JP2022044932A - Work vehicle - Google Patents

Abstract

An object of the present invention is to provide a work vehicle that can smoothly and reliably move to a work start point on an autonomous driving route. [Solution] A reciprocating travel route R1a-1 that is set inside a farm field 50 and repeatedly travels back and forth, and headland travel routes R1b, R2a, and R2b that travel along the outer peripheral shape of the reciprocating travel route R1a-1. When a work vehicle equipped with a traveling vehicle body receives an instruction to start automatic work travel, it travels along headland travel routes R1b, R2a, and R2b to a work start point S on the round trip route R1a-1. The control unit includes a control unit that automatically causes the vehicle body to move and run without any work, and the control unit is configured to control the turning operation in the turning operation during the movement and run that does not involve any work on the headland running routes R1b, R2a, and R2b. A work vehicle characterized by not performing a backward movement. [Selection diagram] Figure 4

Description

The present invention relates to a work vehicle such as a cultivator.

A work vehicle that sets a travel area and is provided with a route generation unit that generates a vehicle travel route in the travel region, and autonomously travels along the generated route. The travel region is a work route in which work is performed by a work machine. Includes a first region containing, and a second region set around the first region, and when the start of work is instructed in the second region, from the azimuth and current position facing the vehicle body. As long as the angle difference from the azimuth with respect to the work start point is within a predetermined range, a work vehicle that starts the work after traveling from the current position to the start position of the work path is known (see Patent Document 1).

Japanese Patent No. 6594805

However, in the conventional technique, when moving to the work start position, an unnecessary sharp turn or reverse movement may be performed, which may unnecessarily damage the field.

An object of the present invention is to provide a work vehicle capable of smoothly and automatically traveling to a work start point without damaging the field.

The first invention is
It is a work vehicle equipped with a traveling vehicle body that travels on a round-trip traveling route that repeats round-trip traveling set inside the field and a headland traveling route that travels along the outer peripheral shape of the round-trip traveling route.
Upon receiving an instruction to start automatic work running, the vehicle is provided with a control unit that automatically moves the traveling vehicle body along the headland traveling route to the work starting point on the reciprocating traveling route without any work.
The control unit is a work vehicle characterized in that, in a turning operation during a moving traveling without automatic work on the headland traveling path, a reverse operation after turning is not performed.

The second invention is
Equipped with a braking device that can brake one side at a time on each of the left and right rear wheels.
When turning from the route portion of the headland traveling route set at a right angle to the route portion where the work start point of the reciprocating travel route exists to the work start point, the one-sided brake is accompanied. The third invention, which is the work vehicle of the first invention, which makes no turn,
Equipped with a braking device that can brake one side at a time on each of the left and right rear wheels.
In the case of turning from the path portion of the headland traveling path set at an angle parallel to the path portion where the work start point of the reciprocating travel path exists to the work start point, the one-side brake It is the first work vehicle of the present invention that makes a turn accompanied by.

The fourth invention is
The headland traveling route is set as a plurality of processes with one lap as one process.
Equipped with a braking device that can brake one side at a time on each of the left and right rear wheels.
Of the route portions of the headland travel route set at an angle parallel to the route portion where the work start point of the round-trip travel route exists, a route other than the innermost headland travel route portion. Therefore, in the case of turning to the work start point, the braking force of the one-sided brake is weaker than in the case of turning from the innermost headland traveling path portion to the work start point. It is a work vehicle of the invention.

According to the first aspect of the present invention, it is necessary to move backward after turning to fill the work area in order to perform the work evenly during the work running, but this is omitted because it is unnecessary during the non-working mobile running. This makes it possible to move the field without unnecessarily ruining it.

According to the second aspect of the present invention, when moving from the headland traveling path to the work start point, unnecessary braking can be suppressed so that the field can be moved without being unnecessarily damaged.

According to the third aspect of the present invention, when traveling on a route requiring a sharp turn, it is possible to appropriately move to the work start point by executing one-sided braking.

According to the fourth aspect of the present invention, when moving to the work start point from a route other than the innermost headland travel route, the turn can be made more gently than when moving from the innermost headland travel route to the start point. , Does not require strong braking force. Therefore, by weakening the braking force, it is possible to appropriately move to the work start point without unnecessarily damaging the field.

Side view of the work vehicle according to the embodiment of the present invention Configuration diagram of the control unit of the work vehicle Schematic plan view showing the travel route of the work vehicle traveling in the field Schematic plan view for explaining the traveling route of the work vehicle (Case 1) Schematic plan view for explaining the traveling route of the work vehicle (case 2) Schematic plan view for explaining the traveling route of the work vehicle (case 3) Schematic plan view for explaining the traveling route of the work vehicle (Case 4)

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a side view of a tractor as an example of a work vehicle according to an embodiment of the present invention.

First, the overall configuration of the tractor 1 will be described with reference to FIG.

The tractor 1 which is a work vehicle is an agricultural tractor that works in a field or the like while self-propelled. Further, the tractor 1 is a control system centered on a control unit 40 (see FIG. 2), which will be described later, in addition to performing a predetermined work while the operator (also referred to as an operator) is on board and traveling in the field. By controlling the above, the predetermined work is executed while automatically traveling in the field.

Further, in the following, the front-rear direction is the traveling direction when the tractor 1 travels straight, and the front side of the traveling direction is defined as "front" and the rear side is defined as "rear". The traveling direction of the tractor 1 is a direction toward the steering wheel 9 from the driver's seat 8 described later when going straight (see FIG. 1).

The left-right direction is a direction that is horizontally orthogonal to the front-back direction. In the following, left and right are specified toward the "front" side. That is, with the operator of the tractor 1 (also referred to as “worker”) seated in the driver's seat 8 and facing forward, the left hand side is “left” and the right hand side is “right”.

The vertical direction is the vertical direction. The front-back direction, the left-right direction, and the up-down direction are orthogonal to each other. It should be noted that each direction is defined for convenience of explanation, and the present invention is not limited to these directions. Further, in the following, the tractor 1 may be referred to as an "airframe".

As shown in FIG. 1, the tractor 1 includes a traveling vehicle body 2 and a working machine W. The traveling vehicle body 2 includes a vehicle body frame 3, front wheels 4, rear wheels 5, a bonnet 6, an engine E, a control unit 7, and a mission case 10. The vehicle body frame 3 is the main frame of the traveling vehicle body 2.

The front wheels 4 are a pair of left and right wheels, and are mainly steering wheels (steering wheels). The rear wheels 5 are a pair of left and right wheels, and are mainly driving wheels (driving wheels). The tractor 1 may be configured to be switchable between a two-wheel drive (2WD) driven by the rear wheels 5 and a four-wheel drive (4WD) driven by both the front wheels 4 and the rear wheels 5. In this case, the drive wheels are both the front wheels 4 and the rear wheels 5. The traveling vehicle body 2 may be provided with a crawler device instead of the wheels (front wheels 4 and rear wheels 5). In this case, the traveling crawler is the drive wheel.

The bonnet 6 is provided so as to be openable and closable at the front portion of the traveling vehicle body 2. The bonnet 6 can be rotated (opened and closed) in the vertical direction with the rear portion as the center of rotation. The bonnet 6 covers the engine E mounted on the vehicle body frame 3 in a closed state. The engine E is a drive source for the tractor 1 and is a heat engine such as a diesel engine or a gasoline engine.

The control unit 7 is provided on the upper portion of the traveling vehicle body 2, and includes a driver's seat 8 and a steering wheel 9. The control unit 7 may be formed by being covered with a cabin 7a provided on the upper part of the traveling vehicle body 2. The driver's seat 8 is a driver's seat. The steering wheel 9 is operated by the operator when steering the front wheels 4. The steering unit 7 is provided with a display unit (meter panel) for displaying various information in front of the steering wheel 9.

Further, the control unit 7 includes various operation levers such as a forward / backward advance lever, an accelerator lever, a main shift lever, and an auxiliary shift lever, and various operation pedals such as an accelerator pedal, a brake pedal, and a clutch pedal.

The transmission case 10 houses a transmission (transmission mechanism). The transmission 10 appropriately decelerates the power (rotational power) transmitted from the engine E and transmits it to the rear wheels 5 which are the driving wheels and the PTO (Power Take-off) shaft.

A working machine W that performs work in the field is connected to the rear portion of the traveling vehicle body 2, and a PTO shaft that transmits power for driving the working machine W projects rearward from the mission case 10. The PTO shaft transmits the rotational power appropriately decelerated by the transmission to the working machine W mounted at least at the rear of the traveling vehicle body 2.

Further, an elevating device 12 for elevating and lowering the working machine W is provided at the rear of the traveling vehicle body 2. The elevating device 12 moves the working machine W to a non-working position by raising the working machine W. Further, the elevating device 12 moves the working machine W to the ground work position by lowering the working machine W.

The working machine W is a machine that performs work in the field. In the example shown in FIG. 1, the working machine W is a rotary tilling machine W1 that performs tilling work in a field. The rotary tiller W1 cultivates the field scene (soil) by rotating the tilling claws by the power transmitted from the PTO axis.

Further, the tractor 1 includes a control unit 40 as shown in FIG. The control unit 40 controls the engine E (40a is the engine ECU) and also controls the traveling speed of the traveling vehicle body 2 (40b is the traveling system ECU). Further, the control unit 40 controls the working machine W. Reference numeral 40c is a recording unit for recording various data.

Further, the tractor 1 includes a positioning device 30. The positioning device 30 is provided on the upper part of the traveling vehicle body 2 and measures the position of the traveling vehicle body 2. The positioning device 30 is, for example, a GNSS (Global Navigation Satellite System), and can receive radio waves from the navigation satellite Sa orbiting the sky to perform positioning and timing.

Further, the tractor 1 includes an obstacle sensor 20. The obstacle sensor 20 includes a front sensor 21 and a rear sensor 22. The front sensor 21 is arranged at the front portion of the traveling vehicle body 2, for example, attached to a sensor mounting stay 13 provided in front of the bonnet 6, and detects an object (obstacle) existing in front of the traveling vehicle body 2. .. The rear sensor 22 is arranged on the upper rear side of the traveling vehicle body 2, for example, attached to the upper portion of the cabin 7a, and detects an object (obstacle) existing behind the traveling vehicle body 2.

Further, both the front sensor 21 and the rear sensor 22 are medium-range sensors, preferably infrared sensors. The infrared sensor emits an infrared beam and detects the reflected light from an obstacle.

The front sensor 21 and the rear sensor 22 can detect the distance to the obstacle, for example, by measuring the time from emitting the infrared beam to detecting the reflected light from the obstacle. The front sensor 21 and the rear sensor 22, which are infrared sensors, detect obstacles two-dimensionally, and have a detection range of, for example, several meters to several tens of meters. As the obstacle sensor 20, it is also possible to use a medium-range sensor other than the infrared sensor. For example, an ultrasonic sensor. Reference numeral 100 is a remote control device (remote control), and the tractor 1 can be remotely controlled by the operation of the remote control device 100 by an operator.

Next, an outline of how to cultivate the field with the tractor 1 will be described.

FIG. 3 is a diagram showing a general traveling route of the tractor 1 and the like. Here, 50 indicates a field, 50a indicates a main range area for reciprocating in the center of the field 50, and 50b indicates a headland area outside the main range area 50a. 51 is a shore and 52 is a doorway. The headland traveling route in the headland area 50b is set as a plurality of steps (three) with one lap as one step.

As shown by the alternate long and short dash line, the tractor 1 automatically travels back and forth in its main range region 50a, then automatically travels around the headland region 50b immediately around its outer peripheral shape for only one round, and at the temporary stop position 50c. Stop. R1a indicates the reciprocating travel route, and R1a-1 indicates the first travel line in the reciprocating travel. Further, R1b is the innermost traveling route in the headland area 50b, and is an automatic work traveling route as described above.

Such a route is recorded in advance in the recording unit 40c of the control unit 40, and the traveling system ECU 40b collates the satellite signal received by the positioning device 30 with the previously recorded route data, and the traveling system ECU 40b sets the steering device 9 and shifts. The device 10 is operated to drive the tractor 1 for autonomous work.

Then, as shown by the solid line, the worker 53 gets into the tractor 1 at the temporary stop position 50c and manually performs the work running on the remaining area of the headland area 50b. The boarding position can be other than the temporary stop position 50c.

Here, R2a is the outermost traveling route in the headland region 50b, that is, the traveling route adjacent to the shore 51. Further, R2b is a traveling route for one round in the middle of the headland area 50b. That is, in FIG. 3, the traveling route of the headland region 50b is set to three (R1b, R2a, R2b) circumferential traveling routes. Even if the two travel paths R2a and R2b outside the headland area 50b are manually driven, the data of those travel paths R2a and R2b are stored in advance in the recording unit 40c of the control unit 40. .. For example, in the manual operation of the worker 53, it is used to warn when the travel paths R2a and R2b are significantly deviated.

In such traveling of the tractor 1, S is a work start point of automatic work traveling in the main range region 50a, that is, in the reciprocating traveling path R1a.

Now, when the instruction to start the automatic work running is received, the control unit 40 performs the work in order to cause the tractor 1 located at the entrance / exit 52 on the shore 51 to automatically run the tractor 1 in the main range area 50a to be reciprocated. A method of automatically moving the tractor 1 to the starting point S will be described in several cases.

It should be noted that this movement is an automatic running in a state where no work is performed. Further, as shown in FIGS. 4 to 7, the shape of the field 50 takes the case of a substantially rectangular shape as an example, and "up / down, left / right" indicating the position is a definition on those drawings.

(1) As shown in FIG. 4, when the work start point S is on the diagonal side of the doorway 52, the control unit 40 causes the tractor 1 to perform non-work automatic traveling as follows.

That is, the tractor 1 located at the entrance / exit 52 automatically travels by selecting the innermost route R1b or the middle R2b other than the outermost route R2a among the three travel routes R1b, R2a, and R2b in the headland region 50b. To go. This is because when the outermost route R2a is traveled, deviation from the field area tends to occur, and the vehicle tends to stop frequently. For the same reason, the outermost peripheral path R2a is not used in each of the following cases.

For example, when traveling on the innermost route R1b, the route R1b-1 on the right side is traveled, the turn RD1 is further moved to the upper side R1b-2, the turn RDS1 is performed, and the first round trip route R1a is traveled. Move to the running line R1a-1. Since the swivel RD1 swivels at a substantially right angle, its swivel diameter is relatively large, and gentle control may be sufficient. I don't use the so-called one brake.

Alternatively, when the route R2b in the middle is used as the route, the route R2b-1 on the right side is traveled, the turn RD2 is further moved to the upper side R2b-2, the turn RDS2 is performed, and the first travel of the reciprocating travel route R1a is performed. Move to line R1a-1. Since the swivel RD2 also swivels at a substantially right angle, its swivel diameter is relatively large, and gentle control may be sufficient. I don't use the so-called one brake.

In such turning RD1 and RD2, unlike the robot running (turning method) on the headland where normal work is performed, the reverse movement is not performed. As a result, the surface of the headland is not roughened, and no extra movement is performed, so that the work can be quickly moved to the work start point S. Of course, in order to standardize the control software, the reverse operation may be intentionally performed. It is possible to move backward after entering the work start point S.

(2) As shown in FIG. 5, when the work start point S is located above the same side as the doorway 52, the control unit 40 causes the tractor 1 to perform non-work automatic traveling as follows.

That is, the tractor 1 located at the entrance / exit 52 automatically travels by selecting the innermost route R1b or the middle R2b other than the outermost route R2a among the three travel routes R1b, R2a, and R2b in the headland region 50b. I will do it.

For example, when traveling on the innermost route R1b, the vehicle travels on the right side route R1b-1. Further, the turning RDS3 is performed to move to the first traveling line R1a-1 of the reciprocating traveling route R1a. Since the turning RDS3 is placed on a substantially parallel line instead of the above-mentioned right-angle turning, it is necessary to make a sharper turning than the above-mentioned right-angle turning, for example, by performing a one-point turning. That is, each of the left and right rear wheels 5.5 is provided with a braking device capable of one-sided braking, and one-point turning is performed using the one-sided brake.

Alternatively, when the route R2b in the middle is used as the route, the vehicle travels on the route R2b-1 on the right side, further turns RDS4, and moves to the first travel line R1a-1 of the reciprocating travel route R1a. Since the turning RDS4 is placed on a substantially parallel line instead of the above-mentioned right-angle turning, it is necessary to make a sharper turning than a right-angle turning, for example, by performing a one-point turning (using a brake or the like).

Further, even if the same one-point turn is made, when the turn RDS4 in the case of the middle path R2b and the turn RDS3 in the case of the innermost path R1b described above are compared, the distance to the traveling line R1a-1 is different. The turning RDS3 in the case of the innermost path R1b requires a steeper turning.

That is, among the route portions of the headland travel route, which are set at an angle parallel to the route portion where the work start point S of the round-trip travel route exists, the portion other than the innermost headland travel route R1b. When turning from the route R2b to the work start point S, the one-side brake braking force is weaker than when turning from the innermost headland traveling path R1b to the work start point S.

(3) As shown in FIG. 6, when the work start point S is located on the lower left side of the doorway 52 and the tractor 1 does not face the work start point S side, the control unit 40 determines the tractor as follows. 1 performs non-working automatic running.

That is, the tractor 1 located at the entrance / exit 52 automatically travels by selecting the innermost route R1b or the middle R2b other than the outermost route R2a among the three travel routes R1b, R2a, and R2b in the headland region 50b. I will do it.

For example, when traveling on the innermost route R1b, the vehicle travels on the right side route R1b-1, further turns RD1 to move to the upper side R1b-2, then turns RD3 to move to the left side route R1b-3. .. Further, the turning RDS5 is performed to move to the first traveling line R1a-1 of the reciprocating traveling path R1a.

Since the turning RDS5 is not a right-angled turn but is placed on a substantially parallel line, it is necessary to make a sharper turn than a right-angled turn, for example, by performing a one-point turn (using a brake or the like).

Alternatively, when the route R2b in the middle is used as the route, the vehicle travels on the route R2b-1 on the right side, further turns RD2 to move to the upper side R2b-2, and further turns RD4 to move to the route R1b-3 on the left side. This route is the same as the case of traveling on the innermost route R1b described above. Further, the turning RDS5 is performed to move to the first traveling line R1a-1 of the reciprocating traveling path R1a. After turning RD4, the path R2b-3 in the middle of the left side may be used.

Since these turning RD3 and turning RD4 turn at a substantially right angle, they may be turned relatively gently. I don't use the so-called one brake.

Further, in such turning RD3 and RD4, unlike the robot running (turning method) on the headland where normal work is performed, the forward / backward movement is not performed. As a result, the surface of the headland is not roughened, and no extra movement is performed, so that the surface can be quickly moved to the starting point S. Of course, in order to standardize the control software, the reverse operation may be intentionally performed. It is possible to move backward after entering the work start point S.

(4) As shown in FIG. 7, when the work start point S is located on the lower left side of the doorway 52, and the direction of the tractor 1 is different from that in FIG. 6 and faces the work start point S side. The control unit 40 causes the tractor 1 to perform non-working automatic traveling as follows.

That is, the traveling of the tractor 1 is in principle counterclockwise, but when it is rotated clockwise, the work start point S is at the closest position, and the tractor 1 faces the work start point S. If there is.

At that time, the tractor 1 located at the entrance / exit 52 selects the innermost route R1b or the middle R2b other than the outermost route R2a among the three travel routes R1b, R2a, and R2b in the headland area 50b. , Automatically drive to the left.

For example, when traveling on the innermost route R1b, the vehicle travels on the lower route R1b-4, makes a turning RDS6, and moves to the first traveling line R1a-1 of the reciprocating traveling route R1a. Since the swivel RDS 6 swivels at a substantially right angle, its swivel diameter is relatively large, and gentle control may be sufficient.

Alternatively, when the middle route R2b is used as the route, the vehicle travels on the lower route R2b-4, makes a turning RDS7, and moves to the first traveling line R1a-1 of the reciprocating traveling route R1a. Since the swivel RDS7 also swivels at a substantially right angle, its swivel diameter is relatively large, and gentle control may be sufficient.

Next, in any of the above four cases, after entering the work start point S, the vehicle advances by a predetermined distance, and then, conversely, automatically steers to the work start point S while moving backward and temporarily stopping. At that time, it is also possible to sound the buzzer. This makes it possible to work without residual cultivation. For the temporarily stopped tractor 1, the remote control device 100 starts the work running on the reciprocating running path R1a.

Further, as a modification, after moving backward to the work start point S, the player further moves backward to 1 m in front of the shore 51 of the field 50, then moves forward in the opposite direction and temporarily stops at the work start point S in accordance with the line. As a result, the work start point S is entered while moving forward, so that the intrusion angle is stable and the straightness at the start of work is improved.

Further, it is also desirable to start the original work running as it is without pausing after reaching the work start point S as described above. This is because when pausing is performed, it takes time and effort to start it by further operating the remote controller, which is inefficient.

Next, the conditions for starting the automatic headland running to the work start point S described above will be described.

1. 1. When selecting the innermost route R1b other than the outermost route R2a among the three travel routes R1b, R2a, and R2b in the headland region 50b, only when the tractor 1 is located within 1 m from the route R1b. , Allow automatic driving.

This is because if the distance is long, an unexpected accident may occur, and the control specifications to be put on the route are simplified. 1m is a design matter and the setting can be changed.

Also, when selecting the center R2b as the route, it is necessary that the tractor 1 is located within 1 m from the route R2b.

2. 2. When the innermost route R1b and the middle route R2b are appropriate as routes, the route closest to the current position (self-position) of the tractor 1 is automatically selected. For example, if both of these two routes are within 1 m, the closer route is automatically selected and placed on the route. Alternatively, another method is to always select the innermost path R1b.

3. 3. It is also a condition that the directional state of the tractor 1 at the time of starting the automatic traveling to the work start point S is parallel to the line of the shore 51 near the tractor 1 or within a predetermined angle. This is to ensure safety.

4. It is a condition that the position of the tractor 1 at the time of starting the automatic traveling to the work start point S does not deviate from the field 50, and of course, does not deviate from the field when advancing 3 m from that position. That is, using the positioning device 30 for positioning the position of the work vehicle, the control unit 40 has information on the area of the field and information on the work width of the work vehicle, and the work vehicle is a predetermined distance from the current position. Assuming that the vehicle moves forward, the position of the work vehicle positioned by the positioning device 30 is used to determine whether or not a part of the work vehicle deviates from the area of the field, and only if it does not deviate, work starts on the round-trip travel route. The traveling vehicle body is automatically moved to the point S.

5. If the work start point S is close to the current position of the tractor 1, for example, if the work start point S is near the doorway 52, automatic driving is prohibited. Since it is more efficient to move manually, automatic driving is prohibited.

Regarding the vehicle speed of the tractor 1, the control unit 40 can set the vehicle speed in the headland area up to the work start point S and the vehicle speed at the time of work separately because the traveling load is different. Time can be shortened by increasing the vehicle speed in the headland area.

During work, the round-trip travel route and the vehicle speed for traveling in the headland area can be set separately. By doing so, it is not necessary to perform a shift operation with the tablet when the tractor 1 enters the headland area travel from the round-trip travel route.

Further, during work, the reciprocating travel path, the front wheel drive setting at the time of turning in the headland area travel, and the auto brake setting can be set separately. By doing so, it is not necessary to change the tablet one by one when the tractor 1 enters the headland area running. In addition, as a result of forgetting to make changes, it is possible to avoid the risk of poor leveling or deviation from the area.

Further, in the case of working by skipping one line in the reciprocating travel path, the front wheel drive setting and the brake setting are separately performed in the cutting back step of the adjacent tillage and the other steps. The turning process is set to strong brake and full turn, and the other processes are set to no brake and auto 4WD is the default. This eliminates the need to make changes on the tablet one by one. In addition, the risk of deviation from the area can be avoided.

When manually moving the tractor 1 from the doorway 52 to the start position when the headland is automatically driven to the work start point S, only move it within 1 m of the innermost route R1b or the middle route R2b. It's fine. That is, it is not necessary to manually place the tractor 1 on those routes.

At that time, it is desirable to display the range of 1 m on the display, and when the tractor 1 is actually manually moved within the range, the lamp indicating the range is turned on in green.

INDUSTRIAL APPLICABILITY The present invention is useful for a tractor because it can provide a work vehicle capable of smoothly and automatically traveling to a work start point without damaging the field.

1 Tractor 2 Traveling vehicle body 3 Vehicle body frame 4, 5 Wheels 7 Control unit 8 Driver's seat 30 Positioning device 40 Control unit 40c Recording unit 50 Field 50a Main range area (reciprocating travel area)
50b Headland area 50c Stop position 51 Side 52 Doorway 53 Worker 100 Remote control device R1a Round-trip travel route R1b, R2a, R2b Headland travel route

Claims (4)

It is a work vehicle equipped with a traveling vehicle body that travels on a round-trip traveling route that repeats round-trip traveling set inside the field and a headland traveling route that travels along the outer peripheral shape of the round-trip traveling route.
Upon receiving an instruction to start automatic work running, the vehicle is provided with a control unit that automatically moves the traveling vehicle body along the headland traveling route to the work starting point on the reciprocating traveling route without any work.
The control unit is a work vehicle, characterized in that, in a turning operation during a moving traveling without automatic work on the headland traveling path, the control unit does not perform a reverse operation after turning. Equipped with a braking device that can brake one side at a time on each of the left and right rear wheels.
When turning from the route portion of the headland traveling route set at a right angle to the route portion where the work start point of the reciprocating travel route exists to the work start point, the one-sided brake is accompanied. The work vehicle according to claim 1, which makes no turn. Equipped with a braking device that can brake one side at a time on each of the left and right rear wheels.
In the case of turning from the path portion of the headland traveling path set at an angle parallel to the path portion where the work start point of the reciprocating travel path exists to the work start point, the one-side brake The work vehicle according to claim 1, wherein the work vehicle makes a turn accompanied by. The headland traveling route is set as a plurality of processes with one lap as one process.
Equipped with a braking device that can brake one side at a time on each of the left and right rear wheels.
Of the route portions of the headland travel route set at an angle parallel to the route portion where the work start point of the round-trip travel route exists, a route other than the innermost headland travel route portion. According to claim 1, the braking force of the one-sided brake is weaker in the case of turning to the work start point than in the case of turning from the innermost headland traveling path portion to the work start point. Work vehicle.

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