Patent Description:
Conventionally, a work vehicle such as a combine harvester that perform automatic traveling in a field has a display part that displays, on a map of the field, an automatic traveling route for performing automatic traveling and an own vehicle position of the work vehicle.

For example, Patent Document <NUM> relates to an automatic traveling system, in which a traveling screen indicating how a rice transplanter is traveling automatically is displayed on an operation display part of a wireless communication terminal. On the traveling screen, a field image is displayed, and within the field image, a work area image indicating a work area, an automatic work path image indicating a straight route, an automatic turning path image indicating a coupled route, a work vehicle position image indicating the current position of the rice transplanter, a start position image indicating the most start point of the route, and an end position image indicating the most end point of the route are displayed. In Patent Document <NUM>, one of the conditions for starting automatic traveling is that the rice transplanter is located within a predetermined distance range of the most start point of the route. In addition, the prior art documents <CIT> and <CIT> disclose the similar display of a guideline.

In conventional technologies such as the one in the patent document <NUM>, the worker needs to manually operate the work vehicle and make the work vehicle travel within a predetermined distance range of the most start point of the route in order to start automatic traveling. At this time, the worker makes the work vehicle travel while confirming the most start point of the route and the own vehicle position of the work vehicle in the field displayed on the display part. However, since the field is a wide area and unworked regions and already worked regions may coexist, the area around the own vehicle position in the field may be enlarged and displayed on the display part so that the worker can make the work vehicle travel while confirming the area around the own vehicle position. In such a case, the position of the most start point of the route may fail to be displayed on the display part, and the worker may be unable to determine the position of the most start point of the route relative to the own vehicle position. In the field, the target may be not only the most start point of the automatic traveling route, but also the entrance of the field, the discharge position where the combine harvester discharges stored grains, or the return position where the combine harvester returns from the discharge position. The same problem may occur if these target positions are far from the own vehicle position.

The purpose of this invention is to provide an automatic traveling method, a work vehicle, and an automatic traveling system that can easily determine the positional relationship between a target position and an own vehicle position in a field.

To solve the above problem, the automatic traveling method of the present invention is a travelling method according to claim <NUM>.

In addition, to solve the above problem, the work vehicle of the present invention is a work vehicle according to claim <NUM>.

In addition, to solve the above problem, the automatic traveling system of the present invention is a traveling system according to claim <NUM>.

The present invention provides a traveling method, a work vehicle, and a traveling system that can easily determine the positional relationship between a target position and an own vehicle position in a field.

A combine harvester <NUM> according to an embodiment of the present invention will be described with reference to <FIG> and other drawings. The combine harvester <NUM> travels in a field as an object to be worked by automatic driving or manual operation, and performs work such as reaping for performing harvest work of crops from grain culms planted in the field. The combine harvester <NUM> is, for example, configured to perform automatic work in which steering is controlled by automatic driving while the traveling speed is controlled in response to manual operation, or unmanned work in which the steering and the traveling speed are controlled by automatic driving, and can travel, turn, and work autonomously in a field.

While traveling on the route of straight rows, a predetermined number of which within the reaping possible row number is a reaping width, relative to a plurality of rows of grain culms, the combine harvester <NUM> performs reaping work for the straight rows. In the combine harvester <NUM>, a traveling mode, either a manual traveling mode or an automatic traveling mode, is set. The combine harvester <NUM> is so configured as to perform, when being set to the manual traveling mode, the manual traveling according to steering of a steering part <NUM> by a worker.

On the other hand, the combine harvester <NUM> is configured to perform, when being set to the automatic traveling mode, automatic reaping traveling for performing reaping while traveling automatically in accordance with an automatic traveling route set in the field. For example, the combine harvester <NUM> performs the automatic reaping traveling with a traveling pattern such as reciprocating reaping in which the combine harvester <NUM> reciprocates between a plurality of automatic traveling routes in a region with unreaped grain culms in the field (hereinafter referred to as an "unworked region"), or circumference reaping in which reaping is repeated by shifting the circumference of the automatic traveling route along an inner circumference of the unworked region toward the center of the unworked region.

Before the combine harvester <NUM> performs the automatic reaping traveling, the combine harvester <NUM> performs outer circumference reaping traveling, in which the combine harvester <NUM> travels circumferentially along the outer circumference of the field while reaping, so that a headland is formed in the field, and the inside of the headland is used as a work area for the automatic reaping traveling.

The combine harvester <NUM> stores harvested grains from the field while performing the reaping traveling, and when a predetermined storage amount of grains is stored, the combine harvester <NUM> performs discharge work for discharging the stored grains to a collection part outside the field.

As illustrated in <FIG>, the combine harvester <NUM> includes a traveling part <NUM>, a reaping part <NUM>, a threshing part <NUM>, a sorting part <NUM>, a storage part <NUM>, a discharged straw processing part <NUM>, a power part <NUM>, and a steering part <NUM>, and is composed of a so-called head-feeding type combine harvester. The combine harvester <NUM> travels by the traveling part <NUM>, threshes grain culms reaped by the reaping part <NUM> in the threshing part <NUM>, sorts the grains in the sorting part <NUM>, and stores the grains in the storage part <NUM>. The combine harvester <NUM> causes the discharged straw processing part <NUM> to process threshed discharged straws. The combine harvester <NUM> drives the traveling part <NUM>, the reaping part <NUM>, the threshing part <NUM>, the sorting part <NUM>, the storage part <NUM>, and the discharged straw processing part <NUM> with power supplied by the power part <NUM>.

The traveling part <NUM> is provided below a main body frame <NUM>, and includes a left-and-right pair of crawler type traveling devices <NUM>, and a transmission (not illustrated). The traveling part <NUM> causes the combine harvester <NUM> to travel in the front-rear direction, or causes the combine harvester <NUM> to turn in the left-right direction by rotating crawlers of the crawler type traveling devices <NUM> with power (for example, rotational power) transmitted from an engine <NUM> of the power part <NUM>. The transmission transmits the power (rotational power) of the power part <NUM> to the crawler type traveling devices <NUM>, and is capable of shifting the rotational power.

The reaping part <NUM> is provided in front of the traveling part <NUM>, and performs reaping work for the rows within the reaping possible row number. The reaping part <NUM> includes a divider <NUM>, a raising device <NUM>, a cutting device <NUM>, and a transport device <NUM>. The divider <NUM> divides the grain culms in the field for each row, and guides, to the raising device <NUM>, the grain culms for a predetermined number of rows within the reaping possible row number. The raising device <NUM> raises the grain culms guided by the divider <NUM>. The cutting device <NUM> cuts the grain culms raised by the raising device <NUM>. The transport device <NUM> transports the grain culms cut by the cutting device <NUM> to the threshing part <NUM>.

The threshing part <NUM> is provided behind the reaping part <NUM>. The threshing part <NUM> includes a feed chain <NUM>, and a threshing cylinder <NUM>. The feed chain <NUM> transports the grain culms transported from the transport device <NUM> of the reaping part <NUM> in order to thresh, and further transports the threshed grain culms, that is, discharged straw to the discharged straw processing part <NUM>. The threshing cylinder <NUM> threshes the grain culms transported by the feed chain <NUM>.

The sorting part <NUM> is provided below the threshing part <NUM>. The sorting part <NUM> includes a swing sorting device <NUM>, a blower sorting device <NUM>, a grain transport device (not illustrated), and a waste straw discharge device (not illustrated). The swing sorting device <NUM> sifts the threshed grains that fall from the threshing part <NUM> and sorts the threshed grains into grains, waste straw, and the like. The blower sorting device <NUM> further sorts the threshed grains sorted by the swing sorting device <NUM> into grains, waste straw, and the like by blowing air. The grain transport device transports the grains sorted by the swing sorting device <NUM> and the blower sorting device <NUM> to the storage part <NUM>. The waste straw discharge device discharges the waste straw and the like sorted by the swing sorting device <NUM> and the blower sorting device <NUM> to the outside of the combine harvester.

The storage part <NUM> is provided on the right side of the threshing part <NUM>. The storage part <NUM> includes a grain tank <NUM>, and a discharge device <NUM>. The grain tank <NUM> stores the grains transported from the sorting part <NUM>. The discharge device <NUM> is composed of an auger or the like, and discharges the grains stored in the grain tank <NUM> to any place.

The discharged straw processing part <NUM> is provided behind the threshing part <NUM>. The discharged straw processing part <NUM> includes a discharged straw transport device (not illustrated), and a discharged straw cutting device (not illustrated). The discharged straw transport device transports the discharged straws transported from the feed chain <NUM> of the threshing part <NUM> to the discharged straw cutting device. The discharged straw cutting device cuts the discharged straws transported by the discharged straw transport device, and discharges the cut discharged straws to the outside of the combine harvester.

The power part <NUM> is provided above the traveling part <NUM> and in front of the storage part <NUM>. The power part <NUM> includes the engine <NUM> that generates rotational power. The power part <NUM> transmits the rotational power generated by the engine <NUM> to the traveling part <NUM>, the reaping part <NUM>, the threshing part <NUM>, the sorting part <NUM>, the storage part <NUM>, and the discharged straw processing part <NUM>.

The steering part <NUM> is provided above the power part <NUM>. The steering part <NUM> includes, around a driver's seat which is a seat on which a worker sits, as operation tools for steering the traveling of the combine harvester <NUM>, a steering wheel for instructing turning of the machine body of the combine harvester <NUM>, a main shift lever and a sub-shift lever for instructing change of the forward and backward traveling speed of the combine harvester <NUM>. The manual traveling of the combine harvester <NUM> is executed by the traveling part <NUM> that receives the operation of the steering wheel of the steering part <NUM>, the main shift lever, and the sub-shift lever. The steering part <NUM> includes a mechanism for operating the reaping work by the reaping part <NUM>, the threshing work by the threshing part <NUM>, the discharge work by the discharge device <NUM> of the storage part <NUM>, and other work.

The combine harvester <NUM> includes a positioning unit <NUM> that acquires an own vehicle position of the combine harvester <NUM> by using a satellite positioning system such as a GPS. The positioning unit <NUM> receives a positioning signal from a positioning satellite via a positioning antenna, and acquires position information of the positioning unit <NUM>, that is, the own vehicle position of the combine harvester <NUM> on the basis of the positioning signal.

Next, a control device <NUM> of the combine harvester <NUM> will be described with reference to <FIG>. The control device <NUM> is composed of a computer such as a CPU, and is connected to a communication part <NUM> that communicates with a memory part <NUM> such as a ROM, a RAM, a hard disk drive, and a flash memory, and an external device.

The memory part <NUM> stores a program and data for controlling various types of constituent components and various types of functions of the combine harvester <NUM>, and the control device <NUM> executes an arithmetic process on the basis of the program and the data stored in the memory part <NUM>, so that the various types of constituent components and the various types of functions are controlled. The control device <NUM> acquires the own vehicle position of the combine harvester <NUM> from the positioning unit <NUM>, for example.

The communication part <NUM> is capable of wirelessly communicating with an external device such as a portable terminal <NUM> owned by the worker via a wireless communication antenna. The control device <NUM> controls the communication part <NUM> to perform wireless communication with the portable terminal <NUM>, and transmits and receives various information to and from the portable terminal <NUM>.

The control device <NUM> operates as a traveling control part <NUM> by executing the program stored in the memory part <NUM>. The traveling control part <NUM> implements an automatic traveling step of an automatic traveling method according to the present invention.

The traveling control part <NUM> controls the automatic traveling of the combine harvester <NUM> in a case where an automatic traveling mode is set. For example, the traveling control part <NUM> acquires field information and an automatic traveling route set for the field from the portable terminal <NUM>. When the automatic reaping traveling is started, the traveling control part <NUM> acquires the own vehicle position of the combine harvester <NUM> from the positioning unit <NUM>, and controls the power part <NUM>, the traveling part <NUM>, and the reaping part <NUM> such that the combine harvester <NUM> performs the automatic reaping traveling along the automatic traveling route on the basis of the own vehicle position, the field information, and the automatic traveling route.

The portable terminal <NUM> is one of the constituent components of the combine harvester <NUM>, is a terminal that can remotely operate the combine harvester <NUM>, and is composed of, for example, a tablet terminal equipped with a touch panel, a laptop personal computer, or the like. An operation device similar to the portable terminal <NUM> may be provided in the steering part <NUM>. In the present invention, the automatic traveling system is constituted by the combine harvester <NUM> and the portable terminal <NUM>.

As illustrated in <FIG>, the portable terminal <NUM> includes a control device <NUM> composed of a computer such as a CPU, and the control device <NUM> is connected to a memory part <NUM> such as a ROM, a RAM, a hard disk drive and a flash memory, and a communication part <NUM> that communicates with an external device. Further, the portable terminal <NUM> includes a display part <NUM>, such as a touch panel and a monitor for displaying various information and outputting the various information to the worker, and an input part <NUM> such as a touch panel and an operation key for receiving an input operation of various information from the worker.

The memory part <NUM> stores a program and data for controlling various types of constituent components and various types of functions of the portable terminal <NUM>, and the control device <NUM> executes an arithmetic process on the basis of the program and the data stored in the memory part <NUM>, so that the various types of constituent components and the various types of functions of the portable terminal <NUM> are controlled. The memory part <NUM> stores field information of a field which is an object to be worked by the combine harvester <NUM>. The examples of the field information include the shape, the size, and the position information (coordinates and the like) of a field edge constituting an outer circumference of the field, the shape, the size, and the position information (coordinates and the like) of the working area of the field, and a discharge position adjacent to the collection part in the field. The field information also includes information such as the shape, size, and position information (coordinates and the like) of an unworked region where work has not yet been performed and an already worked region where work has already been completed.

The communication part <NUM> is communicatively connected to the communication part <NUM> of the combine harvester <NUM> via a wireless communication antenna. The control device <NUM> controls the communication part <NUM> to perform wireless communication with the combine harvester <NUM> and transmit and receive various information to and from the combine harvester <NUM>.

The control device <NUM> of the portable terminal <NUM> operates as a field selection part <NUM>, a route creation part <NUM>, and a display control part <NUM> by executing the program stored in the memory part <NUM>. The field selection part <NUM>, the route creation part <NUM>, and the display control part <NUM> implement a field selection step, a route creation step, and a display step of the automatic traveling method according to the present invention.

The field selection part <NUM> manually or automatically selects the field which is an object to be worked by the automatic traveling. For example, the field selection part <NUM> displays, on the display part <NUM>, a field selection screen (not illustrated) for selectively displaying a field corresponding to the field information stored in the memory part <NUM>. When any field is selected on the field selection screen in response to manual operation, the field selection part <NUM> selects the selected field as the object to be worked and reads the field information from the memory part <NUM>. Alternatively, the field selection part <NUM> may receive, from the combine harvester <NUM>, the own vehicle position of the combine harvester <NUM> positioned by the positioning unit <NUM> of the combine harvester <NUM>, and may be able to select a field corresponding to the field information including the own vehicle position of the combine harvester <NUM> within a range, among the field information stored in the memory part <NUM>, or may automatically select a field.

In addition, the field selection part <NUM> selects a new field at the own vehicle position of the combine harvester <NUM> as the object to be worked in a case where the creation of the new field is operated on the field selection screen or in a case where the field information including the own vehicle position of the combine harvester <NUM> within the range is not stored in the memory part <NUM>. The field selection part <NUM> creates field information of the new field by receiving, from the combine harvester <NUM>, the own vehicle position of the combine harvester <NUM> positioned by the positioning unit <NUM> of the combine harvester <NUM> and recording the position information of the outer circumference or the position information of the route of the reaping traveling when the combine harvester <NUM> performs the reaping traveling while circling along the outer circumference of the new field. Then, the field selection part <NUM> stores the created field information in the memory part <NUM>.

The route creation part <NUM> creates an automatic traveling route for the automatic reaping traveling in the field selected by the field selection part <NUM>, stores the automatic traveling route in the memory part <NUM>, and sends the automatic traveling route to the combine harvester <NUM> via the communication part <NUM>. The automatic traveling route includes traveling information related to automatic traveling and work information related to work such as automatic reaping. The traveling information includes the traveling position in the field as well as the traveling direction and the set vehicle speed at each traveling position. The work information includes information about the work such as reaping operation or stop, the reaping speed and the reaping height at each traveling position. The route creation part <NUM> linearly creates a route for reaping while traveling in the field in the forward direction according to a traveling pattern (reciprocating reaping or circumference reaping) selected by the operation of the portable terminal <NUM>, and creates the automatic traveling route by combining a plurality of the routes.

When a field is selected by the field selection part <NUM> and an automatic traveling route is created by the route creation part <NUM>, the display control part <NUM> displays, on the display part <NUM>, a work screen <NUM> for performing automatic traveling according to the automatic traveling route, as shown in <FIG>.

On the work screen <NUM>, the display control part <NUM> displays a map field <NUM>, a status lamp <NUM>, a work start button <NUM>, a traveling information setting button <NUM>, an operation panel button <NUM>, a mode switch button <NUM>, a work history button <NUM>, and a route offset button <NUM>. In addition, on the work screen <NUM>, the display control part <NUM> displays a field registration name <NUM> based on the field information, an allowable reaping traveling distance <NUM> based on the vacant capacity of the grain tank <NUM> in which the combine harvester <NUM> stores grains, and operatively displays a discharge setting button <NUM> for setting the discharge position.

On the work screen <NUM>, the display control part <NUM> displays a map field <NUM> based on map data. The display control part <NUM> displays, in the map field <NUM>, a field area <NUM> along the outer circumference of the field on the map based on the field information of the selected field. In addition, the display control part <NUM> displays, in the map field <NUM>, an own vehicle marker <NUM> of the combine harvester <NUM> at the own vehicle position of the combine harvester <NUM> positioned by the positioning unit <NUM> of the combine harvester <NUM>. The display control part <NUM> identifiably displays an already worked region <NUM> and an unworked region <NUM> in the field area <NUM>.

The display control part <NUM> displays the automatic traveling route <NUM> created by the route creation part <NUM> in the field area <NUM> in a superposed manner. In the map field <NUM>, the display control part <NUM> displays the straight routes, turning routes, and the like of the automatic traveling routes <NUM> in a linear form, and identifiably displays each route in a different display format (line color, line type, or the like). In addition, the display control part <NUM> identifiably displays, as target points indicating the target position of the combine harvester <NUM> in the field, a start point <NUM> indicating the start position where the automatic traveling starts, and an end point <NUM> indicating the end position at which the automatic traveling ends in the field area <NUM> in a superposed manner. The display control part <NUM> also identifiably displays an entrance point <NUM> indicating the entrance of the field, a discharge point <NUM> indicating the discharge position where the combine harvester <NUM> discharges stored grains, and a return point <NUM> where the combine harvester <NUM> returns to automatic traveling from the discharge position in the field area <NUM> in a superposed manner.

Furthermore, in the map field <NUM> of the work screen <NUM>, the display control part <NUM> displays a straight guideline <NUM> connecting the own vehicle marker <NUM> at the own vehicle position of the combine harvester <NUM> and the start point <NUM> that is the target point. The display control part <NUM> identifiably displays the guideline <NUM> in a different display format (line color, line type, or the like) from the lines indicating the automatic traveling route <NUM>. The display control part <NUM> updates the display of the guideline <NUM> according to the progress of the automatic reaping traveling of the combine harvester <NUM> on the basis of the own vehicle position of the combine harvester <NUM>. In this embodiment, an example of creating a guideline <NUM> that connects the own vehicle position and the target point in a straight line is described, but the guideline <NUM> is not limited to a straight line, the guideline <NUM> may be a combination of two or more straight lines or may include a curve line. In addition, the guideline <NUM> may be created to avoid the unworked region <NUM> and only go through the already worked region <NUM>, and in such a case, it is preferable to create a guideline <NUM> that indicates the shortest distance from the own vehicle position to the target point.

When the work start button <NUM> is operated and the combine harvester <NUM> starts automatic traveling, the display control part <NUM> switches the guideline <NUM> to non-display. The display control part <NUM> may switch the guideline <NUM> to non-display when the combine harvester <NUM> reaches the start point <NUM> or when the combine harvester <NUM> approaches within a predetermined distance from the start point <NUM>.

The display control part <NUM> operatively displays an enlargement operation part <NUM> and a full view operation part <NUM>, the enlargement operation part <NUM> is used to enlarge and display the field area <NUM> of the field displayed in the map field <NUM> of the work screen <NUM> with a partial area of a predetermined range centered on the own vehicle position of the combine harvester <NUM>, and the full view operation part <NUM> is used to display the entire area of the field area <NUM>. Either one of the enlargement operation part <NUM> and the full view operation part <NUM> is in selected state. In addition, the display control part <NUM> operatively displays a scale change button <NUM> for enlarging or reducing the display of the field area <NUM> to a predetermined scale. The display control part <NUM> is capable of accepting touch operation of the map field <NUM>, and accepts a pinch-in/pinch-out operation to enlarge or reduce the display of the field area <NUM>.

By the way, when the full view operation part <NUM> is selected and the entire area of the field area <NUM> is displayed in the map field <NUM> as shown in <FIG>, the display control part <NUM> always displays all of the following: the own vehicle marker <NUM> at the own vehicle position of the combine harvester <NUM>, the start point <NUM> that is the target point, and the guideline <NUM> connecting the own vehicle marker <NUM> and the start point <NUM>.

On the other hand, as shown in <FIG>, when a partial area of the field area <NUM> is displayed in the map field <NUM> by selecting the enlargement operation part <NUM> or operating the scale change button <NUM> or performing the pinch-in/pinch-out operation, and in a case where the start point <NUM> is within a predetermined range relative to the own vehicle position of the combine harvester <NUM>, the display control part <NUM> displays the own vehicle marker <NUM>, the start point <NUM>, and the guideline <NUM> all in the map field <NUM>.

However, as shown in <FIG>, in a case where the start point <NUM> is not within a predetermined range relative to the own vehicle position of the combine harvester <NUM>, the own vehicle marker <NUM> is displayed in the map field <NUM>, but the position of the start point <NUM> is not settled within the frame of one screen of the map field <NUM>, and the guideline <NUM> is displayed halfway to the frame of the map field <NUM>. At this time, in order to indicate that the position of the start point <NUM> is ahead of the guideline <NUM> relative to the own vehicle position of the combine harvester <NUM>, the display control part <NUM> displays the start point <NUM> at the intersection of the guideline <NUM> and the frame line of the map field <NUM>.

The display control part <NUM> may always display the guideline <NUM>. The display control part <NUM> may display the guideline <NUM> only when the own vehicle marker <NUM> at the own vehicle position of the combine harvester <NUM> and the start point <NUM> that is the target point are not settled within the frame of one screen of the map field <NUM>, and may hide the guideline <NUM> when the own vehicle marker <NUM> and the start point <NUM> are settled within the frame of one screen of the map field <NUM>.

The display control part <NUM> indicates whether the combine harvester <NUM> is ready for the automatic reaping traveling by means of the status lamp <NUM>. For example, in a case where the conditions for starting the automatic reaping traveling of the combine harvester <NUM> are satisfied, the display control part <NUM> displays the status lamp <NUM> in a display format indicating that the automatic reaping traveling is possible. In other cases, the display control part <NUM> displays the status lamp <NUM> in a display format indicating that the automatic reaping traveling is disabled.

The display control part <NUM> makes the work start button <NUM> selectable when the combine harvester <NUM> is ready for the automatic reaping traveling, while makes the work start button <NUM> unselectable when the combine harvester <NUM> is not ready for the automatic reaping traveling.

When the work start button <NUM> is selected on the work screen <NUM>, the display control part <NUM> sends information about the field and the automatic traveling route as well as a start instruction to combine harvester <NUM>. The combine harvester <NUM>, in response to the start instruction, performs the automatic reaping traveling along the automatic traveling route, while sending the own vehicle position of the combine harvester <NUM> positioned by the positioning unit <NUM> of the combine harvester <NUM> to the portable terminal <NUM>.

While the combine harvester <NUM> is performing the automatic reaping traveling according to the start instruction for the automatic reaping traveling, the display control part <NUM>, selectably displays, on the work screen <NUM>, a work stop button instead of the work start button <NUM>. When the work stop button is selected on the work screen <NUM>, the display control part <NUM> sends a stop instruction to the combine harvester <NUM>. The combine harvester <NUM> ends the automatic reaping traveling in response to the stop instruction. When the combine harvester <NUM> ends the automatic reaping traveling, the display control part <NUM> displays, on the work screen <NUM>, the work start button <NUM> instead of the work stop button. The displaying of the own vehicle marker <NUM> of the combine harvester <NUM> as well as the already worked region <NUM> and the unworked region <NUM>, and the presenting of the allowable reaping traveling distance <NUM> are updated based on the own vehicle position of the combine harvester <NUM> according to the progress of the automatic reaping traveling of the combine harvester <NUM>.

When the traveling information setting button <NUM> is selected on the work screen <NUM>, the display control part <NUM> displays, on the display part <NUM>, a traveling information setting screen (not illustrated) for setting the traveling information. The traveling information includes the ratio of forward vehicle speed, turning vehicle speed, backward vehicle speed, and the like relative to the speed set by the main shift lever of the steering part <NUM>, and acceleration stages of soft, standard, quick, and the like.

When the operation panel button <NUM> is selected on the work screen <NUM>, the display control part <NUM> displays, on the display part <NUM>, an operation panel screen (not illustrated) for setting information about the automatic reaping traveling. The information about the automatic reaping traveling includes, for example, the reaping start position at which reaping starts for the starting end of each row.

When the mode switch button <NUM> is selected on the work screen <NUM>, the display control part <NUM> ends the automatic reaping traveling and switches to the manual traveling.

When the work history button <NUM> is selected on the work screen <NUM>, the display control part <NUM> displays, on the display part <NUM>, a work history screen (not illustrated) for confirming the work history of the field.

When the route offset button <NUM> is selected on the work screen <NUM>, the display control part <NUM> sends an offset instruction to the combine harvester <NUM>. In response to the offset instruction, the combine harvester <NUM> moves diagonally relative to the automatic traveling route, thereby moving parallel by the amount of a set route offset target value to change the position thereof in the left-right direction of the main body.

As described above, according to this embodiment, the combine harvester <NUM> is a work vehicle that performs automatic traveling in a field and is equipped with the control device <NUM> and the portable terminal <NUM>. The portable terminal <NUM> includes the control device <NUM> and the display part <NUM>. The control device <NUM> functions as the display control part <NUM> to display, on the display part <NUM>, the automatic traveling route <NUM> for performing automatic traveling to the unworked region <NUM> in the field, the start point <NUM> that is the target point indicating the target position of the combine harvester <NUM> in the field, the own vehicle marker <NUM> indicating the own vehicle position of the combine harvester <NUM>, and the guideline <NUM> connecting the start point <NUM> and the own vehicle marker <NUM>.

In other words, in the present invention, an automatic traveling method for causing a work vehicle such as the combine harvester <NUM> to perform automatic traveling in a field includes displaying the automatic traveling route <NUM> for performing automatic traveling to the unworked region <NUM> in the field, the start point <NUM> that is the target point indicating the target position of the combine harvester <NUM> in the field, the own vehicle marker <NUM> indicating the own vehicle position of the combine harvester <NUM>, and the guideline <NUM> connecting the start point <NUM> and the own vehicle marker <NUM> on the display part <NUM>.

This allows the worker to easily determine the target position by displaying the guideline <NUM> that indicates a line from the own vehicle position of the combine harvester <NUM> to the target position. In particular, even when the own vehicle position of the combine harvester <NUM> and the target position are not settled within one screen of the display part <NUM>, the worker can easily determine the positional relationship between the target position and the own vehicle position in the field by referring to the guideline <NUM>.

According to this embodiment, the combine harvester <NUM> sets, as the target point, the start point <NUM> that indicates the start position where the combine harvester <NUM> starts the automatic traveling on the automatic traveling route.

This allows the worker to easily determine the start position, even when the start position of the automatic traveling is separated from the own vehicle position of the combine harvester <NUM>, thereby the automatic traveling can be started smoothly.

According to this embodiment, the display control part <NUM> switches the guideline <NUM> to non-display when the combine harvester <NUM> starts the automatic traveling.

This allows the display/non-display of the guideline <NUM> to be automatically switched as necessary, so that after the combine harvester <NUM> starts the automatic traveling, the guideline <NUM> is hidden. Thereby, the worker can easily confirm the automatic traveling route <NUM> displayed on the display part <NUM>, and the automatic traveling can be performed smoothly.

In this embodiment, an example in which the display control part <NUM> displays the guideline <NUM> in a single display format in the map field <NUM> is described, but the present invention is not limited to this example. In another example, as shown in <FIG>, the display control part <NUM> may identifiably display the guideline <NUM>, with a line 80a passing through the already worked region <NUM> and a line 80b passing through the unworked region <NUM>, in different display formats (line color, line type, or the like).

This allows the worker to easily confirm that there is an unworked region <NUM> between the own vehicle position of the combine harvester <NUM> and the target position, thereby the worker can move the combine harvester <NUM> to the target position while avoiding the unworked region.

In addition, in this embodiment, an example in which the enlargement operation part <NUM> for enlarging and displaying a partial area of the field and the full view operation part <NUM> for displaying the entire area of the field are operatively displayed on the work screen <NUM> is described, but the present invention is not limited to this example. In another example, as shown in <FIG>, the display control part <NUM> may operatively display a target point full view operation part <NUM> in addition to the enlargement operation part <NUM> and the full view operation part <NUM>. The target point full view operation part <NUM> is used to display the own vehicle marker <NUM> and the start point <NUM> by changing the display magnification so that the own vehicle marker <NUM> and the start point <NUM> are settled within the frame of one screen of the map field <NUM>. When the target point full view operation part <NUM> is selected, the display control part <NUM> displays, regardless of the distance relationship between the own vehicle position of the combine harvester <NUM> and the start position where the automatic traveling starts, the own vehicle marker <NUM> and the start point <NUM> by changing the display magnification so that the own vehicle marker <NUM> and the start point <NUM> are settled within the frame of one screen of the map field <NUM>, and displays the entire guideline <NUM>.

Accordingly, even when the own vehicle position of the combine harvester <NUM> and the target position are relatively far apart, the own vehicle position of the combine harvester <NUM> and the target position can be enlarged and displayed in such a manner that the own vehicle position of the combine harvester <NUM> and the target position are settled within one screen of the display part <NUM> regardless of the positional relationship between the own vehicle position and the target position. This makes it easier for the worker to simultaneously confirm the own vehicle position of the combine harvester <NUM> and the target position.

In this embodiment, an example in which, regardless of the traveling direction of the combine harvester <NUM>, the display control part <NUM> displays the guideline <NUM> in a single display format in the map field <NUM> is described, but the present invention is not limited to this example. In another example, as shown in <FIG>, the display control part <NUM> may change the display format of the guideline <NUM> according to an angle <NUM> between the traveling direction <NUM> of the combine harvester <NUM> at the own vehicle position and the target direction <NUM> from the own vehicle position of the combine harvester <NUM> toward the start point <NUM> that is the target point. At this time, the display control part <NUM> displays the guideline <NUM> with a black line or the like normally in a case where the traveling direction <NUM> of the combine harvester <NUM> is toward the start point <NUM>, while in a case where the traveling direction <NUM> of the combine harvester <NUM> is not toward the start point <NUM>, the guideline <NUM> is displayed with a red line or the like to indicate caution. For example, in a case where the angle <NUM> of the traveling direction <NUM> of the combine harvester <NUM> with respect to the target direction <NUM> from the own vehicle position of the combine harvester <NUM> toward the start point <NUM> is within plus or minus <NUM> degrees, the display control part <NUM> determines that the combine harvester <NUM> is heading toward the start point <NUM>; otherwise, the display control part <NUM> determines that the combine harvester <NUM> is not heading toward the start point <NUM>.

This allows the worker, by referring to guideline <NUM>, to easily confirm that the combine harvester <NUM> is not heading toward the target position such as the start point <NUM>, and recognize that the combine harvester <NUM> is traveling in the wrong direction.

In yet another example, the display control part <NUM> displays a direction marker <NUM> indicating the traveling direction <NUM> of the combine harvester <NUM>, and the display control part <NUM> may change the display format of the direction marker <NUM> according to the angle <NUM> between the traveling direction <NUM> of the combine harvester <NUM> at the own vehicle position and the target direction <NUM> from the own vehicle position toward the start point <NUM> that is the target point. At this time, as shown in <FIG>, the display control part <NUM> displays the direction marker <NUM> such as an arrow or the like pointing from the own vehicle marker <NUM> to the start point <NUM> along the guideline <NUM>. In addition, the display control part <NUM> displays the direction marker <NUM> with a black arrow or the like normally in a case where the traveling direction <NUM> of the combine harvester <NUM> is toward the start point <NUM>, while in a case where the traveling direction <NUM> of the combine harvester <NUM> is not toward the start point <NUM>, the direction marker <NUM> is displayed with a red arrow or the like to indicate caution. For example, in a case where the angle <NUM> of the traveling direction <NUM> of the combine harvester <NUM> with respect to the target direction <NUM> from the own vehicle position of the combine harvester <NUM> toward the start point <NUM> is within plus or minus <NUM> degrees, the display control part <NUM> determines that the combine harvester <NUM> is heading toward the start point <NUM>; otherwise, the display control part <NUM> determines that the combine harvester <NUM> is not heading toward the start point <NUM>.

This allows the worker, by referring to the direction marker <NUM> of the combine harvester <NUM>, to easily confirm that the combine harvester <NUM> is not heading toward the target position such as the start point <NUM>, and recognize that the combine harvester <NUM> is traveling in the wrong direction.

In this embodiment, an example in which the display control part <NUM> also sets the start point <NUM> indicating the start position to start the automatic traveling as the target point indicating the target position of the combine harvester <NUM> in the field is described, but the present invention is not limited to this example.

After the combine harvester <NUM> starts the automatic reaping traveling in the field, and before the combine harvester <NUM> completes work on all unworked regions, the combine harvester <NUM> may interrupt the automatic reaping traveling and move, and may set an interruption position of the automatic reaping traveling to a return position and restart the automatic reaping traveling from the return position. For example, when the storage volume of the grain tank <NUM> in the storage part <NUM> expires during the automatic reaping traveling, the combine harvester <NUM> needs to interrupt the automatic reaping traveling and move to a discharge position provided on an outer periphery of the field to discharge the stored grains. In another example, the display control part <NUM> may, in the map field <NUM> of the work screen <NUM>, set the discharge point <NUM> indicating the discharge position as the target point indicating the target position of the combine harvester <NUM>, and display a straight guideline <NUM> connecting the own vehicle marker <NUM> at the own vehicle position of the combine harvester <NUM> and the discharge point <NUM> that is the target point.

When the combine harvester <NUM> has completed discharging the grains, the combine harvester <NUM> needs to move to the interruption position (return position) of the automatic reaping traveling in order to restart the automatic reaping traveling. In another example, the display control part <NUM> may, in the map field <NUM> of the work screen <NUM>, set the return point <NUM> indicating the return position as the target point indicating the target position of the combine harvester <NUM>, and display a straight guideline <NUM> connecting the own vehicle marker <NUM> at the own vehicle position of the combine harvester <NUM> and the return point <NUM> that is the target point.

In the combine harvester <NUM>, the route creation part <NUM> of the portable terminal <NUM> combines a plurality of straight routes and a turning route connecting each straight route to create an automatic traveling route for automatic traveling, and the combine harvester <NUM> may perform automatic traveling on each straight route while performing manual traveling on the turning route. In a case where two straight routes connected by a turning route are separated from each other, these two straight routes may not be settled within the frame of one screen in the map field <NUM>. In another example, when the combine harvester <NUM> ends automatic traveling on one straight route and performs manual traveling on a turning route toward next straight route, the display control part <NUM> may set the start position of the next straight route as the target point indicating the target position the combine harvester <NUM> and may display a straight guideline <NUM> connecting the own vehicle marker <NUM> at the own vehicle position of the combine harvester <NUM> and the start position of the next straight route that is the target point.

In the above embodiments, the example of the combine harvester <NUM> composed of the head-feeding type combine harvester is described. However, the present invention is not limited to this example, and the combine harvester <NUM> may be composed of an ordinary-type combine harvester.

Claim 1:
A traveling method for causing a work vehicle to perform automatic traveling in a field, the method comprising:
a display step for displaying, on a display part (<NUM>), an automatic traveling route (<NUM>) for performing automatic traveling in an unworked region (<NUM>) in the field, a target point indicating a target position of the work vehicle in the field, an own vehicle position of the work vehicle, and a guideline (<NUM>) connecting the target point and the own vehicle position,
an automatic traveling step on the automatic traveling route (<NUM>),
characterized in that, in the display step, a display format in which the guideline (<NUM>) is displayed is different between an unworked region (<NUM>) and an already worked region in the field (<NUM>).