Harvester, travel system, travel method, travel program, and storage medium

Abstract

A harvester capable of automatic travel in a field, wherein the harvester is provided with: an operation member having a function of changing a state of a machine body while automatic travel is continued in the automatic travel; a machine body state detection section (57) that detects the state of the machine body; and a function setting section (58) that, when the operation member is operated, makes the function effective or ineffective in accordance with the state of the machine body detected by the machine body state detection section (57).

Description

Technical Field

[0001] This invention relates to a harvester capable of automatic movement in fields, its associated driving system, driving method, driving program, and storage medium. Background Technology

[0002] [First Background Technology]

[0003] For example, Patent Document 1 discloses a harvester capable of automatically navigating fields. This harvester includes, for example, control components such as a steering lever, which an operator (including the driver) uses to terminate automatic navigation.

[0004] [Second Background Technology]

[0005] Patent document 2 discloses a tractor with an automatic driving mode, a manual driving mode, a manual driving preparation mode, and an automatic driving preparation mode. The automatic driving mode is a mode that automatically drives along a set path; the manual driving mode is a mode that drives according to human operation; the manual driving preparation mode is a transition mode from the automatic driving mode to the manual driving mode; and the automatic driving preparation mode is a transition mode from the manual driving mode to the automatic driving mode. To perform field operations with automatic driving, the tractor is manually moved to the starting position in the field. If the automatic driving start conditions are met at this position, the tractor enters the automatic driving preparation mode. If all the data required for automatic driving is complete, the tractor enters the automatic driving mode and begins automatic driving. The automatic driving start conditions are: a vehicle speed below a set speed, a forward / reverse switch in a neutral state, a clutch pedal in an inactive state, a brake pedal in an inactive state, a parking lever in an inactive state, a secondary gear lever in a low-speed position, an engine speed above a set speed, a steering component in a straight-line position, normal battery voltage, normal hydraulic pressure, and normal coolant temperature. The data required for autonomous driving includes driving path data, operation data, location data from GPS, and data from gyroscope sensors and orientation sensors.

[0006] Patent document 3 discloses a tractor comprising an automatic driving control unit and a manual driving control unit. The automatic driving control unit performs automatic driving based on the vehicle's position and a target driving path, while the manual driving control unit performs manual driving based on operation signals from manually operated driving operation units. In this tractor, when the tractor stops during manual driving, it is deduced that automatic driving will transition from manual driving to automatic driving based on conditions such as detecting that the forward / reverse operation unit is in a neutral state, detecting that the PTO drive operation unit is in a disengaged state, confirming that automatic driving is possible, detecting that an automatic driving signal is in an active state, and the existence of an automatic driving request signal requesting automatic driving. Furthermore, when signals related to the vehicle's position (such as GPS signals) from the vehicle's position detection module are also input, if an automatic driving request signal generated by operating driving operation units such as switches and buttons on the tractor is input, automatic driving of the vehicle begins.

[0007] Existing technical documents

[0008] Patent documents

[0009] Patent Document 1: Japanese Patent Application Publication No. 2018-99043

[0010] Patent Document 2: Japanese Patent Application Publication No. 2014-180894

[0011] Patent Document 3: Japanese Patent Application Publication No. 2016-168883 Summary of the Invention

[0012] The technical problem that the invention aims to solve

[0013] The first technical problem corresponding to the aforementioned [first background technology] is as follows. In the case of an auto-harvester, the optimal conditions for auto-harvest vary depending on the field conditions and crop type. To achieve optimal auto-harvest, a learning function is considered to be incorporated into the auto-harvest function, learning through repeated field auto-harvests. However, since the field conditions and crop conditions change seasonally, it is difficult to properly learn through the learning function. Therefore, it is desirable for the operator to fine-tune the machine's state while operating the control components according to the field conditions and crop type. However, if auto-harvest ends every time the operator operates the control components, operability is compromised.

[0014] In view of the above-mentioned actual situation, the purpose of the present invention is to provide a harvester that allows the operation of the control components under certain conditions to perform appropriate automatic driving while continuing automatic driving.

[0015] The second technical problem corresponding to the aforementioned second background technology is as follows. The self-driving tractors disclosed in Patent Documents 2 and 3 begin self-driving under the following conditions: they are parked at the desired location for self-driving, the conditions for the vehicle's equipment to transition from manual to self-driving are met, and location data from GPS or the like is acquired. During self-driving, automatic steering is performed so that the tractor's center (control reference point), calculated based on the acquired location data, arrives on a pre-calculated driving path. At this time, it is necessary to capture the driving path unfolded in memory based on the vehicle's position at the parking location where self-driving will begin. In automobiles traveling on roads, the target driving path is not a straight line but a path with road width; therefore, there is no practical problem of not being able to capture the target driving path for self-driving. However, agricultural vehicles such as harvesters need to drive automatically along specific rows formed in fields, so capturing the driving path is crucial. If the parking location is inappropriate, problems may arise such as the inability to capture the target driving path for subsequent self-driving, or the computation time until capture becoming too long, preventing the start of self-driving. When the estimated driving path for autonomous driving is not a single, continuous line, problems arise such as capturing multiple driving paths or capturing incorrect paths. If such a path capture error occurs, even if the conditions for entering autonomous driving are met and the machine attempts to begin, it cannot find a target for autonomous driving, cannot perform automatic steering, and will remain stationary. This can cause anxiety for both the driver and the monitoring operator. Therefore, a harvester that eliminates these problems and allows for a smooth transition from manual to autonomous driving is desired.

[0016] Means for solving technical problems

[0017] The first solution to the aforementioned first technical problem is as follows.

[0018] That is, the harvester of the present invention is capable of automatic driving in the field, characterized in that the harvester includes: an operating member having the function of changing the state of the machine body while the automatic driving continues; a machine body state detection unit that detects the state of the machine body; and a function setting unit that, when the operating member is operated, enables or disables the function according to the state of the machine body detected by the machine body state detection unit.

[0019] According to the present invention, the operating component has the function of changing the machine body state while continuing automatic driving, so that the operator can fine-tune the machine body state even during automatic driving. Furthermore, by having a structure that enables or disables the function of the operating component according to the state of the machine body, the operation of the operating component during automatic driving can be limited to the necessary range for changing the machine body state. Thus, a harvester that allows for appropriate automatic driving under certain conditions while continuing automatic driving can be realized.

[0020] Furthermore, the aforementioned technical features of the harvester can also be applied to the driving system. In this case, the automatic driving system is used for harvesters capable of automatic driving in fields, characterized in that the automatic driving system includes: a machine body state detection unit that detects the state of the machine body; and a function setting unit that, when an operating member with a function is operated during automatic driving, enables or disables the function based on the state of the machine body detected by the machine body state detection unit, wherein the function is capable of changing the state of the machine body while the automatic driving continues.

[0021] Furthermore, the technical features of the aforementioned harvester can also be applied to the driving program. Therefore, the present invention can also include the driving program as a claim. Moreover, storage media such as optical discs, magnetic disks, and semiconductor memories storing the driving program with these technical features can also be included as claims. The driving program in this case is used for a harvester capable of automatic driving in a field, characterized in that the driving program causes a computer to execute: a machine state detection function that detects the state of the machine; and a setting function that, when an operating element with a function is operated during the automatic driving, enables or disables the function based on the state of the machine detected by the machine state detection function, wherein the function is a function that can change the state of the machine while the automatic driving continues.

[0022] In addition, the technical features of the aforementioned harvester, driving system, and driving program can also be applied to the driving method. Therefore, the present invention can also include the driving method as the object of the claim. The driving method in this case is used for a harvester capable of automatic driving in a field, characterized in that the driving method includes: a machine state detection step that detects the state of the machine body; and a setting step that, when an operating element with a function is operated during the automatic driving, enables or disables the function based on the state of the machine body detected by the machine state detection step, wherein the function is a function capable of changing the state of the machine body while the automatic driving continues.

[0023] In this invention, preferably, the operating member includes a gear shifting member that indicates changes in forward and reverse speeds. When the automatic driving is in progress, if the gear shifting member is operated within the forward speed change range, the function setting unit enables the function of the gear shifting member; and if the gear shifting member is operated within the reverse speed change range, the function setting unit disables the function of the gear shifting member.

[0024] According to this structure, during forward driving via automatic driving, operation of the transmission control unit is effective within the forward speed change range, thus allowing manual adjustment of the forward driving speed. In other words, operation of the transmission control unit during automatic driving can be limited to the necessary range for forward driving.

[0025] Preferably, the operating element includes a gear shifting unit that indicates changes in forward and reverse speeds. When the automatic driving system is in reverse motion, regardless of whether the gear shifting unit is operated within the forward speed change range or the reverse speed change range, the function setting unit disables the function of the gear shifting unit and instructs the driver to stop.

[0026] Reverse driving requires more attention from the operator to their surroundings than forward driving; therefore, stopping the machine is a higher priority than adjusting speed based on the operation of the gear shift mechanism. According to this structure, if the operator needs to stop the combine harvester during automatic driving based on a momentary judgment, they can stop the combine harvester by operating the gear shift mechanism.

[0027] In this invention, preferably, the automatic driving includes automatic operation driving while harvesting crops along a set driving path, automatic turning driving after completing the automatic operation driving and turning towards the next driving path, and automatic discharge driving that leaves the driving path and moves to another target location. As the operating member, a harvesting unit operating member is provided to operate the harvesting unit. When the automatic operation driving is in progress, the function setting unit enables the function of the harvesting unit operating member, and when the automatic turning driving or the automatic discharge driving is in progress, the function setting unit disables the function of the harvesting unit operating member.

[0028] According to this structure, since the operation of the harvesting unit is only effective during the automatic operation, the operation of the harvesting unit during automatic operation can be limited to the necessary scope for crop harvesting.

[0029] In this invention, preferably, the operating member includes a turning operating member that instructs the turning of the machine body, the function setting unit disables the function of the turning operating member during automatic driving, and instructs the machine to stop when the operation of the turning operating member exceeds a preset operation amount.

[0030] According to this structure, if the operator needs to stop the combine harvester due to a momentary judgment during automatic driving, the harvester can be stopped by significantly manipulating the turning control. Furthermore, according to this structure, if the amount of manipulation of the turning control is less than the preset amount, the harvester will not stop, thus reducing the risk of the harvester stopping against the operator's will due to accidental operation such as the operator's physical contact with the turning control.

[0031] The second solution to the aforementioned second technical problem is as follows.

[0032] That is, according to the present invention, the harvester is capable of both automatic and manual driving, wherein the harvester comprises: a manual driving control unit that performs manual driving based on a manual operation signal; a path calculation unit that calculates a driving path for automatic driving for unworked areas of the field, the unworked areas being formed by circling the inner perimeter of the field based on the manual driving harvesting movement, and being an area inside the outer perimeter of the field that serves as the worked area; an automatic driving control unit that performs automatic driving based on the vehicle's position and the driving path; and an automatic driving management unit that determines whether automatic driving is permitted based on automatic driving permission conditions, and if the determination result is permitted, issues an automatic driving start command to the automatic driving control unit. Furthermore, the automatic driving permission conditions include: the vehicle being located at an automatic driving start point where the automatic driving start path can be captured, the automatic driving start path being a path selected from the driving path.

[0033] In automated driving systems that automatically steer to align the vehicle's position with a pre-calculated driving path, the automated driving program needs to capture the driving path set near the vehicle's position and determine the driving path that serves as the target for automated driving. In this structure, capturing the driving path used to initiate automated driving (the initial automated driving path) is one of the conditions for granting automated driving permission. Therefore, once automated driving is permitted, the program has already captured the driving path that should serve as the target for automated steering, and it can calculate the offset (position offset, orientation offset) between the driving path required for automated steering and the vehicle's position. This avoids the following previous problems: even if all the equipment mounted on the harvester is in a state suitable for automated driving, the vehicle's position has been calculated, and automated driving has been permitted, automated driving may not begin because the program has not found a driving path that should serve as the target for automated steering, causing anxiety for the driver and monitor.

[0034] Furthermore, the aforementioned technical features of the harvester can also be applied to the driving system. In this case, the automatic driving system is an automatic driving system for a harvester capable of both automatic and manual driving, characterized in that the driving system comprises: a manual driving control unit that enables the harvester to perform manual driving based on a manual operation signal; a path calculation unit that calculates a driving path for automatic driving for unworked areas of the field, the unworked areas being formed on the inner perimeter of the field by circling harvesting based on the manual driving; an automatic driving control unit that enables the harvester to perform automatic driving based on the vehicle's position and the driving path; and an automatic driving management unit that determines whether automatic driving is permitted based on automatic driving permission conditions, and if the determination result is permitted, issues an automatic driving start command to the automatic driving control unit; the automatic driving permission conditions include: the vehicle being located at an automatic driving start point capable of capturing the automatic driving start path, the automatic driving start path being a path selected from the driving path.

[0035] Furthermore, the technical features of the aforementioned harvester can also be applied to the driving program. Therefore, the driving program can also be the subject of this invention. Moreover, storage media such as optical discs, magnetic disks, and semiconductor memories storing the driving program with these technical features can also be the subject of this invention. The driving program in this case is a driving program for a harvester capable of both automatic and manual driving, characterized in that the driving program causes a computer to execute: a manual driving control function, which causes the harvester to perform manual driving based on manual operation signals; a path calculation function, which calculates a driving path for automatic driving for unworked areas of the field, the unworked areas being formed by circling the inner perimeter of the field based on the manual driving harvesting; an automatic driving control function, which causes the harvester to perform automatic driving based on the vehicle's position and the driving path; and an automatic driving management function, which determines whether automatic driving is permitted based on automatic driving permission conditions, and if the determination result is permitted, assigns an automatic driving start command to the automatic driving control function; the automatic driving permission conditions include: the vehicle being located at an automatic driving start point that can capture the automatic driving start path, the automatic driving start path being a path selected from the driving path.

[0036] In addition, the technical features of the aforementioned harvester, driving system, and driving program can also be applied to the driving method. Therefore, the present invention can also include the driving method as the object of the claim. The driving method in this case is a driving method for a harvester capable of both automatic and manual driving, characterized in that the driving method includes: a manual driving control step, which causes the harvester to perform manual driving based on a manual operation signal; a path calculation step, which calculates a driving path for automatic driving for unoperated areas of the field, the unoperated areas being formed by circling harvesting along the inner perimeter of the field based on the manual driving; an automatic driving control step, which causes the harvester to perform automatic driving based on the vehicle's position and the driving path; and an automatic driving management step, which determines whether automatic driving is permitted based on automatic driving permission conditions, and if the determination result is permitted, assigns an automatic driving start command to the automatic driving control step; the automatic driving permission conditions include: the vehicle being located at an automatic driving start point capable of capturing the automatic driving start path, the automatic driving start path being a path selected from the driving path.

[0037] Even if the vehicle's position calculated based on location information from a satellite positioning unit captures a driving path, if the accuracy of that vehicle position is poor, the possibility of capturing an incorrect driving path—in other words, a driving path unsuitable for initiating autonomous driving—increases. The accuracy level of the vehicle's position calculated based on location information from a satellite positioning unit varies depending on factors such as the number of satellites used to calculate the vehicle's position. Therefore, the accuracy of the satellite positioning unit is required to be at a level that can calculate a vehicle position without causing capture errors that would result in an incorrect driving path. Therefore, in a preferred embodiment of the present invention, when a satellite positioning unit is provided and outputs location information for calculating the vehicle's position, the autonomous driving permission condition includes: the accuracy of the satellite positioning unit exceeds a predetermined level.

[0038] During automated driving, if the accuracy of the vehicle's position deteriorates—in other words, if the accuracy of the satellite positioning unit decreases—the deviation between the driving path and the machine body increases. In the case of a harvester, to achieve good harvesting efficiency, it is crucial to harvest along the planting route, i.e., the planting rows, and to avoid significant deviations from the planting rows. Therefore, in a preferred embodiment of the present invention, if the accuracy of the satellite positioning unit outputting the position information used to calculate the vehicle's position decreases to a predetermined level, automated driving is deactivated. Even if automated driving is deactivated due to decreased accuracy of the satellite positioning unit, harvesting operations can continue through manual driving.

[0039] In the case of combine harvesters or similar machines that temporarily store the harvested material in a container while traveling, if the container is full, it needs to be discharged to a transport vehicle waiting around the field. Therefore, if the container is full during automatic travel, it will head towards a discharge parking position for discharging the harvested material. Since this movement to the discharge parking position is also included in automatic travel, if the discharge parking position is not set in the automatic travel control system, automatic travel to the discharge parking position cannot be performed when the container is full, and the harvester will break down. To avoid this situation, in a preferred embodiment of the present invention, a discharge position setting unit is provided, which sets a discharge parking position for discharging the harvested material, and the automatic travel permission condition includes that the discharge parking position has been set. A preferred discharge parking position is a location near the field boundary, such as a field ridge, that has become a harvested area through circumferential harvesting travel, and that the harvester can freely move to during operation. However, since it is desirable to have sufficient space at the discharge parking position to ensure accurate positioning, the corners of the field are not suitable. Therefore, in a preferred embodiment of the invention, the discharge parking position is set in the outer perimeter area formed on the outer perimeter of the field by the circumferential harvesting vehicle, and is set in a location other than the corner of the outer perimeter area.

[0040] The automatic driving start point is the location of the starting path when automatic driving begins, which is the location of the automatic driving start path. The harvester needs to manually drive to this automatic driving start point. This automatic driving start point is preferably close to the automatic driving start path. The automatic driving start path is one of the driving paths calculated for the unworked area before automatic driving begins; it is the initially selected driving path that is most suitable for sequentially traversing the unworked area. In the case of the harvester, the reciprocating driving mode and the vortex driving mode are known as suitable driving modes for traversing the unworked area along the driving path. The reciprocating driving mode connects multiple parallel driving paths through U-shaped turns, while the vortex driving mode travels in a vortex shape along the outer edge of the unworked area. In these two driving modes, even if the starting position for automatic driving is the same, there are many cases where the machine's initial orientation at the start of driving differs. Therefore, in a preferred embodiment of the present invention, the driving modes of the automatic driving include a reciprocating driving mode in which multiple parallel driving paths are connected by U-shaped turns for driving, and a vortex driving mode in which the vehicle drives in a vortex shape along the outer edge of the unworked area. The starting point of the automatic driving is calculated by an algorithm that varies according to the driving modes.

[0041] If the conditions for automatic driving are met, the automatic driving control system enters the automatic driving permission state, awaiting the input of the automatic driving start command. The automatic driving start command is generated based on the operation of the driver or monitor. In manual driving, the driver starts the machine by shifting the gear lever from the neutral position to the forward shift position. Therefore, if the automatic driving start command used to start the machine in automatic driving is also generated through the same operation, there will be no difference between manual and automatic operation, which is more suitable. Therefore, in a preferred embodiment of the present invention, the displacement of the gear lever from the neutral position to the forward shift position is used as a trigger condition to assign the automatic driving start command to the automatic driving control unit.

[0042] Furthermore, in the operation of harvesters such as combine harvesters, the gear lever not only determines the forward and reverse speeds of the machine, but also functions as a brake. This is because the resistance of movement in a field is significant, so returning the gear lever to the neutral position brings the machine to a stop. Therefore, it is preferable to assign the same function to the gear lever during automatic driving. Especially during automatic driving, an emergency stop is required when reversing in areas with poor visibility in the driving direction. Therefore, in a preferred embodiment of the invention, if the gear lever is displaced during the reversing phase of automatic driving, the machine stops and automatic driving is disengaged; if the gear lever is displaced to the stop position during the forward phase of automatic driving, the machine stops, but automatic driving is not necessarily disengaged; instead, the machine waits for an automatic driving signal to be sent in this state. During the harvester's movement in a field, the machine does not necessarily stop at the neutral position; there are many cases where the machine stops at a gear shift position near the neutral position. Considering this, such a gear shift position where the machine stops is defined here as the stop position, which means the gear lever operating range that includes the neutral position. This is because, even in autonomous driving mode, there are many instances where temporary stops are necessary to inspect fields or harvested crops while moving forward. Therefore, maintaining autonomous driving even when stopping using the gear lever while moving forward allows for a quicker return to autonomous driving, which is preferable.

[0043] If the driver or monitor accidentally transitions from manual to automatic driving, they will be startled and abrupt. To avoid this problem, it is best for the driver or monitor to manually output a signal requesting automatic driving with a clear intention. Therefore, in a preferred embodiment of the invention, the automatic driving authorization condition includes operation of an automatic driving authorization operator having multiple operating parts. During manual driving, a signal requesting automatic driving is output by operating multiple operating parts, and during automatic driving, automatic driving is deactivated by operating at least one of the operating parts. In this structure, multiple operating parts must be operated to output a signal requesting automatic driving in order to start automatic driving, thus preventing accidental initiation of automatic driving.

[0044] In harvesters, sometimes unforeseen machine conditions arise that make operation, especially automatic operation, unsuitable, such as machine tilting, engine malfunction, or control system failure. Automatic operation must be avoided in such machine conditions. Therefore, in a preferred embodiment of the invention, the automatic operation permitting conditions include specific machine conditions, and automatic operation is deactivated if at least one of these machine conditions becomes abnormal. Attached Figure Description

[0045] Figure 1 This is a side view of a combine harvester, which is used as an example of a harvester.

[0046] Figure 2 This is a diagram illustrating the general layout of a combine harvester's autonomous driving mechanism.

[0047] Figure 3 This is an explanatory diagram showing a driving mode in which reciprocating motion with U-shaped turns is repeatedly performed within an automated driving path.

[0048] Figure 4 This is an explanatory diagram showing a driving pattern that moves in a vortex-like motion towards the center.

[0049] Figure 5 This is a functional block diagram illustrating the configuration of a first embodiment of the control system of a combine harvester.

[0050] Figure 6 This is a system block diagram representing a first embodiment of a control system for automatic driving.

[0051] Figure 7 This is a diagram illustrating the first embodiment of the automatic driving path and the exit path.

[0052] Figure 8 This is a diagram illustrating the first embodiment where the automatic driving control mechanism is effective or ineffective.

[0053] Figure 9 This is a functional block diagram illustrating a second embodiment of the configuration of the control system for a combine harvester.

[0054] Figure 10 This is a top view of the general terminal in the second embodiment.

[0055] Figure 11 This is an explanatory diagram illustrating the second implementation method of capturing the driving path.

[0056] Figure 12 This is an explanatory diagram illustrating the relationship between the driving path and the starting point of automatic driving in the reciprocating driving mode.

[0057] Figure 13 This is an explanatory diagram illustrating the relationship between the driving path and the starting point of automatic driving in the vortex driving mode, according to a second implementation method.

[0058] Figure 14 This is an explanatory diagram illustrating a second implementation of a 270° turn in vortex driving mode. Detailed Implementation

[0059] The embodiments for carrying out the present invention will be described with reference to the accompanying drawings. Note that in the following description, unless otherwise specified, Figure 1 The arrow "F" points towards the front of the aircraft, and the arrow "B" points towards the rear. Additionally, Figure 1 The arrow "U" points upwards, and the arrow "D" points downwards.

[0060] [The overall structure of a combine harvester]

[0061] like Figure 1 As shown, a full-feed type combine harvester, as one type of harvester, includes a body 10, a tracked traveling device 11, a driver's unit 12, a threshing device 13, a grain bin 14, a harvesting device H as a harvesting unit, a conveying device 16, a grain discharge device 18, and a vehicle position detection module 80.

[0062] The travel device 11 is located on the lower part of the body 10 of the combine harvester. The combine harvester can move itself using the travel device 11.

[0063] Furthermore, the driver's unit 12, threshing device 13, and grain bin 14 are positioned above the traveling device 11, forming the upper part of the machine body 10. The driver of the combine harvester and the monitor of the combine harvester's operation can ride in the driver's unit 12. The driver and monitor are usually concurrently held by the same person. Note that even when the driver and monitor are different individuals, the monitor can also monitor the combine harvester's operation from outside the machine. That is, the monitor in this invention can also include the driver.

[0064] The grain discharge device 18 is connected to the lower rear part of the grain bin 14. In addition, the vehicle position detection module 80 is installed at the upper front part of the driver's seat 12.

[0065] The harvesting device H is mounted at the front of the combine harvester. Furthermore, the conveying device 16 is disposed adjacent to the rear of the harvesting device H. The harvesting device H also includes a cutting device 15 (cutting mechanism) and a drum 17. The cutting device 15 cuts the standing rice stalks in the field. The drum 17, while rotating, rakes and gathers the standing rice stalks of the harvested crop. Through this structure, the harvesting device H harvests the grain (a type of crop) from the field. Moreover, the combine harvester is capable of harvesting travel (operational travel): it travels while cutting the standing rice stalks in the field using the harvesting device H, using the travel device 11.

[0066] Thus, the combine harvester has a harvesting device H for cutting up standing rice stalks that are crops in the field.

[0067] The harvested rice stalks cut by the harvesting device 15 are conveyed by the conveying device 16 to the threshing device 13. In the threshing device 13, the harvested rice stalks are threshed. The harvested rice grains obtained through the threshing process are stored in the grain bin 14. The rice grains stored in the grain bin 14 are discharged out of the machine as needed by the grain discharge device 18.

[0068] Additionally, a general-purpose terminal 4 is provided on the driver's unit 12. The general-purpose terminal 4 is capable of displaying various information. In this embodiment, the general-purpose terminal 4 is fixed to the driver's unit 12. Note that the general-purpose terminal 4 may also be configured to be detachable from the driver's unit 12, or it may be located outside the combine harvester.

[0069] like Figure 2 As shown, the combine harvester automatically travels along a pre-set path in the field. Therefore, it is necessary to detect the harvester's position. To detect the harvester's position, a harvester position detection module 80 is used. The harvester position detection module 80 includes a satellite navigation module 81 (satellite positioning unit) and an inertial navigation module 82 (inertial navigation unit). The satellite navigation module 81 receives GNSS (Global Navigation Satellite System) signals (including GPS signals) from the artificial satellite GS and outputs positioning data for calculating the harvester's position. The inertial navigation module 82 is equipped with a gyroscope accelerometer and a magnetic azimuth sensor, and outputs a position vector representing the instantaneous direction of travel. The inertial navigation module 82 is used to supplement the harvester position calculation of the satellite navigation module 81. The inertial navigation module 82 can also be located in a different place than the satellite navigation module 81.

[0070] The sequence of harvesting operations in the field using this combine harvester is as follows.

[0071] First, the driver (monitor) operates the combine harvester manually, such as... Figure 2 As shown, the harvesting vehicle travels in a circular manner along the field's boundary line on the outer perimeter of the field. This circular travel is called a circular harvesting trip. The area that becomes a harvested area (operated area, worked land) through the circular harvesting trip is designated as the outer perimeter area SA. Furthermore, the area remaining inside the outer perimeter area SA as unharvested land (unoperated area, unworked land) is designated as the target area CA. Figure 2 An example of an outer perimeter area SA and a target area CA is shown. In this embodiment, the harvesting process involves driving around the target area CA in a quadrilateral configuration. Of course, a triangular or pentagonal target area CA can also be used.

[0072] Additionally, to ensure a sufficiently wide outer perimeter area SA, the monitor allows the machine body 10 to travel two or three weeks. During this travel, with each full cycle, the width of the outer perimeter area SA increases the working width of the combine harvester. If, for example, the initial two or three weeks of travel are completed, the width of the outer perimeter area SA becomes approximately two to three times the working width of the combine harvester.

[0073] When harvesting within the target area CA, the outer perimeter SA serves as space for the combine harvester to change direction. Additionally, the outer perimeter SA is used for movement when temporarily ending the harvesting journey and moving towards the grain discharge point, or towards the fuel replenishment point.

[0074] Notice, Figure 2 The transport vehicle CV shown is capable of collecting and transporting the grains discharged from the grain discharge device 18 of the combine harvester. When discharging grains, the combine harvester uses the grain discharge device 18 to discharge grains into the transport vehicle CV after moving to the vicinity of the transport vehicle CV.

[0075] If the peripheral area SA and the work object area CA are set, then as follows Figure 3 as well as Figure 4 As shown, the travel path within the work area CA is estimated. First, if inner map data representing the shape of the work area CA is created, path features are calculated. Path features are calculated such that they are parallel to at least one side of the quadrilateral work area CA and have intervals that take into account the work width and overlap. The travel path for autonomous driving is calculated based on these path features. The travel path is the path that enables the combine harvester to travel automatically in a manner that covers the work area CA, and it varies depending on the driving mode. The primary driving mode used in combine harvesters is... Figure 3 as well as Figure 4 The diagram illustrates the reciprocating driving mode and the vortex driving mode. The reciprocating driving mode is a driving mode that connects multiple parallel driving paths by making U-turns, while the vortex driving mode is a driving mode that travels in a vortex shape along the outer edge of the work area CA.

[0076] exist Figure 3In the reciprocating travel mode shown, the combine harvester connects and travels along a path parallel to one side of the work area CA by making U-shaped turns. Within the work area CA, multiple parallel straight travel paths are generated in a long strip shape, and these paths are arranged at equal intervals. A U-shaped turn (e.g., a 180-degree direction change) is performed when moving from one end of a straight travel path to the other. Hereinafter, the method of connecting these parallel travel paths via U-shaped turns and performing automatic travel will be referred to as "reciprocating travel." This U-shaped turn includes both ordinary U-shaped turns and turnaround turns. Ordinary U-shaped turns occur only during the forward movement of the machine body 10, and its trajectory is U-shaped. Figure 3 The ordinary U-turn shown includes two forward 90-degree turns and a straight 180-degree turn, and sometimes the straight turn is omitted. The turnaround turn is performed by moving the machine body 10 forward and backward. Although its trajectory is not U-shaped, the combine harvester can achieve the same directional change as the ordinary U-turn turn. Figure 3 The illustrated U-turn maneuver utilizes a 180-degree directional change involving a 90-degree forward turn, a reverse turn, and a 90-degree forward turn. For a normal U-turn, there needs to be a distance of at least two path elements between the path-changeable point before and after the directional change. If the distance is shorter, a U-turn is used. That is, because a U-turn involves reversing compared to a normal U-turn, it is not affected by the turning radius of the machine 10, and there are more path elements available for reaching the target. However, due to the forward and reverse switching during a U-turn, it generally takes longer than a normal U-turn.

[0077] exist Figure 4 In the vortex driving mode shown, the combine harvester uses a driving path similar to the shape of the work area CA to circle towards the center like a vortex. At the corners during each circle, turns called alpha turns are used, which include straight-ahead turns, reverse turns, and forward turns. Note that during operation, it is also possible to switch from vortex driving to reciprocating driving, or vice versa.

[0078] Notice, Figure 3 as well as Figure 4The shown travel path is not limited to a straight line; it can also be a curve or a combination of curves and straight lines. The spacing between the parallel travel paths is determined based on the working width and the overlap amount used to absorb travel errors, where the working width is the cutting width of the harvesting device H. The estimated travel paths are sequentially set based on the operating travel mode, and the combine harvester is automatically controlled to travel along these pre-set paths.

[0079] based on Figures 1 to 4 The above description is common to both the first and second embodiments described later.

[0080] [Description of the First Embodiment]

[0081] As a first embodiment of the present invention, in Figure 5 The diagram illustrates a control system for a combine harvester utilizing the automatic steering system of the present invention. The combine harvester's control system includes a control unit 5 (control device) and various input / output devices that communicate with the control unit 5 via a wiring network such as an onboard LAN (data communication). The control unit 5 is the core element of this control system and is embodied as an aggregation of multiple ECUs. Signals from the vehicle position detection module 80 are input to the control unit 5 via the onboard LAN.

[0082] The control unit 5, serving as an input / output interface, includes an output processing unit 59, a status input processing unit 57 serving as a machine status detection unit, and an operation input processing unit 58 serving as a function setting unit. The output processing unit 59 is connected to various motion devices 70 via a device driver 65. The motion devices 70 include a travel device group 71, which is related to travel, and a work device group 72, which is related to work. The travel device group 71 includes, for example, steering equipment, engine equipment, transmission equipment, and braking equipment. The work device group 72 includes... Figure 1 The power control equipment in the harvesting apparatus shown (harvesting device H, threshing device 13, conveying device 16, grain discharge device 18), etc.

[0083] The status input processing unit 57 is connected to a driving status sensor group 63, a work status sensor group 64, etc. The driving status sensor group 63 includes a vehicle speed sensor, an engine speed sensor, an overheat detection sensor, a brake pedal position detection sensor (parking brake detection sensor), a gear shift position detection sensor, and a steering position detection sensor. The work status sensor group 64 includes a detection... Figure 1The harvesting apparatus shown (harvesting device H, threshing device 13, conveying device 16, grain discharge device 18) includes sensors for the drive status, and sensors for detecting the status of the stalks and grains. Thus, the status input processing unit 57, as the machine status detection unit, detects the machine body 10 (see reference 18) via the driving status sensor group 63, the operation status sensor group 64, etc. Figures 1 to 3 (The same applies below)

[0084] The operation input processing unit 58 is connected to the operation operation unit 30, the travel operation unit 90, etc. The operation operation unit 30 and the travel operation unit 90 are generally referred to as operating components that are manually operated by the driver (monitor) and whose operation signals are input to the control unit 5. The operation operation unit 30 includes an operation harvesting device H (see reference). Figure 1 The harvesting lifting lever 31, serving as the harvesting unit's operating component, is used to control the lifting and lowering of the harvesting device H by swinging it back and forth. Although not shown, when the harvesting lifting lever 31 swings forward and backward, it drives the harvesting device H to rise; when it swings in the opposite direction, it drives the harvesting device H to fall. Furthermore, when the harvesting lifting lever 31 is in a neutral forward / backward position, the lifting and lowering of the harvesting device H stops. The travel operation unit 90 includes a main gear shifting operating component 91 (e.g., a main gear shift lever), a steering operating component 92 (e.g., a steering rod) serving as a turning operating component, a mode switching operating component 93 (e.g., a mode switching switch), and an automatic travel permission operating component 94 (automatic start operating component). The steering operating component 92 instructs the machine body 10 to turn. The work operation unit 30 and the travel operation unit 90 have the function of changing the state of the machine body 10 while continuing automatic travel. When the operating component is operated, the operation input processing unit 58, which is a function setting unit, enables or disables the function of the operating component according to the state of the machine body 10, as will be described later.

[0085] The main transmission operating element 91, such as a gear lever, is used to control the travel device 11 (see reference). Figure 1 The main transmission operating unit 91 is an operator that indicates whether the vehicle is driven forward or backward, and provides instructions for changing the speed for forward or backward movement. If the vehicle speed is adjusted to a neutral position (zero speed) within the speed adjustment range of the main transmission operating unit 91, the driving device 11 stops. The area forward of the neutral position within the speed adjustment range of the main transmission operating unit 91 is the forward speed change zone; if the main transmission operating unit 91 is operated within this zone, the driving device 11 moves forward along with the speed adjustment. Conversely, the area backward of the neutral position within the speed adjustment range of the main transmission operating unit 91 is the reverse speed change zone; if the main transmission operating unit 91 is operated within this zone, the driving device 11 moves backward.

[0086] In manual driving mode, if the steering control component 92 is swung left or right from the neutral position, the track speed of the left track mechanism and the track speed of the right track mechanism are adjusted, and the orientation of the machine body 10 changes.

[0087] The mode switching operator 93, for example, is a mode switching switch, which has the function of sending a command to the control unit 5 to switch between automatic driving mode and manual driving mode. Automatic driving mode is the mode for autonomous driving, and manual driving mode is the mode for manual driving. The automatic driving authorization operator 94 has the function of sending a final authorization signal, i.e., an automatic driving authorization signal, to the control unit 5 based on the driver's operation (one of the automatic driving authorization conditions). In other words, the automatic start operator 94 has the function of giving the control unit 5 a final automatic start command to begin automatic driving. Note that in... Figure 5 In this embodiment, only one automatic driving authorization operator 94 is shown, but it is actually composed of two push-button switches forming two operating units. Furthermore, if the first button (first operator) and the second button (second operator) constituting the automatic driving authorization operator 94 are not operated simultaneously, no automatic driving authorization signal is output, and the automatic driving authorization conditions are not met. This prevents accidental operation of the automatic driving authorization operator 94.

[0088] Sometimes, the system can automatically switch from automatic driving mode to manual driving mode via software, regardless of the operation of the mode switching unit 93. For example, if a situation arises where automatic driving cannot proceed, the control unit 5 will forcibly switch from automatic driving mode to manual driving mode.

[0089] Reporting device 62 is used to report the operating status and various warnings to the monitor, etc., and includes a buzzer, light, speaker, display, etc. Communication unit 66 is used to enable the control system of the combine harvester to communicate with the general terminal 4 (see reference). Figure 1 Data can be exchanged between the operators or between the operator and a remotely located management computer. The general-purpose terminal 4 also includes a tablet computer operated by a monitor standing in the field or sitting in the combine harvester, as well as a computer located at home or in a management office. Furthermore, similar to the reporting device 62, the general-purpose terminal 4 also functions as a device that reports operational status, driving status, and various information to the driver or other personnel via a display screen.

[0090] The control unit 5 includes a driving control unit 51, a work control unit 52, a driving mode management unit 53, a driving path setting unit 54, a vehicle position calculation unit 55, and a reporting unit 56. The vehicle position calculation unit 55 calculates the map coordinates (or field coordinates) of a pre-set specific location of the machine body 10, i.e., the vehicle position, based on the positioning data sequentially sent from the vehicle position detection module 80. The reference point of the machine body 10 (e.g., the center of the vehicle body, ...) can be set as the vehicle position. Figure 1 The vehicle position calculation unit 55 can also calculate the vehicle's position using the position vector and travel distance from the inertial navigation module 82. The vehicle position calculation unit 55 can also combine signals from the satellite navigation module 81 and the inertial navigation module 82 to calculate the vehicle's position. Furthermore, the vehicle position calculation unit 55 can obtain the accuracy level of the satellite navigation module 81 from the positioning data from the satellite navigation module 81. This accuracy level is determined by the number of satellites used to generate the positioning data, the strength of the satellite radio waves, etc. If the accuracy level is below a specified level, a reliable vehicle position cannot be calculated, and therefore automatic driving cannot be performed.

[0091] The reporting unit 56 generates report data based on instructions from various functional units of the control unit 5 and assigns it to the reporting device 62.

[0092] The driving control unit 51 has engine control, steering control, and speed control functions, and provides control signals to the driving equipment group 71. The operation control unit 52 controls... Figure 1 The operation of the harvesting device (harvesting device H, threshing device 13, conveying device 16, grain discharge device 18, etc.) provides control signals to the operating equipment group 72.

[0093] This combine harvester can operate in two driving modes: automatic and manual. Automatic driving involves harvesting using automatic movement, while manual driving involves harvesting using manual movement. Therefore, the driving control unit 51 includes a manual driving control unit 51A and an automatic driving control unit 51B. Note that an automatic driving mode is set when automatic driving is engaged, and a manual driving mode is set for manual driving. The switching of driving modes is managed by the driving mode management unit 53. That is, the driving mode management unit 53 is configured to switch between an automatic driving mode for automatic driving and a manual driving mode for manual driving.

[0094] Note that although the driving mode management unit 53 is configured to switch between automatic driving mode and manual driving mode, the driving mode is not limited to automatic driving mode and manual driving mode. For example, it could be structured as follows: when the driving mode management unit 53 switches from automatic driving mode to manual driving mode, the driving mode management unit 53 first switches to manual preparation mode, and then switches to manual driving mode after the conditions for manual driving are met. Alternatively, it could be structured as follows: when the machine body 10 is stopped by operating the control unit during automatic driving, the driving mode management unit 53 switches from automatic driving mode to an abnormal mode indicating an abnormal status.

[0095] With the automatic driving mode set, based on Figure 6 The control module shown performs automatic driving. The automatic driving control unit 51B generates vehicle speed change control signals, including automatic steering and stopping, to control the driving equipment group 71. The driving path is set by the driving path setting unit 54, and the vehicle position is calculated by the vehicle position calculation unit 55. Then, control signals related to automatic steering are generated in a way that eliminates directional and positional deviations between the vehicle position and the driving path. Control signals related to vehicle speed change are generated based on pre-set vehicle speed values. As an example of a pre-set vehicle speed value, a vehicle speed value set corresponding to the position of the main transmission operating member 91 in the forward speed change region can be shown. Note that if a stop instruction is output by the operation input processing unit 58, the automatic driving control unit 51B stops the driving equipment group 71, causing the body 10 (see reference) to stop. Figures 1 to 3 Parking, details of which will be provided later.

[0096] The driving route setting unit 54 generates the driving route automatically using a route calculation algorithm. Note that the driving route setting unit 54 may also be configured by the universal terminal 4 (see reference 4). Figure 1 The structure is used to download driving paths generated by remote management computers, etc.

[0097] When manual driving mode is selected, the manual driving control unit 51A generates control signals and controls the driving equipment group 71 based on the operator's operation, thereby realizing manual driving. Note that even in manual driving mode, the driving path calculated by the driving path setting unit 54 can be used to guide the combine harvester to travel along that driving path.

[0098] [Regarding the validity and invalidity of the operating components in the first embodiment]

[0099] When the automatic driving mode is selected, the operating components included in the work operation unit 30 and the driving operation unit 90 are respectively divided into operating components that can be operated in automatic driving and operating components that cannot be operated in automatic driving. For example, the steering operating component 92 cannot be operated in automatic driving. Figure 7 The image shows an example of a combine harvester automatically traveling along a path. Figure 8 The diagram shows the active or inactive status of the operating components for each driving path.

[0100] exist Figure 7 In the process, multiple routes L are generated in a long strip shape as the driving path, and the machine body 10 travels back and forth from one end of the field along the route L. A discharge position DP is set at the edge of the field where the transport vehicle CV can stop in the outer perimeter area SA. During the automatic driving of the combine harvester, after completing the harvesting along a route L, it turns by turning back when moving to an adjacent route L. For example, after the machine body 10 travels forward along the route L (1) of the transfer starting point and the forward travel path ML1 (1), the machine body 10 temporarily stops and travels backward along the backward travel path ML2 (1). Then, after the machine body 10 stops again, it travels forward again along the forward travel path ML3 (1) to reach the transfer target route L (2). The discharge path Pt is the path used to detach the machine body 10 from the route L and move it to the discharge position DP. Figure 7 The diagram shows that when the machine body 10 travels forward along route L(4), the grains stored in the grain bin 14 reach a set amount, and the machine body 10 moves towards the discharge position DP via the discharge path Pt. The grains stored in the grain bin 14 (see reference...) Figure 1 The amount of grains (hereinafter the same) can be detected, for example, by a production sensor (not shown) located in the operating status sensor group 64. When the machine body 10 reaches the discharge position DP, the grains stored in the grain bin 14 are discharged to the transport vehicle CV.

[0101] Automatic driving includes automatic operation driving, automatic turning driving, and automatic discharge driving. Automatic operation driving is the automatic driving mode in which the combine harvester harvests the planted rice stalks along a predetermined route L. Automatic turning driving is the automatic driving mode in which the machine body 10 turns towards the next route L after completing automatic operation driving, automatically turning along the forward driving path ML1, the reverse driving path ML2, and the forward driving path ML3. Automatic discharge driving is the automatic driving mode in which the machine body 10 detaches from the route L and moves towards the discharge position DP, which is another target location, automatically discharging along the discharge path Pt.

[0102] If the mode switching operation unit 93 (refer to) Figure 5 If the activation operation is performed, the machine body 10 reaches the starting position of route L(1), and the prescribed conditions are met, then the driving mode of the control unit 5 can be switched to automatic driving mode. Then, if the automatic driving permission operation unit 94 (refer to...) Figure 5When the circuit is activated, the driving mode of control unit 5 will enter automatic driving mode.

[0103] When the machine body 10 is automatically traveling in the field, it travels forward along route L, forward travel path ML1, forward travel path ML3, and discharge path Pt. During this time, due to the main transmission control unit 91 (see reference...) Figure 5 as well as Figure 6 (The same applies below) Operations within the forward speed change range are enabled. Therefore, if the main transmission operation unit 91 is operated within the forward speed change range, the vehicle speed of the machine 10 is adjusted while continuing to move forward. That is, when moving forward via automatic driving, if the main transmission operation unit 91 is operated within the forward speed change range, the operation input processing unit 58 (see below) of the function setting unit is activated. Figure 5 as well as Figure 6 (The same applies below) to enable the function of the main transmission operating component 91.

[0104] While the machine is moving forward using automatic driving, if the main transmission control unit 91 is operated within the reverse speed change range, the operation input processing unit 58, which is part of the function setting unit, disables the function of the main transmission control unit 91. Therefore, if the operator operates the main transmission control unit 91 within the reverse speed change range while the machine 10 is moving forward using automatic driving, the operation input processing unit 58 outputs a stop instruction. The stop instruction is input to the automatic driving control unit 51B, and the machine 10 stops based on the stop instruction. Then, the control unit 5 switches the driving mode from automatic driving mode to manual driving mode.

[0105] On the reverse driving path ML2, the machine 10 reverses. During this period, operations in both the forward speed change area and the reverse speed change area of ​​the main transmission control unit 91 are disabled. That is, reverse driving requires more attention from the monitor to the surroundings than forward driving, so stopping the machine 10 takes priority over adjusting the vehicle speed based on the operation of the main transmission control unit 91. Therefore, if the monitor operates the main transmission control unit 91 while the machine 10 is reversing based on automatic driving, the operation input processing unit 58 outputs a stop instruction. The stop instruction is input to the automatic driving control unit 51B, and the machine 10 stops based on the stop instruction. Then, the driving mode of the control unit 5 is switched from automatic driving mode to manual driving mode. That is, when reversing via automatic driving, regardless of whether the main transmission control unit 91 is operated in the forward speed change area or the reverse speed change area, the operation input processing unit 58, as the function setting unit, disables the function of the main transmission control unit 91 and instructs it to stop. Therefore, the operation of the main transmission control unit 91 during automatic driving can be limited to the range required for forward driving.

[0106] Cut the lifting rod 31 (refer to) Figure 5 as well as Figure 6 The function of the harvesting device H (hereinafter the same) is only enabled during automatic operation along route L. That is, the harvesting device H can be raised and lowered based on the operation of the cutting lift lever 31 only during automatic operation. During automatic turning along the forward travel path ML1, the reverse travel path ML2, and the forward travel path ML3, the function of the cutting lift lever 31 is disabled. In addition, during automatic discharge travel along the discharge path Pt, the function of the cutting lift lever 31 is also disabled. During the period when the function of the cutting lift lever 31 is disabled, even if the cutting lift lever 31 is operated, the harvesting device H is not raised or lowered. Thus, the operation input processing unit 58, which is the function setting unit, enables the function of the cutting lift lever 31, which is the harvesting unit operation member, during automatic operation, and disables the function of the cutting lift lever 31 during automatic turning or automatic discharge. As a result, the operation of the cutting lift lever 31 during automatic operation can be limited to the range required for harvesting crops.

[0107] like Figure 8 As shown in the row of steering control element 92, during automatic driving, steering control element 92 (refer to...) Figure 5 as well as Figure 6 The steering function (hereinafter the same) is disabled. Therefore, during automatic operation along route L, during automatic turning along forward travel path ML1, reverse travel path ML2 and forward travel path ML3, and during automatic discharge travel along discharge path Pt, the machine body 10 will not turn even if the steering operation element 92 is operated. Figure 8 As shown in the line "Large Operation Amount," if the steering control unit 92 is operated with a larger amount than preset, the operation input processing unit 58 outputs a stop instruction, and automatic driving stops. The stop instruction from the operation input processing unit 58 is input to the automatic driving control unit 51B, and the machine body 10 stops based on the stop instruction from the operation input processing unit 58. Then, the driving mode of the control unit 5 switches from automatic driving mode to manual driving mode, and automatic driving stops. That is, the operation input processing unit 58 is configured such that if the monitor wants to stop the machine body 10 due to a momentary judgment during automatic driving, the monitor can stop the machine body 10 by operating the steering control unit 92 with a large amount. On the other hand, as Figure 8As indicated in the "Small Operation Amount" line, during automatic driving, if the operation amount of the steering control unit 92 is smaller than this amount, the operation input processing unit 58 will not output a stop instruction and will continue automatic driving. That is, the operation input processing unit 58, as a function setting unit, disables the function of the steering control unit 92 during automatic driving, and if the steering control unit 92 is operated larger than the preset operation amount, a stop instruction will be given. This reduces the risk of the machine 10 stopping against the monitor's will due to accidental operation such as the monitor's physical contact with the steering control unit 92.

[0108] As described above, the status input processing unit 57, which is the body status detection unit, is based on the driving status sensor group 63 (see reference 63). Figure 5 as well as Figure 6 ), Operation status sensor group 64 (refer to) Figure 5 as well as Figure 6 The system detects the state of the machine body 10. Furthermore, the operation input processing unit 58, which is a function setting unit, enables or disables the function of the operation component based on the state of the machine body 10 when the operation component is operated.

[0109] [Other embodiments of the first embodiment]

[0110] The present invention is not limited to the structure illustrated in the first embodiment described above. Other representative embodiments of the present invention will be illustrated below.

[0111] <Other Embodiments 1 of the First Embodiment> In the above embodiment, if the main shifter 91 is operated when its function is disabled, the machine body 10 is stopped by a stop instruction from the operation input processing unit 58. However, this embodiment is not limited to this one. It is also possible that the operation input processing unit 58 does not output a stop instruction even when the main shifter 91 is operated when its function is disabled. For example, it is possible that the operation input processing unit 58 does not accept the operation of the main shifter 91 and does not output a stop instruction when its function is disabled. It is also possible that the position of the main shifter 91 automatically returns to its pre-operation position in this state.

[0112] For example, it can be configured such that when the main transmission control member 91 is swung within the reverse speed change range during forward travel via automatic driving, the operation input processing unit 58 does not accept the operation of the main transmission control member 91, and the position of the main transmission control member 91 automatically returns to the position before operation. Alternatively, it can be configured such that when the main transmission control member 91 is swung during reverse travel via automatic driving, the operation input processing unit 58 does not accept the operation of the main transmission control member 91, and the position of the main transmission control member 91 automatically returns to the position before operation. In other words, the operation input processing unit 58, which is a function setting unit, only needs to be configured to enable or disable the function of the control member based on the state of the machine body 10 detected by the state input processing unit 57, which is a machine body state detection unit, when the control member is operated.

[0113] <Another Embodiment 2 of the First Embodiment> In the above embodiment, when reversing via automatic driving, the operation input processing unit 58, which is a function setting unit, disables all functions of the main transmission operation member 91, but this is not limited to this embodiment. For example, it could be configured such that when reversing via automatic driving, operations within the forward speed change range of the main transmission operation member 91 are enabled. With this configuration, even during reversing, the operator can adjust the vehicle speed for subsequent forward driving.

[0114] <Other Embodiments 3 of the First Embodiment> In the above embodiment, the operation input processing unit 58 enables the function of the cutting lifting lever 31 when automatic operation is in progress, and disables the function of the cutting lifting lever 31 when automatic turning or automatic discharge is in progress, but it is not limited to this embodiment. For example, the operation input processing unit 58 may also enable the function of the cutting lifting lever 31 even when automatic turning is in progress, or it may also enable the function of the cutting lifting lever 31 even when automatic discharge is in progress.

[0115] <Other Embodiments 4 of the First Embodiment> In the above embodiment, the operation input processing unit 58 is configured to disable the function of the steering operation member 92 during automatic driving, and to instruct the driver to stop when the steering operation member 92 is operated by a larger amount than preset, but it is not limited to this embodiment. For example, the operation input processing unit 58 may also be configured to disable only the function of the steering operation member 92 during automatic driving.

[0116] <Other Embodiments 5 of the First Embodiment> In the above embodiments, Figure 3 as well as Figure 7 The shown turning maneuver causes the machine body 10 to turn 180 degrees, but it is not limited to this embodiment. For example, the turning maneuver can also cause the machine body 10 to turn about 90 degrees.

[0117] <Other Embodiments 6 of the First Embodiment> The functional units in the above embodiments can also be configured as a driving system for a harvester. Alternatively, the functional units in the above embodiments can be configured as a driving program for a harvester. This driving program can be stored on a storage medium such as an optical disc, a magnetic disk (e.g., a hard disk), or a semiconductor memory (e.g., flash memory, EPROM, EEPROM, mask ROM, FeRAM, MRAM, ReRAM), and can be read by a computer. Furthermore, the processing performed by the functional units in the above embodiments can be configured as a driving method.

[0118] [Description of the Second Embodiment]

[0119] As a second embodiment of the present invention, in Figure 9 The control system of the combine harvester is shown in the figure. The control system of the combine harvester includes a control unit 5 (control device) consisting of multiple electronic control units (ECUs) connected via an onboard LAN, and various input / output devices that communicate with the control unit 5 for signal and data communication.

[0120] exist Figure 9 The structures related to the satellite navigation module 81 (satellite positioning unit) and inertial navigation module 82 (inertial navigation unit), reporting device 62, driving status sensor group 63, operation status sensor group 64, equipment driver 65, motion device 70 (including driving device group 71 and operation device group 72), and driving operation unit 90 (including main transmission control unit 91, steering control unit 92, mode switching control unit 93, and automatic driving authorization control unit 94) included in the vehicle position detection module 80 are described above based on the structure of the above-mentioned system. Figure 5 The explanation given. Additionally, in Figure 9 In the control unit 5, the structures related to the operation control unit 52, the vehicle position calculation unit 55, the reporting unit 56, and the output processing unit 59 are as described above. Figure 5 The following explanation is provided. The input processing unit 570 includes... Figure 5 The status input processing unit 57 and operation input processing unit 58 are located in the input processing unit 570. Note that the input processing unit 570 can also be connected to... Figure 5 The operation unit 30 shown.

[0121] As a second embodiment, by Figure 9The control unit 5 (control device) shown is also connected to the universal terminal 4 via the vehicle LAN. The universal terminal 4 is a tablet computer equipped with a touch panel 40. The universal terminal 4 has a route calculation unit 41, a work driving management unit 42, and an input / output control unit 43. The input / output control unit 43 also has the function of constructing a graphical interface using the touch panel 40, and the function of exchanging data with a remote management computer 100 via a wireless line or the Internet. In addition, similar to the reporting device 62, the universal terminal 4 functions as a device that reports work status, driving status, and various information to the driver and others by displaying them on the touch panel 40. In this embodiment, as Figure 10 As shown, a mode switching operation unit 93 (mode switching switch) and an automatic driving authorization operation unit 94 are installed on the right side of the general terminal 4.

[0122] like Figure 9 As shown, the operation and driving management unit 42 includes a driving trajectory calculation unit 421, a work area determination unit 422, and a discharge position setting unit 423. The driving trajectory calculation unit 421 calculates the driving trajectory based on the vehicle's position given by the control unit 5. The work area determination unit 422... Figure 2 As shown, based on the travel trajectory obtained by manually driving the combine harvester around the outer perimeter area SA of the field several times, the field is divided into the outer perimeter area SA and the target area CA. The boundary line between the outer perimeter area SA and the field ridge is calculated using the outermost line of the outer perimeter area SA, and the unworked area (the shape of the target area CA) to be automatically driven is calculated using the innermost line of the outer perimeter area SA. When the grain bin 14 is full, the grains in the grain bin 14 are discharged into the transport vehicle CV by the grain discharge device 18, and the discharge position setting unit 423 sets the discharge stopping position of the combine harvester at this time. The discharge stopping position is restricted as follows: it is set in the outer perimeter area SA formed on the outer perimeter of the field by driving around the harvester, and it is set in a location other than the corner of the polygonal outer perimeter area SA.

[0123] The path calculation unit 41 calculates a driving path for automatic driving in the unworked area determined by the work area determination unit 422. Note that the driving mode (reciprocating driving mode or vortex driving mode) for automatic driving in the unworked area is input via the touch panel 40. This process ends when the driver inputs the peripheral area SA manually, and the path calculation is performed automatically in the selected path mode.

[0124] With based Figure 5 The driving control unit 51 is the same as described above. Figure 9The driving control unit 510 shown has engine control, steering control, and speed control functions, and provides driving control signals to the driving equipment group 71. This combine harvester can operate in two driving modes: automatic driving and manual driving. Automatic driving is a driving mode where harvesting is performed automatically, and manual driving is a driving mode where harvesting is performed manually. The driving control unit 510 includes a manual driving control unit 511, an automatic driving control unit 512, a driving path setting unit 513, and an automatic driving management unit 514. The manual driving control unit 511 has... Figure 5 The manual driving control unit 51A shown has the same structure. The automatic driving control unit 512 has the same structure as... Figure 5 The automatic driving control unit 51B shown has the same structure. The driving path setting unit 513 is for setting the driving path... Figure 5 The driving path setting unit 54 shown is integrated into the driving control unit 510.

[0125] When a command to switch to automatic driving mode is output based on the operation of the mode switching operator 93, the automatic driving management unit 514 determines whether automatic driving is permitted based on preset automatic driving permission conditions. Furthermore, if the determination result is permitted, the automatic driving management unit 514 issues an automatic driving start command to the automatic driving control unit 51B. Note that the automatic driving management unit 514 may also include... Figure 5 The structure of the driving mode management unit 53 shown is illustrated.

[0126] The following lists the automatic driving permission conditions set in this embodiment, which are related to the machine's state.

[0127] (1) Locating data relationships

[0128] (1-1) The accuracy of the positioning data contained in the location information from the satellite navigation module 81 exceeds the specified level.

[0129] (1-2) Since the satellite navigation module 81 uses RTK (real-time dynamic) GPS, the base station is located within 10m of the specified location.

[0130] (2) Vehicle status relationship

[0131] (2-1) The access door to the cockpit covering the driver's compartment 12 is closed.

[0132] (2-2) Wearing a seatbelt.

[0133] (2-3) The grain discharge device 18 is kept in the storage position.

[0134] (2-4) It is not refueling.

[0135] (2-5) Fine-tuning data for motion device 70 was set.

[0136] (2-6) The main gear shift lever 91 and the steering lever 92 are in the neutral position.

[0137] (2-7) Cut the threshing rod to stop the operation.

[0138] (2-8) The parking brake was released.

[0139] (2-9) The tilt of the body 10 is within the specified range.

[0140] (2-10) No blockage occurred in the harvest conveying system.

[0141] (2-11) Grain bin 14 is not full.

[0142] (3) Control relationship

[0143] (3-1) No ECU malfunction occurred.

[0144] (3-2) No communication abnormalities were observed in the vehicle LAN.

[0145] (3-3) The discharge stop position is set in the discharge position setting unit 423.

[0146] (4) Driving route relationship

[0147] (4-1) Map information of the unworked area, i.e. the work object area CA, was created, and the driving path for automatic driving in the work object area CA was calculated.

[0148] (4-2) At the current moment, the vehicle position has captured the driving path (automatic driving start driving path) used when the automatic driving selected by the driving path setting unit 513 starts. In other words, the combine harvester is already at the automatic driving start point where the automatic driving start driving path can be captured.

[0149] use Figure 11 The capture of the driving path is illustrated. Figure 11The diagram schematically illustrates the combine harvester, the travel path, and the path search area. In the diagram, CP is the reference point of the combine harvester, and the vehicle position calculated by the vehicle position calculation unit 55 is the coordinate position of this reference point. The automatic driving start path is represented by Ls, and other travel paths are represented by Lo. The path search area, which is thinly colored in the diagram, is a fan-shaped area centered on the vehicle position and extending in the direction of travel with a central angle of approximately 45°. Therefore, if an automatic driving start path is found within the path search area, the automatic driving permission condition is met, meaning the travel path used when starting automatic driving has been captured at the vehicle position. If the travel path is calculated and the driving mode is selected, the automatic driving start point is calculated. At this time, the automatic driving start point is calculated as follows: if the combine harvester is located near the automatic driving start point, the automatic driving start path can be captured within the path search area.

[0150] The starting point for autonomous driving is calculated using an algorithm that varies depending on the selected driving mode. In reciprocating driving mode, such as... Figure 12 As shown, multiple travel paths can be set near the coverage area CA (in Figure 12 The outer perimeter region SA at the end of any driving path (as indicated by reference numerals L1...L13) in the attached drawings is defined as follows: Figure 12 (As indicated by the arrows). However, considering operational efficiency, the outermost travel path L1, closest to the current position of the combine harvester, is generally set as the automatic driving start path Ls. However, when the target area CA is large, the travel path that divides the target area CA into two parts, referred to as intermediate segmentation travel, is set as the automatic driving start path Ls. The target travel path after the automatic driving start path Ls is set considering the distance required for the combine harvester's 180-degree U-turn.

[0151] In vortex driving mode, such as Figure 13 As shown, it is able to travel along the vortex path closest to the outermost edge (in Figure 13 The outer perimeter area SA of any corner in L1...L4 is marked to set the start point for automatic driving. Figure 13 In the example, considering operational efficiency, the counterclockwise driving path L1, which is closest to the current position of the combine harvester, is set as the automatic driving start path Ls.

[0152] If all automatic driving permission conditions are met, the system is reported to be in automatic driving permission mode. In automatic driving permission mode, the combine harvester stops but remains in automatic driving mode. The first and second buttons constituting the automatic driving permission operation unit 94 have an illumination function and are lit in automatic driving permission mode. Note that when the combine harvester reaches the automatic driving start point where the automatic driving start path can be captured, the first and second buttons flash rapidly and repeatedly. If the first and second buttons are pressed, causing all automatic driving permission conditions to be met, the flashing changes to illumination. In this automatic driving permission mode (although the combine harvester stops, it remains in automatic driving mode), if the driver moves the main transmission operation unit 91 from the neutral position to the forward transmission position, this movement becomes a trigger condition, causing a driving start command to be sent to the automatic driving control unit 512, and the combine harvester begins to drive automatically along the automatic driving start path. Note that the automatic driving permission operation unit 94 is not limited to the first and second buttons; it can also consist of three or more buttons.

[0153] If the aforementioned conditions for autonomous driving are not met during autonomous driving, then autonomous driving will be suspended. The following lists the conditions for suspending autonomous driving.

[0154] (1) Locating data relationships

[0155] (1-1) The accuracy of the positioning data has been reduced to below the specified level.

[0156] (2) Vehicle status relationship

[0157] (2-1) The cockpit entrance is open.

[0158] (2-2) Failure to wear a seat belt for more than the prescribed time.

[0159] (2-3) The grain discharge device 18 is in operation.

[0160] (2-4) Slippage exceeding the allowable range occurs.

[0161] (2-5) The steering control element 92 (steering lever) is operated.

[0162] (2-6) The main transmission control unit 91 (main transmission lever) is operated to the parking position while the vehicle is moving forward, or the main transmission control unit 91 is operated while the vehicle is moving backward.

[0163] (2-7) The threshing rod is cut off.

[0164] (2-8) The parking brake is working.

[0165] (2-9) The tilt of the machine body exceeds the specified range.

[0166] (2-10) A blockage occurs in the harvest transport system.

[0167] (3) Control relationship

[0168] (3-1) The ECU malfunctions.

[0169] (3-2) Communication anomalies occur in the vehicle LAN.

[0170] (3-3) The mode switching operation unit 93 (mode switching switch) is switched to manual driving mode.

[0171] (3-4) At least one of the first button and the second button of the automatic driving authorization operation unit 94 is operated.

[0172] (4) Driving route relationship

[0173] (4-1) The driving path cannot be captured for more than a specified period of time.

[0174] The touch panel 40 of the general-purpose terminal 4 functions as a graphical interface for input and output, thus enabling various input operations. However, there are safety concerns regarding operation while in motion. Information that needs to be confirmed even while in motion, such as the location of the combine harvester in the field and the relationship between the target driving path and the vehicle's position, is displayed on the touch panel 40. Therefore, while in motion, only zooming in and out of the touch panel 40 and displaying the current location are operable.

[0175] In vortex driving mode, such as Figure 4 As shown, alpha turns, which allow for quick and space-saving direction changes, can be employed using straight-ahead, reverse-turn, and forward-turn maneuvers. The harvested area, i.e., the outer perimeter area SA, can be used for this type of direction change at corners. However, as the operation progresses in vortex driving mode, the outer perimeter area SA increases, and the space available for direction changes also increases. With such a larger outer perimeter area SA, even in left-hand vortex driving, it is possible to... Figure 14 The diagram shows a 270-degree right turn to enter the next driving path. This 270-degree turn, unlike the Alpha turn, requires no reversing and is only a forward turn, thus offering the advantage of simpler automatic steering control.

[0176] An agricultural operation management unit 101 with database functionality is built into a management computer 100 capable of exchanging data with a general-purpose terminal 4. The agricultural operation management unit 101 stores and manages annual agricultural operation information for each field. This information includes map information of the field, map information of agricultural roads surrounding the field, and the types and methods of agricultural operations performed on the field. For example, as agricultural operation information related to harvesting operations with a combine harvester, the stored information includes the number of laps around the harvester, the driving mode used, the field parking position (discharge parking position) when discharging grains stored in the grain bin 14 into the transport vehicle CV, the driving path, the driving trajectory, and a yield map. This agricultural operation information stored in each harvesting operation is subsequently used for other harvesting operations and other agricultural operations. For example, when performing a harvesting operation, if the driving mode and discharge parking position from the previous harvesting operation are used as initial values, the initial working hours can be reduced.

[0177] [Other embodiments of the second embodiment]

[0178] <Other Embodiments of the Second Embodiment 1> The automatic driving permission conditions and automatic driving termination conditions shown in the above-described second embodiment are just one example. The feature of the present invention is that the vehicle is located at the automatic driving start point where the automatic driving start path can be captured. The selection of other conditions is free.

[0179] <Other Embodiments 2 of the Second Embodiment> Figure 9 The functional units shown are distinguished primarily for illustrative purposes. In practice, each functional unit can be integrated with other functional units, or it can be divided into multiple functional units. For example, the functional units constructed in the general terminal 4 can also be assembled in the control unit 5.

[0180] <Another Embodiment 3 of the Second Embodiment> In the second embodiment described above, the driver manually operates the combine harvester, such as... Figure 2 As shown, the harvesting process involves circling the field's boundary line on the outer perimeter, then calculating the driving path and switching to automatic driving. However, the invention is not limited to this; a different driving method could be used: calculating the initial circling driving path and driving the combine harvester automatically, switching to manual driving in special circumstances. Alternatively, a different driving method could be used: automatic driving for straight or nearly straight driving paths, and manual driving for driving paths involving sharp turns or changes in direction. In these cases, the aforementioned automatic driving permit conditions also apply during the switch from manual to automatic driving.

[0181] <Other Embodiments 4 of the Second Embodiment> The functional units in the above embodiments can also be configured as a driving system for a harvester. Alternatively, the functional units in the above embodiments can be configured as a driving program for a harvester. This driving program can be stored on a storage medium such as an optical disc, a magnetic disk (e.g., a hard disk), or a semiconductor memory (e.g., flash memory, EPROM, EEPROM, mask ROM, FeRAM, MRAM, ReRAM), and can be read by a computer. Furthermore, the processing performed by the functional units in the above embodiments can be configured as a driving method.

[0182] Furthermore, the structures disclosed in the above embodiments (including the first embodiment, the second embodiment, and various other embodiments, hereinafter the same) can be combined and applied with the structures disclosed in other embodiments, as long as they do not contradict each other. Additionally, the embodiments disclosed in this specification are examples, and the embodiments of the present invention are not limited thereto, and can be appropriately modified without departing from the purpose of the present invention.

[0183] Industrial applicability

[0184] This invention can be used not only in full-feed combine harvesters but also in semi-feed combine harvesters. Furthermore, it can be used in various harvesters such as corn harvesters, potato harvesters, carrot harvesters, and sugarcane harvesters.

[0185] Explanation of reference numerals in the attached figures

[0186] [First Implementation]

[0187] 10: Body

[0188] 31: Harvesting lifting rod (harvesting section operating component)

[0189] 57: Status Input Processing Unit (Body Status Detection Unit)

[0190] 58: Operation Input Processing Unit (Function Setting Unit)

[0191] 91: Main transmission control unit (transmission control unit)

[0192] 92: Steering control components (turning control components)

[0193] DP: Discharge Location (Other Target Locations)

[0194] H: Harvesting device (harvesting section)

[0195] L: Route (driving path)

[0196] [Second Implementation]

[0197] 4: General-purpose terminal

[0198] 40: Touch panel

[0199] 41: Path Calculation Department

[0200] 42: Operations and Driving Management Department

[0201] 421: Driving Trajectory Calculation Department

[0202] 422: Work Area Determination Department

[0203] 423: Discharge position setting unit

[0204] 43: Input / Output Control Unit

[0205] 5: Control Unit (Control Device)

[0206] 510: Driving Control Unit

[0207] 511: Manual Driving Control Unit

[0208] 512: Automatic Driving Control Unit

[0209] 513: Driving Route Setting Department

[0210] 514: Automated Driving Management Department

[0211] 52: Operations Control Department

[0212] 55: Vehicle Position Calculation Department

[0213] 56: Reporting Department

[0214] 80: Vehicle position detection module

[0215] 81: Satellite Navigation Module (Satellite Positioning Unit)

[0216] 82: Inertial Navigation Module (Inertial Navigation Unit)

[0217] 90: Driving Operation Unit

[0218] 91: Main shift control (main shift lever)

[0219] 93: Mode switching control (mode switching switch)

[0220] 94: Automatic Driving Permit Operation Component

[0221] 100: Managing Computers

[0222] 101: Agricultural Operations Management Department

[0223] CA: Task Object Area

[0224] SA: Peripheral Region

Claims

1. A harvester capable of both automatic and manual operation, wherein, The harvester has the following features: The manual driving control unit performs the manual driving based on the manual operation signal; The path calculation unit calculates a driving path for automatic driving in unworked areas of the field, which are formed by the harvesting process around the inner perimeter of the field based on the manual driving. An automatic driving control unit performs the automatic driving in a manner that eliminates both azimuth and positional deviations between the vehicle's position and the driving path. The automatic driving management unit determines whether to permit the automatic driving based on the automatic driving permit conditions. If the result of the determination is that the automatic driving is permitted, it issues an automatic driving start command to the automatic driving control unit. The conditions for granting permission to drive automatically include that the vehicle is located at the point where driving automatically begins. The autonomous driving start point is calculated in a manner that enables the capture of the autonomous driving start path selected from the driving path, and enables the calculation of the azimuth offset and position offset between the autonomous driving start path and the vehicle's position.

2. The harvester according to claim 1, wherein, The harvester is equipped with a satellite positioning unit, which outputs position information for calculating the vehicle's location. The conditions for granting permission for automatic driving include: the accuracy of the satellite positioning unit exceeds the specified level.

3. The harvester according to claim 2, wherein, If the accuracy of the satellite positioning unit decreases to a specified level, the automatic driving will be deactivated.

4. The harvester according to any one of claims 1 to 3, wherein, The harvester includes a discharge position setting unit, which sets a discharge stop position for discharging the harvested material. The conditions for granting permission to drive automatically include: the exit parking position has been set.

5. The harvester according to claim 4, wherein, The discharge parking position is set in the outer perimeter area formed on the outer side of the field by the circumferential harvesting vehicle, and is located outside the corner of the outer perimeter area.

6. The harvester according to any one of claims 1 to 3, wherein, The automatic driving modes include a reciprocating driving mode that connects multiple parallel driving paths through U-shaped turns, and a vortex driving mode that drives in a vortex pattern along the outer edge of the unworked area. The starting point for autonomous driving is calculated using an algorithm that varies depending on the driving mode.

7. The harvester according to any one of claims 1 to 3, wherein, The automatic driving start command is given to the automatic driving control unit by using the displacement of the gear lever from the neutral position to the forward shift position as the trigger condition.

8. The harvester according to any one of claims 1 to 3, wherein, If the gear lever is displaced during the reverse movement of the automatic driving system, the system will stop and the automatic driving will be disengaged. If the gear lever moves to the stop position during the automatic driving forward movement, the vehicle stops.

9. The harvester according to any one of claims 1 to 3, wherein, The conditions for granting automatic driving permission include the operation of the automatic driving permission control device. The automatic driving authorization device has multiple operating units. During manual driving, a signal requesting automatic driving is output by operating the multiple operating units. During automatic driving, automatic driving is deactivated by operating at least one of the operating units.

10. The harvester according to any one of claims 1 to 3, wherein, The conditions for granting permission to drive autonomously include specific physical states of the machine. If, during the automatic driving process, an abnormality occurs in at least one of the machine's states, the automatic driving is deactivated.

11. A driving system for a harvester capable of both automatic and manual driving, wherein, The driving system includes: The manual driving control unit enables the harvester to perform the manual driving based on the manual operation signal; The path calculation unit calculates a driving path for automatic driving in unworked areas of the field, which are formed by the harvesting process around the inner perimeter of the field based on the manual driving. An automatic driving control unit enables the harvester to perform the automatic driving in a manner that eliminates azimuth and positional offsets between the vehicle's position and the driving path; The automatic driving management unit determines whether to permit the automatic driving based on the automatic driving permit conditions. If the result of the determination is that the automatic driving is permitted, it issues an automatic driving start command to the automatic driving control unit. The conditions for granting permission to drive automatically include that the vehicle is located at the point where driving automatically begins. The autonomous driving start point is calculated in a manner that enables the capture of the autonomous driving start path selected from the driving path, and enables the calculation of the azimuth offset and position offset between the autonomous driving start path and the vehicle's position.

12. The driving system according to claim 11, wherein, The driving system includes a satellite positioning unit, which outputs position information for calculating the vehicle's location. The conditions for granting permission for automatic driving include: the accuracy of the satellite positioning unit exceeds the specified level.

13. The driving system according to claim 12, wherein, If the accuracy of the satellite positioning unit decreases to a specified level, the automatic driving of the harvester is deactivated.

14. The driving system according to any one of claims 11 to 13, wherein, The driving system includes a discharge position setting unit, which sets a discharge parking position for discharging the harvested material. The conditions for granting permission to drive automatically include: the exit parking position has been set.

15. The driving system according to claim 14, wherein, The discharge parking position is set in the outer perimeter area formed on the outer side of the field by the circumferential harvesting vehicle, and is located outside the corner of the outer perimeter area.

16. The driving system according to any one of claims 11 to 13, wherein, The automatic driving modes include a reciprocating driving mode that connects multiple parallel driving paths through U-shaped turns, and a vortex driving mode that drives in a vortex pattern along the outer edge of the unworked area. The starting point for autonomous driving is calculated using an algorithm that varies depending on the driving mode.

17. The driving system according to any one of claims 11 to 13, wherein, The automatic driving start command is given to the automatic driving control unit by using the displacement of the gear lever from the neutral position to the forward shift position as the trigger condition.

18. The driving system according to any one of claims 11 to 13, wherein, If the gear lever is displaced during the reverse movement of the automatic driving system, the harvester is stopped and the automatic driving function of the harvester is disengaged. If the gear lever moves to the stop position during the automatic forward movement, the harvester will stop.

19. The driving system according to any one of claims 11 to 13, wherein, The conditions for granting automatic driving permission include the operation of the automatic driving permission control device. The automatic driving authorization device has multiple operating units. During manual driving, a signal requesting automatic driving is output to the harvester by operating the multiple operating units. During automatic driving, the automatic driving of the harvester is deactivated by operating at least one of the operating units.

20. The driving system according to any one of claims 11 to 13, wherein, The conditions for granting permission to drive autonomously include specific physical states of the machine. If an abnormality occurs in at least one of the machine's physical states during the automatic driving process, the automatic driving of the harvester shall be deactivated.

21. A driving program product for a harvester capable of both automatic and manual driving, wherein, The driving procedure is executed by the computer: The manual driving control function enables the harvester to perform manual driving based on a manual operation signal; The path calculation function calculates the driving path for automatic driving in the unworked area of ​​the field, which is formed by the harvesting process around the inner perimeter of the field based on the manual driving. Automatic driving control function, which eliminates azimuth and positional deviations between the vehicle's position and the driving path; The automatic driving management function determines whether to permit the automatic driving based on the automatic driving permission conditions. If the result of the determination is that the automatic driving is permitted, the automatic driving control function is given an automatic driving start command. The conditions for granting permission to drive automatically include that the vehicle is located at the point where driving automatically begins. The autonomous driving start point is calculated in a manner that enables the capture of the autonomous driving start path selected from the driving path, and enables the calculation of the azimuth offset and position offset between the autonomous driving start path and the vehicle's position.

22. The driving procedure product according to claim 21, wherein, The conditions for granting automatic driving permission include: the accuracy of the satellite positioning function that outputs location information for calculating the vehicle's position exceeds a specified level.

23. The driving procedure product according to claim 22, wherein, If the accuracy of the satellite positioning function decreases to a specified level, the automatic driving of the harvester will be deactivated.

24. The driving procedure product according to any one of claims 21 to 23, wherein, The driving procedure causes the computer to execute a discharge position setting function, which sets the discharge parking position for discharging the harvested material. The conditions for granting permission to drive automatically include: the exit parking position has been set.

25. The driving procedure product according to claim 24, wherein, The discharge parking position is set in the outer perimeter area formed on the outer side of the field by the circumferential harvesting vehicle, and is located outside the corner of the outer perimeter area.

26. The driving procedure product according to any one of claims 21 to 23, wherein, The automatic driving modes include a reciprocating driving mode that connects multiple parallel driving paths through U-shaped turns, and a vortex driving mode that drives in a vortex pattern along the outer edge of the unworked area. The starting point for autonomous driving is calculated using an algorithm that varies depending on the driving mode.

27. The driving procedure product according to any one of claims 21 to 23, wherein, The automatic driving start command is given to the automatic driving control function by using the displacement of the gear lever from the neutral position to the forward shift position as the trigger condition.

28. The driving procedure product according to any one of claims 21 to 23, wherein, If the gear lever is displaced during the reverse movement of the automatic driving system, the harvester is stopped and the automatic driving function of the harvester is disengaged. If the gear lever moves to the stop position during the automatic forward movement, the harvester will stop.

29. The driving procedure product according to any one of claims 21 to 23, wherein, The conditions for granting automatic driving permission include the operation of the automatic driving permission control device. The automatic driving authorization device has multiple operating units. During manual driving, a signal requesting automatic driving is output to the harvester by operating the multiple operating units. During automatic driving, the automatic driving of the harvester is deactivated by operating at least one of the operating units.

30. The driving procedure product according to any one of claims 21 to 23, wherein, The conditions for granting permission to drive autonomously include specific physical states of the machine. If an abnormality occurs in at least one of the machine's physical states during the automatic driving process, the automatic driving of the harvester shall be deactivated.

31. A recording medium, wherein, The recording medium records the driving program of the driving program product according to any one of claims 21 to 23, and is readable by a computer.

32. A driving method for a harvester capable of both automatic and manual driving, wherein, The driving method includes: The manual driving control step, which enables the harvester to perform the manual driving based on a manual operation signal; The path calculation step calculates the driving path for automatic driving in the unworked areas of the field, which are formed by the harvesting process around the inner perimeter of the field based on the manual driving. The automatic driving control steps enable the harvester to perform the automatic driving in a manner that eliminates the azimuth and positional offsets between the vehicle's position and the driving path. The automatic driving management step determines whether to permit the automatic driving based on the automatic driving permission conditions. If the result of the determination is that the automatic driving is permitted, the automatic driving control step is given an automatic driving start command. The conditions for granting permission to drive automatically include that the vehicle is located at the point where driving automatically begins. The autonomous driving start point is calculated in a manner that enables the capture of the autonomous driving start path selected from the driving path, and enables the calculation of the azimuth offset and position offset between the autonomous driving start path and the vehicle's position.

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