Work vehicles
By using RTK-GPS positioning and controller to set a straight reference path, combined with the automatic driving function, the problems of heavy operating burden and unstable automation of combine harvesters have been solved, realizing automatic driving and efficient harvesting operations.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- ISEKI & CO LTD
- Filing Date
- 2025-04-25
- Publication Date
- 2026-05-15
AI Technical Summary
In the existing technology, the operation of combine harvesters is labor-intensive and the automatic operation is unstable, especially when the direction of travel changes greatly, which leads to inconvenience in operation and instability in automatic operation.
By employing RTK-GPS positioning technology and a controller, and by manually setting a straight reference path, combined with an automatic driving function, the workload of operators is reduced and the stability of automatic operation is improved.
It enables combine harvesters to operate automatically along a set route, reducing the workload of operators and improving the stability and efficiency of automatic operation.
Smart Images
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Abstract
Description
Technical Field
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[0001] The present invention relates to a work vehicle.
Background Art
[0002] Conventionally, a first reference point is provided on a row of cereal straws planted in a field, a second reference point is provided at a position separated from the first reference point on the row of cereal straws by a predetermined distance, and a linear reference path passing through the first reference point and the second reference point is generated, and a technique of automatically running a combine along a set path parallel to the reference path is known. (Patent Document 1) Also, a technique of re-setting the reference path is known when the traveling position of the combine is separated from the reference path by a predetermined dimension or more, or when the traveling direction of the combine is separated from the extending direction of the reference path by a predetermined angle or more. (Patent Document 2)
Prior Art Documents
Patent Documents
[0003]
Patent Document 1
Patent Document 2
Summary of the Invention
Problems to be Solved by the Invention
[0004] However, in the cereal straw cutting work methods of Patent Documents 1 and 2, there are problems that the work burden of the operator increases and the automatic operation of the combine becomes unstable due to a large change in the traveling direction of the combine.
[0005] Therefore, an object of the present invention is to reduce the work burden of the operator and improve the stability of the automatic operation of the work vehicle.
Means for Solving the Problems
[0006] The present invention that solves the above problems is as follows.
[0007] In other words, the invention described in claim 1 includes a controller (30) that controls the traveling device (2), and when a straight reference path (41) is taught by the operator's manual travel, the controller (30) A straight line extending from the reference route (41) in the direction of travel of the vehicle Configuration path (46) After setting the setting path (46) and after the setting path (46) is set, the automatic driving along the setting path (46) will not start until an operation is received from the operator. It is a work vehicle. [Effects of the Invention]
[0008] According to the present invention, the work vehicle can be automatically driven along a set route (46) to reduce the workload on the worker. [Brief explanation of the drawing]
[0009] [Figure 1] This is a left side view of a combine harvester. [Figure 2] This is a plan view of a combine harvester. [Figure 3] This is a connection diagram of the positioning unit. [Figure 4] This is a connection diagram for the controller. [Figure 5] This is an explanatory diagram for back-and-forth mowing. [Figure 6] This is a diagram illustrating how to set the reference route and the target route. [Figure 7] This is an explanatory diagram for mowing. [Figure 8] This is an explanatory diagram of the combine harvester's automatic operation, where (a) shows the standard route and rows of grain stalks, (b) shows the combine harvester's automatic operation state, (c) shows the combine harvester's automatic operation stopped state, and (d) shows the state of resetting the standard route. [Modes for carrying out the invention]
[0010] As shown in Figures 1 and 2, the combine harvester has a running device 2 consisting of a pair of left and right crawlers that travel on the soil surface on the underside of the machine frame 1, a harvesting device 3 for cutting grain stalks in the field on the front side of the machine frame 1, a threshing device 4 for threshing and sorting the harvested grain stalks located to the rear left of the harvesting device 3, and a control unit 5 for the operator to sit in, located to the rear right of the harvesting device 3.
[0011] An engine room 6, which houses the engine E, is located below the control unit 5. A grain tank 7 for storing threshed and sorted grain is located behind the control unit 5. A discharge auger 8 is located behind the grain tank 7, consisting of a vertically extending grain lifting section and a horizontally extending front-to-back discharge section for discharging the grain to the outside.
[0012] A monitor 11 displaying the travel speed of the travel device 2 is located in the center of the front panel in front of the cockpit of the control unit 5. An operating lever 12 for rotating the travel device 2 left and right and raising and lowering the harvesting device 3 up and down is located to the right of the monitor 11. Between the monitor 11 and the operating lever 12, a mode switching switch 13 is provided to switch between a reciprocating harvesting mode M1, in which the travel device 2 travels back and forth to harvest the grain stalks, as shown in Figure 5, and a circular harvesting mode M2, in which the travel device 2 rotates counterclockwise to harvest the grain stalks, as shown in Figure 6. The operating state of the operating lever 12 is measured by an angle sensor 12A, such as a potentiometer, attached to the base of the operating lever 12.
[0013] A gear shift lever 15 for increasing or decreasing the travel speed of the travel device 2 is provided on the front of the left side panel of the cockpit of the control unit 5. The operating state of the gear shift lever 15 is measured by an angle sensor 15A, such as a potentiometer, attached to the base of the gear shift lever 15.
[0014] As shown in Figure 3, the positioning unit 20, which uses the RTK-GPS positioning method, consists of a positioning satellite 21, a base station 22 located at a known location, and a mobile station 26 installed on the combine harvester. This allows for the accurate determination of the position of the mobile station 26, i.e., the position of the combine harvester, from the position information transmitted from the positioning satellite 21 to the mobile station 26 and the correction position information transmitted from the base station 22 to the mobile station 26.
[0015] The base station 22 includes a fixed communication device 23, a fixed GPS antenna 24 that receives position information from the positioning satellite 21, and a fixed data transmission antenna 25 that transmits correction position information to the mobile station 26.
[0016] The mobile station 26 includes a mobile communication device 27, a mobile GPS antenna 28 that receives position information from the positioning satellite 21, and a mobile data transmission antenna 29 that receives correction position information from the base station 22.
[0017] As shown in FIG. 4, the combine controller 30 is formed by a processing unit 31 composed of a CPU etc., a storage unit 32 composed of a ROM, a RAM, a hard disk drive, a flash memory etc., and a communication unit 33 for data communication with the outside.
[0018] The processing unit 31 calculates the positions of the first reference point 42 and the second reference point 43 described later, and sets the reference path 41 and the set path 45 based on the first reference point 42 and the second reference point 43 etc.
[0019] The storage unit 32 stores the positions of the first reference point 42 and the second reference point 43 calculated by the processing unit 31, the reference path 41 in a straight line passing through the first reference point 42 and the second reference point 43 etc.
[0020] The communication unit 33 receives position information from the positioning satellite 21 via the mobile GPS antenna 28 and from the base station 22 via the mobile data transmission antenna 29.
[0021] On the input side of the controller 30, there are a straw sensor 3A that detects the presence or absence of straw in the cutting device 3, a height sensor 3B that detects the working posture when the cutting device 3 descends and the retracted posture when it ascends, a first setting switch 11A for setting the first reference point 42, a second setting switch (the "setting switch" in the claims) 11B for setting the second reference point 43, a release switch 11C that stops the automatic running etc. by the controller 30, an angle sensor 12A that measures the operating state of the operation lever 12, a mode switch 13 that switches between the reciprocating cutting mode M1 and the rotary cutting mode M2, and An angle sensor 15A for measuring the operating state of the gear shift lever 15, a mobile GPS antenna 28 for receiving the combine's position information transmitted from positioning satellites 21, and a mobile data transmission antenna 29 for receiving the combine's correction position information transmitted from base station 22, A reference setting route switch 35, which sets the reference route 41 and the set route 45 based on the positions of the first reference point 42 and the second reference point 43, and an automatic driving switch 36, which makes the combine automatically drive, are connected via a predetermined input interface circuit.
[0022] On the output side of the controller 30, a braking device 38L for braking the rotation of the left crawler of the running gear 2 and a braking device 38R for braking the rotation of the right crawler are connected via a predetermined output interface circuit.
[0023] <Back-and-forth mowing mode> As shown in Figure 5, in the reciprocating mowing mode M1, the operator controls the combine harvester to set a first reference point 42 and a second reference point 43. The processing unit 31 of the controller 30 then sets a linear reference path 41 passing through the first reference point 42 and the second reference point 43, and a plurality of setting paths (the "first setting path" in the claim) 45 parallel to the reference path 41, located at predetermined intervals below the reference path 41. It is preferable that the predetermined interval be set to the mowing width of the mowing device 3.
[0024] After operating the combine harvester from the first reference point 42 to the second reference point 43, the operator turns the combine harvester downward and towards the rear, from the left end of the reference path 41 toward the left end of the set path 45 which is adjacent to the lower part of the reference path 41.
[0025] Next, the operator activates the automatic operation switch 36 at the left end of the set path 45, causing the combine harvester to automatically travel along the set path 45 from the left end to the right end.
[0026] Next, the operator operates the release switch 11C at the right end of the set path 45, causing the combine to rotate downward and towards the rear from the right end of the set path 45 toward the right end of the set path 45 adjacent to the set path 45 below.
[0027] Next, the operator activates the automatic operation switch 36 at the right end of the set path 45, causing the combine to automatically travel along the set path 45 from the right end to the left end.
[0028] In the reciprocating harvesting mode M1, the combine harvester is automatically driven from the left end to the right end of the set path 45, and then automatically driven from the right end to the left end of the set path 45 while harvesting the grain stalks.
[0029] This reduces the workload on workers and allows the combine harvester to automatically travel along the set path 45, enabling efficient harvesting of grain stalks.
[0030] <Cutting Mode> As shown in Figure 6, in the round-cutting mode M2, the operator operates the combine harvester to set a first reference point 42 and a second reference point 43 at the top of the field, and the processing unit 31 of the controller 30 sets a set path (the "second set path" in the claim) 46, which is a straight reference path 41 passing through the first reference point 42 and the second reference point 43 and extending to the left from the second reference point 43. Next, the operator operates the combine harvester to set a first reference point 42 and a second reference point 43 at the left side of the field, and the processing unit 31 sets a set path 46, which is a straight reference path 41 passing through the first reference point 42 and the second reference point 43 and extending downward from the second reference point 43. Next, the operator operates the combine harvester to set the first reference point 42 and the second reference point 43 at the bottom of the field, and the processing unit 31 of the controller 30 sets a set path 46 that extends to the right from the second reference point 43, with a straight reference path 41 passing through the first reference point 42 and the second reference point 43. Then, the operator operates the combine harvester to set the first reference point 42 and the second reference point 43 at the left side of the field, and the processing unit 31 sets a set path 46 that extends upward from the second reference point 43, with a straight reference path 41 passing through the first reference point 42 and the second reference point 43.
[0031] The operator controls the combine harvester from the first reference point 42 to the second reference point 43, then operates the automatic drive switch 36 at the right end of the set path 46 near the second reference point 43, causing the combine harvester to automatically travel along the set path 46 from the right end to the left end, and then at the left end of the set path 46, makes an α turn so that the direction of travel of the combine harvester is from left to downward.
[0032] Next, the operator controls the combine harvester from the first reference point 42 to the second reference point 43. Then, near the second reference point 43, at the upper end of the set path 46, the operator activates the automatic operation switch 36 to automatically drive the combine harvester along the set path 46 from the upper end to the lower end. After that, at the lower end of the set path 46, the operator makes an α turn so that the direction of travel of the combine harvester is from downward to the right.
[0033] Next, the operator controls the combine harvester from the first reference point 42 to the second reference point 43. Then, near the second reference point 43, the operator activates the automatic operation switch 36 at the left end of the set path 46, causing the combine harvester to automatically travel along the set path 46 from the left end to the right end. After that, at the right end of the set path 46, the operator makes an α turn so that the direction of travel of the combine harvester moves from right to upward.
[0034] Next, the operator controls the combine harvester from the first reference point 42 to the second reference point 43. Then, near the second reference point 43, at the lower end of the set path 46, the operator activates the automatic operation switch 36 to automatically drive the combine harvester along the set path 46 from the lower end to the upper end. After that, at the upper end of the set path 46, the operator makes an α turn so that the direction of travel of the combine harvester is from upward to left.
[0035] In the M2 round-cutting mode, the combine harvester automatically travels along the reference path 41 and set path 46 extending horizontally across the upper part of the field, the reference path 41 and set path 46 extending vertically across the left side of the field, the reference path 41 and set path 46 extending horizontally across the lower part of the field, and the reference path 41 and set path 46 extending vertically across the right side of the field while harvesting is performed. This reduces the workload on the operator and allows the combine harvester to automatically travel along the set path 46 to efficiently harvest the grain stalks.
[0036] <How to set the criteria and configuration route> As shown in Figure 7, in step S1, the processing unit 31 of the controller 30 determines the switching status of the mode switching switch 13. If it is determined that the mode switching switch 13 is switched to the reciprocating cutting mode M1, in which the traveling device 2 is moved back and forth while harvesting the grain stalks, the process proceeds to step S2. If it is determined that the mode switching switch 13 is switched to the circular cutting mode M2, in which the traveling device 2 is moved in a counterclockwise direction while harvesting the grain stalks, the process proceeds to step S9. This allows the harvesting mode to be selected according to the planting state of the grain stalks, enabling efficient harvesting.
[0037] In step S2, the processing unit 31 determines whether the first setting switch 11A has been pressed. As shown in Figure 5, it is preferable to press the first setting switch 11A near the loading area 40A in the field 40. Furthermore, when the first setting switch 11A is pressed, the combine harvester is being operated by an operator.
[0038] If it is determined that the first setting switch 11A has been pressed, the position of the first reference point 42 is calculated based on the position information of the combine transmitted from the positioning satellite 21 and the correction position information of the combine transmitted from the base station 22. This position of the first reference point 42 is stored in the memory unit 32 and the process proceeds to step S3. If it is determined that the first setting switch 11A has not been pressed, step S2 is repeated. The position information of the combine transmitted from the positioning satellite 21 is input to the controller 30 via the mobile GPS antenna 28, and the correction position information of the combine transmitted from the base station 22 is input to the controller 30 via the mobile data transmission antenna 29.
[0039] In step S3, the processing unit 31 determines whether the second setting switch 11B has been pressed. As shown in Figure 5, it is preferable to press the second setting switch 11B near the ridge opposite the loading area 40A in the field 40. Furthermore, when the second setting switch 11B is pressed, the combine harvester is being operated by an operator.
[0040] If it is determined that the second setting switch 11B has been pressed, the position of the second reference point 43 is calculated based on the position information of the combine transmitted from the positioning satellite 21 and the correction position information of the combine transmitted from the base station 22. This position of the second reference point 43 is stored in the memory unit 32, and the process proceeds to step S4. If it is determined that the second setting switch 11B has not been pressed, step S3 is repeated. In step S4, the processing unit 31 determines whether the reference setting route switch 35 has been operated. Note that when the reference setting route switch 35 is operated, the combine harvester is being operated by an operator.
[0041] If it is determined that the reference setting path switch 35 has been operated, as shown in Figure 5, Based on a straight reference path 41 passing through the first reference point 42 and the second reference point 43, a setting path 45 is set at a predetermined distance from the reference path 41, allowing multiple combines to automatically travel parallel to the reference path 41, and the process proceeds to step S5. If it is determined that the reference setting path switch 35 has not been operated, step S4 is repeated. This makes it possible to set the reference path 41 based on the first reference point 42 and the second reference point 43, which is sufficiently far from the first reference point 42, while suppressing the effects of meandering.
[0042] In step S5, the processing unit 31 determines whether or not the release switch 11C has been pressed. Note that when the release switch 11C is pressed, the combine harvester is being operated by an operator.
[0043] If it is determined that the release switch 11C has been pressed, the process proceeds to step S6; if it is determined that the release switch 11C has not been pressed, step S5 is repeated.
[0044] In this embodiment, the processing unit 31 determines in step S3 whether the second setting switch 11B has been input, in step S4 whether the reference setting route switch 35 has been input, and in step S5 whether the release switch 11C has been input. However, steps S3 and S4 can be omitted. In that case, if it is determined in step S5 that the release switch 11C has been input, the position of the second reference point 43 is calculated based on the position information of the combine transmitted from the positioning satellite 21 and the position information for correction of the combine transmitted from the base station 22. The position of this second reference point 43 is stored in the storage unit 32, and a setting route 45 is set at a predetermined distance from the reference route 41, based on the straight reference route 41 connecting the first reference point 42 and the second reference point 43, to automatically drive multiple combines parallel to the reference route 41. The process then proceeds to step S6, and if it is determined that the release switch 11C has not been input, step S5 is repeated.
[0045] In step S6, the operator on board the control unit 5 operates the control lever 12 to rotate the combine harvester, moving it from the end of the reference path 41 to the beginning of the set path 45 adjacent to the reference path 41, as shown in Figure 5, and proceeding to step S7.
[0046] In step S7, the processing unit 31 determines whether or not the automatic operation switch 36 has been pressed. Note that when the automatic operation switch 36 is pressed, the combine harvester is being operated by an operator.
[0047] If it is determined that the automatic driving switch 36 has been pressed, the process proceeds to step S8; otherwise, the process returns to step S6.
[0048] In step S8, the processing unit 31 operates the braking device 38L, which brakes the rotation of the left crawler of the running gear 2, and the braking device 38R, which brakes the rotation of the right crawler, to automatically steer the combine harvester and, as shown in Figure 5, automatically drive the combine harvester along the set path 45, returning to step S5. The braking devices 38L and 38R are located within the transmission (not shown) that increases or decreases the output rotational speed of the engine E. This reduces the workload on the operator and allows the combine harvester to automatically drive along the set path 45, enabling efficient harvesting of grain. In addition, when the combine harvester is automatically driving, a display such as "Automatic driving in progress" is shown on the monitor 11. This alerts the operator and ensures that the combine harvester operates safely.
[0049] In step S9, the processing unit 31 determines whether the first setting switch 11A has been pressed. It is preferable that the input operation of the first setting switch 11A is performed near the loading area 40A in the field 40, as shown in Figure 6. When the input operation of the first setting switch 11A is performed, the combine harvester is being operated by an operator.
[0050] If it is determined that the first setting switch 11A has been pressed, the position of the first reference point 42 is calculated based on the position information of the combine transmitted from the positioning satellite 21 and the correction position information of the combine transmitted from the base station 22. This position of the first reference point 42 is stored in the memory unit 32 and the process proceeds to step S10. If it is determined that the first setting switch 11A has not been pressed, the process proceeds to step S9. The position information of the combine transmitted from the positioning satellite 21 is input to the controller 30 via the mobile GPS antenna 28, and the correction position information of the combine transmitted from the base station 22 is input to the controller 30 via the mobile data transmission antenna 29.
[0051] In step S10, the processing unit 31 determines whether the second setting switch 11B has been pressed. As shown in Figure 6, it is preferable that the second setting switch 11B is pressed at a location a predetermined distance from the input position of the first setting switch 11A. Furthermore, when the second setting switch 11B is pressed, the combine harvester is being operated by an operator.
[0052] If it is determined that the second setting switch 11B has been pressed, the position of the second reference point 43 is calculated based on the position information of the combine transmitted from the positioning satellite 21 and the correction position information of the combine transmitted from the base station 22. This position of the second reference point 43 is stored in the memory unit 32 and the process proceeds to step S11. If it is determined that the second setting switch 11B has not been pressed, the process proceeds to step S10.
[0053] In step S11, the processing unit 31 determines whether the reference setting route switch 35 has been operated. Note that when the reference setting route switch 35 is operated, the combine harvester is being operated by an operator.
[0054] If it is determined that the reference setting path switch 35 has been operated, a setting path 46 is set by extending a straight reference path 41 passing through the first reference point 42 and the second reference point 43 from the second reference point 43 in the direction of travel of the combine, as shown in Figure 8(a), and the process proceeds to step S12. If it is determined that the reference setting path switch 35 has not been operated, step S11 is repeated. This makes it possible to set a long setting path 46 extending from the second reference point 43 in the direction of travel.
[0055] In step S12, the processing unit 31 determines whether or not the automatic operation switch 36 has been pressed. Note that when the automatic operation switch 36 is pressed, the combine harvester is being operated by an operator.
[0056] If it is determined that the automatic driving switch 36 has been pressed, the process proceeds to step S13; if it is determined that the automatic driving switch 36 has not been pressed, step S12 is repeated.
[0057] In step S13, the processing unit 31 operates the braking device 38L, which brakes the rotation of the left crawler of the running gear 2, and the braking device 38R, which brakes the rotation of the right crawler, to automatically steer the combine harvester and, as shown in Figure 6, automatically drive the combine harvester along the set path 45 to proceed to step S14. This reduces the workload on the operator and allows for efficient harvesting of grain stalks by automatically driving the combine harvester along the set path 45. In addition, when the combine harvester is automatically driving, a display such as "Automatic driving in progress" is shown on the monitor 11. This alerts the operator and ensures that the combine harvester is safely operated automatically.
[0058] In step S14, the processing unit 31 determines whether the travel device 2 is moving or not. If it determines that the travel device 2 is moving, the process proceeds to step S15; if it determines that the travel device 2 has stopped moving, the process proceeds to step S19. In this embodiment, the determination of whether the travel device 2 is moving or not is made based on the measurement value of the angle sensor 15A. If the measurement value of the angle sensor 15A indicates a forward tilted position of the gear shift lever 15, it is determined that the device is moving; if the measurement value of the angle sensor 15A indicates a neutral tilted position of the gear shift lever 15, it is determined that the device has stopped moving. Alternatively, the determination can be made based on the measurement value of a speed sensor (not shown) provided on the travel device 2 that measures the travel speed of the travel device 2.
[0059] In step S15, the processing unit 31 determines whether the amount of operation of the operating lever 12 operated by the operator is within a predetermined range. If the amount of operation of the operating lever 12 operated by the operator is within the predetermined range, the process proceeds to step S16; if the amount of operation of the operating lever 12 operated by the operator exceeds the predetermined range, the process proceeds to step S18. As a result, as shown in Figure 8(b), if the set path 46 does not coincide with the rows of grain stalks 47, that is, if the set path 46 and the rows of grain stalks 47 are not parallel, or if the set path 46 and the rows of grain stalks 47 are parallel but separated by a predetermined distance, the operating lever 12 can be operated to bring the combine closer to the rows of grain stalks 47 and suppress the generation of unharvested grain stalks. Also, as shown in Figure 8(c), if the set path 46 is far from the rows of grain stalks 47, the automatic travel of the combine can be stopped to prevent the automatic travel from becoming unstable and swerving. Reference numeral 48 indicates the travel path taken by the combine.
[0060] In step S16, the processing unit 31 determines whether or not the second setting switch 11B has been pressed. If it determines that the second setting switch 11B has not been pressed, the process proceeds to step S17; if it determines that the second setting switch 11B has been pressed, the process proceeds to step S20. As a result, if the operator determines that the set path 46 on which the combine harvester automatically travels is far from the rows of grain stalks 47, a new second reference point 43 is calculated, and a new straight set path 46 passing through the first reference point 42 and the newly created second reference point 43 is set to suppress the occurrence of unharvested grain stalks.
[0061] In step S17, the processing unit 31 determines whether or not the release switch 11C has been pressed. If it determines that the release switch 11C has been pressed, the process proceeds to step S18; otherwise, it returns to step S14.
[0062] In step S18, the operator on board the control unit 5 operates the control lever 12 to rotate the combine harvester, and as shown in Figure 6, rotates the combine harvester in a so-called α-turn from the end of the set path 46, rotating the direction of travel of the combine harvester 270 degrees clockwise, and returns to step S9.
[0063] This allows the worker to set the first reference point 42 of the next reference route 41 and reduce the amount of unharvested grain.
[0064] In step S19, the processing unit 31 determines whether the stopping time of the traveling device 2 is within a predetermined time. If it determines that the stopping time of the traveling device 2 is within a predetermined time, it returns to step S13. If it determines that the stopping time of the traveling device 2 is longer than the predetermined time, it proceeds to step S18.
[0065] In step S20, the processing unit 31 cancels the setting of the setting route 46, calculates the position of the second reference point 43 based on the position information of the combine transmitted from the positioning satellite 21 and the position information for correction of the combine transmitted from the base station 22, stores the position of this second reference point 43 in the storage unit 32, and proceeds to step S11. As a result, as shown in Figure 8(d), the newly set setting route 46 can be set to the proximal part of the grain stalk row 47 to suppress the occurrence of unharvested grain stalks. [Explanation of Symbols]
[0066] 1. Aircraft frame 2. Traveling device 3 Reaping device 5. Control Unit 11B Second setting switch (setting switch) 12 Operating levers 30 controllers 41 Reference pathway 42 1st reference point 43 Second reference point 45 Configuration path (First configuration path) 46 Configuration path (Second configuration path) 47 Grain culm row M1 Reciprocating Mowing Mode M2 Cutting Mode
Claims
[Claim 1] The vehicle is equipped with a controller (30) that controls the traveling device (2), When a linear reference path (41) is taught by the operator's manual movement, the controller (30) sets a linear set path (46) that extends from the reference path (41) in the direction of vehicle travel. A work vehicle that, after the setting route (46) has been set, does not start automatic driving along the setting route (46) until it receives an operation from the operator.