Automatic Traveling Method, Work Vehicle, And Automatic Traveling System

A combine harvester is provided with a controller, and the controller functions as an automatic traveler and a switch. The automatic traveler executes the automatic traveling of the combine harvester in the automatic straight work. The switch switches automatic traveling of the combine harvester to manual traveling, during the performing of the automatic traveling, when detecting a shift from an un-mowed area to an already mowed area.

TECHNICAL FIELD

The present invention relates to automatic traveling method, a work vehicle and automatic traveling system that can switch between manual traveling and automatic traveling.

BACKGROUND ART

Conventionally, a work vehicle such as a combine harvester is so configured as to enable manual traveling that accords to an operation of a steering wheel or the like, while enabling automatic traveling based on a preset traveling route or the like.

For example, an agricultural work instrument disclosed in Patent Document 1 is provided with a traveling machine that can switch between manual traveling by manual steering and automatic traveling by automatic steering along a set traveling line set parallel to a reference traveling line, and a switch that can switch between the manual traveling and the automatic traveling.

PRIOR ART DOCUMENT

Patent Document

SUMMARY OF INVENTION

Technical Problem

By the way, the conventional work vehicle described above, when switching from the automatic traveling to the manual traveling, is sometimes accompanied by an operation to change the traveling state or work state during the automatic traveling to another state, and in this case, in addition to the switching operation, which uses the switching switch, to the manual traveling as described above, the operation to change the traveling state or the work state needs to be performed, making the operation complicated. For example, when the work vehicle works to the end of one stroke of an un-mowed area in the automatic traveling, and then moves to another stroke, it is necessary to raise a work instrument from the a work position to a standby position, so in addition to the switching operation from the automatic traveling to the manual traveling, it is also necessary to perform an upward operation of the work instrument, and further, a turning operation or a speed change operation is, as the case may be, performed. In the above, a worker is required to perform a complicated operation at the end of the work in the stroke, placing a burden on the worker and reducing workability.

It is an object of the present invention to provide an automatic traveling method, a work vehicle, and an automatic traveling system capable of simplifying an operation and improving workability.

Solution to Problem

For solving the above problem, an automatic traveling method of the present invention is an automatic traveling method of a work vehicle provided with a work instrument, including: an automatic traveling step that performs automatic traveling of the work vehicle in an automatic straight work; and, a switching step that switches the automatic traveling of the work vehicle to manual traveling, during the performing of the automatic traveling, when detecting a shift from an unworked area to an already worked area.

For solving the above problem, a work vehicle of the present invention is a work vehicle provided with a work instrument, including: an automatic traveler that performs automatic traveling of the work vehicle in an automatic straight work along a predetermined set traveling line; and a switch that switches the automatic traveling of the work vehicle to manual traveling, during the automatic traveling, when detecting a shift from an unworked area to an already worked area.

For solving the above problem, an automatic traveling system of the present invention is an automatic traveling system of a work vehicle provided with a work instrument, including: an automatic traveler that performs automatic traveling of the work vehicle in an automatic straight work along a predetermined set traveling line; and a switch that switches the automatic traveling of the work vehicle to manual traveling, during the performing of the automatic traveling, when detecting a shift from an unworked area to an already worked area.

Advantageous Effects of Invention

The present invention provides an automatic traveling method, a work vehicle, and an automatic traveling system capable of simplifying an operation and improving workability.

DESCRIPTION OF EMBODIMENTS

Now, a combine harvester1, as a work vehicle according to an embodiment of the present invention, will be described with reference toFIG.1,FIG.2, etc. With a self-driving or manual operation, the combine harvester1travels in a to-be-worked-on farm field, and performs mowing and any other work so as to harvest crops from grain culms planted in the farm field. The combine harvester1is configured to perform, for example, an automatic work (automatic straight work) in which the steering is controlled by automatic driving while the traveling speed is controlled in response to a manual operation, or an unmanned operation in which the steering and the traveling speed are controlled by the automatic driving, making it possible to autonomously travel, turn, and work in the farm field.

The combine harvester1is set to a traveling mode of any of a manual traveling mode and an automatic traveling mode. The combine harvester1is so configured as to perform, when being set to the manual traveling mode, the manual traveling according to steering of a steerer9by a worker.

Meanwhile, the combine harvester1is so configured as to perform, when being set to the automatic traveling mode, the automatic straight work for automatically mowing while automatically traveling along a set traveling line parallel to a predetermined reference traveling line, or automatic mowing traveling for automatically mowing while automatically traveling according to a preset traveling route. The set traveling line and the traveling route are created by a portable terminal60(seeFIG.5) capable of communicating with the combine harvester1, and the combine harvester1receives a set traveling line and a traveling route from the portable terminal60.

As shown inFIG.1andFIG.2, the combine harvester1is provided with a traveler2, a mower3, a thresher4, a sorter5, a reservoir6, a discharged straw processor7, a power8, and a steerer9, and constitutes a so-called normal combine harvester. While traveling by the traveler2, the combine harvester1threshes, by the thresher4, grain culms mowed by the mower3, sorts the grains by the sorter5, and stores the grains in the reservoir6. The combine harvester1causes the discharged straw processor7to process threshed discharged straws. The combine harvester1drives the traveler2, the mower3, the thresher4, the sorter5, the reservoir6, and the discharged straw processor7by power supplied by the power8.

The traveler2is provided below a machine body frame10, and includes a pair of crawler type travelers11on right and left side and a transmission (not shown). Turning the crawler of the crawler type traveler11by the power (e.g., rotation power) transmitted from an engine30of the power8, the traveler2causes the combine harvester1to travel in a forward-rearward direction or to turn to a left-right direction. The transmission transmits the power (rotational power) of the power8to the crawler type traveler11, and can change the speed of the rotational power.

The mower3is a work instrument that performs work on the to-be-worked-on farm field, is installed in front of the traveler2, and mows a predetermined mowing width of grain culms in the farm field's unworked area as an area having un-mowed grain culms (hereinafter referred to as un-mowed area). The mower3is provided with a divider13, a scraping reel14, a mowing blade15, a scraping auger16, a feeder house17, and a conveyor18. The mower3is provided with a rotation detector3athat detects the rotary work's rotational speed (work speed) for the mowing work (seeFIG.5). The rotation detector3aincludes a rotation sensor that detects, for example, a rotational speed of the scraping reel14, a rotational speed of the scraping auger16, and a rotational speed of the conveyor18.

The divider13is provided protruding forward from the left front end and right front end of the mower3, and guides grain culms in the un-mowed area within the mowing width. The scraping reel14is located behind the divider13, and is rotatable around a rotation axis extending in the left-right direction. The scraping reel14is driven by rotation so as to assist in mowing the grain culms guided by the divider13, thereby to scrape the tip side of the grain culms while causing the grain culms to stand. The mowing blade15is positioned below the scraping reel14, and cuts the culm end side of the grain culm scraped by the scraping reel14thereby to mow the grain culm.

The scraping auger16is located behind the scraping reel14and mowing blade15, and is provided rotatable around a rotation axis extending in the left-right direction. The scraping auger16is driven by rotation thereby to scrape the grain culms mowed by the mowing blade15and convey the grain culms rearward.

The feeder house17extends forward from the machine body frame10to be positioned behind the scraping auger16, and is supported by the machine body frame10in an elevatable manner. The feeder house17raises and lowers, thereby to raise and lower the divider13, the scraping reel14, the mowing blade15and the scraping auger16, i.e., raising and lowering the mower3.

The combine harvester1, At the machine body frame10, is provided with an elevator19that raises and lowers the feeder house17thereby to raise and lower the mower3, and raises and lowers the mower3between the lower work position (seeFIG.1) and the upper standby position (seeFIG.2). The elevator19includes, for example, a hydraulic cylinder powered by the engine30.

The conveyor18is rotatably provided within the feeder house17, and moves as the feeder house17raises and lowers. The conveyor18is driven by rotation thereby to convey the grain culms, which were conveyed into the feeder house17by the scraping auger16, further rearward to the thresher4.

The thresher4is provided behind the feeder house17of the mower3, and threshes the grain culms conveyed from the feeder house17. The thresher4is provided with a handling drum21and a receiving net22. The handling drum21threshes grains from the grain culms conveyed from the feeder house17, and conveys the threshed grain culms, that is, discharged straw, to the discharged straw processor7. The receiving net22supports the grain culms conveyed by the handling drum21, and sifts and drops the grains.

The sorter5is provided below the thresher4. The sorter5includes a swing sorter24, an air blast sorter25, a grain conveyor (not shown), and a straw dust discharger (not shown). The swing sorter24sifts a threshed matter that falls from the thresher4thereby to sort the threshed matter into grain, straw dust, etc. Into the grain, straw dust, etc., the air blast sorter25, with an air blast, further sorts the threshed matter having fallen from the thresher4and the threshed matter sorted by the swing sorter24. To the reservoir6, the grain conveyor conveys the grain sorted by the swing sorter24and the air blast sorter25. To outside the machine, the straw dust discharger discharges the straw dust or the like other than the grains sorted by the swing sorter24and the air blast sorter25.

The reservoir6is provided on the right side of the thresher4. The reservoir6includes a grain tank27and a grain discharger28. The grain tank27reserves the grain conveyed from the sorter5. The grain discharger28is composed of a discharging auger or the like, and discharges, to any place, the grain tanked in the grain tank27.

The discharged straw processor7is provided behind the thresher4. The discharged straw processor7includes a discharged straw conveyor (not shown) and a discharged straw cutter (not shown). The discharged straw processor7, by the discharged straw conveyor, conveys the discharged straws, which are conveyed from the thresher4, to the discharged straw cutter, cuts the straws by the discharged straw cutter, and discharges the straws to behind the combine harvester1.

The power8is provided above the traveler2and below the reservoir6. The power8includes the engine30that generates the rotational power. To the traveler2, the mower3, the thresher4, the sorter5, the reservoir6, and the discharged straw processor7, the power8sends the rotational power generated by the engine30. Further, the combine harvester1is provided with a fuel tank to tank a fuel to be supplied to the engine30of the power8.

The steerer9is provided above the power8. As shown inFIG.3, around a driver seat32on which the worker is seated, the steerer9is provided with operation tools for steering the combine harvester1. The steerer9includes, as the operation tools, a steering wheel33as a turning operation tool to instruct the machine body of the combine harvester1to turn, a main speed change lever34and an auxiliary speed change lever35each of which is a speed changing tool to instruct the combine harvester1to make a forward-rearward speed change, an override button36for switching the automatic traveling of the combine harvester1to the manual traveling, and the like. The manual traveling of the combine harvester1is performed by the traveler2that has received operations of the steering wheel33, main speed change lever34and auxiliary speed change lever35of the steerer9. Also, the steerer9includes a mechanism for operating the mowing work by the mower3, the threshing work by the thresher4, the discharging work by the grain discharger28of the reservoir6, and the like. In addition, the steerer9includes a display (not shown) such as a monitor to display various information and output the information to the worker.

The steering wheel33transmits a turning operation by the worker to the traveler2thereby to change a movement direction of the combine harvester1, that is, operates the combine harvester1to turn. For example, during the performing of the manual traveling of the combine harvester1, the traveler2ordinarily receives the steering wheel33's turning operation by the worker. Meanwhile, during the performing of the automatic traveling of the combine harvester1, the traveler2ordinarily does not receive the steering wheel33's turning operation by the worker, but receives the steering wheel33's turning operation with a predetermined override operation performed. The steering wheel33is so configured as to have a margin of about ±5 degrees along a rotational direction, and not to transmit, to the traveler2, any operation within this margin. The margin of the steering wheel33is not limited to ±5 degrees and can be artificially adjusted.

The main speed change lever34and the auxiliary speed change lever35transmit the speed change operation by the worker to the traveler2, thereby to switch a set speed of the traveling of the combine harvester1. For example, when the manual traveling mode is set, the main speed change lever34, when being in a center neutral position37, switches the transmission to neutral thereby to stop the combine harvester1.

The main speed change lever34, when tilted to a forward speed change area38on a front side of the neutral position37, transmits a forward traveling operation of the combine harvester1to the traveler2, and sets, to the traveler2, a forward set speed that is based on a forward operation amount that accords to the forward-rearward position of the main speed change lever34in the forward speed change area38, and based on a set vehicle speed set by the portable terminal60. The main speed change lever34, when tilted forward within the forward speed change area38, increases the forward set speed, while when tilted rearward within the forward speed change area38, decreases the forward set speed. A forward set vehicle speed is set within the range of 0 to 100%, and different vehicle speeds can be set between the manual traveling and the automatic traveling. For example, with the set vehicle speed of 50% and the forward operation amount of 2 m/s, the forward set speed is set to 1 m/s. The combine harvester1may start the automatic traveling on a condition that the main speed change lever34is positioned in the forward speed change area38.

Meanwhile, the main speed change lever34, when tilted to a rearward speed change area39on a rear side of the neutral position37, transmits a rearward traveling operation of the combine harvester1to the traveler2, and sets, to the traveler2, a rearward set speed that is based on a rearward operation amount that accords to the forward-rearward position of the main speed change lever34in the rearward speed change area39, and based on the set vehicle speed set by the portable terminal60. The main speed change lever34, when tilted rearward within the rearward speed change area39, increases the rearward set vehicle speed, while when tilted forward within the rearward speed change area39, decreases the rearward set vehicle speed. A rearward set vehicle speed is set within the range of 0 to 100%, and different vehicle speeds can be set between the manual traveling and the automatic traveling.

Also, the main speed change lever34has various operation buttons, for example, as shown inFIG.4, an auto lift button40, an auto set button41, a mowing up-down button42, and a mowing clutch button43.

Operating the auto lift button40transmits an auto lift operation to the mower3, thereby to upward control the mower3to the standby position according to the auto lift operation. Operating the auto set button41transmits an auto set operation to the mower3, thereby to upward control the mower3to the work position according to the auto set operation. The standby position is initially set at an upper predetermined position and the work position is initially set at a lower predetermined position; the work position can be changed to the upper or lower side of the initial position depending on the worker's operation of the mowing up-down button42, etc.

Operating the mowing up-down button42transmits an upward operation or a downward operation to the mower3, thereby to upward control the mower3during when the mowing up-down button42is upward operated, and meanwhile to downward control the mower3during when the mowing up-down button42is down operated. Operating the mowing clutch button43transmits a transmitting operation or shutting-off operation of the power to the mower3, thereby to transmit power to the mower3in response to the transmitting operation of the mowing clutch button43, and meanwhile to shut off the power to the mower3in response to the shutting-off operation of the mowing clutch button43.

As shown inFIG.5, the combine harvester1includes a positioning unit45that uses a satellite positioning system such as GPS thereby to obtain position information (own position) of the combine harvester1. The positioning unit45receives a positioning signal from a positioning satellite via a positioning antenna, and based on the positioning signal, obtains position information of the positioning unit45, that is, position information of the combine harvester1.

Next, a controller50of the combine harvester1is described with reference toFIG.5. The controller50is connected to a storage51that is composed of a computer such as CPU and includes ROM, RAM, hard disk drive, flash memory and the like, and to a communicator52that communicates with an external instrument.

The storage51stores programs and data for controlling various components and various functions of the combine harvester1, and the controller50performs arithmetic operations based on the programs and data stored in the storage51thereby to control the various components and various functions. The controller50controls the positioning unit45thereby to obtain the position information of the combine harvester1, for example.

Via a wireless communication antenna, the communicator52is capable of making a wireless communication with the external instrument such as the portable terminal60held by the worker. The controller50controls the communicator52thereby to perform the wireless communication with the portable terminal60, and sends and receives various information to and from the portable terminal60.

Also, the controller50performs the program stored in the storage51, thereby to operate as an automatic traveler55, a work instrument elevator56, and a switch57. The automatic traveler55, the work instrument elevator56, and the switch57realize an automatic traveling step, work instrument elevating step, and switching step of the automatic traveling method of the present invention. The controller50, with the positioning unit45, positions the position information on the combine harvester1, thereby to realize an own position detecting step for detecting an own position of the combine harvester1.

The automatic traveler55controls the traveler2and the mower3in a manner to perform the automatic straight work that automatically mows while automatically traveling along the set traveling line parallel to the predetermined reference traveling line set for the farm field, and the automatic mowing traveling that automatically mows while automatically traveling along a preset traveling route. The present embodiment describes an example of performing the automatic straight work. For example, the automatic traveler55obtains the set traveling line from the portable terminal60and, based on the position information of the combine harvester1positioned by the positioning unit45, controls the power8, the traveler2, and the mower3so that the combine harvester1performs the automatic straight work along the set traveling line.

In response to the upward/downward operation by the operation tool of the steerer9, the work instrument elevator56executes upward/downward control of the mower3as the work instrument. When the mower3is located below the standby position, for example, the work instrument elevator56transmits the auto lift operation to the mower3according to the operation by the auto lift button40, and upward controls the mower3to the standby position. When the mower3is located above or below the work position, the work instrument elevator56transmits the auto set operation to the mower3according to the operation by the auto set button41, and downward or upward controls the mower3to the work position. The work instrument elevator56transmits the upward operation or downward operation to the mower3according to the operation of the mowing up-down button42, and upward or downward controls the mower3to the work position.

The switch57realizes an override function to switch the combine harvester1to the manual traveling or the automatic traveling; when detecting that the combine harvester1has mowed and passed through the un-mowed area (unworked area) and moved from the un-mowed area to the already mowed area (already worked area), the switch57switches the automatic traveling of the combine harvester1to the manual traveling. The switch57switches the combine harvester1to the manual traveling or the automatic traveling based on the operation of the override button36or based on the upward/downward operation or upward/downward control of the mower3; when the combine harvester1is automatically traveling, the switch57detects the shift from the un-mowed area to the already mowed area in response to the operation of the override button36, and switches the automatic traveling of the combine harvester1to the manual traveling. Hereafter, description will be given about the override function where the switch57detects the shift from the un-mowed area to the already mowed area in response to the upward-downward operation and upward-downward control of the mower3during automatic traveling and switches the automatic traveling of the combine harvester1to the manual traveling. For example, during the performing of the automatic traveling by the combine harvester1, when the work instrument elevator56performs the upward operation of the mower3or executes the raising control that is based on the upward operation, the switch57detects the shift from the un-mowed area to the already mowed area, and the automatic traveling of the combine harvester1to the manual traveling.

Here, the upward operation may be an upward operation by the auto lift button40, and the switch57may switch the automatic traveling of the combine harvester1to the manual traveling in response to the auto lift operation of the auto lift button40, or to the control of raising the mower3to the standby position, which control is based on the auto lift operation. The upward operation may be performed by the upward operation by the mowing up-down button42, and the switch57may switch the automatic traveling of the combine harvester1to the manual traveling when the mower3is upward controlled to a predetermined height or more by the upward operation of the mowing up-down button42. Thus, when being able to determine, based on the upward-downward operation and upward-downward control of the mower3, that the combine harvester1has worked to the end of one stroke in the un-mowed area by the automatic traveling, or when detecting the end of the stroke work by any other means, the switch57switches the automatic traveling of the combine harvester1to the manual traveling.

As a first operation example of the override function; after the switch57switches the automatic traveling of the combine harvester1to the manual traveling, if the steerer9's predetermined operation using the operation tool, for example, the turning operation or the speed change operation, is not performed for a predetermined time or a predetermined distance, the controller50may control the traveler2in a manner to decelerate or stop the manual traveling of the combine harvester1. Meanwhile, if the predetermined operation is performed during the predetermined time or the predetermined distance, the controller50maintains the combine harvester1in the manual operation.

Here, the predetermined time or the predetermined distance may be a value initially set in advance or a value arbitrarily set according to the worker's operation of the portable terminal60. The turning operation may be set, for example, to a turning operation that is seen when the steering wheel33is turned more than or equal to a predetermined angle threshold or when a turning radius is detected to be less than or equal to a predetermined radius threshold, and the speed change operation may be set to a speed change operation that is seen when the main speed change lever34's tilting to the forward speed change area38or to the rearward speed change area39is detected. Decelerating of the manual traveling may be done by gradually or stepwise reducing the traveling speed, regardless of the position of the main speed change lever34. Stopping of the manual traveling may be done by gradually or stepwise reducing the traveling speed to converge to zero, by switching the transmission to neutral, or by stopping the engine30, regardless of the position of the main speed change lever34.

The determination of whether or not the turning operation or the speed change operation has been performed for the predetermined time or predetermined distance may be done by the controller50, or may be done by the portable terminal60with a result of the determination sent to the controller50. If the manual traveling of the combine harvester1is to be decelerated or stopped due to absence of the turning operation or speed change operation, a display of the steerer9or the portable terminal60may be used to notify the worker to that effect.

As a second operation example of the override function; when the upward operation or raising control of the mower3is performed during the performing of the automatic traveling, the controller50may control the traveling depending on whether the movement direction of the combine harvester1is the un-mowed area or the already mowed area. For example, when the upward operation of the mower3is performed during the performing of the automatic traveling, if the front of the own position of the combine harvester1is the already mowed area, the work instrument elevator56upward controls the mower3based on the upward operation, and the switch57switches the automatic traveling to the manual traveling. Meanwhile, if the front of the own position of the combine harvester1is the un-mowed area, the controller50stops the combine harvester1from traveling;

in this case, the controller50may upward control the mower3based on the upward operation, or may not upward control the mower3regardless of the upward operation.

Here, the controller50grasps the own position of the combine harvester1in the farm field based on the position information of the combine harvester1positioned by the positioning unit45, and grasp the movement direction of the combine harvester1. Also, the controller50determines whether the front of the own position of the combine harvester1is the un-mowed area or the already mowed area based on the un-mowed area data and already mowed area data of the farm field information held by the portable terminal60. The controller50may determine whether the front of the own position of the combine harvester1is the un-mowed area or the already mowed area by analyzing the farm field's image data taken by a camera provided for the combine harvester1or portable terminal60. Stopping of the traveling may be done by switching the transmission to neutral or by stopping the engine30, regardless of the position of the main speed change lever34.

The determination of whether the front of the own position of the combine harvester1is the un-mowed area or the already mowed area may be done by the controller50, or by the portable terminal60with the result of the determination sent to the controller50. When the combine harvester1is to be stopped because the front of the combine harvester1is the un-mowed area, the display of the steerer9or the portable terminal60may be used to notify the worker to that effect.

Next, the present embodiment describes a return function, which, contrary to the above override function described, switches the manual traveling of the combine harvester1to the automatic traveling based on the upward-downward operation and upward-downward control of the mower3. For example, when the combine harvester1sets the reference traveling line for the farm field and also performs the automatic straight work along the set traveling line parallel to the reference traveling line, the combine harvester1, with the mower3raised to the standby position, manually travels toward the end portion of the un-mowed area.

At this time, as a first operation example of the return function, with the movement direction of the combine harvester1in a state of being within a predetermined angle relative to the traveling direction of the reference traveling line, performing the downward operation to place the mower3in the work position or the downward control that is based on the downward operation allows the switch57to switch the manual traveling to the automatic traveling. Meanwhile, with the movement direction of the combine harvester1in a state of not being within the predetermined angle relative to the traveling direction of the reference traveling line, the manual traveling of the combine harvester1is maintained regardless of the downward operation or downward control of the mower3.

Here, the predetermined angle may be a value initially set in advance or a value arbitrarily set according to the operation of the portable terminal60by the worker. The downward operation may be a downward operation by the auto set button41, and the switch57may switch the manual traveling of the combine harvester1to the automatic traveling in response to the auto set operation or to the control that is based on the auto set operation and that is downward to the work position of the mower3. Also, the downward operation may be performed by the downward operation by the mowing up-down button42, and the switch57may switch the manual traveling of the combine harvester1to the automatic traveling when the mower3is downward controlled to the work position by the downward operation of the mowing up-down button42. In the switched automatic traveling, the automatic traveler55performs the automatic straight traveling along the set traveling line parallel to the reference traveling line; for example, the portable terminal60may, from the combine harvester1, obtain the position information of the combine harvester1positioned by the positioning unit45, and set the set traveling line based on the position information and reference traveling line of the combine harvester1.

The determination of whether or not the movement direction of the combine harvester1is within the predetermined angle relative to the traveling direction of the reference traveling line may be done by the controller50, or may be done by the portable terminal60with determination results thereof sent to the controller50.

As a second operation example of the return function, the combine harvester1, for the un-mowed area, sets a recommended traveling line parallel to the reference traveling line. Then, when the downward operation to place the mower3in the work position or the downward control that is based on the downward operation is performed and the switch57switches the manual traveling of the combine harvester1to the automatic traveling, the combine harvester1, when being within the predetermined range from the recommended traveling line in a direction orthogonal to the traveling direction of the reference traveling line, sets the recommended traveling line as the set traveling line. The automatic traveler55performs the automatic traveling (automatic straight work) along the set traveling line as the recommended traveling line. Meanwhile, when the combine harvester1is not within the predetermined range from the recommended traveling line, the automatic traveler55automatically travels (automatic straight work) along the set traveling line that is based on the own position of the combine harvester1, for example.

Here, the recommended traveling line may be set, for example, in a stroke with a start point at the left rear end of the un-mowed area based on the traveling direction of the reference traveling line. The predetermined range may be a preset initial value, or a value arbitrarily set according to the worker's operation of the portable terminal60. The predetermined range may be set to several tens of centimeters depending on the width of the mower3of the combine harvester1; when the width of the mower3of the combine harvester1is 3 m, for example, the predetermined range may be set to about 50 cm.

The determination of whether or not the combine harvester1is within the predetermined range of the recommended traveling line may be made by the controller50, or may be made by the portable terminal60with the result of the determination sent to the controller50. When the recommended traveling line based on the un-mowed area is set, the combine harvester1's own position and the recommended traveling line, in a state of overlapping a farm field map displayed on the display of the steerer9and on the portable terminal60, may be displayed. Further, the worker is allowed to select, in the automatic straight work, whether to use the recommended traveling line that is based on the un-mowed area or the set traveling line that is based on the combine harvester1's own position, and this selection may be made in advance before starting of the automatic straight work, or may be made at the time of setting the recommended traveling line.

The portable terminal60is one of the components of the combine harvester1and can remotely operate the combine harvester1; for example, the portable terminal60includes a tablet terminal provided with a touch screen, a laptop personal computer, or the like. Also, any operator similar to the portable terminal60may be provided in the steerer9. In the present invention, the combine harvester1and the portable terminal60constitute the automatic traveling system.

As shown inFIG.5, the portable terminal60has a controller61composed of a computer such as a CPU, and the controller61is connected to a storage62such as ROM, RAM, hard disk drive and flash memory, and to a communicator63that communicates with the external instrument. Also, the portable terminal60includes a display such as a touch screen or monitor for displaying various information and outputting the various information to the worker, and an inputter such as touch screen and operation key for receiving an inputting operation of various information from the worker. For example, the portable terminal60displays, on the display, a screen (e.g., home screen or mode setting screen) on which any of the manual traveling mode and automatic traveling mode of the combine harvester1can be set, and sends, to the combine harvester1, the traveling mode set according to the worker's operation.

The storage62stores any program and data for controlling various components and various functions of the portable terminal60, and, based on the program and data stored in the storage62, the controller61executes an arithmetic process thereby to control the various components and various functions of the portable terminal60. The storage62stores the farm field information of the to-be-worked-on farm field of the combine harvester1, for example. The farm field information includes the shape, size and positional information (coordinates, etc.) of a farm field edge that constitutes the farm field's external circumference, as well as the shape, size and positional information (coordinates, etc.) of the work area of the farm field.

The farm field information also includes un-mowed area data and already mowed area data in the farm field. The un-mowed area data is initially set for the entire farm field, and the area where the combine harvester1has performed the manual traveling or automatic traveling is changed from the un-mowed area data to the already mowed area data.

Via a wireless communication antenna, the communicator63is communicably connected to the communicator52of the combine harvester1. The controller61controls the communicator63thereby to wirelessly communicate with the combine harvester1, and sends and receives various information to and from the combine harvester1.

The controller61of the portable terminal60performs the program stored in the storage62thereby to operate as a reference traveling line setter65, a set traveling line setter66, a recommended traveling line setter67, and a work display68. The reference traveling line setter65, the set traveling line setter66, the recommended traveling line setter67, and the work display68realize a reference traveling line setting step, set traveling line setting step, recommended traveling line setting step, and work displaying step of the automatic traveling method according to the present invention.

The reference traveling line setter65sets a reference traveling line that shows the traveling direction of the combine harvester1's automatic straight work. So as to set, to the farm field, the reference traveling line including a start point and an end point, the reference traveling line setter65enables to receive the setting of the start point and end point in the farm field, and, at the time of the manual traveling in the farm field, displays, on the display, a reference traveling line setting screen (not shown) capable of setting the start point and the end point, for example.

When receiving the setting of the start point, the reference traveling line setter65receives, from the combine harvester1, the position information of the combine harvester1positioned at that time by the positioning unit45of the combine harvester1, and sets the start point based on the position information. When receiving the setting of the end point, the reference traveling line setter65receives, from the combine harvester1, the position information of the combine harvester1positioned at that time by the positioning unit45of the combine harvester1, and sets the end point based on the position information.

The set traveling line setter66sets a set traveling line parallel to the reference traveling line based on the reference traveling line. The set traveling line setter66makes the setting of the set traveling line receivable, and displays, on the display section, a set traveling line setting screen (not shown) capable of instructing to set the set traveling line, for example.

For example, when receiving the setting of the set traveling line, the set traveling line setter66receives, from the combine harvester1, the position information of the combine harvester1positioned at that time by the positioning unit45of the combine harvester1, sets, as the set traveling line, a straight line parallel to the reference traveling line and passing through the own position of the combine harvester1, stores the set traveling line in the storage62, and send the set traveling line to the controller50of the combine harvester1.

For the un-mowed area of the farm field, the recommended traveling line setter67sets the recommended traveling line parallel to the reference traveling line. The recommended traveling line setter67may set the recommended traveling line so that the automatic straight work is performed in order from the end portion of the un-mowed area based on the un-mowed area data of the farm field information; for example, setting, based on the traveling direction of the reference traveling line, the recommended traveling line as the stroke having a start point at the left rear end of the un-mowed area, storing the recommended traveling line in the storage62, and sending the recommended traveling line to the controller50of the combine harvester1.

On the display, the work display68displays a work screen related to the automatic straight work done by the combine harvester1. For example, the work display68, on the work screen, displays a farm field map based on the farm field information, while, based on the farm field information, displaying the un-mowed and the already mowed areas overlapping the farm field map. The work display68, when the reference traveling line is set by the reference traveling line setter65, displays the reference traveling line in a state of overlapping the farm field, while the work display68, when the set traveling line is set by the set traveling line setter66, displays the set traveling line in a state of overlapping the farm field. Also, from the combine harvester1, the work display68receives the position information of the combine harvester1positioned by the positioning unit45of the combine harvester1, and displays, on the farm field map, a simulated diagram of the combine harvester1based on the position information of the combine harvester1. Further, when the recommended traveling line is set by the recommended traveling line setter67, the work display68displays the recommended traveling line together with the set traveling line in a state of overlapping the farm field map.

Next, an operation example of the override function by the combine harvester1is described with reference to a flowchart inFIG.6.

The worker first operates the portable terminal60of the combine harvester1thereby to set, by the reference traveling line setter65, the reference traveling line showing the traveling direction of the automatic straight work of the combine harvester1(step S1).

When manually causing the combine harvester1to travel thereby to move the combine harvester1to the end portion of the un-mowed area of the farm field, the worker downward operates the auto set button41or the mowing up-down button42thereby to cause the work instrument elevator56to downward control the mower3to the work position, and operates the portable terminal60thereby to instruct to set the set traveling line. Then, in the portable terminal60, the set traveling line setter66sets the set traveling line parallel to the reference traveling line step S2).

The worker operates the portable terminal60and gives an instruction for the automatic straight work, thereby to allow the portable terminal60to send, to the combine harvester1, the automatic straight work's start instruction and the set traveling line. When the controller50of the combine harvester1receives, from the portable terminal60, the automatic straight work's start instruction and the set traveling line, the automatic traveler55controls the combine harvester1in a manner to perform the automatic straight work along the set traveling line (step S3).

When the worker ends the automatic straight work for one stroke of the set traveling line, the worker upward operates the auto lift button40or the mowing up-down button42, thereby to allow the work instrument elevator56to upward control the mower3to the standby position (step S4: Yes). Then, the switch57of the controller50detects the shift from the un-mowed area to the already mowed area, and, in response to upward operation of the mower3or to the upward control based on the upward operation, switches the automatic traveling of the combine harvester1to the manual traveling (step S7).

Even if the up operation of the auto lift button40or the mowing up-down button42is not performed (step S4: No), the worker, when operating the override button36(step S5: Yes) allows the switch57to detect the shift from the un-mowed area to the already mowed area and switch the automatic traveling of the combine harvester1to the manual traveling (step S7). If any override operation other than those described above is performed on the combine harvester1(step S6: Yes), the switch57switches the automatic traveling of the combine harvester1to the manual traveling (step S7).

The worker operates the combine harvester1that has been switched to the manual traveling in this manner, thereby to move the combine harvester1to the next stroke. When no override operation is performed on the combine harvester1(step S4: No, step S5: No, step S6: No), the combine harvester1continues to automatically travel.

As described above, according to the present embodiment, the combine harvester1as the example of a work vehicle is provided with the controller50, and the controller50functions as the automatic traveler55and the switch57. The automatic traveler55executes the automatic traveling of the combine harvester1in the automatic straight work. When detecting, during the executing of the automatic traveling, the shift from the un-mowed area (unworked area) to the already mowed area (already worked area), the switch57switches the automatic traveling of the combine harvester1to the manual traveling. Specifically, in the combine harvester1, the controller50functions as the work instrument elevator56, and the work instrument elevator56upward/downward controls the mower3in response to the upward/downward operation of the mower3as the work instrument, and the switch57, when the mower3is upward controlled based on the upward operation of the mower3, detects the shift from the un-mowed area to the already mowed area.

As a result, when the combine harvester1works to the end of one stroke in the un-mowed area in the automatic traveling and detects the shift to the already mowed area, the worker, without a complicated operation, can shift to the manual traveling and move the combine harvester1to the next stroke. At this time, merely upward operating the mower3can upward control the mower3, and can switch the automatic traveling to the manual traveling. This reduces the worker's operational burden and improves workability.

In the combine harvester1of the present embodiment, if no turning operation or no speed change operation of the combine harvester1is performed for a predetermined time or a predetermined distance after detecting the shift from the un-mowed area to the already mowed area and followed by switching from the automatic traveling to the manual traveling, the controller50may decelerate or stop the manual traveling of the combine harvester1.

With this, the combine harvester1, without the turning operation or speed change operation, automatically decelerates or stops in the switched manual travel, making it possible to improve safety.

In the combine harvester1of the present embodiment, the controller50, by the positioning unit45, positions the position information of the combine harvester1, thereby to detect the own position of the combine harvester1. The work vehicle in the present embodiment includes the combine harvester1provided with the mower3as the work instrument. When the mower3is upward controlled during the executing of the automatic traveling; if the front of the own position is the already mowed area, the controller50, by the work instrument elevator56, may upward control the mower3based on the upward operation and, by the switch57, may switch the automatic traveling to the manual traveling.

This allows the combine harvester1to travel without the mowing work if the front of the own position is the already mowed area, so the combine harvester1can upward control the mower3thereby to automatically switch from the automatic traveling to the manual traveling, thus making it possible to prevent erroneous operation due to the status in front of the combine harvester1, and to improve workability.

In the combine harvester1of the present embodiment; during the performing of the automatic traveling, when the upward operation of the mower3is performed, the controller50, if the front of the own position is the un-mowed area, may stop the combine harvester1.

With this, the combine harvester1cannot travel without the mowing work if the front of the own position is the un-mowed area; therefore, when the mower3is upward operated, stopping the combine harvester1can prevent the combine harvester1from entering the un-mowed area with the mower3being positioned upward, thus making it possible to prevent erroneous operation due to the state in front of the combine harvester1and to improve workability.

In the combine harvester1of the present embodiment, the controller50is provided with the portable terminal60, and the portable terminal60functions as the reference traveling line setter65and the set traveling line setter66. The reference traveling line setter65sets the reference traveling line that shows the traveling direction of the automatic straight work, and the set traveling line setter66sets the set traveling line parallel to the reference traveling line based on the reference traveling line. During the executing of the manual traveling, with the traveling direction of the combine harvester1being within the predetermined angle relative to the traveling direction of the reference traveling line, the controller50, when downward controlling the mower3based on the downward operation of the mower3, switches, by the switch57, the manual traveling to the automatic traveling.

With this, the combine harvester1, by merely downward operating the mower3with the movement direction adjusted to the traveling direction of the reference traveling line, can downward control the mower3and can automatically switch the manual traveling to the automatic traveling, thus making it possible to improve workability.

In the combine harvester1of the present embodiment, the portable terminal60functions as the recommended traveling line setter67. For the un-mowed area, the recommended traveling line setter67sets the recommended traveling line parallel to the reference traveling line. When the controller50downward controls the mower3thereby to switch the manual traveling to the automatic traveling, if the combine harvester1is within the predetermined range from the recommended traveling line in the direction orthogonal to the traveling direction of the reference traveling line, the controller50sets the recommended traveling line to the set traveling line thereby to perform the automatic traveling.

With this, even when the combine harvester1is located off the un-mowed area, but the combine harvester1is within the predetermined range from the recommended traveling line set for the un-mowed area, the combine harvester1sets the recommended traveling line as the set traveling line thereby to perform the automatic traveling; therefore, the combine harvester1sequentially performs the automatic traveling on the un-mowed area without performing the automatic traveling that is off the un-mowed area, making it possible to improve workability.

In the above embodiment, the example has been described in which, in the combine harvester1, the auto lift button40, the auto set button41, and the mowing up-down button42are provided at the main speed change lever34of the steerer9, but the present invention is not limited to this example. For example, in another example, the auto lift button40, the auto set button41, and the mowing up-down button42may be located on the steerer9other than at the main speed change lever34, and may be operably displayed on the display of the portable terminal60.

In the embodiment described above, the example has been described in which, in the combine harvester1, the upward operations of the auto lift button40, the auto set button41, and the mowing up-down button42and the operation of the override button36are override operations, but the present invention is not limited to this example. For example, in another example, other than the upward operations of the auto lift button40, the auto set button41and the mowing up-down button42, and the operation of the override button36, the turning operation of the steering wheel33, and the tilting operation of the main speed change lever34or the auxiliary speed change lever35may be the override operations.

In the above embodiment, the example has been described in which the switch57detects the shift from the un-mowed area to the already mowed area when the mower3is upward controlled based on the upward operation of the mower3, but the present invention is not limited to this. In another example, the switch57may detect the shift from the un-mowed area to the already mowed area based on the rotational work's rotational speed (work speed) for the mower3to perform the mowing work, thereby to switch the automatic traveling of the combine harvester1to the manual traveling.

Specifically, by the rotation detector3aof the mower3, the switch57detects the rotational work's rotational speed for the mower3to perform the mowing work. For example, the rotation detector3adetects the rotational speed of the scraping reel14, the scraping auger16, or the conveyor18of the mower3as the rotational speed of the rotational work of the mower3.

When the scraping reel14, the scraping auger16or the conveyor18's rotational speed (work speed) detected by the rotation detector3ais the predetermined rotational speed threshold (work speed threshold) or below, the switch57determines that the work load is applied to the scraping reel14, the scraping auger16or the conveyor18, and that the combine harvester1is under the mowing work in the un-mowed area. Meanwhile, when the scraping reel14, the scraping auger16, or the conveyor18's rotational speed detected by the rotation detector3ais over the predetermined rotational speed threshold, the switch57determines that no workload is applied to the scraping reel14, the scraping auger16or the conveyor18, and that the combine harvester1is not performing the mowing work in the already mowed area.

Then, during the automatic traveling of the combine harvester1, when the rotational speed of the scraping reel14, the scraping auger16, or the conveyor18changes from the rotational speed threshold or below to over the rotational speed threshold, the switch57detects that the combine harvester1has mowed and passed through the un-mowed area and moved from the un-mowed area to the already mowed area, and switches the automatic traveling of the combine harvester1to the manual traveling.

It is sufficient that the switch57should detect the shift from the un-mowed area to the already mowed area when determining from the state where the work load is applied to the mower3to the state where no work load is applied to the mower3; and this determination is not limited to being made by the result of the rotation detector3a's detecting of the rotational speed of the rotational work of the mower3, but may be made by any other means.

In the above embodiment described, the example has been described in which the work vehicle of the present invention includes the normal combine harvester1, but the present invention is not limited to this example; the work vehicle of the present invention may be any other work vehicles such as a detachable combine harvester, a tractor, a rice planter, a weed cutter, as long as being the one that, for the work, lowers the work instrument for the automatic traveling.

The present invention can be modified as appropriate to the extent not contradicting the gist or idea of the invention that can be read from the claims and the specification as a whole, and the automatic traveling method, work vehicle and automatic traveling system with such modification are also included in the technical concept of the present invention.

REFERENCE SIGNS LIST