 51 during the second forward travel 55, it is possible to prevent the unworked land 51 from being damaged, such as by the mud or discarded straw caught by the harvester unit 3 pushing down the stalks in the unworked land 51.

[0065] Furthermore, according to the first embodiment, the travel control unit 35 performs the first forward travel 53 in the corner of the field.

[0066] As a result, when the combine harvester 1 makes a first forward run 53 at a corner of the field and then a second forward run 55, one side of the cutting unit 3 in the width direction of the body is raised, thereby preventing the cutting unit 3 from getting caught on the ground or discarded straw at the corner of the field and entering the unworked area 51.

[0067] According to the first embodiment, when the travel control unit 35 detects that one side of the reaping unit 3, which was raised when performing the second forward travel 55, has entered the unworked land 51, the travel control unit 35 automatically returns the inclination of the reaping unit 3 to its original state. Alternatively, the travel control unit 35 may automatically return the inclination of the reaping unit 3 to its original state just before one side of the reaping unit 3 enters the unworked land 51.

[0068] As a result, after tilting one side of the reaping section 3, it can be returned to the normal reaping height in the unworked land 51, and reaping work can be carried out at an appropriate tilt angle.

[0069] According to the first embodiment, when performing a second forward run 55 from a specified already-worked area 52 toward a specified unworked area 51, the travel control unit 35 automatically tilts the cutting unit 3 so that the side of the specified already-worked area 52 is higher as viewed from the specified unworked area 51.

[0070] This makes it possible to prevent the reaping unit 3 from getting caught on the ground that has piled up during the first forward travel 53 or on discarded straw from the harvested crops, and from entering the unworked land 51.

[0071] According to the first embodiment, the travel control unit 35 sets the tilt angle of the reaping unit 3 based on the turning angle when turning during the second forward travel 55 so as to face the unworked land 51.

[0072] As a result, the tilt angle of the cutting unit 3 is set based on the range that the cutting unit 3 will be caught in when turning during second forward travel 55, so that the cutting unit 3 can be tilted at the required angle.

[0073] Alternatively, according to the first embodiment, the travel control unit 35 sets the tilt angle of the reaping unit 3 based on the turning angle when turning in the first reverse travel 54 so as to face the unworked land 51.

[0074] As a result, the tilt angle of the cutting unit 3 is set based on the range in which the cutting unit 3 is caught up when the first reverse traveling vehicle 54 turns, so that the cutting unit 3 can be tilted by the required angle.

[0075] Alternatively, according to the first embodiment, the travel control unit 35 sets the tilt angle of the reaping unit 3 based on the length of the reaping unit 3 in the width direction of the combine harvester 1.

[0076] As a result, the tilt angle of the cutting unit 3 is set based on the range that the cutting unit 3 will reel in, which corresponds to the length of the cutting unit 3, so that the cutting unit 3 can be tilted at the required angle.

[0077] Furthermore, according to the first embodiment, the terminal-side control device 41 of the mobile terminal 40 functions as a route creation unit 48 that creates a first forward route 53b for automatically performing the first forward travel 53, a first backward route 54b for automatically performing the first backward travel 54, and a second forward route 55b for automatically performing the second forward travel 55. The route creation unit 48 creates the second forward route 55b so that unworked land 51 remains between the first forward route 53b and the second forward route 55b. The travel control unit 35 automatically tilts the reaping unit 3 so that one side is higher at the timing of switching from the first backward route 54b to the second forward route 55b.

[0078] As a result, when the combine harvester 1 performs automatic reaping travel, the reaping unit 3 is tilted so that one side is higher when the combine harvester 1 starts automatic travel on the second forward path 55b, so that even if the ground is raised or discarded straw has fallen on one side of the machine width direction, the combine harvester 1 can more reliably prevent the ground or discarded straw from getting caught on the reaping unit 3. Therefore, when the combine harvester 1 enters the unworked land 51 during the second forward travel 55 during automatic reaping travel, it can more reliably prevent the unworked land 51 from being damaged, such as by the mud or discarded straw caught by the reaping unit 3 pushing down the stalks in the unworked land 51.

[0079] In the first embodiment described above, the work support unit 47 sets support information to perform the first forward run 53, which performs mowing work while moving forward in the first direction D1, the first backward run 54, which moves backward through the already-worked area 52a formed by the first forward run 53, and the second forward run 55, which performs mowing work while moving forward in the second direction D2 toward the unworked area 51a adjacent to the already-worked area 52a in a direction intersecting the first direction D1, but the present invention is not limited to this example.

[0080] For example, in the second embodiment, the work support unit 47 may set the support information so that, after performing first forward travel 53, first backward travel 54, and second forward travel 55 as shown in FIGS. 6 and 7, the work support unit 47 performs second backward travel 57, which moves backward through previously worked land 52b formed by second forward travel 55, and third forward travel 58, which performs reaping work while moving forward in a direction intersecting with first direction D1 toward unworked land 51b remaining between previously worked land 52a of first forward travel 53 and previously worked land 52b of second forward travel 55, as shown in FIG. 11. Furthermore, the work support unit 47 sets the support information so that one side of the reaping unit 3 is tilted higher in the vehicle body width direction of the combine harvester 1 when performing not only second forward travel 55 but also third forward travel 58. In the second embodiment, a description of the same configuration as in the first embodiment will be omitted.

[0081] In the second embodiment, the travel control unit 35 performs a third forward travel 58 that is inside the first forward travel 53 and outside the second forward travel 55 in accordance with the support information, and controls the travel unit 2 to tilt one side of the reaping unit 3 higher during the second forward travel 55 and the third forward travel 58. In the manual travel mode, the work support unit 47 tilts one side of the reaping unit 3 by transmitting a tilt instruction to the combine harvester 1 based on the support information when the combine harvester 1 performs the second forward travel 55 and the third forward travel 58. For example, when the work support unit 47 detects, based on the position of the combine harvester 1 measured by the positioning unit 28, that the combine harvester 1 will perform the second forward travel 55 and the third forward travel 58 at a predetermined direction change position such as a corner or middle of a field, or when it detects a predetermined direction change operation of the steering unit 9 (for example, operation of a direction change switch, a series of shift operations, steering operation, etc.), the work support unit 47 transmits the tilt instruction to the combine harvester 1. In the automatic driving mode, the route creation unit 48 described later incorporates support information into the automatic driving route 79, causing one side of the cutting section 3 to tilt when the combine 1 performs the second forward run 55 and the third forward run 58.

[0082] 11, in the support information, second backward traveling 57 is set as a combination of straight traveling and turning traveling, and third forward traveling 58 is set as a combination of straight traveling and turning traveling with a turn toward unworked area 51b. Note that in this case, second backward traveling 57 may be set as straight traveling only, and third forward traveling 58 may be set as turning traveling with a gradual turn only, or may be set as a combination of straight traveling and a pivot turn with a turn.

[0083] Furthermore, when performing the third forward run 58, the work support unit 47 sets support information so that one side of the reaping unit 3 is higher, either the left or right side in the width direction of the machine body of the combine harvester 1. At this time, the work support unit 47 may set, as the support information, the side of the already worked land 52a formed by the first forward run 53 as the side (inclined side) on which the reaping unit 3 is to be raised, as viewed from the unworked land 51b toward which the third forward run 58 is headed.

[0084] In addition to tilt start position 56, work support unit 47 sets tilt start position 59 of reaping unit 3 at the start point of third forward travel 58 as support information, and automatically tilts reaping unit 3 at the timing when second reverse travel 57 is switched to third forward travel 58. Third forward travel 58 should be performed with the edge of unworked land 51b aligned with the other side of reaping unit 3. Note that work support unit 47 sets the support information so that during second reverse travel 57, when no reaping travel is performed, reaping unit 3 is controlled to the height of the standby position.

[0085] In the second embodiment, the route creation unit 48 also creates an automatic travel route 79 to incorporate the support information set by the work support unit 47. That is, the route creation unit 48 creates the automatic travel route 79 to include a first forward route 53b, a first backward route 54b, a second forward route 55b, a second backward route (not shown), and a third forward route (not shown) for automatically performing the first forward travel 53, the first backward travel 54, the second forward travel 55, the second backward travel 57, and the third forward travel 58 of the support information. Furthermore, the route creation unit 48 sets the tilt start positions 56 and 59 of the support information set by the work support unit 47 to the corresponding positions on the automatic travel route 79. Furthermore, the route creation unit 48 sets the tilt side of the support information for tilting the reaping unit 3 in association with the tilt start positions 56 and 59, and also sets the tilt angle of the support information.

[0086] Furthermore, in the second embodiment as well, when the manual driving mode is set, the display control unit 49 displays the support information set by the work support unit 47 in the map field 61 of the support screen 60. For example, the display control unit 49 displays, in the map field 61, support routes corresponding to first forward driving 53, first reverse driving 54, second forward driving 55, second reverse driving 57, and third forward driving 58 in a distinguishable manner with respect to turning positions such as corners of the field. The display control unit 49 also displays, in the map field 61, tilt position indicators 56a and the like corresponding to tilt start positions 56, 59 of the support information set by the work support unit 47 to tilt the reaping unit 3.

[0087] Also in the second embodiment, when the automatic driving mode is set, the display control unit 49 displays the support information set by the work support unit 47 in the map field 71 of the work screen 70. For example, the display control unit 49 distinguishably displays the first forward path 53b, the first backward path 54b, the second forward path 55b, the second backward path, and the third forward path corresponding to the first forward path 53, the first backward path 54, the second forward path 55, the second backward path 57, and the third forward path 58 in the automatic driving route 79 displayed in the map field 71. Furthermore, the display control unit 49 displays, in the map field 71, tilt position indicators 56b and the like corresponding to the tilt start positions 56, 59 of the support information set by the work support unit 47 to tilt the reaping unit 3.

[0088] As described above, according to the second embodiment, in the combine harvester 1, the path creation unit 48 creates a second reverse path (not shown) for automatically performing second reverse travel 57, which involves traveling backward along the second forward path 55b, and a third forward path (not shown) for automatically performing third forward travel 58, which involves working while moving forward in the unworked land 51 between the first forward path 53b and the second forward path 55b. The travel control unit 35 automatically tilts the reaping unit 3 so that one side is higher when switching from the second reverse path to the third forward path.

[0089] As a result, when the combine harvester 1 performs automatic reaping travel, the reaping unit 3 is tilted so that one side is higher when automatic travel on the third forward path begins, so that even if the ground is raised or discarded straw has fallen on one side of the machine width direction, the combine harvester 1 can more reliably prevent the ground or discarded straw from getting caught on the reaping unit 3. Therefore, when the combine harvester 1 enters the unworked land 51 during the third forward travel 58 during automatic reaping travel, it can more reliably prevent the unworked land 51 from being damaged, such as by the mud or discarded straw caught by the reaping unit 3 pushing down the stalks in the unworked land 51.

[0090] In the second embodiment described above, the combine harvester 1 performs the reaping operation on the unworked land 51 by three runs, namely, the first forward run 53, the second forward run 55, and the third forward run 58, at a predetermined direction change position such as a corner or the middle of the field, but the present invention is not limited to this example. For example, in another example, the combine harvester 1 may perform the reaping operation on the unworked land 51 by four or more runs at a direction change position in the field, by adding a fourth forward run and a fifth forward run to the first forward run 53, the second forward run 55, and the third forward run 58.

[0091] On the other hand, in the third embodiment, as shown in FIG. 12 , the work support unit 47 may set the support information so that, after performing first forward travel 53 and first backward travel 54, the work support unit 47 performs second forward travel 55, in which the combine harvester 1 performs mowing while advancing in a direction intersecting the first direction D1 from a previously worked area 52a formed by the first forward travel 53 toward an adjacent unworked area 51c without leaving a gap therebetween. Furthermore, as shown in FIG. 13 , the work support unit 47 may set the support information so that, after the second forward travel 55, the work support unit 47 performs second backward travel 57, in which the combine harvester 1 performs mowing while advancing in a direction intersecting the first direction D1 toward an adjacent unworked area 51d without leaving a gap therebetween. Furthermore, the work support unit 47 sets the support information so that, not only the second forward travel 55 but also the third forward travel 58 are performed, one side of the mowing unit 3 is tilted higher in the vehicle width direction of the combine harvester 1. In the third embodiment, a description of the same configuration as in the first embodiment will be omitted.

[0092] In the third embodiment, the travel control unit 35 performs a second forward travel 55 inside the first forward travel 53 and a third forward travel 58 further inside the second forward travel 55 in accordance with the support information, and controls the travel unit 2 to tilt one side of the reaping unit 3 highly during the second forward travel 55 and the third forward travel 58. In the manual travel mode, the work support unit 47 tilts one side of the reaping unit 3 by transmitting a tilt instruction to the combine harvester 1 based on the support information when the combine harvester 1 performs the second forward travel 55 and the third forward travel 58. For example, when the work support unit 47 detects, based on the position of the combine harvester 1 measured by the positioning unit 28, that the combine harvester 1 will perform the second forward travel 55 and the third forward travel 58 at a predetermined direction change position such as a corner or middle of a field, or when it detects a predetermined direction change operation of the steering unit 9 (for example, operation of a direction change switch, a series of shift operations, steering operation, etc.), the work support unit 47 transmits the tilt instruction to the combine harvester 1. In the automatic driving mode, the route creation unit 48 described later incorporates support information into the automatic driving route 79, causing one side of the cutting section 3 to tilt when the combine 1 performs the second forward run 55 and the third forward run 58.

[0093] In the support information, as shown in Fig. 12, second forward travel 55 is set to be a combination of turning travel that changes direction into unworked land 51c followed by straight travel. Note that second forward travel 55 in this case may be set to be only turning travel that changes direction gradually, or may be set to be a combination of a pivot turn that changes direction and straight travel.

[0094] 13, second reverse traveling 57 is set to a combination of straight traveling and turning traveling, and third forward traveling 58 is set to a combination of turning traveling that changes direction to unworked land 51d followed by straight traveling. Note that in this case, second reverse traveling 57 may be set to only straight traveling, and third forward traveling 58 may be set to only turning traveling that gradually changes direction, or may be set to a combination of straight traveling and pivot turning that changes direction.

[0095] Furthermore, when performing second forward travel 55 and third forward travel 58, work support unit 47 sets support information so that one side of reaping unit 3 is higher, either the left or right side in the width direction of the combine harvester 1. At this time, in the case of second forward travel 55, work support unit 47 sets the side of already-worked land 52a formed by first forward travel 53 as the side on which reaping unit 3 is raised (the inclined side) as seen from unworked land 51c toward which second forward travel 55 is headed, and in the case of third forward travel 58, it may set the side of already-worked land 52c formed by first forward travel 53 as the inclined side as seen from unworked land 51d toward which third forward travel 58 is headed.

[0096] Work support unit 47 sets tilt start position 56 of mowing unit 3 at the start point of second forward travel 55 as support information, and automatically tilts mowing unit 3 at the timing when first reverse travel 54 switches to second forward travel 55, and also sets tilt start position 59 of mowing unit 3 at the start point of third forward travel 58, and automatically tilts mowing unit 3 at the timing when second reverse travel 57 switches to third forward travel 58. Note that work support unit 47 sets support information so that during second backward travel 57, when mowing travel is not being performed, mowing unit 3 is controlled to the height of the standby position.

[0097] In the third embodiment, the route creation unit 48 also creates an automatic travel route 79 to incorporate the support information set by the work support unit 47. That is, the route creation unit 48 creates the automatic travel route 79 to include a first forward route 53b, a first backward route 54b, a second forward route 55b, a second backward route (not shown), and a third forward route (not shown) for automatically performing the first forward travel 53, the first backward travel 54, the second forward travel 55, the second backward travel 57, and the third forward travel 58 of the support information. Furthermore, the route creation unit 48 sets the tilt start positions 56 and 59 of the support information set by the work support unit 47 to the corresponding positions on the automatic travel route 79. Furthermore, the route creation unit 48 sets the tilt side of the support information for tilting the reaping unit 3 in association with the tilt start positions 56 and 59, and also sets the tilt angle of the support information.

[0098] Furthermore, in the third embodiment as well, when the manual driving mode is set, the display control unit 49 displays the support information set by the work support unit 47 in the map field 61 of the support screen 60. For example, the display control unit 49 displays, in the map field 61, support routes corresponding to first forward driving 53, first reverse driving 54, second forward driving 55, second reverse driving 57, and third forward driving 58 in a distinguishable manner with respect to turning positions such as corners of the field. The display control unit 49 also displays, in the map field 61, tilt position indicators 56a and the like corresponding to tilt start positions 56, 59 of the support information set by the work support unit 47 to tilt the reaping unit 3.

[0099] Also in the third embodiment, when the automatic driving mode is set, the display control unit 49 displays the support information set by the work support unit 47 in the map field 71 of the work screen 70. For example, the display control unit 49 displays routes corresponding to the first forward driving 53, the first reverse driving 54, the second forward driving 55, the second reverse driving 57, and the third forward driving 58 in an identifiable manner in the automatic driving route 79 displayed in the map field 71. Furthermore, the display control unit 49 displays in the map field 71 tilt position indicators 56b and the like corresponding to the tilt start positions 56, 59 of the support information set by the work support unit 47 to tilt the reaping unit 3.

[0100] In the third embodiment described above, the combine harvester 1 performs the reaping operation on the unworked land 51 by three runs, namely, the first forward run 53, the second forward run 55, and the third forward run 58, at a predetermined direction change position such as a corner or the middle of the field, but the present invention is not limited to this example. For example, in another example, the combine harvester 1 may perform the reaping operation on the unworked land 51 by four or more runs at a direction change position in the field, by adding a fourth forward run and a fifth forward run to the first forward run 53, the second forward run 55, and the third forward run 58.

[0101] In the above-described embodiments, in second forward travel 55 and third forward travel 58, in which the mowing operation is performed while advancing in a direction intersecting first direction D1 toward unworked land 51 adjacent to worked land 52 in a direction perpendicular to first direction D1 of first forward travel 53, an example has been described in which work support unit 47 sets the side of worked land 52 as one side (slope side) for raising mowing unit 3, assuming that discarded straw has fallen or the ground is raised in worked land 52. However, the present invention is not limited to this example. For example, in second forward travel 55 and third forward travel 58, if it is necessary to raise mowing unit 3 in unworked land 51 because the ground is raised in unworked land 51, the work support unit 47 may set the side of unworked land 51 as one side (slope side) for raising mowing unit 3.

[0102] In the above-described embodiments, an example has been described in which, during second forward travel 55 or third forward travel 58, work support unit 47 sets one side to raise and tilt reaping unit 3, and travel control unit 35 raises and tilts that side of reaping unit 3, but the present invention is not limited to this example. For example, during second forward travel 55 or third forward travel 58, work support unit 47 may set a predetermined height to raise the entire reaping unit 3, and travel control unit 35 may raise the entire reaping unit 3 to the predetermined height.

[0103] In each of the above-described embodiments, an example has been described in which the pair of left and right rolling mechanisms 12 of the traveling unit 2 tilts the reaping unit 3 relative to the field surface, but the present invention is not limited to this example. For example, in another example, the combine harvester 1 may tilt the reaping unit 3 relative to the field surface using a device that moves the reaping unit 3, such as a lifting device that raises and lowers the reaping unit 3 relative to the machine frame 10. For example, if the lifting device is configured to simultaneously drive a pair of left and right hydraulic cylinders to raise and lower the reaping unit 3, one hydraulic cylinder may be driven to control the elevation of one side of the reaping unit 3, or the other hydraulic cylinder may be driven to control the elevation of the other side of the reaping unit 3.

[0104] In the above embodiment, an example of the combine harvester 1 configured as a head-feeding combine harvester has been described, but the present invention is not limited to this example, and the combine harvester 1 may also be configured as a full-type combine harvester.

[0105] Furthermore, in the above embodiment, an example has been described in which the work vehicle is configured as a combine harvester 1, but the present invention is not limited to this example. For example, the work vehicle of the present invention may be configured as another agricultural work machine that harvests crops, or may be configured as a work vehicle other than an agricultural work machine.

[0106] Furthermore, the present invention can be modified as appropriate within the scope that does not contradict the gist or idea of ​​the invention that can be read from the claims and the entire specification, and the automated driving method, work vehicle, and automated driving method that involve such modifications are also included in the technical idea of ​​the present invention.

[0107] [Appendix to the invention] The following is a summary of the invention extracted from the above-described embodiment. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0108] <Appendix 1> A work assistance method for a work vehicle having a working unit that performs work while traveling in a field, comprising: a first forward travel in which work is performed while moving forward in a first direction in an unworked area of ​​the field; a first reverse travel in which the vehicle travels backward through the work area formed by the first forward travel; a second forward travel in which work is performed while moving forward in a direction intersecting the first direction toward an unworked area adjacent to the already-worked area in a direction perpendicular to the first direction, A work support method characterized in that the traveling process automatically tilts the working unit so that one side of the working unit is higher in the body width direction of the work vehicle when performing the second forward traveling.

[0109] <Appendix 2> The work support method described in Appendix 1, wherein the traveling step includes performing the first forward traveling in a corner of the field.

[0110] <Appendix 3> The work support method described in Appendix 1 or 2, wherein the traveling process automatically returns the inclination of the working unit to its original position when it detects that one side of the working unit, which was raised when performing the second forward traveling, has entered an unworked area.

[0111] <Appendix 4> The work support method described in any one of appendices 1 to 3, characterized in that the traveling process, when performing the second forward traveling from a predetermined already-worked area toward a predetermined unworked area, automatically tilts the working unit so that the side of the predetermined already-worked area is higher as viewed from the predetermined unworked area.

[0112] <Appendix 5> The work support method described in any one of appendices 1 to 4, characterized in that the traveling process sets the inclination angle of the working unit based on the turning angle when turning during the second forward traveling so as to face an unworked area.

[0113] <Appendix 6> The work support method according to any one of appendices 1 to 4, characterized in that the travel step sets the inclination angle of the working unit based on the turning angle when turning in the first reverse travel so as to face an unworked area.

[0114] <Appendix 7> 5. A work support method according to any one of claims 1 to 4, wherein the travel step sets an inclination angle of the working unit based on the length of the working unit in the width direction of the body of the work vehicle.

[0115] <Appendix 8> The method further includes a path creation step of creating a first forward path for automatically performing the first forward traveling, a first backward traveling path for automatically performing the first backward traveling, and a second forward traveling path for automatically performing the second forward traveling, the path creation step creates the second forward path so as to leave an unworked area between the first forward path and the second forward path, The work support method according to any one of appendices 1 to 7, wherein the traveling step automatically tilts the working unit so that the one side is higher at the timing of switching from the first reverse path to the second forward path.

[0116] <Appendix 9> The path creation step creates a second backward path for automatically performing a second backward traveling along the second forward path, and a third forward path for automatically performing a third forward traveling for working while moving forward in an unworked area between the first forward path and the second forward path, 9. The work assistance method according to claim 8, wherein the traveling step automatically tilts the working unit so that the one side is higher at the timing of switching from the second reverse path to the third forward path.

[0117] <Appendix 10> A work vehicle, a working unit that performs work while traveling in a field; a first forward travel in which work is performed while moving forward in a first direction in an unworked area of ​​the field; a first reverse travel in which the vehicle travels backward through the work area formed by the first forward travel; a travel control unit that performs second forward travel, in which the robot works while moving forward in a direction intersecting the first direction toward an unworked area adjacent to the already-worked area in a direction perpendicular to the first direction; A work vehicle characterized in that, when performing the second forward travel, the travel control unit automatically tilts the working unit so that one side of the working unit is higher in the body width direction of the work vehicle.

[0118] <Appendix 11> 11. The work vehicle according to claim 10, wherein the travel control unit performs the first forward travel around a corner of the field.

[0119] <Appendix 12> The work vehicle described in Appendix 10 or 11, characterized in that the travel control unit automatically returns the inclination of the working unit to its original position when it detects that one side of the working unit, which was raised when performing the second forward travel, has entered an unworked area.

[0120] <Appendix 13> The work vehicle described in any one of Appendices 10 to 12, characterized in that when performing the second forward travel from a predetermined work site toward a predetermined unworked site, the travel control unit automatically tilts the working unit so that the side of the predetermined work site is higher as viewed from the predetermined unworked site.

[0121] <Appendix 14> The work vehicle described in any one of appendices 10 to 13, characterized in that the travel control unit sets the tilt angle of the working unit based on the turning angle when turning during the second forward travel so as to face an unworked area.

[0122] <Appendix 15> The work vehicle described in any one of appendices 10 to 13, characterized in that the travel control unit sets the tilt angle of the working unit based on the turning angle when turning in the first reverse travel mode so as to face an unworked area.

[0123] <Appendix 16> 14. The work vehicle according to any one of claims 10 to 13, wherein the travel control unit sets the tilt angle of the working unit based on the length of the working unit in the width direction of the body of the work vehicle.

[0124] <Appendix 17> further comprising a path creation unit that creates a first forward path for automatically performing the first forward traveling, a first backward path for automatically performing the first backward traveling, and a second forward path for automatically performing the second forward traveling, the path creation unit creates the second forward path so as to leave an unworked area between the first forward path and the second forward path, The work vehicle described in any one of appendices 10 to 16, wherein the travel control unit automatically tilts the working unit so that the one side is higher at the timing of switching from the first reverse path to the second forward path.

[0125] <Appendix 18> the path creation unit creates a second backward path for automatically performing a second backward traveling along the second forward path, and a third forward path for automatically performing a third forward traveling for working while moving forward in an unworked area between the first forward path and the second forward path, 18. The work vehicle described in claim 17, wherein the travel control unit automatically tilts the working unit so that the one side is higher at a timing when the work vehicle switches from the second reverse path to the third forward path.

[0126] <Appendix 19> A work assistance system for a work vehicle having a working unit that performs work while traveling in a field, a first forward travel in which work is performed while moving forward in a first direction in an unworked area of ​​the field; a first reverse travel in which the vehicle travels backward through the work area formed by the first forward travel; a travel control unit that performs second forward travel, in which the robot works while moving forward in a direction intersecting the first direction toward an unworked area adjacent to the already-worked area in a direction perpendicular to the first direction; A work assistance system characterized in that, when performing the second forward travel, the travel control unit automatically tilts the working unit so that one side of the working unit is higher in the body width direction of the work vehicle.

[0127] <Appendix 20> The work support system described in Appendix 19, wherein the travel control unit performs the first forward travel toward a corner of the field.

[0128] <Appendix 21> The work assistance system described in Appendix 19 or 20, wherein the travel control unit automatically returns the inclination of the working unit to its original position when detecting that one side of the working unit, which was raised when performing the second forward travel, has entered an unworked area.

[0129] <Appendix 22> The work support system described in any one of Appendices 19 to 21, characterized in that when performing the second forward travel from a predetermined already-worked area toward a predetermined unworked area, the travel control unit automatically tilts the working unit so that the side of the predetermined already-worked area is higher as viewed from the predetermined unworked area.

[0130] <Appendix 23> The work support system according to any one of appendices 19 to 22, characterized in that the travel control unit sets the inclination angle of the working unit based on the turning angle when turning during the second forward travel so as to face an unworked area.

[0131] <Appendix 24> The work support system according to any one of appendices 19 to 22, wherein the travel control unit sets the inclination angle of the working unit based on the turning angle when turning in the first reverse travel mode so as to face an unworked area.

[0132] <Appendix 25> 23. The work support system according to any one of claims 19 to 22, wherein the travel control unit sets the tilt angle of the working unit based on the length of the working unit in the width direction of the work vehicle.

[0133] <Appendix 26> further comprising a path creation unit that creates a first forward path for automatically performing the first forward traveling, a first backward path for automatically performing the first backward traveling, and a second forward path for automatically performing the second forward traveling, the path creation unit creates the second forward path so as to leave an unworked area between the first forward path and the second forward path, The work assistance system according to any one of claims 19 to 25, wherein the travel control unit automatically tilts the working unit so that the one side is higher at the timing of switching from the first reverse path to the second forward path.

[0134] <Appendix 27> the path creation unit creates a second backward path for automatically performing a second backward traveling along the second forward path, and a third forward path for automatically performing a third forward traveling for working while moving forward in an unworked area between the first forward path and the second forward path, 27. The work assistance system of claim 26, wherein the travel control unit automatically tilts the working unit so that the one side is higher at a timing when the working unit switches from the second reverse path to the third forward path. [Explanation of symbols]

[0135] 1 Combine (work vehicle) 2 Running part 3 Reaping section 30 Control device 35 Driving control unit 40 Mobile Devices 41 Control device 46 Field Selection Section 47 Work Support Department 48 Route Creation Department 51, 51a, 51b, 51c, 51d Unworked land 52, 52a, 52b, 52c Existing work area 53 First forward run 54 First reverse run 55 Second forward run 57 Second reverse run 58 Third forward run 53b First advance route 54b First Reverse Route 55b Second advance route 79 Automated driving route

Claims

1. A work assistance method for a work vehicle having a working unit that performs work while traveling in a field, comprising: a first forward travel in which work is performed while moving forward in a first direction in an unworked area of ​​the field; a first backward travelling that travels backward through the work area formed by the first forward travelling; a second forward travel in which the work is carried out while moving forward in a direction intersecting the first direction toward an unworked area adjacent to the already-worked area in a direction perpendicular to the first direction, the traveling step automatically tilts the working unit so that one side of the working unit is higher in a machine body width direction of the work vehicle when the second forward traveling is performed, The work support method is characterized in that the traveling process automatically returns the inclination of the working unit to its original position when it detects that one side of the working unit, which was raised when performing the second forward traveling, has entered an unworked area.

2. 2. The work support method according to claim 1, wherein the traveling step includes performing the first forward traveling in a corner of the field.

3. The work support method according to claim 1 or 2, characterized in that the traveling process, when performing the second forward traveling from a predetermined already-worked area toward a predetermined unworked area, automatically tilts the working unit so that the side of the predetermined already-worked area is higher as viewed from the predetermined unworked area.

4. A work support method for a work vehicle having a working unit that performs work while traveling in a field, comprising: a first forward travel in which work is performed while moving forward in a first direction in an unworked area of ​​the field; a first backward travelling that travels backward through the work area formed by the first forward travelling; a second forward travel in which the work is carried out while moving forward in a direction intersecting the first direction toward an unworked area adjacent to the already-worked area in a direction perpendicular to the first direction, the traveling step automatically tilts the working unit so that one side of the working unit is higher in a machine body width direction of the work vehicle when the second forward traveling is performed, A work support method characterized in that the traveling step sets the inclination angle of the working unit based on the turning angle when turning during the second forward traveling so as to face an unworked area.

5. A work support method for a work vehicle having a working unit that performs work while traveling in a field, comprising: a first forward travel in which work is performed while moving forward in a first direction in an unworked area of ​​the field; a first backward travelling that travels backward through the work area formed by the first forward travelling; a second forward travel in which the work is carried out while moving forward in a direction intersecting the first direction toward an unworked area adjacent to the already-worked area in a direction perpendicular to the first direction, the traveling step automatically tilts the working unit so that one side of the working unit is higher in a machine body width direction of the work vehicle when the second forward traveling is performed, A work support method characterized in that the traveling step sets the tilt angle of the working unit based on the turning angle when turning during the first reverse traveling so as to face an unworked area.

6. 3. The work support method according to claim 1, wherein the travel step sets an inclination angle of the working unit based on the length of the working unit in the width direction of the work vehicle.

7. The method further includes a path creation step of creating a first forward path for automatically performing the first forward traveling, a first backward traveling path for automatically performing the first backward traveling, and a second forward traveling path for automatically performing the second forward traveling, the path creation step creates the second forward path so as to leave an unworked area between the first forward path and the second forward path, 3. The work support method according to claim 1, wherein the traveling step automatically tilts the working unit so that the one side is higher at the timing of switching from the first reverse path to the second forward path.

8. The path creation step includes: a second reverse path for automatically performing a second reverse traveling along the second forward path; a third forward travel path for automatically performing a third forward travel in which work is performed while moving forward in an unworked area between the first forward travel path and the second forward travel path; 8. The work support method according to claim 7, wherein the traveling step automatically tilts the working unit so that the one side is higher at the timing of switching from the second reverse path to the third forward path.

9. A work vehicle, a working unit that performs work while traveling in a field; a first forward travel in which work is performed while moving forward in a first direction in an unworked area of ​​the field; a first backward travelling that travels backward through the work area formed by the first forward travelling; a travel control unit that performs second forward travel, in which the robot works while moving forward in a direction intersecting the first direction toward an unworked area adjacent to the already-worked area in a direction perpendicular to the first direction; the travel control unit, when performing the second forward travel, automatically tilts the working unit so that one side of the working unit is higher in a machine body width direction of the work vehicle, The work vehicle is characterized in that the travel control unit automatically returns the inclination of the working unit to its original position when it detects that one side of the working unit, which was raised when performing the second forward travel, is entering an unworked area.

10. A work assistance system for a work vehicle having a working unit that performs work while traveling in a field, a first forward travel in which work is performed while moving forward in a first direction in an unworked area of ​​the field; a first backward travelling that travels backward through the work area formed by the first forward travelling; a travel control unit that performs second forward travel, in which the robot works while moving forward in a direction intersecting the first direction toward an unworked area adjacent to the already-worked area in a direction perpendicular to the first direction; the travel control unit, when performing the second forward travel, automatically tilts the working unit so that one side of the working unit is higher in a machine body width direction of the work vehicle, The work assistance system is characterized in that the travel control unit automatically returns the inclination of the working unit to its original position when it detects that one side of the working unit, which was raised when performing the second forward travel, has entered an unworked area.

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