Autonomous driving method

Abstract

To provide an automated travelling method, a work vehicle, and an automated travelling system capable of improving workability by simplifying operations.SOLUTION: A combine 1 includes a control device 50, and the control device 50 functions as an automated travelling unit 55 and a switching unit 57. The automated travelling unit 55 executes automated travelling of the combine 1 in automated straight travelling work. The switching unit 57 switches the automated travelling of the combine 1 to manual travelling upon detection of a shift from an unreaped area to a reaped area during the automated travelling.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to an automatic driving method that allows switching between manual driving and automatic driving. [Background technology]

[0002] BACKGROUND ART Conventionally, some work vehicles such as combine harvesters are configured to be capable of manual driving in response to the operation of a handle or the like, while others are configured to be capable of automatic driving based on a preset driving route or the like.

[0003] For example, the agricultural machine disclosed in Patent Document 1 is equipped with a traveling body that can be switched between manual traveling using manual steering and automatic traveling using automatic steering along a set traveling line that is set parallel to a reference traveling line, and a changeover switch that can be switched between manual traveling and automatic traveling. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2017-123803 Summary of the Invention [Problem to be solved by the invention]

[0005] In the conventional work vehicle described above, switching from automatic to manual driving may involve changing the driving state or working state during automatic driving to another state. In this case, in addition to switching to manual driving using the above-mentioned selector switch, it is necessary to perform an operation to change the driving state or working state, making the operation complicated. For example, when a work vehicle works one step in an unmowed area to the end using automatic driving and then moves to another step, it is necessary to control the lifting of the work equipment from the working position to the standby position. Therefore, in addition to switching from automatic to manual driving, it is necessary to lift the work equipment, and it may also be necessary to perform a turning operation or a gear change operation. In such a case, the operator must perform complex operations at the end of the step, which places a burden on the operator and reduces workability.

[0006] An object of the present invention is to provide an automated driving method, a work vehicle, and an automated driving system that can simplify operation and improve workability. [Means for solving the problem]

[0007] In order to solve the above problems, the automatic driving method of the present invention is an automatic driving method for a work vehicle equipped with a work machine, and is characterized by having an automatic driving process for performing automatic driving of the work vehicle in an automatic straight-line operation, and a switching process for switching the automatic driving of the work vehicle to manual driving when a transition from an unworked area to an already worked area is detected during the execution of the automatic driving.

[0008] In addition, in order to solve the above problems, the work vehicle of the present invention is a work vehicle equipped with a work machine, and is characterized by comprising an automatic driving unit that performs automatic driving of the work vehicle by performing automatic straight-line driving work along a predetermined set driving line, and a switching unit that switches the automatic driving of the work vehicle to manual driving when a transition from an unworked area to an already worked area is detected during the execution of the automatic driving.

[0009] In addition, in order to solve the above problems, the automatic driving system of the present invention is an automatic driving system for a work vehicle equipped with a work machine, and is characterized by comprising an automatic driving unit that performs automatic driving of the work vehicle by automatic straight-line operation along a predetermined set driving line, and a switching unit that switches the automatic driving of the work vehicle to manual driving when a transition from an unworked area to an already worked area is detected during the execution of the automatic driving. [Effects of the Invention]

[0010] According to the present invention, an automatic driving method, a work vehicle, and an automatic driving system are provided that can simplify operation and improve workability. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a side view of an example in which a reaping unit of a combine harvester according to an embodiment of a work vehicle of the present invention is disposed at a working position. [Figure 2] 1 is a side view of an example in which a reaping unit of a combine harvester according to an embodiment of a work vehicle of the present invention is placed in a standby position. [Figure 3] 1 is a plan view of a steering section of a combine harvester according to one embodiment of a work vehicle of the present invention. FIG. [Figure 4] FIG. 2 is a front view of a portion of a main shift lever of a combine harvester according to one embodiment of the work vehicle of the present invention. [Figure 5] 1 is a block diagram of a combine harvester according to an embodiment of a work vehicle of the present invention. [Figure 6] 4 is a flowchart showing an example of a traveling operation of a combine harvester according to an embodiment of the work vehicle of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0012] A combine harvester 1 will be described as a work vehicle according to an embodiment of the present invention with reference to Figures 1 and 2. The combine harvester 1 travels through a field to be worked on, either automatically or manually, and performs tasks such as reaping to harvest crops from stalks planted in the field. The combine harvester 1 is configured to perform, for example, automatic operation (automatic straight-line operation) in which steering is controlled by automatic operation, while controlling the traveling speed 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 the field.

[0013] 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 be manually driven in response to the operation of the control unit 9 by an operator.

[0014] On the other hand, when the automatic travel mode is set, the combine harvester 1 is configured to perform automatic straight-line operation, in which the combine harvester automatically travels along a set travel line parallel to a predetermined reference travel line while automatically reaps, and automatic reap operation, in which the combine harvester automatically travels along a preset travel route while automatically reaps. The set travel line and travel route are created by a mobile terminal 60 (see FIG. 5) that can communicate with the combine harvester 1, and the combine harvester 1 receives the set travel line and travel route from the mobile terminal 60.

[0015] As shown in Figures 1 and 2, the combine harvester 1 is a so-called standard combine harvester, and includes a traveling section 2, a reaping section 3, 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. The combine harvester 1 travels on the traveling section 2, threshers 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, the reaping section 3, the threshing section 4, the sorting section 5, the storage section 6, and the straw waste processing section 7 using power supplied by the power section 8.

[0016] The traveling unit 2 is provided below the machine frame 10 and includes a pair of left and right crawler-type traveling devices 11 and a transmission (not shown). The traveling unit 2 rotates the crawlers of the crawler-type traveling devices 11 using power (e.g., rotational power) transmitted from the engine 30 of the power unit 8, causing the combine 1 to travel in the forward and backward directions and turn left and right. The transmission transmits the power (rotational power) of the power unit 8 to the crawler-type traveling devices 11 and can also change the speed of the rotational power.

[0017] The reaping unit 3 is a working machine that performs work on the target field. It is provided in front of the traveling unit 2 and reaps a predetermined reaping width of stalks in an unworked area of ​​the field that contains uncut stalks (hereinafter referred to as the "uncut area"). The reaping unit 3 includes a divider 13, a raking reel 14, a cutting blade 15, a raking auger 16, a feeder house 17, and a transport conveyor 18. The reaping unit 3 also includes a rotation detection unit 3a that detects the rotation speed (working speed) of the rotation work used to perform the reaping work (see FIG. 5). The rotation detection unit 3a is composed of a rotation sensor that detects, for example, the rotation speed of the raking reel 14, the rotation speed of the raking auger 16, and the rotation speed of the transport conveyor 18.

[0018] The dividers 13 are provided to protrude forward from the left and right front ends of the reaping unit 3 and guide the stalks in the unharvested area within the reaping width. The raking reel 14 is disposed behind the dividers 13 and is rotatable about a rotation axis extending in the left-right direction. The raking reel 14 is driven to rotate to assist in the reaping of the stalks guided by the dividers 13, thereby raising the stalks and raking in the tip side of the stalks. The cutting blade 15 is disposed below the raking reel 14 and cuts the base side of the stalks raked in by the raking reel 14 to reaper the stalks.

[0019] The raking auger 16 is disposed behind the raking reel 14 and the cutting blade 15 and is rotatable around a rotation axis extending in the left-right direction. When the raking auger 16 is driven to rotate, it raks in the stalks cut by the cutting blade 15 and transports them rearward.

[0020] The feeder house 17 extends forward from the machine frame 10, is disposed behind the raking auger 16, and is supported on the machine frame 10 so as to be able to rise and fall. When the feeder house 17 rises and falls, the divider 13, the raking reel 14, the cutting blade 15, and the raking auger 16 rise and fall, i.e., the reaping unit 3 rises and falls.

[0021] The combine harvester 1 is provided with a lifting device 19 on the machine frame 10 that raises and lowers the feeder house 17 and thereby raises and lowers the reaping unit 3 between a lower working position (see FIG. 1) and an upper standby position (see FIG. 2). The lifting device 19 is formed, for example, by a hydraulic cylinder or the like that is powered by the engine 30.

[0022] The transport conveyor 18 is rotatably provided inside the feeder house 17 and moves as the feeder house 17 moves up and down. By rotating, the transport conveyor 18 transports the stalks transported into the feeder house 17 by the raking auger 16 further rearward to the threshing section 4.

[0023] The threshing section 4 is provided behind the feeder house 17 of the reaping section 3, and threshes the stalks transported from the feeder house 17. The threshing section 4 includes a threshing drum 21 and a receiving net 22. The threshing drum 21 threshes the grains from the stalks transported from the feeder house 17, and transports the threshed grain stalks, i.e., waste straw, to the straw waste processing section 7. The receiving net 22 supports the stalks transported by the threshing drum 21, and sifts the grains to drop them.

[0024] The sorting section 5 is provided below the threshing section 4. The sorting section 5 is equipped with a oscillating sorting device 24, an air blowing sorting device 25, a grain conveying device (not shown), and a straw dust discharge device (not shown). The oscillating sorting device 24 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 25 further separates the threshed grains that have fallen from the threshing section 4 and the threshed grains that have been sorted by the oscillating sorting device 24 into grains, straw dust, etc. The grain conveying device transports the grains that have been sorted by the oscillating sorting device 24 and the air blowing sorting device 25 to the storage section 6. The straw dust discharge device discharges straw dust, etc. other than the grains that have been sorted by the oscillating sorting device 24 and the air blowing sorting device 25 outside the machine.

[0025] The storage section 6 is provided to the right of the threshing section 4. The storage section 6 includes a grain tank 27 and a grain discharge device 28. The grain tank 27 stores the grains transported from the sorting section 5. The grain discharge device 28 is configured with a discharge auger and the like, and performs the grain discharge operation, discharging the grains stored in the grain tank 27 to any desired location.

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

[0027] The power unit 8 is provided above the traveling unit 2 and below the storage unit 6. The power unit 8 is equipped with an engine 30 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 30 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. The combine 1 also has a fuel tank that stores fuel to be supplied to the engine 30 of the power unit 8.

[0028] The control unit 9 is provided above the power unit 8. As shown in FIG. 3 , the control unit 9 includes operating tools for operating the travel of the combine harvester 1, located around a driver's seat 32 where an operator sits. The operating tools include a steering wheel 33, which is a turning operating tool for instructing the body of the combine harvester 1 to turn, a main speed change lever 34 and an auxiliary speed change lever 35, which are speed change operating tools for instructing changes in the forward and backward speed of the combine harvester 1, and an override button 36 for switching the combine harvester 1 from automatic travel to manual travel. The combine harvester 1 is manually traveled by the travel unit 2, which receives operation of the steering wheel 33, the main speed change lever 34, and the auxiliary speed change lever 35 of the control unit 9. The control unit 9 also includes mechanisms for operating the reaping operation by the reaping unit 3, the threshing operation by the threshing unit 4, and the discharge operation by the grain discharge device 28 of the storage unit 6. The control unit 9 also includes a display unit (not shown), such as a monitor, for displaying and outputting various information to the operator.

[0029] The handle 33 transmits the operator's turning operation to the traveling unit 2 to change the direction of travel of the combine harvester 1, i.e., to turn the combine harvester 1. For example, when the combine harvester 1 is being manually driven, the traveling unit 2 constantly accepts the operator's turning operation of the handle 33. On the other hand, when the combine harvester 1 is being automatically driven, the traveling unit 2 normally does not accept the operator's turning operation of the handle 33, but will accept the handle 33 turning operation when a predetermined override operation is performed. The handle 33 has a margin of approximately ±5 degrees in the rotation direction, and is configured so that operations within this margin are not transmitted to the traveling unit 2. Note that the handle 33 margin is not limited to ±5 degrees and can be manually adjusted.

[0030] The main speed change lever 34 and the sub-speed change lever 35 transmit the speed change operation by the operator to the traveling part 2 to change the set traveling speed of the combine harvester 1. For example, when the manual traveling mode is set, if the main speed change lever 34 is in the central neutral position 37, the transmission is switched to neutral and the combine harvester 1 is stopped.

[0031] Furthermore, when the main speed change lever 34 is tilted into a forward speed change region 38 forward of the neutral position 37, it transmits the forward drive operation of the combine harvester 1 to the travel unit 2, and sets a forward drive set speed to the travel unit 2 based on the forward drive operation amount corresponding to the forward / rearward position of the main speed change lever 34 in the forward speed change region 38 and the set vehicle speed set via the mobile terminal 60. When the main speed change lever 34 is tilted forward within the forward speed change region 38, it increases the forward drive set speed. Conversely, when the main speed change lever 34 is tilted backward within the forward speed change region 38, it decreases the forward drive set speed. The forward drive set speed is set within a range of 0 to 100%, and different vehicle speeds can be set for manual drive and automatic drive. For example, if the set vehicle speed is 50% and the forward drive operation amount is 2 m / s, the forward drive set speed is set to 1 m / s. Note that the combine harvester 1 may set the main speed change lever 34 in the forward speed change region 38 as one of the conditions for starting automatic drive.

[0032] On the other hand, when the main speed change lever 34 is tilted into a reverse speed change region 39 rearward of the neutral position 37, it transmits the reverse travel operation of the combine 1 to the travel unit 2, and sets a reverse set speed in the travel unit 2 based on the amount of reverse operation corresponding to the fore-and-aft position of the main speed change lever 34 in the reverse speed change region 39 and the set vehicle speed set via the mobile terminal 60. When the main speed change lever 34 is tilted rearward within the range of the reverse speed change region 39, it increases the reverse set speed, and when it is tilted forward within the range of the reverse speed change region 39, it decreases the reverse set speed. The set reverse vehicle speed is set within a range of 0 to 100%, and different vehicle speeds can be set for manual travel and automatic travel.

[0033] The main speed change lever 34 also has various operation buttons, such as an autolift button 40, an autoset button 41, a mowing lift button 42, and a mowing clutch button 43, as shown in FIG.

[0034] When the autolift button 40 is operated, an autolift operation is transmitted to the reaping unit 3, and the reaping unit 3 is controlled to rise to the standby position in accordance with the autolift operation. When the autoset button 41 is operated, an autoset operation is transmitted to the reaping unit 3, and the reaping unit 3 is controlled to rise or fall to the working position in accordance with the autoset operation. Note that the standby position is initially set to a predetermined upper position, and the working position is initially set to a predetermined lower position, but the working position can be changed above or below the initial setting position in accordance with the operator's operation of the reaping lift button 42, etc.

[0035] When the mowing lift button 42 is operated, an up operation or a down operation is transmitted to the mowing unit 3, and the mowing unit 3 is controlled to be up while the mowing lift button 42 is operated to be up, and on the other hand, is controlled to be down while the mowing lift button 42 is operated to be down. When the mowing clutch button 43 is operated, an operation to transmit or cut off power to the mowing unit 3 is transmitted to the mowing unit 3, and power is transmitted to the mowing unit 3 in accordance with the transmission operation of the mowing clutch button 43, and on the other hand, power is cut off in accordance with the cut-off operation of the mowing clutch button 43.

[0036] 5, the combine harvester 1 is equipped with a positioning unit 45 that acquires position information (own vehicle position) of the combine harvester 1 using a satellite positioning system such as GPS. The positioning unit 45 receives a positioning signal from a positioning satellite via a positioning antenna, and acquires the position information of the positioning unit 45, i.e., the position information of the combine harvester 1, based on the positioning signal.

[0037] Next, the control device 50 of the combine harvester 1 will be described with reference to Fig. 5. The control device 50 is configured with a computer such as a CPU, and is connected to a storage unit 51 such as a ROM, RAM, hard disk drive, or flash memory, and a communication unit 52 that communicates with external devices.

[0038] The memory unit 51 stores programs and data for controlling the various components and functions of the combine harvester 1, and the control device 50 controls the various components and functions by executing arithmetic processing based on the programs and data stored in the memory unit 51. The control device 50 controls the positioning unit 45 to acquire position information of the combine harvester 1, for example.

[0039] The communication unit 52 is capable of wireless communication with external devices such as a mobile terminal 60 held by the worker via a wireless communication antenna. The control device 50 controls the communication unit 52 to perform wireless communication with the mobile terminal 60 and transmits and receives various information to and from the mobile terminal 60.

[0040] Furthermore, the control device 50 operates as an automatic driving unit 55, a work implement lifting unit 56, and a switching unit 57 by executing programs stored in the memory unit 51. The automatic driving unit 55, the work implement lifting unit 56, and the switching unit 57 realize the automatic driving step, the work implement lifting step, and the switching step of the automatic driving method according to the present invention. The control device 50 realizes a vehicle position detection step of detecting the vehicle position of the combine harvester 1 by measuring the position information of the combine harvester 1 using the positioning unit 45.

[0041] The automatic driving unit 55 controls the driving unit 2 and the reaping unit 3 to perform an automatic straight-line driving operation in which the combine harvester 1 automatically reaps while traveling automatically along a set driving line parallel to a predetermined reference driving line set for the field, or an automatic reaping driving operation in which the combine harvester automatically reaps while traveling automatically along a preset driving route. In this embodiment, an example of automatic straight-line driving operation will be described. For example, the automatic driving unit 55 acquires the set driving line from the mobile terminal 60, and based on the position information of the combine harvester 1 measured by the positioning unit 45, controls the power unit 8, the driving unit 2, and the reaping unit 3 to perform the automatic straight-line driving operation so that the combine harvester 1 performs automatic straight-line driving along the set driving line.

[0042] The work machine lifting unit 56 controls the lifting and lowering of the reaping unit 3, which is the work machine, in response to the lifting and lowering operation performed by the operating tool of the control unit 9. For example, when the reaping unit 3 is located below the standby position, the work machine lifting and lowering unit 56 transmits an autolift operation to the reaping unit 3 in response to operation of the autolift button 40, and controls the reaping unit 3 to rise to the standby position. When the reaping unit 3 is located above or below the working position, the work machine lifting and lowering unit 56 transmits an autoset operation to the reaping unit 3 in response to operation of the autoset button 41, and controls the reaping unit 3 to rise or lower to the working position. The work machine lifting and lowering unit 56 transmits an up operation or a down operation to the reaping unit 3 in response to operation of the reaping lifting and lowering button 42, and controls the reaping unit 3 to rise or lower to the working position.

[0043] The switching unit 57 realizes an override function that switches the combine harvester 1 between manual and automatic travel, and switches the automatic travel of the combine harvester 1 to manual travel when it detects that the combine harvester 1 has mowed an unmowed area (an unworked area) and moved from the unmowed area to a worked area (an worked area). The switching unit 57 switches the combine harvester 1 between manual and automatic travel based on operation of the override button 36 or lifting and lowering operation or lifting and lowering control of the reaping unit 3, and when the combine harvester 1 is traveling automatically, it detects a transition from the unmowed area to the worked area in response to operation of the override button 36 and switches the automatic travel of the combine harvester 1 to manual travel. The following describes the override function in which the switching unit 57 detects a transition from the unmowed area to the worked area in response to lifting and lowering operation or lifting and lowering control of the reaping unit 3 during automatic travel and switches the automatic travel of the combine harvester 1 to manual travel. For example, when the combine harvester 1 is performing automatic driving and the work implement lifting unit 56 performs a lifting operation of the cutting unit 3 or lifting control based on the lifting operation, the switching unit 57 detects a transition from an uncut area to a cut area and switches the combine harvester 1 from automatic driving to manual driving.

[0044] Here, the lifting operation may be a lifting operation using the autolift button 40, and the switching unit 57 may switch the automatic travel of the combine harvester 1 to manual travel in response to the automatic lift operation of the autolift button 40 or in response to the lift control of the reaping unit 3 to a standby position based on the automatic lift operation. Alternatively, the lifting operation may be a lifting operation using the reaping lift button 42, and the switching unit 57 may switch the automatic travel of the combine harvester 1 to manual travel when the reaping unit 3 is controlled to be lifted to a predetermined height or higher by the lift operation of the reaping lift button 42. In this way, the switching unit 57 switches the automatic travel of the combine harvester 1 from manual travel when it can be determined that the combine harvester 1 has completed one stroke of the uncut area in automatic travel based on the lifting operation or lift control of the reaping unit 3, or when the end of the stroke work is detected by other means.

[0045] As a first operation example of the override function, if a predetermined operation, such as a turning operation or a gear change operation, using the operating tool of the control unit 9 is not performed for a predetermined time or a predetermined distance after the switching unit 57 switches the combine harvester 1 from automatic traveling to manual traveling, the control device 50 may control the traveling unit 2 to slow down or stop the manual traveling of the combine harvester 1. On the other hand, if a predetermined operation is performed for a predetermined time or a predetermined distance, the control device 50 maintains the manual traveling of the combine harvester 1.

[0046] Here, the predetermined time or predetermined distance may be a value initially set in advance, or may be a value arbitrarily set in response to the operator's operation of the mobile terminal 60. The turning operation may be set to a turning operation when it is detected that the handlebars 33 are rotated by a predetermined angle threshold or more, or when it is detected that the turning radius is equal to or less than a predetermined radius threshold, and the gearshift operation may be set to a gearshift operation when it is detected that the main shift lever 34 is tilted in the forward speed change region 38 or in the reverse speed change region 39. Deceleration of manual traveling may be performed by gradually or stepwise reducing the traveling speed regardless of the position of the main shift lever 34. Stopping manual traveling may be performed by gradually or stepwise reducing the traveling speed until the traveling speed converges to zero regardless of the position of the main shift lever 34, or by switching the transmission to neutral or by stopping the engine 30.

[0047] The determination of whether a turning operation or a speed change operation has been performed for a predetermined time or a predetermined distance may be made by the control device 50, or may be made by the portable terminal 60, and the determination result may be transmitted to the control device 50. In addition, when the manual travel of the combine 1 is slowed down or stopped because a turning operation or a speed change operation has not been performed, the fact may be displayed on the display unit of the operating unit 9 or on the portable terminal 60 to notify the user.

[0048] As a second operation example of the override function, when an operation to raise the reaping unit 3 or an elevation control is performed while the combine harvester 1 is traveling automatically, the control device 50 may control the travel of the combine harvester 1 depending on whether the direction of travel of the combine harvester 1 is an unmowed area or a previously mowed area. For example, when an operation to raise the reaping unit 3 is performed while the combine harvester 1 is traveling automatically, if the area in front of the vehicle position of the combine harvester 1 is a previously mowed area, the work implement lifting unit 56 controls the reaping unit 3 to rise based on the elevation operation, and the switching unit 57 switches the automatic travel to manual travel. On the other hand, if the area in front of the vehicle position of the combine harvester 1 is an unmowed area, the control device 50 may stop the travel of the combine harvester 1 and, in this case, control the reaping unit 3 to rise based on the elevation operation, or may not control the reaping unit 3 to rise regardless of the elevation operation.

[0049] Here, the control device 50 determines the position of the combine harvester 1 in the field based on the position information of the combine harvester 1 measured by the positioning unit 45, and also determines the direction of travel of the combine harvester 1. The control device 50 also determines whether the area ahead of the vehicle position of the combine harvester 1 is an unmowed area or a mowed area based on the unmowed area data and already-mowed area data in the field information held by the mobile terminal 60. Alternatively, the control device 50 may determine whether the area ahead of the vehicle position of the combine harvester 1 is an unmowed area or a mowed area by analyzing image data of the field taken by a camera provided on the combine harvester 1 or the mobile terminal 60. To stop traveling, the transmission may be switched to neutral, regardless of the position of the main shift lever 34, or the engine 30 may be stopped.

[0050] The determination of whether the area in front of the combine harvester 1's own position is an uncut area or a cut area may be made by the control device 50, or may be made by the mobile terminal 60, and the determination result may be transmitted to the control device 50. Furthermore, when the combine harvester 1 is to be stopped because the area in front of the combine harvester 1 is an uncut area, the fact may be displayed on the display unit of the control unit 9 or on the mobile terminal 60 to notify the user.

[0051] Next, in this embodiment, a return function will be described that switches the manual travel of the combine harvester 1 to automatic travel based on the lifting and lowering operation and lifting and lowering control of the reaping unit 3, which is the opposite of the override function described above. For example, when the combine harvester 1 sets a reference travel line for a field and performs automatic straight-line operation along a set travel line parallel to the reference travel line, the combine harvester 1 moves manually toward the edge of the unmowed area with the reaping unit 3 raised to the standby position.

[0052] At this time, as a first operation example of the return function, when the traveling direction of the combine harvester 1 is within a predetermined angle with respect to the traveling direction of the reference traveling line and a lowering operation or lowering control based on a lowering operation is performed to place the reaping unit 3 at the working position, the switching unit 57 switches from manual traveling to automatic traveling. On the other hand, when the traveling direction of the combine harvester 1 is not within the predetermined angle with respect to the traveling direction of the reference traveling line, the manual traveling of the combine harvester 1 is maintained regardless of the lowering operation or lowering control of the reaping unit 3.

[0053] Here, the predetermined angle may be a value that is initially set in advance, or may be a value that is arbitrarily set in response to operation of the mobile terminal 60 by the operator. The lowering operation may be a lowering operation using the autoset button 41, and the switching unit 57 may switch the manual traveling of the combine harvester 1 to automatic traveling in response to the autoset operation or in response to control of lowering of the reaping unit 3 to the working position based on the autoset operation. The lowering operation may also be a lowering operation using the reaping lift button 42, and the switching unit 57 may switch the manual traveling of the combine harvester 1 to automatic traveling when the reaping unit 3 is controlled to be lowered to the working position by operating the reaping lift button 42. In the switched-to automatic traveling, the automatic traveling unit 55 automatically travels straight along a set traveling line that is parallel to the reference traveling line. However, for example, the mobile terminal 60 may acquire position information of the combine harvester 1 measured by the positioning unit 45 from the combine harvester 1, and set the set traveling line based on the position information of the combine harvester 1 and the reference traveling line.

[0054] In addition, the determination of whether the direction of travel of the combine 1 is within a specified angle with respect to the direction of travel of the reference travel line may be made by the control device 50, or may be made by the mobile terminal 60, which may then transmit the determination result to the control device 50.

[0055] As a second operation example of the return function, the combine harvester 1 sets a recommended travel line parallel to the reference travel line for the uncut area. Then, when a lowering operation or lowering control based on a lowering operation is performed to position the reaping unit 3 at a working position and the switching unit 57 switches the combine harvester 1 from manual travel to automatic travel, the combine harvester 1 sets the recommended travel line as the set travel line if the combine harvester 1 is within a predetermined range from the recommended travel line in a direction perpendicular to the travel direction of the reference travel line. The automatic travel unit 55 performs automatic travel (automatic straight-line operation) along the set travel line, which is the recommended travel line. On the other hand, if the combine harvester 1 is not within the predetermined range from the recommended travel line, for example, the automatic travel unit 55 performs automatic travel (automatic straight-line operation) along the set travel line based on the vehicle position of the combine harvester 1.

[0056] Here, the recommended travel line may be set, for example, to a distance starting from the left rear end of the uncut area relative to the travel direction of the reference travel line. The predetermined range may be a value initially set in advance, or may be a value arbitrarily set in response to the operator's operation of the mobile terminal 60. The predetermined range may be set to several tens of centimeters depending on the width of the reaping unit 3 of the combine harvester 1; for example, if the width of the reaping unit 3 of the combine harvester 1 is 3 meters, the predetermined range may be set to approximately 50 cm.

[0057] The determination of whether the combine harvester 1 is within a predetermined range from the recommended driving line may be made by the control device 50, or may be made by the mobile terminal 60, with the determination result being transmitted to the control device 50. Furthermore, when a recommended driving line based on an unmowed area is set, the position of the combine harvester 1 and the recommended driving line may be displayed superimposed on a field map displayed on the display unit of the control unit 9 or the mobile terminal 60. Furthermore, in the automatic straight-line operation, the operator may be allowed to select whether to use a recommended driving line based on an unmowed area or a set driving line based on the position of the combine harvester 1; this selection may be made in advance before starting the automatic straight-line operation, or may be made when the recommended driving line is set.

[0058] The mobile terminal 60 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 60 may be provided in the control unit 9. In the present invention, the combine harvester 1 and the mobile terminal 60 form an automatic driving system.

[0059] 5, the portable terminal 60 includes a control device 61 configured by a computer such as a CPU, and the control device 61 is connected to a storage unit 62 such as a ROM, RAM, hard disk drive, or flash memory, and a communication unit 63 that communicates with external devices. The portable terminal 60 also includes a display unit such as a touch panel or monitor for displaying and outputting various information to the operator, and an input unit such as a touch panel or operation keys for receiving input operations of various information from the operator. For example, the portable terminal 60 displays on the display unit a screen (e.g., a home screen or a mode setting screen) that allows the operator to set the driving mode of the combine harvester 1 to either a manual driving mode or an automatic driving mode, and transmits the set driving mode to the combine harvester 1 in response to an operation by the operator.

[0060] The memory unit 62 stores programs and data for controlling the various components and functions of the mobile terminal 60, and the control device 61 controls the various components and functions of the mobile terminal 60 by executing calculations based on the programs and data stored in the memory unit 62. The memory unit 62 stores, for example, field information about the field on which the combine harvester 1 is to work. The field information includes the shape, size, and position information (coordinates, etc.) of the field edges that constitute the perimeter of the field, as well as the shape, size, and position information (coordinates, etc.) of the work area of ​​the field. The field information also includes unmowed area data and already-mowed area data for the field. The unmowed area data is initially set for the entire field, and the area where the combine harvester 1 has performed manual or automatic mowing is changed from unmowed area data to already-mowed area data.

[0061] The communication unit 63 is communicably connected to the communication unit 52 of the combine harvester 1 via a wireless communication antenna. The control device 61 controls the communication unit 63 to perform wireless communication with the combine harvester 1 and transmits and receives various information to and from the combine harvester 1.

[0062] The control device 61 of the mobile terminal 60 executes the programs stored in the memory unit 62 to operate as a reference driving line setting unit 65, a set driving line setting unit 66, a recommended driving line setting unit 67, and a work display unit 68. The reference driving line setting unit 65, the set driving line setting unit 66, the recommended driving line setting unit 67, and the work display unit 68 realize the reference driving line setting step, the set driving line setting step, the recommended driving line setting step, and the work display step of the automatic driving method according to the present invention.

[0063] The reference driving line setting unit 65 sets a reference driving line that indicates the driving direction for automatic straight-line operation of the combine harvester 1. In order to set a reference driving line consisting of a start point and an end point for the field, the reference driving line setting unit 65 is able to accept the setting of the start point and the end point in the field, and displays a reference driving line setting screen (not shown) on the display unit, on which the start point and the end point can be set, for example, when manually driving in the field.

[0064] When the reference travel line setting unit 65 receives the setting of the start point, it receives from the combine harvester 1 the position information of the combine harvester 1 measured at that time by the positioning unit 45 of the combine harvester 1, and sets the start point based on the position information. Also, when the reference travel line setting unit 65 receives from the combine harvester 1 the position information of the combine harvester 1 measured at that time by the positioning unit 45 of the combine harvester 1, and sets the end point based on the position information.

[0065] The set travel line setting unit 66 sets a set travel line parallel to the reference travel line based on the reference travel line. The set travel line setting unit 66 can accept the setting of the set travel line, and for example, displays a set travel line setting screen (not shown) on the display unit that allows the user to set and instruct the set travel line.

[0066] For example, when the set driving line setting unit 66 accepts the setting of the set driving line, it receives from the combine 1 the position information of the combine 1 measured by the positioning unit 45 of the combine 1 at that time, sets a straight line that is parallel to the reference driving line and passes through the position of the combine 1 as the set driving line, stores it in the memory unit 62, and also transmits it to the control device 50 of the combine 1.

[0067] The recommended driving line setting unit 67 sets a recommended driving line parallel to the reference driving line for the unmowed area of ​​the field. The recommended driving line setting unit 67 may set the recommended driving line so that automatic straight-line operation is performed starting from the edge of the unmowed area based on the unmowed area data of the field information. For example, the recommended driving line setting unit 67 sets a recommended driving line for a journey starting from the left rear edge of the unmowed area based on the driving direction of the reference driving line, stores it in the memory unit 62, and also transmits it to the control device 50 of the combine 1.

[0068] The work display unit 68 displays a work screen related to the automatic straight-line operation performed by the combine harvester 1 on the display unit. For example, the work display unit 68 displays a field map based on the field information on the work screen, and also displays unmowed areas and already-mowed areas based on the field information, superimposed on the field map. The work display unit 68 displays the reference driving line set by the reference driving line setting unit 65 superimposed on the field map, and when a set driving line is set by the set driving line setting unit 66, displays the set driving line superimposed on the field map. The work display unit 68 also receives, from the combine harvester 1, position information of the combine harvester 1 measured by the positioning unit 45 of the combine harvester 1, and displays a simulated diagram of the combine harvester 1 on the field map based on the position information of the combine harvester 1. Furthermore, when a recommended driving line is set by the recommended driving line setting unit 67, the work display unit 68 displays the recommended driving line superimposed on the field map together with the set driving line.

[0069] Next, an example of the operation of the override function of the combine harvester 1 will be described with reference to the flowchart of FIG.

[0070] First, the operator operates the portable terminal 60 of the combine harvester 1 to set a reference travel line indicating the travel direction of the combine harvester 1 in the automatic straight-ahead operation using the reference travel line setting unit 65 (step S1).

[0071] The operator manually drives the combine harvester 1 to the edge of the uncut area of ​​the field, then operates the autoset button 41 or the reaping lift button 42 to lower the reaping unit 3 to the working position using the work machine lift unit 56, and also operates the mobile terminal 60 to instruct the setting of a set travel line. Then, the set travel line setting unit 66 of the mobile terminal 60 sets a set travel line parallel to the reference travel line (step S2).

[0072] When the worker operates the portable terminal 60 to instruct the automatic straight-line operation, an instruction to start the automatic straight-line operation and a set travel line are transmitted from the portable terminal 60 to the combine harvester 1. When the control device 50 of the combine harvester 1 receives the instruction to start the automatic straight-line operation and the set travel line from the portable terminal 60, the automatic travel unit 55 controls the combine harvester 1 to perform the automatic straight-line operation along the set travel line (step S3).

[0073] When the automatic straight-line operation for one stroke of the set travel line is completed, the operator operates the autolift button 40 or the reaper lift button 42 to raise the reaper unit 3 to the standby position using the work machine lift unit 56 (step S4: Yes).Then, the switching unit 57 of the control device 50 detects the transition from the unmowed area to the already-mowed area, and switches the automatic travel of the combine 1 to manual travel in accordance with the lift operation of the reaper unit 3 or the lift control based on the lift operation (step S7).

[0074] Even if the autolift button 40 or the reaper lift button 42 is not operated to lift (step S4: No), if the operator operates the override button 36 (step S5: Yes), the switching unit 57 detects a transition from an unmowed area to a mown area and switches the combine harvester 1 from automatic driving to manual driving (step S7). Also, if an override operation other than the above is performed on the combine harvester 1 (step S6: Yes), the switching unit 57 switches the combine harvester 1 from automatic driving to manual driving (step S7).

[0075] The operator operates the combine harvester 1 that has been switched to manual driving in this way to move the combine harvester 1 to the next process. Note that if no override operation is performed on the combine harvester 1 (step S4: No, step S5: No, step S6: No), the combine harvester 1 will continue automatic driving.

[0076] As described above, according to this embodiment, the combine harvester 1, which is an example of a work vehicle, is equipped with the control device 50, which functions as the automatic driving unit 55 and the switching unit 57. The automatic driving unit 55 causes the combine harvester 1 to automatically drive in a straight line. The switching unit 57 switches the automatic driving of the combine harvester 1 to manual driving when it detects a transition from an unmowed area (an unworked area) to an already-mowed area (an already-mowed area) during automatic driving. Specifically, in the combine harvester 1, the control device 50 functions as the work machine lifting / lowering unit 56, which controls the elevation of the reaping unit 3 in response to an elevation operation of the reaping unit 3, which is a work machine, and the switching unit 57 detects a transition from the unmowed area to an already-mowed area when the reaping unit 3 is elevated based on an elevation operation of the reaping unit 3.

[0077] As a result, when the combine harvester 1 automatically travels through one step in an uncut area to the end and detects a transition to a cut area, the operator can switch to manual travel and move the combine harvester 1 to the next step without performing any complicated operations. At this time, simply by operating to raise the reaping unit 3, the reaping unit 3 can be controlled to rise and the automatic travel can be switched to manual travel automatically. This reduces the operator's operational burden and improves workability.

[0078] In the combine harvester 1 of this embodiment, the control device 50 detects a transition from an uncut area to a cut area and switches from automatic driving to manual driving, and if the combine harvester 1 is not turned or its speed is not changed for a predetermined time or distance, the control device 50 may slow down or stop the manual driving of the combine harvester 1.

[0079] As a result, the combine harvester 1 automatically slows down or stops when the switchover to manual driving is made and there is no turning operation or speed change operation, thereby improving safety.

[0080] Furthermore, in the combine harvester 1 of this embodiment, the control device 50 detects the vehicle position of the combine harvester 1 by measuring the position information of the combine harvester 1 using the positioning unit 45. The work vehicle of this embodiment is configured as a combine harvester 1 equipped with a reaping unit 3 as a work implement. When an operation to raise the reaping unit 3 is performed while the control device 50 is performing automatic traveling, if the area in front of the vehicle position is already mowed, the control device 50 controls the raising of the reaping unit 3 using the work implement lifting / lowering unit 56 based on the raising operation, and switches from automatic traveling to manual traveling using the switching unit 57.

[0081] As a result, if the area in front of the vehicle position is an area that has already been mowed, the combine harvester 1 can travel without performing mowing work, and the mowing unit 3 can be controlled to rise and automatically switch from automatic to manual driving, thereby preventing incorrect operation due to the situation in front of the combine harvester 1 and improving workability.

[0082] In addition, in the combine harvester 1 of this embodiment, when the operation to raise the cutting unit 3 is performed during automatic driving, the control device 50 may stop the combine harvester 1 if there is an uncut area in front of the vehicle position.

[0083] As a result, if the area in front of the vehicle position is an uncut area, the combine harvester 1 cannot move without performing cutting work. Therefore, when the cutting unit 3 is raised, the combine harvester 1 is stopped to prevent the cutting unit 3 from entering the uncut area while remaining in an upward position. This prevents incorrect operation due to the situation in front of the combine harvester 1 and improves workability.

[0084] Furthermore, in the combine harvester 1 of this embodiment, the control device 50 includes a portable terminal 60, which functions as a reference travel line setting unit 65 and a set travel line setting unit 66. The reference travel line setting unit 65 sets a reference travel line that indicates the travel direction for automatic straight-line operation, and the set travel line setting unit 66 sets a set travel line that is parallel to the reference travel line based on the reference travel line. If, during manual travel, the control device 50 controls the lowering of the reaping unit 3 based on an operation to lower the reaping unit 3 while the traveling direction of the combine harvester 1 is within a predetermined angle with respect to the travel direction of the reference travel line, the control device 50 switches from manual travel to automatic travel using the switching unit 57.

[0085] As a result, the combine harvester 1 can control the lowering of the cutting unit 3 by simply aligning its direction of travel with the direction of travel of the reference driving line and operating the lowering of the cutting unit 3, and can automatically switch from manual driving to automatic driving, thereby improving workability.

[0086] Furthermore, in the combine harvester 1 of this embodiment, the mobile terminal 60 functions as a recommended driving line setting unit 67. The recommended driving line setting unit 67 sets a recommended driving line that is parallel to the reference driving line for the uncut area. When controlling the lowering of the reaping unit 3 to switch from manual driving to automatic driving, if the combine harvester 1 is within a predetermined range from the recommended driving line in a direction perpendicular to the driving direction of the reference driving line, the control device 50 sets the recommended driving line to the set driving line and executes automatic driving.

[0087] As a result, even if the combine harvester 1 is positioned away from the uncut area, if it is within a specified range from the recommended driving line set in the uncut area, it will set the recommended driving line as the set driving line and perform automatic driving, so it will not automatically drive away from the uncut area and will automatically drive sequentially through the uncut area, improving workability.

[0088] In the above embodiment, an example has been described in which the autolift button 40, autoset button 41, and reaping lift button 42 are provided on the main speed change lever 34 of the control unit 9 in the combine harvester 1, but the present invention is not limited to this example. For example, in another example, the autolift button 40, autoset button 41, and reaping lift button 42 may be provided on the control unit 9 somewhere other than the main speed change lever 34, and may be displayed on the display unit of the mobile terminal 60 so as to be operable.

[0089] Furthermore, in the above embodiment, an example has been described in which the override operations in the combine harvester 1 are the lifting operations of the autolift button 40, the autoset button 41, and the reaping lift button 42, and the operation of the override button 36. However, the present invention is not limited to this example. For example, in other examples, in addition to the lifting operations of the autolift button 40, the autoset button 41, and the reaping lift button 42, and the operation of the override button 36, the override operations may also be the turning operation of the handle 33, or the tilting operation of the main speed change lever 34 or the sub-speed change lever 35.

[0090] In the above embodiment, an example has been described in which the switching unit 57 detects a transition from an unmowed area to an already-mowed area when the reaping unit 3 is controlled to rise based on an operation to raise the reaping unit 3, but the present invention is not limited to this example. In another example, the switching unit 57 may detect a transition from an unmowed area to an already-mowed area based on the rotational speed (working speed) of the rotational work for the reaping unit 3 to perform the reaping work, and switch the combine harvester 1 from automatic travel to manual travel.

[0091] Specifically, the switching unit 57 detects and inputs the rotation speed of the rotation work for the reaping unit 3 to perform the reaping work using the rotation detection unit 3a of the reaping unit 3. For example, the rotation detection unit 3a detects the rotation speed of the raking reel 14, raking auger 16, or transport conveyor 18 of the reaping unit 3 as the rotation speed of the reaping unit 3 to perform the reaping work.

[0092] If the rotation speed (working speed) of the take-in reel 14, take-in auger 16, or transport conveyor 18 detected by the rotation detection unit 3a is equal to or less than a predetermined rotation speed threshold (working speed threshold), the switching unit 57 determines that a workload is being applied to the take-in reel 14, take-in auger 16, or transport conveyor 18, and that the combine harvester 1 is currently performing mowing work in an unmowed area. On the other hand, if the rotation speed of the take-in reel 14, take-in auger 16, or transport conveyor 18 detected by the rotation detection unit 3a exceeds the predetermined rotation speed threshold, the switching unit 57 determines that no workload is being applied to the take-in reel 14, take-in auger 16, or transport conveyor 18, and that the combine harvester 1 is not performing mowing work in an already-mowed area.

[0093] When the rotational speed of the raking reel 14, raking auger 16 or transport conveyor 18 changes from a state below the rotational speed threshold to a state above the rotational speed threshold while the combine harvester 1 is running automatically, the switching unit 57 detects that the combine harvester 1 has cut through the uncut area and moved from the uncut area to the cut area, and switches the combine harvester 1 from automatic driving to manual driving.

[0094] In addition, when the switching unit 57 determines that the cutting unit 3 is no longer under work load after being under work load, it only needs to detect the transition from an uncut area to an already cut area.This determination may be made by other means, not just the result of detection of the rotation speed of the rotational work of the cutting unit 3 by the rotation detection unit 3a.

[0095] In the above embodiment, an example has been described in which the work vehicle of the present invention is configured as a standard combine harvester 1, but the present invention is not limited to this example, and the work vehicle of the present invention may be configured as any other work vehicle as long as it lowers the work implement and travels automatically when performing work, for example, a head-removing combine harvester, tractor, rice transplanter, brush cutter, etc.

[0096] 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 system that involve such modifications are also included in the technical idea of ​​the present invention. [Explanation of symbols]

[0097] 1 Combine (work vehicle) 2 Running part 3 Reaping part 3a Rotation detection unit 9 Control Unit 19 Lifting device 34 Main gear shift lever 36 Override button 40 Autolift button 41 Autoset button 42 Mowing lift button 45 Positioning Unit 50 Control device 55 Automatic driving unit 56 Work equipment lifting section 57 Switching section 60 Mobile Devices 61 Control device 65 Reference driving line setting section 66 Setting driving line setting section 67 Recommended driving line setting section 68. Work Instruction Department

Claims

1. An automatic driving method for a work vehicle equipped with a work implement, comprising: an automatic driving step of executing automatic driving of the work vehicle; a switching step of switching the manual driving of the work vehicle to the automatic driving; a work machine lifting process for controlling the lifting and lowering of the work machine in response to an operation of lifting and lowering the work machine; a reference driving line setting step of setting a reference driving line that indicates the driving direction for the automatic straight driving operation; a recommended driving line setting step of setting a recommended driving line parallel to the reference driving line; and During the execution of the manual traveling, when a lowering operation or a descent control based on a lowering operation of the work machine is performed in a state where the traveling direction of the work vehicle is within a predetermined angle with respect to the traveling direction of the reference traveling line, the manual traveling is switched to the automatic traveling by the switching step, An automatic driving method characterized in that, when the manual driving is switched to automatic driving by controlling the lowering of the work machine, the automatic driving is executed if the work vehicle is within a predetermined range from the recommended driving line in a direction perpendicular to the driving direction of the reference driving line.

2. 2. The automatic driving method according to claim 1, further comprising a set driving line setting step of setting a set driving line parallel to the reference driving line based on the reference driving line.

3. The automatic driving method according to claim 2, wherein the set driving line setting step sets the set driving line as a straight line that is parallel to the reference driving line and is based on the vehicle position of the work vehicle when the setting of the set driving line is accepted.

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