PROBLEM TO BE SOLVED: To prevent a sudden change of travelling and turning when an autonomous mode and a manual mode are switched.SOLUTION: A combine has: an autonomous mode in which an electric wave transmitted from a GPS satellite is received so as to calculate a position of a machine body, and an autonomous travelling is made possible by controlling rectilinear operation means and rotating operation means so as to travel along a set route based on the position, the replacement, and the azimuth of the machine body and a manual mode in which a manual travelling is made possible by making the rectilinear operation means and the rotating operation means operate according to artificial operations of shift operation means and steering operation means. A control part 30 is connected with a mode changeover switch 124 for changing over the autonomous mode and the manual mode. The control part 30 allows the combine to autonomously travel when mode switching means is changed over to the autonomous mode and the shift operation means or the steering operation means is in a neutral position.COPYRIGHT: (C)2014,JPO&INPIT【課題】自律モードと手動モードを切り替えるときに、走行および旋回が急変しないようにする。【解決手段】GPS衛星から送信される電波を受信して機体の位置を算出し、前記機体の位置及び変位及び方位に基づいて設定経路に沿って走行するように直進作動手段及び旋回作動手段を制御して自律走行可能とする自律モードと、変速操作手段及び操向操作手段の人為的操作に応じて前記直進作動手段及び旋回作動手段を作動させて手動走行を可能とする手動モードとを備えるコンバインにおいて、制御部30には自律モードと手動モードを切り替えるモード切替スイッチ124が接続され、制御部30は、モード切替手段が自律モードに切り替えられ、かつ、前記変速操作手段または操向操作手段が中立である場合、自律走行させる。【選択図】図2
